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
2020-02-06.11:18:05.938,0.251042,0.0300999,0.301709,0.0468394,-0.313796,-0.237737,0.918052,-0.000168949,-2.55397e-05,-1.47453e-05,-2.00776e-05,0.00055931,-0.000738709,0.00442879,0.00700643,0.0127229,0.000150032,0.000176975,-0.000187155,-0.172809,0.335573,-0.108041,-1.56303,0.78753,0.749042,-3.23894,0.000415119,0,0,0.000517618,0,0,0,-0.00111634,-0.00210642,-0.00297701,-0.000163969,3.02333e-05,-7.06372e-05,-2.88818e-05,-0.277018,0.0317399,0.334857,0.0934176,0.30752,0.521672,0.790293,5.54948e-06,-1.19865e-06,-6.92042e-07,3.38813e-21,-7.13311e-06,1.23549e-05,-0.00318329,-0.0151938,-0.0127148,9.54281e-05,-0.000258429,2.49678e-05,0.244425,0.239398,-0.0736667,0.585464,0.503309,-0.0592128,0.165796,-1.42662e-05,0,0,0,0,0,0,-0.00296516,0.00450878,-0.000562724,-2.92769e-05,0.000233515,0.00025086,-3.79604e-05,-0.107668,0.015614,0.0346164,0.0919145,0.307995,0.522498,0.789738,3.13789e-06,-5.39324e-06,-9.00789e-06,-9.14749e-05,-0.000274048,0.000115318,3.78556,-1.68093,-0.839246,0.00257026,-0.0551025,-0.0381368,1.35716,0.327058,0.106646,2.1273,0.274229,0.518926,0.165796,5.95539e-05,-9.32382e-05,-1.07219e-06,0,0,0.000420783,0,0.33337,-0.00699896,1.11766,0.000309759,0.0318812,-0.00345392,-3.79604e-05,0.109387,0.0134259,0.0333253,-0.00388516,-0.315225,-0.197641,0.9282,-3.6044e-05,1.00007e-06,8.06956e-06,0.000420211,-0.000237218,0.000379997,-2.53832,-1.18639,-0.381413,-0.0314163,0.00417803,-0.0126694,-1.3855,0.285687,0.105439,-4.5379,-0.601884,0.208106,0.165796,-2.82693e-06,-5.76785e-05,3.64539e-05,0,0,-0.000566395,0,-0.189534,-0.123452,1.33163,0.000471803,0.0216284,0.0314163,-3.79604e-05
2020-02-06.11:18:05.950,0.251043,0.0300942,0.301702,0.0468349,-0.31379,-0.237744,0.918052,-0.000174352,-4.22582e-06,1.02081e-05,-1.69854e-05,0.000505137,-0.000680307,0.00476241,-0.00669233,-0.00247642,-0.000104281,0.00053966,-4.59077e-05,-0.172809,0.335605,-0.108072,-1.56301,0.78753,0.749042,-3.23894,0.000415119,-0.000119037,0.000119037,0.000437899,0,0,0,-0.00694357,0.00737464,0.00662188,1.19731e-05,9.28496e-05,0.00014852,9.97661e-05,-0.277009,0.0317378,0.334856,0.0934111,0.307516,0.521681,0.790289,-2.49479e-06,5.38801e-07,3.11077e-07,-2.11758e-21,3.20669e-06,-5.55415e-06,-0.00625534,0.0150291,0.00157571,-0.000379086,-3.99263e-05,0.000233346,0.2444,0.239398,-0.0736667,0.585464,0.503309,-0.0592128,0.165796,6.41339e-06,0,0,0,0,0,0,0.00498106,-0.00357335,-0.00209096,-0.000821016,7.69744e-05,-3.09135e-05,4.78048e-05,-0.107668,0.0156144,0.0346158,0.0919157,0.307998,0.522499,0.789736,0.000242248,3.43281e-05,9.41829e-05,-9.46841e-05,-0.000438661,3.73714e-05,3.76702,-1.71629,-0.823157,0.00152593,-0.0550807,-0.0380027,1.35717,0.327058,0.106646,2.1273,0.274229,0.518926,0.165796,-0.000121978,-7.78919e-05,0.000262144,0,0,0.000420783,0,0.335258,-0.00935906,1.1261,-0.000628981,0.0321787,-0.0012046,4.78048e-05,0.109386,0.0134261,0.0333257,-0.00388516,-0.315225,-0.197641,0.9282,-5.55501e-05,4.5388e-06,1.43293e-05,0.000419546,-0.000235488,0.000376904,-2.48922,-1.24529,-0.387268,-0.031095,0.00469038,-0.0132013,-1.3855,0.285687,0.10544,-4.5379,-0.601884,0.208106,0.165796,-2.8757e-06,-5.40728e-05,5.72432e-05,0,0,-0.000566395,0,-0.184342,-0.128172,1.30913,-0.000529519,0.0207901,0.031095,4.78048e-05
2020-02-06.11:18:05.962,0.251043,0.0300942,0.301702,0.0468349,-0.31379,-0.237744,0.918052,-0.000174352,-4.22582e-06,1.02081e-05,-1.69854e-05,0.000505137,-0.000680307,0.0115371,-0.00154377,0.0069228,-5.46053e-05,0.000177392,-0.000187352,-0.172809,0.335605,-0.108072,-1.56301,0.78753,0.749042,-3.23894,0.000415119,-0.000119037,0.000119037,0.000437899,0,0,0,-0.00111634,-0.00527028,-0.00412054,0.000363857,-9.49992e-05,-7.06372e-05,-3.96024e-05,-0.277009,0.0317378,0.334856,0.0934111,0.307516,0.521681,0.790289,-3.64069e-06,-2.86262e-06,-2.98741e-06,4.66425e-07,1.05885e-05,-1.45992e-05,4.63923e-05,-0.0176374,0.00170373,-3.25122e-05,0.000147084,1.47748e-05,0.2444,0.239398,-0.0736667,0.585464,0.503309,-0.0592128,0.165796,6.41339e-06,1.74471e-05,-1.74471e-05,1.16843e-05,0,0,0,-0.0066734,0.00117508,-0.000621638,-0.000117248,-0.000142182,3.94597e-07,-1.65191e-05,-0.107668,0.0156144,0.0346158,0.0919157,0.307998,0.522499,0.789736,0.000281243,4.20891e-05,0.000108432,-9.53065e-05,-0.000440095,3.9856e-05,3.76725,-1.70765,-0.845213,0.00232926,-0.0544995,-0.038091,1.35717,0.327058,0.106646,2.1273,0.274229,0.518926,0.165796,-0.000121978,-7.49562e-05,0.000304375,0,0,0.000420783,0,0.334314,-0.00841502,1.12891,-0.000503815,0.0319339,-0.00232926,-1.65191e-05,0.109386,0.0134261,0.0333257,-0.00388516,-0.315225,-0.197641,0.9282,-5.55305e-05,4.61002e-06,1.4354e-05,0.0004194,-0.000235193,0.000376172,-2.51719,-1.23254,-0.393757,-0.0309343,0.00426026,-0.0125521,-1.3855,0.285687,0.10544,-4.5379,-0.601884,0.208106,0.165796,-2.98635e-06,-5.32776e-05,5.72432e-05,0,0,-0.000566395,0,-0.187174,-0.128172,1.31757,3.37242e-05,0.0213314,0.0309343,-1.65191e-05
2020-02-06.11:18:05.982,0.251033,0.0300927,0.301701,0.04683,-0.313784,-0.237754,0.918052,-0.000191161,-6.76268e-06,8.74341e-06,-1.6983e-05,0.000525787,-0.000716073,-0.00437223,-0.00113609,-0.00344301,0.000369091,-0.000123472,-6.77921e-05,-0.172785,0.335605,-0.108072,-1.56301,0.78753,0.749042,-3.23894,0.000456418,-0.000119037,0.000119037,0.000437899,0,0,0,0.0015324,-0.00444212,-0.00227358,-0.000603824,-0.000157615,-0.000133253,6.76041e-05,-0.277018,0.0317399,0.334857,0.0934176,0.30752,0.521672,0.790293,0.000141277,-3.37976e-05,-2.07138e-05,4.19654e-07,-0.000176277,0.000308685,0.00919255,-0.000303984,-0.00686648,0.000490422,-0.000379522,-0.000300375,0.244425,0.239398,-0.0736667,0.585464,0.503309,-0.0592128,0.165796,-0.000365835,1.5696e-05,-1.5696e-05,1.05116e-05,0,0,0,0.00127283,0.00475039,0.0042541,0.00120232,0.000327439,3.17027e-05,-1.65191e-05,-0.107668,0.0156144,0.0346158,0.0919157,0.307998,0.522499,0.789736,0.000315977,4.90408e-05,0.000121146,-9.59512e-05,-0.000441581,4.24296e-05,3.75855,-1.72954,-0.871714,0.000963606,-0.0547156,-0.0368935,1.35717,0.327058,0.106646,2.1273,0.274229,0.518926,0.165796,-0.000121978,-7.20382e-05,0.00034546,0,0,0.000420783,0,0.334314,-0.0103031,1.1036,-3.15443e-06,0.0321521,-0.00265059,-1.65191e-05,0.109384,0.0134263,0.0333261,-0.00388516,-0.315225,-0.197641,0.9282,-3.67153e-05,1.57993e-06,8.52022e-06,0.00041925,-0.000234889,0.000375426,-2.52323,-1.25483,-0.381778,-0.0309343,0.0036626,-0.01271,-1.3855,0.285687,0.105442,-4.5379,-0.601884,0.208106,0.165796,-3.0957e-06,-5.24661e-05,3.73131e-05,0,0,-0.000566395,0,-0.187174,-0.13006,1.33444,-9.1441e-05,0.0220037,0.0309343,-1.65191e-05
2020-02-06.11:18:05.2,0.251024,0.0300818,0.301705,0.0467778,-0.313736,-0.237819,0.918054,-0.000342322,-2.96027e-05,-4.44328e-06,2.39971e-05,-6.6703e-06,-0.00026348,0.0180937,-0.0118237,0.0183515,-2.37805e-05,-0.000282205,0.000115388,-0.17276,0.335605,-0.108099,-1.56285,0.78753,0.749042,-3.23894,0.00082781,-0.000119037,0.000119037,-0.000618912,0,0,0,0.0015324,-0.0115927,-0.010022,-0.00025194,-6.3691e-05,0.000117212,2.47215e-05,-0.277018,0.0317399,0.334857,0.0934176,0.30752,0.521672,0.790293,0.000142308,-3.07376e-05,-1.77464e-05,8.13152e-20,-0.000182918,0.000316823,-0.00637351,-0.00576451,0.00807501,0.000159218,9.15356e-06,-0.000119931,0.244425,0.239398,-0.0736667,0.585464,0.503309,-0.0592128,0.165796,-0.000365835,0,0,0,0,0,0,-0.000846168,0.00325864,-0.000327067,0.000322607,7.69744e-05,0.000156935,2.63635e-05,-0.107668,0.0156144,0.0346158,0.0919157,0.307998,0.522499,0.789736,0.000172032,2.20535e-05,6.89737e-05,-9.70493e-05,-0.000439991,4.91931e-05,3.73419,-1.67104,-0.864055,0.00184727,-0.0543039,-0.0374574,1.35717,0.327058,0.106646,2.1273,0.274229,0.518926,0.165796,-0.000117219,-6.67354e-05,0.000186522,0,0,0.000420783,0,0.331482,-0.00699896,1.08673,-0.000253485,0.0317507,-0.00184727,2.63635e-05,0.109383,0.0134266,0.0333265,-0.00388516,-0.315225,-0.197641,0.9282,-5.80377e-05,5.24352e-06,1.52288e-05,0.000418966,-0.000234302,0.000374013,-2.52373,-1.27022,-0.39933,-0.031577,0.00485029,-0.0129462,-1.3855,0.285687,0.105443,-4.5379,-0.601884,0.208106,0.165796,-3.29355e-06,-5.09223e-05,5.9964e-05,0,0,-0.000566395,0,-0.184814,-0.130532,1.34007,-0.00077985,0.0200041,0.030131,2.63635e-05
2020-02-06.11:18:06.22,0.251005,0.0300694,0.301707,0.0467526,-0.313725,-0.237842,0.918053,-0.000470549,-4.89603e-05,-1.56194e-05,0.000249608,-0.00380486,0.00372859,0.0117412,0.00606755,0.00687102,-0.000368022,8.75315e-05,-0.000208525,-0.17271,0.335605,-0.108125,-1.56283,0.78753,0.749042,-3.23894,0.00114284,-0.000119037,0.000119037,-0.00644023,0,0,0,-0.00270558,-0.00502341,-0.00244679,0.00062777,-0.000188923,0.000211136,-7.44046e-06,-0.277009,0.0317378,0.334856,0.0934111,0.307516,0.521681,0.790289,0.000110221,-2.38045e-05,-1.37435e-05,9.48677e-20,-0.000141673,0.000245385,-0.0196147,0.0099688,-0.000703167,-0.000178632,2.3477e-06,8.3465e-05,0.2444,0.239398,-0.0736667,0.585464,0.503309,-0.0592128,0.165796,-0.000283346,0,0,0,0,0,0,0.00445132,-0.00614539,-0.00734434,-0.000469132,1.43582e-05,6.30108e-05,-4.86811e-05,-0.107668,0.0156144,0.0346158,0.0919157,0.307998,0.522499,0.789736,0.000259696,3.96045e-05,0.000100266,-9.79952e-05,-0.000435996,5.65341e-05,3.77919,-1.73662,-0.852167,0.00160627,-0.0554717,-0.0385712,1.35717,0.327058,0.106646,2.1273,0.274229,0.518926,0.165796,-0.000110089,-6.22739e-05,0.000281221,0,0,0.000420783,0,0.335258,-0.0103031,1.14016,-0.000566398,0.0329077,-0.00160627,-4.86811e-05,0.109382,0.013426,0.0333266,-0.00388808,-0.315165,-0.197632,0.928223,-6.15853e-05,1.03783e-05,1.64855e-05,-0.000330394,0.000140116,-0.000274021,-2.52688,-1.34652,-0.383187,-0.0312557,0.00468498,-0.012614,-1.38551,0.285679,0.105444,-4.5379,-0.60202,0.208135,0.165796,-2.5912e-05,-9.86677e-06,6.4405e-05,0,0,0.000459347,0,-0.184342,-0.138084,1.35132,-0.000466937,0.0210172,0.0312557,-4.86811e-05
2020-02-06.11:18:06.42,0.25098,0.030018,0.301727,0.0466604,-0.313709,-0.237888,0.918052,-0.00106102,-0.0024513,0.000813944,-0.00598932,-9.02563e-05,-0.00247155,0.00235152,-0.00881476,0.011645,0.000118288,-0.000218214,7.09358e-05,-0.172636,0.335605,-0.108256,-1.56274,0.78753,0.749042,-3.23894,0.00324308,0.000401861,-0.00652786,-0.0011781,0,0,0,0.0036514,-0.00477128,-0.00403393,-0.00025194,-9.49992e-05,-7.06372e-05,3.54422e-05,-0.277009,0.0317378,0.334856,0.0934111,0.307516,0.521681,0.790289,0.00010975,-2.52027e-05,-1.50994e-05,1.91729e-07,-0.000138639,0.000241667,0.00819431,-0.00864067,-0.0056835,0.000109926,-9.03056e-06,3.56116e-05,0.2444,0.239398,-0.0736667,0.585464,0.503309,-0.0592128,0.165796,-0.000283346,7.17179e-06,-7.17179e-06,4.80295e-06,0,0,0,-0.00243541,0.00475039,0.00337039,-0.000117248,-1.695e-05,0.000282168,-5.94017e-05,-0.107668,0.0156144,0.0346158,0.0919157,0.307998,0.522499,0.789736,0.000120543,1.35566e-05,4.95827e-05,-9.89163e-05,-0.000432036,6.37236e-05,3.75296,-1.69156,-0.871763,0.00176693,-0.0556338,-0.0387039,1.35717,0.327058,0.106646,2.1273,0.274229,0.518926,0.165796,-0.000103064,-5.79291e-05,0.000130834,0,0,0.000420783,0,0.332426,-0.00888704,1.09517,-0.000628981,0.0333529,-0.00176693,-5.94017e-05,0.109379,0.013426,0.0333274,-0.00392392,-0.315158,-0.197642,0.928223,-0.000162724,1.07253e-05,4.82353e-05,-0.000511574,0.000250377,-0.000275654,-2.42527,-1.4883,-0.27564,-0.0334246,0.00219246,-0.013376,-1.38551,0.285672,0.105448,-4.5379,-0.60202,0.208217,0.165796,6.23561e-05,-0.000154063,0.000169473,0,0,0.000746595,0,-0.170653,-0.145164,1.40474,-2.88584e-05,0.0226898,0.0334246,-5.94017e-05
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