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
2020-02-06.14:49:00.677,0.207043,0.0142766,0.36322,-0.264149,-0.12845,0.851432,0.4345,-0.00164284,-0.00109407,0.000724481,-0.00329506,0.00251156,-0.00464295,-0.014945,-0.00817297,0.00332497,0.00034936,-0.000196782,-0.000314584,-0.0692377,0.144326,-0.0609337,-1.3838,0.826018,0.423371,-0.467781,0.00429653,-0.000451232,-0.00284606,0.00098358,0,0,0,-0.00376508,-0.00501815,-0.00482397,0.000803712,6.15414e-05,-8.02096e-06,-3.96024e-05,-0.230024,0.0315026,0.337982,0.274748,-0.0394657,0.842873,-0.461001,-0.00308418,-0.057091,0.0565238,0.83485,-0.385972,-0.0769058,-0.0255879,0.0128292,-0.0470141,0.000487689,-7.44578e-05,-0.000155916,0.128344,0.201357,-0.0371239,1.10861,0.639498,-0.494427,-2.91919,0.000890335,-0.0867446,-0.130137,0.0139598,1.13636,0.373741,0.91825,-0.000316419,0.020652,0.0113544,-0.000117248,0.000170899,-0.000657076,-1.65191e-05,-0.122166,-0.0260497,0.0337759,0.280062,-0.0340703,0.84086,-0.461907,2.04029e-05,-0.0208724,0.0189177,0.83548,-0.394534,0.0577439,11.8011,0.514059,0.531448,-0.0240199,-0.100169,0.105755,1.06961,-0.0658517,0.0952618,-1.08347,0.0397612,-0.792688,-2.91919,-0.259992,-0.0884408,0.0133295,0.856606,-0.0420544,0.0865535,0.91825,-0.782012,-0.440785,1.20765,0.00193691,0.0382451,0.0240199,-1.65191e-05,0.107628,-0.00184116,0.0521112,-0.265584,-0.116271,0.848895,0.441954,-0.00109131,-0.000135987,0.000416005,0.00193382,-0.00254791,0.000226308,-1.47553,2.38808,1.02282,-0.071663,-0.0359065,0.0456367,-1.12688,0.243166,0.112823,-2.09438,0.245399,-0.419904,-2.91919,-0.000725083,-0.00183579,0.0011558,-0.00120914,-0.000756526,0.000833818,0.91825,0.0828211,-0.352381,1.49192,0.00491517,0.0648195,0.071663,-1.65191e-05
2020-02-06.14:49:00.694,0.207004,0.0142533,0.363252,-0.264154,-0.128377,0.851422,0.434538,-0.00136411,-0.000616769,0.00101344,-0.00311157,0.00136441,-0.00285038,-0.0178651,0.00755161,0.0134538,-0.000114293,0.000147494,0.00030182,-0.0691386,0.144263,-0.0609759,-1.38377,0.826018,0.423371,-0.467781,0.00348641,-0.0022782,-0.000842764,-0.000336869,0,0,0,0.0015324,-0.00767775,-0.00931854,-0.000691795,9.28496e-05,0.000242444,-2.88818e-05,-0.230134,0.0297112,0.339839,0.263273,-0.0522252,0.844993,-0.462543,-0.00329881,-0.0595563,0.0631386,1.015,-0.409714,-0.398241,-0.0124304,0.0199638,-0.0271442,0.000337679,0.00011591,-0.000115476,0.128418,0.198396,-0.0411328,1.10891,0.677986,-0.473702,-2.88958,0.00181205,-0.102102,-0.132237,0.00944205,1.34646,0.66262,0.814621,-0.00402466,0.0120814,0.00480848,-0.000205219,0.000233515,-0.000312687,-0.000102284,-0.122186,-0.0267522,0.0344207,0.269501,-0.0443834,0.842579,-0.464177,-0.0010179,-0.0256921,0.0241218,0.924526,-0.279344,-0.22955,9.98503,0.339538,0.898288,-0.0298842,-0.0857945,0.0890279,1.06102,-0.0685933,0.0956986,-1.05789,0.0349789,-0.783806,-2.88958,-0.318446,-0.0951825,0.0160735,0.791604,-0.186779,0.362797,0.814621,-0.66684,-0.370454,1.22452,0.00156141,0.0327505,0.0298842,-0.000102284,0.107608,-0.00184446,0.0521196,-0.265589,-0.116286,0.848897,0.441943,-0.00045425,-0.00015227,0.000332885,0.00156866,-0.000351863,0.000607493,-1.53451,2.41744,0.981447,-0.0706187,-0.0350821,0.0457271,-1.12689,0.243127,0.112845,-2.09438,0.245399,-0.419904,-2.88958,0.0013673,-0.000985474,0.000560347,-0.00120914,-0.000756526,0.000833818,0.814621,0.0851812,-0.358045,1.45255,0.00547841,0.0646402,0.0706187,-0.000102284
2020-02-06.14:49:00.714,0.206976,0.0142341,0.363262,-0.264148,-0.128331,0.851412,0.434575,-0.00126317,-0.000622774,0.000905165,-0.00289748,0.00132521,-0.00273152,-0.0132447,0.000510541,0.0108426,-0.000109542,0.000120813,0.000114664,-0.0690643,0.144263,-0.0610285,-1.38374,0.826018,0.423371,-0.467781,0.00323918,-0.00189785,-0.00100778,-0.000211746,0,0,0,-5.68415e-05,-0.00643287,-0.00652895,-0.00025194,-6.3691e-05,2.32872e-05,3.54422e-05,-0.230243,0.0284932,0.341166,0.253753,-0.0587667,0.848947,-0.459832,-0.00624329,-0.0604592,0.0662679,0.98835,-0.470955,-0.47953,-0.0193801,0.0240399,-0.0263697,-0.000378735,-0.000563846,-4.10026e-05,0.128567,0.196224,-0.043825,1.10922,0.707593,-0.46186,-2.87774,0.00951018,-0.108001,-0.134243,0.0129352,1.3878,0.663363,0.733781,-0.00614365,0.0135784,0.00677681,0.000498549,-0.00051788,0.000125627,4.78048e-05,-0.122229,-0.0272686,0.0349201,0.26253,-0.0521046,0.844194,-0.464434,-0.00413126,-0.0272114,0.0261249,0.910336,-0.242422,-0.418703,7.82462,0.439311,0.896292,-0.0314908,-0.0672997,0.0656657,1.05449,-0.0703618,0.0960097,-1.04174,0.03006,-0.775303,-2.87774,-0.347608,-0.0919544,0.0148175,0.690241,-0.307282,0.477795,0.733781,-0.518153,-0.307676,1.18234,-0.00106706,0.0228236,0.0314908,4.78048e-05,0.107602,-0.00184701,0.0521223,-0.265587,-0.116294,0.848901,0.441935,-0.000269208,-9.50495e-05,6.72e-05,0.00162198,-0.00170125,-4.22238e-05,-1.54818,2.46642,0.960155,-0.069253,-0.0343132,0.044648,-1.12688,0.243104,0.112851,-2.09438,0.245399,-0.419904,-2.87774,-0.000126193,-0.00110955,0.00026763,-0.00120914,-0.000756526,0.000833818,0.733781,0.0832931,-0.361822,1.44974,0.00504033,0.0636227,0.069253,4.78048e-05
2020-02-06.14:49:00.734,0.206958,0.0142068,0.363279,-0.264178,-0.128309,0.851419,0.434548,-0.000948654,-0.000874842,0.000976995,-0.00348262,0.00176901,-0.00332853,0.0155531,0.0127147,0.00131184,-0.000116267,0.000185004,0.00027925,-0.0690147,0.144263,-0.0611074,-1.38383,0.826018,0.423371,-0.467781,0.00246856,-0.00153775,-0.00194571,0.00130304,0,0,0,0.00630014,0.0040462,0.00377338,-0.000515853,-1.0748e-06,0.00014852,7.83248e-05,-0.230377,0.0273405,0.342461,0.246472,-0.067153,0.850109,-0.460496,-0.00743677,-0.0587889,0.0672647,1.06092,-0.427254,-0.354237,-0.0157955,0.0246297,-0.0258587,1.66651e-06,0.000103998,-0.000128047,0.12879,0.194082,-0.0463647,1.10943,0.731278,-0.447056,-2.85998,0.0131443,-0.11223,-0.12893,0.0108297,1.34474,0.698741,0.849548,-0.00614365,0.0130794,0.00604215,0.000146665,0.000170899,-3.09135e-05,-7.01224e-05,-0.122303,-0.027824,0.0354688,0.254727,-0.0599758,0.846256,-0.464078,-0.00466968,-0.0283483,0.0285984,1.13215,-0.429542,-0.350584,5.83846,0.6796,0.783543,-0.0294825,-0.0495068,0.0508811,1.0474,-0.0720994,0.0963299,-1.02538,0.0232282,-0.76671,-2.85998,-0.367818,-0.08317,0.0159607,0.956448,-0.385709,0.420699,0.849548,-0.372299,-0.255281,1.17109,0.00162399,0.0178245,0.0294825,-7.01224e-05,0.107593,-0.00185141,0.0521225,-0.265578,-0.116283,0.848907,0.441932,-0.000447618,-0.000334119,7.77884e-05,0.00141056,-0.000305738,0.00107824,-1.64917,2.44556,1.13034,-0.0695744,-0.0328297,0.0447048,-1.12689,0.24305,0.112859,-2.09438,0.245399,-0.419986,-2.85998,0.000256847,-0.00344732,0.000432434,-0.00120914,-0.000747139,-0.00176961,0.849548,0.0983978,-0.360405,1.56785,0.00579133,0.0632124,0.0695744,-7.01224e-05
2020-02-06.14:49:00.754,0.206949,0.0141801,0.363295,-0.264183,-0.128258,0.851415,0.434569,-0.000413039,-0.00110939,0.00109233,-0.00413066,0.001397,-0.00267536,-0.017411,-0.00211497,0.0109582,0.000177416,-4.18521e-05,-0.000162044,-0.06899,0.144263,-0.0611863,-1.38378,0.826018,0.423371,-0.467781,0.0011272,-0.00130038,-0.00282927,0.00189476,0,0,0,0.000472907,-0.00326901,-0.00497303,-0.000163969,-0.000188923,0.00014852,-8.24851e-05,-0.230538,0.026152,0.343855,0.237455,-0.0740063,0.851768,-0.461118,-0.0081755,-0.0563401,0.0673881,0.98829,-0.468094,-0.315926,0.00555045,0.0067517,0.0164615,-4.12501e-05,4.48806e-05,0.000145936,0.129087,0.19172,-0.0489469,1.10951,0.757923,-0.435214,-2.84221,0.0157004,-0.115135,-0.121781,0.00381123,1.29793,0.631868,0.802932,-0.00402466,-0.00615065,-0.00467258,-0.000205219,-7.95662e-05,0.000156935,3.70842e-05,-0.122425,-0.0284189,0.0360816,0.244911,-0.06869,0.848651,-0.46378,-0.00524559,-0.0285826,0.0302777,0.996369,-0.4212,-0.504093,4.12821,0.918418,0.729948,-0.0319728,-0.0401444,0.0391636,1.03956,-0.073698,0.0966527,-1.00588,0.0139369,-0.758072,-2.84221,-0.375087,-0.0674463,0.016558,0.76641,-0.495716,0.434255,0.802932,-0.240134,-0.208079,1.2189,0.000372341,0.0185105,0.0319728,3.70842e-05,0.107584,-0.00186302,0.0521313,-0.265552,-0.116306,0.848932,0.441894,-0.000336306,-0.000566295,0.000468039,0.00329495,0.00036557,0.00483273,-1.62865,2.48567,1.02426,-0.070217,-0.032988,0.0451512,-1.12682,0.242965,0.112872,-2.09438,0.245399,-0.419986,-2.84221,0.00468995,-0.00373402,0.000531357,-0.00120914,-0.000735453,0.00198009,0.802932,0.0908455,-0.366542,1.49473,0.00579133,0.0633523,0.070217,3.70842e-05
2020-02-06.14:49:00.774,0.206949,0.0141609,0.363317,-0.264202,-0.129633,0.851421,0.434136,-0.000273099,-0.00128331,0.000805195,-0.00382287,0.00164001,-0.00294404,0.0053815,-0.00150096,-0.0165304,-6.64835e-06,-0.000143608,-0.00033146,-0.06899,0.144231,-0.0612337,-1.38375,0.826018,0.420411,-0.467781,0.000821942,0,-0.00381734,0.00255648,0,0,0,-0.00270558,0.00662877,0.00503826,0.00062777,-0.000157615,-0.00035241,3.28019e-06,-0.230687,0.0251817,0.34504,0.229426,-0.0802488,0.854029,-0.459955,-0.00872002,-0.0558952,0.0679237,0.892419,-0.456105,-0.408501,-0.00552014,0.00888983,-0.0103133,-0.000135079,-0.000130482,-0.000204093,0.129384,0.189673,-0.0510288,1.10957,0.781609,-0.423371,-2.83037,0.0172666,-0.116102,-0.120988,0.00675133,1.23503,0.62757,0.639942,-0.00190566,0.00492023,0.00228578,0.000498549,1.43582e-05,-9.35298e-05,-5.79846e-06,-0.122548,-0.0289627,0.0366733,0.23741,-0.0751445,0.851492,-0.461467,-0.00778395,-0.02315,0.0262463,0.329752,-0.278718,-0.484523,0.906862,1.74365,-0.287068,-0.0201639,-0.0181758,0.0118265,1.0322,-0.0748719,0.0969573,-0.99414,0.00423573,-0.750243,-2.83037,-0.34508,-0.0507742,0.0113777,0.150274,-0.302793,0.231247,0.639942,0.0331657,-0.161349,0.982685,-0.00388328,0.013107,0.0201639,-5.79846e-06,0.107575,-0.00187438,0.0521366,-0.265607,-0.116364,0.848919,0.44187,-0.000351926,-0.000713616,0.000284844,0.00411975,-0.000728351,0.00609344,-1.62485,2.38987,1.0532,-0.0711007,-0.0329616,0.0444786,-1.12675,0.242865,0.112882,-2.09438,0.245263,-0.419874,-2.83037,0.00385138,-0.00566726,0.000458417,-0.00120914,-0.000338218,0.00162578,0.639942,0.0946216,-0.357573,1.48348,0.00522808,0.0630163,0.0711007,-5.79846e-06
2020-02-06.14:49:00.794,0.20695,0.0141434,0.363329,-0.264208,-0.129603,0.85142,0.434143,-0.000214266,-0.00104744,0.000657912,-0.00312191,0.00132797,-0.00238481,-0.0118261,-0.0165335,0.0172327,-0.000459958,8.16748e-05,0.000454847,-0.06899,0.144231,-0.0612863,-1.38371,0.826018,0.420411,-0.467781,0.000655449,0,-0.00322147,0.00215742,0,0,0,0.0025919,0.00271903,0.00130958,0.000275886,3.02333e-05,0.000273752,-0.000146809,-0.230878,0.0239101,0.346572,0.220366,-0.0881494,0.855448,-0.460302,-0.00808724,-0.0568943,0.0681423,0.987305,-0.417745,-0.353023,-0.0047085,-0.0012957,-0.0188076,0.000358633,-9.20099e-05,-5.67409e-06,0.129756,0.187091,-0.0538114,1.10994,0.808254,-0.408568,-2.81261,0.0153919,-0.113414,-0.125605,0.0150704,1.22906,0.709161,0.72057,0.00233232,0.00699854,0.00430948,-0.000205219,4.56663e-05,-0.000406611,3.70842e-05,-0.122678,-0.0294211,0.0372217,0.228725,-0.0810089,0.852843,-0.462366,-0.00549741,-0.0250832,0.0296735,1.59978,-0.622,-0.184431,1.3001,1.76262,0.24107,-0.0253855,-0.00447974,0.0100108,1.02529,-0.0756828,0.0972179,-0.977365,-0.00177627,-0.745749,-2.81261,-0.350173,-0.0340011,0.0156318,1.46236,-0.514239,0.457353,0.72057,-0.0182844,-0.166542,1.37075,0.00437763,-0.00174758,0.0253855,3.70842e-05,0.107564,-0.00188448,0.0521391,-0.265604,-0.116531,0.84889,0.441884,-0.00061218,-0.000329442,0.000141297,0.00454995,-0.00567136,0.00364534,-1.52934,2.25538,1.04291,-0.0759206,-0.035961,0.0457748,-1.12673,0.242772,0.112893,-2.09459,0.245263,-0.419711,-2.81261,0,-0.00349001,0.000607825,-0.00106236,-0.000338218,0.00481577,0.72057,0.0913175,-0.346717,1.44411,0.00428934,0.06541,0.0759206,3.70842e-05
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