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_position_7,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_velocity_7,PSM1_joint_effort_1,PSM1_joint_effort_2,PSM1_joint_effort_3,PSM1_joint_effort_4,PSM1_joint_effort_5,PSM1_joint_effort_6,PSM1_joint_effort_7,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_position_7,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_velocity_7,PSM2_joint_effort_1,PSM2_joint_effort_2,PSM2_joint_effort_3,PSM2_joint_effort_4,PSM2_joint_effort_5,PSM2_joint_effort_6,PSM2_joint_effort_7
2020-02-04.17:32:26.362,0.210127,0.1527,0.288282,0.165228,-0.611892,-0.25902,0.728832,0.00305658,-0.00200403,-0.0025893,0.072318,0.0294899,-0.100526,0.0454185,0.00831531,-0.00593947,0.000365259,-6.92978e-05,-7.68589e-05,-0.0976512,0.23458,0.277158,-1.52788,-0.0118426,0.251654,3.55869,-0.00888863,0.0138016,-0.0123917,0.00533228,-0.0606302,0.0765195,-0.0729984,-0.00800307,-0.010178,-0.00884722,1.19731e-05,-0.000220232,-0.000258486,-3.96024e-05,-0.121863,0.132116,0.290335,0.354495,-0.0969335,0.872484,-0.322039,-0.0387539,0.00980429,-0.00349243,0.449626,-0.316866,-0.295863,-0.00393676,1.22484e-05,-0.0101488,-8.83951e-05,0.000757095,-5.1571e-05,-0.177367,0.251554,0.207772,1.48565,0.482584,-0.479623,-3.42842,0.112158,-0.0126667,0.0465481,0.00321455,0.657338,-0.071412,0.418535,0.00180257,0.00325338,0.00199121,5.86941e-05,0.000765753,-0.000406611,0.000112129,-0.107919,0.0129018,0.017545,0.361972,-0.0962113,0.871068,-0.317743,-0.0116427,0.0145185,-0.00663831,0.0186549,-0.116142,-0.517837,-10.2981,-4.5978,-6.61933,0.0436203,0.179774,-0.0151152,1.52903,0.221326,0.102468,-1.40471,-0.577016,-0.343084,-3.42842,0.189415,0.113922,-0.00778534,-0.410625,-0.617957,0.494439,0.418535,0.964461,0.432923,-0.85923,0.00393955,-0.0801942,-0.0431383,0.000112129,0.113574,0.0317574,0.0316808,0.172041,-0.611401,-0.254618,0.729219,0.0019485,0.001624,0.00192801,-0.162483,0.0973026,0.0432379,-0.815524,1.37413,-0.889855,-0.0442696,-0.0138143,0.0148291,-1.4421,0.461657,0.103881,1.47727,-0.0408543,-0.309737,-3.42842,0.0111601,0.0297576,-0.000567994,0.187497,-0.0135742,0.00381222,0.418535,-0.0682252,0.211683,-0.389364,0.0121122,0.023596,0.0426629,0.000112129
2020-02-04.17:32:26.369,0.210158,0.152688,0.288146,0.167589,-0.610804,-0.264978,0.727062,-0.000600478,0.00117144,-0.00249502,0.28615,0.00287897,-0.132801,0.016775,-0.0094315,0.0183504,0.00102673,-0.000371781,7.97903e-06,-0.0977255,0.23521,0.276817,-1.5278,-0.0148032,0.254615,3.54684,0.00150197,0.0109519,-0.00245181,0.00164198,-0.0517223,0,-0.284191,0.00206215,-0.0109239,-0.0118448,-0.00148353,-9.49992e-05,-0.000383718,0.000196252,-0.123299,0.132394,0.290358,0.34949,-0.103207,0.871599,-0.327904,-0.0331151,0.00386425,0.00384041,0.387762,-0.0431998,0.103498,-0.0166153,-0.00856805,-0.043872,-0.000397018,0.00135168,2.63258e-05,-0.173206,0.250515,0.209547,1.48566,0.494427,-0.482584,-3.40473,0.0963895,-0.0356974,0.0398507,-0.0031144,0.215332,0,0.49085,0.0086893,0.0139023,0.0107376,-0.00029319,0.00123537,3.17027e-05,2.63635e-05,-0.108453,0.0133495,0.0172007,0.355619,-0.104788,0.870882,-0.322674,-0.0169258,0.010643,-0.00451177,0.118808,-0.340386,0.0632559,-5.97743,-3.01761,-4.84753,0.0467532,0.142443,0.000841441,1.53567,0.226292,0.102019,-1.38416,-0.593549,-0.344468,-3.40473,0.123243,0.128413,-0.0140218,0.148574,-0.38081,-0.199997,0.49085,0.561828,0.290846,-1.28385,0.00825775,-0.0793963,-0.0467532,2.63635e-05,0.113657,0.0317527,0.031738,0.17359,-0.609859,-0.258296,0.728849,0.00223987,-0.00183459,0.00112752,0.269185,0.161155,-0.107536,-1.86274,0.850174,-0.830147,-0.0444302,-0.00530608,0.00525105,-1.44174,0.462306,0.103825,1.46993,-0.0442702,-0.307196,-3.40473,0.00564938,0.0023234,-0.00215022,-0.230047,-0.186121,0.154975,0.49085,-0.153189,0.165897,-0.45123,0.00579133,0.0235965,0.0444302,2.63635e-05
2020-02-04.17:32:26.389,0.210158,0.152688,0.288146,0.167589,-0.610804,-0.264978,0.727062,-0.000600478,0.00117144,-0.00249502,0.28615,0.00287897,-0.132801,0.016775,-0.0094315,0.0183504,0.00102673,-0.000371781,7.97903e-06,-0.0977255,0.23521,0.276817,-1.5278,-0.0148032,0.254615,3.54684,0.00150197,0.0109519,-0.00245181,0.00164198,-0.0517223,0,-0.284191,0.00206215,-0.0109239,-0.0118448,-0.00148353,-9.49992e-05,-0.000383718,0.000196252,-0.123299,0.132394,0.290358,0.34949,-0.103207,0.871599,-0.327904,-0.0331151,0.00386425,0.00384041,0.387762,-0.0431998,0.103498,-0.0166153,-0.00856805,-0.043872,-0.000397018,0.00135168,2.63258e-05,-0.173206,0.250515,0.209547,1.48566,0.494427,-0.482584,-3.40473,0.0963895,-0.0356974,0.0398507,-0.0031144,0.215332,0,0.49085,0.0086893,0.0139023,0.0107376,-0.00029319,0.00123537,3.17027e-05,2.63635e-05,-0.108453,0.0133495,0.0172007,0.355619,-0.104788,0.870882,-0.322674,-0.0169258,0.010643,-0.00451177,0.118808,-0.340386,0.0632559,-5.97743,-3.01761,-4.84753,0.0467532,0.142443,0.000841441,1.53567,0.226292,0.102019,-1.38416,-0.593549,-0.344468,-3.40473,0.123243,0.128413,-0.0140218,0.148574,-0.38081,-0.199997,0.49085,0.561828,0.290846,-1.28385,0.00825775,-0.0793963,-0.0467532,2.63635e-05,0.113657,0.0317527,0.031738,0.17359,-0.609859,-0.258296,0.728849,0.00223987,-0.00183459,0.00112752,0.269185,0.161155,-0.107536,-1.86274,0.850174,-0.830147,-0.0444302,-0.00530608,0.00525105,-1.44174,0.462306,0.103825,1.46993,-0.0442702,-0.307196,-3.40473,0.00564938,0.0023234,-0.00215022,-0.230047,-0.186121,0.154975,0.49085,-0.153189,0.165897,-0.45123,0.00579133,0.0235965,0.0444302,2.63635e-05
2020-02-04.17:32:26.409,0.210109,0.152747,0.288114,0.170532,-0.606922,-0.273733,0.726385,-0.00313964,0.00334529,-0.0013583,0.637079,0.02157,-0.239243,-0.00526813,-0.00557899,-0.031397,0.000475264,-0.000339213,0.000257267,-0.0975768,0.235304,0.276933,-1.52787,-0.0148032,0.263497,3.52908,0.00941175,0.00312253,0.00772431,-0.00517297,-0.0496591,0.116522,-0.643832,-0.00906256,0.00230758,-0.0018924,-0.000779766,-6.3691e-05,-0.00035241,0.000260576,-0.123946,0.132399,0.290461,0.349791,-0.10357,0.87172,-0.327144,-0.0303033,-0.00434332,0.00592781,0.295121,-0.00788186,0.105014,-0.031061,-0.00527069,-0.0132512,0.000282647,0.00028341,0.000108961,-0.171298,0.249759,0.210171,1.48554,0.494427,-0.482584,-3.40473,0.0912191,-0.0363965,0.0179503,0.00474725,0.141371,0,0.413631,-0.00243541,0.0109853,0.0106198,-0.000469132,0.000108283,-0.000281378,6.92461e-05,-0.108792,0.0135562,0.0171045,0.353234,-0.105504,0.870558,-0.32592,-0.014959,0.00998897,-0.00375227,0.304147,-0.0488376,0.283106,-4.1501,-1.55609,-3.79628,0.0462712,0.117608,0.00159447,1.5378,0.228956,0.101719,-1.37682,-0.597238,-0.349546,-3.40473,0.0827349,0.130353,-0.0136728,0.401789,-0.0290094,-0.165956,0.413631,0.390485,0.156792,-1.05608,0.00769451,-0.0721842,-0.0462712,6.92461e-05,0.113674,0.0317137,0.0317658,0.176414,-0.607923,-0.26401,0.72774,0.000453186,-0.00252852,0.00209252,0.851716,0.18774,-0.330647,-2.74221,1.04209,-0.825311,-0.0513388,-0.000890313,0.00214718,-1.44171,0.462275,0.103808,1.45776,-0.0490525,-0.303133,-3.40473,-0.00162779,-0.00271338,-0.000395609,-0.81566,-0.364522,0.313617,0.413631,-0.220688,0.201298,-0.341559,0.00485259,0.0264448,0.0513388,6.92461e-05
2020-02-04.17:32:26.429,0.210031,0.152853,0.288094,0.175282,-0.602554,-0.284622,0.724704,-0.00438124,0.00782999,-0.000896801,1.47239,0.298019,-0.635259,-0.0323112,-0.0194167,-0.0348169,0.000534686,-0.000421362,0.000259857,-0.0973539,0.235304,0.277223,-1.52822,-0.0148032,0.272379,3.5054,0.0121215,-0.00215312,0.0219711,-0.0147141,-0.0458011,0.535792,-1.50818,-0.00800307,0.0108835,0.00215854,-0.000691795,-0.000126307,-0.000602875,0.000260576,-0.124553,0.132248,0.290576,0.349864,-0.104829,0.870894,-0.328861,-0.0305912,-0.0111499,0.00540275,0.0814244,0.00365823,-0.0818793,-0.0152045,-0.00539774,-0.00918153,0.000144176,0.000281499,0.000224095,-0.16944,0.249098,0.210333,1.48558,0.494427,-0.482584,-3.39881,0.0952733,-0.0286367,-0.00322449,0.0123681,0.10546,0,0.131239,-0.000316419,0.00615985,0.0063921,-0.000821016,-1.695e-05,0.000219551,-3.79604e-05,-0.109087,0.0137443,0.017093,0.353238,-0.105114,0.87041,-0.326436,-0.0145234,0.00803042,0.000854777,-0.0801716,0.0246883,0.07165,-3.19153,-0.36103,-3.44766,0.038479,0.0956575,-0.00553329,1.53891,0.231288,0.101461,-1.37787,-0.598058,-0.348387,-3.39881,0.0293073,0.106626,-0.0129608,-0.112326,0.0338949,0.075068,0.131239,0.318738,0.0321787,-0.982961,0.00531637,-0.0627568,-0.038479,-3.79604e-05,0.113678,0.0316529,0.0318158,0.17988,-0.603613,-0.272881,0.727207,-8.3839e-05,-0.0026358,0.00172515,1.21251,0.179232,-0.482617,-3.85332,1.28753,-0.782078,-0.0535078,0.00801655,-0.0064437,-1.44187,0.46219,0.103806,1.44099,-0.0588903,-0.294294,-3.39881,-0.0137972,-0.00311565,0,-1.19125,-0.450978,0.413148,0.131239,-0.302819,0.24142,-0.147525,9.63069e-05,0.0255242,0.0535078,-3.79604e-05
2020-02-04.17:32:26.449,0.209865,0.153263,0.288117,0.18365,-0.590704,-0.310938,0.721567,-0.00671683,0.0186103,0.00177249,2.05772,0.678764,-1.08298,0.0384454,-0.0115632,-0.00912163,0.00123878,-0.000141577,0.000269938,-0.0969328,0.234927,0.278442,-1.52844,-0.0148032,0.299024,3.4521,0.0163322,-0.0206406,0.0587919,-0.0163338,-0.0411825,1.07007,-2.12351,0.00100266,-0.0127553,-0.012666,-0.00121962,-0.000439388,-0.000822032,0.000142649,-0.125475,0.131694,0.290712,0.350377,-0.106069,0.870181,-0.329804,-0.0303,-0.0256608,0.00359484,0.0627128,0.0300961,-0.0560186,-0.0172481,-0.0205586,0.0157283,-0.000681843,-0.000335283,-0.000267689,-0.166468,0.248531,0.209532,1.48611,0.494427,-0.482584,-3.39289,0.101095,-0.00865861,-0.0503002,0.025863,0.0763854,0,0.15457,-0.00402466,0.00223958,0.00930305,0.00129029,0.000108283,0.000313476,-5.79846e-06,-0.109449,0.0138511,0.0171272,0.353104,-0.107445,0.868491,-0.330901,-0.0113041,0.000394942,0.00264065,0.125187,-0.0112967,0.123571,-2.38033,0.979321,-3.60114,0.0320524,0.0687908,-0.00803941,1.53861,0.233813,0.101112,-1.3676,-0.594096,-0.350802,-3.39289,-0.0342094,0.0532232,-0.0107554,0.174475,0.064096,-0.052266,0.15457,0.289944,-0.107539,-1.19106,0.00638027,-0.045703,-0.0320524,-5.79846e-06,0.113667,0.0315705,0.0318746,0.188837,-0.595536,-0.293558,0.723534,-0.000632958,-0.00338886,0.00286874,1.48833,0.596043,-0.676642,-6.37967,1.80379,-0.766881,-0.0574441,0.0433675,-0.013334,-1.44267,0.462221,0.103819,1.39863,-0.077063,-0.27629,-3.39289,-0.0298418,0.00306156,0.000887345,-1.39355,-0.764219,0.829126,0.15457,-0.467554,0.341488,0.246167,0.00479,0.0126949,0.0574441,-5.79846e-06
2020-02-04.17:32:26.469,0.20971,0.153705,0.288171,0.188554,-0.581402,-0.332978,0.718015,-0.00898582,0.0246097,0.0037607,2.19085,0.854813,-1.25524,0.0230752,-0.0168778,-0.0234959,0.000991734,-0.000206877,2.6719e-06,-0.0965612,0.234328,0.279934,-1.52884,-0.0177638,0.32271,3.41066,0.0217682,-0.0349922,0.0815158,-0.015749,-0.00932016,1.30512,-2.27195,-0.00641382,-0.0056712,-0.0125482,-0.00104368,6.15414e-05,-0.000978573,3.28019e-06,-0.126079,0.131086,0.290777,0.349422,-0.103783,0.870956,-0.329499,-0.0295397,-0.0329036,0.00311967,0.00539936,-0.0137779,-0.0428438,-0.0271641,-0.0167807,0.0083977,-0.000856288,-0.000539358,-2.64364e-05,-0.164412,0.248468,0.208228,1.48654,0.494427,-0.488505,-3.39289,0.101839,0,-0.0734606,0.0213366,0.064499,-0.0537594,0.126961,-0.00455441,0.00640145,0.0116213,0.00102638,-0.000236107,0.000877022,2.63635e-05,-0.10969,0.0138327,0.0172159,0.352932,-0.106568,0.868825,-0.330493,-0.013129,-0.00343261,0.00463977,-0.0715655,-0.057496,-0.0358369,-2.01865,2.23673,-4.09011,0.0316507,0.0571366,-0.0156525,1.53757,0.234578,0.100889,-1.36969,-0.593822,-0.350126,-3.39289,-0.0682221,0.0199112,-0.0124834,-0.0849451,0.0128344,0.0275635,0.126961,0.295609,-0.240649,-1.41883,0.00418988,-0.0406694,-0.0316507,2.63635e-05,0.113639,0.0315028,0.0319459,0.195619,-0.585985,-0.313983,0.720951,-0.0021568,-0.00320236,0.00355455,2.47221,0.769887,-1.18627,-8.60419,2.26293,-0.771228,-0.0617821,0.0641247,-0.0225492,-1.44346,0.462476,0.103857,1.35942,-0.0957822,-0.253838,-3.39289,-0.0496583,0.0198695,0.00285872,-2.42624,-1.03195,1.3188,0.126961,-0.615768,0.448636,0.645482,0.0022867,0.0105657,0.0617821,2.63635e-05
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