Date,MTML_position_x,MTML_position_y,MTML_position_z,MTML_orientation_x,MTML_orientation_y,MTML_orientation_z,MTML_orientation_w,MTML_velocity_linear_x,MTML_velocity_linear_y,MTML_velocity_linear_z,MTML_velocity_angular_x,MTML_velocity_angular_y,MTML_velocity_angular_z,MTML_wrench_force_x,MTML_wrench_force_y,MTML_wrench_force_z,MTML_wrench_torque_x,MTML_wrench_torque_y,MTML_wrench_torque_z,MTML_joint_position_1,MTML_joint_position_2,MTML_joint_position_3,MTML_joint_position_4,MTML_joint_position_5,MTML_joint_position_6,MTML_joint_position_7,MTML_joint_velocity_1,MTML_joint_velocity_2,MTML_joint_velocity_3,MTML_joint_velocity_4,MTML_joint_velocity_5,MTML_joint_velocity_6,MTML_joint_velocity_7,MTML_joint_effort_1,MTML_joint_effort_2,MTML_joint_effort_3,MTML_joint_effort_4,MTML_joint_effort_5,MTML_joint_effort_6,MTML_joint_effort_7,MTMR_position_x,MTMR_position_y,MTMR_position_z,MTMR_orientation_x,MTMR_orientation_y,MTMR_orientation_z,MTMR_orientation_w,MTMR_velocity_linear_x,MTMR_velocity_linear_y,MTMR_velocity_linear_z,MTMR_velocity_angular_x,MTMR_velocity_angular_y,MTMR_velocity_angular_z,MTMR_wrench_force_x,MTMR_wrench_force_y,MTMR_wrench_force_z,MTMR_wrench_torque_x,MTMR_wrench_torque_y,MTMR_wrench_torque_z,MTMR_joint_position_1,MTMR_joint_position_2,MTMR_joint_position_3,MTMR_joint_position_4,MTMR_joint_position_5,MTMR_joint_position_6,MTMR_joint_position_7,MTMR_joint_velocity_1,MTMR_joint_velocity_2,MTMR_joint_velocity_3,MTMR_joint_velocity_4,MTMR_joint_velocity_5,MTMR_joint_velocity_6,MTMR_joint_velocity_7,MTMR_joint_effort_1,MTMR_joint_effort_2,MTMR_joint_effort_3,MTMR_joint_effort_4,MTMR_joint_effort_5,MTMR_joint_effort_6,MTMR_joint_effort_7,PSM1_position_x,PSM1_position_y,PSM1_position_z,PSM1_orientation_x,PSM1_orientation_y,PSM1_orientation_z,PSM1_orientation_w,PSM1_velocity_linear_x,PSM1_velocity_linear_y,PSM1_velocity_linear_z,PSM1_velocity_angular_x,PSM1_velocity_angular_y,PSM1_velocity_angular_z,PSM1_wrench_force_x,PSM1_wrench_force_y,PSM1_wrench_force_z,PSM1_wrench_torque_x,PSM1_wrench_torque_y,PSM1_wrench_torque_z,PSM1_joint_position_1,PSM1_joint_position_2,PSM1_joint_position_3,PSM1_joint_position_4,PSM1_joint_position_5,PSM1_joint_position_6,PSM1_joint_velocity_1,PSM1_joint_velocity_2,PSM1_joint_velocity_3,PSM1_joint_velocity_4,PSM1_joint_velocity_5,PSM1_joint_velocity_6,PSM1_joint_effort_1,PSM1_joint_effort_2,PSM1_joint_effort_3,PSM1_joint_effort_4,PSM1_joint_effort_5,PSM1_joint_effort_6,PSM2_position_x,PSM2_position_y,PSM2_position_z,PSM2_orientation_x,PSM2_orientation_y,PSM2_orientation_z,PSM2_orientation_w,PSM2_velocity_linear_x,PSM2_velocity_linear_y,PSM2_velocity_linear_z,PSM2_velocity_angular_x,PSM2_velocity_angular_y,PSM2_velocity_angular_z,PSM2_wrench_force_x,PSM2_wrench_force_y,PSM2_wrench_force_z,PSM2_wrench_torque_x,PSM2_wrench_torque_y,PSM2_wrench_torque_z,PSM2_joint_position_1,PSM2_joint_position_2,PSM2_joint_position_3,PSM2_joint_position_4,PSM2_joint_position_5,PSM2_joint_position_6,PSM2_joint_velocity_1,PSM2_joint_velocity_2,PSM2_joint_velocity_3,PSM2_joint_velocity_4,PSM2_joint_velocity_5,PSM2_joint_velocity_6,PSM2_joint_effort_1,PSM2_joint_effort_2,PSM2_joint_effort_3,PSM2_joint_effort_4,PSM2_joint_effort_5,PSM2_joint_effort_6
2020-02-05.16:42:28.591,0.113203,0.0613764,0.331117,-0.276051,-0.245167,0.662399,0.651856,2.35894e-06,0.000106353,9.03846e-05,-5.7438e-05,-0.000920784,0.000966784,0.163472,-0.311183,0.185874,0.0338003,-0.0111221,-0.0270103,0.18091,0.183186,0.0477128,-1.04917,0.565482,-0.0266457,-0.544757,6.02873e-05,-0.000493149,0.000493149,-0.00139496,0,0,0,0.0137166,-0.0691044,0.0342432,0.0621195,0.0281449,-0.000915956,-0.0117358,-0.16289,0.0574488,0.329005,0.167009,0.608314,0.624019,0.461153,7.27264e-06,-0.00188608,0.00295253,-0.0100251,-0.000534901,0.000494296,-0.183524,-0.357681,0.0129914,-0.00500576,0.000460043,-0.0112748,-0.0462493,0.178998,0.0521378,0.967977,-0.260536,0.00296064,0.60397,0,-0.00758673,-0.00216207,-0.000620291,-0.000486094,0,0,-0.0882546,0.0543201,-0.0368486,-0.0147204,0.00242508,0.00294336,-0.00932205,-0.0806803,0.0239793,0.0291964,0.151149,0.611707,0.608394,0.482519,0.000245353,4.1433e-05,6.2631e-05,0,0,0,3.69478,-1.58526,0.916258,0.0155842,-0.0137217,0.0241845,1.435,0.264982,0.13253,2.30659,-0.457596,0.148522,0,0,0.000256588,0,0,0,0.471672,0.163872,-0.608954,0.0106359,-0.0236305,-0.0155842,0.0905899,0.015179,0.0174666,-0.256766,-0.255889,0.641965,0.675628,0,0,0,0,0,0,2.18557,2.39185,-0.999928,-0.0890149,-0.0252688,0.049239,-1.50614,0.20422,0.118375,-2.63622,0.102751,-0.673017,0,0,0,0,0,0,-0.402415,-0.0167751,0.929503,0.0111734,0.0305632,0.0890149
2020-02-05.16:42:28.604,0.113186,0.0613708,0.331148,-0.27607,-0.245128,0.662404,0.651858,-0.000192217,0.000184519,0.000387749,-0.000575787,-0.000788277,0.000751464,0.143321,-0.298584,0.163338,0.0337617,-0.0108592,-0.0269076,0.180959,0.183092,0.0477284,-1.04918,0.565482,-0.0266457,-0.544757,0.000680752,-0.00156832,0.00105718,-0.00177269,0,0,0,0.00947863,-0.0642632,0.0306324,0.0619436,0.0278945,-0.000634183,-0.0117466,-0.162918,0.0574015,0.329113,0.167341,0.607324,0.624214,0.462073,-0.000764283,-0.0021717,0.00380969,-0.00697923,-0.00492344,-0.00605583,-0.191619,-0.434938,-0.0089306,-0.00408209,0.000471057,-0.0110653,-0.046175,0.178683,0.0521372,0.967977,-0.257576,0.00296064,0.60397,0.00206021,-0.0103264,-0.00176041,-0.000889284,0.00842797,0,0,-0.0924926,0.0740755,-0.0371673,-0.012961,0.00189285,0.00278682,-0.00937565,-0.0806803,0.0239793,0.0291964,0.151149,0.611707,0.608394,0.482519,0.000259331,4.37935e-05,6.61992e-05,0,0,0,3.71019,-1.61094,0.926428,0.0146202,-0.0151512,0.0242336,1.435,0.264982,0.13253,2.30659,-0.457596,0.148522,0,0,0.000271206,0,0,0,0.474032,0.162928,-0.60333,0.0111991,-0.0223642,-0.0146202,0.0905899,0.015179,0.0174666,-0.256766,-0.255889,0.641965,0.675628,0,0,0,0,0,0,2.16003,2.3489,-0.980399,-0.0881312,-0.0244311,0.0478366,-1.50614,0.20422,0.118375,-2.63622,0.102751,-0.673017,0,0,0,0,0,0,-0.396751,-0.014887,0.915443,0.0107354,0.0292664,0.0881312
2020-02-05.16:42:28.624,0.113178,0.0613695,0.331159,-0.276076,-0.245112,0.662403,0.651862,-0.000225606,-0.000188181,0.00105528,-0.00263619,-0.000264956,0.000700483,0.146821,-0.294754,0.154601,0.0340332,-0.0109385,-0.0271314,0.180984,0.18306,0.0477335,-1.04918,0.565482,-0.0266457,-0.544757,0.000774579,-0.00334688,0.000732004,-0.00155492,0,0,0,0.00841913,-0.060518,0.0335398,0.0625594,0.0281136,-0.000728108,-0.0117894,-0.162927,0.057374,0.329151,0.167331,0.607367,0.624162,0.46209,-0.00124311,-0.00253872,0.00409562,-0.00825099,-0.00396686,-0.00759581,-0.192101,-0.449997,-0.0284472,-0.00440858,0.00168405,-0.0112145,-0.0461502,0.178588,0.0521264,0.967984,-0.257576,0.00296064,0.60397,0.00337459,-0.0108292,-0.00203211,-0.000707325,0.00842797,0,0,-0.0909034,0.0805731,-0.0371431,-0.0151603,0.00117276,0.00263028,-0.00921484,-0.0806803,0.0239793,0.0291964,0.151149,0.611707,0.608394,0.482519,0.000249776,4.21799e-05,6.37601e-05,0,0,0,3.69838,-1.57504,0.932261,0.0151825,-0.0139104,0.0249577,1.435,0.264982,0.13253,2.30659,-0.457596,0.148522,0,0,0.000261214,0,0,0,0.471672,0.16576,-0.597706,0.0115746,-0.0235911,-0.0151825,0.0905899,0.015179,0.0174666,-0.256766,-0.255889,0.641965,0.675628,0,0,0,0,0,0,2.15519,2.40045,-0.999164,-0.0884525,-0.0236911,0.0489606,-1.50614,0.20422,0.118375,-2.63622,0.102751,-0.673017,0,0,0,0,0,0,-0.401471,-0.0186631,0.932315,0.011987,0.0294324,0.0884525
2020-02-05.16:42:28.644,0.113156,0.0613171,0.331212,-0.276116,-0.244998,0.662417,0.651874,-0.000903963,-0.00205502,0.00214882,-0.00817729,0.00365752,-0.00243998,0.163967,-0.315592,0.12976,0.0335676,-0.0114184,-0.0268536,0.181034,0.182966,0.0476176,-1.0491,0.565482,-0.0266457,-0.544757,0.00205298,-0.00390735,-0.00448695,0.00194021,0,0,0,-0.00323533,-0.0565365,0.0418149,0.0615037,0.0282702,-0.0010725,-0.0117037,-0.162936,0.0572842,0.329296,0.167257,0.607517,0.623997,0.462143,0.000226596,-0.00400057,0.00588525,-0.0148611,-0.00489095,-0.00558365,-0.168814,-0.494507,-0.0196312,-0.00348586,0.00139063,-0.0111305,-0.0461254,0.17821,0.0520047,0.968066,-0.257576,0.00296064,0.60397,-0.000546649,-0.0146754,-0.00519935,0.00141377,0.00830035,0,0,-0.0930224,0.0958058,-0.0268061,-0.013137,0.000797061,0.00288074,-0.00940782,-0.0806803,0.0239793,0.0291964,0.151149,0.611707,0.608394,0.482519,0.000235165,3.97126e-05,6.00304e-05,0,0,0,3.74677,-1.60056,0.952536,0.0155038,-0.0138524,0.0246629,1.435,0.264982,0.13253,2.30659,-0.457596,0.148522,0,0,0.000245934,0,0,0,0.47828,0.16812,-0.597706,0.011074,-0.0240452,-0.0155038,0.0905899,0.015179,0.0174666,-0.256766,-0.255889,0.641965,0.675628,0,0,0,0,0,0,2.12934,2.39941,-0.969613,-0.0885329,-0.0241393,0.0487422,-1.50614,0.20422,0.118375,-2.63622,0.102751,-0.673017,0,0,0,0,0,0,-0.403359,-0.016303,0.915443,0.0117367,0.0305194,0.0883722
2020-02-05.16:42:28.664,0.113126,0.0612728,0.331272,-0.276157,-0.244883,0.662429,0.651887,-0.00147214,-0.00195711,0.00285759,-0.00956614,0.00433869,-0.00337961,0.169636,-0.288667,0.107145,0.033531,-0.0111961,-0.0266347,0.181108,0.18284,0.0475332,-1.04905,0.565482,-0.0266457,-0.544757,0.00377107,-0.00626591,-0.00351619,0.00136106,0,0,0,-0.00270558,-0.0441332,0.0485653,0.0611518,0.028051,-0.000728108,-0.0116501,-0.162926,0.057179,0.32944,0.167109,0.607662,0.623861,0.46219,0.000202233,-0.00662552,0.00762808,-0.02347,-0.0020784,-0.00906491,-0.152801,-0.560684,-0.0447345,-0.004198,0.00180475,-0.0112397,-0.0461502,0.177864,0.0518514,0.968019,-0.257576,0.00296064,0.60397,-0.000306045,-0.0166654,-0.0117005,0.00573654,0.00816459,0,0,-0.0919629,0.118375,-0.0199414,-0.0148084,0.000859677,0.00288074,-0.00930061,-0.080679,0.0239795,0.0291967,0.151149,0.611707,0.608394,0.482519,-0.000275521,-4.65274e-05,-7.03319e-05,0,0,0,3.73706,-1.59022,0.920724,0.0150218,-0.0136173,0.0249268,1.435,0.264982,0.132531,2.30659,-0.457596,0.148522,0,0,-0.000288137,0,0,0,0.47592,0.167176,-0.623015,0.011512,-0.0242284,-0.0150218,0.0905899,0.015179,0.0174666,-0.256766,-0.255889,0.641965,0.675628,0,0,0,0,0,0,2.21596,2.43892,-1.01253,-0.0886132,-0.0250067,0.0488698,-1.50614,0.20422,0.118375,-2.63622,0.102751,-0.673017,0,0,0,0,0,0,-0.408079,-0.015831,0.952,0.0110483,0.0298515,0.0886132
2020-02-05.16:42:28.684,0.113107,0.0612364,0.331326,-0.276196,-0.24479,0.662444,0.651891,-0.00100238,-0.00222551,0.00285681,-0.00998066,0.00404974,-0.00250831,0.170096,-0.283105,0.111119,0.0330876,-0.011288,-0.0265441,0.181157,0.182714,0.0474751,-1.04901,0.565482,-0.0266457,-0.544757,0.00241344,-0.00610685,-0.00411641,0.00183201,0,0,0,-0.00058659,-0.0436342,0.0486519,0.060536,0.0278945,-0.000978573,-0.0116715,-0.162923,0.056998,0.329618,0.166982,0.607884,0.623622,0.462265,0.000299601,-0.0101966,0.009462,-0.0339721,0.000237538,-0.0120838,-0.104386,-0.586761,-0.0285137,-0.00464449,0.0023399,-0.0114001,-0.0461502,0.177518,0.0514878,0.968113,-0.257576,0.00296064,0.60397,-0.000297568,-0.0173935,-0.0213678,0.00962949,0.00803749,0,0,-0.0919629,0.137496,0.00163006,-0.016128,0.000671829,0.00281813,-0.00930061,-0.0806803,0.0239793,0.0291964,0.151149,0.611707,0.608394,0.482519,0.000268457,4.53346e-05,6.85288e-05,0,0,0,3.73582,-1.59185,0.929369,0.0148612,-0.0134826,0.0245158,1.435,0.264982,0.13253,2.30659,-0.457596,0.148522,0,0,0.00028075,0,0,0,0.47592,0.167648,-0.614579,0.0111991,-0.0242895,-0.0148612,0.0905899,0.015179,0.0174666,-0.256766,-0.255889,0.641965,0.675628,0,0,0,0,0,0,2.15119,2.39883,-1.01541,-0.0885329,-0.023403,0.0487522,-1.50614,0.20422,0.118375,-2.63622,0.102751,-0.673017,0,0,0,0,0,0,-0.402415,-0.0191352,0.918255,0.011987,0.0291137,0.0885329
2020-02-05.16:42:28.704,0.113102,0.0611719,0.331382,-0.276243,-0.244674,0.662471,0.651887,-0.000848785,-0.00307027,0.00303324,-0.0117697,0.00517438,-0.00299229,0.184965,-0.290366,0.103022,0.0331738,-0.0113468,-0.0265211,0.181157,0.182619,0.0473329,-1.04891,0.565482,-0.0266457,-0.544757,0.00169421,-0.00548295,-0.00663199,0.00357858,0,0,0,-0.00376508,-0.0409799,0.0546399,0.060536,0.0279884,-0.000915956,-0.0116608,-0.162916,0.056689,0.329872,0.167816,0.608588,0.622399,0.462687,1.68701e-06,-0.0214832,0.0147422,-0.0658413,0.00697936,-0.0218198,-0.0147378,-0.570701,0.0585864,-0.00558179,0.00278565,-0.0113962,-0.0461502,0.177108,0.0507926,0.968132,-0.257576,0.00592128,0.60397,0.00139523,-0.0178969,-0.0525836,0.0200364,0.00791196,0,0,-0.0999091,0.155819,0.0462735,-0.0172716,0.000797061,0.0019415,-0.00925773,-0.080679,0.0239795,0.0291967,0.151149,0.611707,0.608394,0.482519,-0.000352939,-5.96011e-05,-9.00943e-05,0,0,0,3.71491,-1.6084,0.929161,0.0175925,-0.012619,0.0266436,1.435,0.264982,0.132531,2.30659,-0.457596,0.148522,0,0,-0.0003691,0,0,0,0.478752,0.162928,-0.60333,0.0116998,-0.0252681,-0.0175925,0.0905899,0.015179,0.0174666,-0.256766,-0.255889,0.641965,0.675628,0,0,0,0,0,0,2.12634,2.41254,-1.01945,-0.0875689,-0.0236846,0.048624,-1.50614,0.20422,0.118375,-2.63622,0.102751,-0.673017,0,0,0,0,0,0,-0.401471,-0.0219673,0.921067,0.0117993,0.0294802,0.0875689
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