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
2020-02-04.17:34:43.505,0.159469,0.0775445,0.347634,0.213866,0.0818377,-0.544017,0.807223,-0.00394799,0.0152145,0.067076,-0.872265,-0.086458,0.903714,0.0278231,-0.0167524,-0.0269894,0.000514208,0.000728834,0.00033915,0.0597996,0.0770282,0.146481,-1.80673,1.53361,0.304946,1.82375,0.019597,-0.279399,0.141299,-0.0133302,0.426343,0.588608,0.798498,-0.00058659,0.0111356,0.00110162,-0.000779766,-9.49992e-05,-0.000822032,-7.44046e-06,-0.0699747,0.0823774,0.334653,0.536488,-0.058553,0.779661,-0.317618,0.00196608,-0.000870564,-0.000279615,0.00252708,0.0290183,-0.0228133,-0.0102561,0.00929046,-0.00163873,9.11751e-05,-1.83835e-05,-8.14345e-05,-0.30851,0.172196,0.0838445,1.30744,0.195402,0.0621734,-3.43434,-0.0044208,0.00418097,-0.00543156,-0.000406327,0,0.0417436,0,-0.000846168,0.00392223,0.000875372,-0.000117248,-4.82581e-05,-3.09135e-05,-9.15637e-05,-0.11417,0.0077581,0.0190689,0.530189,-0.0565789,0.783994,-0.317887,0.000891734,-0.00113509,-0.00017296,0.00143975,0.0112648,-0.0253378,-0.162015,0.227866,0.685156,-0.0388011,-0.0596291,0.0161987,1.43705,0.186017,0.0948223,-1.50515,-0.118874,-0.269559,-3.43434,-0.0033989,-0.0139308,0.000730058,-0.00374839,0,0.0137166,0,0.0713993,-0.0372082,0.735222,0.00437763,0.063264,0.0388011,-9.15637e-05,0.113361,-0.00751414,0.0274906,0.21632,0.0824486,-0.552549,0.800686,-0.00126984,0.0053186,0.0261048,-0.921132,-0.307007,0.979143,-3.53817,1.35404,2.74019,0.00601871,0.029817,0.0829624,-1.27298,0.122027,0.0985401,0.234643,-0.454043,1.11115,-3.43434,0.131073,0.247773,0.0119049,1.30729,-0.897375,-0.297073,0,0.213571,0.265021,1.55379,0.0186208,-0.0553821,-0.00601871,-9.15637e-05
2020-02-04.17:34:43.518,0.159298,0.0781772,0.350454,0.198892,0.068265,-0.514757,0.831148,-0.0050929,0.0139291,0.070978,-1.02243,-0.676246,1.92016,0.0192385,0.0109096,-0.02271,6.28123e-05,-7.27844e-05,0.000160729,0.0606418,0.0652819,0.152363,-1.80798,1.54841,0.334552,1.89481,0.0233169,-0.292272,0.140199,-0.0471531,0.277667,0.65013,1.98732,-0.00747332,0.00729762,0.00333329,-0.000427882,6.15414e-05,5.45953e-05,-0.000103926,-0.0699326,0.0823676,0.334642,0.536448,-0.0584987,0.779667,-0.317681,-0.000419512,-0.000764372,-0.000276548,0.00252042,0.0305518,-0.0269392,0.00160357,0.00304921,0.00299211,-0.000229995,-0.000253943,7.43273e-05,-0.308609,0.17229,0.08375,1.30736,0.195402,0.0621734,-3.43434,0.00177372,0.00169181,-0.00240323,0.00163782,0,0.0376504,0,-0.000846168,-0.000656356,-0.00126616,0.000410578,-0.000173491,0.000156935,0.000101408,-0.114144,0.00772936,0.0190564,0.530276,-0.0566678,0.783961,-0.317805,0.000277605,-0.000346646,-0.000266067,-0.000856105,0.0077732,-0.00934704,-0.112797,0.174607,0.761802,-0.0381584,-0.0586613,0.0161698,1.43703,0.185616,0.0948418,-1.50515,-0.118737,-0.26967,-3.43434,0.000966303,-0.00542405,0.000181132,-0.00296901,0.00110577,0.00646804,0,0.0652631,-0.0306,0.788651,0.00444021,0.0618756,0.0381584,0.000101408,0.113337,-0.00734303,0.0286251,0.199319,0.0715627,-0.529688,0.821329,-0.000486872,0.00224773,0.0307811,-1.57087,-0.353382,2.04335,-3.712,1.28675,2.12267,0.0201573,0.0250107,0.0961094,-1.26769,0.132931,0.0990923,0.299018,-0.504735,1.10201,-3.43434,0.118473,0.284976,0.0167144,2.24644,-1.69253,-0.218058,0,0.127663,0.264549,1.62971,0.0196221,-0.0632615,-0.0201573,0.000101408
2020-02-04.17:34:43.538,0.159242,0.078308,0.351169,0.195809,0.0651728,-0.507159,0.83678,-0.00553601,0.0116875,0.0705907,-1.02823,-0.71726,1.75643,0.0240461,0.0256677,-0.0362473,-0.000657154,0.000273968,-5.51227e-05,0.0608895,0.0623532,0.15374,-1.80861,1.55137,0.340473,1.91257,0.0242988,-0.286855,0.131493,-0.0574741,0.161197,0.686503,1.8824,-0.0127708,0.0112896,0.00785554,0.000363857,0.000625088,-3.93291e-05,2.47215e-05,-0.0699411,0.0823652,0.334641,0.536453,-0.0585064,0.779667,-0.317672,-1.62239e-05,-0.00056324,-0.000169765,0.00253729,0.0289963,-0.0249966,-0.00107629,0.00446658,0.00594867,7.30396e-05,-0.000121947,-9.36198e-05,-0.308585,0.17229,0.08375,1.30736,0.195402,0.0621734,-3.43434,0.000522614,0.00140866,-0.00205123,0.00125144,0,0.0367583,0,-0.00243541,-0.000157352,-0.00112064,-0.000117248,-0.000142182,6.30108e-05,-0.000113005,-0.114142,0.00772687,0.0190544,0.530285,-0.0566817,0.783959,-0.317795,0.000134822,-0.000186467,-0.000250383,-0.00114193,0.00689713,-0.0068525,-0.118705,0.180684,0.747638,-0.0374354,-0.0587031,0.0168485,1.43704,0.185577,0.0948431,-1.50515,-0.118737,-0.26967,-3.43434,0.00150844,-0.00347492,5.97097e-05,-0.00283715,0.00108507,0.00579638,0,0.0662071,-0.0306,0.777403,0.00500346,0.0621504,0.0374354,-0.000113005,0.113325,-0.00731783,0.0289696,0.193492,0.0676116,-0.520182,0.829096,-0.00179238,0.00193286,0.031092,-1.16285,-0.617948,2.05506,-3.85998,1.35318,1.85877,0.0269052,0.0237138,0.101218,-1.2664,0.136183,0.0992919,0.323132,-0.524821,1.09797,-3.43434,0.116724,0.292892,0.0192145,2.05149,-1.88017,-0.561103,0,0.0922615,0.271629,1.62409,0.0184956,-0.0657866,-0.0269052,-0.000113005
2020-02-04.17:34:43.558,0.159201,0.0784083,0.351873,0.193329,0.0617148,-0.502531,0.840403,-0.00421456,0.00850908,0.0701826,-0.902354,-0.601793,1.54813,-0.0127183,0.000682801,0.0177352,-0.000638152,7.26587e-05,-0.000296857,0.0610877,0.0595189,0.154996,-1.8093,1.55137,0.346395,1.92441,0.0199549,-0.280005,0.119949,-0.0647795,0.158084,0.575966,1.62467,0.00312165,-0.00627355,-0.00238787,0.000715741,0.000405931,0.00014852,-6.10438e-05,-0.0699411,0.0823652,0.334641,0.536453,-0.0585064,0.779667,-0.317672,-3.66202e-05,-0.000505576,-0.000145189,0.00253866,0.0282262,-0.0242949,0.00119794,0.0140141,0.0117458,-0.000116507,8.81958e-05,-0.000111953,-0.308585,0.17229,0.08375,1.30736,0.195402,0.0621734,-3.43434,0.000524112,0.0012238,-0.00181519,0.000996864,0,0.0360019,0,0.000213329,-0.00382022,-0.00240968,0.000938404,-0.000110874,3.17027e-05,5.85255e-05,-0.11414,0.00772533,0.0190524,0.530322,-0.0566379,0.783922,-0.317832,6.43249e-05,-0.000237095,-1.9825e-05,-0.000862675,0.00348554,-0.00811051,-0.119908,0.228848,0.760621,-0.0373551,-0.0582404,0.0164329,1.43704,0.185546,0.0948444,-1.50515,-0.1186,-0.269782,-3.43434,-0.00105676,-0.00259302,3.75347e-05,-0.00269979,0,0.00603562,0,0.0657351,-0.0343761,0.802712,0.00475312,0.0616047,0.0373551,5.85255e-05,0.113307,-0.00730664,0.0292574,0.191461,0.0642721,-0.511796,0.835031,-0.00171248,0.0014946,0.0296866,-0.623496,-0.867359,1.8979,-3.97767,1.47688,1.59197,0.0287529,0.0228371,0.101869,-1.26528,0.138917,0.0994786,0.340746,-0.543403,1.09058,-3.43434,0.117884,0.285834,0.0192843,1.68962,-1.92987,-0.91065,0,0.0644123,0.282957,1.56503,0.0179324,-0.0647001,-0.0287529,5.85255e-05
2020-02-04.17:34:43.578,0.159156,0.0784886,0.353302,0.189791,0.0540206,-0.485341,0.851766,-0.000198375,-0.00112795,0.0696743,-0.741393,-0.678836,1.76832,-0.0427813,-0.00847227,0.00379263,-0.000423315,-0.000157198,-0.000190971,0.0613602,0.0539764,0.15712,-1.81072,1.55137,0.355277,1.96586,0.00669043,-0.261641,0.0863005,-0.0493425,0.112086,0.380742,1.8578,0.0110679,-0.000877333,0.00741545,0.000451828,0.000186774,0.00030506,-2.88818e-05,-0.0699411,0.0823652,0.334641,0.536414,-0.0584658,0.779677,-0.31772,-0.000241831,6.18314e-05,0.000293129,0.00257586,0.026103,-0.0222827,-0.0127037,0.0235097,-0.0152201,0.000166918,-0.000101258,2.9202e-05,-0.308585,0.17229,0.08375,1.30721,0.195402,0.0621734,-3.43434,0.000468108,-0.00138945,0.00089215,-0.000256974,0,0.0343197,0,0.00286207,0.00651006,-0.00117956,-0.000205219,-0.000142182,-6.22216e-05,1.56429e-05,-0.114138,0.00772373,0.0190535,0.530319,-0.0566433,0.783926,-0.317825,0.000117352,2.87692e-05,-1.72539e-06,-0.00120681,0.0029139,-0.00435847,-0.191642,0.184534,0.696427,-0.0381584,-0.0575623,0.0163711,1.43702,0.185531,0.0948469,-1.50515,-0.1186,-0.269782,-3.43434,0.000363701,0,0.000116279,-0.00246479,0,0.00507027,0,0.0718714,-0.032488,0.738034,0.00494087,0.0615874,0.0381584,1.56429e-05,0.11329,-0.00725527,0.029869,0.191484,0.0567613,-0.495117,0.84556,0.000594271,0.00376802,0.0306527,-0.416641,-1.08384,1.66287,-3.12752,0.959964,0.982988,0.0277085,0.0114855,0.0900649,-1.26285,0.144778,0.0998545,0.374087,-0.581115,1.06742,-3.43434,0.119668,0.292892,0.0172577,1.67316,-1.77859,-1.30891,0,0.0110741,0.197994,1.41037,0.0193092,-0.055973,-0.0277085,1.56429e-05
2020-02-04.17:34:43.598,0.159173,0.0783344,0.354656,0.186889,0.0479745,-0.47035,0.861128,0.00137408,-0.0134726,0.0680329,-0.630165,-0.625765,1.68801,-0.0333677,0.0058353,-0.00443918,0.000104544,-0.000792664,0.000367693,0.0614097,0.0491267,0.15834,-1.81154,1.55137,0.361198,2.00139,0,-0.233113,0.0413307,-0.0304136,0.087301,0.261967,1.77186,0.00471089,0.00120097,0.00914458,-0.000691795,-0.000188923,0.000680758,0.000142649,-0.0699576,0.0823821,0.334656,0.536401,-0.0584563,0.779682,-0.317731,-0.000391895,0.00087539,0.000942775,0.00091711,0.0225919,-0.0200489,-0.00343697,0.00834127,-0.00190535,0.000269921,0.000357048,-1.86828e-05,-0.30856,0.172196,0.0838445,1.30715,0.195402,0.0621734,-3.43434,0,-0.00506295,0.00462924,-0.00271842,0,0.032905,-0.00204192,-0.000316419,0.00159179,-0.000916209,-0.000557103,0.000264823,-0.000156146,-5.94017e-05,-0.114136,0.00772753,0.0190527,0.530325,-0.0566324,0.783917,-0.31784,0.000136896,0.000265073,-5.02294e-05,-0.00145045,0.00317623,-0.0011393,-0.112782,0.231946,0.725387,-0.0387207,-0.059743,0.0168619,1.43705,0.185562,0.0948482,-1.50515,-0.1186,-0.269782,-3.43434,0.00222258,0.00201876,0.000145504,-0.00228063,0,0.00441763,-0.00204192,0.0671512,-0.0367362,0.768967,0.00494087,0.0631024,0.0387207,-5.94017e-05,0.113341,-0.00718115,0.0305211,0.189472,0.0485972,-0.477513,0.856574,0.00271355,0.00359966,0.031415,-0.778194,-0.762018,1.89861,-2.04284,0.00201105,0.868504,0.0229689,0.00499394,0.0812724,-1.26043,0.150763,0.100192,0.413718,-0.618553,1.04265,-3.43434,0.111643,0.28076,0.0162871,1.9535,-1.79379,-1.00486,-0.00204192,0.0035218,0.0714926,1.53973,0.0204982,-0.0541251,-0.0229689,-5.94017e-05
2020-02-04.17:34:43.618,0.159342,0.077497,0.356661,0.183888,0.041857,-0.452415,0.871639,0.00741986,-0.0437629,0.0639757,-0.362833,-0.399686,1.25729,-0.064181,0.0347642,-0.0126779,-0.00045426,-0.000469523,-0.000316998,0.0609638,0.0430489,0.158054,-1.8118,1.55137,0.364159,2.04284,-0.0229029,-0.162319,-0.0680115,0.0271278,0.0650104,0,1.30104,0.00471089,0.00367493,0.0225623,0.000715741,-6.3691e-05,0.000618141,4.61628e-05,-0.0699852,0.082403,0.334675,0.536388,-0.0584487,0.779688,-0.317741,-0.000563615,0.00052299,0.000631612,0.000963248,0.0222659,-0.0200919,0.00686296,-7.49913e-05,-0.0159677,0.000615179,1.53105e-05,0.000203936,-0.30851,0.17207,0.0839704,1.30706,0.195402,0.0621734,-3.43434,0.000837902,-0.00359459,0.00323356,-0.00171057,0,0.0309012,-0.00177743,0.000743077,-0.00248253,-0.00511267,-0.000117248,0.000108283,0.00025086,-0.000134446,-0.114137,0.00772897,0.0190543,0.530332,-0.0566561,0.783917,-0.317824,7.16014e-05,6.28491e-05,0.000103833,-0.00206826,-0.000878523,-0.000280956,-0.147954,0.172347,0.652309,-0.0368731,-0.055785,0.0160335,1.43705,0.185585,0.0948482,-1.50515,-0.1186,-0.2697,-3.43434,-0.00055631,0.000992287,9.755e-05,-0.00211494,0,0.000527123,-0.00186709,0.0666791,-0.031544,0.687416,0.00494087,0.0593868,0.0368731,7.99668e-05,0.113368,-0.00709735,0.0310724,0.188477,0.044154,-0.463501,0.864693,-0.000448222,0.00551347,0.0261856,0.101741,-0.641494,1.11408,0.10515,-1.34228,1.56371,0.0232099,-0.00463889,0.0554962,-1.25833,0.155829,0.100495,0.441817,-0.648887,1.02451,-3.43434,0.114059,0.249729,0.0153753,0.873151,-1.29252,-0.986011,-0.00186709,0.0856532,-0.13006,1.49754,0.0156168,-0.0459659,-0.0232099,7.99668e-05
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