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
2020-02-04.18:52:40.913,0.0867691,0.0841266,0.354262,-0.592859,-0.29283,0.637015,0.396209,0.000674708,-0.000236381,0.000437099,-0.00150611,-0.00238352,0.00378453,-0.0158025,-0.0234275,0.00898954,-0.000428689,-0.000346453,4.91604e-05,0.272269,0.0818779,0.133715,-1.74537,0.0858585,0.065134,-0.284221,-0.0018637,-0.00183465,0.000430244,-0.00266731,0,0,0,0.0025919,-0.0095197,-0.00556217,-0.00104368,0.000218082,2.32872e-05,3.28019e-06,-0.042375,0.0883359,0.381445,0.461779,-0.250594,0.758485,-0.385569,-0.000154566,-0.00027708,4.76907e-05,-0.000516983,0.000405823,-0.00101123,-0.0106674,0.024959,-0.0102023,-9.07123e-05,-0.000153383,-4.40519e-05,-0.409952,0.0288462,0.124394,1.63995,0.435214,0.0444096,3.34552,0.000659993,9.69866e-05,-0.000632576,0.000423636,0,0,0,0.00180257,0.00891752,0.00360604,0.000234636,-0.000173491,-9.35298e-05,2.63635e-05,-0.0804335,0.0162568,0.0297543,0.462832,-0.251609,0.757863,-0.384868,-2.11353e-05,1.64324e-05,7.07717e-05,-0.0023585,-0.00115272,-0.000926752,-1.3997,0.360207,-0.443569,0.0254651,0.0330145,0.00203808,1.44275,0.243374,0.131093,-1.1426,-0.272453,-0.0879669,-0.000400278,0.000383058,0,-0.00257861,-0.000545152,9.12124e-05,0.140314,0.040203,-0.0184168,-0.00112964,-0.0199705,-0.0254651,0.0961552,0.0169109,0.0331598,-0.591529,-0.287135,0.637939,0.400851,-3.96516e-05,-0.00051143,0.000215302,0.00801723,0.0657355,0.025815,0.989418,2.54264,1.01743,-0.032782,-0.0319769,-0.0042025,-1.37431,0.284822,0.116826,-2.10655,-0.0513753,0.170782,-1.87198e-05,-0.000871916,0,0.0123706,0.0551343,-0.0439719,-0.225408,-0.241456,0.518939,0.00422676,0.0232222,0.032782
2020-02-04.18:52:40.919,0.0867494,0.0840595,0.354237,-0.59286,-0.292802,0.637028,0.396205,-0.00121862,-0.00293146,-0.00179426,-0.00036714,0.0031326,-0.00346999,-0.00049568,-0.00133653,-0.00986991,0.000165314,-1.1811e-05,6.43129e-05,0.272269,0.0820983,0.133442,-1.74534,0.0858585,0.065134,-0.284221,0.000720305,0.0125628,-0.0131794,0.00394231,0,0,0,-0.00323533,-0.00036254,0.000252663,0.000187915,6.15414e-05,0.000117212,6.76041e-05,-0.0423568,0.0882639,0.381443,0.461809,-0.250611,0.758514,-0.385465,0.00071278,-0.00235813,-0.000333837,-0.0029246,0.00308228,-0.0058713,0.0282544,-0.0107373,-0.0112403,2.82248e-05,6.88945e-05,5.13386e-05,-0.409927,0.0290037,0.124131,1.64012,0.435214,0.0444096,3.34552,0.000656441,0.00623064,-0.00901907,0.00604007,0,0,0,0.00762981,-0.00822896,-0.00710868,-0.000117248,7.69744e-05,6.30108e-05,1.56429e-05,-0.0804355,0.0162539,0.0297588,0.462813,-0.251606,0.757877,-0.384864,6.36813e-06,-0.00014417,0.000173389,-0.00210391,-0.00190746,-0.00225218,-1.28885,0.410193,-0.402227,0.0237781,0.0312516,0.00153733,1.44271,0.243374,0.131091,-1.1426,-0.272453,-0.0879669,-0.00176103,-0.000400434,3.00358e-05,-0.00242237,-0.000545152,0.000106155,0.131818,0.0279305,-0.0043564,-0.00119222,-0.0192672,-0.0237781,0.0961544,0.0169066,0.03316,-0.591576,-0.287351,0.637974,0.400571,-1.96508e-05,-1.10675e-05,-6.38614e-05,-0.00703305,0.00400891,-0.00615132,0.866046,2.57675,1.00111,-0.0326213,-0.0303529,-0.00342265,-1.37431,0.284799,0.116826,-2.10634,-0.051102,0.171376,-7.01287e-05,-0.000600703,0,0.00575189,-0.00561256,-0.00733548,-0.216911,-0.250425,0.502066,0.00472742,0.022611,0.0326213
2020-02-04.18:52:40.934,0.0867399,0.0840317,0.354217,-0.592868,-0.292823,0.637026,0.396183,-0.00139715,-0.00354157,-0.00223637,-0.000128732,0.00538973,-0.00597459,-0.0155036,-0.0209489,0.00191577,-0.000266422,0.000115954,-6.13042e-05,0.272269,0.0822243,0.133316,-1.74541,0.0858585,0.065134,-0.284221,0.000634956,0.0153604,-0.0159363,0.00740541,0,0,0,0.000472907,-0.00868628,-0.00509085,-0.000339911,-0.000188923,-0.000101945,-7.17644e-05,-0.0423441,0.0882346,0.381435,0.461799,-0.250583,0.758519,-0.385485,0.000878707,-0.00257608,-0.000720123,-0.00240849,0.00384241,-0.00644468,-0.011837,0.0310273,0.00930976,7.30176e-05,-3.89382e-05,0.000106379,-0.409927,0.0290981,0.12401,1.64005,0.435214,0.0444096,3.34552,0.000656441,0.00817653,-0.0103435,0.00692705,0,0,0,-0.00455441,0.00800707,0.000317454,-0.000205219,-1.695e-05,3.94597e-07,6.92461e-05,-0.0804357,0.0162517,0.0297607,0.462805,-0.251608,0.757884,-0.38486,2.59442e-06,-0.000122188,0.000176524,-0.00208635,-0.00192821,-0.00206624,-1.28945,0.501729,-0.389952,0.0243404,0.0303067,0.0019398,1.44268,0.243366,0.131091,-1.1426,-0.272453,-0.0879669,-0.00169742,-0.000229208,3.00358e-05,-0.00238255,-0.000545152,0.000110061,0.136538,0.0184901,0.0153282,-0.000816729,-0.0182851,-0.0243404,0.0961538,0.0169055,0.0331585,-0.591578,-0.287358,0.637971,0.400567,-2.49873e-05,-4.29254e-05,-6.29169e-05,-0.00612855,0.00131806,-0.00344726,0.789141,2.69392,1.0574,-0.031818,-0.0280274,-0.00271956,-1.37431,0.284784,0.116826,-2.10634,-0.051102,0.171376,0,-0.000818499,0,0.00511458,-0.00461305,-0.0037668,-0.218327,-0.264585,0.541435,0.00504033,0.0208995,0.031818
2020-02-04.18:52:40.954,0.0867258,0.08399,0.354188,-0.592853,-0.292781,0.637031,0.396227,-0.00156621,-0.00410015,-0.00264618,1.4693e-05,0.00647912,-0.00718716,-0.000952261,-0.0163408,0.0017757,5.88559e-05,-0.00018358,-6.23304e-05,0.272269,0.0824133,0.133127,-1.74528,0.0858585,0.065134,-0.284221,0.000570419,0.0179444,-0.0184727,0.00910407,0,0,0,0.00100266,-0.00369625,0.000311577,0.000275886,0.000186774,-0.000258486,-3.96024e-05,-0.0423371,0.0882209,0.381427,0.461806,-0.250594,0.758519,-0.385469,0.000932694,-0.00261255,-0.000905492,-0.00205454,0.00413682,-0.00656299,0.00106672,-0.00785586,0.0197637,0.000117657,0.0001143,9.00083e-05,-0.409927,0.0291611,0.123947,1.6401,0.435214,0.0444096,3.34552,0.000656441,0.00895641,-0.0107207,0.00717968,0,0,0,-0.00614365,-0.00423693,-0.00311665,-0.000117248,0.000139591,-9.35298e-05,9.06875e-05,-0.080436,0.0162507,0.0297623,0.462799,-0.251607,0.757889,-0.384859,-5.37045e-06,-0.000149274,0.000223298,-0.00205405,-0.00231248,-0.00228664,-1.24946,0.562992,-0.398794,0.0237781,0.0287616,0.00143445,1.44267,0.243366,0.131091,-1.1426,-0.272453,-0.0879669,-0.00214973,-0.000229208,3.00358e-05,-0.00234993,-0.000545152,0.000113303,0.13701,0.00952173,0.00126777,-0.00112964,-0.0171542,-0.0237781,0.0961531,0.0169033,0.0331574,-0.591595,-0.287393,0.637959,0.400536,-6.83927e-05,-0.000181566,-0.000127023,-0.00516177,0.00270236,-0.00300747,0.691902,2.7703,1.02867,-0.0323803,-0.0271555,-0.00244258,-1.37431,0.28476,0.116826,-2.10634,-0.051102,0.171458,0,-0.00223222,7.98342e-08,0.00465512,-0.00397914,-0.00592518,-0.214079,-0.276858,0.504878,0.00522808,0.0208778,0.0323803
2020-02-04.18:52:40.974,0.0866959,0.0838974,0.354134,-0.592842,-0.292732,0.637042,0.396262,-0.00164511,-0.00429795,-0.00312358,0.000847716,0.00683277,-0.00787086,-0.000281746,0.00972144,-0.0154776,-0.000247142,-0.000135272,-1.11602e-05,0.272269,0.0827911,0.132723,-1.74516,0.0858585,0.065134,-0.284221,0.000471487,0.0200956,-0.0198121,0.00999242,0,0,0,-0.00588407,0.00222003,0.000221439,-0.000603824,6.15414e-05,5.45953e-05,-3.96024e-05,-0.0423239,0.0881768,0.381399,0.461826,-0.250637,0.758523,-0.38541,0.00134171,-0.00238488,-0.000979052,-0.0015794,0.0036455,-0.00531699,-0.00261768,0.00279338,0.0056177,0.00042948,0.000239882,8.99801e-05,-0.409902,0.0293501,0.123758,1.64022,0.435214,0.0444096,3.34552,-0.000614767,0.00939001,-0.0106399,0.00712552,0,0,0,-0.00243541,0.000423941,-0.000358292,-0.000469132,0.000327439,-0.000281378,4.78048e-05,-0.080435,0.016247,0.0297657,0.462785,-0.25161,0.757901,-0.38485,1.97914e-05,-0.000159449,0.000151358,-0.00193797,-0.00167884,-0.00235375,-1.2537,0.68128,-0.386967,0.0261077,0.0314888,0.00154925,1.44263,0.243351,0.131093,-1.1426,-0.272453,-0.0879669,-0.00165407,-0.000609853,3.56941e-05,-0.00228184,-0.000545152,0.00012012,0.13937,-0.00275079,0.0237644,-0.00112964,-0.0198222,-0.0261077,0.0961507,0.016896,0.0331537,-0.591594,-0.287425,0.637959,0.400514,-0.000159976,-0.000473127,-0.000265662,-0.00358716,0.0001075,0.000949501,0.635816,2.93622,1.06306,-0.0298097,-0.0261194,-0.0027185,-1.37431,0.284683,0.116826,-2.10634,-0.051102,0.171458,0,-0.0052378,-3.99487e-07,0.0038954,-0.00306288,-0.00421641,-0.217855,-0.293379,0.513315,0.00472742,0.0204143,0.0298097
2020-02-04.18:52:40.994,0.0866586,0.0838182,0.354068,-0.592843,-0.292746,0.637034,0.396264,-0.00138814,-0.00391381,-0.00316389,0.00102405,0.00013836,-0.000559704,-0.0193708,-0.0123058,0.00363115,-0.000301958,-0.000208166,0.000121008,0.272294,0.0832005,0.13234,-1.7452,0.0858585,0.065134,-0.284221,0,0.0193699,-0.0183406,0.000567018,0,0,0,-0.00058659,0.00155645,-0.00109883,-0.000339911,9.28496e-05,0.000211136,7.83248e-05,-0.0423064,0.0881425,0.381378,0.46182,-0.250625,0.758522,-0.385427,0.0010296,-0.00172746,-0.000681008,-0.00121302,0.00255367,-0.00374834,0.0012823,0.0152988,-0.00471094,-7.16965e-05,-1.03026e-05,7.23772e-05,-0.409902,0.0295075,0.123601,1.64018,0.435214,0.0444096,3.34552,-0.000614767,0.00678446,-0.00776255,0.00519858,0,0,0,0.00180257,0.00325864,-0.000680552,-0.000205219,-1.695e-05,0.000282168,-2.72398e-05,-0.0804343,0.0162439,0.0297686,0.462747,-0.251677,0.757928,-0.384798,-5.67449e-05,-0.000131382,5.63883e-05,-0.00320391,-0.00141378,0.00106672,-1.18235,0.794848,-0.344809,0.0251437,0.029077,0.00147907,1.44261,0.243343,0.131094,-1.1426,-0.27259,-0.0878555,-0.00112406,-0.000695731,-6.31955e-05,-0.00221678,0.00216368,-0.00208211,0.138426,-0.0192715,0.0546974,-0.000879311,-0.0180757,-0.0251437,0.0961466,0.0168824,0.0331478,-0.591574,-0.287456,0.637973,0.400498,-0.000262382,-0.000795313,-0.000422806,-0.00228352,-0.0032004,0.00523612,0.547527,3.1662,1.09231,-0.0270784,-0.0241905,-0.0022865,-1.37431,0.284544,0.116826,-2.10634,-0.051102,0.171376,0,-0.00859534,-6.79611e-07,0.00335998,-0.00249993,-0.002036,-0.222576,-0.31698,0.50769,0.00479,0.0192436,0.0270784
2020-02-04.18:52:41.14,0.0865995,0.0837498,0.354019,-0.59283,-0.292683,0.637035,0.396327,-0.00269334,-0.00301779,-0.00250272,0.000764443,0.00158335,-0.00347627,0.00630233,0.00422332,0.00698374,-0.00042724,-0.000182782,4.24624e-05,0.272393,0.0835469,0.131994,-1.74512,0.0858585,0.065134,-0.284221,0.00447694,0.0166467,-0.0158118,-0.000690718,0,0,0,0.00206215,0.00254919,0.00192288,-0.00104368,6.15414e-05,0.000117212,-7.44046e-06,-0.0422915,0.0881317,0.381371,0.461824,-0.250629,0.758522,-0.38542,0.000637086,-0.000850173,-0.000208135,-0.000893112,0.00096278,-0.0015788,-0.0217501,0.0443578,-0.00982971,-3.38999e-05,0.000149492,4.70719e-06,-0.409927,0.0295705,0.123538,1.64022,0.435214,0.0444096,3.34552,-0.000721763,0.0030822,-0.00388362,0.00260086,0,0,0,0.000213329,0.0155797,0.00598323,5.86941e-05,0.000139591,6.30108e-05,4.9222e-06,-0.0804351,0.0162417,0.0297692,0.462768,-0.251616,0.757915,-0.384838,0.000323925,-6.58003e-05,0.000141359,-0.00328134,-0.00139512,0.0014425,-1.14364,0.943551,-0.38216,0.0262684,0.0295492,0.001491,1.44258,0.243328,0.131093,-1.1426,-0.272453,-0.0879669,-0.00107428,-0.000668997,0.000331426,-0.00215814,0.00243102,-0.00229402,0.14173,-0.0372082,0.0209523,-0.000754146,-0.0188968,-0.0262684,0.0961396,0.0168627,0.0331358,-0.591628,-0.287524,0.63793,0.400438,-0.000375646,-0.00115704,-0.000591463,-0.000363771,-0.00536848,0.0110947,0.565104,3.2594,1.1524,-0.0261947,-0.0248697,-0.00127034,-1.37431,0.28432,0.116826,-2.10634,-0.0512387,0.171406,-7.19631e-05,-0.0122511,-8.58049e-07,0.00293387,0,-0.000309832,-0.228712,-0.325004,0.549872,0.00591649,0.0195795,0.0261947
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