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
2020-02-06.16:44:58.5,0.112867,-1.14834e-05,0.441502,-0.0211283,-0.27999,0.958252,0.053975,3.96909e-05,0.000189831,0.000100638,-3.32722e-06,6.44744e-05,-0.000147672,-0.178587,0.209142,-1.05402,0.0051678,0.00915822,-0.0398321,0.182792,-0.0355224,-0.0782965,0.878707,1.72605,0.0888192,2.52839,0,-0.000782006,0.000782006,0.000161167,0,0,0,-0.0562102,0.408659,0.381152,0.0801536,-0.00247442,-0.00345191,-0.00105806,-0.169582,0.0204545,0.425295,0.210459,-0.396613,0.835737,-0.316148,7.98169e-05,0.000299881,-0.000203662,0.000869767,-0.000407311,0.000825128,0.0641434,0.286091,-0.495113,-0.000887629,0.000502896,-0.00404515,-0.0294539,-0.0641167,0.0138607,1.87284,0.88227,0.0296064,-2.30338,-0.00023871,-0.000144806,0.00101596,-0.000680387,0,0,0,0.0908003,0.197466,0.155179,0.00973551,-0.000580496,-0.00284864,0.000594558,-0.0730766,0.0345286,0.0474296,0.210123,-0.399237,0.831733,-0.323541,-9.69091e-06,3.20177e-06,2.36024e-05,-1.51071e-05,-0.000190068,1.95806e-05,-2.29571,1.42146,-2.06295,-0.0314105,-0.0285613,-0.0627833,1.43671,0.417506,0.14993,-1.11115,-0.949077,0.0828249,-0.000154813,0.000113005,0,0,0,0,0.483945,-0.00699896,0.600242,-0.000316068,0.0545482,0.0314105,0.0784127,0.00197104,0.0364117,-0.0189753,-0.282906,0.956429,0.0696273,8.15197e-06,-2.31517e-05,2.84746e-05,0.00065063,0.000223643,-4.4318e-06,1.10392,-0.389812,-1.22332,-0.0558375,-0.0982161,0.234368,-1.39487,0.151906,0.140025,-1.4846,1.32606,0.167639,0.000292626,0,0,-0.000668528,0,0,-0.104571,-0.189062,0.794523,0.0109857,0.0476889,0.0558375
2020-02-06.16:44:59.20,0.112867,-1.88939e-05,0.441509,-0.0211256,-0.279977,0.958255,0.0539829,3.13289e-05,0.000114231,0.000141107,-0.000192988,0.000154844,-0.000269037,-0.168685,0.189349,-1.03495,0.00538783,0.0092046,-0.039318,0.182792,-0.0355224,-0.0783228,0.878725,1.72605,0.0888192,2.52839,0,-0.000690775,0.000501078,0.000312437,0,0,0,-0.0519722,0.398252,0.375514,0.0791859,-0.00247442,-0.00373369,-0.0010259,-0.169574,0.0204784,0.425296,0.210453,-0.39661,0.835724,-0.31619,-5.48823e-06,0.000161938,9.17143e-05,-2.93423e-05,-0.000199993,0.000388575,0.0610889,0.29695,-0.481457,-0.00127476,0.000611426,-0.00471159,-0.0294787,-0.0641797,0.01395,1.87278,0.88227,0.0296064,-2.30338,0,-0.000681334,0.000652626,-0.000437064,0,0,0,0.0950383,0.197882,0.156121,0.011143,-0.000705729,-0.00309911,0.000508793,-0.0730758,0.0345274,0.0474285,0.210134,-0.399399,0.831624,-0.323614,5.22826e-07,-1.13426e-06,-5.7342e-07,1.31549e-06,4.87567e-06,-8.44491e-06,-2.32233,1.4217,-2.09536,-0.0318121,-0.0286743,-0.0670978,1.4367,0.417514,0.14993,-1.11073,-0.949077,0.0828249,0,-9.83968e-06,0,0,0,0,0.489609,-0.00699896,0.603054,-0.00250646,0.0552599,0.0318121,0.078413,0.00197057,0.0364125,-0.0189716,-0.282906,0.956429,0.0696264,-8.88997e-06,1.0763e-05,-3.02675e-05,0.000650629,-0.000259481,-0.00028337,1.12759,-0.396093,-1.20279,-0.0568818,-0.0988903,0.239441,-1.39486,0.151906,0.140025,-1.4846,1.32606,0.167639,-0.000265241,0,0,-0.000668528,0,0,-0.102683,-0.193782,0.822644,0.011236,0.047292,0.0568818
2020-02-06.16:44:59.40,0.112867,-1.88939e-05,0.441509,-0.0211162,-0.279972,0.958252,0.0540567,2.99987e-05,0.000107869,0.000137735,-0.000186736,3.3717e-05,8.41067e-06,-0.174374,0.204551,-1.04607,0.00533637,0.00888601,-0.0395401,0.182792,-0.0355224,-0.0783228,0.878874,1.72605,0.0888192,2.52839,0,-0.000664568,0.000474871,9.63705e-06,0,0,0,-0.0546209,0.404914,0.378362,0.0797137,-0.00275619,-0.00345191,-0.000886534,-0.169574,0.0204784,0.425296,0.210453,-0.39661,0.835724,-0.31619,-5.48823e-06,0.000161938,9.17143e-05,-2.93423e-05,-0.000199993,0.000388575,0.0697543,0.323164,-0.506765,-0.00105021,0.000215991,-0.00411206,-0.0294787,-0.0641797,0.01395,1.87278,0.88227,0.0296064,-2.30338,0,-0.000681334,0.000652626,-0.000437064,0,0,0,0.0881516,0.197882,0.155827,0.0107032,-0.000737037,-0.00291126,0.000605279,-0.0730758,0.0345274,0.0474285,0.210134,-0.399399,0.831624,-0.323614,6.63064e-07,-7.60483e-07,-1.22081e-06,1.31549e-06,9.97629e-06,-5.50007e-06,-2.34094,1.39497,-2.09943,-0.0324548,-0.0273657,-0.0662516,1.4367,0.417514,0.14993,-1.11073,-0.949077,0.0828249,5.88968e-06,-9.83968e-06,0,0,0,0,0.488665,-0.0032228,0.617114,-0.00175547,0.0540552,0.0324548,0.078413,0.00197057,0.0364125,-0.0189716,-0.282906,0.956429,0.0696264,-8.88997e-06,1.0763e-05,-3.02675e-05,0.000650629,-0.000259481,-0.00028337,1.11135,-0.440105,-1.21492,-0.0572835,-0.0991539,0.236467,-1.39486,0.151906,0.140025,-1.4846,1.32606,0.167639,-0.000265241,0,0,-0.000668528,0,0,-0.102683,-0.185286,0.805771,0.0105476,0.0481957,0.0572835
2020-02-06.16:44:59.60,0.11286,-9.80907e-06,0.441514,-0.0211146,-0.279972,0.958252,0.0540583,-1.84328e-05,-3.5441e-05,6.1894e-05,-0.000195063,0.000219637,-0.000403697,-0.178974,0.209388,-1.05693,0.00511773,0.00883119,-0.039535,0.182817,-0.0355539,-0.0782913,0.878853,1.72605,0.0888192,2.52839,4.92042e-05,-6.24144e-05,-0.000127282,0.000412899,0,0,0,-0.0567399,0.40974,0.382236,0.0795378,-0.00266226,-0.00326407,-0.0010259,-0.169566,0.0204865,0.4253,0.210452,-0.396602,0.83572,-0.316211,0.000283216,0.000184222,0.000105238,-3.40908e-05,-0.000627626,0.00113304,0.0602724,0.317458,-0.49619,-0.00106961,0.000309097,-0.00441786,-0.0295034,-0.0642112,0.0139815,1.87276,0.88227,0.0296064,-2.30338,-0.000818136,-0.000746433,0.000713035,-0.00047752,0,0,0,0.0865623,0.206628,0.158027,0.0102633,-0.000862269,-0.00303649,0.000423028,-0.0730753,0.034527,0.0474272,0.210138,-0.399401,0.831623,-0.32361,-4.55977e-06,1.96692e-06,1.07709e-05,-7.34811e-06,-8.68597e-05,1.2751e-05,-2.30017,1.41278,-2.11352,-0.0310891,-0.0261896,-0.0656388,1.43671,0.417506,0.14993,-1.11073,-0.949077,0.0828249,-6.88472e-05,5.49659e-05,0,0,0,0,0.486305,-0.0055829,0.574933,-0.00244388,0.0524614,0.0310891,0.0784127,0.00197104,0.0364117,-0.0189753,-0.282906,0.956429,0.0696273,6.43125e-06,-1.97273e-05,2.25433e-05,0.00065063,0.000174861,-3.25959e-05,1.1442,-0.447211,-1.26711,-0.0574441,-0.0990559,0.237342,-1.39487,0.151906,0.140025,-1.4846,1.32606,0.167639,0.000236297,0,0,-0.000668528,0,0,-0.102211,-0.18859,0.797335,0.0111734,0.0477594,0.0579261
2020-02-06.16:44:59.80,0.11286,-9.80907e-06,0.441514,-0.0211146,-0.279972,0.958252,0.0540583,-1.84328e-05,-3.5441e-05,6.1894e-05,-0.000195063,0.000219637,-0.000403697,-0.175214,0.204767,-1.05182,0.00554039,0.00922394,-0.0399567,0.182817,-0.0355539,-0.0782913,0.878853,1.72605,0.0888192,2.52839,4.92042e-05,-6.24144e-05,-0.000127282,0.000412899,0,0,0,-0.0546209,0.406828,0.380389,0.0805055,-0.00266226,-0.00376499,-0.000993741,-0.169566,0.0204944,0.425304,0.210452,-0.396599,0.835718,-0.31622,0.000265134,0.00031274,0.000174965,-4.99287e-05,-0.000766676,0.00140779,0.0848958,0.32536,-0.494347,-0.00101,0.000226157,-0.00420275,-0.0295034,-0.0642427,0.014013,1.87274,0.88227,0.0296064,-2.30338,-0.000779243,-0.0012796,0.00123087,-0.000824313,0,0,0,0.09133,0.206556,0.152244,0.00982348,-0.000862269,-0.00300518,0.000476631,-0.0730754,0.0345265,0.0474281,0.210135,-0.399401,0.831624,-0.32361,-1.67294e-06,9.66131e-06,-2.55615e-06,-7.34853e-06,1.81402e-05,7.33726e-05,-2.32021,1.40155,-2.09891,-0.0310088,-0.0278746,-0.0667249,1.4367,0.417506,0.14993,-1.11073,-0.949077,0.0828249,5.23961e-05,5.49659e-05,0,0,0,0,0.487249,-0.00416684,0.600242,-0.00313229,0.0544128,0.0310088,0.0784127,0.00197104,0.0364117,-0.0189753,-0.282906,0.956429,0.0696273,5.45207e-06,-1.77786e-05,1.91681e-05,0.00065063,0.000147102,-4.8623e-05,1.09975,-0.367815,-1.19086,-0.0558375,-0.0971979,0.233185,-1.39487,0.151906,0.140025,-1.4846,1.32606,0.167639,0.000204243,0,0,-0.000668528,0,0,-0.101739,-0.19095,0.797335,0.0104224,0.0469206,0.0558375
2020-02-06.16:44:59.100,0.112852,-7.2396e-07,0.441519,-0.021113,-0.279972,0.958252,0.0540599,-5.30066e-05,7.40385e-05,0.000120345,-0.000189338,0.000185326,-0.000282334,-0.175326,0.209719,-1.06077,0.0055082,0.00894707,-0.0403831,0.182842,-0.0355854,-0.0782598,0.878832,1.72605,0.0888192,2.52839,0.00020233,-0.000476719,0.000287023,0.00013572,0,0,0,-0.0546209,0.41099,0.383415,0.0812972,-0.00294404,-0.00351453,-0.00100446,-0.169566,0.0204944,0.425314,0.210455,-0.396587,0.835723,-0.316219,0.000232617,0.000401313,0.000350547,-0.000376363,-0.0008646,0.00158654,0.0805332,0.367797,-0.499379,-0.00156954,0.000529374,-0.00484977,-0.0295034,-0.0642741,0.0140182,1.87273,0.88227,0.0296064,-2.30338,-0.000701073,-0.00202728,0.0016524,-0.00110661,0,0,0,0.087092,0.220133,0.157355,0.0114949,-0.00111273,-0.00291126,0.000444469,-0.0730754,0.0345265,0.0474281,0.210135,-0.399401,0.831624,-0.32361,-1.67294e-06,9.66131e-06,-2.55615e-06,-7.34853e-06,1.81402e-05,7.33726e-05,-2.34665,1.39816,-2.15076,-0.0319728,-0.0283682,-0.0673713,1.4367,0.417506,0.14993,-1.11073,-0.949077,0.0828249,5.23961e-05,5.49659e-05,0,0,0,0,0.494329,-0.000390686,0.591805,-0.00275679,0.0551989,0.0319728,0.078413,0.00197057,0.0364125,-0.0189716,-0.282906,0.956429,0.0696264,-1.75512e-06,-3.43564e-06,-5.67468e-06,0.000650629,-5.72165e-05,-0.000166592,1.10799,-0.42727,-1.22262,-0.0575245,-0.0998322,0.240633,-1.39486,0.151906,0.140025,-1.4846,1.32606,0.167639,-3.16859e-05,0,0,-0.000668528,0,0,-0.103155,-0.19095,0.800147,0.011236,0.0482002,0.0575245
2020-02-06.16:44:59.120,0.112844,9.51132e-07,0.441531,-0.0211087,-0.279959,0.958256,0.0540693,-6.63418e-06,0.000181355,0.000199822,-0.000235647,4.07368e-05,5.68551e-05,-0.185312,0.204205,-1.0427,0.00515592,0.009301,-0.0397451,0.182867,-0.0356169,-0.0782546,0.878828,1.72605,0.0888192,2.52839,0.000144198,-0.000994926,0.000751623,-0.000174195,0,0,0,-0.0583292,0.403417,0.37716,0.0801536,-0.00234918,-0.00351453,-0.000907976,-0.169558,0.0205025,0.425318,0.210454,-0.396579,0.835719,-0.31624,6.42067e-05,0.000276334,0.000288357,-0.000375886,-0.00047376,0.000877175,0.0955567,0.332824,-0.50156,-0.000954503,0.000335142,-0.00460245,-0.0295282,-0.0643056,0.0140496,1.87271,0.88227,0.0296064,-2.30338,-0.000213494,-0.00154561,0.00117072,-0.000784032,0,0,0,0.0950383,0.209391,0.152216,0.0105272,-0.000768345,-0.00319303,0.000358704,-0.0730757,0.0345278,0.0474277,0.210138,-0.3994,0.831623,-0.323614,-2.18744e-07,-2.34863e-05,1.76836e-05,1.19184e-05,-0.000136082,-0.000180588,-2.30116,1.3829,-2.11739,-0.0317318,-0.0274683,-0.0669083,1.43671,0.417514,0.14993,-1.11073,-0.949077,0.0828249,-0.000208144,-8.91529e-05,0,0,0,0,0.486305,-0.00227877,0.574933,-0.00281937,0.0538498,0.0317318,0.078413,0.00197057,0.0364125,-0.0189716,-0.282906,0.956429,0.0696264,-1.75512e-06,-3.43564e-06,-5.67468e-06,0.000650629,-5.72165e-05,-0.000166592,1.12872,-0.40176,-1.29071,-0.0574441,-0.0989415,0.238086,-1.39486,0.151906,0.140025,-1.4846,1.32606,0.167639,-3.16859e-05,0,0,-0.000668528,0,0,-0.113067,-0.19095,0.802959,0.0105476,0.0475584,0.0574441
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