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
2020-02-06.19:23:46.993,0.220454,0.0656066,0.357799,-0.586217,-0.0617235,0.590533,0.55119,0.000410465,0.00041767,-0.000313913,-0.0867394,0.0323558,0.0130466,0.000428011,-0.0127246,0.00939936,0.000150544,1.51937e-05,-5.0631e-05,-0.11566,0.0668565,0.112077,-1.11002,-0.162835,0.346395,-0.266457,-0.00123055,0.000529339,0.000966045,-0.00155392,-0.0333784,0,0.101324,-0.00376508,-0.00185955,-0.00148,-0.000163969,-9.49992e-05,2.32872e-05,-0.000125368,-0.176603,0.0670987,0.366253,0.0232945,0.564429,0.413628,0.713995,-0.00306461,0.00372858,-0.00654428,0.0223301,-0.0121627,-0.0128034,-0.0204328,-0.00188452,0.0101431,0.000133116,0.000107821,-7.02291e-05,-0.00990879,0.0251302,0.135736,1.56671,0.00888192,-0.586206,-0.0236851,0.00894358,0.016423,0.00567152,-0.00663386,0.0163035,0,0,-0.00296516,-0.00739553,-0.00693194,0.000146665,-4.82581e-05,0.000125627,-7.01224e-05,-0.134558,-0.00220295,0.0229236,0.0248894,0.569294,0.41292,0.71048,-0.00230869,-0.00039461,-0.00103608,0.0025261,-0.00577764,0.0026181,5.44569,-0.286487,0.485224,-0.0390421,-0.0961123,-0.0552783,1.22078,0.130591,0.0762633,1.7614,-0.313717,0.406349,-0.00195382,-0.00776268,-0.00250966,0,0,0.01257,0.250295,0.0855169,-1.14887,-0.000316068,0.0605792,0.0390421,0.119848,0.0260924,0.0381309,-0.585148,-0.0600119,0.590282,0.552781,0.000546523,-0.000942857,0.00178221,-0.00626827,0.0228449,0.0134982,2.69108,-1.45475,0.46099,-0.0166351,-0.0297958,0.0128301,-1.295,0.448984,0.099511,-2.14806,-0.348696,-0.106494,0.0255511,0.00100601,0,0.00571059,-0.00172085,0.000629031,-0.0956024,0.222539,-0.634016,0.0100469,0.00650194,0.0166351
2020-02-06.19:23:47.10,0.220461,0.0656369,0.357776,-0.586196,-0.0617831,0.590538,0.551201,-0.000382956,0.00098771,-0.000662211,-0.0773036,0.0270165,0.00918807,-0.0133807,-0.00871192,0.000745026,-0.000309379,-6.51824e-05,-8.78614e-05,-0.115685,0.0668879,0.112177,-1.11009,-0.162835,0.346395,-0.266457,0.000912577,0.000414326,0.00277873,-0.00276787,-0.0333784,0,0.0909829,-0.00058659,-0.005687,-0.00476859,-0.000603824,-6.3691e-05,-3.93291e-05,-3.96024e-05,-0.176748,0.0673466,0.365911,0.0221,0.564246,0.411822,0.715221,-0.00398827,0.00813198,-0.0106235,0.0392988,-0.0146402,-0.00941024,-0.0115487,-0.000747024,0.00764781,-0.000213639,4.84532e-05,4.85129e-06,-0.00948767,0.025886,0.136217,1.56639,0.00888192,-0.586206,-0.0296064,0.0115911,0.0226816,0.0163809,-0.0134864,0.0157866,0,0,-0.00243541,-0.00431922,-0.00367457,-0.000205219,-4.82581e-05,-0.000218762,4.9222e-06,-0.134651,-0.00221429,0.0228931,0.0254112,0.568951,0.412512,0.710973,-0.00270959,5.23546e-05,-0.000887267,-0.00363754,-0.0136016,-0.0483104,8.69332,-0.849092,1.39462,-0.0411307,-0.127672,-0.0700319,1.22079,0.130437,0.0761622,1.76161,-0.312214,0.405532,0.00239331,0.00104347,-0.0029547,-0.0121228,0.0415453,-0.0265736,0.447599,0.115254,-1.132,-0.00131739,0.065836,0.0411307,0.119875,0.026045,0.0382129,-0.584892,-0.0598958,0.590706,0.552612,0.000515734,-0.0011414,0.00179206,-0.00314391,0.0239091,0.0154369,4.45183,-0.465575,0.993599,-0.0167958,-0.0476949,0.0109238,-1.2938,0.448992,0.0995084,-2.14806,-0.348833,-0.106383,0.0265223,-0.000858292,-2.78073e-05,0.00405363,0,-0.000454368,-0.256089,0.234339,-0.63964,0.00942112,0.0080736,0.0167958
2020-02-06.19:23:47.30,0.22046,0.0656461,0.357771,-0.586191,-0.0617977,0.590539,0.551204,-0.000378196,0.00108981,-0.000713933,-0.0753331,0.0256356,0.00870789,-0.00966465,-0.0237081,-0.00291933,0.000118623,0.000212578,-7.86614e-05,-0.115685,0.0668879,0.112203,-1.11011,-0.162835,0.346395,-0.266457,0.000878499,0.000414326,0.0030676,-0.00296133,-0.0333784,0,0.0887736,-0.00482458,-0.00735385,-0.00423837,0.000187915,-0.000188923,0.00014852,-8.24851e-05,-0.17679,0.0674324,0.365795,0.0222023,0.564124,0.411977,0.715224,-0.00428062,0.00869407,-0.0116293,0.042679,-0.0120098,-0.0126037,-0.0138508,0.00474645,-0.00283985,-2.73797e-05,9.40377e-05,-5.74663e-05,-0.00936381,0.0261379,0.136385,1.56613,0.00888192,-0.586206,-0.0296064,0.012446,0.0252672,0.0171803,-0.0102036,0.0156571,0,0,0.00180257,-0.00490052,-0.00467258,-0.000205219,-4.82581e-05,0.000156935,-5.94017e-05,-0.134678,-0.00222394,0.0228829,0.0248746,0.56937,0.410943,0.711565,-0.00287035,-0.00127336,-0.000921235,-0.348032,-0.0750291,-0.258531,10.1269,-0.819384,1.88685,-0.0425767,-0.140491,-0.0786844,1.22082,0.130452,0.0761311,1.75825,-0.311121,0.405213,0.00390197,0.00230859,-0.0033485,-0.403677,0.15389,-0.0314125,0.533507,0.144991,-1.14606,-0.00413361,0.0690497,0.0435407,0.119879,0.0260336,0.0382292,-0.58476,-0.0598817,0.590845,0.552605,0.00037209,-0.000961556,0.00139218,-0.000696145,0.0214981,0.0134963,4.57173,-0.38467,1.0312,-0.0161531,-0.0481886,0.011634,-1.29357,0.448977,0.0995084,-2.14806,-0.348696,-0.106494,0.0207108,-0.00131419,-2.55936e-05,0.00379087,0.00284904,-0.00273808,-0.267418,0.235284,-0.636828,0.0100469,0.00754955,0.0161531
2020-02-06.19:23:47.50,0.22045,0.0656728,0.357756,-0.586172,-0.0618319,0.590539,0.55122,6.88281e-05,0.00128068,-0.000757746,-0.0719169,0.0225654,0.00887686,-0.0118125,-0.0127283,-0.00502805,-0.000451088,-0.000157479,-0.000170236,-0.11566,0.0668879,0.112282,-1.11016,-0.162835,0.346395,-0.266457,-0.000435496,0.00039702,0.00348801,-0.00324287,-0.0333784,0,0.0848147,-0.00323533,-0.005687,-0.00512208,-0.00113165,-6.3691e-05,0.00014852,-6.10438e-05,-0.176876,0.0676257,0.365536,0.0225387,0.563918,0.41224,0.715225,-0.0042869,0.0102336,-0.0136887,0.0502079,-0.0130219,-0.0109186,-0.0268525,0.015015,0.00370496,0.000284975,-0.000119793,5.6198e-05,-0.00911609,0.0267048,0.136765,1.56587,0.00888192,-0.586206,-0.0296064,0.0124589,0.0298377,0.0201396,-0.0121855,0.0154164,0,0,0.00233232,-0.0103948,-0.00719528,0.000498549,7.69744e-05,6.30108e-05,5.85255e-05,-0.134747,-0.0022296,0.0228654,0.0246419,0.568484,0.410141,0.712743,-0.00379906,0.000474236,-0.000891582,0.200316,-0.180755,0.0141355,11.8194,-0.966196,2.41891,-0.0422554,-0.15515,-0.080699,1.22106,0.130514,0.076052,1.75699,-0.307705,0.405776,0.0197086,0.00408586,-0.00435213,0.180461,0.189022,0.0626496,0.635935,0.17048,-1.09826,0.000685254,0.0668491,0.0422554,0.119883,0.0260201,0.0382466,-0.584486,-0.0598683,0.591078,0.552647,9.71874e-05,-0.000356595,0.000574947,0.0133735,0.0297252,0.00908361,4.77709,-0.416522,1.08969,-0.0184828,-0.0510499,0.0103671,-1.29333,0.448961,0.0995071,-2.14806,-0.348286,-0.106829,0.00634744,0.000650372,-9.10208e-06,0.0033544,0.0221275,-0.0183973,-0.280162,0.245196,-0.6537,0.00923337,0.00839275,0.0184828
2020-02-06.19:23:47.70,0.220457,0.065692,0.357747,-0.586165,-0.0618708,0.590543,0.551219,0.000153105,0.00100786,-0.000597112,-0.0699246,0.0205938,0.00745437,-0.00947503,0.0141203,0.00235577,-0.000285411,0.000169247,3.43818e-05,-0.115685,0.0668879,0.112335,-1.1102,-0.162835,0.346395,-0.266457,-0.000623048,0.000354837,0.00270235,-0.00271672,-0.0333784,0,0.0810976,0.00471089,-0.000439566,-0.00309484,-0.000339911,-0.000220232,-0.000101945,5.68835e-05,-0.176961,0.06785,0.365243,0.0212371,0.563741,0.410433,0.716443,-0.00436629,0.0123938,-0.0159269,-0.0189246,-0.0556646,-0.0428041,-0.0161002,0.00222742,-0.00104609,-0.000138185,3.38225e-05,-2.7445e-05,-0.00886837,0.0273346,0.137214,1.56557,0.00888192,-0.586206,-0.0355277,0.0126745,0.0338785,0.0250373,-0.0154654,0.0151879,0,-0.0946097,0.000743077,-0.00548181,-0.00561167,-0.000117248,-1.695e-05,-0.000156146,-2.72398e-05,-0.134814,-0.00221927,0.022831,0.0243745,0.567375,0.409346,0.714092,-0.00279361,0.000176406,-0.00275907,-0.355988,-0.144488,-0.242623,13.7954,-1.11892,3.04344,-0.0427374,-0.168286,-0.0942022,1.22174,0.130684,0.0759665,1.75573,-0.303333,0.40654,0.0469787,0.0107022,-0.00412663,-0.424843,0.240474,0.0274079,0.755356,0.202578,-1.03077,-0.00582334,0.0662817,0.0427374,0.119883,0.026021,0.0382476,-0.584461,-0.0598364,0.591082,0.552672,-4.70364e-05,5.78413e-05,-4.13726e-05,0.00973596,0.0165793,0.00381158,4.67637,-0.518938,1.13014,-0.0198484,-0.0514119,0.0115368,-1.29333,0.448977,0.0995071,-2.14806,-0.348286,-0.10691,-0.00235917,0.000730951,-9.10208e-06,0.00298861,0.0175659,-0.0135104,-0.265057,0.251332,-0.617143,0.00973403,0.00911775,0.0196074
2020-02-06.19:23:47.90,0.220466,0.0656929,0.357748,-0.586168,-0.0618805,0.590545,0.551212,0.000307184,0.000609923,-0.000366551,-0.068514,0.0188213,0.00605149,-0.0033488,0.0035519,0.000196171,-0.000343815,0.000151179,-1.45691e-05,-0.11571,0.0668879,0.112335,-1.1102,-0.162835,0.346395,-0.266457,-0.000984208,0.000319804,0.00156143,-0.00195265,-0.0333784,0,0.0777633,-0.00164609,0.00679335,0.00515256,-0.000691795,0.000124158,8.59034e-05,-1.81611e-05,-0.177055,0.0681253,0.364897,0.0200457,0.563538,0.408654,0.717653,-0.00511737,0.0143918,-0.018556,-0.0233647,-0.0628686,-0.049389,-0.0199178,0.000828562,0.0143147,0.000752433,0.000224232,-2.49636e-05,-0.00859588,0.0280589,0.137778,1.56535,0.00888192,-0.586206,-0.0414489,0.0148617,0.0396958,0.0288996,-0.0173328,0.0149642,0,-0.111715,-0.00296516,-0.00781224,-0.00598931,0.0015542,-0.000142182,-3.09135e-05,-1.65191e-05,-0.134864,-0.00219536,0.0227695,0.0236425,0.566689,0.407915,0.715479,-0.00217827,0.00247317,-0.00361791,0.12023,-0.149718,-0.00280386,14.8501,-0.813284,3.40633,-0.0409701,-0.176915,-0.0952294,1.22294,0.130893,0.0758874,1.75259,-0.298687,0.407489,0.0772148,0.0125343,-0.00384012,0.0924486,0.218136,0.0574613,0.81483,0.238451,-1.07295,-0.00288196,0.0650326,0.0409701,0.119882,0.0260274,0.0382379,-0.584498,-0.0598423,0.591027,0.552692,-0.000125607,0.000298623,-0.000533321,0.00647821,0.00597223,-0.000335656,4.46578,-0.700646,1.00053,-0.0192861,-0.0487758,0.0111431,-1.29347,0.448992,0.0995058,-2.14806,-0.348286,-0.10691,-0.00856546,0.000741871,-6.28597e-05,0.00269758,0.0124893,-0.00946097,-0.246177,0.250388,-0.659324,0.00960887,0.00904781,0.0192861
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