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
2020-02-06.10:14:08.349,0.193967,0.0150992,0.336039,-0.235125,-0.560136,0.489985,0.625203,0.000293424,-0.000327525,-0.000457329,-0.00677834,0.0105274,-0.0135172,0.0104407,-0.0542109,0.207764,0.00584047,-0.0159486,0.00440007,-0.034656,0.228093,-0.0878968,-1.55653,0.367119,-0.0207245,-1.37966,-0.000683515,0.00212995,-0.0018424,-0.000310648,0,0.019449,0,0.0545072,-0.0489936,-0.0407711,-0.0320095,0.00854604,0.00111907,-0.00162626,-0.224605,0.0482737,0.334475,0.133447,0.323114,0.815624,0.461028,-0.000260637,0.000184926,0.000149856,6.37467e-05,0.00216185,-0.00267295,-0.0647575,0.025372,0.021775,0.00580108,-0.00813948,-0.00313911,0.118435,0.182115,0.0197239,0.451466,0.290143,0.00888192,0.888192,0.000759148,-0.000737453,0.000737453,0.00269125,0,0,0,-0.00190566,-0.0209964,-0.0247287,0.0212597,0.000577904,-0.000375303,-4.86811e-05,-0.106822,0.00219488,0.015196,0.133274,0.322782,0.816702,0.459399,1.88192e-05,1.19803e-05,3.63537e-05,0.00217743,0.000197708,-0.000161551,2.32177,-3.80916,0.549201,-0.0287595,-0.0408185,-0.0390248,1.41508,0.0523215,0.102442,2.6358,-0.612132,0.719603,0.888192,-9.0522e-05,0.000272967,2.13325e-05,0.00245169,0.000706533,-0.00057613,0,0.317794,0.138855,1.05861,0.00143625,0.0352909,0.0287595,-4.86811e-05,0.0819403,0.0125086,0.0196499,-0.225205,-0.559246,0.486481,0.632347,-6.29633e-06,-2.73868e-06,1.89309e-06,-0.000875301,0.000114968,0.000496409,0.983116,2.07548,-0.047813,-0.0394496,-0.0734456,0.043392,-1.48034,0.194281,0.127192,-3.12103,0.291856,-0.27891,0.888192,0,-1.23908e-06,6.91705e-06,0.000907275,0.000293947,-0.000167512,0,-0.27969,0.00871402,0.786087,0.00397643,0.0736072,0.0394496,-4.86811e-05
2020-02-06.10:14:08.364,0.193968,0.0150863,0.336027,-0.235118,-0.560166,0.490004,0.625164,0.000239001,-0.000374598,-0.000489275,-0.00634942,0.00942652,-0.0121293,0.0360837,-0.0415479,0.206895,0.00653203,-0.016547,0.00468402,-0.034656,0.228156,-0.0879598,-1.55664,0.367119,-0.0207245,-1.37966,-0.000543669,0.00231498,-0.00204978,-0.00107301,0,0.0182174,0,0.0560965,-0.0456809,-0.031498,-0.0330651,0.00932874,0.00115038,-0.00152977,-0.224613,0.0482813,0.334481,0.133447,0.323114,0.815622,0.461031,0.000280056,-0.00027729,-0.000227799,8.76055e-05,0.00202508,-0.00203533,-0.0556642,0.0471157,0.0408522,0.0056324,-0.0073317,-0.00293999,0.11846,0.182084,0.0197554,0.451445,0.290143,0.00888192,0.888192,-0.000847501,0.00115897,-0.00115897,0.00369775,0,0,0,0.00180257,-0.0300765,-0.0275495,0.0200281,0.000202207,-0.000657076,1.56429e-05,-0.106822,0.00219452,0.0151966,0.133272,0.322781,0.816701,0.459402,1.61055e-05,2.25306e-05,1.47535e-05,0.00209367,-7.6659e-05,0.000589757,2.29022,-3.80436,0.546805,-0.0291612,-0.0406915,-0.0398141,1.41507,0.0523215,0.102442,2.6358,-0.612132,0.719603,0.888192,0.000115721,0.000217725,1.88178e-05,0.00215644,0,0,0,0.315434,0.136495,1.07267,0.00112333,0.0360026,0.0291612,1.56429e-05,0.0819402,0.012509,0.0196491,-0.225182,-0.559228,0.486502,0.632355,-4.07738e-06,-1.39217e-05,2.14606e-05,-0.000840942,0.000166004,0.000515114,0.983736,2.05922,-0.0740639,-0.0404939,-0.0732557,0.0426274,-1.48035,0.194281,0.127192,-3.12103,0.291856,-0.278991,0.888192,0.000191532,-7.69928e-07,6.7549e-06,0.000885176,0.000285748,-3.33872e-05,0,-0.278746,0.0101301,0.760778,0.00403901,0.0733585,0.0398513,1.56429e-05
2020-02-06.10:14:08.384,0.193978,0.0150866,0.336028,-0.235115,-0.560173,0.490009,0.625155,1.81563e-05,-0.000342491,-0.000453308,-0.00621451,0.00947592,-0.0123118,0.0263722,-0.0379118,0.202094,0.00615748,-0.0166401,0.00443714,-0.0346808,0.228156,-0.0879598,-1.55664,0.367119,-0.0207245,-1.37966,0,0.00211359,-0.00185537,-0.00107326,0,0.0178268,0,0.0545072,-0.0427639,-0.031498,-0.0330651,0.00898435,0.000931223,-0.00175491,-0.224613,0.0482813,0.334481,0.133447,0.323114,0.815622,0.461031,0.000283941,-0.000252044,-0.000206234,8.27951e-05,0.00189061,-0.00188327,-0.0761709,0.0238037,0.0290882,0.00591785,-0.00803553,-0.00315434,0.11846,0.182084,0.0197554,0.451445,0.290143,0.00888192,0.888192,-0.000847501,0.00103932,-0.00103932,0.00349471,0,0,0,-0.00614365,-0.0239904,-0.0276638,0.0213477,0.000421364,-0.000469227,-3.79604e-05,-0.106822,0.00219452,0.0151966,0.133272,0.322781,0.816701,0.459402,1.25012e-05,9.46854e-06,3.42351e-05,0.00201204,-0.000288903,0.000435994,2.28874,-3.83155,0.558145,-0.0279562,-0.0422932,-0.0386609,1.41507,0.0523215,0.102442,2.6358,-0.612132,0.719603,0.888192,0.000115721,0.00020492,1.8157e-05,0.00207913,0,0,0,0.309769,0.137439,1.08111,0.00193691,0.0358145,0.0276348,-3.79604e-05,0.0819403,0.0125086,0.0196499,-0.225179,-0.559226,0.486504,0.632356,-3.39446e-06,-1.73034e-05,2.73876e-05,-0.000833094,0.000216405,0.000539681,0.981438,2.02765,-0.0826273,-0.0400119,-0.0735314,0.042952,-1.48034,0.194281,0.127192,-3.12103,0.291856,-0.278991,0.888192,0.000249566,-5.99256e-07,6.69145e-06,0.000876538,0.000282556,-3.2926e-05,0,-0.275914,0.0101301,0.741093,0.00347577,0.0735855,0.0400119,-3.79604e-05
2020-02-06.10:14:08.404,0.193977,0.0150956,0.336022,-0.235105,-0.560184,0.490005,0.625152,1.48126e-05,-0.000320111,-0.000299343,-0.00621854,0.00908396,-0.0118163,0.0311488,-0.0423529,0.210678,0.00586659,-0.0165619,0.00487751,-0.0346808,0.228156,-0.0879335,-1.55666,0.367119,-0.0207245,-1.37966,0,0.00156949,-0.00156949,-0.00105216,0,0.0171273,0,0.057156,-0.0463445,-0.0334074,-0.0336809,0.00867127,0.00140084,-0.00148689,-0.224614,0.0482747,0.334476,0.133455,0.323116,0.815618,0.461035,0.000284956,-0.000227807,-0.000185618,7.59632e-05,0.00170321,-0.0016735,-0.0625831,0.0442847,0.0405229,0.00586366,-0.00741666,-0.00287348,0.11846,0.182115,0.0197239,0.451466,0.290143,0.00888192,0.888192,-0.000840354,0.000925785,-0.000925785,0.00320634,0,0,0,-0.000316419,-0.0303234,-0.0289287,0.0202041,7.69744e-05,-0.000437919,7.99668e-05,-0.106822,0.00219488,0.015196,0.133274,0.322782,0.816702,0.459399,1.16066e-05,7.68279e-06,3.22662e-05,0.00187238,-0.000273201,0.000393624,2.27643,-3.78533,0.596293,-0.0279562,-0.0406431,-0.0383337,1.41508,0.0523215,0.102442,2.6358,-0.612132,0.719603,0.888192,-0.000140527,0.00018134,1.68488e-05,0.00192641,0,0,0,0.313545,0.138855,1.10079,0.00156141,0.0351161,0.0279562,7.99668e-05,0.0819403,0.0125086,0.0196499,-0.225179,-0.559226,0.486504,0.632356,-3.30439e-06,-1.72364e-05,2.73768e-05,-0.000820907,0.000216627,0.000532776,0.914663,2.11494,-0.0562219,-0.0400923,-0.0726282,0.0423925,-1.48034,0.194281,0.127192,-3.12103,0.291856,-0.278991,0.888192,0.000249566,-3.57365e-07,6.59675e-06,0.000863655,0.000277818,-3.22454e-05,0,-0.284882,0.00163372,0.769214,0.00297511,0.0731708,0.0400923,7.99668e-05
2020-02-06.10:14:08.424,0.193977,0.0151072,0.336006,-0.235087,-0.5602,0.489993,0.625153,-7.89337e-06,0.000279351,-2.88797e-05,-0.00529697,0.00765661,-0.00994757,0.0210839,-0.0307502,0.198891,0.00628158,-0.0157703,0.00426319,-0.0346808,0.228187,-0.0879124,-1.55667,0.367119,-0.0207245,-1.37966,0,-0.000422564,0.000985676,-0.00250885,0,0.0161757,0,0.057156,-0.0498323,-0.0393365,-0.033593,0.00889043,0.00105645,-0.00150833,-0.224605,0.0482764,0.334465,0.133453,0.323103,0.815627,0.461028,-0.00017672,0.00023784,0.000197199,3.88895e-05,0.00136727,-0.00171452,-0.0726964,0.0244922,0.0342014,0.00564504,-0.00734942,-0.00306029,0.118435,0.182147,0.0197187,0.45147,0.290143,0.00888192,0.888192,0.000560163,-0.00102468,0.00102468,0.00164162,0,0,0,-0.0066734,-0.0249936,-0.0269327,0.0202041,0.000202207,-0.000751,-7.01224e-05,-0.106822,0.00219488,0.015196,0.133274,0.322782,0.816702,0.459399,7.81157e-06,-4.57998e-06,4.76829e-05,0.00169823,-0.000445425,0.000233082,2.32637,-3.80985,0.584874,-0.0269922,-0.0418226,-0.0379419,1.41508,0.0523215,0.102442,2.6358,-0.612132,0.719603,0.888192,-0.000360509,0.000156066,1.52976e-05,0.00174592,0,0,0,0.318738,0.140271,1.0783,0.00174916,0.0352904,0.0269922,-7.01224e-05,0.0819405,0.0125078,0.0196511,-0.225225,-0.559171,0.486578,0.632332,-8.39527e-06,1.15509e-05,-2.23491e-05,-0.000562634,-0.000229321,0.000239129,0.973515,2.03116,-0.0689388,-0.0400923,-0.073111,0.0426516,-1.48033,0.194281,0.127192,-3.12082,0.291856,-0.278991,0.888192,-0.000231147,-6.44534e-10,6.44521e-06,0.000598711,0.000270284,-3.11728e-05,0,-0.275914,0.00918604,0.752342,0.00328802,0.0731708,0.0400923,-7.01224e-05
2020-02-06.10:14:08.444,0.193977,0.0151072,0.336006,-0.235076,-0.560243,0.490019,0.625099,-7.81564e-06,0.000277671,-3.04506e-05,-0.00519532,0.0084333,-0.0109384,0.00186374,-0.0549994,0.200313,0.00645138,-0.016463,0.00462869,-0.0346808,0.228187,-0.0879124,-1.55682,0.367119,-0.0207245,-1.37966,0,-0.000414139,0.000977252,-0.000965702,0,0.015859,0,0.050799,-0.0478257,-0.0419181,-0.0329772,0.00923482,0.001213,-0.00158338,-0.224605,0.0482764,0.334465,0.133512,0.323117,0.815595,0.461058,-0.000179259,0.000221339,0.000183102,-1.02303e-05,-5.91566e-06,-0.000161709,-0.0807212,0.0327187,0.0214382,0.00607661,-0.00758449,-0.00310504,0.118435,0.182147,0.0197187,0.451619,0.290143,0.00888192,0.888192,0.000560163,-0.00094648,0.00094648,-0.000431846,0,0,0,-0.00402466,-0.0258988,-0.0318915,0.0209958,1.43582e-05,-0.000625768,-1.65191e-05,-0.106822,0.00219488,0.015196,0.133274,0.322782,0.816702,0.459399,2.4019e-06,-2.46512e-05,8.07063e-05,0.00164316,-0.000801979,8.52321e-06,2.2973,-3.73302,0.602222,-0.0270725,-0.0399669,-0.0383003,1.41508,0.0523215,0.102442,2.6358,-0.612132,0.719603,0.888192,-0.000778593,0.000148607,1.48066e-05,0.00168892,0,0,0,0.310713,0.141215,1.06424,0.000935585,0.0343955,0.0270725,-1.65191e-05,0.0819405,0.0125078,0.0196511,-0.225225,-0.559171,0.486578,0.632332,-8.34613e-06,1.15792e-05,-2.2346e-05,-0.000560421,-0.000228671,0.000236235,0.972255,2.05435,-0.0874053,-0.0401726,-0.073318,0.042474,-1.48033,0.194281,0.127192,-3.12082,0.291856,-0.278991,0.888192,-0.000231147,1.06313e-07,6.39657e-06,0.00059645,0.000267872,-3.08319e-05,0,-0.27733,0.0115461,0.786087,0.00303769,0.0730748,0.0400923,-1.65191e-05
2020-02-06.10:14:08.464,0.193987,0.0151076,0.336006,-0.235073,-0.56025,0.490024,0.62509,2.52175e-06,1.89567e-05,-0.000249976,-0.0049439,0.00847027,-0.0109792,0.00720548,-0.0427476,0.200064,0.00633538,-0.0161963,0.00441999,-0.0347055,0.228187,-0.0879124,-1.55682,0.367119,-0.0207245,-1.37966,3.09483e-06,0.000781022,-0.000261398,-0.000147265,0,0.0150365,0,0.0576857,-0.0485821,-0.0378636,-0.0313937,0.00929744,0.00111907,-0.00158338,-0.224613,0.0482959,0.334456,0.133517,0.323092,0.815605,0.461056,0.000200238,-0.00045941,-0.000144626,-0.000470799,0.000608344,-0.000396705,-0.0694276,0.0427871,0.0633159,0.00576264,-0.00719362,-0.00292319,0.11846,0.182147,0.0197713,0.451584,0.290143,0.00888192,0.888192,-0.000673903,0.00120643,-0.00171275,0.00134904,0,0,0,-0.00614365,-0.0359052,-0.0301035,0.0199401,1.43582e-05,-0.000625768,1.56429e-05,-0.106822,0.00219551,0.0151963,0.133271,0.322782,0.816703,0.459397,5.94491e-06,-2.42766e-05,5.1293e-05,0.00152557,-0.000491187,-7.05371e-06,2.31485,-3.76626,0.598619,-0.0285988,-0.0419472,-0.0402114,1.41508,0.0523292,0.102442,2.6358,-0.612132,0.719603,0.888192,-0.000509785,0,1.35763e-05,0.00154637,0,0,0,0.311657,0.140271,1.06986,0.00156141,0.0369847,0.0285988,1.56429e-05,0.0819405,0.0125078,0.0196511,-0.225225,-0.559171,0.486578,0.632332,-8.21249e-06,1.16639e-05,-2.23546e-05,-0.000547461,-0.000227748,0.000227068,0.976764,2.03199,-0.0915725,-0.0392889,-0.0725302,0.0417104,-1.48033,0.194281,0.127192,-3.12082,0.291856,-0.278991,0.888192,-0.000231147,4.00253e-07,6.25377e-06,0.000582369,0.000260841,-2.98453e-05,0,-0.275914,0.0110741,0.732657,0.00278736,0.0723237,0.0392889,1.56429e-05
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