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
2020-02-06.17:44:48.303,0.408602,-0.0646165,0.432839,0.0725018,-0.407726,0.255261,0.873696,-0.00504735,-0.00254548,-0.0011504,0.0126861,-0.0194268,-0.0123547,-0.00756897,-0.0100137,0.00789639,0.000386505,-0.000116607,0.000259858,-0.495019,0.338187,-0.557278,0.0512928,1.3767,-0.624695,-1.37374,0.0119737,0,-0.000711587,0.00047655,0.00238365,-0.0284763,0,0.00418115,-0.00168971,-0.00327158,-0.000603824,6.15414e-05,-8.02096e-06,6.76041e-05,-0.232121,0.0759066,0.36951,-0.0116289,0.491647,0.599768,0.63121,-0.000688246,-0.00144578,-0.00115436,0.000869058,0.00331427,-0.00452291,0.00047137,-0.0107575,-0.00421781,-0.000100193,8.7517e-05,-0.000145167,0.155073,0.0101088,0.155702,0.54657,0,-0.0473702,0.290143,0.00117778,0.00742049,-0.00665589,0.00445745,0,0,0,-0.00243541,0.00209079,-0.000122635,-0.000117248,-4.82581e-05,-0.000124838,-0.000145167,-0.0802686,-0.0068535,0.0272449,-0.0144153,0.487172,0.600041,0.634355,6.68356e-05,-0.000628763,-0.000451884,-0.00700512,0.0106875,-0.0120748,0.999248,-2.14938,0.317457,0.038238,-0.00122323,0.0377178,1.32147,0.0512789,0.130186,1.96291,-0.410729,0.768146,0.290143,0.000662939,-0.00608786,0,-0.00700977,0,-0.00884738,0,0.281448,-0.109899,1.17953,0.0055667,-0.0344197,-0.038238,-0.000145167,0.137281,-0.0298638,0.0597879,0.0701728,-0.408186,0.254886,0.873781,-0.00149243,-0.000658155,0.000725379,-0.0189078,0.000442897,-0.01983,-2.29919,-0.446921,1.36424,0.0445784,0.0476853,-0.00463585,-0.754982,0.0435948,0.0981525,-3.92057,-0.00573873,-0.00798065,0.290143,-0.00602998,-0.00441672,0.00170983,0,-0.0189587,0.0236506,0,-0.0526486,-0.176318,1.37381,-0.00453481,-0.0267982,-0.0445784,-0.000145167
2020-02-06.17:44:48.319,0.408466,-0.0646802,0.432802,0.0724655,-0.407665,0.255133,0.873765,-0.00489248,-0.00243106,-0.0011187,0.0117873,-0.0174642,-0.011736,-6.31035e-05,-0.00885247,-0.00281322,0.000344971,-0.000161015,0.000248256,-0.494696,0.338187,-0.557278,0.0512928,1.3767,-0.624695,-1.37374,0.011577,-7.36071e-05,-0.000543817,0.000364194,0.00234136,-0.0261054,0,-0.00164609,0.00072302,-0.00133449,-0.000691795,-3.23829e-05,-3.93291e-05,-7.17644e-05,-0.232135,0.0758778,0.369493,-0.0115871,0.491668,0.599741,0.63122,-0.000427484,-0.000473881,-0.000532473,0.000677776,0.00143258,-0.00214138,0.000932673,-0.022138,-0.00905865,-0.000424666,-7.6758e-05,-0.000155888,0.155097,0.0102347,0.155576,0.546655,0,-0.0473702,0.290143,0.000941719,0.00310973,-0.00246635,0.00165171,0,0,0,-0.00508415,0.00467336,2.28832e-05,-0.000645074,0.000202207,-0.000124838,-0.000155888,-0.080266,-0.00687265,0.0272346,-0.0143134,0.487212,0.599985,0.63438,5.69939e-05,-0.000617956,-0.000406509,-0.00595585,0.00604078,-0.00836558,1.0374,-2.08382,0.310219,0.0379166,-0.000617659,0.0363555,1.32147,0.0511013,0.130188,1.96291,-0.410729,0.768065,0.290143,0.000375448,-0.00582654,0,-0.00700977,0,-0.00312971,0,0.280504,-0.103763,1.11766,0.00456538,-0.0342537,-0.0379166,-0.000155888,0.137228,-0.0298737,0.059789,0.070245,-0.408292,0.254444,0.873854,-0.00177186,-4.63541e-05,-0.000178718,0.00476378,0.00289478,-0.0400258,-2.57897,-0.822103,1.39612,0.0432127,0.0502694,-0.00481993,-0.755368,0.043479,0.0981927,-3.92141,-0.00587537,-0.00786924,0.290143,-0.0162969,-0.00315935,0.00111241,-0.0296806,-0.0174368,0.0171358,0,-0.0455683,-0.215967,1.40474,-0.00472256,-0.0268371,-0.0432127,-0.000155888
2020-02-06.17:44:48.339,0.408379,-0.064721,0.432794,0.0724308,-0.407631,0.255058,0.873806,-0.00309812,-0.00144666,-0.000835231,0.0117188,-0.0181877,-0.0074685,-0.00767197,0.00789441,0.00345951,-0.000424369,-3.68494e-05,-0.000227456,-0.494498,0.338156,-0.557273,0.0512893,1.3767,-0.624695,-1.37374,0.00731443,0,0,0,0.00231333,-0.0247076,0,0.00471089,0.00113447,0.00204424,0.00062777,-3.23829e-05,-0.000164562,5.68835e-05,-0.232146,0.0758639,0.369485,-0.0115618,0.49168,0.599724,0.631227,0.000493378,0.000422933,2.74811e-05,0.000534092,-0.00145974,0.00196723,-0.0160919,0.00680283,-0.00632998,-0.000212626,0.000380649,-0.000102284,0.155122,0.0102977,0.155513,0.546697,0,-0.0473702,0.290143,-0.00127027,-0.00119013,0.00176115,-0.00117944,0,0,0,0.00127283,-0.00531196,-0.00734434,-0.000469132,-0.000298723,-0.000156146,-0.000102284,-0.0802659,-0.00688487,0.0272253,-0.0142583,0.487227,0.599962,0.634391,4.24403e-05,-0.000734808,-0.00037247,-0.00569055,0.00537852,-0.00898891,1.04404,-2.01758,0.32705,0.038238,-0.000673482,0.0371182,1.32148,0.0509778,0.130186,1.96291,-0.410729,0.768065,0.290143,-0.000348098,-0.00651261,0,-0.00700977,0,-0.00263607,0,0.277672,-0.0976268,1.08392,0.0051912,-0.0348039,-0.038238,-0.000102284,0.137188,-0.0298735,0.0597912,0.0699683,-0.408246,0.25422,0.873963,-0.00239383,-0.000138736,0.000301871,-0.0310986,-0.0172679,0.00329649,-2.70146,-1.01788,1.33877,0.0446587,0.0541091,-0.00383882,-0.755708,0.0434404,0.0982212,-3.92162,-0.00642192,-0.00742356,0.290143,-0.0174732,-0.00152778,0.00188202,0.0297814,-0.0135959,0.00940828,0,-0.039904,-0.2306,1.35132,-0.0034709,-0.0283826,-0.0436947,-0.000102284
2020-02-06.17:44:48.359,0.408323,-0.0647406,0.432786,0.072419,-0.40761,0.255019,0.873828,-0.00243211,-0.000987823,-0.000496198,0.0111461,-0.018064,-0.00541432,-0.000629562,0.0257145,0.00664189,-0.000117989,0.000244362,-3.05579e-05,-0.494374,0.338124,-0.557241,0.0512682,1.3767,-0.624695,-1.37374,0.00553724,-0.000692609,0.000692609,-0.00046384,0.00228538,-0.0234304,0,0.0036514,-0.00087207,0.00474369,0.000187915,-9.49992e-05,0.000211136,3.28019e-06,-0.232136,0.0758703,0.369489,-0.011579,0.491672,0.599736,0.631222,0.000259083,0.000363715,1.49903e-05,0.00048208,-0.000974364,0.00122067,0.0117389,-0.00053905,0.00473646,-0.000419815,4.89226e-05,-8.08431e-05,0.155097,0.0102662,0.155544,0.546676,0,-0.0473702,0.290143,-0.000610821,-0.000900921,0.00141328,-0.000946475,0,0,0,-0.000316419,0.00299598,0.00501292,-0.000645074,7.69744e-05,-0.000187454,-8.08431e-05,-0.0802653,-0.00689775,0.0272192,-0.0142098,0.487234,0.599937,0.63441,2.89216e-05,-0.000587399,-0.000279364,-0.00597166,0.0043573,-0.00756593,1.1463,-1.99214,0.349578,0.0367117,-0.000945574,0.0341308,1.32148,0.0508619,0.130186,1.96291,-0.410729,0.768065,0.290143,-0.000432486,-0.00509345,-5.92808e-07,-0.00700977,-3.97042e-05,-0.00225347,0,0.283808,-0.0881864,1.04174,0.0041273,-0.0334632,-0.0367117,-8.08431e-05,0.137143,-0.029874,0.0597936,0.0698349,-0.408341,0.254138,0.873953,-0.00193641,0.000122622,0.000128263,-0.0353353,-0.00721512,-0.0136337,-2.76028,-1.22925,1.31414,0.0459441,0.0541546,-0.00405504,-0.756056,0.0434249,0.0982536,-3.92162,-0.00655855,-0.00731215,0.290143,-0.0167101,-0.000537708,0.00137155,0.0182835,-0.0246601,0.0203909,0,-0.0262154,-0.253257,1.32319,-0.00403415,-0.0290643,-0.0459441,-8.08431e-05
2020-02-06.17:44:48.379,0.40826,-0.06477,0.432769,0.0723865,-0.407568,0.254894,0.873887,-0.00366622,-0.00174527,-0.000629033,0.0101659,-0.0157773,-0.00852815,0.015689,-0.00183061,0.0792591,0.00142387,-0.000332029,0.00094627,-0.494226,0.338124,-0.557241,0.0514174,1.3767,-0.624695,-1.37374,0.00850715,-0.000674939,-7.97101e-06,5.33819e-06,0.00226108,-0.0224039,0,0.0142464,-0.0376548,-0.0229719,-0.00245122,3.02333e-05,0.000117212,-8.24851e-05,-0.232135,0.0758778,0.369493,-0.0115871,0.491668,0.599741,0.63122,0.000222306,0.000335855,1.67871e-05,0.00043772,-0.000871011,0.00108111,-0.0041869,-0.00514642,-0.0139534,0.00027177,-0.000125916,-5.94017e-05,0.155097,0.0102347,0.155576,0.546655,0,-0.0473702,0.290143,-0.000513807,-0.000833458,0.00129894,-0.000869903,0,0,0,0.000743077,0.00109805,-0.00320326,0.000498549,4.56663e-05,9.43189e-05,-5.94017e-05,-0.0802661,-0.00690639,0.0272151,-0.0141778,0.487239,0.599921,0.634423,3.46262e-05,-0.000331305,-0.000238138,-0.00601008,0.00381286,-0.00518394,1.13584,-1.94559,0.405263,0.0361493,-0.000677215,0.0352652,1.32147,0.0507924,0.130185,1.96291,-0.410729,0.768065,0.290143,0.000308314,-0.0034962,0,-0.00663401,-0.0001104,-0.0019325,0,0.28428,-0.0820501,1.08673,0.00575445,-0.033048,-0.0350247,-5.94017e-05,0.137112,-0.0298693,0.0597853,0.0696994,-0.408489,0.254046,0.873922,-0.00102223,0.000409547,-0.000484234,-0.0241752,-0.00813963,-0.0103233,-2.78052,-1.4525,1.30977,0.0461851,0.0552999,-0.00466534,-0.756372,0.0434172,0.0982679,-3.92162,-0.00655855,-0.00714879,0.290143,-0.0138677,0,0.00025259,0.0130168,-0.0156421,0.0139433,0,-0.0120549,-0.268362,1.31757,-0.00465997,-0.0300291,-0.0461851,-5.94017e-05
2020-02-06.17:44:48.399,0.408183,-0.0648059,0.432763,0.0723703,-0.407552,0.254895,0.873895,-0.00317001,-0.00141881,-0.00116334,0.0112068,-0.0136746,-0.0103181,0.00320393,0.0168382,0.0058745,0.000280199,-0.000108412,0.000122202,-0.494052,0.338093,-0.557236,0.0512648,1.3767,-0.624695,-1.37374,0.00758409,0.000509985,0.000135577,0.00316391,0.00223299,-0.0213033,0,0.00100266,-0.00203466,0.00239419,-0.000339911,0.000124158,-3.93291e-05,4.61628e-05,-0.232126,0.0758858,0.369488,-0.0115953,0.491652,0.599758,0.631217,-6.20344e-05,0.00018631,0.000109978,-1.24773e-05,-0.000170157,0.000135086,-0.00299749,0.00181436,0.00841296,0.000251256,-2.0068e-05,-9.15637e-05,0.155073,0.0102347,0.155602,0.546637,0,-0.0473702,0.290143,0.000280604,-0.000730752,0.000730752,-0.000489385,0,0,0,-0.000846168,-0.00215863,-0.000150324,0.00058652,-4.82581e-05,-9.35298e-05,-9.15637e-05,-0.0802658,-0.00690841,0.0272129,-0.0141668,0.487243,0.599917,0.634423,1.88063e-05,-4.24382e-05,-9.48661e-05,-0.00604974,0.00246631,-0.00261114,1.10055,-1.95671,0.411534,0.0371133,-0.00119709,0.0354617,1.32148,0.0507615,0.130185,1.96291,-0.410729,0.768065,0.290143,0.000441423,-0.000525253,2.14235e-07,-0.00602438,-0.000151282,-0.0016834,0,0.277672,-0.0825221,1.0783,0.00525379,-0.0337908,-0.0371133,-9.15637e-05,0.137091,-0.0298673,0.0597759,0.0695558,-0.408559,0.254078,0.873892,-0.00108598,-4.82365e-05,-0.000403155,0.000348108,-0.011822,-0.00625153,-2.95727,-1.50501,1.34217,0.0448997,0.0564348,-0.00497738,-0.756619,0.0433709,0.0982756,-3.92141,-0.00669519,-0.00703737,0.290143,-0.0110462,-0.00288939,0.000497511,0,0,0.00326405,0,-0.0200792,-0.281578,1.35132,-0.00497289,-0.0295573,-0.0448997,-9.15637e-05
2020-02-06.17:44:48.419,0.408134,-0.0648352,0.432743,0.0723541,-0.407526,0.254837,0.873925,-0.00213522,-0.00107308,-0.00103273,0.0108202,-0.0138224,-0.00854348,-0.000977893,0.0114779,-0.00890774,-0.000803352,0.00037957,-0.00045613,-0.493929,0.338124,-0.557268,0.0512859,1.3767,-0.624695,-1.37374,0.0053312,0.00115463,-0.000509065,0.00341456,0.00220573,-0.0203135,0,-0.00058659,0.00446291,0.00495166,0.00124357,-0.000188923,0.00014852,-3.96024e-05,-0.232124,0.0758932,0.369492,-0.0116035,0.491648,0.599763,0.631215,-9.9666e-05,-5.49902e-05,-3.26742e-05,4.80277e-06,0.000250753,-0.000372871,0.00231829,-0.0168159,0.00267135,0.000302981,-0.000461809,-7.01224e-05,0.155073,0.0102032,0.155634,0.546616,0,-0.0473702,0.290143,0.000262503,0.000281281,-0.000281281,0.000188374,0,0,0,-0.00455441,0.00317109,0.00208135,0.000938404,0.000358747,-9.35298e-05,-7.01224e-05,-0.0802649,-0.00690739,0.0272092,-0.0141593,0.487252,0.599921,0.634413,5.32584e-05,9.7391e-05,-0.000204515,-0.00566065,0.00323436,-0.00122395,1.08743,-1.9446,0.483522,0.038479,-0.000376152,0.0366631,1.32151,0.0507538,0.130185,1.96291,-0.410729,0.768065,0.290143,0.00181714,0,1.72275e-06,-0.0055236,-0.000173628,-0.00149213,0,0.28192,-0.0773299,1.08954,0.00537895,-0.0347512,-0.0371133,-7.01224e-05,0.137066,-0.0298721,0.059777,0.0693542,-0.408522,0.253886,0.87398,-0.00111348,-0.000426286,0.000115092,0.00717362,0.00133082,0.00764495,-3.11292,-1.42143,1.37241,0.0469081,0.0604474,-0.00557344,-0.75682,0.0432936,0.0982951,-3.92162,-0.0071051,-0.00662144,0.290143,-0.00681065,-0.00418769,0.000977339,0,-0.00466179,-0.0119877,0,-0.0314077,-0.284882,1.38506,-0.00559871,-0.0321554,-0.0469081,-7.01224e-05
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