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 2020-02-06.10:41:35.353,0.175532,0.0691647,0.350088,-0.0538535,0.0243779,0.838842,0.541155,0.000111696,0.00166586,-0.000387204,0.00366488,-0.00553316,0.00622966,-0.0484352,0.000459581,-1.46547,-0.00202245,-0.0118401,-0.000556642,0.0128071,0.0806812,0.123104,-0.157328,0.74312,0.0444096,0.32567,-0.000274199,-0.00156151,0.00524756,-0.00805408,0,0,0,-0.0509127,0.471615,0.197931,0.00625792,0.0116455,-0.0026379,0.00360542,-0.181653,0.0934983,0.372881,0.0734113,0.226455,0.621087,0.746713,0.000451302,0.000561421,-0.000193016,0.00133564,-0.000733009,0.00124602,-0.0433263,-0.625928,-1.11891,0.000799946,-0.00533671,-0.000842462,0.00522689,-0.0524333,0.234786,0.559841,0.598049,-0.0148032,0.201323,-0.00141946,-0.000379696,0.00171538,-2.65725e-05,0,0,0,-0.0225658,0.342515,0.0950173,0.00260985,0.00508627,0.00131534,-0.000477507,-0.0926713,0.0286649,0.0185144,0.0815533,0.221213,0.616808,0.750974,-1.82806e-06,1.88027e-06,7.68623e-06,3.61636e-07,-7.15173e-05,1.75811e-05,7.85528,-2.31298,-6.20291,-0.00939931,-0.0371049,-0.0759698,1.57789,0.327838,0.119716,2.31938,0.378346,0.882687,-5.31453e-05,5.09857e-05,0,0,0,0,1.03007,0.0510595,0.901134,-0.000628981,0.0107641,0.00939931,0.0756763,0.0245039,0.0171348,-0.0485769,0.00970106,0.849656,0.525006,-1.1795e-07,2.83394e-06,-4.90853e-06,-2.09641e-20,-3.94819e-05,-2.27949e-05,4.17736,-2.77737,-3.78915,-0.0245077,0.0376066,0.065144,-1.58059,0.268357,0.136241,-2.40955,0.675667,-1.29914,-4.55897e-05,0,0,0,0,0,-0.732829,0.207434,-0.274069,0.00929595,0.0137943,0.0232224 2020-02-06.10:41:35.372,0.175532,0.0691885,0.350094,-0.054036,0.0242362,0.838964,0.540956,0.000109998,0.00121679,0.000126485,0.00163708,-0.0191056,0.0215125,-0.0715575,-0.00182737,-1.46566,-0.0016024,-0.0124469,-0.000843314,0.0128071,0.0806182,0.123193,-0.157984,0.74312,0.0444096,0.32567,-0.000274199,-0.00265623,0.00438458,-0.0285104,0,0,0,-0.0429665,0.47389,0.189105,0.0102166,0.0115203,-0.00257529,0.00348749,-0.181653,0.0934983,0.372881,0.0734113,0.226455,0.621087,0.746713,-0.000308401,0.00053545,-0.000178798,0.00125974,0.000472518,-0.000838332,-0.0447852,-0.614864,-1.16061,0.00150657,-0.00575932,-0.00102926,0.00522689,-0.0524333,0.234786,0.559841,0.598049,-0.0148032,0.201323,0.000980568,-0.000368621,0.0016284,-1.86011e-05,0,0,0,-0.0130304,0.352177,0.0990129,0.00410536,0.00536805,0.00147188,-0.000241653,-0.0926713,0.0286649,0.0185144,0.0815533,0.221213,0.616808,0.750974,-1.84875e-06,-5.51181e-07,1.15706e-05,3.5083e-07,-0.000107712,-5.07493e-06,7.91316,-2.33769,-6.24536,-0.00980098,-0.0376963,-0.0767138,1.57789,0.327838,0.119716,2.31938,0.378346,0.882687,-9.58187e-05,4.94622e-05,0,0,0,0,1.03338,0.0505874,0.901134,-0.000816729,0.0107508,0.00867632,0.0756763,0.0245039,0.0171348,-0.0485769,0.00970106,0.849656,0.525006,-1.14291e-07,2.74604e-06,-4.75628e-06,-1.73642e-20,-3.82572e-05,-2.20878e-05,4.18697,-2.77882,-3.81266,-0.0237847,0.037082,0.0642773,-1.58059,0.268357,0.136241,-2.40955,0.675667,-1.29914,-4.41756e-05,0,0,0,0,0,-0.727637,0.206018,-0.268445,0.00979661,0.0138687,0.0237847 2020-02-06.10:41:35.392,0.175541,0.0692028,0.350104,-0.0540967,0.0241942,0.839004,0.540888,-0.000225469,0.00112289,0.000288503,0.00111697,-0.012252,0.0135316,-0.0970954,0.0193684,-1.50201,-0.000761166,-0.0120856,-0.00182843,0.0127823,0.0805553,0.123256,-0.158176,0.74312,0.0444096,0.32567,0.000686965,-0.00307273,0.00423874,-0.0189234,0,0,0,-0.0424367,0.470495,0.179686,0.0118001,0.0113638,-0.00266921,0.00351966,-0.181669,0.0934983,0.372881,0.0734239,0.226463,0.62107,0.746723,-0.000472675,0.00045442,-0.000144804,0.00105005,0.000809043,-0.00137634,-0.031418,-0.610936,-1.12906,0.0011789,-0.00613972,-0.0011623,0.00527643,-0.0524333,0.234786,0.559841,0.598049,-0.0148032,0.201323,0.00149876,-0.000335943,0.00138591,9.93526e-05,0,0,0,-0.0167386,0.346338,0.101272,0.00375348,0.00580636,0.00140926,-0.000498949,-0.092671,0.0286645,0.0185131,0.0817317,0.221137,0.616872,0.750924,-1.80126e-06,-6.8012e-07,1.14958e-05,3.40977e-07,-0.000107017,-6.27796e-06,7.88392,-2.34615,-6.22783,-0.0103633,-0.0369126,-0.077483,1.57789,0.327838,0.119716,2.3198,0.378346,0.882687,-9.58187e-05,4.8073e-05,0,0,0,0,1.03338,0.0496434,0.920819,-0.00188063,0.0115502,0.0103633,0.0756763,0.0245039,0.0171348,-0.0485769,0.00970106,0.849656,0.525006,-1.10994e-07,2.66682e-06,-4.61907e-06,-1.75759e-20,-3.71536e-05,-2.14506e-05,4.15839,-2.78237,-3.80854,-0.0245881,0.0382055,0.0654987,-1.58059,0.268357,0.136241,-2.40955,0.675667,-1.29914,-4.29013e-05,0,0,0,0,0,-0.725749,0.202714,-0.288129,0.0104224,0.0150039,0.0245881 2020-02-06.10:41:35.412,0.175541,0.0692122,0.350099,-0.0541379,0.0241499,0.839035,0.540838,-0.000231053,0.000561094,0.000387,-2.11955e-05,-0.00510508,0.0055251,-0.101692,-0.00146596,-1.54269,-0.000741969,-0.0123697,-0.0015872,0.0127823,0.0805553,0.123283,-0.158343,0.74312,0.0444096,0.32567,0.000686965,-0.00245343,0.00245343,-0.00826871,0,0,0,-0.0477342,0.475655,0.182414,0.0106565,0.0113638,-0.00270052,0.00353038,-0.181669,0.0935062,0.372885,0.0734178,0.226458,0.621076,0.74672,-0.000473327,0.000317803,-0.000160293,0.000899412,0.000994498,-0.00159268,-0.0345431,-0.609859,-1.12906,0.0010757,-0.0056161,-0.00082964,0.00527643,-0.0524648,0.234817,0.55982,0.598049,-0.0148032,0.201323,0.00149876,0,0.000899057,0.000384153,0,0,0,-0.0167386,0.34534,0.099744,0.00296174,0.00530543,0.0015658,-0.000413183,-0.092671,0.0286645,0.0185131,0.0817317,0.221137,0.616872,0.750924,-1.75605e-06,-8.03264e-07,1.14244e-05,3.31566e-07,-0.000106354,-7.42694e-06,7.93218,-2.35648,-6.26107,-0.0106846,-0.0373593,-0.0786451,1.57789,0.327838,0.119716,2.3198,0.378346,0.882687,-9.58187e-05,4.67462e-05,0,0,0,0,1.03857,0.0501154,0.926443,-0.00225613,0.0122924,0.0106846,0.0756763,0.0245039,0.0171348,-0.0485769,0.00970106,0.849656,0.525006,-1.07821e-07,2.59059e-06,-4.48703e-06,-1.73642e-20,-3.60915e-05,-2.08375e-05,4.15199,-2.77652,-3.81042,-0.0236241,0.036836,0.0634432,-1.58059,0.268357,0.136241,-2.40955,0.675667,-1.29914,-4.17003e-05,0,0,0,0,0,-0.728581,0.203186,-0.257196,0.0101721,0.0160998,0.0249897 2020-02-06.10:41:35.432,0.175532,0.0692102,0.350109,-0.0541835,0.0241346,0.839058,0.5408,-0.000211367,-3.52685e-05,1.95935e-05,-0.000105797,0.000350831,-0.000576211,-0.0950584,0.00939539,-1.49425,-0.00145259,-0.0118555,-0.00121856,0.0128071,0.0805238,0.123314,-0.158364,0.74312,0.0444096,0.32567,0.000604917,0,0,-0.00487422,0,0,0,-0.0429665,0.475984,0.183879,0.00986473,0.0116142,-0.00235613,0.0036483,-0.181661,0.0935075,0.372876,0.0734653,0.226479,0.621041,0.746739,0.000668651,-8.18894e-05,-0.000116143,0.000207225,-0.000912913,0.00166034,-0.063129,-0.636971,-1.18196,0.00134927,-0.00611289,-0.00104802,0.00525166,-0.0524333,0.234812,0.559973,0.598049,-0.0148032,0.201323,-0.00211478,0.000608652,-0.000401638,0.000224139,0,0,0,-0.0156791,0.356853,0.0942862,0.00375348,0.00574374,0.00162842,-0.000423904,-0.092671,0.0286645,0.0185131,0.0817317,0.221137,0.616872,0.750924,-1.71264e-06,-9.215e-07,1.13558e-05,3.22531e-07,-0.000105717,-8.53011e-06,7.87517,-2.34585,-6.21722,-0.00988131,-0.0360896,-0.0777964,1.57789,0.327838,0.119716,2.3198,0.378346,0.882687,-9.58187e-05,4.54986e-05,0,0,0,0,1.03762,0.0449232,0.923631,-0.00294454,0.0116024,0.00972064,0.0756763,0.0245039,0.0171348,-0.0485769,0.00970106,0.849656,0.525006,-1.04859e-07,2.51941e-06,-4.36375e-06,-1.56701e-20,-3.50999e-05,-2.02649e-05,4.2139,-2.81287,-3.8246,-0.0224994,0.0360124,0.0643421,-1.58059,0.268357,0.136241,-2.40955,0.675667,-1.29914,-4.05299e-05,0,0,0,0,0,-0.729997,0.210738,-0.279693,0.00979661,0.0139731,0.0224994 2020-02-06.10:41:35.452,0.175532,0.0692029,0.350104,-0.0542204,0.0241091,0.839081,0.54076,-0.000215705,-0.000317385,-0.000168578,-0.000128745,-0.00150085,0.00150408,-0.0869975,-0.00854845,-1.50745,-0.00121661,-0.0119013,-0.00118249,0.0128071,0.0805553,0.123256,-0.158623,0.74312,0.0444096,0.32567,0.000604917,0.00120273,-0.00132445,-0.00271409,0,0,0,-0.0509127,0.474975,0.18793,0.0099527,0.0113951,-0.00238744,0.00345533,-0.18163,0.0934917,0.372868,0.0734523,0.226473,0.621061,0.746725,0.00194611,-0.000247737,-0.000201126,0.00020787,-0.00265267,0.00483008,-0.0323716,-0.591068,-1.13041,0.000975922,-0.0056335,-0.00063741,0.00515257,-0.0523704,0.234749,0.560015,0.598049,-0.0148032,0.201323,-0.00615363,0.00125255,-0.00104529,0.000655192,0,0,0,-0.0114411,0.344336,0.100888,0.00243391,0.00533674,0.00175365,-0.000413183,-0.092671,0.0286645,0.0185131,0.0817317,0.221137,0.616872,0.750924,-1.67341e-06,-1.02832e-06,1.12938e-05,3.14368e-07,-0.000105142,-9.5268e-06,7.91013,-2.29709,-6.22744,-0.010042,-0.0361926,-0.0777957,1.57789,0.327838,0.119716,2.3198,0.378346,0.882687,-9.58187e-05,4.43215e-05,0,0,0,0,1.03432,0.0548356,0.89551,-0.00256904,0.0110961,0.010042,0.0756763,0.0245039,0.0171348,-0.0485769,0.00970106,0.849656,0.525006,-1.02094e-07,2.45297e-06,-4.24867e-06,-1.43996e-20,-3.41743e-05,-1.97305e-05,4.16812,-2.74729,-3.81584,-0.0233027,0.0368648,0.0648271,-1.58059,0.268357,0.136241,-2.40955,0.675667,-1.29914,-3.94611e-05,0,0,0,0,0,-0.723389,0.209794,-0.290941,0.00992178,0.0150256,0.0240257 2020-02-06.10:41:35.472,0.175532,0.0691885,0.350094,-0.0542083,0.0241175,0.839073,0.540773,-0.000217476,-0.000432031,-0.000244936,-0.00013338,-0.000959297,0.000895876,-0.076908,-0.0041275,-1.48003,-0.001008,-0.0120701,-0.00116213,0.0128071,0.0806182,0.123193,-0.158581,0.74312,0.0444096,0.32567,0.000604917,0.00169102,-0.00181949,-0.00189974,0,0,0,-0.0472044,0.467726,0.18705,0.0101286,0.011489,-0.00213697,0.00347677,-0.181591,0.0934837,0.372864,0.073427,0.226458,0.621097,0.746702,0.00222819,0.000717897,0.000293204,0.00019886,-0.00477771,0.00756698,-0.0428217,-0.555833,-1.15374,0.000991657,-0.00604739,-0.000800355,0.00502871,-0.0523389,0.234717,0.560036,0.598049,-0.0148032,0.201323,-0.00702732,-0.00263972,0.00284036,-0.00194702,0,0,0,0.00233232,0.34534,0.0996851,0.00287377,0.00574374,0.00162842,-0.000423904,-0.092671,0.0286641,0.0185138,0.08173,0.221135,0.616871,0.750926,-1.04047e-06,1.75675e-05,-2.11672e-05,3.05706e-07,0.000197299,0.000163732,7.88305,-2.35134,-6.18594,-0.00931898,-0.0347711,-0.0766389,1.57788,0.327838,0.119716,2.3198,0.378346,0.882687,0.000252732,4.31472e-05,0,0,0,0,1.03243,0.0515315,0.94894,-0.00263162,0.0095461,0.00931898,0.0756763,0.0245039,0.0171348,-0.0485769,0.00970106,0.849656,0.525006,-9.92873e-08,2.38554e-06,-4.13188e-06,-1.69407e-20,-3.32349e-05,-1.91882e-05,4.16706,-2.79106,-3.77639,-0.0249897,0.0376832,0.0661739,-1.58059,0.268357,0.136241,-2.40955,0.675667,-1.29914,-3.83763e-05,0,0,0,0,0,-0.722917,0.205546,-0.282505,0.0101095,0.0157156,0.0249897 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