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
2020-02-05.16:46:22.575,0.0493213,0.0797555,0.328393,-0.40604,-0.263619,0.650813,0.584875,-0.000206595,-0.00388724,0.00194914,0.0275833,0.0987533,-0.0322381,0.825585,0.286263,-0.150806,-0.0063306,0.0142557,-0.0134093,0.356741,0.219685,0.0412205,-1.38195,0.37304,-0.0118426,-0.455938,-0.00171485,-0.0014501,-0.00985905,0.00323996,0.0528321,0.0849219,-0.0364302,0.0725187,0.28489,0.336751,0.0101286,-0.0153421,-0.00448508,-0.0114678,-0.124377,0.0590062,0.329912,0.0760134,0.545254,0.559665,0.619431,-0.000589037,-0.0124264,0.0157414,0.243684,0.0855756,0.032961,0.443977,0.247117,0.0228537,0.0103808,-0.00308878,0.00740443,-0.150069,0.185359,0.0447509,1.03766,-0.0384883,-0.0236851,0.248694,0.00272726,-0.0367713,-0.0192344,-0.00407432,0.122454,0.0161366,0.293285,0.0759673,0.0976382,0.186262,0.00920768,0.000264823,0.0127115,0.00747722,-0.0906125,0.0325667,0.0346994,0.103655,0.544386,0.572582,0.604193,0,0,0,0,0,0,3.26082,0.93208,1.12905,0.00763122,-0.0462286,-0.0138085,1.43322,0.384476,0.125925,2.14345,-0.179267,0.230228,0,0,0,0,0,0,0.207813,0.302174,0.290912,-0.00231871,0.0184865,-0.00763122,0.0834126,0.0357307,0.035452,-0.401777,-0.285036,0.622032,0.60861,5.35932e-06,-2.4337e-05,4.21529e-05,-1.0842e-19,0.000361556,0.000208745,0.760214,2.88611,-0.653067,-0.071181,-0.00788689,0.034407,-1.47037,0.40393,0.133642,-2.46344,0.190881,-0.22761,0.000417489,0,0,0,0,0,-0.364182,-0.221632,0.158992,0.0125502,0.00852957,0.071181
2020-02-05.16:46:22.589,0.0493376,0.0795616,0.328551,-0.405377,-0.264632,0.649263,0.586598,-0.000517235,-0.00719983,0.00615531,0.0185189,0.0888873,-0.0320375,0.874184,0.332704,-0.148893,-0.00690444,0.0134501,-0.0112048,0.356617,0.21937,0.0408516,-1.382,0.37304,-0.0118426,-0.46186,-0.00165018,-0.0115261,-0.0147269,0.00505783,0.0453751,0.0718834,-0.0431288,0.0756972,0.316086,0.362782,0.00801734,-0.0149664,-0.00395284,-0.00973108,-0.124569,0.0585227,0.330569,0.0819293,0.544907,0.56617,0.613038,-0.00729449,-0.0106808,0.0168885,0.329742,0.186839,0.0827877,0.513238,-0.0389277,-0.011556,0.010323,-0.00307628,0.00336169,-0.149524,0.18369,0.0441583,1.03761,-0.0384883,-0.0236851,0.272379,0.0197076,-0.0467163,-0.00804611,0.00358827,0.0921682,0.0161366,0.430031,0.0394147,0.175949,0.200467,0.00806406,0.000327439,0.0134316,0.0035213,-0.0906125,0.0325667,0.0346994,0.103655,0.544386,0.572582,0.604193,0,0,0,0,0,0,3.21083,0.940031,1.10106,0.00642623,-0.0478949,-0.0136417,1.43322,0.384476,0.125925,2.14345,-0.179267,0.230228,0,0,0,0,0,0,0.201205,0.29887,0.271228,-0.00156772,0.0205255,-0.00642623,0.0834126,0.0357307,0.035452,-0.401777,-0.285036,0.622032,0.60861,5.35932e-06,-2.4337e-05,4.21529e-05,-1.0842e-19,0.000361556,0.000208745,0.773369,2.93922,-0.667979,-0.072627,-0.00919689,0.0353584,-1.47037,0.40393,0.133642,-2.46344,0.190881,-0.22761,0.000417489,0,0,0,0,0,-0.370318,-0.226824,0.158992,0.0128006,0.00990076,0.072627
2020-02-05.16:46:22.603,0.0493254,0.0794841,0.32862,-0.404666,-0.265788,0.647608,0.588393,-0.000734845,-0.00794133,0.00700204,-0.00672941,0.0825235,-0.00993154,0.876921,0.346022,-0.153545,-0.00730591,0.0133463,-0.0109878,0.356617,0.219244,0.0406883,-1.38219,0.37304,-0.0118426,-0.467781,-0.0013093,-0.0132742,-0.0161566,-0.00607136,0.0437778,0.0691523,-0.0179486,0.0751674,0.319913,0.365187,0.00713763,-0.0150603,-0.0037963,-0.00969892,-0.124642,0.0584125,0.33075,0.084475,0.542607,0.567946,0.61309,-0.00647253,-0.00992879,0.0170094,0.489226,0.24601,0.14127,0.539392,-0.131381,-0.0480918,0.00953493,-0.0013304,0.00244167,-0.149326,0.183186,0.0440836,1.03752,-0.032567,-0.0236851,0.2783,0.017239,-0.0479217,-0.00580287,-0.00516565,0.13152,0.0161366,0.605023,0.0341172,0.197865,0.200196,0.00542493,-0.00139451,0.0137133,0.00257788,-0.0906125,0.0325667,0.0346994,0.103655,0.544386,0.572582,0.604193,0,0,0,0,0,0,3.25083,0.979658,1.12367,0.00771155,-0.0468398,-0.0138825,1.43322,0.384476,0.125925,2.14345,-0.179267,0.230228,0,0,0,0,0,0,0.203565,0.305478,0.276852,-0.00219355,0.0191893,-0.00771155,0.0834126,0.0357307,0.035452,-0.401777,-0.285036,0.622032,0.60861,5.35932e-06,-2.4337e-05,4.21529e-05,-1.0842e-19,0.000361556,0.000208745,0.754001,2.96257,-0.687184,-0.0727877,-0.00858079,0.0348384,-1.47037,0.40393,0.133642,-2.46344,0.190881,-0.22761,0.000417489,0,0,0,0,0,-0.372206,-0.230128,0.14212,0.0123625,0.00935947,0.0727877
2020-02-05.16:46:22.623,0.0492926,0.0793132,0.328793,-0.404782,-0.265559,0.647772,0.588236,-0.00176163,-0.00788097,0.00975773,-0.0138532,0.0705824,-0.00089895,0.904015,0.386775,-0.158881,-0.00830065,0.0127752,-0.0091106,0.356642,0.218897,0.040351,-1.38226,0.37304,-0.0118426,-0.467781,0.00259438,-0.0219511,-0.0133012,-0.0207944,0.0409543,0.0643737,-0.0179486,0.0788757,0.336221,0.375805,0.00361879,-0.015029,-0.00329537,-0.00846604,-0.124777,0.058239,0.331101,0.0868945,0.540413,0.569557,0.613194,-0.00621592,-0.00750462,0.0178315,0.350504,0.16411,0.0938402,0.553867,-0.32284,-0.124314,0.00967606,-0.000841993,0.00104452,-0.148979,0.182147,0.0440709,1.03737,-0.0266457,-0.0236851,0.284221,0.0155583,-0.0545716,0.00344791,-0.0118736,0.110768,0.0161366,0.435899,0.0229925,0.243966,0.194267,0.0055129,-0.00192675,0.0135568,0.00115203,-0.0906125,0.0325667,0.0346994,0.103655,0.544386,0.572582,0.604193,0,0,0,0,0,0,3.22437,0.926476,1.10334,0.00843455,-0.0451539,-0.0136492,1.43322,0.384476,0.125925,2.14345,-0.179267,0.230228,0,0,0,0,0,0,0.205925,0.298398,0.27404,-0.00256904,0.0177354,-0.00843455,0.0834126,0.0357307,0.035452,-0.401777,-0.285036,0.622032,0.60861,4.96583e-06,-2.25502e-05,3.9058e-05,-5.42101e-20,0.000335011,0.000193418,0.77622,2.90661,-0.669811,-0.0719843,-0.00806837,0.0350438,-1.47037,0.40393,0.133642,-2.46344,0.190881,-0.22761,0.000386837,0,0,0,0,0,-0.367958,-0.222576,0.150556,0.0129257,0.00870441,0.0719843
2020-02-05.16:46:22.643,0.0492612,0.079253,0.328888,-0.404863,-0.265497,0.647855,0.588116,-0.00382588,-0.00527426,0.0106786,-0.0075917,0.102958,-0.0404411,0.905317,0.423846,-0.230078,-0.00761002,0.0132013,-0.00933977,0.356717,0.218677,0.0402558,-1.3825,0.37304,-0.0118426,-0.467781,0.0102952,-0.0264542,-0.00631206,0.0249327,0.0397441,0.0623438,-0.0179486,0.0598047,0.356707,0.384908,0.00529023,-0.0150916,-0.00326407,-0.00839099,-0.124847,0.0581718,0.331281,0.0883259,0.540257,0.57123,0.611569,-0.00719054,-0.00711302,0.0185336,0.354839,0.169519,0.0934767,0.548203,-0.441879,-0.153613,0.0105731,0.000117123,0.000599401,-0.148805,0.18158,0.0441381,1.03718,-0.0266457,-0.0236851,0.290143,0.0178776,-0.0579466,0.00615095,-0.0104782,0.110768,0.0161366,0.442603,0.0171653,0.265985,0.18646,0.00577681,-0.0033043,0.0139012,0.000669603,-0.0906125,0.0325667,0.0346994,0.103655,0.544386,0.572582,0.604193,0,0,0,0,0,0,3.27107,0.940809,1.09778,0.00867554,-0.0463101,-0.0135048,1.43322,0.384476,0.125925,2.14345,-0.179267,0.230228,0,0,0,0,0,0,0.208757,0.301702,0.257167,-0.00219355,0.0184032,-0.00867554,0.0834126,0.0357307,0.035452,-0.401777,-0.285036,0.622032,0.60861,4.66238e-06,-2.11722e-05,3.66713e-05,-6.77626e-20,0.000314539,0.000181599,0.783511,2.88332,-0.630582,-0.0713417,-0.00866332,0.0342775,-1.47037,0.40393,0.133642,-2.46344,0.190881,-0.22761,0.000363198,0,0,0,0,0,-0.364654,-0.219744,0.184301,0.0122373,0.00904475,0.0713417
2020-02-05.16:46:22.663,0.0491765,0.0791648,0.329117,-0.404947,-0.26517,0.647969,0.58808,-0.00499363,-0.00392684,0.0124833,-0.0124016,0.0773737,-0.0186539,0.872218,0.528569,-0.278903,-0.00857883,0.0123286,-0.00856778,0.356964,0.218079,0.0401967,-1.38246,0.37304,-0.0118426,-0.467781,0.0151486,-0.0333484,-0.000919994,-0.0100565,0.0375078,0.0586207,-0.0179486,0.0460313,0.379055,0.377094,0.00256313,-0.0151855,-0.00273183,-0.0084446,-0.124996,0.0580215,0.331664,0.0901627,0.539145,0.57277,0.610842,-0.00795481,-0.00887227,0.020994,0.448425,0.0510163,-0.016645,0.552861,-0.655447,-0.249498,0.0118839,0.0059526,0.000143947,-0.148434,0.180383,0.0442565,1.03695,-0.0236851,-0.0236851,0.296064,0.0200345,-0.0643873,0.00413123,-0.0135905,0.298716,0.0161366,0.421281,-0.00349491,0.316006,0.178503,0.00507304,-0.00890846,0.0146526,0.000187173,-0.0906125,0.0325667,0.0346994,0.103655,0.544386,0.572582,0.604193,0,0,0,0,0,0,3.204,0.964961,1.10857,0.00698856,-0.0467742,-0.0140369,1.43322,0.384476,0.125925,2.14345,-0.179267,0.230228,0,0,0,0,0,0,0.199789,0.30123,0.27404,-0.00225613,0.0195868,-0.00698856,0.0834128,0.0357298,0.0354536,-0.401772,-0.285033,0.622037,0.608609,-3.31596e-06,1.50558e-05,-2.60775e-05,2.71051e-20,-0.000223674,-0.000129138,0.757952,2.86559,-0.653744,-0.0724663,-0.00868136,0.0346793,-1.47035,0.40393,0.133642,-2.46344,0.190881,-0.22761,-0.000258276,0,0,0,0,0,-0.362766,-0.221632,0.153368,0.0124251,0.00938558,0.0724663
2020-02-05.16:46:22.683,0.0490595,0.0790784,0.329383,-0.403487,-0.267227,0.644607,0.591835,-0.00685877,-0.00456575,0.014934,0.0232016,0.069596,-0.0464461,0.816819,0.633267,-0.345578,-0.00992281,0.0116236,-0.00684131,0.357311,0.217386,0.0401532,-1.38258,0.37304,-0.0118426,-0.479623,0.0204451,-0.0390613,-0.00188561,-0.0128397,0.0355164,0.0553342,-0.0685877,0.0333173,0.4059,0.370804,-0.000867737,-0.0148098,-0.00323276,-0.00692226,-0.125137,0.057862,0.332088,0.0902938,0.538288,0.572522,0.61181,-0.00555637,-0.00839168,0.0231968,0.185245,0.160846,0.11368,0.581917,-0.846717,-0.332722,0.0121778,0.00694729,-1.45962e-05,-0.148087,0.179061,0.0443958,1.03656,-0.0207245,-0.0236851,0.296064,0.0130613,-0.0718069,0.00749784,-0.0162434,0.0026653,0.0161366,0.324695,-0.00826264,0.368518,0.175301,0.00401739,-0.0101921,0.0152161,0.000101408,-0.0906125,0.0325667,0.0346994,0.103655,0.544386,0.572582,0.604193,0,0,0,0,0,0,3.24722,0.990465,1.14607,0.00690823,-0.0465858,-0.0143256,1.43322,0.384476,0.125925,2.14345,-0.179267,0.230228,0,0,0,0,0,0,0.202149,0.307838,0.296537,-0.00250646,0.019076,-0.00690823,0.0834126,0.0357307,0.035452,-0.401777,-0.285036,0.622032,0.60861,7.88611e-06,-3.58113e-05,6.2027e-05,-1.6263e-19,0.000532021,0.000307163,0.755075,2.91371,-0.652562,-0.071181,-0.00757151,0.0338589,-1.47037,0.40393,0.133642,-2.46344,0.190881,-0.22761,0.000614325,0,0,0,0,0,-0.366542,-0.227296,0.158992,0.0120496,0.0105514,0.0731893
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