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 2020-02-06.11:32:06.27,0.124286,0.040307,0.385558,0.0137729,-0.269984,0.775379,0.570707,-0.015817,-0.0288512,0.021242,0.0318293,-0.00913003,-0.0109289,0.000464442,0.0103335,-0.047405,-1.53121e-05,0.000315694,-0.000110371,0.155147,0.0288777,0.0444419,-1.19764,1.26715,-0.0355277,-0.657262,0.0371852,0.000581677,-0.0937094,0.00481825,0.0406688,-0.125835,0,-0.00800307,0.0140263,0.0141658,9.99441e-05,-6.3691e-05,-8.02096e-06,3.54422e-05,-0.123751,0.0794057,0.342524,0.0836519,0.289861,0.542853,0.783769,-4.58862e-07,9.18002e-05,6.67618e-05,1.02214e-05,-0.000210192,0.000239086,-0.0045128,0.0103207,0.00222311,-0.00020889,-4.46062e-05,0.000122807,-0.162133,0.106504,0.131364,1.47402,0.618773,-0.571403,0.390804,-5.09954e-05,-0.000401256,0.000401256,-0.000268721,0,0,0,0.00233232,-0.00257534,-0.000798381,-0.000381161,-1.695e-05,-6.22216e-05,2.63635e-05,-0.135155,-0.00780055,0.0214161,0.0823202,0.286635,0.541644,0.78593,3.08277e-05,2.0229e-05,-3.30814e-05,5.42101e-20,0.000589055,0.000340091,-0.731638,-3.34334,-1.51194,0.0198418,0.0284763,0.033204,1.24002,0.0593878,0.0752367,2.21097,0.0233648,0.73035,0.000680182,0,1.64804e-05,0,0,0,0.148811,-0.213744,1.08673,0.00694352,-0.0367066,-0.0198418,0.126971,-0.00743603,0.0291903,0.0185274,-0.258133,0.777108,0.573696,-0.00721017,-0.00226946,0.00337078,0.112628,-0.0578069,-0.054128,-7.72467,1.58987,5.84547,-0.0853196,0.0576334,-0.0312762,-1.20628,0.146879,0.086154,-2.84256,0.405537,-0.865112,0.0201053,-0.0195061,0.00806931,-0.0914159,-0.0198402,0.0842742,0.361313,-0.566678,1.54816,0.000284055,0.00910974,0.0853196 2020-02-06.11:32:06.45,0.12377,0.0392643,0.386316,0.0146218,-0.271248,0.775165,0.570377,-0.0181979,-0.0395594,0.0290097,0.0665398,-0.039768,0.00394434,0.0142205,0.00136023,-0.0390715,0.000101234,0.000446074,-0.000496439,0.156336,0.0289092,0.0410705,-1.19777,1.27011,-0.0414489,-0.657262,0.0412575,0,-0.127176,-0.0068176,0.0561774,-0.199546,0,-0.00058659,0.0129407,0.0158119,0.00106763,-0.00025154,0.000211136,-3.96024e-05,-0.123755,0.0794267,0.34254,0.0836343,0.289845,0.542873,0.783763,-3.67346e-05,0.000271858,0.00019842,3.08252e-05,-0.00058249,0.000632002,0.00307878,-0.00210901,-0.0322046,-0.000127449,-1.42291e-05,8.97032e-05,-0.162133,0.10641,0.131458,1.47396,0.618773,-0.571403,0.390804,-5.09954e-05,-0.00121009,0.00121009,-0.000810398,0,0,0,0.00604056,0.0085831,0.00375156,-0.00029319,-4.82581e-05,3.94597e-07,-5.79846e-06,-0.135154,-0.0078003,0.0214157,0.0822894,0.286616,0.541657,0.785931,2.47676e-07,-2.16578e-05,3.92847e-05,-7.83062e-05,-0.000817018,-0.000194817,-0.596826,-3.2343,-1.43399,0.0210468,0.0275521,0.0327174,1.24003,0.0593878,0.0752367,2.21097,0.0233648,0.730432,-0.000617001,0,1.49315e-05,0,0,0.000314585,0.150699,-0.202415,1.07548,0.00719385,-0.0369208,-0.0210468,0.126702,-0.00754021,0.0293491,0.0176533,-0.259534,0.775851,0.574792,-0.00945192,-0.00582284,0.00560903,0.203135,-0.00154454,-0.0598043,-10.5144,1.01703,8.31309,-0.0891755,0.0673668,-0.0538831,-1.20508,0.145813,0.0864599,-2.84402,0.401985,-0.86099,0.0589788,-0.0509924,0.0112412,-0.198088,-0.0421627,0.0530619,0.591186,-0.724805,1.58191,-9.1441e-05,0.0109094,0.0891755 2020-02-06.11:32:06.65,0.123584,0.0388455,0.386632,0.0157946,-0.27058,0.775464,0.570257,-0.0185403,-0.0430223,0.0313065,0.076651,-0.00989237,0.0245216,-0.00729159,0.0101969,-0.0460044,-0.000144814,0.000335497,0.000263056,0.156757,0.0288777,0.0397345,-1.19777,1.27307,-0.0414489,-0.657262,0.0413416,0.00041947,-0.138049,-0.00775929,0.0963559,-0.199546,0,-0.00323533,0.01736,0.0137534,-0.000515853,-0.000376772,0.000179828,-2.88818e-05,-0.123755,0.0794267,0.34254,0.0836343,0.289845,0.542873,0.783763,-3.67346e-05,0.000271858,0.00019842,3.08252e-05,-0.00058249,0.000632002,-0.0144527,0.00125863,-0.0253764,-3.31262e-05,-0.000161626,-9.59808e-05,-0.162133,0.10641,0.131458,1.47396,0.618773,-0.571403,0.390804,-5.09954e-05,-0.00121009,0.00121009,-0.000810398,0,0,0,0.00762981,0.00243048,-0.00299883,5.86941e-05,0.000202207,3.94597e-07,-7.01224e-05,-0.135154,-0.00779984,0.0214159,0.0822865,0.286615,0.541659,0.78593,1.17012e-06,-1.63904e-05,3.6844e-05,-9.42552e-05,-0.000779796,-0.000119689,-0.585312,-3.18627,-1.39133,0.0206451,0.0275129,0.0325451,1.24003,0.0593955,0.0752367,2.21097,0.0233648,0.730432,-0.000547202,4.91138e-05,1.44436e-05,0,0,0.000314585,0.148339,-0.198167,1.07548,0.00706868,-0.0368814,-0.0206451,0.126602,-0.00760881,0.0294158,0.0179627,-0.260068,0.775547,0.574951,-0.00981412,-0.00729055,0.00738608,0.0754317,-0.00825424,-0.0375767,-11.2533,0.733709,9.0383,-0.0886935,0.0717627,-0.0621364,-1.20437,0.145203,0.0865818,-2.84528,0.401301,-0.860352,0.0796784,-0.0641196,0.0122341,-0.0652428,-0.0879585,0.0762778,0.662933,-0.760206,1.54254,0.000784716,0.00849949,0.0886935 2020-02-06.11:32:06.85,0.123188,0.0378671,0.387345,0.0181449,-0.273365,0.775139,0.569299,-0.0194046,-0.0509305,0.0369111,0.218531,-0.0225126,0.052459,-0.0164271,0.0115877,-0.0409288,-3.31772e-05,0.000318793,0.000685809,0.157624,0.0288777,0.036605,-1.19791,1.279,-0.0503309,-0.657262,0.0418244,0.00041947,-0.162726,0.00468187,0.181428,-0.348664,0,-0.00429483,0.0160328,0.0101703,-0.00139556,-0.000345464,0.000398985,-8.24851e-05,-0.123749,0.079442,0.342551,0.0836162,0.289831,0.542895,0.783755,-7.8014e-05,0.00068672,0.000500835,7.76405e-05,-0.00148803,0.00162818,0.0109565,-0.0079314,-0.00238803,0.000264928,0.000194207,-0.000149603,-0.162157,0.106347,0.131521,1.47392,0.618773,-0.571403,0.390804,-0.000170656,-0.00304743,0.00304743,-0.00204087,0,0,0,-0.00243541,0.00383467,0.0033427,0.00058652,-4.82581e-05,-6.22216e-05,4.78048e-05,-0.135154,-0.00779897,0.0214159,0.082227,0.286618,0.541714,0.785898,1.26716e-05,1.31495e-06,5.78354e-06,-9.35196e-05,-0.000304895,0.000152166,-0.383284,-3.13098,-1.29206,0.0212074,0.0263811,0.0313076,1.24002,0.0593955,0.0752367,2.21097,0.0232282,0.730543,0,4.69662e-05,1.36075e-05,0,0,0.000314585,0.154003,-0.185422,1.11766,0.00688093,-0.0370518,-0.0212074,0.126397,-0.00780364,0.0295936,0.0186779,-0.261152,0.775069,0.575082,-0.00939564,-0.0114313,0.00947701,0.236931,0.0336691,-0.00779191,-12.1236,0.310515,9.99479,-0.0887739,0.0729314,-0.07033,-1.20219,0.143573,0.0868514,-2.84759,0.399798,-0.858554,0.131801,-0.0911594,0.0131752,-0.216435,-0.0476348,0.0666968,0.759225,-0.805048,1.51442,3.37242e-05,0.00942938,0.0887739 2020-02-06.11:32:06.105,0.122804,0.0368215,0.388096,0.0190309,-0.276089,0.774617,0.568667,-0.0204977,-0.057009,0.0412536,0.379558,-0.0366378,0.0972353,0.0161841,0.00443391,-0.0220382,0.000136661,0.000506557,1.53304e-05,0.158442,0.0289092,0.0332599,-1.19791,1.28196,-0.0592128,-0.657262,0.0433245,0.000973256,-0.182215,0.0030706,0.281201,-0.505138,0,0.00206215,0.00711725,0.0102327,0.000187915,-0.000314156,0.000398985,7.83248e-05,-0.123751,0.0794466,0.342565,0.0835985,0.28983,0.542899,0.783754,-9.36544e-05,0.000764365,0.000557533,8.65132e-05,-0.00164845,0.00179757,0.00615377,-0.00924831,0.00833726,-0.000299688,0.000301728,-1.24829e-05,-0.162157,0.106284,0.131558,1.47389,0.618773,-0.571403,0.390804,-0.000170656,-0.00339606,0.00339606,-0.00227434,0,0,0,-0.00508415,8.95175e-05,0.000317454,-0.000205219,-0.000110874,-0.000437919,2.63635e-05,-0.135154,-0.00779826,0.0214157,0.0821933,0.286599,0.541729,0.785898,3.81475e-06,-9.50702e-06,2.62234e-05,6.53705e-05,-3.40721e-05,-0.000254377,-0.275806,-3.02344,-1.17674,0.0221714,0.0245414,0.0297622,1.24003,0.0594033,0.0752367,2.21097,0.0232282,0.730625,-0.000360477,5.99774e-05,1.28481e-05,0,0,-0.000341057,0.152115,-0.174566,1.13454,0.00694352,-0.0356289,-0.0221714,0.126198,-0.00808503,0.0298237,0.020068,-0.263285,0.774252,0.575163,-0.00932629,-0.0156111,0.0124089,0.220826,-0.0105033,0.0397982,-12.4382,0.188947,10.2961,-0.0902199,0.0727398,-0.0696375,-1.19888,0.141341,0.0871444,-2.85199,0.398432,-0.855643,0.182494,-0.120581,0.0146809,-0.156272,-0.0440352,0.147694,0.787547,-0.831953,1.52848,0.000534385,0.0129135,0.0902199 2020-02-06.11:32:06.125,0.122345,0.0355388,0.389025,0.0226795,-0.278363,0.774451,0.567649,-0.0219099,-0.0628471,0.0458126,0.427061,-0.00102477,0.113512,0.00111928,-0.0017628,-0.0312769,0.000228205,0.000151409,0.000323987,0.159408,0.0289407,0.0291522,-1.1977,1.29084,-0.0680947,-0.657262,0.045781,0.000929816,-0.201149,0.0131591,0.345554,-0.544213,0,-0.00482458,0.012946,0.0122564,-0.000515853,0.000186774,0.000242444,1.40009e-05,-0.123744,0.0794524,0.34258,0.0835744,0.289825,0.542911,0.78375,-8.08393e-05,0.000724648,0.000528324,8.18923e-05,-0.00157169,0.00172126,0.00578672,-0.0209994,-0.00613308,-7.9441e-05,0.000241739,-1.42265e-05,-0.162182,0.106221,0.131594,1.47387,0.618773,-0.571403,0.390804,-0.000184318,-0.00321453,0.00321453,-0.00215277,0,0,0,-0.00455441,0.00467336,0.000376368,-0.000117248,-0.000173491,-0.000124838,-4.86811e-05,-0.135153,-0.00779747,0.0214166,0.0821875,0.286598,0.541733,0.785896,-7.85788e-06,1.64118e-05,2.9768e-05,-5.28603e-05,-0.000136017,8.43388e-05,-0.400924,-2.88205,-1.0537,0.0213681,0.0245702,0.0304546,1.24003,0.0594187,0.075238,2.21097,0.0232282,0.730625,-0.000279406,0.000424021,0,0,0,-0.000341057,0.137482,-0.16843,1.12891,0.0073816,-0.0349738,-0.0213681,0.125998,-0.00845105,0.0300892,0.0220588,-0.265848,0.773801,0.574517,-0.0109187,-0.0194282,0.0147444,0.399877,-0.024601,0.0329154,-12.4665,-0.199428,10.8987,-0.0924692,0.0710597,-0.0706331,-1.19477,0.13853,0.0874659,-2.85682,0.398432,-0.852539,0.224874,-0.14622,0.0176009,-0.308688,-0.0130444,0.197351,0.840413,-0.830065,1.63534,3.37242e-05,0.0134991,0.0924692 2020-02-06.11:32:06.145,0.121871,0.0341848,0.390014,0.0249075,-0.281943,0.773686,0.566831,-0.0230861,-0.0663398,0.04859,0.414798,0.0128529,0.0940282,-0.00354503,-0.00513496,-0.0171812,-0.000100205,2.2123e-06,-0.000183264,0.160349,0.0289722,0.0249919,-1.19715,1.29676,-0.0799372,-0.657262,0.0479972,0.00168534,-0.213035,0.0317944,0.344364,-0.54223,0,0.0015324,0.011948,0.0111406,-0.000691795,-1.0748e-06,0.00014852,-7.17644e-05,-0.123736,0.0794512,0.342591,0.0835561,0.289826,0.542917,0.783748,-0.000219417,0.000416278,0.000307139,4.97717e-05,-0.000707531,0.000617203,0.00186695,-0.00459644,-0.00086435,0.000270439,0.000372397,-0.000271855,-0.162207,0.106189,0.1316,1.47386,0.618773,-0.571403,0.390804,0.000383239,-0.00195361,0.00195361,-0.00130833,0,0,0,-0.000846168,0.000758364,-3.24961e-05,0.000762462,-7.95662e-05,-0.000218762,4.9222e-06,-0.135153,-0.00779726,0.0214173,0.0821834,0.286594,0.541734,0.785897,-3.20302e-06,2.49724e-05,1.87895e-05,-6.1971e-05,3.43748e-05,0.000213342,-0.422911,-2.85678,-1.00016,0.0231354,0.0256097,0.0311782,1.24002,0.0594264,0.075238,2.21097,0.0232282,0.730625,-6.73408e-05,0.000452066,0,0,0,-0.000341057,0.136066,-0.167014,1.15141,0.00725643,-0.0360308,-0.0231354,0.125796,-0.00887739,0.030405,0.0238578,-0.269152,0.773059,0.573906,-0.00977904,-0.0237454,0.0175752,0.333249,-0.0867087,0.099339,-11.9888,-0.280576,10.4424,-0.0919069,0.0695458,-0.0667359,-1.18983,0.135318,0.0878159,-2.86206,0.398022,-0.847386,0.275863,-0.175735,0.0182252,-0.185177,-0.00701078,0.294966,0.804539,-0.805992,1.53129,-2.88584e-05,0.0130406,0.0919069 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