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
2020-02-04.17:33:54.551,0.149042,0.143966,0.301985,0.326022,-0.518077,-0.445122,0.653585,-0.000383715,-0.00812845,0.00179624,0.0672878,0.00929877,-0.0284507,0.00765911,0.000397667,-0.00760187,0.000493184,0.000360555,5.95695e-05,0.100104,0.179848,0.279951,-1.81765,0.165796,0.384883,2.91919,-0.000748653,-0.000810466,-0.0206639,0.0132518,0,0,-0.0910298,-0.00323533,-0.00152513,-0.00256815,-0.00104368,0.000280698,-7.06372e-05,-2.88818e-05,-0.110618,0.0572867,0.330437,0.0732553,0.151609,-0.642783,0.747314,-0.00616767,0.00999809,-0.0153213,0.0745071,0.0381445,0.0823854,-0.0139111,0.00253923,-0.0171263,0.000536655,1.70635e-05,8.08789e-05,-0.185815,0.19361,0.0310564,1.45826,1.34117,-0.378962,-1.81783,0.0156496,0.0346627,0.0163159,0.00405324,-0.0422139,0.0297645,0.0705912,-0.000316419,0.00690572,0.00868268,-0.000381161,0.000421364,-9.35298e-05,-1.65191e-05,-0.119652,-0.010414,0.0296141,0.0782199,0.150371,-0.646071,0.74422,0.000597053,0.0104546,-0.00542586,-0.0125176,0.0714899,0.108292,-1.34006,1.41998,-2.23343,-0.010283,0.00230738,0.0223245,1.20238,0.0539047,0.0928286,-0.133363,0.127072,-1.07184,-1.81783,0.110474,0.0770893,-0.00258711,0.0104682,-0.0175978,0.00754658,0.0705912,0.255487,0.102038,0.00689193,0.00825775,0.0306932,0.010283,-1.65191e-05,0.104437,0.0108266,0.0275032,0.336535,-0.515565,-0.438483,0.654729,0.000558232,0.000144745,-0.000272715,-0.0159238,-0.121623,-0.0627649,0.35189,0.195248,-0.851463,-0.0556768,-0.0731055,0.00712254,-1.38669,0.237907,0.106558,0.918023,-0.0829384,-0.0708148,-1.81783,0.00646539,-0.00493964,-0.000671207,-0.0102527,0.114604,-0.0860223,0.0705912,0.0148503,0.0913175,-0.861794,0.00673007,0.070224,0.0556768,-1.65191e-05
2020-02-04.17:33:54.569,0.148993,0.143712,0.302066,0.327336,-0.51728,-0.446838,0.652387,-0.00330804,-0.00990035,0.00268334,-0.0164582,-0.00039766,-0.00435607,0.0223609,-0.00205621,0.0485044,0.00149448,8.41226e-05,0.000253459,0.100203,0.179722,0.279341,-1.81784,0.165796,0.384883,2.91327,0.00828455,-0.00231388,-0.0252154,-0.00784838,0,0,-0.0116603,0.0126571,-0.00842888,-0.0104691,-0.00315498,-3.23829e-05,0.00014852,-3.96024e-05,-0.110762,0.0573358,0.329972,0.0730179,0.154019,-0.642166,0.747375,-0.00423574,-0.00595281,-0.0157992,0.00765052,0.06896,0.0713935,-0.0190016,-0.0200245,-0.0197193,0.000317855,-0.000310612,2.12788e-05,-0.185344,0.19509,0.0306545,1.45853,1.33821,-0.376001,-1.81783,0.0174846,0.0628807,-0.0401764,0.0343748,-0.0758807,0,0.0634125,0.00815955,0.00623687,0.00979852,-0.000205219,0.000202207,-0.000375303,4.9222e-06,-0.11968,-0.0101132,0.0294191,0.0775375,0.151597,-0.644815,0.745131,-0.0007532,0.00843293,-0.0066904,-0.0152115,0.0963521,0.0878391,1.04534,0.333924,-1.14203,-0.0128536,-0.0113837,0.0393497,1.20575,0.0559358,0.092699,-0.131895,0.126525,-1.07156,-1.81783,0.105912,0.0502898,-0.00399419,0,-0.0157914,0.0241329,0.0634125,0.106329,-0.0664735,-0.119652,0.00581703,0.0304844,0.0128536,4.9222e-06,0.104444,0.0108293,0.027501,0.335659,-0.51593,-0.439078,0.654492,-2.96169e-05,0.000621537,-0.000584606,-0.0148417,-0.102192,-0.101535,1.64207,0.119388,-0.707652,-0.0555965,-0.0884588,0.00728112,-1.38655,0.237822,0.10655,0.918023,-0.0808888,-0.0695456,-1.81783,0.00193446,-0.00474937,-0.000156763,-0.0216085,0.137014,-0.0499367,0.0634125,0.0979258,0.0148503,-0.828049,0.00572874,0.0738081,0.0555965,4.9222e-06
2020-02-04.17:33:54.589,0.148945,0.143555,0.302156,0.328579,-0.516371,-0.448736,0.651178,-0.00230103,-0.00721645,0.00495224,0.0755777,-0.00661588,-0.025197,-0.0171398,-0.03544,-0.030628,-0.000361326,-0.000178537,1.27635e-05,0.100327,0.17947,0.27904,-1.81764,0.165796,0.384883,2.90735,0.00616485,-0.0151035,-0.0123518,-0.00998781,0,0,-0.106821,-0.00641382,0.0119638,0.00453926,0.00062777,-9.49992e-05,0.00014852,5.68835e-05,-0.110878,0.0570693,0.329645,0.0735607,0.155634,-0.64237,0.746811,-0.00729108,-0.0185033,-0.0179211,0.0129069,0.0913716,0.0459927,-0.0412012,0.0131521,0.00640108,-0.000227146,-0.000841491,-8.36668e-05,-0.184849,0.196601,0.0293533,1.45925,1.33821,-0.37304,-1.81783,0.0312684,0.0884699,-0.0839906,0.0451613,-0.0758807,0.0259959,0.0595508,-0.00614365,-0.00134626,0.00953517,0.000146665,-0.000330031,-0.000782308,1.56429e-05,-0.119667,-0.00998423,0.0293004,0.0772709,0.153233,-0.644084,0.745456,0.00158563,0.00450088,-0.00528035,0.201031,0.16385,0.0957608,2.90759,-0.287877,-0.755635,-0.0187179,-0.0191078,0.0579335,1.20767,0.0566694,0.0926549,-0.129798,0.125569,-1.07029,-1.81783,0.0846538,0.0232363,-0.00092193,0.207264,-0.0807086,0.106466,0.0595508,0.039774,-0.201471,-0.246196,0.00800742,0.0335376,0.0187179,1.56429e-05,0.104447,0.010819,0.0274953,0.336881,-0.515104,-0.441288,0.653026,0.000424374,-0.00091396,-0.000164539,0.156726,0.0163882,-0.0744264,2.28882,0.142921,-0.550322,-0.0559178,-0.0914757,0.00683462,-1.38648,0.237721,0.106543,0.911942,-0.0803423,-0.0686028,-1.81783,0.00642672,-0.00789773,-0.000564445,-0.173366,0.0224351,0.0467638,0.0595508,0.147016,-0.0229113,-0.72119,0.0051655,0.0709008,0.0559178,1.56429e-05
2020-02-04.17:33:54.609,0.148902,0.143436,0.302267,0.328332,-0.516448,-0.448677,0.651282,-0.00186111,-0.00472876,0.00591832,0.078338,-0.00831499,-0.0240933,0.00348174,-0.0199365,-0.0303762,-0.000483931,0.00013316,-6.9582e-05,0.10045,0.179092,0.278892,-1.81754,0.165796,0.384883,2.90735,0.00560365,-0.0217314,-0.00288242,-0.0113739,0,0,-0.106821,-0.00800307,0.00422657,-0.00194778,0.00062777,0.000186774,0.000273752,-3.96024e-05,-0.11104,0.0565375,0.329251,0.0753493,0.15968,-0.642246,0.745885,-0.00799205,-0.0327097,-0.0190151,0.286033,0.19322,0.0406937,-0.0352207,0.0132342,0.00273089,3.79273e-05,-0.000327771,-0.00028792,-0.184105,0.198743,0.0270804,1.45958,1.33821,-0.364159,-1.81783,0.0392459,0.114386,-0.13366,0.0227854,-0.065984,0.343715,0.0559376,-0.0056139,0.000238307,0.00921291,0.000410578,0.000139591,-0.000375303,-7.01224e-05,-0.119657,-0.00992627,0.0291907,0.0781754,0.156111,-0.643034,0.745671,-0.000578608,0.00172491,-0.00553399,0.364893,0.169691,0.101743,4.1545,-0.900028,-0.459126,-0.0208066,-0.022566,0.0660171,1.20915,0.0567853,0.0926186,-0.124346,0.124066,-1.06833,-1.81783,0.0654011,-0.00237196,-0.00272614,0.365278,-0.108734,0.128234,0.0559376,-0.0168684,-0.296347,-0.488035,0.00938424,0.0309188,0.0208066,-7.01224e-05,0.104454,0.0107924,0.0275043,0.338152,-0.514477,-0.442896,0.651775,2.77513e-05,-0.00166681,0.000760742,0.452203,-0.03558,-0.120405,2.43937,0.216184,-0.385819,-0.0570425,-0.0949215,0.00405768,-1.3862,0.237551,0.106537,0.906909,-0.0799324,-0.0685286,-1.81783,0.0176225,-0.00846404,0,-0.473827,0.00428707,0.00997815,0.0559376,0.160704,-0.0257434,-0.563713,0.0022867,0.0727783,0.0570425,-7.01224e-05
2020-02-04.17:33:54.629,0.148857,0.143385,0.302393,0.329688,-0.51556,-0.450531,0.650019,-0.00215495,-0.00104625,0.00629749,0.0676024,-0.011313,-0.019001,0.00237498,-0.0263386,-0.0163031,0.000156094,-7.99637e-05,7.99578e-05,0.100599,0.178588,0.278975,-1.81759,0.165796,0.384883,2.90143,0.00764021,-0.0265856,0.00870511,-0.0162665,0,0,-0.0890237,-0.00376508,0.00464328,-0.00259584,-0.000339911,-6.3691e-05,5.45953e-05,4.61628e-05,-0.111185,0.0557708,0.328876,0.0776025,0.1649,-0.642077,0.744663,-0.00576877,-0.0433807,-0.0186321,0.507416,0.28835,0.0251471,-0.014944,0.00949933,-0.0218389,-0.000287608,-0.000342411,-0.00051683,-0.183313,0.201199,0.0240192,1.46013,1.33821,-0.352316,-1.81783,0.0376659,0.131175,-0.171213,0.0286296,-0.0583976,0.603717,0.0528367,0.00180257,0.00665359,0.00944503,-0.000733045,-0.000361339,-0.000312687,-1.65191e-05,-0.11969,-0.00994023,0.0290596,0.079378,0.159469,-0.642102,0.745636,-0.0019751,-0.00291295,-0.00665565,0.429751,0.206345,0.0738094,6.92524,-1.71158,0.0377596,-0.0237789,-0.0333557,0.0882627,1.21028,0.0560902,0.0925434,-0.118055,0.122426,-1.06593,-1.81783,0.0456674,-0.0543199,-0.0038728,0.417207,-0.115653,0.163885,0.0528367,-0.107968,-0.503092,-0.623015,0.0114495,0.0303652,0.0237789,-1.65191e-05,0.104457,0.0107591,0.0275314,0.338271,-0.514435,-0.443078,0.651623,0.000296282,-0.0015533,0.00172835,0.0190981,-0.0237734,-0.0126801,2.53747,0.151358,-0.210885,-0.0571228,-0.0951619,0.00473366,-1.38574,0.237366,0.106537,0.90628,-0.0793858,-0.0686476,-1.81783,0.0265223,-0.00703309,0,-0.0284826,0.0390748,-0.0273563,0.0528367,0.164481,-0.038488,-0.400613,0.00284994,0.0721715,0.0571228,-1.65191e-05
2020-02-04.17:33:54.649,0.148817,0.143381,0.302516,0.328534,-0.515253,-0.451263,0.65034,-0.00181748,0.00144091,0.00624668,0.0730901,-0.00758454,-0.0221695,0.0244267,0.00759246,0.00733264,0.000334508,0.000219598,0.000131654,0.100748,0.178053,0.279195,-1.81789,0.165796,0.387844,2.90143,0.00725002,-0.0286653,0.0161126,-0.0107906,0,0,-0.0890237,0.000472907,-0.00801217,-0.00905519,-0.00104368,0.000218082,0.000273752,1.40009e-05,-0.111263,0.0547945,0.328525,0.0797493,0.169904,-0.641872,0.743487,-0.00143635,-0.0532154,-0.0156989,0.485834,0.265149,0.0346663,-0.0237567,-0.0148614,-0.0238118,-3.59607e-05,-0.000359822,-4.38062e-05,-0.182619,0.203939,0.0202275,1.46059,1.33821,-0.340473,-1.81783,0.0296115,0.138897,-0.203735,0.0121757,-0.0523895,0.604064,0.0500684,0.00657031,0.00789846,0.0123524,-0.000117248,-0.000142182,-0.000312687,-0.000166608,-0.119727,-0.0100422,0.0289309,0.0814085,0.164139,-0.640899,0.745439,-0.00213673,-0.00718397,-0.00648612,0.44636,0.217546,0.0570999,9.08743,-2.21431,0.48999,-0.0253052,-0.0434894,0.102004,1.21092,0.0545534,0.0924747,-0.108829,0.120377,-1.0623,-1.81783,0.0198529,-0.0990573,-0.00343293,0.429588,-0.0939537,0.187832,0.0500684,-0.175467,-0.666411,-0.592082,0.0101978,0.027576,0.0253052,-0.000166608,0.104463,0.0107205,0.0275702,0.339213,-0.513558,-0.444498,0.650856,0.000322999,-0.00159648,0.00203673,0.0688306,0.030869,-0.028737,2.2981,0.216929,-0.104283,-0.0592114,-0.0937123,0.00487496,-1.38518,0.237242,0.106538,0.902086,-0.0793858,-0.0680758,-1.81783,0.0281426,-0.00448982,7.01964e-05,-0.0787697,0.017663,0.0261649,0.0500684,0.15268,-0.0196072,-0.271257,0.0033506,0.0729142,0.0592114,-0.000166608
2020-02-04.17:33:54.669,0.148779,0.143404,0.302641,0.328415,-0.515309,-0.451231,0.650377,-0.00127017,0.00156507,0.00595128,0.0736626,-0.00702921,-0.0215775,-0.00265373,-0.0025906,-0.0145243,0.00028568,-0.000172024,2.88086e-05,0.100872,0.177518,0.279494,-1.81794,0.165796,0.387844,2.90143,0.00593967,-0.0273777,0.0162113,-0.00904678,0,0,-0.0888511,-0.00800307,0.00746746,0.00218976,9.99441e-05,-0.000314156,0.000117212,-0.000114647,-0.111203,0.0536279,0.328238,0.0821706,0.172853,-0.637329,0.746446,0.0058489,-0.0582513,-0.0130063,0.399868,0.225919,0.0347254,-0.0246046,-0.0363605,-0.0237937,0.000128302,0.000411389,0.000247051,-0.182223,0.206836,0.0157787,1.46088,1.33821,-0.331592,-1.80599,0.0120338,0.141643,-0.22229,0.0164608,-0.0473873,0.52739,0.0420254,0.0145165,0.00714733,0.012498,-0.000645074,-1.695e-05,0.000470016,-0.00019877,-0.119756,-0.0102504,0.0288088,0.0841398,0.169114,-0.639369,0.745337,-0.0008615,-0.0120457,-0.00550679,0.627254,0.104102,0.171778,11.3784,-2.58465,0.885701,-0.0286792,-0.0574326,0.128011,1.21097,0.051835,0.0924307,-0.0979252,0.119557,-1.05852,-1.80599,-0.00951036,-0.158426,-0.001173,0.647893,0.0429205,0.150721,0.0420254,-0.226445,-0.830201,-0.448666,0.0113869,0.0361859,0.0286792,-0.00019877,0.10447,0.0106943,0.0276169,0.338643,-0.513241,-0.444885,0.651139,0.000319286,-0.00132451,0.00260584,-0.0100655,0.0740098,-0.0197943,2.04981,0.19564,0.0433122,-0.0572835,-0.0916849,0.00652747,-1.38459,0.237211,0.106541,0.902086,-0.0788393,-0.0668062,-1.80599,0.0312985,0,0.000262102,0.000745465,0.0166566,0.057209,0.0420254,0.133327,-0.0101668,-0.105344,0.00504033,0.0732629,0.0572835,-0.00019877
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