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
2020-02-06.14:51:30.701,0.190075,0.000899438,0.378342,-0.0262019,-0.19909,0.973215,0.11193,0.00470349,-0.0977984,-0.00119729,1.49471,1.0902,-2.79972,-0.00412,-0.0418624,-0.0192132,0.000817556,0.000518099,-0.000177489,-0.0255647,0.122848,-0.092842,-1.90855,1.53657,0.18356,-0.562521,-0.00639792,0.218502,-0.371801,0.0461341,-0.542895,-1.25028,-3.00884,-0.00588407,0.0119374,0.0170733,0.000715741,3.02333e-05,0.000868606,-3.96024e-05,-0.260815,0.0508834,0.352065,0.0911684,0.330843,0.664221,0.66411,0.000144351,0.000287589,9.83194e-05,0.00027922,-0.00010989,9.06751e-05,0.00627846,-0.00292067,-0.00155264,-4.79275e-05,0.000313374,-3.37683e-05,0.218588,0.136579,0.0292583,1.00612,0.438174,-0.51219,-5.61337,-0.000204595,-0.00095117,0.00123455,7.21131e-05,0,0,0,-0.000316419,0.00208553,0.0024313,-2.92769e-05,-0.000142182,-0.000343995,2.63635e-05,-0.127115,-0.0319527,0.0273162,0.0930307,0.339885,0.667121,0.656333,-0.000122219,-0.000112208,2.56469e-07,0.00195385,-0.00338943,-0.000488667,0.418204,-1.37125,-0.852104,-0.0683635,-0.0251096,-0.113318,1.02281,-0.213171,0.0924099,-3.96545,-0.668836,0.733823,-5.61337,-0.00133771,-0.00138704,-6.33184e-05,0.00111079,0,0.00253094,0,-0.00412382,-0.0674175,0.00970402,-0.0204677,0.0901904,0.0685242,2.63635e-05,0.101044,-0.0232762,0.0362436,-0.0254887,-0.207697,0.973702,0.0900903,0.00918539,-0.00373555,-0.00983752,4.36452,2.3729,-1.62849,-4.70819,5.05419,7.09497,0.0604039,0.0593354,-0.139281,-1.23175,0.00617046,0.119123,-1.90944,1.10402,-0.413533,-5.61337,0.108578,0.421764,-0.00387186,-6.81659,0.905604,-2.06484,0,0.86307,-0.379758,-0.366868,-0.00716328,-0.0674592,-0.0604039,2.63635e-05
2020-02-06.14:51:30.714,0.190176,-0.00326505,0.378455,-0.0126618,-0.223677,0.96222,0.154726,0.00194921,-0.110099,0.00664315,1.47793,0.88903,-1.57569,-0.00347838,-0.00700951,-0.0316507,-0.000383997,0.000173325,-0.000157344,-0.0255895,0.13176,-0.108723,-1.90702,1.51881,0.130268,-0.65134,0.00102209,0.222651,-0.413753,0.0358369,-0.400127,-1.44848,-1.86404,-0.00323533,0.012447,0.0121109,1.19731e-05,-0.000376772,-0.00019587,-0.000243295,-0.260813,0.0508901,0.35207,0.091161,0.330839,0.664227,0.664107,0.000161419,0.000359782,0.000167429,0.000242146,-0.000267993,0.000290502,-0.0108245,0.00512893,0.0103875,-0.000460606,-9.25414e-05,0.00043462,0.218588,0.136547,0.0292898,1.0061,0.438174,-0.51219,-5.61337,-0.000192822,-0.00132814,0.00158335,-0.000195438,0,0,0,-0.00137592,-0.00556936,-0.00438154,-0.00126087,-7.95662e-05,0.000376092,6.92461e-05,-0.127114,-0.0319497,0.0273148,0.0930284,0.339898,0.66713,0.656318,0.000173868,0.000195843,-1.05848e-05,3.24073e-05,-0.00156978,0.00377334,0.321118,-1.37378,-0.952885,-0.0687652,-0.0237495,-0.113566,1.02285,-0.213147,0.0924099,-3.96545,-0.668836,0.733823,-5.61337,0.00224383,0.0021191,7.29775e-05,0.0010281,0,0.00229887,0,-0.0112041,-0.0730817,-0.0324772,-0.0204051,0.0907711,0.0687652,6.92461e-05,0.101006,-0.0231282,0.0363451,-0.00968003,-0.227364,0.963699,0.139627,-0.01223,0.000447369,0.0120188,-0.5187,0.643481,-3.08146,-9.06526,14.2152,11.2268,0.05703,0.16257,-0.105795,-1.22461,0.0198165,0.118871,-2.09543,1.06658,-0.533783,-5.61337,0.275064,0.24458,-0.00355316,-3.72351,-2.45466,-3.62277,0,1.2827,-1.51402,0.226482,-0.00609937,-0.111289,-0.05703,6.92461e-05
2020-02-06.14:51:30.734,0.190181,-0.0044414,0.378542,-0.00857349,-0.229784,0.9595,0.162742,0.00139793,-0.11136,0.00879463,1.36277,0.787622,-1.29164,-0.00850114,-0.00660719,-0.0170275,2.54869e-05,0.000778884,-0.000397984,-0.0255399,0.133902,-0.112758,-1.9067,1.51585,0.115465,-0.669104,0.00239174,0.219369,-0.416655,0.0283095,-0.37382,-1.38046,-1.5678,-0.00482458,0.015364,0.0129357,0.00124357,-0.000314156,0.000398985,-0.00031834,-0.260813,0.0508901,0.35207,0.091161,0.330839,0.664227,0.664107,0.000160157,0.000357866,0.00016869,0.000236027,-0.000267959,0.000291842,0.000749224,-0.0134794,-0.00617244,-0.00017182,-7.56888e-05,-6.7145e-05,0.218588,0.136547,0.0292898,1.0061,0.438174,-0.51219,-5.61337,-0.000190116,-0.00132814,0.00157723,-0.000199341,0,0,0,-0.00349491,0.00408681,0.00187338,-0.000117248,0.000170899,-6.22216e-05,-8.08431e-05,-0.12711,-0.0319447,0.0273114,0.0930306,0.339924,0.667145,0.656289,0.000524712,0.00056081,-0.000520108,-0.000379151,0.00565928,0.00860778,0.138618,-1.20254,-0.958899,-0.0682832,-0.0221361,-0.113005,1.02293,-0.213117,0.0924099,-3.96545,-0.668836,0.733823,-5.61337,0.010874,0.00286002,7.29775e-05,0.00100651,0,0.002233,0,-0.0300849,-0.0768579,-0.0127927,-0.0205303,0.0908582,0.0682832,-8.08431e-05,0.100834,-0.0231564,0.0364691,-0.0116831,-0.225993,0.961341,0.15689,-0.0198603,-0.00502646,0.0129588,0.141266,0.218086,-3.66464,-9.99742,15.4432,11.1407,0.0417668,0.179355,-0.0763613,-1.22161,0.0218862,0.118857,-2.1336,1.03748,-0.566573,-5.61337,0.313191,0.167367,0,-3.66525,-3.16194,-2.74855,0,1.27892,-1.71369,0.383959,-0.00309541,-0.10134,-0.0417668,-8.08431e-05
2020-02-06.14:51:30.754,0.190178,-0.0066872,0.378759,-0.00272421,-0.241297,0.954279,0.176409,-0.000133312,-0.113616,0.0128384,1.30862,0.812882,-1.11801,-0.0108504,0.00191243,-0.0233426,-0.00054467,0.000324982,0.000172404,-0.0254161,0.138405,-0.121522,-1.9062,1.50697,0.0888192,-0.698711,0.00617052,0.213088,-0.423474,0.0248058,-0.289557,-1.37778,-1.44187,-0.00482458,0.0100395,0.00732531,-0.000427882,-0.000564621,-0.00019587,-1.81611e-05,-0.260811,0.0508969,0.352076,0.0910534,0.329698,0.663923,0.664993,-5.89922e-06,-0.000231664,-0.000286737,0.000289469,0.000886294,-0.00111677,0.0117786,-0.0269071,-0.00171324,0.000273105,-0.000113963,-0.000179568,0.218588,0.136516,0.0293213,1.00608,0.441135,-0.51219,-5.61337,-0.000184714,0.00139667,-0.00115945,0.0016172,0,0,0,-0.00720315,0.0078267,0.00733472,0.00058652,7.69744e-05,6.30108e-05,-5.94017e-05,-0.127104,-0.0319373,0.0273026,0.0930782,0.339957,0.66713,0.65628,0.000242658,0.000416991,-0.000593853,0.000817081,0.00568063,0.00563531,0.200878,-1.16562,-0.897949,-0.0701308,-0.0240572,-0.114978,1.02309,-0.213086,0.0924086,-3.96545,-0.668699,0.733794,-5.61337,0.00901675,0.000367413,-0.000141069,0.000969033,0,0.00164783,0,-0.0333891,-0.0697776,-0.0352893,-0.0191534,0.0930372,0.0701308,-5.94017e-05,0.100508,-0.0233731,0.0368256,-0.0158524,-0.226004,0.955886,0.186958,-0.00834565,-0.0197801,0.0208493,0.121974,0.602379,-2.25089,-11.1253,17.144,9.60938,0.0283512,0.172942,-0.0354937,-1.21465,0.0238092,0.11892,-2.19252,0.98269,-0.610353,-5.61337,0.393763,0.0252789,0.00470432,-2.55876,-1.98228,-1.9667,0,1.14156,-2.00917,0.563932,-0.00221925,-0.060819,-0.0283512,-5.94017e-05
2020-02-06.14:51:30.774,0.190156,-0.00900383,0.379055,0.00507163,-0.251086,0.949854,0.186297,-0.00176398,-0.112794,0.0162262,1.15601,0.83111,-1.03026,-0.0200854,0.00337658,-0.0111946,-0.000582973,0.000191889,0.000653555,-0.0252426,0.142531,-0.129881,-1.90568,1.504,0.0621734,-0.722396,0.0100035,0.202072,-0.418662,0.0334704,-0.221325,-1.29987,-1.35664,0.00471089,0.00728709,0.00838223,-0.000339911,-0.000282848,-0.000164562,2.47215e-05,-0.260813,0.0508901,0.35207,0.0910608,0.329701,0.663917,0.664996,5.38124e-06,-0.000186208,-0.000246369,0.000273191,0.000789388,-0.000995938,0.00500727,0.000598068,-0.013172,0.000209679,9.89045e-05,-0.000245369,0.218588,0.136547,0.0292898,1.0061,0.441135,-0.51219,-5.61337,-0.000179608,0.00116968,-0.000943252,0.0014568,0,0,0,0.00286207,0.00400452,0.00172786,0.000410578,-1.695e-05,-6.22216e-05,-0.000155888,-0.127105,-0.0319417,0.0273033,0.0932409,0.339739,0.666966,0.656536,-0.000224481,-0.000520132,6.33594e-05,0.0092605,0.0102032,-0.0594759,0.456607,-1.34119,-0.799571,-0.0734245,-0.0269555,-0.119816,1.02312,-0.213086,0.092406,-3.96524,-0.667879,0.733697,-5.61337,-0.00138819,-0.00211991,-0.000245362,0,0.0521609,-0.0127882,0,-0.0258367,-0.054673,-0.0887189,-0.0185902,0.0974034,0.0725408,-0.000155888,0.100557,-0.0240165,0.0372431,-0.00757346,-0.231997,0.951702,0.200957,0.00943369,-0.041837,0.0177284,1.65499,0.999162,-0.403053,-10.4021,16.9761,7.7288,0.0186309,0.170397,-0.0229869,-1.20579,0.0229365,0.119036,-2.24452,0.96561,-0.640777,-5.61337,0.447627,-0.121819,0.00669278,-2.44234,0,-0.728235,0,0.875814,-2.02286,0.743905,-0.00447222,-0.055678,-0.0186309,-0.000155888
2020-02-06.14:51:30.794,0.190099,-0.0111839,0.379405,0.0123779,-0.259512,0.945482,0.196378,-0.00369277,-0.109676,0.0191105,0.889771,0.647124,-0.661929,-0.0189782,0.0202064,-0.00416246,-0.000411889,-0.000257954,-0.000137183,-0.0249949,0.146467,-0.138209,-1.90502,1.50104,0.0384883,-0.746081,0.0143299,0.188673,-0.405991,0.0304484,-0.15203,-1.20387,-0.932012,0.000472907,0.00596519,0.00283428,-0.000427882,-0.000564621,-7.06372e-05,-0.000103926,-0.260812,0.0508992,0.352065,0.091062,0.329688,0.663925,0.664994,-4.2911e-06,-0.000255346,-0.000197083,5.61144e-05,0.000904299,-0.00106106,0.00396386,0.00838041,-0.00855362,-9.90961e-05,-0.000311402,1.48104e-05,0.218588,0.136547,0.0293161,1.00608,0.441135,-0.51219,-5.61337,-0.000174774,0.00113079,-0.00113079,0.00156734,0,0,0,0.00445132,0.00183866,0.0009932,5.86941e-05,0.000264823,9.43189e-05,2.63635e-05,-0.12711,-0.031952,0.0273078,0.0930333,0.339348,0.666977,0.656757,-3.52044e-05,-0.000457881,0.000255836,0.0117219,-0.0740342,0.0123035,0.67267,-1.52429,-0.746844,-0.0732638,-0.0291427,-0.12207,1.02302,-0.21314,0.0924047,-3.96524,-0.667469,0.734506,-5.61337,-0.00435404,-0.00219225,0.000185506,0,0.00803654,0.0733208,0,0.00295647,-0.0494807,-0.0493497,-0.0196541,0.0973207,0.0732638,2.63635e-05,0.100823,-0.0250145,0.0375537,0.00538654,-0.251805,0.945999,0.204086,0.0153187,-0.05564,0.0150633,2.33544,0.787346,0.0645054,-8.42005,15.2412,6.15964,0.0231296,0.149176,-0.021231,-1.19638,0.019191,0.119172,-2.29359,0.972169,-0.644165,-5.61337,0.489159,-0.246486,0.00686587,-2.23088,0.395708,0.0745226,0,0.588826,-1.81234,0.977308,-0.00378382,-0.0554086,-0.0231296,2.63635e-05
2020-02-06.14:51:30.814,0.19,-0.0133649,0.379815,0.0182774,-0.267826,0.942131,0.200807,-0.00509865,-0.105266,0.02138,0.883443,0.428462,-0.202104,-0.0237439,0.00317697,0.0147912,4.7551e-05,-0.000111907,0.000217891,-0.0246481,0.15012,-0.146254,-1.90441,1.49808,0.0148032,-0.757923,0.0174531,0.172292,-0.387584,0.0265816,-0.122455,-1.09686,-0.427041,-0.00800307,-0.0049306,-0.00782153,-0.000691795,0.000124158,-8.02096e-06,-0.000254016,-0.260812,0.0508992,0.352065,0.091062,0.329688,0.663925,0.664994,4.11055e-06,-0.000219229,-0.000168917,5.16236e-05,0.000827128,-0.000967829,-0.00642588,0.00785666,-0.0132976,-6.47313e-05,1.26049e-05,7.35069e-05,0.218588,0.136547,0.0293161,1.00608,0.441135,-0.51219,-5.61337,-0.000170388,0.000964229,-0.000964229,0.0014419,0,0,0,0.00392157,0.000346914,-0.00311665,-0.000117248,-1.695e-05,-3.09135e-05,5.85255e-05,-0.127113,-0.0319627,0.0273134,0.0930094,0.339104,0.666869,0.656996,8.37438e-05,-0.000302876,0.000400362,0.00442472,0.00551311,-0.0394654,0.738611,-1.53354,-0.778282,-0.0698095,-0.0296565,-0.116732,1.02293,-0.213178,0.0924047,-3.96524,-0.666923,0.734796,-5.61337,-0.00233194,0.00216528,0.00013331,0,0.0359161,-0.0201099,0,0.0128689,-0.0504248,-0.102779,-0.0185902,0.0935435,0.0698095,5.85255e-05,0.101146,-0.026258,0.0378998,0.0157411,-0.267412,0.94141,0.204917,0.0148531,-0.0623869,0.0171159,1.05466,0.526739,0.150736,-5.32374,12.8076,3.64342,0.0260215,0.123846,-0.00980561,-1.18585,0.012812,0.119314,-2.32966,0.975448,-0.644879,-5.61337,0.499458,-0.360825,0.00732359,-1.16697,-0.0276555,-0.169229,0,0.214515,-1.46588,1.54254,-0.00171859,-0.0564222,-0.0260215,5.85255e-05
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