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
2020-02-06.09:58:57.161,0.14124,-0.0310162,0.354549,-0.225138,-0.492904,0.557442,0.628981,0.00120922,0.00047676,3.0317e-05,-0.0108698,0.00824789,-0.0144157,-1.11897,0.790404,-0.516153,-0.0247063,-0.00501688,0.00567754,0.0891791,0.267961,-0.246923,-1.69304,0.515151,0.0148032,-1.3915,-0.00267974,-0.00146148,0.00234794,-0.00157242,0,0.0239417,0,-0.14097,0.473137,0.0909352,-0.0201334,-0.023263,-0.0014795,0.00122544,-0.169193,0.0128812,0.391071,0.367539,-0.0131264,0.794713,0.48288,-4.98402e-06,0.000100921,0.00017315,0.100371,-0.0336827,0.0768248,-0.819406,0.0616221,-0.658187,0.00145569,-0.00947358,-0.0127767,-0.0286364,0.057472,-0.0369067,1.39816,0.962207,0.0592128,1.69349,0,-0.000760842,0.000519282,0.0391356,0,0.0126853,0.158254,0.102985,0.332227,0.0935633,0.0332238,-0.00421224,-0.000844925,0.00169879,-0.0769699,0.00644735,0.0320488,0.372108,-0.0181845,0.79995,0.470409,-2.87756e-06,-7.21578e-06,1.24981e-05,4.02341e-20,-0.000101586,-5.86505e-05,0.631713,-0.726096,-2.0895,0.0342213,0.0170501,0.0370146,1.3753,0.164595,0.13383,3.3563,-0.0856711,0.761515,-0.000117301,0,0,0,0,0,0.254543,0.166232,-1.0617,0.0105107,-0.04363,-0.0342213,0.0693941,0.00750742,0.0459534,-0.232225,-0.50323,0.557504,0.618078,8.57447e-07,-1.55353e-06,2.69079e-06,3.17637e-22,2.06023e-05,1.18948e-05,0.79813,-0.623196,-0.557662,-0.0883722,-0.0590242,0.041135,-1.30538,0.234261,0.145579,-2.956,0.31563,-0.170714,2.37895e-05,0,0,0,0,0,-0.0318797,0.0620522,-0.375304,0.00303769,0.0578916,0.0883722
2020-02-06.09:58:57.170,0.141297,-0.0309874,0.354566,-0.223605,-0.493827,0.555777,0.630276,0.000332761,0.000323412,0.000782565,0.0216644,0.00363007,-0.00543777,-1.16042,0.805175,-0.509711,-0.0250983,-0.00631974,0.00684215,0.0890553,0.267835,-0.24677,-1.69389,0.515151,0.0148032,-1.39742,-0.00062441,-0.00306247,0.00226087,-0.030105,0,0.0214035,-0.0379119,-0.139381,0.481723,0.0878162,-0.0233003,-0.0234509,-0.00135427,0.00163282,-0.169194,0.0128802,0.391082,0.367819,-0.0142576,0.795647,0.481094,-2.58865e-06,0.000181585,-0.000133793,0.010755,0.0173349,-0.0246313,-0.831945,0.0639416,-0.646891,0.00125753,-0.0101765,-0.0137373,-0.0286364,0.0574405,-0.0369015,1.39979,0.962207,0.0592128,1.69941,0,0,0.000571943,0.0227892,0,0.0126853,0,0.100336,0.331322,0.089665,0.035599,-0.00427485,-0.000813616,0.00170951,-0.0769701,0.00644688,0.0320496,0.372105,-0.0181867,0.79995,0.470411,3.82182e-06,9.58322e-06,-1.65986e-05,-4.23516e-20,0.000134915,7.78934e-05,0.648819,-0.728205,-2.06609,0.0328557,0.0161164,0.0362937,1.3753,0.164595,0.13383,3.3563,-0.0856711,0.761515,0.000155787,0,0,0,0,0,0.251239,0.166704,-1.04483,0.0107611,-0.0426124,-0.0328557,0.0693941,0.00750742,0.0459534,-0.232225,-0.50323,0.557504,0.618078,8.57447e-07,-1.55353e-06,2.69079e-06,3.17637e-22,2.06023e-05,1.18948e-05,0.772454,-0.588551,-0.591149,-0.0876492,-0.0586726,0.0411554,-1.30538,0.234261,0.145579,-2.956,0.31563,-0.170714,2.37895e-05,0,0,0,0,0,-0.0361279,0.0592201,-0.409049,0.00322544,0.0577822,0.0876492
2020-02-06.09:58:57.180,0.141297,-0.0309874,0.354566,-0.224234,-0.492843,0.55564,0.630943,0.000321509,0.000266504,0.000700731,0.0322084,-0.00716964,0.012881,-1.16382,0.802489,-0.511955,-0.0250019,-0.00577768,0.00678095,0.0890553,0.267835,-0.24677,-1.69419,0.515151,0.0177638,-1.39742,-0.00061709,-0.00269993,0.00194154,-0.0327296,0,0,-0.0379119,-0.139381,0.480396,0.0855881,-0.0221567,-0.0234195,-0.00138558,0.00190084,-0.169194,0.0128802,0.391082,0.367849,-0.0142625,0.795602,0.481145,-2.41689e-06,0.000169537,-0.000124915,0.0107207,0.0144541,-0.0198752,-0.802283,0.0710206,-0.640062,0.00110977,-0.0102027,-0.0141406,-0.0286364,0.0574405,-0.0369015,1.39994,0.962207,0.0592128,1.69941,0,0,0.000533995,0.0172287,0,0.0126853,0,0.104044,0.322741,0.0887571,0.0364787,-0.00418093,-0.00106408,0.00173095,-0.0769701,0.00644688,0.0320496,0.372105,-0.0181867,0.79995,0.470411,3.71634e-06,9.31875e-06,-1.61405e-05,-4.44692e-20,0.000131192,7.57438e-05,0.593635,-0.75008,-2.0506,0.0339803,0.0171004,0.0374576,1.3753,0.164595,0.13383,3.3563,-0.0856711,0.761515,0.000151758,0,0,0,0,0,0.244159,0.16812,-1.05326,0.0106359,-0.0432286,-0.0350247,0.0693941,0.00750742,0.0459534,-0.232225,-0.50323,0.557504,0.618078,8.57447e-07,-1.55353e-06,2.69079e-06,3.17637e-22,2.06023e-05,1.18948e-05,0.758026,-0.538376,-0.589015,-0.0870869,-0.0583309,0.0419266,-1.30538,0.234261,0.145579,-2.956,0.31563,-0.170714,2.37895e-05,0,0,0,0,0,-0.0417921,0.055916,-0.403425,0.00403901,0.0577079,0.0870869
2020-02-06.09:58:57.200,0.141297,-0.0309874,0.354566,-0.222764,-0.493543,0.553801,0.632531,0.000292713,0.000190258,0.000596199,0.0816224,0.0125107,-0.0182712,-1.18823,0.797546,-0.517919,-0.0250822,-0.00551014,0.00673878,0.0890553,0.267835,-0.24677,-1.69433,0.515151,0.0177638,-1.40334,-0.000575358,-0.00222501,0.00151448,-0.0237437,0,0,-0.0945642,-0.142559,0.483236,0.0831832,-0.021277,-0.0236074,-0.00144819,0.00211525,-0.169194,0.0128885,0.391076,0.367912,-0.0142819,0.795518,0.481237,4.89089e-06,-0.00010635,7.84649e-05,0.00985053,0.0160371,-0.0225434,-0.810408,0.0662395,-0.646668,0.00123568,-0.0103159,-0.0148596,-0.0286364,0.0574405,-0.0368752,1.40022,0.962207,0.0592128,1.69941,-8.94335e-06,0,-0.000335231,0.0203405,0,0.0126853,0,0.104044,0.326656,0.0906977,0.0378862,-0.00440009,-0.00140847,0.00164518,-0.0769699,0.00644735,0.0320488,0.372108,-0.0181845,0.79995,0.470409,-1.52021e-06,-3.81209e-06,6.60273e-06,1.86347e-20,-5.36676e-05,-3.0985e-05,0.670957,-0.731382,-2.06649,0.0351853,0.0163466,0.0373999,1.3753,0.164595,0.13383,3.3563,-0.0856711,0.761515,-6.197e-05,0,0,0,0,0,0.253127,0.170952,-1.04483,0.0111991,-0.0437438,-0.0351853,0.0693941,0.00750742,0.0459534,-0.232225,-0.50323,0.557504,0.618078,8.57447e-07,-1.55353e-06,2.69079e-06,3.17637e-22,2.06023e-05,1.18948e-05,0.762483,-0.628069,-0.530001,-0.0878902,-0.0595671,0.0422428,-1.30538,0.234261,0.145579,-2.956,0.31563,-0.170714,2.37895e-05,0,0,0,0,0,-0.0351838,0.0681885,-0.392176,0.00297511,0.0583102,0.0867656
2020-02-06.09:58:57.220,0.141308,-0.0309882,0.354565,-0.22209,-0.494686,0.554073,0.631637,3.11339e-05,0.000125468,0.000480262,0.0921347,0.00953199,-0.0120945,-1.17985,0.803313,-0.513061,-0.0251035,-0.00635062,0.00861082,0.0890305,0.267835,-0.24677,-1.69463,0.515151,0.0148032,-1.40334,0,-0.00167277,0.00103747,-0.0126453,0,-0.021239,-0.0945642,-0.142029,0.48356,0.0853766,-0.0247079,-0.0234822,-0.0006968,0.00309083,-0.169194,0.0128885,0.391076,0.368031,-0.0143013,0.795338,0.481442,-1.53792e-05,0.000221338,0.000288535,0.00985513,0.0232798,-0.0345249,-0.821987,0.0700051,-0.640195,0.00113016,-0.0105738,-0.0154096,-0.0286364,0.0574405,-0.0368752,1.40082,0.962207,0.0592128,1.69941,1.52438e-05,-0.00138886,0.00106523,0.0343168,0,0.0126853,0,0.103514,0.325833,0.0866503,0.0392938,-0.00440009,-0.00159632,0.00175239,-0.0769699,0.00644735,0.0320488,0.372108,-0.0181845,0.79995,0.470409,-1.52021e-06,-3.81209e-06,6.60273e-06,1.86347e-20,-5.36676e-05,-3.0985e-05,0.63956,-0.712797,-2.0408,0.0330967,0.0154351,0.0361626,1.3753,0.164595,0.13383,3.3563,-0.0856711,0.761515,-6.197e-05,0,0,0,0,0,0.248407,0.164344,-1.03639,0.0111366,-0.0419446,-0.0330967,0.0693941,0.00750742,0.0459534,-0.232225,-0.50323,0.557504,0.618078,8.51758e-07,-1.54322e-06,2.67293e-06,4.23516e-22,2.04656e-05,1.18158e-05,0.75867,-0.575729,-0.558773,-0.0868459,-0.0591353,0.0417921,-1.30538,0.234261,0.145579,-2.956,0.31563,-0.170714,2.36317e-05,0,0,0,0,0,-0.0356558,0.055444,-0.380928,0.00397643,0.0584718,0.0868459
2020-02-06.09:58:57.240,0.141298,-0.0309812,0.354572,-0.221396,-0.495897,0.5544,0.630643,-0.000189009,-0.000167382,0.000141935,0.108536,-0.0152727,0.0306027,-1.16955,0.802736,-0.493648,-0.0252898,-0.00810085,0.00985757,0.0890553,0.267804,-0.246739,-1.69525,0.515151,0.0118426,-1.40334,0.000417484,0,-0.000571936,-0.0333492,0,-0.0546279,-0.0945642,-0.137791,0.479306,0.084368,-0.0291944,-0.0233882,-0.000383718,0.00316587,-0.169194,0.0129106,0.391091,0.368167,-0.0143235,0.795132,0.481677,-5.65745e-05,0.00128833,0.00097634,-0.0717038,0.0805155,-0.144069,-0.894222,0.0715792,-0.673021,0.000810596,-0.0112187,-0.0165701,-0.0286364,0.057346,-0.0367808,1.4015,0.962207,0.0592128,1.69941,2.81493e-05,-0.00592054,0.00562561,0.0408226,0,0.0126853,-0.14271,0.106163,0.347919,0.0885356,0.0421088,-0.00430616,-0.00175286,0.00179527,-0.0769699,0.00644735,0.0320488,0.372108,-0.0181845,0.79995,0.470409,-1.52021e-06,-3.81209e-06,6.60273e-06,1.86347e-20,-5.36676e-05,-3.0985e-05,0.659936,-0.729686,-2.03888,0.0355067,0.0177906,0.0383588,1.3753,0.164595,0.13383,3.3563,-0.0856711,0.761515,-6.197e-05,0,0,0,0,0,0.250767,0.170952,-1.02514,0.0108862,-0.0453504,-0.0355067,0.0693941,0.00750742,0.0459534,-0.232225,-0.50323,0.557504,0.618078,0,0,0,0,0,0,0.759195,-0.593542,-0.552875,-0.0878099,-0.0587175,0.0426516,-1.30538,0.234261,0.145579,-2.956,0.31563,-0.170714,0,0,0,0,0,0,-0.0342398,0.055916,-0.378116,0.00460226,0.0582014,0.0878099
2020-02-06.09:58:57.260,0.141287,-0.0309804,0.354572,-0.221338,-0.496121,0.554585,0.630324,-0.000444557,6.66184e-05,0.000341131,0.108558,-0.0222911,0.0423389,-1.16127,0.793257,-0.504179,-0.0253937,-0.0083489,0.00972468,0.08908,0.267804,-0.246739,-1.69615,0.515151,0.0118426,-1.40334,0.00106416,-0.00100265,0.00048226,-0.0476701,0,-0.0546279,-0.0945642,-0.143619,0.477469,0.0857472,-0.0293704,-0.0234509,-0.000634183,0.00302651,-0.169205,0.0129471,0.391115,0.368438,-0.0121737,0.791974,0.486707,-6.53459e-05,0.00186179,0.00134124,-0.210273,0.178663,-0.331256,-0.941529,0.0884928,-0.665667,0.00126197,-0.0113809,-0.0155408,-0.0286116,0.0571886,-0.0366233,1.40244,0.962207,0.0592128,1.68756,0,-0.00834057,0.00807083,0.0533738,0,0.0126853,-0.385098,0.108282,0.349113,0.0755615,0.0421088,-0.00461924,-0.00206594,0.00346769,-0.0769699,0.00644735,0.0320488,0.372108,-0.0181845,0.79995,0.470409,-1.52021e-06,-3.81209e-06,6.60273e-06,1.86347e-20,-5.36676e-05,-3.0985e-05,0.619645,-0.706876,-2.04532,0.035587,0.0182949,0.0376211,1.3753,0.164595,0.13383,3.3563,-0.0856711,0.761515,-6.197e-05,0,0,0,0,0,0.250295,0.165288,-1.04202,0.0100101,-0.0448396,-0.035587,0.0693941,0.00750742,0.0459534,-0.232225,-0.50323,0.557504,0.618078,0,0,0,0,0,0,0.780666,-0.626858,-0.56025,-0.0871672,-0.0585072,0.0413719,-1.30538,0.234261,0.145579,-2.956,0.31563,-0.170714,0,0,0,0,0,0,-0.0299916,0.0606362,-0.38374,0.0037261,0.0575813,0.0871672
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