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
2020-02-05.13:58:26.230,0.159785,0.0441285,0.305093,-0.448549,-0.163915,0.864347,-0.157605,-0.010649,-0.102309,-0.0249852,0.34598,0.536169,0.962207,-0.00664006,-0.0175652,-0.00820966,-8.8595e-05,0.000374334,-0.000110559,0.0513771,0.285407,-0.0315765,-1.58933,0.769766,0.0562521,0.757923,0.0138281,0.242157,-0.396334,0.0187494,1.07381,-0.570292,-0.103384,-0.00058659,0.00245637,0.00706197,-7.59979e-05,-0.000220232,-0.000383718,-5.03231e-05,-0.0499572,0.0465729,0.317943,0.17133,0.453162,0.0696907,0.872028,-0.00029485,0.000715142,0.000505395,0.000605933,-0.000911802,0.00126196,0.0149352,-0.00871579,-0.00293033,9.43549e-05,9.13379e-05,0.000102017,-0.326049,0.301153,-0.0823516,1.43053,0.666144,0.18356,-0.598049,0,-0.00300653,0.00352972,-0.00158661,0,0,0,-0.000846168,0.00567137,0.00137437,-0.000117248,1.43582e-05,0.00025086,4.9222e-06,-0.107281,0.00918091,0.0324553,0.171462,0.453624,0.0693848,0.871786,-0.000164686,0.000667117,0.00036163,-0.00199944,-0.00386797,0.00582307,-0.410299,0.732732,0.315376,-0.00795332,-0.0056762,0.00753854,1.35443,0.239729,0.10568,1.31937,0.354982,-0.253933,-0.000167692,0.00784598,2.6285e-05,-0.00073682,0,-0.00066342,-0.0399973,0.0845729,0.316221,0.000747837,0.0111217,0.00795332,0.0804335,0.0134813,0.0357712,-0.461716,-0.145079,0.862806,-0.14607,-0.00395901,-0.039529,-0.0110928,0.348756,0.428498,1.03862,4.13382,5.74169,1.55354,-0.0890149,-0.139471,-0.0202613,-1.38675,0.22545,0.13235,-0.899989,0.276552,0.541944,0.0544759,-0.341356,-0.00264203,0.215296,0.430069,0.880434,0.175337,-0.904644,-0.439982,0.0139896,0.0923187,0.0890149
2020-02-05.13:58:26.237,0.159011,0.0385588,0.303899,-0.434209,-0.182024,0.864867,-0.174171,-0.0180797,-0.116401,-0.0212525,0.351512,0.548643,0.989574,0.00441896,-0.0230986,-0.028999,0.000665056,-0.000339099,-0.000179061,0.0526157,0.298067,-0.0529934,-1.58931,0.823057,0.0296064,0.757923,0.030554,0.25259,-0.443466,-0.0221897,1.10015,-0.60148,-0.103384,-0.00164609,0.011027,0.0141382,0.000803712,-0.000220232,0.000586833,-3.96024e-05,-0.0499359,0.0466016,0.317956,0.171315,0.45314,0.0697525,0.872038,0.000335848,0.00042686,0.000323585,0.000155784,-0.000759523,0.00128497,-0.0158942,-0.000743672,-0.00106609,-0.00037426,-0.000251607,-6.32808e-05,-0.326123,0.30109,-0.0822623,1.43047,0.666144,0.18356,-0.598049,-0.00120307,-0.00136262,0.0015053,-0.000296583,0,0,0,0.00339182,-0.00548707,-0.00323448,-0.00029319,-1.695e-05,-0.000469227,-4.86811e-05,-0.107286,0.00921123,0.0324741,0.171354,0.453566,0.0695128,0.871828,-9.06838e-05,0.00060599,0.0002678,-0.00173412,-0.00274943,0.00533679,-0.320823,0.592065,0.351702,-0.00899765,-0.00709498,0.00793832,1.35441,0.240092,0.105684,1.31937,0.354982,-0.253933,0.000517193,0.0067222,5.9532e-05,-0.000637988,0,-0.000543089,-0.0366932,0.0699403,0.347154,0.000873002,0.0117812,0.00899765,0.0801667,0.0112548,0.0352277,-0.446474,-0.163824,0.864485,-0.162751,-0.00664828,-0.0475839,-0.0114467,0.249627,0.502792,1.07078,3.35028,4.23966,1.30655,-0.0888542,-0.13252,-0.0182694,-1.3834,0.206143,0.132302,-0.884892,0.305656,0.581839,0.0781688,-0.409039,0.000151354,0.319053,0.50405,0.841236,0.150792,-0.698844,-0.172834,0.016493,0.0902668,0.0888542
2020-02-05.13:58:26.251,0.159011,0.0385588,0.303899,-0.434209,-0.182024,0.864867,-0.174171,-0.0180797,-0.116401,-0.0212525,0.351512,0.548643,0.989574,0.00441896,-0.0230986,-0.028999,0.000665056,-0.000339099,-0.000179061,0.0526157,0.298067,-0.0529934,-1.58931,0.823057,0.0296064,0.757923,0.030554,0.25259,-0.443466,-0.0221897,1.10015,-0.60148,-0.103384,-0.00164609,0.011027,0.0141382,0.000803712,-0.000220232,0.000586833,-3.96024e-05,-0.0499359,0.0466016,0.317956,0.171315,0.45314,0.0697525,0.872038,0.000335848,0.00042686,0.000323585,0.000155784,-0.000759523,0.00128497,-0.0158942,-0.000743672,-0.00106609,-0.00037426,-0.000251607,-6.32808e-05,-0.326123,0.30109,-0.0822623,1.43047,0.666144,0.18356,-0.598049,-0.00120307,-0.00136262,0.0015053,-0.000296583,0,0,0,0.00339182,-0.00548707,-0.00323448,-0.00029319,-1.695e-05,-0.000469227,-4.86811e-05,-0.107286,0.00921123,0.0324741,0.171354,0.453566,0.0695128,0.871828,-9.06838e-05,0.00060599,0.0002678,-0.00173412,-0.00274943,0.00533679,-0.320823,0.592065,0.351702,-0.00899765,-0.00709498,0.00793832,1.35441,0.240092,0.105684,1.31937,0.354982,-0.253933,0.000517193,0.0067222,5.9532e-05,-0.000637988,0,-0.000543089,-0.0366932,0.0699403,0.347154,0.000873002,0.0117812,0.00899765,0.0801667,0.0112548,0.0352277,-0.446474,-0.163824,0.864485,-0.162751,-0.00664828,-0.0475839,-0.0114467,0.249627,0.502792,1.07078,3.35028,4.23966,1.30655,-0.0888542,-0.13252,-0.0182694,-1.3834,0.206143,0.132302,-0.884892,0.305656,0.581839,0.0781688,-0.409039,0.000151354,0.319053,0.50405,0.841236,0.150792,-0.698844,-0.172834,0.016493,0.0902668,0.0888542
2020-02-05.13:58:26.271,0.158632,0.0361515,0.303497,-0.427669,-0.190094,0.864912,-0.181355,-0.018872,-0.12121,-0.0182808,0.380498,0.598633,1.03246,0.0149043,-0.00516271,-0.0227618,0.000168943,0.000183817,-6.92231e-05,0.0532598,0.303169,-0.0621187,-1.58961,0.846743,0.0177638,0.757923,0.0318145,0.250464,-0.456952,-0.00572129,1.16421,-0.647238,-0.103384,-0.00164609,0.0110375,0.0086768,9.99441e-05,-0.00025154,-3.93291e-05,-2.88818e-05,-0.0499195,0.0466128,0.317965,0.171301,0.453128,0.0697817,0.872044,0.000723629,0.000265054,9.92631e-05,9.53515e-05,-0.000520295,0.00123687,0.00835226,0.000906195,-0.0139502,0.000732936,1.44509e-05,-0.000270964,-0.326173,0.301059,-0.0822308,1.43045,0.666144,0.18356,-0.598049,-0.00190886,0,0.000144105,0.000591666,0,0,0,0.00339182,0.00616511,0.00519319,0.00111435,0.000296131,0.000282168,-5.79846e-06,-0.107287,0.00922029,0.0324782,0.171323,0.453556,0.0695502,0.871836,-6.00549e-05,0.000456823,0.000286269,-0.0014439,-0.00286014,0.00384186,-0.279771,0.536409,0.430984,-0.00867632,-0.00661114,0.00757045,1.35441,0.240192,0.105685,1.31937,0.354982,-0.253933,-0.000339124,0.0054163,8.053e-05,-0.000605369,0,-0.000506528,-0.0362212,0.0619159,0.420268,0.000998168,0.0108469,0.00867632,0.0800351,0.0102676,0.0349979,-0.440722,-0.171465,0.864514,-0.170231,-0.00616933,-0.0492009,-0.0109669,0.259184,0.474078,1.05273,3.07003,3.5484,1.30513,-0.0890952,-0.130013,-0.0206964,-1.38168,0.19771,0.132305,-0.878181,0.31563,0.598536,0.090378,-0.416215,4.73438e-05,0.293512,0.469647,0.813363,0.141352,-0.612936,0.0774416,0.0153665,0.0911357,0.0890952
2020-02-05.13:58:26.291,0.158238,0.0336629,0.303173,-0.421575,-0.199158,0.864323,-0.188562,-0.0200575,-0.127831,-0.0139425,0.327325,0.67171,1.03523,0.012579,-0.0200007,-0.0223191,-0.000151788,-0.000331589,-0.000326605,0.0539286,0.308144,-0.0714336,-1.58964,0.870428,0.00296064,0.757923,0.033896,0.246791,-0.474845,-0.0144911,1.21446,-0.59114,-0.103384,0.0015324,0.0116135,0.0125822,0.000715741,0.000343314,-0.000133253,-2.88818e-05,-0.0499005,0.0466184,0.317968,0.171291,0.453121,0.0698025,0.872048,0.000828876,0.000297788,0.000117554,9.97454e-05,-0.000674601,0.0014951,0.0152626,-0.0151573,0.0144157,-2.05695e-05,-0.000315389,-9.30067e-05,-0.326222,0.301059,-0.0822308,1.43045,0.666144,0.18356,-0.598049,-0.00218404,-4.25473e-06,0.000151081,0.000565432,0,0,0,-0.0056139,0.00135018,-0.00461366,-0.000117248,0.000233515,-0.000156146,-0.000123726,-0.107288,0.00922696,0.0324835,0.171299,0.453538,0.0695787,0.871848,8.68832e-06,0.000321628,0.00013435,-0.000999706,-0.00117821,0.0025689,-0.260988,0.52693,0.420055,-0.00923865,-0.00818845,0.0085865,1.3544,0.240277,0.105687,1.31937,0.354982,-0.253933,0.000471465,0.003393,8.25124e-05,-0.000575465,0,-0.000474201,-0.0338611,0.0581398,0.425892,0.00112333,0.0115935,0.00923865,0.079902,0.00922929,0.0347711,-0.435082,-0.17984,0.864173,-0.177671,-0.00617824,-0.0507228,-0.0102483,0.258673,0.502927,1.10674,2.87292,2.97107,1.49637,-0.0902199,-0.132418,-0.0208319,-1.37974,0.18896,0.132314,-0.87252,0.325195,0.615976,0.101386,-0.425547,0.000643236,0.325013,0.480673,0.863497,0.147488,-0.551573,0.448637,0.0179949,0.0939736,0.0902199
2020-02-05.13:58:26.311,0.157835,0.0310032,0.302932,-0.412898,-0.206508,0.865136,-0.195982,-0.0196538,-0.134215,-0.00927843,0.26805,0.719309,1.00301,0.0293479,-0.00962791,-0.0350637,0.000434962,-0.000188368,-0.000400745,0.0545974,0.31312,-0.0812481,-1.59008,0.897073,-0.00592128,0.757923,0.0320751,0.241855,-0.491394,-0.0146952,1.22166,-0.531009,-0.103384,0.000472907,0.0189445,0.0143149,0.00106763,-0.000157615,0.00014852,-2.88818e-05,-0.0498692,0.0466211,0.317967,0.171278,0.453115,0.0698254,0.872052,0.00153332,0.000544369,0.00027915,0.000109896,-0.00171501,0.00323368,0.00158255,0.00197908,0.00852737,-0.000162887,-2.30226e-05,3.38634e-05,-0.326297,0.30109,-0.0822623,1.43047,0.666144,0.18356,-0.598049,-0.00406005,-0.000203128,0.000349407,0.000411926,0,0,0,-0.00349491,-0.00140749,-0.00123847,-0.00029319,-4.82581e-05,-3.09135e-05,-5.94017e-05,-0.107287,0.00922986,0.0324856,0.17129,0.453534,0.0695899,0.871851,7.25833e-05,0.000102971,3.54879e-05,-0.000450757,-4.05093e-05,0.000421726,-0.214854,0.501303,0.467908,-0.00755166,-0.00657227,0.00718578,1.3544,0.240308,0.105689,1.31937,0.354982,-0.253933,0.000370507,0.000878359,8.95613e-05,-0.000548582,0,-0.000446046,-0.032445,0.0553076,0.468074,0.00118592,0.0101219,0.00755166,0.0797727,0.00818841,0.0345741,-0.428542,-0.187437,0.864245,-0.185201,-0.00657264,-0.0518575,-0.00875878,0.24838,0.60683,1.06988,2.62547,2.47156,1.74495,-0.0921478,-0.130634,-0.0223832,-1.37761,0.18021,0.132341,-0.865181,0.336126,0.632873,0.110345,-0.433319,0.00212772,0.325084,0.581972,0.839547,0.165425,-0.497291,0.814207,0.0164304,0.0946814,0.0921478
2020-02-05.13:58:26.331,0.157459,0.0282886,0.302788,-0.405817,-0.214205,0.865037,-0.202831,-0.0173852,-0.139157,-0.0047272,0.313566,0.734511,1.05903,0.0146155,-0.0138071,-0.0359727,-0.000244371,0.000262342,0.000260537,0.055192,0.317875,-0.0911315,-1.59032,0.920759,-0.0177638,0.757923,0.0258897,0.235382,-0.50245,-0.0106105,1.22226,-0.603727,-0.0984844,0.0036514,0.0171078,0.0151049,1.19731e-05,0.000186774,-0.000227178,4.61628e-05,-0.0498433,0.0466351,0.317978,0.171259,0.4531,0.069865,0.872061,0.0015802,0.000718952,0.000457131,0.000146086,-0.00223272,0.00390203,-0.00384728,0.00643553,-0.00667589,-5.71849e-05,-0.000119405,0.000264747,-0.326371,0.301059,-0.0822308,1.43045,0.666144,0.18356,-0.598049,-0.0043592,-0.00100092,0.00114488,-0.00013975,0,0,0,0.00180257,0.000500967,0.00263573,-0.000469132,0.000139591,6.30108e-05,0.000122849,-0.107283,0.0092309,0.0324869,0.171216,0.453527,0.0695192,0.871875,0.000190352,7.57285e-05,5.75112e-05,0.000141486,0.000148327,0.000232786,-0.135823,0.566231,0.492055,-0.00875665,-0.00834864,0.00940944,1.3544,0.240308,0.105693,1.31916,0.354982,-0.253933,0.000307257,0.000484345,0.000204979,0,0,-0.000421952,-0.0263088,0.0656921,0.473698,0.00143625,0.0132529,0.0106846,0.0796183,0.00713968,0.0344149,-0.421323,-0.195779,0.864388,-0.192329,-0.00804709,-0.0515958,-0.00699038,0.311458,0.648608,1.1391,2.30198,2.39301,2.19052,-0.0903805,-0.128585,-0.0204017,-1.37532,0.17146,0.132416,-0.85868,0.348423,0.650698,0.118621,-0.427464,0.00458779,0.320163,0.593492,0.942259,0.222067,-0.483131,1.06167,0.0170562,0.0937204,0.0903805
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