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 2020-02-06.11:00:36.137,0.18233,0.0713781,0.306985,0.0630221,-0.146511,0.900538,0.404468,-0.000646645,-0.00438976,0.00144055,-0.0115185,0.0059891,-0.00633517,-0.00535404,0.00756125,-0.00164339,-0.000252025,0.000161505,0.000260571,-0.00631686,0.237887,0.0658583,-2.19116,1.88001,0.408568,-1.53361,0.00180708,0.000624165,-0.0121297,0.00699405,0,0,0,0.000472907,0.000141727,-0.00233249,-0.000691795,-1.0748e-06,5.45953e-05,-7.17644e-05,-0.185185,0.01654,0.332392,0.302133,0.00444868,0.5345,0.789307,4.60596e-05,-2.86076e-05,-2.70148e-05,1.78484e-07,2.74999e-07,2.72953e-05,0.011244,0.00341203,-0.00222541,-6.39261e-05,-0.000339106,-2.4829e-05,0.0128567,0.236722,-0.0867163,0.805433,1.22274,0.124347,0.343434,-0.000115382,0.000138756,-0.000138756,9.29246e-05,0,0,0,0.00445132,-0.000908489,-0.000680552,-0.000205219,0.000108283,-0.000218762,-1.65191e-05,-0.0823376,0.0173074,0.0301565,0.301722,0.00634861,0.539686,0.785915,2.75994e-05,1.72261e-05,1.42515e-05,-1.42693e-05,-5.2804e-05,9.14592e-05,1.9357,-0.930994,-1.40373,-0.0298842,-0.0559571,-0.0610498,1.43649,0.293008,0.131128,2.87003,0.688238,0.964057,0,0.000106568,3.24368e-05,0,0,0,0.183268,0.0590838,1.1964,-3.15443e-06,0.0646017,0.0297235,0.0779686,0.0228182,0.0349386,0.0649276,-0.14245,0.900196,0.406374,-0.000119492,-0.000536813,0.000219655,0.00386487,-0.00571569,-0.012398,-0.758818,1.3072,0.206668,-0.0253914,0.0405677,0.0210302,-1.44546,0.34655,0.139517,-2.67879,1.01248,-1.21505,0.00381245,-0.00361712,-3.63118e-05,0.000371593,-0.015351,0.0117742,0.0115461,-0.215967,0.0436966,0.000471803,0.0124896,0.0253914 2020-02-06.11:00:36.143,0.182276,0.0711217,0.307062,0.0629213,-0.1462,0.900552,0.404566,-0.00153692,-0.00740144,0.00241523,-0.0193671,0.00369544,-0.00528329,8.23772e-05,0.00213587,0.00106571,-0.000178265,0.000132875,9.72881e-05,-0.00616822,0.23795,0.0651378,-2.19112,1.88001,0.408568,-1.53361,0.00425442,0.00111549,-0.0204787,0.00227233,0,0,0,0.000472907,-0.00044483,-0.00065874,-0.000427882,-3.23829e-05,5.45953e-05,-0.000146809,-0.185175,0.0165336,0.332385,0.302133,0.00444972,0.534502,0.789306,-0.000164312,7.3191e-05,6.89281e-05,-4.52517e-07,5.79344e-05,-0.000170892,0.000329193,0.00755925,0.00823086,-8.5714e-05,-0.000206074,-0.000342554,0.0128319,0.236753,-0.0867478,0.805454,1.22274,0.124347,0.343434,0.000410363,-0.000352472,0.000352472,-0.00023605,0,0,0,0.00180257,-0.00423693,-0.00258643,0.000674491,0.000139591,-0.000124838,-2.72398e-05,-0.0823378,0.0173082,0.030157,0.30172,0.00634839,0.53969,0.785913,3.21027e-05,-8.16264e-06,2.95909e-07,1.74621e-05,6.4619e-05,-0.000111923,1.90808,-0.891536,-1.30705,-0.0296432,-0.0562869,-0.0603927,1.43649,0.293016,0.131128,2.87003,0.688238,0.964057,0,-0.000130412,2.97408e-05,0,0,0,0.178076,0.0590838,1.20203,-0.000566398,0.0643441,0.0296432,0.0779619,0.0227864,0.0349545,0.0647773,-0.142587,0.900099,0.406564,-0.000333095,-0.000803035,0.000578301,0.00957842,-0.0237206,-0.0459764,-0.942636,1.48819,0.329756,-0.0245077,0.0435871,0.0176884,-1.44523,0.346349,0.139517,-2.67858,1.01179,-1.21433,0.00724534,-0.00607905,-2.9828e-05,0.00924018,-0.0485423,0.0456589,0.0304269,-0.241928,0.00151536,0.00253703,0.0099442,0.0245077 2020-02-06.11:00:36.159,0.182276,0.0711217,0.307062,0.0629213,-0.1462,0.900552,0.404566,-0.00153692,-0.00740144,0.00241523,-0.0193671,0.00369544,-0.00528329,8.23772e-05,0.00213587,0.00106571,-0.000178265,0.000132875,9.72881e-05,-0.00616822,0.23795,0.0651378,-2.19112,1.88001,0.408568,-1.53361,0.00425442,0.00111549,-0.0204787,0.00227233,0,0,0,0.000472907,-0.00044483,-0.00065874,-0.000427882,-3.23829e-05,5.45953e-05,-0.000146809,-0.185175,0.0165336,0.332385,0.302133,0.00444972,0.534502,0.789306,-0.000164312,7.3191e-05,6.89281e-05,-4.52517e-07,5.79344e-05,-0.000170892,0.000329193,0.00755925,0.00823086,-8.5714e-05,-0.000206074,-0.000342554,0.0128319,0.236753,-0.0867478,0.805454,1.22274,0.124347,0.343434,0.000410363,-0.000352472,0.000352472,-0.00023605,0,0,0,0.00180257,-0.00423693,-0.00258643,0.000674491,0.000139591,-0.000124838,-2.72398e-05,-0.0823378,0.0173082,0.030157,0.30172,0.00634839,0.53969,0.785913,3.21027e-05,-8.16264e-06,2.95909e-07,1.74621e-05,6.4619e-05,-0.000111923,1.90808,-0.891536,-1.30705,-0.0296432,-0.0562869,-0.0603927,1.43649,0.293016,0.131128,2.87003,0.688238,0.964057,0,-0.000130412,2.97408e-05,0,0,0,0.178076,0.0590838,1.20203,-0.000566398,0.0643441,0.0296432,0.0779619,0.0227864,0.0349545,0.0647773,-0.142587,0.900099,0.406564,-0.000333095,-0.000803035,0.000578301,0.00957842,-0.0237206,-0.0459764,-0.942636,1.48819,0.329756,-0.0245077,0.0435871,0.0176884,-1.44523,0.346349,0.139517,-2.67858,1.01179,-1.21433,0.00724534,-0.00607905,-2.9828e-05,0.00924018,-0.0485423,0.0456589,0.0304269,-0.241928,0.00151536,0.00253703,0.0099442,0.0245077 2020-02-06.11:00:36.179,0.18225,0.0709336,0.307114,0.0623444,-0.147139,0.900128,0.405256,-0.00151392,-0.0112534,0.00354083,-0.0291775,0.00579722,-0.0072896,-0.0160832,-0.0186337,-0.000368328,0.000149848,0.000584642,-7.22296e-05,-0.00609391,0.238013,0.0646015,-2.19106,1.87704,0.408568,-1.53361,0.00423528,0.00222528,-0.0313939,0.0052132,0,0,0,-0.00906256,-0.00044483,-0.000423083,-7.59979e-05,9.28496e-05,0.000586833,-8.24851e-05,-0.185175,0.0165336,0.332385,0.302133,0.00444972,0.534502,0.789306,-0.000157852,7.10306e-05,6.69002e-05,-4.39274e-07,5.41926e-05,-0.000162346,-0.000714566,0.0112764,-0.00362724,-2.95656e-05,-6.69664e-05,2.07109e-05,0.0128319,0.236753,-0.0867478,0.805454,1.22274,0.124347,0.343434,0.000394261,-0.000342156,0.000342156,-0.000229142,0,0,0,0.00445132,-0.000244906,0.000934286,-2.92769e-05,7.69744e-05,3.94597e-07,4.9222e-06,-0.0823366,0.0173085,0.0301573,0.30172,0.00634839,0.53969,0.785913,1.97793e-05,-1.05793e-05,-3.02203e-06,1.74621e-05,6.4619e-05,-0.000111923,1.88773,-0.938624,-1.38385,-0.0291612,-0.0551182,-0.0594478,1.43649,0.293016,0.131129,2.87003,0.688238,0.964057,0,-0.000130412,1.67518e-05,0,0,0,0.188932,0.0557797,1.18515,-6.57371e-05,0.0630867,0.0291612,0.0779581,0.0227556,0.0349652,0.0647989,-0.142475,0.900144,0.406501,-0.000308085,-0.00162193,0.000640376,0.00722082,-0.0136775,-0.0175356,-1.03329,1.62244,0.44383,-0.0251504,0.0464667,0.0181337,-1.44505,0.346164,0.139517,-2.67837,1.01166,-1.2143,0.0107489,-0.0104031,-2.74453e-05,0.00713435,-0.0278429,0.0300796,0.0450595,-0.260809,0.0127637,0.00397643,0.0101801,0.0251504 2020-02-06.11:00:36.199,0.182196,0.0706032,0.307185,0.0622647,-0.146747,0.900124,0.40542,-0.00344108,-0.0201951,0.0041456,-0.04783,0.0128728,-0.0161221,-1.55602e-05,-0.0250226,-0.013354,-3.19528e-05,0.00032199,-8.32946e-05,-0.00594528,0.238202,0.0636236,-2.19086,1.87704,0.408568,-1.53361,0.00956912,0.012304,-0.0601148,0.0113422,0,0,0,-0.00694357,0.00553795,0.00811889,1.19731e-05,-9.49992e-05,0.000336368,-2.88818e-05,-0.185175,0.0165336,0.332385,0.302133,0.00444972,0.534502,0.789306,-0.00014834,6.57859e-05,6.19516e-05,-4.06688e-07,5.28964e-05,-0.000155021,0.00577857,-0.00255499,-0.0121636,-9.91859e-05,-8.75116e-05,0.000107339,0.0128319,0.236753,-0.0867478,0.805454,1.22274,0.124347,0.343434,0.000370462,-0.000316774,0.000316774,-0.000212144,0,0,0,-0.000316419,0.00507955,0.00530749,-0.000205219,0.000139591,-3.09135e-05,1.56429e-05,-0.0823366,0.0173085,0.0301573,0.30172,0.00634839,0.53969,0.785913,1.97793e-05,-1.05793e-05,-3.02203e-06,1.74621e-05,6.4619e-05,-0.000111923,1.87261,-0.979505,-1.40178,-0.0288398,-0.0552297,-0.0602869,1.43649,0.293016,0.131129,2.87003,0.688238,0.964057,0,-0.000130412,1.67518e-05,0,0,0,0.192708,0.0505874,1.19359,5.94282e-05,0.0639772,0.0288398,0.0779372,0.0227241,0.0349852,0.0638612,-0.143671,0.899448,0.407767,-0.00102664,-0.00203676,0.000997053,0.0642195,-0.0942822,-0.133183,-1.22555,1.82202,0.525397,-0.0225797,0.0427355,0.0132216,-1.44476,0.345863,0.139515,-2.67816,1.00865,-1.21071,0.015941,-0.0171356,-5.42976e-05,0.00643435,-0.126722,0.153757,0.0639403,-0.288186,-0.0294176,0.00353835,0.0084681,0.0225797 2020-02-06.11:00:36.219,0.182116,0.070095,0.30728,0.0623399,-0.149183,0.8992,0.406569,-0.00477702,-0.0297891,0.00515097,-0.056343,-0.00324808,-0.0258431,0.00589851,-0.0208576,-0.0120982,0.000410507,0.000636658,-0.000134578,-0.00572233,0.238548,0.0620937,-2.19088,1.87112,0.405607,-1.53361,0.0132854,0.0218861,-0.0904088,0.00257234,-0.0208063,0,0,-0.00429483,0.00462223,0.00779663,0.000275886,0.000218082,0.000712066,7.83248e-05,-0.185175,0.0165336,0.332385,0.302133,0.00444972,0.534502,0.789306,-0.000140086,6.13475e-05,5.77646e-05,-3.79126e-07,5.15412e-05,-0.000148377,-0.00722162,0.00245917,-0.011869,-0.000436443,-0.000132494,0.000230197,0.0128319,0.236753,-0.0867478,0.805454,1.22274,0.124347,0.343434,0.000349815,-0.000295306,0.000295306,-0.000197767,0,0,0,0.00339182,0.0041691,0.00207781,-0.000557103,0.000327439,-0.000281378,-5.79846e-06,-0.0823342,0.017309,0.0301579,0.30172,0.00634839,0.53969,0.785913,0.000325492,4.93686e-05,7.92858e-05,1.74621e-05,6.4619e-05,-0.000111923,1.89612,-0.932613,-1.3362,-0.0285988,-0.0554157,-0.0604128,1.43649,0.293016,0.131131,2.87003,0.688238,0.964057,0,-0.000130412,-0.000133988,0,0,0,0.182324,0.0510595,1.18797,0.000184593,0.0644751,0.0298038,0.0779234,0.022659,0.0350085,0.0634913,-0.143921,0.899187,0.408312,-0.000982548,-0.00358687,0.00133012,0.0317329,-0.0626711,-0.113348,-1.52573,2.15155,0.767064,-0.0252307,0.0464607,0.0130634,-1.44436,0.345415,0.139509,-2.67774,1.00687,-1.20926,0.0237539,-0.0262654,-0.000301075,0.0146188,-0.130125,0.115994,0.0936776,-0.336332,-0.0687867,0.00353835,0.00819376,0.02507 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