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
2020-02-06.17:08:46.61,0.157674,-0.0267042,0.426364,-0.157256,-0.458693,0.819056,0.306624,-0.0041743,-0.00711748,0.00555328,-0.022242,0.00894349,-0.0145976,-0.00143179,-0.000338937,0.0121592,-9.80272e-05,0.000121294,-2.30413e-05,0.0566287,0.0541024,-0.169157,-1.66427,0.92668,-0.378962,-0.746081,0.0100787,0.0043816,-0.0266132,0.00708175,0,0,0,0.00206215,-0.00318672,-0.00429728,9.99441e-05,-0.000126307,-8.02096e-06,3.28019e-06,-0.134853,-0.00316878,0.439164,0.180399,-0.449069,0.868212,-0.109544,0.000379503,6.06798e-05,-0.000161939,0.00045729,-0.000459722,0.000910956,-0.0177878,0.00790131,0.00350509,9.63398e-05,0.000219848,-0.000160828,-0.122374,-0.033192,-0.0793909,-0.572764,2.25009,0.0266457,1.01254,-0.00100908,0.000446303,1.4568e-05,-9.7562e-06,0,0,0,-0.00614365,0.0035878,0.00166895,0.000322607,-0.000204799,-6.22216e-05,-7.01224e-05,-0.0619616,-0.0132659,0.0538033,0.181804,-0.446733,0.868979,-0.110693,-3.32646e-05,-2.26153e-05,-4.3222e-05,-0.000191136,0.00019876,7.49622e-05,1.23801,0.686305,-0.00841844,-0.0251445,0.0232186,-0.0414216,1.24907,0.112196,0.15832,-1.39318,-0.870648,0.323859,8.83168e-05,-0.000241423,-4.57883e-05,0.00010722,0.000187376,-0.000372223,-0.0815351,-0.165126,-1.09263,-0.006324,-0.0200962,0.0251445,0.0809312,-0.019968,0.0454076,-0.156549,-0.453912,0.821034,0.308801,-0.00114388,-0.00114112,0.00149433,-0.0095853,0.00992442,-0.00372803,-0.779671,0.638779,2.04083,-0.0331836,0.00559987,0.0367052,-1.21112,0.0734432,0.1375,-2.33343,0.700945,-0.128957,0.0109543,-0.00336212,0.00168649,-0.000309075,-0.0133182,-0.00941444,0.109726,-0.239096,1.10666,0.00479,0.00626205,0.0331836
2020-02-06.17:08:46.73,0.157481,-0.0269773,0.426596,-0.15737,-0.458243,0.819215,0.306814,-0.0060424,-0.00752574,0.00685148,-0.0256807,0.0131048,-0.0223436,-0.0228425,0.0251084,-0.0474197,-3.91361e-05,0.00149823,-0.000956431,0.0572976,0.0542913,-0.17053,-1.66409,0.92668,-0.378962,-0.746081,0.0173993,0.00354969,-0.0269088,0.00476107,0,0,0,-0.00535432,0.00695793,0.00673971,0.000187915,-0.000376772,0.00014852,1.40009e-05,-0.134853,-0.0031616,0.439145,0.1804,-0.44909,0.8682,-0.109556,0.000288237,0.00013931,-0.000503135,0.00134811,-0.000285533,0.000862462,-0.00511275,0.00312007,0.00304175,8.70739e-05,-7.05895e-05,0.000368464,-0.122374,-0.0331605,-0.0793698,-0.572778,2.25009,0.0266457,1.01254,-0.000730311,0.001121,0.000239486,-0.000160384,0,0,0,-0.00243541,0.000922944,-9.49452e-05,-0.000821016,-1.695e-05,-0.000187454,4.9222e-06,-0.0619616,-0.0132659,0.0538033,0.181804,-0.446733,0.868979,-0.110693,-2.27728e-05,-2.3301e-05,-3.95347e-05,-0.000178969,0.000198837,6.78448e-05,1.28422,0.675459,-0.000242362,-0.0258675,0.0222931,-0.0421401,1.24907,0.112196,0.15832,-1.39318,-0.870648,0.323859,8.83168e-05,-0.000241423,-3.46033e-05,0.000105934,0.000181186,-0.000358604,-0.0862553,-0.165598,-1.12075,-0.00607367,-0.0194106,0.0258675,0.0808695,-0.0200201,0.0454801,-0.156498,-0.45377,0.821048,0.309,-0.00176789,-0.00142436,0.00220483,-0.0181511,0.0209384,-0.00071625,-0.953873,0.807854,2.40609,-0.0305327,0.0110432,0.0367723,-1.21061,0.0733042,0.137587,-2.33364,0.700262,-0.129216,0.0146718,-0.00296489,0.00256503,0,-0.0120951,-0.0205923,0.130967,-0.278746,1.28945,0.00641715,0.00246763,0.0305327
2020-02-06.17:08:46.85,0.1574,-0.0270699,0.426668,-0.15741,-0.458082,0.819256,0.306925,-0.00705592,-0.00708853,0.00608163,-0.0233524,0.0117451,-0.0187705,-0.00919107,0.0107761,-0.0180416,0.000304102,6.45759e-05,0.00029271,0.0572976,0.0542913,-0.17053,-1.66409,0.92668,-0.378962,-0.746081,0.0173993,0.00354969,-0.0269088,0.00476107,0,0,0,-0.00535432,0.00695793,0.00673971,0.000187915,-0.000376772,0.00014852,1.40009e-05,-0.134843,-0.00316834,0.439142,0.180399,-0.44909,0.8682,-0.109558,-1.83144e-05,0.000192668,-0.000476042,0.00134493,2.31052e-05,0.000379663,-0.0120794,0.0200749,-0.00376144,-0.000124744,-5.9685e-06,-2.57454e-05,-0.122398,-0.0331291,-0.0794012,-0.572757,2.25009,0.0266457,1.01254,7.26413e-05,0.000774599,0.000585886,-0.000392368,0,0,0,-0.00296516,0.00866539,0.00448622,5.86941e-05,0.000108283,-6.22216e-05,-2.72398e-05,-0.061964,-0.0132657,0.0538025,0.181804,-0.446733,0.868979,-0.110693,6.09234e-05,-2.86451e-05,-1.03947e-05,-0.000175355,0.000198848,6.56637e-05,1.28333,0.667694,-0.0131801,-0.0244215,0.0224671,-0.0398332,1.24907,0.112196,0.158317,-1.39318,-0.870648,0.323859,8.83168e-05,-0.000241423,5.41947e-05,0.000105482,0.000179297,-0.000354494,-0.0867273,-0.161349,-1.12638,-0.00588592,-0.0203016,0.0244215,0.0808459,-0.0200362,0.0455081,-0.15667,-0.453698,0.82103,0.309065,-0.00156819,-0.00154373,0.00213199,-0.0227504,0.022278,-0.0039724,-0.976049,0.843447,2.39647,-0.0317377,0.0102228,0.0380695,-1.21042,0.0732578,0.137618,-2.33343,0.699715,-0.129016,0.0153854,-0.004137,0.00234489,0.000113982,-0.0172936,-0.0250488,0.128607,-0.285354,1.27258,0.00635457,0.0036423,0.0317377
2020-02-06.17:08:46.105,0.15733,-0.0271481,0.426737,-0.157452,-0.457921,0.81928,0.307077,-0.00750465,-0.0080299,0.00658483,-0.0258015,0.0135277,-0.0222374,-0.0115487,-0.0069637,-0.0144864,0.000578907,5.80657e-05,0.00027904,0.057471,0.0543228,-0.170824,-1.6639,0.92668,-0.378962,-0.746081,0.0184492,0.0047363,-0.0305295,0.00762449,0,0,0,-0.00747332,0.000301044,0.00139619,-0.000339911,0.000124158,0.000649449,1.40009e-05,-0.134852,-0.00316187,0.439134,0.1804,-0.449102,0.868194,-0.109556,-0.000207288,0.000125566,-0.000442466,0.00118249,0.000310275,-0.000182802,0.0171168,0.0108279,0.0039055,0.000104704,-0.0001227,9.8962e-05,-0.122374,-0.0331291,-0.079375,-0.572774,2.25009,0.0266457,1.01254,0.000593406,0.000774599,0.000420693,-0.000281738,0,0,0,0.00551081,0.000346914,-0.0032934,-0.000381161,-1.695e-05,3.17027e-05,-5.94017e-05,-0.0619628,-0.0132658,0.0538029,0.181804,-0.446733,0.868979,-0.110693,-0.000358479,-1.8906e-06,-0.000156348,-0.000172657,0.000198852,6.40152e-05,1.27505,0.667622,-0.0189638,-0.0248232,0.0226154,-0.0401621,1.24907,0.112196,0.158318,-1.39318,-0.870648,0.323859,8.83168e-05,-0.000241423,-0.000390674,0.000105124,0.000177872,-0.000351407,-0.0853112,-0.161349,-1.12357,-0.00582334,-0.0202622,0.0248232,0.0808288,-0.02005,0.0455297,-0.15679,-0.45374,0.820956,0.309142,-0.00204194,-0.00153223,0.00241801,0.000934952,-0.0123564,-0.0293135,-1.0666,0.872296,2.52398,-0.0302113,0.0132195,0.0369537,-1.21027,0.0732192,0.137641,-2.33343,0.699306,-0.128763,0.0169308,-0.00429911,0.00272707,0.000113198,-0.0452473,0.0168359,0.140408,-0.296683,1.31476,0.00673007,0.00134122,0.0302113
2020-02-06.17:08:46.125,0.157098,-0.0273592,0.426889,-0.158029,-0.456343,0.819688,0.308043,-0.0104633,-0.00904012,0.00626579,-0.0266468,0.0221874,-0.0400508,0.00366604,-0.0177156,-0.00083596,0.000108699,0.000279358,8.15325e-05,0.0580408,0.0545118,-0.171644,-1.66365,0.92668,-0.376001,-0.746081,0.0257667,0.00879791,-0.0353529,0.0201501,0,0,0,-0.00111634,-0.00602668,-0.00142109,-7.59979e-05,-0.000220232,0.000398985,-0.000103926,-0.13486,-0.0031631,0.439122,0.180401,-0.449116,0.868188,-0.109545,0.000479847,6.84833e-05,-0.000470182,0.00118815,-0.000460499,0.00107404,-0.00401275,0.00222368,0.00269877,0.000194268,-2.36641e-05,0.000184848,-0.122349,-0.0330976,-0.0793801,-0.572771,2.25009,0.0266457,1.01254,-0.00122969,0.00130027,-0.000104136,6.97398e-05,0,0,0,0.000213329,-0.00573394,-0.00420126,0.000498549,1.43582e-05,6.30108e-05,4.78048e-05,-0.0619624,-0.0132653,0.053802,0.181807,-0.446733,0.868978,-0.110693,-0.000234011,-2.05279e-06,-0.000127856,-0.000165827,0.000291994,0.000113544,1.26251,0.677347,0.000829239,-0.0243412,0.0222065,-0.0394629,1.24908,0.112196,0.158318,-1.39318,-0.870648,0.323859,0.00019587,-0.000241423,-0.000264682,0.000104137,0.000174209,-0.000343519,-0.0853112,-0.162765,-1.10388,-0.00557301,-0.0199829,0.0243412,0.0807665,-0.0201002,0.0455986,-0.156544,-0.45335,0.821187,0.309226,-0.00276196,-0.00239201,0.00281148,-0.0516654,0.0527362,0.00675292,-1.21076,1.09445,2.72331,-0.0270784,0.0183926,0.0338449,-1.20981,0.0730879,0.13773,-2.33343,0.699032,-0.129602,0.0192255,-0.00782526,0.00385033,0.000110695,-0.0119393,-0.0668947,0.1456,-0.330668,1.39631,0.00579133,-0.00284624,0.0270784
2020-02-06.17:08:46.145,0.156846,-0.0275764,0.427024,-0.157618,-0.457185,0.819421,0.307713,-0.0125795,-0.0103969,0.0057882,-0.0274473,0.0188791,-0.0306918,0.00380234,-0.00811104,0.000434261,-0.000463881,-0.000181952,0.00011459,0.0586601,0.0547637,-0.172501,-1.66352,0.92668,-0.378962,-0.746081,0.0308886,0.0140002,-0.0414592,0.00516662,0,0,0,-5.68415e-05,-0.00244611,-0.000100822,-0.000339911,-0.000220232,-0.000446335,8.90455e-05,-0.134861,-0.00315565,0.439115,0.180402,-0.449126,0.868181,-0.109556,0.000411393,0.000123507,-0.00050231,0.00132884,-0.000420326,0.00107389,8.43975e-05,-0.0139125,-0.00702535,-9.81071e-05,-6.45006e-05,-0.000226457,-0.122349,-0.0330976,-0.0793538,-0.572789,2.25009,0.0266457,1.01254,-0.00105997,0.00121838,0.00012163,-8.14555e-05,0,0,0,0.00445132,0.00500252,0.00284369,0.00058652,-0.000110874,0.000156935,-2.72398e-05,-0.0619623,-0.0132663,0.0538014,0.181808,-0.446735,0.868977,-0.11069,-0.00011577,-2.66845e-06,-8.02072e-05,-0.000179582,0.000251007,0.00015341,1.27566,0.681813,-0.0364562,-0.0251445,0.0218712,-0.0405967,1.24908,0.112188,0.158318,-1.39318,-0.870648,0.323859,0.000182104,-0.00018018,-0.000137503,0.000103242,0.000171142,-0.000336964,-0.0777589,-0.16371,-1.12075,-0.00557301,-0.0203321,0.0245019,0.0806871,-0.0201444,0.0456724,-0.156867,-0.452783,0.82129,0.309618,-0.00379433,-0.00240526,0.00339192,-0.0170872,0.0130161,-0.0134183,-1.20467,1.28217,2.82408,-0.0231421,0.0203374,0.0294081,-1.20935,0.0729489,0.137827,-2.33322,0.697393,-0.130226,0.0208886,-0.0070967,0.00489515,-5.26071e-05,-0.033066,-0.0130945,0.138991,-0.347189,1.50036,0.00422676,-0.00538373,0.0231421
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