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_velocity_1,PSM1_joint_velocity_2,PSM1_joint_velocity_3,PSM1_joint_velocity_4,PSM1_joint_velocity_5,PSM1_joint_velocity_6,PSM1_joint_effort_1,PSM1_joint_effort_2,PSM1_joint_effort_3,PSM1_joint_effort_4,PSM1_joint_effort_5,PSM1_joint_effort_6,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_velocity_1,PSM2_joint_velocity_2,PSM2_joint_velocity_3,PSM2_joint_velocity_4,PSM2_joint_velocity_5,PSM2_joint_velocity_6,PSM2_joint_effort_1,PSM2_joint_effort_2,PSM2_joint_effort_3,PSM2_joint_effort_4,PSM2_joint_effort_5,PSM2_joint_effort_6
2020-02-04.18:11:16.824,0.0576725,0.0710257,0.374513,-0.50939,-0.379268,0.553024,0.539297,-0.000300344,0.000653137,-1.48485e-05,0.00149806,0.00682184,-0.00967687,-0.172819,0.150251,0.0922399,-0.013875,-0.0130133,0.00146968,0.349979,0.0632979,0.0807903,-1.68084,0.121386,-0.0118426,-0.746081,0.00132728,-0.000759731,0.0018003,0.0105736,0,0,0,0.0025919,0.0189359,-0.0478025,-0.0387833,9.28496e-05,0.000555525,-0.000918696,-0.0241941,0.0801529,0.400191,-0.509485,0.451538,-0.422636,0.598262,-0.000263545,0.000306334,0.000180806,4.36709e-05,-0.000484789,0.000663432,0.445573,0.281521,0.317185,-0.0160346,0.0252432,0.00202337,-0.46009,0.00784138,0.0864642,1.78334,-0.0296064,0.0148032,4.22187,0.000222858,-0.00155957,0.00155957,-0.00104444,0,0,0,-0.0368691,0.0923325,-0.0688991,0.0611106,-0.00220852,-0.00140847,0.00109843,-0.0815643,0.0287975,0.0574136,-0.507098,0.457709,-0.414322,0.601407,-7.78183e-05,-2.73545e-05,-1.8946e-05,0.0007111,3.63754e-05,0.000264836,-1.59103,-0.765509,-1.31889,-0.0308481,-0.019299,-0.0109136,1.28213,0.413158,0.141245,-0.290001,-0.0561576,0.369976,-0.000161271,0,-8.23269e-05,0.000809941,0,0,-0.0508538,0.269605,-0.862042,-0.00206838,0.0364178,0.0308481,0.0889863,0.0414059,0.0471163,-0.505585,-0.384395,0.548507,0.543841,1.48159e-05,-1.80106e-05,-1.33319e-05,1.64768e-05,-4.80457e-05,8.32175e-05,2.96511,1.34025,-1.12361,0.0306005,0.00496292,0.00174977,-1.40098,0.495861,0.134169,-2.50307,0.194844,0.220026,0,-9.74937e-05,-2.36765e-05,0,0,0,-0.28677,0.265493,-0.78868,0.00466484,-0.0322076,-0.0306005
2020-02-04.18:11:16.834,0.0576577,0.0710398,0.37451,-0.509383,-0.379212,0.553002,0.539366,-0.000498567,0.000346212,0.000215389,-0.000540179,-0.00585657,0.00718445,-0.166165,0.103536,0.127756,-0.0145193,-0.0135688,0.00154739,0.350028,0.0632979,0.0808166,-1.68071,0.121386,-0.0118426,-0.746081,0.00170444,-0.000759731,0.000759731,-0.0109683,0,0,0,0.0147761,0.00394478,-0.053853,-0.0403667,6.15414e-05,0.000430293,-0.000929417,-0.0242058,0.0801563,0.400193,-0.509484,0.451539,-0.422637,0.598261,-6.79946e-05,-0.000204762,-0.000119863,-1.82801e-05,0.000486516,-0.000768891,0.442801,0.280034,0.330094,-0.0162087,0.0256408,0.0018493,-0.460065,0.00780989,0.0864957,1.78332,-0.0296064,0.0148032,4.22187,0.000473868,0.000652848,-0.000652848,0.000437212,0,0,0,-0.041107,0.0922502,-0.0689268,0.0618144,-0.00217721,-0.00125193,0.000916178,-0.0815639,0.0287966,0.0574132,-0.507097,0.457712,-0.414322,0.601406,-7.20652e-05,2.78973e-05,1.11815e-05,0.000593663,-0.000139579,0.0006199,-1.54235,-0.797089,-1.31914,-0.0317318,-0.0200132,-0.0112276,1.28213,0.413151,0.141245,-0.290001,-0.0561576,0.369976,-0.000136115,0.00041254,-5.26221e-05,0.000809941,0,0,-0.055102,0.264884,-0.853606,-0.00206838,0.0367542,0.0317318,0.0889861,0.0414063,0.0471156,-0.505588,-0.384396,0.548504,0.543841,1.20654e-05,-1.74999e-05,-1.09378e-05,1.64761e-05,-3.78593e-05,8.90988e-05,2.97986,1.33915,-1.10628,0.0315645,0.00539632,0.00191823,-1.40099,0.495861,0.134169,-2.50307,0.194844,0.220026,1.17623e-05,-9.74937e-05,-2.0231e-05,0,0,0,-0.287242,0.267381,-0.768996,0.00491517,-0.0328016,-0.0315645
2020-02-04.18:11:16.854,0.0576476,0.0710336,0.374517,-0.509387,-0.379189,0.553006,0.539374,-0.000184846,0.000969185,-0.000220987,0.00121415,-0.00864987,0.00977697,-0.168033,0.111572,0.116585,-0.0137177,-0.013082,0.00150945,0.350053,0.0632979,0.0807903,-1.68069,0.121386,-0.0118426,-0.746081,0.00118729,-0.000759731,0.00279277,-0.0141257,0,0,0,0.0115976,0.00644506,-0.0528514,-0.0388712,0.00024939,0.000774682,-0.000897255,-0.0242136,0.080153,0.400191,-0.509482,0.451548,-0.42264,0.598254,-3.45728e-05,-0.000188235,-0.000110301,-1.80521e-05,0.000428655,-0.000669589,0.447369,0.285631,0.313774,-0.016653,0.0262718,0.001879,-0.46004,0.00780989,0.0864957,1.78332,-0.0296064,0.0148032,4.22187,0.000364346,0.000644739,-0.000644739,0.000431782,0,0,0,-0.0342203,0.093418,-0.0684831,0.0632219,-0.00227113,-0.0011267,0.000926899,-0.0815639,0.0287966,0.0574132,-0.507097,0.457712,-0.414322,0.601406,-6.70308e-05,2.95433e-05,1.26793e-05,0.000593663,-0.000132722,0.000623859,-1.55226,-0.781395,-1.32876,-0.0311695,-0.0204528,-0.010967,1.28213,0.413151,0.141245,-0.290001,-0.0561576,0.369976,-0.000128197,0.00041254,-4.72065e-05,0.000809941,0,0,-0.0536859,0.2663,-0.867666,-0.00169289,0.0371601,0.0311695,0.0889861,0.0414063,0.0471156,-0.505588,-0.384396,0.548504,0.543841,1.12878e-05,-1.72496e-05,-1.04934e-05,1.64761e-05,-3.69034e-05,8.96507e-05,2.95792,1.35963,-1.14426,0.0315645,0.00470774,0.00283159,-1.40099,0.495861,0.134169,-2.50307,0.194844,0.220026,1.28661e-05,-9.74937e-05,-1.93084e-05,0,0,0,-0.28677,0.264549,-0.813989,0.00591649,-0.0321293,-0.0315645
2020-02-04.18:11:16.874,0.057631,0.0710389,0.37452,-0.509393,-0.379224,0.553011,0.539339,-0.000704433,0.000936272,-3.66228e-05,0.00229474,0.0117288,-0.0165576,-0.165987,0.182162,0.0698069,-0.0132071,-0.0126922,0.00144918,0.350102,0.0632979,0.0807903,-1.68084,0.121386,-0.0118426,-0.746081,0.00261661,-0.000711942,0.00222311,0.0177713,0,0,0,-0.00429483,0.0309225,-0.0396971,-0.0371118,0.000312006,0.00030506,-0.00082221,-0.0242214,0.0801496,0.400189,-0.509472,0.451613,-0.42266,0.5982,0.000480462,6.70238e-05,3.73932e-05,-3.53396e-05,-0.000179481,0.000453519,0.437432,0.283371,0.311673,-0.0166541,0.0262752,0.00184416,-0.460016,0.00780989,0.0864957,1.78347,-0.0296064,0.0148032,4.22187,-0.00132406,0.000517358,-0.000517358,0.000845315,0,0,0,-0.0342203,0.092996,-0.066047,0.0631339,-0.00227113,-0.00103277,0.000894737,-0.0815639,0.0287966,0.0574132,-0.507097,0.457712,-0.414322,0.601406,-5.6193e-05,3.32283e-05,1.55674e-05,0.000593663,-0.000115528,0.000633786,-1.6168,-0.748502,-1.2927,-0.0308481,-0.0192979,-0.0113304,1.28213,0.413151,0.141245,-0.290001,-0.0561576,0.369976,-0.000108343,0.00041254,-3.56611e-05,0.000809941,0,0,-0.0470776,0.271965,-0.842357,-0.00244388,0.036802,0.0308481,0.0889863,0.0414059,0.0471163,-0.505585,-0.384395,0.548507,0.543841,6.73822e-06,-9.25909e-06,-2.22172e-05,1.64768e-05,-0.000149854,2.44387e-05,2.97828,1.37232,-1.11617,0.0308415,0.00446906,0.00210874,-1.40098,0.495861,0.134169,-2.50307,0.194844,0.220026,-0.000117558,-9.74937e-05,-1.70845e-05,0,0,0,-0.286298,0.259357,-0.785868,0.00491517,-0.0330331,-0.0319662
2020-02-04.18:11:16.894,0.0576174,0.071051,0.374528,-0.509395,-0.379214,0.553007,0.539348,-0.00061225,0.000495217,-0.000223608,0.00159747,0.00560548,-0.00836428,-0.175178,0.177891,0.0608299,-0.0135305,-0.0124371,0.00142017,0.350152,0.0632664,0.0808218,-1.68086,0.121386,-0.0118426,-0.746081,0.00191687,0.000602234,0.000672923,0.00821116,0,0,0,-0.01436,0.0304288,-0.044105,-0.0392231,-0.000157615,0.000398985,-0.000961579,-0.0242097,0.0801462,0.400187,-0.509473,0.451612,-0.422659,0.5982,0.000352475,0.000135959,7.83524e-05,-2.2448e-05,-0.000242816,0.000511176,0.44721,0.298376,0.301185,-0.0162456,0.0257095,0.00186842,-0.46004,0.00784138,0.0864642,1.78349,-0.0296064,0.0148032,4.22187,-0.00109864,5.68677e-05,-5.68677e-05,0.000536924,0,0,0,-0.0299823,0.0974923,-0.0649347,0.0618144,-0.00217721,-0.00109539,0.000937619,-0.0815639,0.0287966,0.0574132,-0.507097,0.457712,-0.414322,0.601406,-4.83934e-05,2.79956e-05,1.37244e-05,0.000610804,-7.79633e-05,0.000588825,-1.56579,-0.798186,-1.33004,-0.0323745,-0.0202692,-0.0111613,1.28213,0.413151,0.141245,-0.290001,-0.0561576,0.369976,-9.82918e-05,0.000352328,-3.07085e-05,0.000809941,0,0,-0.0541579,0.268189,-0.862042,-0.00188063,0.0371822,0.0323745,0.0889863,0.0414059,0.0471163,-0.505585,-0.384395,0.548507,0.543841,6.0338e-06,-8.18807e-06,-2.14594e-05,1.54044e-05,-0.000146726,1.90222e-05,2.95307,1.35407,-1.13865,0.0310825,0.00493562,0.00153426,-1.40098,0.495861,0.134169,-2.50307,0.194844,0.220026,-0.000117558,-9.1148e-05,-1.58432e-05,0,0,0,-0.28677,0.264077,-0.808365,0.00453967,-0.0320244,-0.0310825
2020-02-04.18:11:16.914,0.0576174,0.071051,0.374528,-0.509395,-0.379214,0.553007,0.539348,-0.00052681,0.000435829,-0.000222218,0.00151489,0.005533,-0.00815977,-0.165671,0.189319,0.055291,-0.0135317,-0.0126927,0.00134658,0.350152,0.0632664,0.0808218,-1.68086,0.121386,-0.0118426,-0.746081,0.00164313,0.000602234,0.000576551,0.0082757,0,0,0,-0.00959231,0.0338343,-0.0375555,-0.0376396,9.28496e-05,0.000367676,-0.000961579,-0.0242097,0.0801462,0.400187,-0.509473,0.451612,-0.422659,0.5982,0.000333477,0.000127807,7.36458e-05,-2.2448e-05,-0.000212604,0.000458848,0.448015,0.271204,0.323732,-0.0164303,0.0255204,0.00196718,-0.46004,0.00784138,0.0864642,1.78349,-0.0296064,0.0148032,4.22187,-0.00103821,5.68677e-05,-5.68677e-05,0.000536924,0,0,0,-0.038988,0.0887571,-0.0724198,0.0618144,-0.00242767,-0.00125193,0.00103411,-0.0815639,0.0287966,0.0574132,-0.507097,0.457712,-0.414322,0.601406,-5.81602e-05,5.46611e-05,2.51286e-05,0.000546304,-0.000182828,0.000779083,-1.60579,-0.768081,-1.33286,-0.0309285,-0.0199747,-0.0108402,1.28213,0.413151,0.141245,-0.290001,-0.0561576,0.369976,-9.39783e-05,0.000578904,-2.8735e-05,0.000809941,0,0,-0.0508538,0.272437,-0.87329,-0.00175547,0.0371556,0.0309285,0.0889863,0.0414059,0.0471163,-0.505585,-0.384395,0.548507,0.543841,5.73607e-06,-7.64396e-06,-2.10863e-05,1.4828e-05,-0.000145046,1.61112e-05,2.95897,1.36837,-1.12196,0.0311628,0.00544663,0.00238371,-1.40098,0.495861,0.134169,-2.50307,0.194844,0.220026,-0.000117558,-8.77376e-05,-1.52694e-05,0,0,0,-0.288658,0.263605,-0.794304,0.00522808,-0.0327622,-0.0311628
2020-02-04.18:11:16.934,0.0576026,0.071065,0.374526,-0.509389,-0.379158,0.552985,0.539416,-0.000469122,8.96784e-06,-6.27734e-06,-0.000514897,-0.00577188,0.00717778,-0.169159,0.0954801,0.102354,-0.0147917,-0.0139085,0.00164355,0.350202,0.0632664,0.0808481,-1.68073,0.121386,-0.0118426,-0.746081,0.0012396,0.000561614,-0.000561614,-0.01045,0,0,0,0.00524064,0.0014445,-0.054501,-0.0413344,0.000124158,0.000524217,-0.000897255,-0.0242019,0.0801495,0.400189,-0.509475,0.451602,-0.422656,0.598208,-0.000120241,-7.75936e-05,-4.50431e-05,-2.3563e-05,0.000531998,-0.000826346,0.43574,0.289258,0.326654,-0.0163265,0.0254596,0.00193517,-0.460065,0.00784138,0.0864642,1.78349,-0.0296064,0.0148032,4.22187,0.000420575,9.66477e-05,-9.66477e-05,0.000563565,0,0,0,-0.0400475,0.0959078,-0.064259,0.0620783,-0.00236506,-0.00172155,0.000991223,-0.0815639,0.0287966,0.0574132,-0.507097,0.457712,-0.414322,0.601406,-2.38732e-05,-1.00442e-05,-2.1205e-06,0.000711102,0.000104237,0.000304017,-1.60474,-0.768998,-1.35128,-0.0320531,-0.019898,-0.0112103,1.28213,0.413151,0.141245,-0.290001,-0.0561576,0.369976,-8.29052e-05,0,-2.40363e-05,0.000809941,0,0,-0.0508538,0.272437,-0.890163,-0.00206838,0.0372083,0.0320531,0.0889857,0.0414055,0.0471152,-0.505588,-0.384399,0.548505,0.543839,1.92636e-05,-2.43903e-06,1.00896e-05,-1.42547e-05,0.000141898,-1.40728e-05,2.96169,1.35693,-1.16618,0.0315645,0.00547623,0.0018786,-1.40099,0.495854,0.134169,-2.50307,0.194844,0.220026,0.000115851,8.43494e-05,-1.38369e-05,0,0,0,-0.287242,0.266437,-0.833673,0.00485259,-0.0327056,-0.0315645
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