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
2020-02-06.10:12:33.864,0.178785,0.0190657,0.407586,-0.291335,-0.474633,0.506215,0.658478,-0.000264247,7.64467e-07,4.41365e-07,-0.0320165,-0.0027929,0.0122047,-0.88025,0.44476,-0.684554,-0.0111558,0.0147451,-0.0122663,0.00334422,-0.00799884,-0.00102147,-1.45033,0.387844,-0.0118426,-1.37374,0.000730055,0,0,0.000436347,0,0,0.0348242,-0.137262,0.322214,0.0405659,0.0298342,-0.0136514,-0.000383718,-0.0070938,-0.178946,0.0192866,0.408063,0.332985,0.256052,0.845557,0.329534,-4.53378e-07,0.000136079,7.67634e-05,0.00717634,-0.00974856,-0.00248629,-1.01722,-0.0280938,-1.2605,0.00815025,0.00308932,0.0168387,-0.00289832,-0.00998281,0.000120953,0.937325,0.476663,0.0296064,1.53953,0,-0.00055919,0.00055919,-0.00262524,0.0120758,0,0,0.115169,0.410366,-0.00012676,-0.0142806,-0.00768744,0.000657865,0.0150353,-0.0905836,0.0017448,0.0270628,0.348125,0.24289,0.856473,0.293714,1.18206e-05,2.8659e-05,-4.96388e-05,-2.1684e-19,0.000453669,0.000261926,0.138432,-0.315572,-0.0533206,0.000401277,-0.0039901,0.00444906,1.37503,0.0955765,0.120274,3.33638,-0.504189,0.209876,1.53953,0.000523852,0,0,0,0,0,0,0.0359979,0.0189621,-0.0549739,0.00293823,0.00171592,-0.000401277,0.0150353,0.0764667,0.0151552,0.0460183,-0.280711,-0.488423,0.482773,0.670504,-1.40824e-06,2.69499e-06,-4.66786e-06,1.86347e-20,-3.77862e-05,-2.18159e-05,0.143912,0.146769,0.165341,0.0118027,0.00338924,-0.00195263,-1.31683,0.289355,0.139364,-3.02918,0.200309,-0.098159,1.53953,-4.36318e-05,0,0,0,0,0,0,-0.00686264,0.0172104,0.203985,0.000534385,-0.0048739,-0.0118027,0.0150353
2020-02-06.10:12:33.878,0.178776,0.0190739,0.40758,-0.291327,-0.474638,0.506207,0.658484,6.77673e-05,2.47055e-05,-1.96169e-05,-0.0311843,-0.00321059,0.0127557,-0.89165,0.44751,-0.661851,-0.0110236,0.0140904,-0.0119053,0.00336899,-0.00799884,-0.000995168,-1.45034,0.387844,-0.0118426,-1.37374,-0.000186268,0,8.02031e-05,0.000354252,0,0,0.0339822,-0.131964,0.317306,0.0349555,0.0281627,-0.0133696,-0.00019587,-0.00706163,-0.178946,0.0192866,0.408063,0.332985,0.256052,0.845557,0.329534,-3.86549e-07,0.00011602,6.54483e-05,0.0069531,-0.00939457,-0.00249886,-1.01658,-0.0112124,-1.25241,0.00814491,0.00341882,0.0169653,-0.00289832,-0.00998281,0.000120953,0.937325,0.476663,0.0296064,1.53953,0,-0.000476764,0.000476764,-0.00244033,0.0117001,0,0,0.115169,0.403463,-0.00690837,-0.0147204,-0.00768744,0.0004074,0.0151211,-0.0905836,0.0017448,0.0270628,0.348125,0.24289,0.856473,0.293714,8.14318e-06,1.97432e-05,-3.41961e-05,-1.6263e-19,0.000312532,0.00018044,0.110844,-0.274056,-0.0272026,0.00136527,-0.00178744,0.00507952,1.37503,0.0955765,0.120274,3.33638,-0.504189,0.209876,1.53953,0.000360881,0,0,0,0,0,0,0.0317497,0.0184901,-0.0268531,0.00281306,-0.000318704,-0.00136527,0.0151211,0.0764667,0.0151552,0.0460183,-0.280711,-0.488423,0.482773,0.670504,-7.28156e-07,1.3935e-06,-2.41361e-06,9.31736e-21,-1.95381e-05,-1.12803e-05,0.149654,0.141406,0.124331,0.0107583,0.00272025,-0.00148363,-1.31683,0.289355,0.139364,-3.02918,0.200309,-0.098159,1.53953,-2.25607e-05,0,0,0,0,0,0,-0.00780668,0.0181544,0.164616,0.000722133,-0.0042144,-0.0107583,0.0151211
2020-02-06.10:12:33.898,0.178785,0.0190739,0.40758,-0.291325,-0.474645,0.506213,0.658476,0.000365324,3.08871e-05,-1.61227e-05,-0.0306881,-0.00358612,0.0132909,-0.893051,0.456565,-0.668306,-0.0114146,0.0134043,-0.0118162,0.00334422,-0.00799884,-0.000995168,-1.45034,0.387844,-0.0118426,-1.37374,-0.00100455,-2.89659e-05,0.000109169,0.000317726,0,0,0.0334427,-0.133553,0.321715,0.0384173,0.027371,-0.0136201,-0.000884648,-0.00699731,-0.178946,0.0192866,0.408063,0.332937,0.256061,0.84559,0.329488,-3.51474e-07,0.000105493,5.95097e-05,0.00681109,-0.0091478,-0.00253924,-1.01852,-0.0052203,-1.24107,0.00839761,0.00342608,0.0169601,-0.00289832,-0.00998281,0.000120953,0.937176,0.476663,0.0296064,1.53953,0,-0.000433504,0.000433504,-0.0022839,0.0114588,0,0,0.11252,0.399136,-0.0105192,-0.0148964,-0.0079379,0.000563941,0.0150353,-0.0905836,0.0017448,0.0270628,0.348125,0.24289,0.856473,0.293714,6.10953e-06,1.48126e-05,-2.56561e-05,-1.0842e-19,0.000234481,0.000135378,0.138763,-0.31946,-0.0605293,-3.86632e-07,-0.00295196,0.00352078,1.37503,0.0955765,0.120274,3.33638,-0.504189,0.209876,1.53953,0.000270756,0,0,0,0,0,0,0.0355258,0.0194341,-0.0605981,0.00212465,0.000890939,3.86632e-07,0.0150353,0.0764667,0.0151552,0.0460183,-0.280711,-0.488423,0.482773,0.670504,-7.04711e-07,1.34863e-06,-2.3359e-06,8.89385e-21,-1.8909e-05,-1.09171e-05,0.110962,0.176897,0.154679,0.0113207,0.00243101,-0.000932304,-1.31683,0.289355,0.139364,-3.02918,0.200309,-0.098159,1.53953,-2.18343e-05,0,0,0,0,0,0,-0.0106388,0.0115461,0.189925,0.00128538,-0.00352043,-0.0113207,0.0150353
2020-02-06.10:12:33.918,0.178794,0.019082,0.407573,-0.291313,-0.474664,0.506215,0.658466,0.000535766,-6.03018e-05,4.51299e-05,-0.0304705,-0.00367954,0.0133358,-0.890099,0.437335,-0.650165,-0.0110912,0.0142501,-0.0120921,0.00331945,-0.00799884,-0.00096887,-1.45036,0.387844,-0.0118426,-1.37374,-0.00147377,0,-0.00018925,0.000501671,0,0,0.0329132,-0.129315,0.311982,0.0308179,0.0286905,-0.0134636,-0.00035241,-0.00712596,-0.178946,0.0192866,0.408063,0.332937,0.256061,0.84559,0.329488,-3.20829e-07,9.62949e-05,5.4321e-05,0.00666639,-0.00896486,-0.00246508,-1.03163,-0.0357062,-1.25049,0.0080865,0.00357448,0.0161993,-0.00289832,-0.00998281,0.000120953,0.937176,0.476663,0.0296064,1.53953,0,-0.000397089,0.000397089,-0.00225951,0.0112249,0,0,0.108812,0.405207,-0.00356087,-0.0141926,-0.00756221,0.000438708,0.0143813,-0.0905836,0.0017448,0.0270628,0.348125,0.24289,0.856473,0.293714,4.83623e-06,1.17254e-05,-2.03091e-05,-8.13152e-20,0.000185613,0.000107164,0.0879634,-0.299575,-0.0751002,0.000320944,-0.00347989,0.00394383,1.37503,0.0955765,0.120274,3.33638,-0.504189,0.209876,1.53953,0.000215212,0,0,0,0,0,0,0.0355258,0.0194341,-0.0971552,0.00250015,-0.000934362,-0.00176693,0.0143813,0.0764667,0.0151552,0.0460183,-0.280711,-0.488423,0.482773,0.670504,-6.81148e-07,1.30354e-06,-2.25779e-06,8.47033e-21,-1.82768e-05,-1.05521e-05,0.120901,0.15363,0.149176,0.012606,0.00369915,-0.0017464,-1.31683,0.289355,0.139364,-3.02918,0.200309,-0.098159,1.53953,-2.11042e-05,0,0,0,0,0,0,-0.00686264,0.0148503,0.184301,0.000909881,-0.0049527,-0.012606,0.0143813
2020-02-06.10:12:33.938,0.178803,0.0190743,0.407569,-0.291313,-0.474665,0.506216,0.658464,0.000447006,-5.94035e-05,4.56418e-05,-0.030019,-0.00351778,0.0129518,-0.882484,0.452513,-0.65053,-0.0111806,0.0139399,-0.0119548,0.00329467,-0.00796735,-0.00100036,-1.45034,0.387844,-0.0118426,-1.37374,-0.00122961,-2.6077e-06,-0.000186643,0.000485848,0,0,0.0324224,-0.129315,0.314389,0.0349555,0.0281627,-0.013714,-0.00035241,-0.00719028,-0.178937,0.0192866,0.408064,0.333686,0.255076,0.846568,0.326976,-7.96883e-05,8.90631e-05,5.02388e-05,0.0065411,-0.00861977,-0.0027264,-1.00518,-0.00588749,-1.24912,0.0080818,0.00283725,0.0161546,-0.00292309,-0.00998281,0.000120953,0.937176,0.476663,0.0296064,1.54545,0.000218595,-0.000366815,0.000366815,-0.00208,0.0110042,0,0,0.117288,0.401379,-0.00584792,-0.013137,-0.00762482,0.000282168,0.0146493,-0.0905836,0.0017448,0.0270628,0.348125,0.24289,0.856473,0.293714,4.06949e-06,9.8665e-06,-1.70893e-05,-8.13152e-20,0.000156186,9.01738e-05,0.0933626,-0.298802,-0.0883086,0.000722608,-0.00258342,0.00429854,1.37503,0.0955765,0.120274,3.33638,-0.504189,0.209876,1.54545,0.000180348,0,0,0,0,0,0,0.0359979,0.0137699,-0.0662222,0.00243757,0.0007816,-0.000722608,0.0146493,0.0764667,0.0151552,0.0460183,-0.280711,-0.488423,0.482773,0.670504,-6.61111e-07,1.26519e-06,-2.19137e-06,8.68209e-21,-1.77391e-05,-1.02417e-05,0.142548,0.146871,0.171376,0.011642,0.00385863,-0.000876122,-1.31683,0.289355,0.139364,-3.02918,0.200309,-0.098159,1.54545,-2.04834e-05,0,0,0,0,0,0,-0.00686264,0.0172104,0.20961,0.00159829,-0.0052231,-0.011642,0.0146493
2020-02-06.10:12:33.958,0.178812,0.0190743,0.407569,-0.291311,-0.474672,0.506221,0.658456,-0.000487676,-5.77417e-05,4.66117e-05,-0.0295549,-0.00218971,0.0105434,-0.867654,0.441066,-0.645531,-0.0111009,0.0140384,-0.0120231,0.0032699,-0.00796735,-0.00100036,-1.45034,0.387844,-0.0118426,-1.37374,0.00134096,9.58056e-07,-0.000190208,0.0004749,0,0,0.0319386,-0.130905,0.311729,0.0314625,0.0281627,-0.0136514,-8.02096e-06,-0.0070938,-0.178937,0.0192943,0.408068,0.333679,0.255077,0.846572,0.32697,-7.76768e-05,-1.96884e-07,-1.13671e-07,0.00641417,-0.00827822,-0.00298156,-1.01778,-0.0229348,-1.261,0.00826931,0.00363688,0.0153057,-0.00292309,-0.0100143,0.000152445,0.937155,0.476663,0.0296064,1.54545,0.000213887,0,0,-0.00168522,0.0107904,0,0,0.115169,0.409368,-0.00124259,-0.0144565,-0.00784398,0.000376092,0.0133414,-0.0905834,0.00174523,0.0270621,0.348127,0.242892,0.856472,0.293712,-4.70662e-06,-1.14117e-05,1.97656e-05,-4.06576e-20,-0.000180645,-0.000104295,0.0941399,-0.302448,-0.108349,0.000561942,-0.00281693,0.00427099,1.37504,0.0955765,0.120274,3.33638,-0.504189,0.209876,1.54545,-0.000208591,0,0,0,0,0,0,0.0369419,0.0128259,-0.0830947,0.00250015,0.00100865,-0.000561942,0.0133414,0.0764667,0.0151552,0.0460183,-0.280711,-0.488423,0.482773,0.670504,-6.41291e-07,1.22726e-06,-2.12568e-06,8.04681e-21,-1.72073e-05,-9.93465e-06,0.151403,0.130029,0.151044,0.0102763,0.00256781,-0.000818655,-1.31683,0.289355,0.139364,-3.02918,0.200309,-0.098159,1.54545,-1.98929e-05,0,0,0,0,0,0,-0.00780668,0.0186264,0.215234,0.00147312,-0.00565997,-0.0127667,0.0133414
2020-02-06.10:12:33.978,0.178812,0.0190661,0.407575,-0.291864,-0.473557,0.505938,0.659231,-0.000445714,0.000101663,-8.15345e-05,-0.0286129,-0.00229864,0.0108274,-0.874365,0.43938,-0.663437,-0.0108004,0.0143396,-0.0121545,0.0032699,-0.00796735,-0.00102666,-1.45032,0.387844,-0.00888192,-1.37374,0.00122621,1.10703e-05,0.000320952,0.000120292,0,0,0.0314722,-0.132494,0.313556,0.0357803,0.0293943,-0.0132444,-0.000728108,-0.00697587,-0.178946,0.0192861,0.408074,0.333688,0.255086,0.84656,0.326987,7.79863e-05,1.95996e-07,1.13158e-07,0.00629961,-0.00829975,-0.00263809,-1.01733,-0.00596097,-1.25254,0.00831128,0.00260708,0.0143067,-0.00289832,-0.0100143,0.000126146,0.937172,0.476663,0.0296064,1.54545,-0.000214737,0,0,-0.0015661,0.0105982,0,0,0.116758,0.402053,-0.00845723,-0.0118174,-0.0079066,0.000282168,0.0129233,-0.0905834,0.00174523,0.0270621,0.348127,0.242892,0.856472,0.293712,-4.33647e-06,-1.05142e-05,1.82111e-05,-1.35525e-20,-0.000166438,-9.60932e-05,0.0925894,-0.316629,-0.0465691,0.0016866,-0.00173062,0.00594586,1.37504,0.0955765,0.120274,3.33638,-0.504189,0.209876,1.54545,-0.000192186,0,0,0,0,0,0,0.0378859,0.0175461,-0.0268531,0.00318856,-0.000388643,-0.0016866,0.0129233,0.0764667,0.0151552,0.0460183,-0.280711,-0.488423,0.482773,0.670504,-6.23801e-07,1.19379e-06,-2.0677e-06,7.83505e-21,-1.6738e-05,-9.6637e-06,0.118022,0.158092,0.192574,0.0114813,0.0039239,-0.00115374,-1.31683,0.289355,0.139364,-3.02918,0.200309,-0.098159,1.54545,-1.93274e-05,0,0,0,0,0,0,-0.00780668,0.0134342,0.226482,0.00128538,-0.00509209,-0.0114813,0.0129233
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