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
2020-02-06.09:44:12.5,0.0553426,0.0132086,0.360932,0.36215,0.598805,-0.438962,-0.563554,-0.000356998,-4.16137e-05,-6.81445e-05,1.00702e-05,0.000629158,-0.0010264,-1.29185,1.12501,0.255804,-0.0272522,-0.0138231,0.00105038,0.307891,0.214961,-0.137486,-1.97592,0.106583,0.0118426,-1.34413,0.000779676,0.000642891,-0.000642891,0.000430544,0,0,0,-0.131964,0.513436,0.063143,-0.030338,-0.0234822,-0.00786636,-0.00015753,-0.0643237,0.0328815,0.352782,0.471441,0.258593,0.786548,0.303671,-0.000765835,-0.000391777,-0.000279887,-2.16052e-05,0.00144644,-0.00236372,-0.669894,-0.306927,-0.325216,-0.000175254,-0.0108069,-0.000100614,-0.296199,0.195499,-0.066138,1.48262,0.301985,0.00592128,1.5869,0.00220127,0.000856773,-0.000856773,0.000573781,0,0,0,0.0738483,0.243881,0.0469787,0.020292,-1.695e-05,0.00131534,0.00285662,-0.0844042,0.0190879,0.0316499,0.481469,0.246477,0.789251,0.290721,-4.24723e-07,1.37763e-06,7.20387e-07,-2.00719e-06,-6.56339e-06,1.13681e-05,0.441582,-4.62015,-0.928544,0.0253847,0.0215753,0.0189111,1.41906,0.263615,0.127892,3.38419,-0.086081,0.149177,0,1.32793e-05,0,0,0,0,0.545307,0.216738,-0.268692,0.00957199,-0.0281647,-0.0253847,0.0762736,0.0180782,0.0314172,0.360524,0.614448,-0.427514,-0.556515,3.65685e-05,0.000130149,6.91222e-05,-0.000166205,0.000582955,-0.00100971,2.32109,1.292,-0.326317,0.0453817,-0.0376529,-0.0194559,-1.4292,0.270829,0.135995,-2.98032,0.368235,0.151167,0,0.0011777,0,0,0,0,-0.14658,0.242836,0.353026,-0.000341772,0.0190315,-0.0453817
2020-02-06.09:44:13.16,0.0553426,0.0132086,0.360932,0.36215,0.598805,-0.438962,-0.563554,-0.000254058,-4.42381e-05,-6.15488e-05,8.2189e-06,0.000465906,-0.000755281,-1.28596,1.12475,0.256447,-0.0271017,-0.0134492,0.00109355,0.307891,0.214961,-0.137486,-1.97592,0.106583,0.0118426,-1.34413,0.000537683,0.000523238,-0.000523238,0.000350413,0,0,0,-0.125607,0.513354,0.0624083,-0.0306899,-0.0233569,-0.00780374,-0.000125368,-0.0643227,0.0328839,0.352771,0.471448,0.258584,0.786549,0.303664,-0.000502274,3.33048e-05,7.38325e-05,4.62127e-06,0.000271248,-0.000604332,-0.681415,-0.308697,-0.334099,-0.000276485,-0.0111968,-0.000266356,-0.296199,0.195531,-0.0661432,1.48263,0.301985,0.00592128,1.5869,0.00116377,-0.0007753,0.000760088,-0.000509031,0,0,0,0.0770268,0.247132,0.0467742,0.0207319,7.69744e-05,0.00169103,0.00269581,-0.0844042,0.0190879,0.0316499,0.481469,0.246477,0.789251,0.290721,-4.06871e-07,1.31973e-06,6.90107e-07,-1.92282e-06,-6.28751e-06,1.08903e-05,0.490615,-4.5867,-0.919237,0.0256257,0.0208561,0.0194319,1.41906,0.263615,0.127892,3.38419,-0.086081,0.149177,0,1.27212e-05,0,0,0,0,0.540587,0.220987,-0.268692,0.0101978,-0.027977,-0.0256257,0.0762736,0.0180782,0.0314172,0.360524,0.614448,-0.427514,-0.556515,3.04741e-05,0.000108459,5.76024e-05,-0.000138506,0.0004858,-0.000841431,2.33846,1.32446,-0.322053,0.0453014,-0.0385545,-0.0201242,-1.4292,0.270829,0.135995,-2.98032,0.368235,0.151167,0,0.000981424,0,0,0,0,-0.150829,0.243308,0.35865,-0.000967598,0.0198653,-0.0453014
2020-02-06.09:44:13.30,0.0553426,0.0132086,0.360932,0.36215,0.598805,-0.438962,-0.563554,-0.000254058,-4.42381e-05,-6.15488e-05,8.2189e-06,0.000465906,-0.000755281,-1.28596,1.12475,0.256447,-0.0271017,-0.0134492,0.00109355,0.307891,0.214961,-0.137486,-1.97592,0.106583,0.0118426,-1.34413,0.000537683,0.000523238,-0.000523238,0.000350413,0,0,0,-0.125607,0.513354,0.0624083,-0.0306899,-0.0233569,-0.00780374,-0.000125368,-0.0643227,0.0328839,0.352771,0.471448,0.258584,0.786549,0.303664,-0.000502274,3.33048e-05,7.38325e-05,4.62127e-06,0.000271248,-0.000604332,-0.681415,-0.308697,-0.334099,-0.000276485,-0.0111968,-0.000266356,-0.296199,0.195531,-0.0661432,1.48263,0.301985,0.00592128,1.5869,0.00116377,-0.0007753,0.000760088,-0.000509031,0,0,0,0.0770268,0.247132,0.0467742,0.0207319,7.69744e-05,0.00169103,0.00269581,-0.0844042,0.0190879,0.0316499,0.481469,0.246477,0.789251,0.290721,-4.06871e-07,1.31973e-06,6.90107e-07,-1.92282e-06,-6.28751e-06,1.08903e-05,0.490615,-4.5867,-0.919237,0.0256257,0.0208561,0.0194319,1.41906,0.263615,0.127892,3.38419,-0.086081,0.149177,0,1.27212e-05,0,0,0,0,0.540587,0.220987,-0.268692,0.0101978,-0.027977,-0.0256257,0.0762736,0.0180782,0.0314172,0.360524,0.614448,-0.427514,-0.556515,3.04741e-05,0.000108459,5.76024e-05,-0.000138506,0.0004858,-0.000841431,2.33846,1.32446,-0.322053,0.0453014,-0.0385545,-0.0201242,-1.4292,0.270829,0.135995,-2.98032,0.368235,0.151167,0,0.000981424,0,0,0,0,-0.150829,0.243308,0.35865,-0.000967598,0.0198653,-0.0453014
2020-02-06.09:44:13.50,0.0553329,0.0132113,0.360934,0.362154,0.598797,-0.438958,-0.563563,-4.03231e-05,-9.52804e-05,-8.85526e-05,7.65676e-06,0.000183571,-0.000269803,-1.28625,1.11933,0.250881,-0.0268731,-0.0134386,0.00102061,0.307916,0.214961,-0.137486,-1.97592,0.106583,0.0118426,-1.34413,0,0.000487413,-0.000487413,0.000326421,0,0,0,-0.127726,0.511023,0.061147,-0.030338,-0.0231378,-0.0080229,-0.00016825,-0.0643346,0.0328877,0.352775,0.471448,0.258583,0.786548,0.303665,6.11383e-05,-0.000155762,-0.000130919,-3.44095e-05,0.000306312,-0.000412649,-0.684189,-0.297705,-0.340967,-0.000681453,-0.011092,-0.000188976,-0.296174,0.195499,-0.0661117,1.48261,0.301985,0.00592128,1.5869,0,0.000753033,-0.000768686,0.000514789,0,0,0,0.0759673,0.244385,0.044099,0.0189725,0.000421364,0.00128403,0.00263148,-0.0844042,0.0190879,0.0316499,0.481469,0.246477,0.789251,0.290721,-4.0002e-07,1.29751e-06,6.78487e-07,-1.89044e-06,-6.18164e-06,1.07069e-05,0.436196,-4.63937,-0.937611,0.0261077,0.0235885,0.0182131,1.41906,0.263615,0.127892,3.38419,-0.086081,0.149177,0,1.2507e-05,0,0,0,0,0.547667,0.218626,-0.274316,0.00850808,-0.0300028,-0.0261077,0.0762738,0.0180791,0.0314177,0.360525,0.614445,-0.427513,-0.556517,-2.66053e-05,-9.46865e-05,-5.02878e-05,0.000120918,-0.000424113,0.000734586,2.34132,1.31074,-0.325261,0.0455424,-0.0388554,-0.0195676,-1.4292,0.270836,0.135995,-2.98032,0.368235,0.151167,0,-0.000856802,0,0,0,0,-0.148941,0.24378,0.35865,-0.000279189,0.020053,-0.0455424
2020-02-06.09:44:13.70,0.0553329,0.0132113,0.360934,0.362154,0.598797,-0.438958,-0.563563,-3.77758e-05,-8.92612e-05,-8.29585e-05,7.17306e-06,0.000171974,-0.000252758,-1.28488,1.12021,0.237933,-0.0268691,-0.0130027,0.00104005,0.307916,0.214961,-0.137486,-1.97592,0.106583,0.0118426,-1.34413,0,0.000456622,-0.000456622,0.0003058,0,0,0,-0.131964,0.51127,0.0629385,-0.0298982,-0.0232317,-0.00761589,-0.000146809,-0.0643321,0.0328815,0.35277,0.470298,0.259049,0.787234,0.303276,9.79315e-05,-0.000247902,-0.000212473,-4.70638e-05,0.000491811,-0.000658502,-0.681031,-0.291423,-0.333378,-4.06982e-05,-0.0108589,3.02519e-05,-0.296174,0.195531,-0.0661432,1.48263,0.301985,0.00296064,1.5869,0,0.00121221,-0.00122898,0.000823048,0,0,0,0.0817946,0.242559,0.0406648,0.0190604,7.69744e-05,0.00206673,0.00274941,-0.0844042,0.0190879,0.0316499,0.481469,0.246477,0.789251,0.290721,-3.93739e-07,1.27713e-06,6.67833e-07,-1.86076e-06,-6.08457e-06,1.05388e-05,0.46454,-4.62047,-0.932296,0.0255454,0.0212858,0.0183741,1.41906,0.263615,0.127892,3.38419,-0.086081,0.149177,0,1.23106e-05,0,0,0,0,0.544835,0.219099,-0.274316,0.00907133,-0.0280075,-0.0255454,0.0762736,0.0180782,0.0314172,0.360524,0.614448,-0.427514,-0.556515,3.14298e-05,0.00011186,5.94089e-05,-0.00014285,0.000501036,-0.00086782,2.37436,1.31635,-0.322057,0.0459441,-0.0383279,-0.0203011,-1.4292,0.270829,0.135995,-2.98032,0.368235,0.151167,0,0.0010122,0,0,0,0,-0.149885,0.248028,0.37271,-0.000905015,0.0193413,-0.0459441
2020-02-06.09:44:13.90,0.0553329,0.0132113,0.360934,0.362154,0.598797,-0.438958,-0.563563,-3.54362e-05,-8.37329e-05,-7.78205e-05,6.72881e-06,0.000161323,-0.000237104,-1.28778,1.12366,0.263907,-0.027506,-0.0132512,0.00111881,0.307916,0.214961,-0.137486,-1.97592,0.106583,0.0118426,-1.34413,0,0.000428341,-0.000428341,0.00028686,0,0,0,-0.122958,0.513107,0.061088,-0.030426,-0.0237952,-0.00786636,-8.24851e-05,-0.0643321,0.0328815,0.35277,0.470298,0.259049,0.787234,0.303276,9.798e-05,-0.000248184,-0.000212302,-4.78938e-05,0.000491939,-0.000659077,-0.669254,-0.288818,-0.336258,-0.000617204,-0.01162,-9.65233e-05,-0.296174,0.195531,-0.0661432,1.48263,0.301985,0.00296064,1.5869,0,0.00121221,-0.00122985,0.000823631,0,0,0,0.0802053,0.238808,0.0416664,0.0205559,0.000421364,0.00263028,0.00270653,-0.0844042,0.0190879,0.0316499,0.481469,0.246477,0.789251,0.290721,-3.87255e-07,1.2561e-06,6.56835e-07,-1.83012e-06,-5.98437e-06,1.03652e-05,0.480465,-4.59992,-0.944944,0.0248224,0.0212918,0.0179162,1.41906,0.263615,0.127892,3.38419,-0.086081,0.149177,0,1.21079e-05,0,0,0,0,0.541531,0.220043,-0.291189,0.00869583,-0.0280903,-0.0248224,0.0762736,0.0180782,0.0314172,0.360524,0.614448,-0.427514,-0.556515,4.02134e-05,0.000143121,7.60118e-05,-0.000182771,0.000641059,-0.00111035,2.37652,1.34171,-0.315987,0.0458637,-0.0384204,-0.0202594,-1.4292,0.270829,0.135995,-2.98032,0.368235,0.151167,0,0.00129508,0,0,0,0,-0.153189,0.247556,0.375522,-0.000967598,0.0194068,-0.0458637
2020-02-06.09:44:13.110,0.0553329,0.0132113,0.360934,0.362154,0.598797,-0.438958,-0.563563,-3.33959e-05,-7.8912e-05,-7.334e-05,6.34139e-06,0.000152035,-0.000223453,-1.30542,1.12837,0.252227,-0.0272003,-0.0134659,0.000962308,0.307916,0.214961,-0.137486,-1.97592,0.106583,0.0118426,-1.34413,0,0.000404182,-0.000404182,0.000270681,0,0,0,-0.125607,0.514845,0.0665771,-0.030426,-0.0231065,-0.00805421,-0.000114647,-0.0643295,0.0328752,0.352764,0.471853,0.259509,0.784941,0.306395,5.69649e-05,-0.000145824,-0.000120779,-3.56092e-05,0.000284897,-0.00038558,-0.659611,-0.295729,-0.331552,-0.000235798,-0.0104578,0.000371543,-0.296174,0.195562,-0.0661747,1.48265,0.301985,0.00888192,1.58098,0,0.000699,-0.000717316,0.000480387,0,0,0,0.0786161,0.238551,0.0441579,0.0190604,0.000108283,0.00169103,0.00310319,-0.0844042,0.0190879,0.0316499,0.481469,0.246477,0.789251,0.290721,-3.81068e-07,1.23603e-06,6.46341e-07,-1.80088e-06,-5.88877e-06,1.01996e-05,0.509432,-4.57277,-0.904085,0.0261077,0.0209822,0.0181462,1.41906,0.263615,0.127892,3.38419,-0.086081,0.149177,0,1.19185e-05,0,0,0,0,0.546723,0.219099,-0.274316,0.00944682,-0.0288764,-0.0257864,0.0762738,0.0180791,0.0314177,0.360525,0.614445,-0.427513,-0.556517,-2.42328e-05,-8.62428e-05,-4.58034e-05,0.000110135,-0.000386293,0.000669079,2.33281,1.36432,-0.325973,0.0469081,-0.0372003,-0.0206106,-1.4292,0.270836,0.135995,-2.98032,0.368235,0.151167,0,-0.000780397,0,0,0,0,-0.154133,0.24378,0.347402,-0.00115535,0.0186512,-0.0469081
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