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
2020-02-05.11:08:36.487,0.107212,0.0467132,0.344542,-0.430328,-0.458814,0.460622,0.626207,0.000123251,0.000178585,-8.42337e-05,0.000478744,-0.000473454,0.000488566,-0.393546,0.914386,0.227768,0.000123236,0.0182362,-0.00159354,0.193643,0.164228,0.011418,-1.541,0.118426,0.00592128,-1.05399,-0.000262498,-0.000100891,0.000602581,-0.000403549,0,0,0,0.140326,0.30578,0.0887683,0.0317695,-0.00892389,0.000242444,0.000271297,-0.112489,0.106548,0.377936,0.550544,0.0162919,0.703764,-0.448723,-0.000511889,-0.000628384,-0.000265971,-0.000195329,0.00191995,-0.00287984,-0.937486,0.21144,-0.29132,0.0205294,-0.00818431,-0.0114209,-0.219455,-0.0711078,0.258983,1.08379,-0.00592128,-0.00296064,-3.19749,0.00208649,0.00186152,-0.00200366,0.00139199,0,0,0,0.0224628,0.300341,0.265841,-0.0396162,-0.00928415,-0.000531843,-0.0113054,-0.0696852,0.00799671,0.0377315,0.549804,0.0357394,0.714424,-0.431319,-5.15717e-06,-1.75635e-05,2.15339e-05,-0.0026287,-0.000281571,-0.000960229,-1.27085,0.324705,1.04154,0.000883273,0.0112307,-0.00721127,1.34185,0.189361,0.142545,-1.44015,0.183366,-0.502212,-0.000213455,0,0,-0.00275016,0,7.81548e-05,0.172884,0.0538916,0.819584,-0.00037865,-0.00175048,-0.000883273,0.0799196,-0.00163504,0.0237763,-0.435514,-0.456673,0.456336,0.627324,-3.41795e-06,1.34863e-05,-1.63347e-05,-5.15168e-06,-0.000136101,-0.00011129,0.0011629,1.65445,0.200362,-0.0822669,-0.0366967,-0.0156346,-1.39092,0.0747792,0.129022,-2.83522,-0.153989,0.0185688,-0.000173512,2.87943e-05,0,0,0,0,-0.262225,-0.118731,0.167428,0.000158889,0.03697,0.0822669
2020-02-05.11:08:36.503,0.107221,0.0467117,0.344541,-0.430328,-0.458769,0.46061,0.626248,0.000314976,0.000146032,-0.000103028,0.000394625,-0.00233505,0.00285487,-0.397505,0.908594,0.23491,-0.000229036,0.0174923,-0.00143991,0.193618,0.164228,0.011418,-1.54085,0.118426,0.00592128,-1.05399,-0.000779025,-0.000100891,0.000602581,-0.00290559,0,0,0,0.141916,0.30295,0.0858297,0.030362,-0.00886127,-8.02096e-06,0.000357062,-0.112494,0.10653,0.377936,0.550526,0.0163302,0.703768,-0.448738,-0.000528615,0.00026903,-8.62572e-05,0.000494015,0.00229466,-0.00291874,-0.946717,0.242075,-0.282993,0.0201399,-0.00757924,-0.0115158,-0.21943,-0.0710763,0.258925,1.08368,-0.00592128,-0.00296064,-3.19749,0.00153041,-0.000614987,0.00121206,0.00218303,0,0,0,0.0161058,0.305593,0.265255,-0.0390004,-0.00865799,-0.000437919,-0.0114019,-0.0696854,0.00799621,0.0377324,0.549802,0.0357398,0.714427,-0.431318,-9.29514e-06,-2.69642e-05,3.78164e-05,-0.00262873,-0.000407574,-0.00103088,-1.32982,0.295092,1.0246,0.000722608,0.0104611,-0.00686151,1.34184,0.189361,0.142545,-1.44015,0.183366,-0.502212,-0.000357732,0,0,-0.00275016,0,7.63098e-05,0.180436,0.0571957,0.780215,-0.000441233,-0.000370913,-0.000722608,0.0799194,-0.00163457,0.0237755,-0.435516,-0.456675,0.456333,0.627323,4.30092e-06,-8.1619e-06,2.11611e-05,-5.15146e-06,0.000176154,6.89902e-05,0.00689149,1.70943,0.188041,-0.0828293,-0.0368154,-0.0160548,-1.39093,0.0747792,0.129022,-2.83522,-0.153989,0.0185688,0.000187049,2.87943e-05,0,0,0,0,-0.269306,-0.120619,0.153368,-9.1441e-05,0.0370444,0.0828293
2020-02-05.11:08:36.523,0.107231,0.0467101,0.34454,-0.430326,-0.458778,0.460614,0.62624,-0.000481769,0.00012915,-0.000149186,0.000413802,-0.000945848,0.000644212,-0.399926,0.938357,0.216779,0.000122828,0.0175393,-0.00158293,0.193593,0.164228,0.011418,-1.54085,0.118426,0.00592128,-1.05399,0.00126882,0.000589436,-8.77456e-05,-0.00233558,0,0,0,0.136618,0.314937,0.0930514,0.0307139,-0.0085795,8.59034e-05,0.000228414,-0.112496,0.106538,0.37794,0.550521,0.0163373,0.703768,-0.448744,-0.000370838,0.000118953,-0.000156819,0.000474906,0.00240952,-0.00294631,-0.924083,0.222251,-0.284759,0.0204167,-0.00819094,-0.0115293,-0.21943,-0.0711078,0.258956,1.08366,-0.00592128,-0.00296064,-3.19749,0.00114987,8.69767e-05,0.000510097,0.00265314,0,0,0,0.0192843,0.296853,0.259794,-0.0397042,-0.00928415,-0.000218762,-0.0114126,-0.0696854,0.00799621,0.0377324,0.549802,0.0357398,0.714427,-0.431318,-9.29514e-06,-2.69642e-05,3.78164e-05,-0.00262876,-0.000408237,-0.00102994,-1.34707,0.323452,1.06162,0.00152593,0.0126909,-0.00867817,1.34184,0.189361,0.142545,-1.44015,0.183366,-0.502212,-0.000357732,0,0,-0.00275016,0,7.51594e-05,0.180908,0.0571957,0.822396,-0.000816729,-0.00304287,-0.00152593,0.0799194,-0.00163457,0.0237755,-0.435516,-0.456675,0.456333,0.627323,4.30092e-06,-8.1619e-06,2.11611e-05,-5.15146e-06,0.000176154,6.89902e-05,-0.0363264,1.66662,0.206153,-0.0834719,-0.037812,-0.0159864,-1.39093,0.0747792,0.129022,-2.83522,-0.153989,0.0185688,0.000187049,2.87943e-05,0,0,0,0,-0.263169,-0.124868,0.178677,3.37242e-05,0.0384328,0.0834719
2020-02-05.11:08:36.543,0.10722,0.046705,0.344536,-0.430329,-0.458761,0.460608,0.626255,0.000244807,1.12715e-05,-0.000204139,0.00039147,-0.00187158,0.00228166,-0.391172,0.922526,0.224393,0.000180404,0.0179564,-0.00160848,0.193618,0.16426,0.0113865,-1.54083,0.118426,0.00592128,-1.05399,-0.000682048,0.000524202,-4.76899e-05,-0.00226456,0,0,0,0.139267,0.30919,0.0916445,0.0315936,-0.00873604,-8.02096e-06,0.000260576,-0.112494,0.10653,0.377936,0.550526,0.0163302,0.703768,-0.448738,-0.000340821,0.000292085,-6.68137e-05,0.000478917,0.00200601,-0.00241375,-0.92198,0.238215,-0.30199,0.0207305,-0.0079539,-0.0115305,-0.21943,-0.0710763,0.258925,1.08368,-0.00592128,-0.00296064,-3.19749,0.000918541,-0.000583277,0.00116616,0.00221377,0,0,0,0.0214033,0.298695,0.255448,-0.040232,-0.009065,-0.000343995,-0.0114126,-0.0696856,0.0079957,0.0377333,0.5498,0.0357402,0.714429,-0.431316,1.10545e-05,1.92681e-05,-4.22603e-05,-0.00262878,0.000205581,-0.000674221,-1.29586,0.324807,1.0272,-0.000321717,0.00977105,-0.0073031,1.34183,0.189361,0.142545,-1.44015,0.183366,-0.502212,0.000351817,0,0,-0.00275016,0,7.39813e-05,0.177132,0.0524755,0.802712,-0.00137997,-0.000287679,0.000321717,0.0799194,-0.00163457,0.0237755,-0.435516,-0.456675,0.456333,0.627323,4.29138e-06,-8.13513e-06,2.11147e-05,-5.15146e-06,0.000175768,6.87673e-05,-0.0526653,1.66526,0.180821,-0.0814636,-0.0356595,-0.0149986,-1.39093,0.0747792,0.129022,-2.83522,-0.153989,0.0185688,0.000186603,2.87943e-05,0,0,0,0,-0.260809,-0.124396,0.15618,0.00065955,0.036411,0.0814636
2020-02-05.11:08:36.563,0.10722,0.046705,0.344536,-0.430329,-0.458761,0.460608,0.626255,0.000241706,-4.2281e-07,-0.00019761,0.000361366,-0.00179046,0.00219357,-0.381648,0.899994,0.231418,-1.91454e-05,0.0173547,-0.00144174,0.193618,0.16426,0.0113865,-1.54083,0.118426,0.00592128,-1.05399,-0.000677496,0.000524202,-8.22742e-05,-0.00215051,0,0,0,0.140326,0.300944,0.0888237,0.030362,-0.00861081,-3.93291e-05,0.000357062,-0.112496,0.106538,0.37794,0.550521,0.0163373,0.703768,-0.448744,-0.000325544,0.000415893,9.72481e-06,0.000447931,0.00171051,-0.00204066,-0.931224,0.21753,-0.311376,0.0204042,-0.00812904,-0.0115631,-0.21943,-0.0711078,0.258956,1.08366,-0.00592128,-0.00296064,-3.19749,0.00076836,-0.00111602,0.00165356,0.00188736,0,0,0,0.0272305,0.300017,0.261114,-0.0399681,-0.00922154,6.30108e-05,-0.0114447,-0.0696856,0.0079957,0.0377333,0.5498,0.0357402,0.714429,-0.431316,9.3937e-06,1.54951e-05,-3.57252e-05,-0.00262881,0.00015482,-0.000702308,-1.32255,0.294233,1.05942,-8.07193e-05,0.0110727,-0.00684331,1.34183,0.189361,0.142545,-1.44015,0.183366,-0.502212,0.000293911,0,0,-0.00275016,0,7.29204e-05,0.179492,0.0586118,0.811148,-0.000253485,-0.00096441,8.07193e-05,0.0799196,-0.00163504,0.0237763,-0.435514,-0.456673,0.456336,0.627324,-2.50142e-06,1.09158e-05,-1.18825e-05,-5.15168e-06,-9.9025e-05,-8.98844e-05,-0.0322433,1.69792,0.21306,-0.0825079,-0.0375594,-0.0151163,-1.39092,0.0747792,0.129022,-2.83522,-0.153989,0.0185688,-0.0001307,2.87943e-05,0,0,0,0,-0.266001,-0.124868,0.184301,0.000784716,0.038127,0.0825079
2020-02-05.11:08:36.583,0.107218,0.0466984,0.34453,-0.430329,-0.458754,0.460605,0.626262,0.000180357,-0.000102131,-0.000269197,0.000345951,-0.00147314,0.00179687,-0.373639,0.895301,0.240242,0.000385993,0.0177487,-0.00156601,0.193618,0.164291,0.011355,-1.54081,0.118426,0.00592128,-1.05399,-0.000581336,0.000985101,-0.000573011,-0.00173811,0,0,0,0.144035,0.299359,0.0899118,0.0312417,-0.00845427,0.000179828,0.000271297,-0.112498,0.106546,0.377943,0.550515,0.0163445,0.703768,-0.44875,-0.000311382,0.000497007,6.37629e-05,0.00041695,0.00150715,-0.00178436,-0.918062,0.242699,-0.31333,0.0205709,-0.00774336,-0.0115405,-0.21943,-0.0711393,0.258988,1.08364,-0.00592128,-0.00296064,-3.19749,0.000655533,-0.00147713,0.00197399,0.00167277,0,0,0,0.024052,0.298618,0.252631,-0.0399681,-0.00884584,-0.000312687,-0.0114233,-0.0696856,0.0079957,0.0377333,0.5498,0.0357402,0.714429,-0.431316,8.0461e-06,1.25067e-05,-3.04379e-05,-0.00259591,0.000115621,-0.000714793,-1.23884,0.298151,1.0363,0.000320944,0.00991014,-0.00706055,1.34183,0.189361,0.142545,-1.44015,0.183366,-0.502212,0.000247344,0,0,-0.00271574,0,7.1801e-05,0.169107,0.0557797,0.808336,-0.000941894,-0.000811726,-0.000320944,0.0799196,-0.00163504,0.0237763,-0.435514,-0.456673,0.456336,0.627324,-2.50142e-06,1.09158e-05,-1.18825e-05,-5.15168e-06,-9.9025e-05,-8.98844e-05,-0.0396311,1.69635,0.209038,-0.0837129,-0.0372087,-0.0160547,-1.39092,0.0747792,0.129022,-2.83522,-0.153989,0.0185688,-0.0001307,2.87943e-05,0,0,0,0,-0.266946,-0.125812,0.181489,3.37242e-05,0.037861,0.0837129
2020-02-05.11:08:36.603,0.107227,0.0466968,0.344529,-0.430327,-0.458762,0.460609,0.626254,9.4209e-05,-9.72637e-05,-0.000255776,0.00032224,-0.00128933,0.00152377,-0.361427,0.903843,0.241342,-0.000144807,0.0175126,-0.00156026,0.193593,0.164291,0.011355,-1.54081,0.118426,0.00592128,-1.05399,-0.000352281,0.000985101,-0.00060064,-0.0016372,0,0,0,0.144564,0.303346,0.0957508,0.030274,-0.00879866,0.000211136,0.000217693,-0.112499,0.106555,0.377939,0.550507,0.0163412,0.703766,-0.448763,-0.00025416,0.000263196,0.000190353,-0.000271839,0.00163499,-0.00213697,-0.926661,0.222208,-0.329505,0.0204753,-0.00793643,-0.0114012,-0.21943,-0.0711393,0.259014,1.08362,-0.00592128,-0.00296064,-3.19749,0.000573146,-0.00147713,0.00128744,0.00213255,0,0,0,0.0314685,0.300274,0.25768,-0.0398802,-0.00903369,-0.000187454,-0.0112839,-0.0696856,0.0079957,0.0377333,0.5498,0.0357402,0.714429,-0.431316,7.0271e-06,1.05395e-05,-2.65019e-05,-0.00243942,9.44011e-05,-0.000683692,-1.27423,0.31566,1.02112,0.000642275,0.0109172,-0.0068392,1.34183,0.189361,0.142545,-1.44015,0.183366,-0.502212,0.000213815,0,0,-0.0025521,0,7.07276e-05,0.173356,0.0534196,0.797087,-0.000253485,-0.00126584,-0.000642275,0.0799194,-0.00163457,0.0237755,-0.435516,-0.456675,0.456333,0.627323,3.23113e-06,-5.1634e-06,1.59641e-05,-5.14896e-06,0.000132875,4.4019e-05,-0.0355471,1.72674,0.204543,-0.0834719,-0.0370634,-0.0152972,-1.39093,0.0747792,0.129022,-2.83522,-0.153989,0.0185688,0.000137083,2.87803e-05,0,0,0,0,-0.27025,-0.126284,0.175865,0.000784716,0.0376645,0.0834719
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