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 2020-02-06.14:34:52.768,0.112051,-0.00710003,0.40584,-0.266709,-0.290667,0.918611,0.0230653,-0.000129263,-0.000607681,-0.000420407,0.00607778,0.00125315,-0.00421151,-0.0246756,-0.00769519,0.00134949,-5.37365e-05,0.000448121,-2.46698e-05,0.173751,0.0803978,-0.123264,-1.60788,1.05103,-0.213166,0.165796,0,0.00268487,-0.00268487,0.00779703,0,-0.00710531,0,-0.00694357,-0.00718927,-0.0034171,-7.59979e-05,-0.000439388,-7.06372e-05,-0.000125368,-0.0870591,0.0590753,0.349314,-0.0338792,0.531841,0.275368,0.800106,0.000413416,-0.00397893,0.00241234,0.0205503,0.0159211,0.00947201,0.0122247,-0.000403385,-0.0182333,-0.000175799,2.13306e-05,-6.10979e-05,-0.253938,0.141239,0.0435323,1.34921,0.145071,-0.109544,-0.384883,0.00043923,-0.00125935,-0.0109268,0.00731771,0,0,0.0392641,0.00498106,0.00600053,0.00331147,-0.000205219,-7.95662e-05,-9.35298e-05,-7.01224e-05,-0.100461,0.0149976,0.0584846,-0.0372675,0.525485,0.275272,0.804178,-0.00011135,0.000171998,0.000137432,0.167294,0.0306011,0.090464,-2.36519,-0.860743,-0.341842,0.036792,0.0806759,0.0377233,1.14996,0.371626,0.123002,1.53577,-0.141009,0.190618,-0.00105918,-0.000101772,0,0.194207,-0.00339567,-0.0106918,-0.175467,-0.138692,0.161557,0.0152044,-0.0648387,-0.036792,0.0744238,-0.00852716,0.0536703,-0.271672,-0.282166,0.919727,0.0260636,0.00031552,0.000153584,1.70211e-05,-0.0227387,0.0150826,0.0108858,0.717114,0.650414,-0.56559,-0.0592114,-0.0726421,0.0422721,-1.22707,0.134955,0.145113,-1.37787,0.657222,0.315989,-0.000333105,0.00027382,-0.000205903,0.0227095,0.0166702,-0.00323338,-0.0507605,-0.152717,-0.18127,0.0120496,0.0491872,0.0589704 2020-02-06.14:34:52.774,0.111934,-0.00727521,0.405608,-0.267517,-0.289884,0.918679,0.0207468,-0.0035706,-0.00678668,-0.00927489,0.00557105,-0.00216489,-0.00679314,-0.0158772,-0.0166117,0.0118666,0.00064861,-0.000232381,-0.000208744,0.173924,0.0815315,-0.124161,-1.60728,1.05103,-0.213166,0.171717,0.00431481,0.0441599,-0.0343535,0.0203261,0,-0.00667661,0.0192675,-0.00058659,-0.0105177,-0.00532298,0.000803712,0.000218082,0.000524217,6.76041e-05,-0.0870733,0.0584748,0.349587,-0.0138103,0.533017,0.305227,0.789011,-0.00276792,-0.0233561,0.00781119,1.61382,0.709402,0.822968,0.0348741,0.0192365,0.0193969,0.000585223,0.000199834,-0.000154817,-0.25364,0.141302,0.0418388,1.3496,0.145071,-0.109544,-0.307906,0.0182946,0.0104407,-0.067404,0.0252989,0,0,2.00571,-0.00614365,0.0102342,0.0112955,-0.000205219,-0.000173491,-0.000124838,-0.000155888,-0.100471,0.0150337,0.0584821,-0.0227742,0.524839,0.300118,0.796213,-0.000314963,0.000755695,-0.000332615,1.59403,0.691305,0.892153,-3.80364,-1.49872,-0.500261,0.0415316,0.0985248,0.0449805,1.14932,0.371247,0.123009,1.59553,-0.1503,0.186106,-0.0283868,-0.017771,0.000167669,1.94613,-0.402829,-0.257693,-0.296776,-0.236401,0.369651,0.0170819,-0.0720739,-0.0420136,0.0744251,-0.00848862,0.0536657,-0.272518,-0.280565,0.920036,0.0234637,0.000220914,-0.00137493,-0.000335111,0.205596,0.0316754,-0.0731046,0.938914,1.03242,-0.540459,-0.0625051,-0.0760096,0.0454881,-1.22707,0.134916,0.145098,-1.37053,0.655309,0.318774,0.000409911,-0.00119873,-0.000138489,-0.221282,0.0210556,-0.00288674,-0.0686972,-0.219744,-0.0912834,0.0105476,0.0493803,0.0625051 2020-02-06.14:34:52.787,0.111934,-0.00727521,0.405608,-0.267517,-0.289884,0.918679,0.0207468,-0.0035706,-0.00678668,-0.00927489,0.00557105,-0.00216489,-0.00679314,-0.0158772,-0.0166117,0.0118666,0.00064861,-0.000232381,-0.000208744,0.173924,0.0815315,-0.124161,-1.60728,1.05103,-0.213166,0.171717,0.00431481,0.0441599,-0.0343535,0.0203261,0,-0.00667661,0.0192675,-0.00058659,-0.0105177,-0.00532298,0.000803712,0.000218082,0.000524217,6.76041e-05,-0.0870733,0.0584748,0.349587,-0.0138103,0.533017,0.305227,0.789011,-0.00276792,-0.0233561,0.00781119,1.61382,0.709402,0.822968,0.0348741,0.0192365,0.0193969,0.000585223,0.000199834,-0.000154817,-0.25364,0.141302,0.0418388,1.3496,0.145071,-0.109544,-0.307906,0.0182946,0.0104407,-0.067404,0.0252989,0,0,2.00571,-0.00614365,0.0102342,0.0112955,-0.000205219,-0.000173491,-0.000124838,-0.000155888,-0.100471,0.0150337,0.0584821,-0.0227742,0.524839,0.300118,0.796213,-0.000314963,0.000755695,-0.000332615,1.59403,0.691305,0.892153,-3.80364,-1.49872,-0.500261,0.0415316,0.0985248,0.0449805,1.14932,0.371247,0.123009,1.59553,-0.1503,0.186106,-0.0283868,-0.017771,0.000167669,1.94613,-0.402829,-0.257693,-0.296776,-0.236401,0.369651,0.0170819,-0.0720739,-0.0420136,0.0744251,-0.00848862,0.0536657,-0.272518,-0.280565,0.920036,0.0234637,0.000220914,-0.00137493,-0.000335111,0.205596,0.0316754,-0.0731046,0.938914,1.03242,-0.540459,-0.0625051,-0.0760096,0.0454881,-1.22707,0.134916,0.145098,-1.37053,0.655309,0.318774,0.000409911,-0.00119873,-0.000138489,-0.221282,0.0210556,-0.00288674,-0.0686972,-0.219744,-0.0912834,0.0105476,0.0493803,0.0625051 2020-02-06.14:34:52.807,0.111858,-0.00749226,0.405335,-0.269441,-0.292306,0.917356,0.0204167,-0.00407581,-0.0126461,-0.0148921,0.0300046,-0.0167196,0.0130892,-0.0143665,-0.029162,0.00366299,0.000487474,-7.91389e-05,0.000192152,0.173974,0.0828541,-0.125221,-1.60717,1.04807,-0.219087,0.171717,0.00210762,0.0739758,-0.060851,0.0102085,0,-0.0312179,0.0192675,-5.68415e-05,-0.0201791,-0.00931854,-0.000691795,0.000186774,0.000430293,9.97661e-05,-0.0871468,0.0578981,0.349762,-0.00473345,0.533349,0.318634,0.783574,-0.0038402,-0.0307125,0.00901193,0.92607,0.409455,0.487762,0.0221773,0.011266,0.0160793,0.000161101,-1.53355e-05,0.000164983,-0.25317,0.141617,0.0401564,1.34953,0.145071,-0.109544,-0.272379,0.0249559,0.018085,-0.0901531,-0.00404352,0,0,1.19552,-0.00614365,0.0065713,0.00977083,0.000498549,4.56663e-05,-0.000218762,0.000219335,-0.100473,0.0150367,0.05847,-0.0119807,0.526213,0.316516,0.78916,1.20057e-05,-0.000543682,-0.000878132,1.40356,0.90918,0.833715,-4.66654,-2.0741,-0.768375,0.0397643,0.105874,0.0408,1.14856,0.370707,0.123015,1.63684,-0.160958,0.179767,-0.047283,-0.0323108,0.000362729,1.80439,-0.641815,-0.34651,-0.377963,-0.326084,0.386523,0.0122005,-0.0692882,-0.0402463,0.0744262,-0.00851281,0.0536573,-0.272433,-0.281496,0.919755,0.0242903,-0.000668437,-0.000462269,-0.000646701,0.0970196,-0.0836169,-0.00263912,1.08652,1.38085,-0.586918,-0.0610591,-0.0748299,0.0485059,-1.22707,0.134839,0.145096,-1.37326,0.655582,0.31847,-0.000455973,-0.00314809,0,-0.0462022,-0.0740177,0.0671986,-0.0904101,-0.268362,-0.122216,0.0116115,0.0459922,0.0610591 2020-02-06.14:34:52.827,0.111759,-0.00780771,0.404981,-0.271625,-0.296064,0.915519,0.0197612,-0.00542592,-0.0190619,-0.0208874,0.335406,-0.134312,0.146247,-0.023762,-0.0544412,0.0126082,0.000347215,-0.000296337,0.000137635,0.174023,0.0846492,-0.126726,-1.60706,1.04511,-0.227969,0.171717,0.00171881,0.1057,-0.0894053,0.0116272,0,-0.382664,0.0192675,-0.00164609,-0.0170258,-0.00294932,-0.000867737,-0.000282848,0.000367676,-0.000103926,-0.0872237,0.0572433,0.349949,0.000239062,0.532579,0.324628,0.78165,-0.00415002,-0.0336047,0.00949962,0.515395,0.239946,0.275863,0.00707907,0.002018,0.00581471,-3.1435e-06,-3.83803e-05,0.000187812,-0.252649,0.142027,0.0382217,1.34948,0.148032,-0.109544,-0.254615,0.0272288,0.0212763,-0.0992949,-0.00286069,0,0,0.70948,-0.00243541,0.00216782,0.00287138,-0.000117248,1.43582e-05,6.30108e-05,0.000176453,-0.100473,0.0149735,0.0584589,-0.00495708,0.529796,0.324621,0.783526,-0.000206991,-0.00603035,0.00104636,0.570139,0.63745,0.0473003,-5.21984,-2.46277,-1.0143,0.03631,0.101993,0.0405593,1.14739,0.369834,0.123018,1.6597,-0.173118,0.172123,-0.0667818,-0.0538575,0.000168992,0.693026,-0.412123,-0.479245,-0.434606,-0.385559,0.330282,0.011825,-0.0599316,-0.03631,0.0744052,-0.00852802,0.0536294,-0.273948,-0.28304,0.91884,0.0239626,-0.00113395,-0.00100922,-0.00165755,0.155395,-0.201935,0.0322292,1.33278,1.85854,-0.709893,-0.0663611,-0.0765216,0.0515795,-1.22709,0.134684,0.14509,-1.37389,0.652576,0.321574,-0.000452517,-0.0104175,-0.00044703,-0.0222077,-0.172247,0.166319,-0.125812,-0.339165,-0.192518,0.00929595,0.0441688,0.0663611 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