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
2020-02-05.14:12:14.96,0.217231,0.0376921,0.398413,-0.412429,-0.493999,0.317844,0.696307,0.00106048,0.00647831,0.0392784,-0.0427093,0.298047,-0.11412,-0.0110615,0.0146553,0.00600478,0.000188352,0.000426421,-4.10273e-05,-0.105355,-0.0157457,0.054299,-1.51258,0.00296064,0.364159,-1.48032,-0.0104794,-0.141075,0.0534754,-0.00988425,0.219068,0.275742,-0.0595761,0.00418115,0.00596519,0.003718,0.000891683,0.000124158,-8.02096e-06,-3.96024e-05,-0.0321082,0.080569,0.320719,0.0317726,0.726615,0.363721,0.582003,0.000828165,-0.000638316,0.000353274,-0.00216323,-0.000271333,-0.000287237,0.00410209,-0.0118552,0.0118765,0.000378072,0.000268451,0.000109069,-0.395955,0.26519,0.0085488,1.26344,-0.316788,0.343434,-0.0473702,-0.00161433,0.000537264,-0.00267914,0.00179422,0,0,0,-0.00349491,0.00367536,8.53323e-05,0.000938404,-0.000142182,-9.35298e-05,-5.94017e-05,-0.0931578,-0.00652224,0.00139554,0.0329514,0.726906,0.362238,0.582499,0.000176134,-6.16194e-05,3.15334e-06,-0.00586786,0.00147262,0.00217333,3.51539,-1.38862,1.67232,-0.0263495,-0.0406805,-0.0322425,1.49592,-0.0454869,0.114207,1.54667,-0.399115,0.455566,-0.0473702,-0.000374818,-0.000183926,0.0001876,-0.00665374,-0.00242848,0.00198026,0,0.380572,-0.0353202,0.580557,-0.00175547,0.0187273,0.0263495,-5.94017e-05,0.121808,-0.0428733,0.0545789,-0.407617,-0.503516,0.314347,0.693906,-0.00169716,0.0018673,0.0129873,-0.0143457,0.271338,0.026241,-0.517296,-3.64011,-1.26328,-0.00386222,0.0634733,0.0573607,-0.85554,-0.125703,0.111633,-3.31813,-0.37575,0.738888,-0.0473702,0.062929,0.0834626,0.00741565,-0.0184647,-0.0419076,-0.183918,0,0.374529,0.0224026,1.60159,-0.0107305,-0.0808438,0.00386222,-5.94017e-05
2020-02-05.14:12:14.112,0.217268,0.0378934,0.399359,-0.412426,-0.490566,0.319456,0.697996,0.00159572,0.00963994,0.0389781,-0.0408575,0.307669,-0.069654,-0.0165549,-0.00685243,0.000622188,-0.000309027,0.000109279,3.60863e-05,-0.105653,-0.0192413,0.0557433,-1.51266,0.00888192,0.37008,-1.48032,-0.0127978,-0.14708,0.0642202,-0.00606554,0.251239,0.240948,-0.0595761,0.0025919,-0.00126773,-0.0053542,1.19731e-05,-0.000282848,0.00014852,3.54422e-05,-0.0320762,0.0805637,0.320723,0.0317493,0.726615,0.36372,0.582005,0.00124932,-0.000135372,0.000470564,-0.00152023,-0.00135866,0.0016831,-0.0120096,0.0214325,0.0102015,6.43836e-05,-4.00492e-05,1.54354e-05,-0.39603,0.265221,0.00849101,1.26348,-0.316788,0.343434,-0.0473702,-0.00312461,0,-0.00153182,0.00102586,0,0,0,-0.00508415,-0.00474646,0.0014922,5.86941e-05,4.56663e-05,6.30108e-05,1.56429e-05,-0.0931501,-0.00652366,0.0013973,0.0329518,0.726902,0.362236,0.582505,0.000212779,-7.06553e-05,1.65958e-05,-0.00591974,0.00129074,0.00192888,3.43196,-1.39064,1.66273,-0.0258675,-0.0415471,-0.0311292,1.4959,-0.0454869,0.114215,1.54667,-0.399115,0.455566,-0.0473702,-0.000486745,-0.000178661,0.000224375,-0.00665374,-0.00226106,0.00184375,0,0.371604,-0.0367362,0.605866,-0.000691563,0.0197749,0.0258675,1.56429e-05,0.12178,-0.042805,0.0549359,-0.407882,-0.500274,0.315303,0.695659,-0.00134468,0.00320909,0.0160121,-0.193987,0.252957,-0.122501,-0.700822,-3.66103,-1.50549,0.000877414,0.0648536,0.0655055,-0.853841,-0.123502,0.111824,-3.32002,-0.379576,0.73678,-0.0473702,0.0770267,0.0956622,0.00877137,0,-0.217914,-0.0445116,0,0.396714,0.00021766,1.50879,-0.00828976,-0.085669,-0.000877414,1.56429e-05
2020-02-05.14:12:14.132,0.217299,0.0381708,0.40028,-0.411999,-0.485546,0.321621,0.700758,0.00129053,0.0133695,0.0391437,-0.0416467,0.357401,-0.0661797,-0.02373,0.00338954,-0.0133191,-0.000124445,9.53235e-05,-8.78309e-05,-0.10595,-0.0228313,0.0574399,-1.5129,0.0177638,0.378962,-1.48032,-0.012979,-0.156287,0.0777187,-0.00788424,0.295929,0.26545,-0.0595761,-0.00058659,0.0039797,-0.00362153,0.000363857,-0.000157615,-0.00019587,-8.24851e-05,-0.0320641,0.0805612,0.320719,0.0317467,0.726616,0.363721,0.582003,0.000648553,-0.000337055,0.0001228,-0.00110908,-0.000170006,8.10315e-05,-0.00287979,-0.000145179,-0.0120444,-0.000153239,-5.14397e-05,-7.00779e-05,-0.396054,0.265253,0.00845952,1.2635,-0.316788,0.343434,-0.0473702,-0.00132847,0.000755316,-0.00181971,0.00121866,0,0,0,0.00392157,-0.0024055,-0.00217756,-0.000205219,1.43582e-05,-0.000124838,-5.94017e-05,-0.0931463,-0.00652508,0.00139776,0.0329553,0.726901,0.362233,0.582508,0.000250894,-1.5538e-05,-8.03396e-05,-0.00594731,0.00217394,0.00237066,3.45754,-1.4101,1.7026,-0.0264298,-0.0419507,-0.03144,1.49589,-0.0454946,0.114219,1.54667,-0.399115,0.455566,-0.0473702,0.000587152,-0.000171441,0.000257524,-0.00665374,-0.0021731,0.00177202,0,0.37538,-0.0362642,0.636799,-0.000566398,0.0200413,0.0264298,-5.94017e-05,0.121781,-0.0427199,0.0553167,-0.407998,-0.496743,0.317059,0.697322,0.00086654,0.00421771,0.0163337,-0.15617,0.320811,-0.101541,-0.722863,-3.3777,-1.3479,0.00513505,0.0666168,0.0661915,-0.851841,-0.1211,0.112002,-3.32065,-0.383675,0.733344,-0.0473702,0.0884408,0.104168,0.00689858,-0.0233421,-0.206112,-0.104478,0,0.368865,0.00210574,1.43849,-0.00929109,-0.08722,-0.00513505,-5.94017e-05
2020-02-05.14:12:14.152,0.217317,0.0385081,0.401166,-0.411924,-0.482055,0.323128,0.702517,0.000989663,0.0162924,0.0397569,-0.0453619,0.435956,-0.101995,0.00334626,-0.0191311,0.00358317,0.000244214,0.000238328,4.52466e-05,-0.106222,-0.0264529,0.0593257,-1.51282,0.0236851,0.384883,-1.48032,-0.0130347,-0.165159,0.0886187,0.00231036,0.344506,0.326474,-0.0595761,0.000472907,-0.0072663,-0.00588089,0.000715741,0.000218082,-0.00019587,5.68835e-05,-0.0320641,0.0805612,0.320719,0.0316939,0.726585,0.363759,0.582021,0.00049,-0.000299543,6.0568e-05,-0.00087164,-1.93213e-05,-8.13022e-05,-0.00269319,-0.00955052,0.0110933,-0.000193978,0.000128197,-2.75016e-05,-0.396054,0.265253,0.00845952,1.26335,-0.316788,0.343434,-0.0473702,-0.000948385,0.000738805,-0.00156511,0.00104815,0,0,0,-0.00455441,0.0010105,-0.00167856,-0.000205219,-0.000142182,-0.000156146,-1.65191e-05,-0.0931424,-0.00652568,0.00139679,0.0329584,0.726904,0.362232,0.582505,0.000130565,6.0549e-05,-4.57285e-05,-0.00603234,0.00176209,0.00288109,3.39386,-1.3696,1.65515,-0.0264298,-0.0409431,-0.0310882,1.4959,-0.0455023,0.114223,1.54667,-0.399115,0.455566,-0.0473702,0.000586018,0.000553826,0.000132849,-0.00665374,-0.00207296,0.00169036,0,0.367828,-0.0343761,0.605866,-0.000628981,0.0195611,0.0264298,-1.65191e-05,0.12181,-0.0426294,0.055678,-0.407791,-0.493341,0.318601,0.699153,0.00173796,0.00436086,0.0164178,-0.0909168,0.365498,-0.0363433,-0.868262,-2.94749,-1.04803,0.00995501,0.0673907,0.069053,-0.849825,-0.118745,0.112146,-3.32191,-0.387228,0.72987,-0.0473702,0.0944248,0.109707,0.00609832,-0.0271303,-0.144184,-0.184399,0,0.318831,-0.0035585,1.42443,-0.00766394,-0.0883651,-0.00995501,-1.65191e-05
2020-02-05.14:12:14.172,0.217338,0.0388526,0.401978,-0.411774,-0.47862,0.324619,0.704264,0.00111671,0.0185822,0.0407045,-0.0470074,0.429015,-0.144662,-0.0044118,-0.00598732,-0.0100629,-0.000177789,-0.000556615,0.000125491,-0.106495,-0.0298539,0.0611752,-1.51286,0.0296064,0.390804,-1.48032,-0.0141898,-0.173528,0.0973127,-0.00130298,0.317028,0.36311,-0.0595761,-0.00323533,-0.00127299,-0.00356616,-0.00104368,-6.3691e-05,-0.000101945,0.000110487,-0.0320521,0.0805588,0.320714,0.0316913,0.726586,0.363761,0.582019,1.38966e-05,-0.00015322,0.000198923,-0.000648016,-0.000136157,-0.00022761,0.00596987,0.0113761,-0.00297822,3.35087e-05,6.89399e-05,0.00011424,-0.396079,0.265284,0.00842803,1.26337,-0.316788,0.343434,-0.0473702,0,-0.000487115,-0.00020013,0.000134027,0,0,0,0.00180257,0.00108226,0.00404613,0.000146665,-1.695e-05,-3.09135e-05,9.06875e-05,-0.0931385,-0.00652527,0.00139737,0.0329551,0.726903,0.362234,0.582505,0.00017223,-7.54699e-05,-0.000101649,-0.00595692,0.00226407,0.00155402,3.46023,-1.4027,1.6667,-0.0273938,-0.043066,-0.0320975,1.4959,-0.0454946,0.114226,1.54667,-0.399115,0.455566,-0.0473702,0.000438883,-0.000788949,0.000181755,-0.00665374,-0.00199152,0.00162395,0,0.37302,-0.0362642,0.603054,-0.000316068,0.0213076,0.0273938,9.06875e-05,0.12185,-0.0425369,0.0560202,-0.40775,-0.489944,0.320135,0.700863,0.00266647,0.00503564,0.0173019,-0.0942148,0.417662,-0.141743,-0.910152,-2.53344,-0.716894,0.0146946,0.0710107,0.0682238,-0.847871,-0.116513,0.112273,-3.32296,-0.391054,0.726618,-0.0473702,0.0990573,0.112838,0.00592369,-0.11451,-0.226127,-0.1456,0,0.268325,0.00257776,1.40756,-0.0102924,-0.090117,-0.0146946,9.06875e-05
2020-02-05.14:12:14.192,0.217361,0.039254,0.402817,-0.412016,-0.474093,0.325568,0.706742,0.0012636,0.0206149,0.0419944,-0.0518689,0.434823,-0.205595,-0.00623934,-0.010646,-0.0039507,0.000314884,-4.5009e-05,-2.97675e-05,-0.106792,-0.0334755,0.0632451,-1.51291,0.0355277,0.399686,-1.48032,-0.0153995,-0.182446,0.105284,-0.000795751,0.29101,0.41808,-0.0588465,-0.00058659,-0.00285229,-0.0048552,1.19731e-05,0.000280698,-3.93291e-05,-2.88818e-05,-0.0320258,0.0805683,0.32072,0.0316612,0.726576,0.36378,0.582021,0.000721982,0.000133319,0.000325681,-0.000552127,-0.00114055,0.00156776,0.00246673,0.00612468,-0.0131155,-7.76118e-05,-4.29784e-05,-6.68747e-05,-0.396154,0.265284,0.00842803,1.26337,-0.316788,0.343434,-0.0473702,-0.00201695,-0.000450056,-0.000137976,9.24027e-05,0,0,0,0.00498106,-0.00107833,0.000698629,-0.000381161,-1.695e-05,0.000188243,2.63635e-05,-0.0931359,-0.00652618,0.00139707,0.0329584,0.726904,0.362232,0.582505,0.000101379,7.29404e-05,-4.57411e-05,-0.00608755,0.00168383,0.00279889,3.48024,-1.38339,1.69236,-0.0269922,-0.041369,-0.0319562,1.4959,-0.0455023,0.114229,1.54667,-0.399115,0.455566,-0.0473702,0.000635869,0.000641116,0.000102432,-0.00665374,-0.00191461,0.00156124,0,0.377268,-0.0334321,0.608678,-0.000941894,0.0195394,0.0269922,2.63635e-05,0.121895,-0.0424258,0.0563717,-0.407942,-0.48589,0.321234,0.703066,0.00188719,0.00585748,0.0175954,-0.125851,0.424375,-0.189352,-0.8709,-2.17817,-0.334319,0.0190326,0.0729203,0.069867,-0.845964,-0.114181,0.112399,-3.32547,-0.396109,0.723798,-0.0473702,0.0915994,0.117738,0.00654698,-0.126978,-0.272829,-0.124029,0,0.221123,0.0195705,1.43568,-0.0101047,-0.092982,-0.0190326,2.63635e-05
2020-02-05.14:12:14.212,0.217378,0.0394793,0.403254,-0.412338,-0.471281,0.325775,0.708338,0.00157595,0.021831,0.0425578,-0.0551397,0.443172,-0.239952,0.000266195,-0.000800784,-0.0109447,-8.7186e-05,-0.000264082,0.000148641,-0.106965,-0.0353964,0.0643771,-1.51292,0.0384883,0.405607,-1.48032,-0.0167307,-0.187031,0.109833,-0.000547471,0.280481,0.452543,-0.0578425,-0.00376508,0.000306307,-0.000981,-0.000163969,-1.0748e-06,-0.000383718,0.000153369,-0.0320171,0.0805715,0.320722,0.0316512,0.726573,0.363786,0.582022,0.00140364,0.000391572,0.000458628,-0.000513312,-0.00210272,0.00325852,0.0221355,0.00620042,-0.00363941,6.77157e-05,6.37948e-05,7.26277e-05,-0.396178,0.265284,0.00842803,1.26337,-0.316788,0.343434,-0.0473702,-0.00394879,-0.000430498,-0.00011705,7.83884e-05,0,0,0,0.00392157,0.00715785,0.00809707,0.000234636,-1.695e-05,-6.22216e-05,2.63635e-05,-0.0931351,-0.00652569,0.0013961,0.0329256,0.726919,0.362292,0.582451,0.000151621,4.9791e-05,-2.70664e-05,-0.00667009,0.000718739,0.000485117,3.5182,-1.38849,1.72189,-0.0271528,-0.0424406,-0.0323773,1.4959,-0.0455023,0.11423,1.54667,-0.399252,0.455677,-0.0473702,0.000562324,0.00055965,0.000148019,-0.00665374,0,0,0,0.381044,-0.032488,0.619926,-0.000754146,0.0203427,0.0271528,2.63635e-05,0.121913,-0.0423649,0.0565473,-0.408297,-0.48372,0.321634,0.704173,0.0014619,0.00646224,0.0182843,-0.169934,0.425829,-0.267412,-0.942374,-2.0508,-0.175773,0.0202376,0.0749114,0.071391,-0.845075,-0.113007,0.112465,-3.32694,-0.399115,0.722819,-0.0473702,0.0888548,0.121197,0.00725026,-0.156121,-0.341814,-0.0699629,0,0.201298,0.0200425,1.49473,-0.0100421,-0.094829,-0.0202376,2.63635e-05
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