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
2020-02-06.16:52:44.726,0.106127,0.0601218,0.377721,-0.294428,-0.377794,0.67656,0.559331,-0.00273119,0.0155207,0.00128492,-0.77501,-0.227321,0.557039,0.00647727,-0.00681484,0.0187942,-9.27935e-05,-8.16978e-06,3.38613e-05,0.212147,0.0259805,0.0953597,-1.55291,0.598049,-0.00888192,-0.817136,0.0160622,-0.0333355,0.053387,-0.0357533,-0.0141198,-0.0335766,0.984389,0.00524064,-0.00494112,-0.00259584,-0.000339911,-6.3691e-05,0.00014852,-0.000114647,-0.185309,0.0468948,0.394038,0.346235,-0.490723,0.654502,-0.459282,-1.38087e-06,-7.93197e-05,-4.2751e-05,0.0388688,-0.0308446,-0.000757329,0.00842777,-0.00181786,-0.00799793,0.000238446,-6.16811e-05,0.000192849,0.0153339,-0.0292556,0.0911091,1.64448,0.423371,0.0355277,-2.19679,0,0.000322539,-0.000322539,0.00212335,0.0209671,0,0.0450564,-0.00349491,-0.00507562,-0.00050381,5.86941e-05,-1.695e-05,0.00025086,4.78048e-05,-0.0806912,0.0162353,0.0265854,0.345248,-0.489851,0.655431,-0.45963,0.000116075,0.000136696,0.000226446,0.0048811,-0.000919092,0.00569275,-3.64287,4.83254,-2.43278,0.0101215,0.0530085,-0.0198744,1.46757,0.252873,0.130862,-0.614392,-0.504052,-0.0403361,-0.00129292,0.00147816,0.000163427,0.00630063,0.00384746,-0.000467509,0.743555,0.0354828,-0.19839,0.0012485,-0.0206167,-0.0101215,0.0889435,0.0580213,0.0424721,-0.289888,-0.376844,0.675392,0.563737,0.000160657,0.0081647,0.00866906,-1.24707,0.225907,0.17414,6.25795,1.27598,-3.92392,-0.000568575,-0.0678972,0.0473745,-1.5328,0.605949,0.14078,-2.4865,0.694113,-0.192404,-0.0212869,0.019482,0.00473086,1.50771,-0.272785,0.483165,-0.615768,0.517079,1.2304,0.0137393,0.018756,0.000568575
2020-02-06.16:52:44.740,0.106059,0.0606088,0.377728,-0.300099,-0.374832,0.682324,0.551249,0.000405706,0.00219477,-0.00135454,-0.111394,-0.059184,0.0983416,0.00880531,-0.024681,0.0258368,-0.000129333,0.000270463,9.92985e-05,0.212593,0.0250357,0.0970145,-1.55387,0.595088,-0.00888192,-0.793451,-0.000395018,0,0.00661065,-0.00442716,-0.0119687,-0.028527,0.158006,0.00524064,-0.0112688,-0.0053542,1.19731e-05,-0.000282848,0.000117212,8.90455e-05,-0.185404,0.0468574,0.394018,0.346215,-0.490864,0.654557,-0.459067,-0.00368161,-0.00108202,-0.000337925,0.0334261,-0.0209349,-0.0106104,-0.00156361,0.00287059,0.00916533,0.000150731,-4.32585e-05,0.000170268,0.0156063,-0.0290981,0.0909517,1.64474,0.423371,0.0355277,-2.19679,0.0105782,0.00378555,-0.00439933,0.00294623,0.0181313,0,0.0394482,-0.00349491,7.22755e-06,-0.000417206,-0.000557103,0.000108283,0.000219551,1.56429e-05,-0.0806906,0.0162413,0.0265867,0.34534,-0.489697,0.655397,-0.459775,7.89773e-05,-0.000193201,-0.000265688,0.0045069,0.0020915,-0.00202555,-3.47629,4.63575,-2.43138,0.0110052,0.0529164,-0.0190327,1.46757,0.252896,0.130862,-0.614392,-0.503642,-0.040507,0.00110292,-0.00245453,0,0.0043146,-0.00153867,-0.000892326,0.715706,0.0340668,-0.282753,0.00143625,-0.0219835,-0.0113265,0.0889202,0.0583606,0.0425512,-0.298098,-0.371155,0.682928,0.554068,0.00124785,0.00382754,-0.00272906,-0.171172,-0.11949,0.17154,5.8815,0.725583,-3.6494,-0.0288457,-0.0941282,0.0715073,-1.5355,0.606906,0.140985,-2.44478,0.696026,-0.16603,-0.056152,0.0146085,0.00043281,0.329666,0.121175,0.251395,-0.555822,0.460437,1.10104,0.0159923,0.0511303,0.0288457
2020-02-06.16:52:44.747,0.106059,0.0606088,0.377728,-0.300099,-0.374832,0.682324,0.551249,0.000405706,0.00219477,-0.00135454,-0.111394,-0.059184,0.0983416,0.00880531,-0.024681,0.0258368,-0.000129333,0.000270463,9.92985e-05,0.212593,0.0250357,0.0970145,-1.55387,0.595088,-0.00888192,-0.793451,-0.000395018,0,0.00661065,-0.00442716,-0.0119687,-0.028527,0.158006,0.00524064,-0.0112688,-0.0053542,1.19731e-05,-0.000282848,0.000117212,8.90455e-05,-0.185404,0.0468574,0.394018,0.346215,-0.490864,0.654557,-0.459067,-0.00368161,-0.00108202,-0.000337925,0.0334261,-0.0209349,-0.0106104,-0.00156361,0.00287059,0.00916533,0.000150731,-4.32585e-05,0.000170268,0.0156063,-0.0290981,0.0909517,1.64474,0.423371,0.0355277,-2.19679,0.0105782,0.00378555,-0.00439933,0.00294623,0.0181313,0,0.0394482,-0.00349491,7.22755e-06,-0.000417206,-0.000557103,0.000108283,0.000219551,1.56429e-05,-0.0806906,0.0162413,0.0265867,0.34534,-0.489697,0.655397,-0.459775,7.89773e-05,-0.000193201,-0.000265688,0.0045069,0.0020915,-0.00202555,-3.47629,4.63575,-2.43138,0.0110052,0.0529164,-0.0190327,1.46757,0.252896,0.130862,-0.614392,-0.503642,-0.040507,0.00110292,-0.00245453,0,0.0043146,-0.00153867,-0.000892326,0.715706,0.0340668,-0.282753,0.00143625,-0.0219835,-0.0113265,0.0889202,0.0583606,0.0425512,-0.298098,-0.371155,0.682928,0.554068,0.00124785,0.00382754,-0.00272906,-0.171172,-0.11949,0.17154,5.8815,0.725583,-3.6494,-0.0288457,-0.0941282,0.0715073,-1.5355,0.606906,0.140985,-2.44478,0.696026,-0.16603,-0.056152,0.0146085,0.00043281,0.329666,0.121175,0.251395,-0.555822,0.460437,1.10104,0.0159923,0.0511303,0.0288457
2020-02-06.16:52:44.766,0.10606,0.0605882,0.377694,-0.300085,-0.374839,0.682306,0.551274,-0.000382163,-0.00181927,-0.00334619,-0.101418,-0.0496602,0.0822302,-0.00642208,-0.0124437,-0.00297405,-0.000225714,-9.88172e-05,0.000151722,0.212568,0.0251932,0.0969097,-1.5538,0.595088,-0.00888192,-0.793451,-0.000889619,0.0154563,-0.0099838,0.00668615,-0.0119687,-0.0277917,0.144407,-0.00376508,-0.00369098,-0.0028315,-0.000691795,-9.49992e-05,0.000117212,-8.24851e-05,-0.185439,0.046826,0.394011,0.346215,-0.490904,0.654582,-0.458989,-0.00473995,-0.00264984,-0.000875019,0.0320236,-0.0166145,-0.0166394,-0.00324196,-0.000808661,-0.004557,-0.000288082,0.000553138,-0.00023184,0.0157054,-0.0290037,0.0908309,1.64482,0.423371,0.0355277,-2.19679,0.0135581,0.00918863,-0.0105784,0.00708435,0.0177678,0,0.0387192,0.00180257,0.000588521,0.00164126,0.00102638,7.69744e-05,0.000282168,-8.08431e-05,-0.080691,0.0162413,0.0265824,0.34537,-0.489731,0.65537,-0.459753,7.71683e-05,9.84952e-05,-0.000511742,-0.00157314,-0.0119539,0.000393899,-3.47302,4.65549,-2.54246,0.0100412,0.0532685,-0.0186936,1.4676,0.252881,0.13086,-0.614392,-0.503642,-0.0404253,0.00407837,-0.00120565,-1.62885e-05,0.00408697,-0.00155969,-0.0176806,0.719482,0.0378429,-0.383988,0.00156141,-0.022376,-0.0100412,0.0889309,0.0584032,0.0425371,-0.298701,-0.370481,0.683869,0.553033,0.000632706,0.00489036,-0.00110627,-0.295799,-0.0206187,0.108714,5.65538,0.602342,-3.40705,-0.026516,-0.0943079,0.0639586,-1.536,0.607053,0.140994,-2.44037,0.69671,-0.163892,-0.0478794,0.0157062,0.00137348,0.418019,0.0184793,0.193389,-0.519948,0.445332,1.12635,0.0128632,0.0520158,0.026516
2020-02-06.16:52:44.786,0.106049,0.0605251,0.377623,-0.300049,-0.374778,0.682244,0.551412,-0.000681003,-0.00412672,-0.00395209,-0.0846497,-0.0414998,0.0654819,-0.00702363,0.0043143,-0.0116398,-6.55325e-05,6.66857e-05,0.000113977,0.212544,0.0255711,0.0966107,-1.55345,0.595088,-0.00888192,-0.793451,-0.00144061,0.0223621,-0.0188693,0.0118123,-0.0119687,-0.0265355,0.121035,-0.00376508,0.00263674,0.00051601,-0.000163969,-9.49992e-05,8.59034e-05,5.68835e-05,-0.185569,0.0467074,0.393999,0.34622,-0.491041,0.654684,-0.458693,-0.007199,-0.007335,-0.000932932,0.0244912,-0.00562999,-0.0321538,-0.0189736,0.000155753,0.00892734,0.000294416,4.31803e-05,3.94002e-05,0.016077,-0.0286888,0.0903845,1.64512,0.423371,0.0355277,-2.19679,0.020457,0.0201174,-0.0277285,0.0185698,0.0170122,0,0.0371963,-0.00190566,-0.00233374,0.00395953,0.000762462,-7.95662e-05,-0.000156146,-7.01224e-05,-0.0806962,0.0162423,0.0265725,0.345356,-0.489875,0.655284,-0.459733,-0.000447485,-1.59367e-05,-0.000384849,-0.00195727,-0.00417902,-0.000522659,-3.21146,4.58912,-2.57236,0.0098002,0.0527341,-0.0204791,1.46767,0.252873,0.130854,-0.614182,-0.503779,-0.0403139,0.00235711,-0.000569799,-0.000513153,0,-0.00126299,-0.00679943,0.698714,0.0203782,-0.538652,-0.000190902,-0.0242924,-0.0098002,0.088934,0.0584731,0.0424693,-0.299281,-0.370795,0.683508,0.552955,2.32244e-05,0.0024312,-0.00322168,0.0788331,-0.0348978,-0.0464588,5.34892,0.52715,-3.21554,-0.0224994,-0.0913541,0.0531013,-1.53685,0.607254,0.141,-2.44016,0.69671,-0.162993,-0.0322231,0.00752482,6.75382e-05,-0.102112,0.00844252,-0.0384317,-0.485491,0.428812,1.06448,0.00829463,0.0500852,0.0224994
2020-02-06.16:52:44.806,0.106024,0.0604328,0.377545,-0.300031,-0.374761,0.682214,0.551471,-0.00106272,-0.00540543,-0.0038547,-0.0720995,-0.0360573,0.0536218,-0.00802251,-0.00263265,-0.00259225,5.96014e-05,6.05684e-05,5.67722e-05,0.212544,0.0260435,0.0961909,-1.55332,0.595088,-0.00888192,-0.793451,-0.00101295,0.0248504,-0.0235262,0.0130884,-0.0119687,-0.0253555,0.102491,-0.00217583,-0.0011907,-0.0024191,-7.59979e-05,-1.0748e-06,0.000179828,-7.44046e-06,-0.185736,0.0465016,0.393972,0.346242,-0.491157,0.654809,-0.458375,-0.00956289,-0.012772,-0.00205331,0.0187185,0.00555624,-0.0481364,-0.0215159,0.00797803,-0.00461408,0.000142637,-0.000121667,2.73762e-05,0.0165477,-0.0281219,0.0896073,1.64534,0.423371,0.0355277,-2.19679,0.0270021,0.0363009,-0.0484923,0.0309689,0.0163284,0,0.0358095,-0.00190566,0.00482215,0.00880051,-0.000205219,4.56663e-05,-0.000156146,1.56429e-05,-0.0807145,0.0162379,0.026568,0.34537,-0.489971,0.655321,-0.459568,-0.00111492,-0.000342516,-0.000111477,-0.000665722,-0.00295344,-0.0067417,-2.75673,4.66759,-2.56535,0.00907721,0.0485232,-0.0220237,1.46769,0.252873,0.130837,-0.614392,-0.504052,-0.0400094,-0.00130767,-0.000272109,-0.00109182,-0.00161188,-0.00568568,-0.00128363,0.687385,-0.0150233,-0.727062,-0.00125481,-0.0242442,-0.00891654,0.0889329,0.0585026,0.0424234,-0.298944,-0.370379,0.683656,0.553232,-8.66052e-05,0.0010049,-0.00161251,-0.00356135,0.0631375,-0.0145708,5.11581,0.614533,-3.16534,-0.0180008,-0.0827192,0.0488417,-1.53733,0.607293,0.141,-2.44037,0.696846,-0.164738,-0.0163644,0.0010748,0,-0.0179575,0,-0.0873313,-0.477938,0.409459,0.96606,0.0084198,0.0430553,0.0180008
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