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
2020-02-04.18:20:26.796,0.0853486,0.0742726,0.329912,-0.466915,-0.259523,0.795117,0.2871,-0.000799843,-0.00233083,0.00105308,-0.00280974,-0.00343703,0.0046565,0.199731,0.21609,-0.205417,-0.0151532,0.000518538,0.011411,0.260824,0.187343,0.0664617,-1.66871,0.485545,0.0592128,-0.0177638,0.0010572,0.000264256,-0.00690266,0.000860447,0,-0.00880791,0,-0.0535614,0.117996,0.0628248,-0.0159108,-0.000188923,-0.0176345,0.0127287,-0.0159633,0.0735833,0.342115,0.500004,-0.307508,0.737841,-0.333204,0.000688143,-0.000442333,-0.000577091,-0.00740536,-0.00719196,0.00723788,-0.516315,0.201448,0.489606,-0.0472849,0.00852944,-0.0112175,-0.439232,0.221732,-0.00816338,1.89982,0.408568,-0.0207245,3.35736,-0.000874203,0.00346991,-0.00326824,0.00384884,0,-0.0147979,-0.00280007,-0.186788,0.158553,0.0774032,0.0761536,-0.00133189,0.0226675,-0.000241653,-0.0748785,0.0280741,0.033558,0.507453,-0.318934,0.733314,-0.320972,8.84363e-07,1.66565e-05,-1.72319e-05,-4.51995e-06,0.000136707,0.00013191,-4.74811,-0.394954,-2.27729,-0.0283578,0.0691836,-0.00762424,1.4726,0.322934,0.139485,-1.20949,-0.321096,0.197143,0.000184347,4.61062e-05,0,0,0,0,0.519346,0.290846,-0.547089,-0.0133958,-0.0231425,0.0283578,0.0977541,0.0441854,0.0296637,-0.480943,-0.25502,0.799813,0.252898,-2.51738e-06,2.29124e-06,-1.20899e-05,-3.03268e-07,-0.000118112,-2.23212e-05,8.19778,0.124966,-5.4486,-0.00354088,-0.0405672,-0.00806941,-1.57843,0.480099,0.122807,-1.597,0.502002,0.354919,-0.000113449,-3.97267e-05,0,0,0,0,-0.93863,0.226315,-0.57215,0.0117993,-0.0337567,0.00354088
2020-02-04.18:20:26.806,0.0853381,0.0742375,0.329894,-0.4673,-0.260672,0.794755,0.286435,-0.000616585,-0.000276244,-0.00117745,0.00180327,-0.000710803,-0.000328535,0.175034,0.150181,-0.22729,-0.0143962,0.000749835,0.0119463,0.260824,0.187469,0.0663094,-1.66861,0.485545,0.0562521,-0.0177638,0.00104123,0.00517331,-0.00322993,-0.00114891,0,0,0,-0.0636266,0.104815,0.0683416,-0.0166146,-0.000376772,-0.0158812,0.0127394,-0.0159377,0.0735429,0.342076,0.500025,-0.307547,0.737837,-0.333145,0.000930699,-0.000958603,-0.00105863,-0.00771444,-0.00549062,0.00520351,-0.542261,0.0909027,0.470622,-0.0476203,0.0086008,-0.011279,-0.439232,0.221952,-0.00838382,1.89997,0.408568,-0.0207245,3.35736,-0.000684891,0.00612164,-0.00593357,0.00563381,0,-0.0141864,-0.00314577,-0.193675,0.147758,0.0981569,0.0765935,-0.00133189,0.0229179,-0.000263094,-0.0748784,0.0280745,0.0335572,0.507456,-0.318934,0.733312,-0.320972,-5.30632e-06,-9.76372e-06,2.79537e-05,-4.29568e-06,-0.000224376,-7.91859e-05,-4.73284,-0.353227,-2.26982,-0.0270725,0.0704191,-0.00720683,1.47261,0.322934,0.139485,-1.20949,-0.321096,0.197143,-0.000233908,4.3822e-05,0,0,0,0,0.51793,0.285653,-0.552713,-0.013521,-0.0245747,0.0270725,0.0977541,0.0441854,0.0296637,-0.480943,-0.25502,0.799813,0.252898,-2.4213e-06,1.7399e-06,-1.09375e-05,-2.95894e-07,-0.000106845,-1.6931e-05,8.23917,0.107203,-5.47256,-0.00346055,-0.0402508,-0.00843678,-1.57843,0.480099,0.122807,-1.597,0.502002,0.354919,-0.000100996,-3.87608e-05,0,0,0,0,-0.94335,0.229619,-0.566526,0.0115489,-0.0343024,0.00346055
2020-02-04.18:20:26.826,0.0853391,0.0742499,0.32988,-0.467301,-0.260696,0.794744,0.286442,-0.000538745,4.51912e-05,-0.00153044,0.00310318,-0.00120965,-0.000255058,0.198755,0.155736,-0.211712,-0.0137567,0.000842983,0.0120941,0.260824,0.1875,0.0663305,-1.66862,0.485545,0.0562521,-0.0177638,0.000907934,0.00591562,-0.00261437,-0.00133464,0,0,0,-0.0540912,0.109975,0.0718935,-0.0165266,-0.000439388,-0.0148794,0.0126965,-0.0159341,0.0735372,0.34207,0.500028,-0.307553,0.737837,-0.333136,0.000708743,-0.000655943,-0.000760706,-0.00764604,-0.0060779,0.00584962,-0.532016,0.072801,0.464993,-0.046671,0.00827615,-0.0110258,-0.439232,0.221984,-0.00841531,1.89999,0.408568,-0.0207245,3.35736,-0.000617281,0.00440705,-0.00422287,0.00448816,0,-0.0140044,-0.00323898,-0.192615,0.141507,0.0969786,0.0748341,-0.00145712,0.0226049,-0.000305977,-0.0748784,0.0280745,0.0335572,0.507456,-0.318934,0.733312,-0.320972,-5.05203e-06,-8.91198e-06,2.6293e-05,-4.22353e-06,-0.000211087,-7.23593e-05,-4.69824,-0.366028,-2.23345,-0.0280365,0.0689927,-0.00813822,1.47261,0.322934,0.139485,-1.20949,-0.321096,0.197143,-0.000218986,4.3086e-05,0,0,0,0,0.514154,0.283765,-0.527404,-0.0138339,-0.0233084,0.0280365,0.0977541,0.0441854,0.0296637,-0.480943,-0.25502,0.799813,0.252898,-2.38661e-06,1.55777e-06,-1.05466e-05,-2.93078e-07,-0.000103023,-1.51505e-05,8.23609,0.15062,-5.44783,-0.00370155,-0.0408353,-0.00817354,-1.57843,0.480099,0.122807,-1.597,0.502002,0.354919,-9.67958e-05,-3.83919e-05,0,0,0,0,-0.942406,0.223483,-0.560901,0.0116115,-0.0338178,0.00370155
2020-02-04.18:20:26.846,0.0853394,0.0742651,0.329857,-0.467301,-0.260729,0.794728,0.286458,0.000433548,0.000936509,-0.00138679,0.00409766,-0.00691518,0.00580208,0.193476,0.160638,-0.207044,-0.0129771,0.000595416,0.0123114,0.260824,0.187563,0.0663464,-1.66863,0.485545,0.0562521,-0.0177638,-0.00105847,0.00338726,0.00157433,-0.0077428,0,0,0,-0.0540912,0.104985,0.0668446,-0.0166146,-9.49992e-05,-0.0136584,0.0126108,-0.0159181,0.0735292,0.342061,0.500033,-0.307557,0.737835,-0.333129,5.54263e-05,-0.000269912,-0.000332566,-0.00753551,-0.00658336,0.00614395,-0.53265,0.0844973,0.458348,-0.047295,0.00831011,-0.0111658,-0.439257,0.222047,-0.00847829,1.90003,0.408568,-0.0207245,3.35736,0.000310909,0.00155987,-0.00138387,0.00258688,0,-0.0136135,-0.0034246,-0.188907,0.144841,0.0976855,0.0758897,-0.00155105,0.022824,-0.000273815,-0.0748785,0.0280741,0.033558,0.507453,-0.318934,0.733314,-0.320972,-3.2883e-06,-1.96029e-06,1.39004e-05,-4.08697e-06,-0.000112012,-1.67633e-05,-4.73874,-0.405025,-2.26404,-0.0277955,0.06995,-0.00759423,1.4726,0.322934,0.139485,-1.20949,-0.321096,0.197143,-0.000105387,4.16896e-05,0,0,0,0,0.516514,0.291318,-0.53584,-0.0137087,-0.0239852,0.0277955,0.0977541,0.0441854,0.0296637,-0.480943,-0.25502,0.799813,0.252898,-2.32563e-06,1.25896e-06,-9.89135e-06,-2.87936e-07,-9.66164e-05,-1.22295e-05,8.24238,0.117479,-5.47405,-0.00346055,-0.0398593,-0.00847153,-1.57843,0.480099,0.122807,-1.597,0.502002,0.354919,-8.9787e-05,-3.77183e-05,0,0,0,0,-0.944294,0.228675,-0.569338,0.0113612,-0.0346866,0.00346055
2020-02-04.18:20:26.866,0.0853372,0.0742587,0.329851,-0.467325,-0.26076,0.794721,0.286408,0.000394802,0.00058971,-0.000674033,0.00300941,0.00447635,-0.00523109,0.227982,0.184469,-0.257305,-0.0124754,0.000974639,0.0118828,0.260824,0.187595,0.066315,-1.66876,0.485545,0.0562521,-0.0177638,-0.000917106,0.00125053,0.00133191,0.00794012,0,0,0,-0.0630969,0.12937,0.0843132,-0.015119,-0.000564621,-0.0137523,0.0125679,-0.0159145,0.0735234,0.342055,0.500036,-0.307562,0.737835,-0.333121,-0.000121618,1.44197e-05,-5.51712e-05,-0.00747738,-0.00704729,0.00667037,-0.537572,0.0839527,0.468494,-0.0473602,0.00825575,-0.0112354,-0.439257,0.222078,-0.00850978,1.90005,0.408568,-0.0207245,3.35736,0.000301921,0,0.000169564,0.00154654,0,-0.0132965,-0.00356077,-0.197383,0.141101,0.0934614,0.0770333,-0.00148843,0.0228553,-0.000230932,-0.0748785,0.0280741,0.033558,0.507453,-0.318934,0.733314,-0.320972,-3.24127e-06,-2.08811e-06,1.3832e-05,-3.97422e-06,-0.00011144,-1.77545e-05,-4.73561,-0.384362,-2.28,-0.0278758,0.0701482,-0.00857637,1.4726,0.322934,0.139485,-1.20949,-0.321096,0.197143,-0.000105387,4.05395e-05,0,0,0,0,0.517458,0.288957,-0.555525,-0.0145849,-0.0240157,0.0278758,0.0977541,0.0441858,0.029663,-0.480946,-0.25502,0.799811,0.252899,-1.97297e-06,-3.28179e-06,-1.91215e-06,-2.8395e-07,-1.85788e-05,3.21794e-05,8.20526,0.112039,-5.46119,-0.00498687,-0.0414095,-0.00800368,-1.57844,0.480099,0.122807,-1.597,0.502002,0.354919,0,-3.71586e-05,0,0,0,0,-0.939102,0.226787,-0.574962,0.0114863,-0.0330578,0.00498687
2020-02-04.18:20:26.886,0.0853295,0.0742272,0.329848,-0.467283,-0.260685,0.794743,0.286483,-0.000628739,-0.00118645,0.000322961,-0.00324922,-0.0030822,0.00387906,0.198864,0.139278,-0.23985,-0.0127272,0.00112022,0.0121549,0.260824,0.187658,0.0661994,-1.66853,0.485545,0.0562521,-0.0177638,0.00104639,0.0010875,-0.00403864,-0.00614376,0,0,0,-0.0620374,0.111878,0.0788519,-0.0158228,-0.000689853,-0.0136897,0.0126751,-0.0159268,0.0735257,0.342059,0.500034,-0.307564,0.737836,-0.333119,-0.000127719,0.000257462,0.000164202,-0.00743708,-0.00745606,0.00723193,-0.532863,0.0983044,0.470728,-0.0469718,0.00865369,-0.0112316,-0.439232,0.222047,-0.00847829,1.90003,0.408568,-0.0207245,3.35736,-3.66336e-05,-0.00107814,0.00124116,0.000828898,0,-0.0129646,-0.00368975,-0.192085,0.145932,0.0941336,0.0758018,-0.00114404,0.0224796,-0.000295256,-0.0748786,0.0280736,0.0335589,0.50745,-0.318934,0.733316,-0.320972,1.70657e-06,1.81847e-05,-2.15751e-05,-3.86029e-06,0.000171568,0.000144301,-4.71061,-0.364775,-2.25854,-0.0270725,0.0698052,-0.00810839,1.47259,0.322934,0.139485,-1.20949,-0.321096,0.197143,0.000220732,3.93742e-05,0,0,0,0,0.515098,0.285653,-0.547089,-0.014272,-0.0239985,0.0270725,0.0977541,0.0441858,0.029663,-0.480946,-0.25502,0.799811,0.252899,-1.94205e-06,-3.23036e-06,-1.88218e-06,-2.79501e-07,-1.82876e-05,3.16751e-05,8.22157,0.176055,-5.46069,-0.00289822,-0.039847,-0.00802203,-1.57844,0.480099,0.122807,-1.597,0.502002,0.354919,0,-3.65763e-05,0,0,0,0,-0.942878,0.222067,-0.58621,0.0117367,-0.0346649,0.00289822
2020-02-04.18:20:26.906,0.0853001,0.0741686,0.32987,-0.467289,-0.260616,0.794773,0.286456,-0.00117151,-0.00229732,0.00167996,-0.00821758,-0.00257096,0.00473048,0.202676,0.101274,-0.225004,-0.0127559,0.000527961,0.0122077,0.260874,0.187689,0.0660101,-1.66856,0.485545,0.0562521,-0.0177638,0.0022752,-0.00174663,-0.00622869,-0.00791061,0,0,0,-0.0562102,0.105951,0.083284,-0.0159108,-9.49992e-05,-0.0136897,0.0127073,-0.0159193,0.0735531,0.34207,0.500024,-0.307542,0.737829,-0.333169,0.000155326,0.000477453,0.000403566,-0.00755257,-0.00809263,0.00815126,-0.531273,0.12363,0.477631,-0.0477049,0.0081042,-0.0113523,-0.439282,0.221984,-0.00838901,1.89997,0.408568,-0.0207245,3.35736,-0.00104262,-0.00180079,0.00180079,0.00041482,0,-0.0126798,-0.00378961,-0.191556,0.149858,0.0907307,0.0766815,-0.00183282,0.022824,-0.000305977,-0.0748786,0.0280736,0.0335589,0.50745,-0.318934,0.733316,-0.320972,1.74809e-06,1.80718e-05,-2.16356e-05,-3.76073e-06,0.000172073,0.000143426,-4.74165,-0.34851,-2.27489,-0.0257872,0.0713369,-0.00653153,1.47259,0.322934,0.139485,-1.20949,-0.321096,0.197143,0.000220732,3.83588e-05,0,0,0,0,0.51793,0.286597,-0.555525,-0.0134584,-0.0255268,0.0257872,0.0977541,0.0441862,0.0296623,-0.48095,-0.25502,0.799809,0.252899,-1.83688e-06,-4.24541e-06,-7.57975e-09,-2.75425e-07,4.48939e-08,4.16014e-05,8.24552,0.148198,-5.4474,-0.00305889,-0.0405278,-0.00829483,-1.57845,0.480099,0.122807,-1.597,0.502002,0.354919,2.08396e-05,-3.60065e-05,0,0,0,0,-0.94335,0.224427,-0.555277,0.0117367,-0.0341497,0.00305889
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