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
2020-02-06.19:06:59.593,0.196728,0.153738,0.353007,0.64115,0.0303033,-0.466128,-0.608879,-0.00810882,-0.018326,-0.00791287,1.02869,-0.970442,0.116957,-0.00930579,-0.0327877,0.000691448,0.000429758,5.27369e-06,-0.000299257,-0.0609143,-0.0743829,0.406267,-1.65074,-0.716475,0.784569,0.148032,0.033849,0.0662956,-0.0694548,-0.00437416,0.591683,-0.0343002,-1.78795,-0.00323533,-0.00702469,-0.00253692,-0.00025194,-0.000564621,0.000774682,0.000131928,-0.143455,0.156026,0.364552,0.0646806,0.678784,0.624655,0.380625,-0.00103262,1.84364e-05,0.000796376,-0.00269148,0.000755487,-0.00262836,0.0187865,-0.013973,-0.0203544,-0.000244924,0.000384217,-0.000175502,-0.136271,-0.126848,0.424308,1.30767,-0.568443,-0.319749,0.343434,0.00359392,-0.00448088,0.00172471,-0.000983126,0,0,0,0.00551081,0.00433894,0.000521886,-0.000645074,-0.000173491,-0.000187454,-5.94017e-05,-0.0951712,0.0419982,0.053455,0.0650933,0.677186,0.625571,0.381894,-1.50163e-05,-0.000107835,2.72785e-05,-0.00259468,-0.000368782,-0.00328568,0.82799,-0.196509,1.30712,0.0208058,0.0118384,0.025065,1.3039,0.492726,0.13327,2.52739,-0.668016,-0.157062,-0.000800642,-0.000472219,-4.18309e-05,-0.00241402,0.000868765,-0.001548,0.155419,0.10251,0.47651,0.00575445,-0.0153068,-0.0208058,0.102336,0.0460043,0.0551608,0.643062,0.0204724,-0.468573,-0.605385,0.00364206,-0.000853509,0.00256567,0.935923,-0.545042,-0.466478,0.169805,2.87076,-0.164329,0.0347778,-0.00797691,0.00813917,-1.28865,0.56257,0.128982,-2.34391,-0.549962,0.0322222,-0.00714647,-0.0184123,-0.00213982,-1.25203,0.0154782,0.16429,-0.17679,-0.229184,-0.279693,0.00222412,0.0061691,-0.0345368
2020-02-06.19:06:59.597,0.196334,0.152803,0.352528,0.64186,0.0439835,-0.465959,-0.607424,-0.009795,-0.0234748,-0.0137713,-0.17942,-0.0453445,0.660279,-0.00677021,-0.0361214,-0.00532421,-0.000353608,0.00043274,-0.000326986,-0.0592546,-0.0706354,0.402599,-1.65037,-0.689829,0.769766,0.112504,0.0412967,0.102399,-0.0949271,-0.00124935,0.716153,-0.469575,-0.30532,-0.00535432,-0.00810498,-0.00415176,-0.000427882,-0.000595929,-0.000289794,-0.000200412,-0.143468,0.156023,0.364558,0.064696,0.678795,0.624637,0.380632,-0.000186299,-9.42946e-05,-4.31049e-05,-1.39971e-05,0.000625679,-0.00087948,0.00605962,-0.00768646,-0.00145039,8.96872e-05,4.55765e-05,-3.49854e-05,-0.136221,-0.126879,0.424313,1.30767,-0.568443,-0.319749,0.343434,0.000738244,0.000277671,-0.000277671,0.00035169,0,0,0,0.000743077,0.00233766,0.00155112,0.000146665,-7.95662e-05,-3.09135e-05,-0.000102284,-0.095172,0.0419967,0.0534548,0.0650963,0.677184,0.62557,0.381898,-3.92192e-05,1.75432e-05,1.98665e-05,-0.00264203,-0.0002834,-0.00216198,0.866909,-0.156817,1.28841,0.0210468,0.012681,0.025867,1.30389,0.492718,0.133269,2.52739,-0.668016,-0.157062,-0.000233894,0.00041407,-2.3145e-05,-0.0022379,0.000868765,-0.00149553,0.154475,0.108174,0.442765,0.00656802,-0.0163677,-0.0210468,0.102419,0.0458601,0.055161,0.641225,0.0308506,-0.460406,-0.613111,-0.00228544,-0.00588277,-0.00329177,-0.0824466,-0.193308,0.397646,0.508347,4.16275,0.145618,-0.0209731,-0.0574066,-0.0358509,-1.2891,0.561188,0.128843,-2.37914,-0.546136,0.0471535,-0.0159437,-0.0466553,-0.00282676,0.0180591,0.204108,0.352431,-0.317924,-0.37787,-0.327498,0.00159829,0.0544549,0.0216157
2020-02-06.19:06:59.606,0.196233,0.152583,0.352388,0.641512,0.0464868,-0.467836,-0.606161,-0.0101431,-0.0242175,-0.014678,-0.22311,0.183859,0.596747,-0.0102076,-0.0572817,-0.00971645,-0.000176773,0.000387103,6.53255e-05,-0.0588335,-0.0696277,0.401696,-1.65051,-0.680947,0.766805,0.106583,0.0427106,0.10782,-0.0986875,0.000319227,0.669129,-0.323369,-0.0836182,-0.00853281,-0.0127659,-0.00667447,0.000275886,-6.3691e-05,-0.000415026,-0.00015753,-0.143475,0.156023,0.364551,0.0647141,0.678789,0.624641,0.380632,6.63662e-05,-0.000497143,-0.00010743,-0.000393415,0.000957136,-0.000956737,-0.00258019,-0.0179998,0.0113247,-0.000348902,0.000332288,-0.00028172,-0.136196,-0.126848,0.424308,1.30767,-0.568443,-0.319749,0.343434,0,0.0014539,-0.00179608,0.00136717,0,0,0,-0.00455441,0.00391696,0.00278125,-0.000996958,-1.695e-05,-6.22216e-05,-2.72398e-05,-0.0951724,0.0419959,0.0534562,0.0650947,0.677181,0.625569,0.381905,-4.15741e-05,2.95945e-07,3.92105e-05,-0.00258794,-0.000453868,-0.00229948,0.812661,-0.0723418,1.21718,0.0227338,0.0138379,0.0267475,1.30388,0.492718,0.133269,2.52739,-0.668016,-0.157062,-0.000465127,0.000362007,-2.26409e-05,-0.0021999,0.000868765,-0.00148405,0.143146,0.106758,0.431517,0.00688093,-0.0168789,-0.0227338,0.102383,0.0457904,0.0551231,0.641624,0.0323831,-0.461859,-0.61152,-0.00457888,-0.00791532,-0.00426847,-0.172966,0.0367999,0.610556,0.64195,4.14017,0.121989,-0.0253914,-0.0664957,-0.0316374,-1.28929,0.560663,0.128814,-2.37705,-0.542857,0.0497069,-0.0184266,-0.0560857,-0.00288984,0.348434,0.373773,0.196357,-0.321228,-0.37551,-0.403425,0.00835721,0.0621437,0.0253914
2020-02-06.19:06:59.626,0.196233,0.152583,0.352388,0.641512,0.0464868,-0.467836,-0.606161,-0.0101431,-0.0242175,-0.014678,-0.22311,0.183859,0.596747,-0.0102076,-0.0572817,-0.00971645,-0.000176773,0.000387103,6.53255e-05,-0.0588335,-0.0696277,0.401696,-1.65051,-0.680947,0.766805,0.106583,0.0427106,0.10782,-0.0986875,0.000319227,0.669129,-0.323369,-0.0836182,-0.00853281,-0.0127659,-0.00667447,0.000275886,-6.3691e-05,-0.000415026,-0.00015753,-0.143475,0.156023,0.364551,0.0647141,0.678789,0.624641,0.380632,6.63662e-05,-0.000497143,-0.00010743,-0.000393415,0.000957136,-0.000956737,-0.00258019,-0.0179998,0.0113247,-0.000348902,0.000332288,-0.00028172,-0.136196,-0.126848,0.424308,1.30767,-0.568443,-0.319749,0.343434,0,0.0014539,-0.00179608,0.00136717,0,0,0,-0.00455441,0.00391696,0.00278125,-0.000996958,-1.695e-05,-6.22216e-05,-2.72398e-05,-0.0951724,0.0419959,0.0534562,0.0650947,0.677181,0.625569,0.381905,-4.15741e-05,2.95945e-07,3.92105e-05,-0.00258794,-0.000453868,-0.00229948,0.812661,-0.0723418,1.21718,0.0227338,0.0138379,0.0267475,1.30388,0.492718,0.133269,2.52739,-0.668016,-0.157062,-0.000465127,0.000362007,-2.26409e-05,-0.0021999,0.000868765,-0.00148405,0.143146,0.106758,0.431517,0.00688093,-0.0168789,-0.0227338,0.102383,0.0457904,0.0551231,0.641624,0.0323831,-0.461859,-0.61152,-0.00457888,-0.00791532,-0.00426847,-0.172966,0.0367999,0.610556,0.64195,4.14017,0.121989,-0.0253914,-0.0664957,-0.0316374,-1.28929,0.560663,0.128814,-2.37705,-0.542857,0.0497069,-0.0184266,-0.0560857,-0.00288984,0.348434,0.373773,0.196357,-0.321228,-0.37551,-0.403425,0.00835721,0.0621437,0.0253914
2020-02-06.19:06:59.646,0.19602,0.152089,0.352081,0.64079,0.0468941,-0.472758,-0.603066,-0.0105994,-0.0229865,-0.0158844,-0.0933637,0.266188,0.472472,-0.0437656,-0.0284461,0.0198119,-0.00128486,-0.00104196,-0.000575615,-0.0579417,-0.0673918,0.39967,-1.6505,-0.669104,0.763845,0.106583,0.0440837,0.111358,-0.0966054,0.023377,0.62937,-0.157994,-0.107901,0.00418115,-0.0131003,-0.00788398,-0.00227527,9.28496e-05,-0.0006968,-6.10438e-05,-0.14348,0.156015,0.364547,0.0647347,0.678793,0.624633,0.380634,0.000172035,-0.000352219,-5.25562e-05,-0.000352995,0.000482074,-0.000321584,0.0170663,-0.00643208,-0.0216841,-0.000308662,0.000348335,-0.000175594,-0.136172,-0.126816,0.424276,1.30769,-0.568443,-0.319749,0.343434,-0.000466389,0.000983628,-0.00129851,0.00103121,0,0,0,0.00604056,0.00250751,-0.000535034,-0.000733045,-0.000110874,-0.000187454,-2.72398e-05,-0.0951735,0.041997,0.0534575,0.0650865,0.67718,0.62557,0.381907,-3.74125e-05,-1.48849e-05,4.97283e-05,-0.00248834,-0.000520784,-0.00239993,0.886847,-0.164483,1.27654,0.0224928,0.0125482,0.0272462,1.30387,0.492734,0.133269,2.52739,-0.668016,-0.157062,-0.000601317,0.000274225,-1.97481e-05,-0.00212799,0.000868765,-0.00146218,0.156835,0.10723,0.420268,0.00669319,-0.0162022,-0.0224928,0.102282,0.0455982,0.0550319,0.640923,0.0357192,-0.466292,-0.608699,-0.00536995,-0.0107734,-0.00516665,0.0422019,0.184575,0.645928,0.833168,3.94415,0.130832,-0.0270784,-0.0721588,-0.0261593,-1.28973,0.559334,0.128738,-2.37117,-0.533156,0.0513527,-0.0241345,-0.0729976,-0.00442836,0.347167,0.544419,-0.00534336,-0.314148,-0.343413,-0.487787,0.0107354,0.0660647,0.027962
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2020-02-06.19:08:07.279,0.178274,0.0888939,0.3857,-0.36775,-0.155978,0.842567,0.361263,3.91176e-05,0.00252104,0.00986897,-0.0367466,0.0166721,-0.0261574,-0.00899076,0.0156563,-0.0199302,0.000233214,0.0001678,-0.00013259,0.00549938,-0.0925535,0.232566,-1.75608,0.692789,0.577325,-0.414489,0,-0.0444379,0.0196887,-0.0086139,0.00901198,0.0378867,-0.0181736,-0.00747332,-0.00842888,-0.00887845,-0.000779766,-9.49992e-05,-0.000101945,3.28019e-06,-0.0923942,0.0977834,0.309501,0.163227,0.646979,0.420061,0.61508,-0.000632359,-0.00129606,-0.00142157,0.000456533,0.00125287,-0.00226301,-0.00297392,0.00549916,-0.00483442,0.000100627,0.000108402,0.000105404,-0.249033,0.226928,0.116212,1.50356,-0.109544,-0.0118426,0.0118426,0.00299537,0.00652727,-0.00593673,-0.00189219,0,0.00146268,0,0.00180257,-0.00174192,-0.000444895,0.000146665,-0.000110874,6.30108e-05,0.000101408,-0.0738014,0.0178359,0.0341209,0.162582,0.643994,0.419915,0.618474,0.000266685,-0.00104685,-0.000546898,0.0029069,0.00547579,-0.00812288,4.18546,-3.2122,1.62363,-3.86632e-07,-0.0183002,0.00626799,1.39144,0.241891,0.138742,1.97046,-0.267124,0.0250602,0,-0.009203,-2.78726e-05,0.0015241,0,-0.00104818,0.670392,-0.164182,0.538376,-0.00112964,-0.0199503,3.86632e-07,0.0853218,0.0127617,0.0659514,-0.363676,-0.161371,0.844363,0.358817,-0.00148595,0.000582179,0.00235934,-0.0455037,-0.0394269,0.0156063,-0.14223,-1.42511,1.71558,0.0480327,0.0696493,-0.011126,-1.17155,0.343229,0.139677,-1.89769,0.254007,-0.0932657,0.0109834,0.00494045,0.00241309,0.0479439,-0.0450278,0.0352651,0.079045,0.244724,1.48911,0.011236,-0.0690885,-0.0480327
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