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
2020-02-05.17:13:14.31,0.0988001,0.0915633,0.28885,-0.495174,-0.19123,0.618196,0.579714,-8.01496e-05,0.000118366,0.000120204,4.72963e-05,0.000610395,-0.000637639,-0.00143901,-0.0122615,-0.0153616,7.31595e-05,-0.00013005,-7.24524e-05,0.221734,0.308396,0.0650918,-1.4585,0.0828979,0.266457,-0.296064,0.000308612,-0.000529649,0.000529649,0.000589432,0,0,0,-0.00694357,-0.00169497,-0.000423083,-7.59979e-05,0.000124158,0.00014852,-8.24851e-05,-0.0114687,0.05507,0.313599,0.140488,0.279817,0.644057,0.697966,0.0165642,-0.048454,0.0186215,0.100366,0.0500755,-0.138921,-0.0311123,0.00988382,0.0176899,0.000519953,-0.000430893,-0.000417618,-0.418002,0.346438,-0.11525,1.38842,0.589167,-0.260536,0.467781,-0.00453664,0.0228811,-0.155647,-0.00495863,0.156958,0.220204,0.0875816,0.00180257,-0.0144639,-0.0135333,0.00146623,0.000358747,6.30108e-05,-5.79846e-06,-0.118027,-0.0310691,0.0432858,0.137872,0.278093,0.646161,0.697231,0.00677973,-0.0188058,0.0107663,-0.0022297,-0.0303031,-0.176915,-3.29056,-0.258219,-0.277139,0.0285177,0.031178,0.0502358,0.971721,-0.085398,0.10508,2.47266,-0.446118,0.559073,0.467781,-0.120888,-0.0945189,0.0163877,-0.0747549,0.0147043,-0.0119904,0.0875816,-0.0961677,-0.238289,1.33138,0.00975974,-0.023132,-0.0285177,-5.79846e-06,0.0959509,0.0215351,0.041629,-0.493162,-0.188026,0.619258,0.58134,2.86089e-05,5.26175e-05,-0.000209049,0.000820486,-0.000240258,-1.8281e-05,0.457338,3.69663,-0.436351,-0.00739685,-0.00378582,0.00301707,-1.32426,0.346071,0.12069,-2.31582,-0.130898,-0.147037,0.467781,-0.00190187,-0.000180953,-9.39926e-05,0,0.00143863,-0.0011731,0.0875816,-0.306595,-0.283938,0.0493208,0.00779397,2.52321e-05,0.00739685,-5.79846e-06
2020-02-05.17:13:14.46,0.0987896,0.0915553,0.288854,-0.495174,-0.191206,0.618197,0.57972,8.39229e-05,-6.76816e-05,-0.000121529,0.000197769,0.000722292,-0.000480519,0.00884855,0.0168738,-0.0147516,-0.000203359,0.000400213,-7.10213e-05,0.221759,0.308396,0.0650655,-1.45848,0.0828979,0.266457,-0.296064,-0.000292833,0.000479137,-0.000370946,0.00114934,0,0,0,-0.00270558,0.00713304,0.00239419,-0.000339911,-0.000439388,0.000179828,-9.32057e-05,-0.0108804,0.0533555,0.314174,0.141559,0.280008,0.642146,0.699432,0.0153349,-0.0432459,0.0128852,0.0339735,0.0295516,-0.0647416,-0.0254081,0.0174316,0.0223401,-7.20016e-05,-0.00031822,8.26139e-05,-0.418126,0.34754,-0.120902,1.38832,0.592128,-0.254615,0.467781,-0.00341504,0.0340134,-0.146103,-0.000666386,0.0794792,0.130255,0.0732143,0.000743077,-0.015637,-0.0117765,-0.000381161,0.000233515,0.000376092,-0.000123726,-0.117751,-0.0317194,0.0436966,0.138174,0.277215,0.644505,0.699052,0.00488805,-0.0148839,0.00909316,-0.00802201,-0.000110405,-0.147123,-4.12686,-0.875908,-1.66508,0.030044,0.0378335,0.0597506,0.967512,-0.0884639,0.105702,2.47078,-0.446255,0.558776,0.467781,-0.101712,-0.0710839,0.0128978,-0.0644735,0.00986464,-0.0383657,0.0732143,-0.0588781,-0.395471,0.926443,0.00825775,-0.0262014,-0.030044,-0.000123726,0.0959513,0.0215343,0.0416304,-0.493157,-0.188024,0.619264,0.581339,2.33631e-05,2.44791e-05,-0.000131785,0.000770016,0.000331146,0.000269291,0.437096,3.74829,-0.403689,-0.00811985,-0.00319408,0.00322377,-1.32425,0.346071,0.12069,-2.31582,-0.130898,-0.147037,0.467781,-0.00117574,-0.000139353,-6.62531e-05,0,0.00136391,-0.00111218,0.0732143,-0.309427,-0.28913,0.091502,0.00823205,-0.000345642,0.00811985,-0.000123726
2020-02-05.17:13:14.66,0.0987877,0.0915495,0.288847,-0.49517,-0.191198,0.618197,0.579726,3.44088e-05,-0.000222015,-0.00029346,0.000242165,0.00115038,-0.000828172,0.00294482,0.00777058,-0.00632655,7.75707e-05,-0.000130537,-4.88618e-05,0.221759,0.308428,0.065034,-1.45846,0.0828979,0.266457,-0.296064,-0.000292833,0.00132482,-0.00121663,0.0017026,0,0,0,-0.00111634,0.00305346,0.000810581,0.000275886,0.000124158,-0.00019587,-2.88818e-05,-0.0107373,0.0529404,0.3143,0.141127,0.280182,0.641955,0.699625,0.0152087,-0.044407,0.012166,0.0271259,0.0345823,-0.065567,-0.0113123,0.00355064,0.0115368,0.000326327,0.00015065,-0.000334523,-0.418151,0.347855,-0.122295,1.38836,0.592128,-0.254615,0.467781,-0.00185164,0.0373139,-0.150107,0.000933906,0.0725567,0.130255,0.0701914,-0.00243541,-0.00973123,-0.0066409,-0.000908987,7.69744e-05,-9.35298e-05,-0.00018805,-0.117706,-0.0318688,0.0437823,0.13845,0.277095,0.644012,0.699498,0.00434874,-0.0150566,0.00809395,0.0156022,0.00545073,-0.122822,-4.66965,-1.05007,-1.9422,0.0313294,0.0455237,0.0633031,0.966515,-0.089213,0.105825,2.47036,-0.446118,0.558257,0.467781,-0.098034,-0.0802172,0.0121409,-0.0333695,-0.00846356,-0.0446431,0.0701914,-0.0645424,-0.450698,1.03049,0.00562928,-0.0296506,-0.0313294,-0.00018805,0.0959511,0.0215347,0.0416297,-0.493159,-0.188025,0.619261,0.58134,1.55992e-05,3.42293e-05,-0.000143113,0.000757131,0.00018618,0.00017579,0.458337,3.72926,-0.398042,-0.00795918,-0.00543429,0.00360076,-1.32426,0.346071,0.12069,-2.31582,-0.130898,-0.147037,0.467781,-0.00132524,-0.000129597,-6.14443e-05,0,0.00134445,-0.00109631,0.0701914,-0.308011,-0.287242,0.091502,0.00823205,0.00173233,0.00795918,-0.00018805
2020-02-05.17:13:14.86,0.0987911,0.0915305,0.288827,-0.495159,-0.191185,0.6182,0.579736,-0.000123631,-0.000653464,-0.000776168,0.000368089,0.00239054,-0.00185889,-0.00463166,0.0104755,0.015451,0.000122181,-0.000114638,-4.48468e-05,0.221734,0.308522,0.0649395,-1.4584,0.0828979,0.266457,-0.296064,-0.000241552,0.0037091,-0.00360091,0.00327222,0,0,0,0.00682989,-0.000274986,-0.00168444,0.000275886,0.000124158,-0.000101945,-2.88818e-05,-0.0104123,0.051986,0.314541,0.143678,0.280878,0.642698,0.698143,0.0154469,-0.0466008,0.0111954,-0.00569739,0.0596834,-0.132662,0.00349916,-0.00106257,-0.00367854,-0.000254772,4.33618e-05,3.57506e-05,-0.418176,0.348705,-0.125486,1.38826,0.592128,-0.248694,0.473702,0,0.0444951,-0.159989,-0.00274755,0.061296,0.170212,0,-0.00296516,-0.00340877,-0.00126969,-0.00108493,-1.695e-05,3.94597e-07,-4.86811e-05,-0.117613,-0.0321394,0.0439137,0.13797,0.277494,0.643335,0.700058,0.00604936,-0.0136775,0.00694786,-0.0371657,-0.0353147,-0.0265193,-5.99794,-1.05349,-2.30073,0.035105,0.05644,0.0727902,0.964809,-0.0907807,0.106056,2.46805,-0.447894,0.558806,0.473702,-0.0788181,-0.0781688,0.0129397,-0.0531302,-0.0940607,0.0381591,0,-0.120713,-0.558318,1.34263,0.00512862,-0.031865,-0.035105,-4.86811e-05,0.0959507,0.0215328,0.0416297,-0.493157,-0.188031,0.619265,0.581336,6.17806e-05,-0.000106267,6.55113e-05,0.000783421,0.00211876,0.00150393,0.423371,3.74933,-0.440076,-0.00667386,-0.00399526,0.00333575,-1.32425,0.346056,0.12069,-2.31582,-0.130898,-0.147037,0.473702,0.00105485,-0.000317399,-5.39167e-05,0,0.00130827,-0.00106681,0,-0.307067,-0.290547,0.057757,0.0080443,0.000588192,0.00667386,-4.86811e-05
2020-02-05.17:13:14.106,0.0987963,0.0915173,0.288813,-0.495152,-0.191179,0.618204,0.579741,-0.000591229,-0.000603109,-0.000767874,0.000377434,0.00311282,-0.00302673,-0.00526723,-0.0180584,-0.00266182,-0.000397432,-0.00012679,4.9302e-05,0.221709,0.308585,0.0648766,-1.45836,0.0828979,0.266457,-0.296064,0.00102219,0.00392043,-0.00381224,0.00338906,0,0,0,-0.00376508,-0.00511097,-0.00151123,-0.000955708,3.02333e-05,0.000117212,3.28019e-06,-0.0101112,0.0510867,0.314744,0.144099,0.281567,0.641893,0.698519,0.0161209,-0.0478449,0.0102047,-0.00126013,0.0796286,-0.135503,-0.00330299,0.0134605,0.00128196,0.000123746,7.39926e-05,-2.41596e-05,-0.418176,0.34965,-0.128692,1.38817,0.592128,-0.245733,0.473702,5.44727e-05,0.05069,-0.167268,-0.0069503,0.0533613,0.193544,0,0.00339182,-0.00390777,-0.00112064,-0.000117248,-0.000142182,0.00025086,-0.000145167,-0.117462,-0.0324342,0.0440679,0.139718,0.277372,0.643432,0.699671,0.00831918,-0.0143315,0.00695706,0.092281,0.107337,0.10987,-6.80734,-1.02637,-2.90517,0.036792,0.0652015,0.0869494,0.963365,-0.0924643,0.106352,2.47078,-0.449124,0.555154,0.473702,-0.0673028,-0.0929451,0.0154499,0.141247,-0.197136,-0.143011,0,-0.14337,-0.643754,1.2189,0.0101352,-0.0392913,-0.036792,-0.000145167,0.0959504,0.021532,0.0416294,-0.493157,-0.188034,0.619266,0.581334,7.17305e-06,0.00011277,-0.000170968,0.000609226,-0.000167191,-0.000542538,0.374473,3.79126,-0.461396,-0.0062722,-0.00154208,0.00348234,-1.32425,0.346048,0.12069,-2.31582,-0.130898,-0.147037,0.473702,-0.00191457,0.000333007,-4.90326e-05,0,0.00127965,-0.00104347,0,-0.307539,-0.296211,0.0493208,0.00854496,-0.00137206,0.0062722,-0.000145167
2020-02-05.17:13:14.126,0.0987927,0.0915058,0.288801,-0.495144,-0.191164,0.618204,0.579753,-0.000506562,-0.000422809,-0.000564388,0.000320973,0.0025332,-0.00252376,0.017684,-0.00113429,-0.045536,0.000538188,0.000127811,1.67996e-05,0.221709,0.308648,0.0648136,-1.45832,0.0828979,0.266457,-0.296064,0.000952048,0.0029055,-0.00279731,0.00268529,0,0,0,-0.0154195,0.00837791,0.00571401,0.000891683,3.02333e-05,0.000211136,4.61628e-05,-0.00979132,0.0501146,0.314937,0.145321,0.281857,0.643107,0.697031,0.0160146,-0.0464942,0.00845114,0.0313814,0.0681378,-0.0525742,-0.0152317,0.00585372,0.0159222,0.000696673,-6.62657e-05,-0.000345518,-0.418151,0.350721,-0.132103,1.38807,0.592128,-0.242772,0.479623,0,0.054788,-0.165647,-0.00637684,0.0470003,0.156678,0.0778969,-0.000846168,-0.00930925,-0.00772198,0.00120232,-0.000110874,0.000282168,-9.15637e-05,-0.117281,-0.0327678,0.0441943,0.14033,0.278829,0.643544,0.698865,0.00859072,-0.0155145,0.00611139,-0.0610681,0.149268,0.0669087,-7.08357,-0.864003,-3.00336,0.038479,0.0692893,0.0883423,0.961866,-0.0947502,0.106686,2.47057,-0.453906,0.552519,0.479623,-0.069016,-0.116868,0.0142731,0.119655,-0.194851,-0.153574,0.0778969,-0.173579,-0.712197,1.20484,0.0112617,-0.0470235,-0.039443,-9.15637e-05,0.0959497,0.0215337,0.0416266,-0.493167,-0.188038,0.619255,0.581336,4.64742e-06,0.000112644,-0.000168282,0.000597323,-0.00017521,-0.000545885,0.415198,3.78139,-0.477453,-0.00868218,-0.0056029,0.00249579,-1.32428,0.346048,0.12069,-2.31582,-0.130898,-0.147037,0.479623,-0.00189733,0.000333007,-4.57437e-05,0,0.00125757,-0.00102546,0.0778969,-0.309427,-0.297155,0.0268241,0.00729331,0.0021298,0.00868218,-8.08431e-05
2020-02-05.17:13:14.146,0.0987908,0.0915001,0.288794,-0.495109,-0.191103,0.618204,0.579802,-0.000468725,-0.000374995,-0.000508914,0.000223969,0.00156822,-0.00171305,-0.0105707,-0.00509342,0.0121273,-0.000413079,-0.000183814,-2.03242e-05,0.221709,0.30868,0.0647821,-1.45815,0.0828979,0.266457,-0.296064,0.00089325,0.00262088,-0.00251269,0.00147616,0,0,0,0.00312165,-0.00502341,-0.00356616,-0.00104368,6.15414e-05,0.00014852,-7.17644e-05,-0.00961061,0.0496555,0.315021,0.144841,0.282009,0.642955,0.697209,0.016474,-0.0451508,0.00757565,0.0325448,0.0738084,-0.053751,-0.0166741,0.0125066,0.00880446,-0.000120911,-8.48377e-05,0.00020503,-0.418201,0.351288,-0.133775,1.38799,0.592128,-0.242772,0.479623,-0.00169851,0.0565411,-0.163439,-0.000680947,0.0443454,0.156678,0.0770169,0.00233232,-0.00898009,-0.00696316,-0.000645074,1.43582e-05,0.000313476,-5.94017e-05,-0.117215,-0.03293,0.0442424,0.141227,0.278941,0.643858,0.698351,0.00680712,-0.0176909,0.00452037,0.167483,0.19344,0.0166068,-7.65071,-0.809702,-3.36506,0.0397643,0.0777502,0.0999254,0.961202,-0.0959472,0.106822,2.47224,-0.455546,0.550589,0.479623,-0.0673506,-0.131254,0.0140218,0.172554,-0.130345,-0.24114,0.0770169,-0.185379,-0.715501,1.17109,0.0126385,-0.0489182,-0.0397643,-5.94017e-05,0.0959502,0.0215331,0.0416252,-0.493123,-0.188065,0.619291,0.581325,-1.95446e-05,9.29217e-05,-9.69246e-05,-7.29503e-05,-0.000916424,-0.000863867,0.299291,3.82759,-0.525685,-0.00795918,-0.00220762,0.0030522,-1.32429,0.346048,0.120688,-2.31582,-0.130761,-0.147067,0.479623,-0.00122558,0.000298956,0,0,0,0,0.0770169,-0.305179,-0.308011,0.00151536,0.00829463,-9.2483e-05,0.00795918,-5.94017e-05
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