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 2020-02-06.11:33:23.127,0.109028,0.0539498,0.36451,0.0696172,-0.110086,0.905663,0.403495,-1.7649e-05,-5.39825e-05,-7.36343e-05,5.14036e-05,-0.000690139,0.000854534,-0.00520582,0.0108375,0.0195616,0.000327939,-7.3705e-05,6.05282e-05,0.197358,0.0814055,0.0619727,-1.12361,1.37078,0.361198,-0.165796,2.54419e-06,0.000367232,-0.000283413,-0.00109894,0,0,0,0.00100266,-0.00767775,-0.00890614,-7.59979e-05,0.000186774,0.000336368,-7.17644e-05,-0.116681,0.0759748,0.33117,0.0680944,0.261904,0.547232,0.792027,0.000131265,-1.06357e-05,-1.72859e-05,4.36604e-06,-0.000105811,0.000235636,0.0107896,-0.00702571,-0.0026832,0.000348481,0.000215346,-2.40977e-05,-0.177714,0.158276,0.0992101,1.46915,0.663183,-0.609892,0.384883,-0.000351903,0.00015551,-0.000146568,9.81564e-05,0,0,0,0.000213329,-0.000574066,-0.00159195,-0.000821016,0.000264823,0.000313476,-2.72398e-05,-0.132102,-0.0090697,0.0167638,0.0673762,0.261704,0.54785,0.791727,-4.53616e-05,-1.5196e-05,-1.22202e-05,0.00033001,0.000376496,-0.00099189,-3.00084,-1.13858,-0.817404,-0.000241385,0.0195315,0.0203224,1.30377,0.0125494,0.0770385,2.22942,0.0642192,0.862027,-6.55485e-05,-0.000216291,-4.4309e-05,0,0.000622079,-0.000633791,-0.0871993,-0.188727,0.13906,-0.000816729,-0.000833398,0.000241385,0.120864,-0.00268272,0.0212196,0.0707382,-0.112486,0.906661,0.400386,-6.48646e-06,-4.78098e-05,-3.03374e-05,-0.00373857,0.000311509,-0.000872159,-0.90607,3.60961,-3.6661,0.0514067,0.00738532,-0.0631266,-1.36319,0.17475,0.0911525,-2.68089,0.828974,-1.2643,-0.000158405,-0.000970534,-1.63423e-05,0.00273647,-0.00262987,-0.000922086,-0.238624,-0.256561,0.909818,-0.000967598,-0.0541679,-0.0514067 2020-02-06.11:33:23.145,0.109027,0.0539427,0.364505,0.0696223,-0.110084,0.90566,0.403503,-1.13138e-05,-3.70677e-05,-6.11044e-05,4.92278e-05,-0.000702894,0.000872702,-0.00600293,0.0115045,-0.00694504,-0.000373544,0.000490149,0.000134986,0.197358,0.081437,0.0619412,-1.12359,1.37078,0.361198,-0.165796,-3.28947e-06,0.000287866,-0.000205796,-0.00111538,0,0,0,0.000472907,0.00230758,-0.00171566,-0.000515853,-0.00040808,-0.000258486,-1.81611e-05,-0.116681,0.0759748,0.33117,0.0680944,0.261904,0.547232,0.792027,0.000131288,-1.08341e-05,-1.72007e-05,3.80761e-06,-0.000105637,0.000235324,-0.00257276,0.00969136,-0.00382817,0.000206349,0.000532627,-0.000299237,-0.177714,0.158276,0.0992101,1.46915,0.663183,-0.609892,0.384883,-0.000351903,0.00015551,-0.000147135,9.85362e-05,0,0,0,0.00392157,-0.000908489,2.64181e-05,0.000850433,-7.95662e-05,-0.000406611,7.99668e-05,-0.132102,-0.0090697,0.0167638,0.0673762,0.261704,0.54785,0.791727,-4.05454e-05,-1.32329e-05,-9.94071e-06,0.000315974,0.000357345,-0.000946153,-2.97261,-1.09001,-0.798183,-0.00112504,0.0186917,0.0193753,1.30377,0.0125494,0.0770385,2.22942,0.0642192,0.862027,-6.21156e-05,-0.00017768,-3.93875e-05,0,0.000612148,-0.000625611,-0.0890874,-0.18495,0.116563,-0.000879311,0.000175295,0.00112504,0.120864,-0.00268383,0.021219,0.0707362,-0.112488,0.906664,0.40038,-4.98369e-06,-3.47909e-05,-2.34406e-05,-0.00347498,0.000216388,-0.000978098,-0.93632,3.60471,-3.5688,0.051246,0.00764627,-0.0630946,-1.36319,0.174735,0.0911525,-2.68089,0.828974,-1.2643,-0.000158405,-0.000776181,-1.55312e-05,0.0026345,-0.00248444,-0.000671806,-0.2306,-0.256089,0.904194,-0.000279189,-0.0539408,-0.051246 2020-02-06.11:33:23.165,0.109035,0.0539412,0.364504,0.0696178,-0.110086,0.905664,0.403493,3.74243e-05,-4.46075e-05,-6.46441e-05,4.84515e-05,-0.000752334,0.000967418,-0.0105992,0.00255982,0.003501,-0.000296338,-5.02634e-06,0.000196538,0.197334,0.081437,0.0619412,-1.12359,1.37078,0.361198,-0.165796,-0.000139815,0.000281583,-0.000201168,-0.0010853,0,0,0,-0.00270558,-0.00127299,-0.00315376,-0.000427882,9.28496e-05,-0.000258486,1.40009e-05,-0.116681,0.0759748,0.33117,0.0680944,0.261904,0.547232,0.792027,0.000124531,-1.4958e-05,-1.65436e-05,-4.68842e-06,-9.29049e-05,0.000213122,-0.0154434,-0.0117469,-0.0241328,-4.73295e-05,0.000335768,5.862e-05,-0.177714,0.158276,0.0992101,1.46915,0.663183,-0.609892,0.384883,-0.000331733,0.00015551,-0.00015551,0.000104145,0,0,0,0.00392157,0.00293475,-0.00511267,-0.000117248,-0.000298723,-0.000124838,1.56429e-05,-0.132102,-0.00906996,0.0167643,0.0673749,0.261701,0.547848,0.791729,-3.5105e-05,-1.06666e-05,-1.02548e-05,0.000304781,0.000375475,-0.000890917,-3.05928,-1.08887,-0.770978,-0.00120538,0.0186936,0.0196938,1.30376,0.0125494,0.0770385,2.22942,0.0642192,0.862027,-2.15018e-05,-0.000150031,-3.45592e-05,0,0.000602229,-0.000617209,-0.0947516,-0.187311,0.127812,-0.000691563,0.000721015,0.00120538,0.120863,-0.00268548,0.0212181,0.0707331,-0.112492,0.906668,0.40037,-4.1935e-06,-2.78222e-05,-1.98648e-05,-0.00324846,0.000126928,-0.00101022,-0.908921,3.59744,-3.7001,0.0509247,0.00807571,-0.0629261,-1.36319,0.174711,0.0911525,-2.68089,0.828974,-1.2643,-0.000158405,-0.000667869,-1.47919e-05,0.00253952,-0.00235483,-0.000487175,-0.241928,-0.257033,0.892946,-0.00103018,-0.054159,-0.0509247 2020-02-06.11:33:23.185,0.109044,0.0539396,0.364503,0.0696134,-0.110088,0.905669,0.403482,0.000184185,-6.6548e-05,-7.62147e-05,4.74617e-05,-0.000943905,0.00130608,-0.0120016,-0.00398455,0.00897593,-0.000371088,0.000290791,0.000439339,0.197309,0.081437,0.0619412,-1.12359,1.37078,0.361198,-0.165796,-0.00055082,0.000265163,-0.000186321,-0.00106411,0,0,0,-0.00323533,-2.28529e-05,-0.00280027,9.99441e-05,-3.23829e-05,0.000117212,-2.88818e-05,-0.116681,0.0759748,0.33117,0.0680944,0.261904,0.547232,0.792027,0.000117319,-1.60797e-05,-1.71913e-05,-4.68842e-06,-8.26764e-05,0.000195406,0.00863826,-0.0159717,-0.0106004,6.37404e-05,-0.000283403,-3.22318e-06,-0.177714,0.158276,0.0992101,1.46915,0.663183,-0.609892,0.384883,-0.000311276,0.00015551,-0.00015551,0.000104145,0,0,0,-0.00296516,0.00625266,0.00249021,5.86941e-05,0.000202207,0.000156935,4.9222e-06,-0.132102,-0.00906996,0.0167643,0.0673749,0.261701,0.547848,0.791729,-3.45769e-05,-1.54474e-05,1.115e-06,0.000295498,0.000217687,-0.000945342,-3.05713,-1.10821,-0.780754,0.00080294,0.020199,0.0210404,1.30376,0.0125494,0.0770385,2.22942,0.0642192,0.862027,-0.000187894,-0.000129577,-3.07379e-05,0,0.000592492,-0.000608756,-0.0909755,-0.188727,0.136248,-0.000816729,-0.0013008,-0.00080294,0.120863,-0.00268603,0.0212178,0.0707321,-0.112493,0.906669,0.400367,-1.51746e-06,-4.10366e-06,-7.06479e-06,-0.00311593,0.000187456,-0.00124277,-0.949715,3.64341,-3.58745,0.0518083,0.00777881,-0.0639637,-1.36319,0.174704,0.0911525,-2.68089,0.828974,-1.2643,-0.000158405,-0.000326487,-1.41385e-05,0.00245388,-0.00224186,-0.000351272,-0.231544,-0.258449,0.915443,-0.000154024,-0.0546875,-0.0518083 2020-02-06.11:33:23.205,0.109043,0.0539326,0.364498,0.0695825,-0.110098,0.905692,0.403432,0.000186545,-5.71097e-05,-6.90067e-05,5.72179e-05,-0.000695966,0.000989877,7.57512e-05,0.00123341,0.0140139,-0.000344331,-0.000241838,-0.000119613,0.197309,0.0814685,0.0619097,-1.12371,1.37078,0.361198,-0.165796,-0.00055082,0.000220129,-0.000142892,-0.000661206,0,0,0,0.000472907,-0.00477128,-0.00368045,0.000275886,6.15414e-05,-0.000415026,6.76041e-05,-0.116681,0.0759748,0.33117,0.0680944,0.261904,0.547232,0.792027,0.000111145,-1.70402e-05,-1.77458e-05,-4.68842e-06,-7.3919e-05,0.000180237,0.0100268,-0.00367596,-0.0111561,-0.000383279,-0.000389946,0.000230414,-0.177714,0.158276,0.0992101,1.46915,0.663183,-0.609892,0.384883,-0.000293762,0.00015551,-0.00015551,0.000104145,0,0,0,-0.000316419,0.00583069,0.00451391,-0.000645074,0.000202207,-6.22216e-05,9.06875e-05,-0.132102,-0.00906996,0.0167643,0.0673749,0.261701,0.547848,0.791729,-4.61363e-05,-4.05358e-05,4.6876e-05,0.000287825,-0.000449631,-0.00130063,-3.01763,-1.12338,-0.832653,0.000642275,0.0198673,0.0220704,1.30376,0.0125494,0.0770385,2.22942,0.0642192,0.862027,-0.000945721,-0.000114471,-2.77668e-05,0,0.000583367,-0.000600667,-0.0862553,-0.189199,0.116563,0.000122011,-0.00222626,-0.000642275,0.120863,-0.00268658,0.0212175,0.0707311,-0.112495,0.90667,0.400363,-2.47486e-06,-1.24724e-05,-1.18328e-05,-0.0029146,4.90104e-05,-0.00109478,-0.959943,3.67248,-3.65612,0.051487,0.00920377,-0.06394,-1.36319,0.174696,0.0911525,-2.68089,0.828974,-1.2643,-0.000157622,-0.000434517,-1.35223e-05,0.00237162,-0.0021368,-0.000243051,-0.23768,-0.262225,0.91263,3.37242e-05,-0.0550017,-0.051487 2020-02-06.11:33:23.225,0.109043,0.0539326,0.364498,0.0695825,-0.110098,0.905692,0.403432,0.000186607,-5.7112e-05,-6.83829e-05,5.63018e-05,-0.000684601,0.000975817,-2.71727e-05,0.0100813,0.014244,-0.00013601,-0.000169206,-0.000307865,0.197309,0.0814685,0.0619097,-1.12371,1.37078,0.361198,-0.165796,-0.00055082,0.000217947,-0.00014216,-0.000643162,0,0,0,0.0025919,-0.00518273,-0.00593981,0.00062777,-9.49992e-05,-0.000227178,3.54422e-05,-0.116673,0.0759762,0.331171,0.0680882,0.2619,0.547241,0.792022,-5.4973e-05,-4.2881e-05,-3.2665e-05,-4.68907e-06,0.000161691,-0.000227852,0.00567369,-0.0228791,-0.0108619,0.000251141,-2.51664e-05,-0.000283796,-0.177739,0.158276,0.0992101,1.46915,0.663183,-0.609892,0.384883,0.000177459,0.00015551,-0.00015551,0.000104145,0,0,0,-0.00402466,0.00584121,0.000348679,0.00058652,0.000202207,6.30108e-05,-0.000113005,-0.132102,-0.00906996,0.0167643,0.0673749,0.261701,0.547848,0.791729,-3.33286e-05,-2.12709e-05,1.52713e-05,0.000281365,2.03628e-05,-0.00100426,-3.05652,-1.11163,-0.7545,0.000401277,0.0196484,0.0217064,1.30376,0.0125494,0.0770385,2.22942,0.0642192,0.862027,-0.000392529,-0.000103052,-2.54307e-05,0,0.00057492,-0.000593046,-0.0919195,-0.187311,0.155932,-3.15443e-06,-0.00145349,-0.000401277,0.120866,-0.00268781,0.0212162,0.070729,-0.112497,0.906673,0.400357,-2.81262e-05,-1.412e-05,-7.74884e-06,-0.00275571,-4.57969e-05,-0.00101516,-0.945432,3.63066,-3.59026,0.0498804,0.0101967,-0.0622138,-1.36319,0.174681,0.0911499,-2.68089,0.828974,-1.2643,-0.000167778,-0.000473407,1.30136e-05,0.00229737,-0.0020442,-0.000160557,-0.234376,-0.259865,0.909818,0.000346637,-0.0537877,-0.0498804 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