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
2020-02-05.10:47:10.840,0.158915,0.0653463,0.350261,-0.422504,-0.430323,0.335874,0.723534,0.00135766,-6.06183e-05,-0.000155036,0.000241718,-0.00445161,0.0061925,-0.196679,1.34572,-0.648116,-0.00299979,0.0163511,0.000365336,0.0597996,0.0889635,0.107932,-1.20257,0.00296064,0.00888192,-1.25531,-0.00386318,0.000400372,-0.00011373,-0.00379889,0,0,0,-0.117131,0.506393,0.321065,0.0299221,-0.00792203,-0.0006968,0.000410665,-0.0711137,0.0771127,0.319147,0.642613,-0.35797,0.388081,-0.555247,0.00107989,0.000722318,0.000744745,-0.000215882,-0.00296266,0.00410399,-0.466495,1.12166,0.3961,-0.020256,-0.00292984,0.00277779,-0.295604,0.234549,0.0448442,1.60565,-0.299024,-0.0118426,-2.45733,-0.00354167,-0.00267674,0.00232056,-0.00155408,0,0,0,-0.00932214,0.474233,0.328981,0.023371,-0.0151388,0.00488446,1.56429e-05,-0.0701119,0.0251332,0.0432017,0.64464,-0.367651,0.37571,-0.55508,0.000215768,3.71657e-05,7.14256e-05,0,0,0,-1.062,2.73618,1.32107,-0.0123716,-0.020637,-0.0117238,1.37286,0.299279,0.146062,-0.448317,0.303606,0.408718,0,0,0.000230301,0,0,0,0.439575,-0.0343761,-0.19839,-0.0143972,0.0332608,0.0123716,0.0851522,0.0290826,0.0403222,-0.422184,-0.43322,0.332654,0.72348,1.07275e-06,-3.02283e-06,5.2357e-06,-1.35525e-20,4.55882e-05,2.63203e-05,-2.00425,0.485667,1.1621,-0.0343083,-0.0189058,-0.00305186,-1.39492,0.365957,0.131665,-3.08999,-0.0666786,0.0858183,5.26407e-05,0,0,0,0,0,-0.087106,-0.266001,1.24727,0.00122279,0.0373366,0.0343083
2020-02-05.10:47:10.851,0.158941,0.0653378,0.350255,-0.422497,-0.430342,0.335887,0.72352,0.000362209,0.00033689,0.000131038,0.000203343,-0.00340202,0.00414057,-0.185946,1.34881,-0.670984,-0.00254454,0.0170351,0.000212903,0.0597252,0.088995,0.1079,-1.20255,0.00296064,0.00888192,-1.25531,-0.000964322,-0.00115832,0.00141359,-0.00440769,0,0,0,-0.125077,0.508723,0.323622,0.0315056,-0.00770287,-0.0006968,0.000260576,-0.0710896,0.0771257,0.319157,0.642617,-0.35793,0.388076,-0.555272,0.000567172,0.000344806,0.00042197,-0.000239993,-0.0015526,0.00209703,-0.43584,1.12855,0.406628,-0.0200708,-0.00292477,0.0025994,-0.295678,0.234517,0.0448756,1.60563,-0.299024,-0.0118426,-2.45733,-0.00189012,-0.00149221,0.0011754,-0.000787166,0,0,0,-0.00243541,0.474248,0.321732,0.0237229,-0.0152327,0.00519754,-1.65191e-05,-0.0701119,0.0251332,0.0432017,0.64464,-0.367651,0.37571,-0.55508,0.000225436,3.88311e-05,7.46261e-05,0,0,0,-1.06876,2.77538,1.31466,-0.0132553,-0.0203843,-0.0110658,1.37286,0.299279,0.146062,-0.448317,0.303606,0.408718,0,0,0.000240621,0,0,0,0.444295,-0.0372082,-0.220887,-0.014272,0.0328288,0.0132553,0.0851522,0.0290826,0.0403222,-0.422184,-0.43322,0.332654,0.72348,1.09393e-05,-3.08251e-05,5.33906e-05,-1.35525e-19,0.000464882,0.0002684,-2.03095,0.50043,1.1729,-0.0345493,-0.0180081,-0.00174124,-1.39492,0.365957,0.131665,-3.08999,-0.0666786,0.0858183,0.000536799,0,0,0,0,0,-0.0885221,-0.268362,1.25852,0.00247445,0.0365727,0.0345493
2020-02-05.10:47:10.871,0.158941,0.0653378,0.350255,-0.422497,-0.430342,0.335887,0.72352,0.000335573,0.000334656,0.000133614,0.000194619,-0.00328116,0.00398143,-0.198489,1.33232,-0.649035,-0.00281285,0.0164153,0.0002258,0.0597252,0.088995,0.1079,-1.20255,0.00296064,0.00888192,-1.25531,-0.000889072,-0.00115832,0.00140338,-0.00428226,0,0,0,-0.117661,0.501902,0.316691,0.0300981,-0.00776549,-0.000634183,0.000271297,-0.0710896,0.0771257,0.319157,0.642627,-0.358051,0.38807,-0.555186,0.000451727,0.000274321,0.000362163,-0.000113377,-0.00239665,0.00279871,-0.458656,1.14629,0.391409,-0.0205892,-0.00290161,0.00272456,-0.295678,0.234517,0.0448756,1.60593,-0.299024,-0.0118426,-2.45733,-0.00148255,-0.00126507,0.000959572,-0.00222584,0,0,0,-0.00614365,0.479902,0.328101,0.023547,-0.0153266,0.00522885,-1.65191e-05,-0.0701119,0.0251332,0.0432017,0.64464,-0.367651,0.37571,-0.55508,0.000278204,4.79203e-05,9.20939e-05,0,0,0,-1.08817,2.79203,1.31244,-0.0125323,-0.0208574,-0.011187,1.37286,0.299279,0.146062,-0.448317,0.303606,0.408718,0,0,0.000296943,0,0,0,0.446655,-0.0353202,-0.234947,-0.0140217,0.0334878,0.0125323,0.0851523,0.0290822,0.040323,-0.422182,-0.433218,0.332656,0.72348,-2.55307e-05,7.1938e-05,-0.0001246,5.42101e-20,-0.00108492,-0.000626378,-1.97409,0.432735,1.12845,-0.0347903,-0.0195237,-0.00253681,-1.39491,0.365957,0.131665,-3.08999,-0.0666786,0.0858183,-0.00125276,0,0,0,0,0,-0.0809697,-0.262697,1.21634,0.00178604,0.0376336,0.0347903
2020-02-05.10:47:10.891,0.158941,0.0653378,0.350255,-0.422497,-0.430342,0.335887,0.72352,0.000278255,0.000314842,0.00012505,0.000183612,-0.00305961,0.00368316,-0.199479,1.33246,-0.639493,-0.00277542,0.016327,0.000183224,0.0597252,0.088995,0.1079,-1.20255,0.00296064,0.00888192,-1.25531,-0.000730534,-0.00107977,0.00131129,-0.00406757,0,0,0,-0.114482,0.501567,0.317073,0.0299221,-0.00770287,-0.000602875,0.000228414,-0.0710921,0.0771318,0.319163,0.642626,-0.358043,0.38807,-0.555192,0.000426532,3.01359e-06,0.000105469,-0.000166681,-0.00162532,0.00191307,-0.469114,1.13884,0.39165,-0.0202757,-0.00295402,0.00284851,-0.295678,0.234486,0.0449071,1.60591,-0.299024,-0.0118426,-2.45733,-0.00113485,0,-0.000290875,-0.00138842,0,0,0,-0.00614365,0.479645,0.331359,0.0231951,-0.0151701,0.00507231,0.000144291,-0.0701107,0.0251334,0.0432021,0.64464,-0.367651,0.37571,-0.55508,-0.000238786,-4.11306e-05,-7.90454e-05,0,0,0,-1.07552,2.74277,1.33817,-0.012934,-0.0202002,-0.0111598,1.37286,0.299279,0.146063,-0.448317,0.303606,0.408718,0,0,-0.00025487,0,0,0,0.442407,-0.0339041,-0.189954,-0.014272,0.0327589,0.012934,0.0851523,0.0290822,0.040323,-0.422182,-0.433218,0.332656,0.72348,-2.59721e-05,7.3182e-05,-0.000126755,5.42101e-20,-0.00110368,-0.000637209,-1.9575,0.420695,1.14833,-0.035192,-0.0204191,-0.00219381,-1.39491,0.365957,0.131665,-3.08999,-0.0666786,0.0858183,-0.00127442,0,0,0,0,0,-0.0800257,-0.261281,1.23602,0.00222412,0.0383453,0.035192
2020-02-05.10:47:10.911,0.15895,0.0653466,0.35025,-0.422485,-0.430363,0.335888,0.723515,-2.5182e-05,-0.000346052,-0.00024328,-2.25338e-05,-0.00127308,0.001451,-0.196969,1.31192,-0.607191,-0.00297446,0.0159199,0.000215881,0.0597005,0.088995,0.107926,-1.20257,0.00296064,0.00888192,-1.25531,0,0.00151667,-0.00151667,-0.00193045,0,0,0,-0.105477,0.492657,0.313167,0.0293063,-0.00776549,-0.000884648,0.000260576,-0.0710807,0.0771281,0.319158,0.642628,-0.358041,0.388068,-0.555192,0.000114704,-0.000328231,-0.000184535,-0.000208147,-0.000489982,0.000378357,-0.47853,1.13393,0.406013,-0.0202883,-0.00294646,0.00274362,-0.295703,0.234517,0.0448756,1.60593,-0.299024,-0.0118426,-2.45733,0,0.00120684,-0.00147448,-0.00059576,0,0,0,-0.0109114,0.481219,0.335673,0.0229312,-0.0151701,0.00532277,0.000112129,-0.0701119,0.0251332,0.0432017,0.64464,-0.367651,0.37571,-0.55508,0.000155179,2.67293e-05,5.13688e-05,0,0,0,-1.10984,2.74359,1.32455,-0.0132553,-0.0195037,-0.0111917,1.37286,0.299279,0.146062,-0.448317,0.303606,0.408718,0,0,0.000165631,0,0,0,0.443351,-0.0306,-0.212451,-0.0146475,0.0324447,0.0132553,0.0851523,0.0290822,0.040323,-0.422182,-0.433218,0.332656,0.72348,-3.34118e-06,9.41447e-06,-1.63063e-05,0,-0.000141982,-8.19736e-05,-1.98934,0.472929,1.16483,-0.0335853,-0.0190971,-0.00225681,-1.39491,0.365957,0.131665,-3.08999,-0.0666786,0.0858183,-0.000163947,0,0,0,0,0,-0.0908822,-0.262225,1.26133,0.00166087,0.0371184,0.0346296
2020-02-05.10:47:10.931,0.158941,0.0653399,0.350245,-0.422489,-0.430345,0.33588,0.723527,0.000131817,-0.000333169,-0.000233227,-2.13418e-05,-0.00142597,0.001756,-0.174269,1.30749,-0.621675,-0.00287408,0.0162308,0.000333211,0.0597252,0.0890265,0.107895,-1.20254,0.00296064,0.00888192,-1.25531,-0.000441469,0.00142496,-0.00142496,-0.00182758,0,0,0,-0.112893,0.491484,0.316515,0.0298342,-0.00776549,-0.000759416,0.000378503,-0.0710896,0.0771257,0.319157,0.642627,-0.358051,0.38807,-0.555186,-8.27079e-06,-0.000305688,-0.000159641,-0.000180391,-0.000458008,0.00024496,-0.486296,1.12213,0.390747,-0.0196995,-0.00294831,0.00245146,-0.295678,0.234517,0.0448756,1.60593,-0.299024,-0.0118426,-2.45733,0.000289792,0.000976148,-0.0012286,-0.000760425,0,0,0,-0.00614365,0.477134,0.335524,0.0219635,-0.0147944,0.00529147,-4.86811e-05,-0.0701119,0.0251332,0.0432017,0.64464,-0.367651,0.37571,-0.55508,0.000284071,4.89308e-05,9.4036e-05,0,0,0,-1.09815,2.76235,1.31584,-0.0128536,-0.0206764,-0.011794,1.37286,0.299279,0.146062,-0.448317,0.303606,0.408718,0,0,0.000303205,0,0,0,0.444295,-0.032016,-0.223699,-0.0146475,0.0336538,0.0128536,0.0851523,0.0290822,0.040323,-0.422182,-0.433218,0.332656,0.72348,-3.39811e-06,9.57489e-06,-1.65842e-05,1.35525e-20,-0.000144402,-8.33704e-05,-1.97461,0.44532,1.16628,-0.0328623,-0.0178941,-0.00196225,-1.39491,0.365957,0.131665,-3.08999,-0.0666786,0.0858183,-0.000166741,0,0,0,0,0,-0.0809697,-0.260809,1.25289,0.00209895,0.0359654,0.0328623
2020-02-05.10:47:10.951,0.15894,0.0653234,0.350245,-0.422499,-0.430325,0.335881,0.723532,9.40915e-05,-0.000675065,-0.000208067,-0.000637374,-0.0007583,0.00103337,-0.155552,1.32639,-0.631828,-0.00291108,0.0163181,0.000291322,0.0597252,0.089058,0.107837,-1.20251,0.00296064,0.00888192,-1.25531,-0.000382681,0.00195589,-0.00258377,-0.000908956,0,0,0,-0.117661,0.498547,0.326318,0.0295702,-0.0078281,-0.00035241,0.000335621,-0.0710871,0.0771197,0.319151,0.642628,-0.35806,0.38807,-0.55518,-7.7719e-05,-0.000106538,2.47843e-05,-0.000112675,-0.000947208,0.000744491,-0.472901,1.11882,0.39298,-0.0199519,-0.00322209,0.00271893,-0.295678,0.234549,0.0448442,1.60595,-0.299024,-0.0118426,-2.45733,0.00026118,-1.73008e-05,-0.000221046,-0.00143518,0,0,0,-0.00826264,0.474227,0.33077,0.0223154,-0.0151701,0.00507231,0.000144291,-0.0701119,0.0251332,0.0432017,0.64464,-0.367651,0.37571,-0.55508,0.000245074,4.22137e-05,8.11269e-05,0,0,0,-1.075,2.76994,1.28875,-0.0118093,-0.020371,-0.0108866,1.37286,0.299279,0.146062,-0.448317,0.303606,0.408718,0,0,0.000261582,0,0,0,0.441463,-0.0357922,-0.243383,-0.0136462,0.0328022,0.0118093,0.0851523,0.0290822,0.040323,-0.422182,-0.433218,0.332656,0.72348,-2.99286e-06,8.433e-06,-1.46064e-05,1.35525e-20,-0.000127181,-7.34277e-05,-1.9757,0.475703,1.16033,-0.0355936,-0.0191872,-0.00271539,-1.39491,0.365957,0.131665,-3.08999,-0.0666786,0.0858183,-0.000146855,0,0,0,0,0,-0.087106,-0.262697,1.24446,0.00166087,0.0373282,0.0355936
2020-02-05.10:47:10.971,0.158948,0.0653137,0.350249,-0.4225,-0.430382,0.33591,0.723485,2.01675e-05,-0.000597015,-0.000242409,-0.000398921,0.000987586,-0.00103977,-0.154657,1.31139,-0.623548,-0.00280538,0.0159337,0.000227056,0.0597005,0.089058,0.107811,-1.20264,0.00296064,0.00888192,-1.25531,-0.000164969,0.00195589,-0.00237411,0.00158994,0,0,0,-0.116072,0.49297,0.322589,0.0292184,-0.00760895,-0.000665491,0.000271297,-0.0710852,0.0771103,0.319155,0.642633,-0.358062,0.388077,-0.555167,-8.85149e-05,-1.12487e-05,-2.24557e-06,0.000130262,-0.001032,0.000932204,-0.46812,1.12118,0.409916,-0.0204858,-0.00306682,0.00275022,-0.295678,0.234549,0.0448179,1.60597,-0.299024,-0.0118426,-2.45733,0.000235007,-5.66683e-05,5.66683e-05,-0.00162117,0,0,0,-0.0140899,0.475812,0.330919,0.023283,-0.0153892,0.00513493,3.70842e-05,-0.0701119,0.0251332,0.0432017,0.64464,-0.367651,0.37571,-0.55508,0.000246354,4.24341e-05,8.15504e-05,0,0,0,-1.0949,2.82036,1.34307,-0.0125323,-0.0194219,-0.0114473,1.37286,0.299279,0.146062,-0.448317,0.303606,0.408718,0,0,0.000262947,0,0,0,0.450903,-0.0372082,-0.220887,-0.0148978,0.0323353,0.0125323,0.0851522,0.0290826,0.0403222,-0.422184,-0.43322,0.332654,0.72348,0,0,0,0,0,0,-2.05432,0.483186,1.16136,-0.033746,-0.0179726,-0.00211394,-1.39492,0.365957,0.131665,-3.08999,-0.0666786,0.0858183,0,0,0,0,0,0,-0.0856899,-0.271194,1.25008,0.00203637,0.036782,0.033746
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