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
2020-02-05.13:27:52.924,0.114093,0.149594,0.258724,-0.611907,-0.0273403,0.764744,0.199972,-0.0317492,0.0272068,-0.0216491,0.186556,1.04418,1.96269,-0.0392645,-0.0360679,-0.0105867,0.000987437,0.000647843,-5.59327e-06,0.200083,0.379126,0.182815,-1.64117,0.0414489,0.222048,0.763845,0.101466,0.0972769,0.000411473,0.0151169,2.26155,-0.0876793,0.135901,-0.00535432,-0.00729261,0.00659419,0.000715741,-0.00112817,-0.00019587,1.40009e-05,-0.105925,0.144559,0.287761,0.158911,0.58179,0.366084,0.708696,-0.00284819,0.000914974,-0.00263557,0.00822051,0.00540589,-0.00632781,0.00482739,-0.00605846,0.00655833,-0.000513959,-3.98298e-05,-0.000122572,-0.231073,0.262513,0.226845,1.29626,0.0799372,0.133229,-0.272379,0.00894405,0.00889301,-0.000543398,-0.000862256,0,0,0,-0.00296516,0.00133966,-0.000153859,-0.000908987,-0.000110874,-9.35298e-05,-0.000155888,-0.105236,0.0314596,0.0414394,0.159794,0.579602,0.365546,0.710565,-0.000456936,4.86244e-05,-0.000288917,0.00694346,0.00177711,-0.014149,3.39839,-0.398647,-0.333294,-0.00650734,-0.00745728,0.00422309,1.35997,0.459364,0.114608,1.86855,-0.0136636,-0.155483,0.00301303,0.00155612,-0.000498696,0,0.0136904,-0.0123901,0.31685,0.0760765,-0.437417,0.00306339,-0.022904,0.00650734,0.0861754,0.0455502,0.0297263,-0.619657,-0.00297918,0.75599,0.21094,-0.0136534,0.0133286,0.00193899,0.0849387,1.10697,1.92946,12.0241,-5.8139,0.847007,-0.0887739,-0.211071,-0.00666563,-1.54683,0.444636,0.132656,-1.34726,0.027054,0.1074,-0.172227,0.0160002,0.0179581,0.890349,1.61752,1.53244,-1.2648,0.324495,1.79,0.014991,0.10115,0.0887739
2020-02-05.13:27:52.937,0.113211,0.149744,0.257881,-0.596692,-0.0419769,0.781884,0.175652,-0.0279867,-0.0178822,-0.0324484,0.0530633,1.17846,2.14859,0.0248596,-0.0832376,0.0516908,-0.000227669,-0.000251604,-4.62113e-05,0.202511,0.383063,0.180615,-1.63969,0.112504,0.222048,0.775687,0.0633503,0.156794,-0.144554,0.0859035,2.42697,-0.0876793,0.228415,0.0174249,0.0163199,0.0333047,0.000363857,0.000312006,-0.000321102,-7.44046e-06,-0.10599,0.144602,0.287678,0.159079,0.581782,0.366105,0.708654,-0.00181471,0.001888,-0.00222705,0.00941875,0.00216953,-0.00190859,-0.0103632,0.00167986,-0.0183057,0.000366422,0.000257077,5.5408e-05,-0.230875,0.262797,0.226851,1.29625,0.0799372,0.133229,-0.272379,0.00509305,0.00716,0.0022204,-0.00266901,0,0,0,0.00657031,-0.00257008,-0.00264534,0.00058652,-0.000142182,0.00025086,6.92461e-05,-0.105248,0.0314594,0.0414302,0.159926,0.579569,0.36549,0.710592,-0.000390999,-6.25969e-05,-0.00029394,0.00437955,0.0019798,-0.00927892,3.74647,-0.356042,-0.518318,-0.00658767,-0.0120749,0.00494086,1.36005,0.459387,0.114593,1.86855,-0.0133904,-0.155706,0.00215597,0.00029602,-0.00047455,0,0.00831367,-0.00794964,0.342811,0.0930692,-0.617391,0.00306339,-0.0213979,0.00658767,0.0857887,0.0459352,0.0297685,-0.60409,-0.0268671,0.774083,0.18748,-0.00790138,0.0107776,0.00231478,-0.196125,1.92646,2.54558,12.2948,-4.70825,-0.610317,-0.0850786,-0.212218,-0.00768662,-1.55282,0.444791,0.133182,-1.32356,0.086081,0.168554,-0.209949,-0.00301102,0.0132962,1.71435,2.36477,1.87709,-1.27565,0.170145,1.24446,0.0243158,0.0986172,0.0850786
2020-02-05.13:27:52.958,0.112919,0.14949,0.257525,-0.59143,-0.0479098,0.787038,0.16878,-0.0293834,-0.0288553,-0.0358399,0.0249797,1.10272,2.10153,0.027488,-0.0938012,-0.00248922,-0.000200617,-0.000206924,9.31846e-05,0.20313,0.384795,0.178883,-1.63913,0.136189,0.222048,0.775687,0.0605165,0.175416,-0.183264,0.0427472,2.34458,-0.0844634,0.228415,0.000472907,0.0213922,0.0383224,-0.000339911,0.000312006,0.000336368,4.61628e-05,-0.106001,0.144629,0.287658,0.159116,0.581767,0.366137,0.708642,-0.0011998,0.00226813,-0.00202421,0.00975093,0.000596681,0.000338518,0.00052338,-0.015677,-0.00915411,-5.0813e-05,-0.000237453,-7.61547e-05,-0.23085,0.26286,0.226893,1.29623,0.0799372,0.133229,-0.272379,0.0029378,0.00643216,0.00321705,-0.00332328,0,0,0,0.00233232,0.00109805,-0.00355674,-2.92769e-05,0.000202207,-0.000187454,-7.01224e-05,-0.105258,0.0314577,0.0414222,0.159997,0.579558,0.36546,0.7106,-0.00128423,-0.000195175,-0.00106726,0.00523734,0.00560042,-0.00904075,3.8407,-0.304458,-0.52849,-0.00723033,-0.0123804,0.00446896,1.3601,0.459387,0.114582,1.86855,-0.0132537,-0.155817,0.00646589,0.000276422,-0.00159267,0,0.00993854,-0.0092589,0.349419,0.102038,-0.620203,0.00256273,-0.0220264,0.00723033,0.0857306,0.0460392,0.0297771,-0.595897,-0.0320229,0.782551,0.17747,-0.00418039,0.0095299,-0.00143944,-0.0799188,1.90997,2.42101,11.8815,-3.77925,-0.984238,-0.0821063,-0.198526,-0.0146461,-1.55509,0.444706,0.133295,-1.30616,0.110949,0.187155,-0.229775,-0.0159598,0.00910218,1.62055,2.36145,1.81597,-1.22515,0.0544999,1.05323,0.0172439,0.0896625,0.0821063
2020-02-05.13:27:52.978,0.112304,0.148713,0.256748,-0.582132,-0.0563327,0.796337,0.15426,-0.0309752,-0.0428188,-0.041521,0.0185597,0.909121,1.67626,-0.020957,-0.0662613,0.0163152,-0.00076766,-0.00119828,-0.000134076,0.204295,0.388637,0.174515,-1.63799,0.177638,0.222048,0.781609,0.0557302,0.204528,-0.235715,0.0676835,1.88774,-0.0778003,0.172053,0.0036514,0.00217792,0.0210653,0.000715741,0.00131387,-3.93291e-05,-7.17644e-05,-0.106006,0.144671,0.287629,0.15916,0.58174,0.366198,0.708623,0.000274037,0.00245806,-0.00116314,0.00811616,-0.0027882,0.00473124,0.0136539,-0.0170927,-0.00764994,0.000566341,0.00026188,-4.22961e-05,-0.23085,0.262954,0.226956,1.29618,0.0799372,0.133229,-0.272379,-0.0019196,0.0035515,0.00433813,-0.00404802,0,0,0,0.00180257,0.00534221,0.000262075,0.00120232,-0.000110874,3.17027e-05,4.9222e-06,-0.105275,0.0314569,0.0414091,0.160059,0.579557,0.365441,0.710597,-0.000723194,-1.97971e-06,-0.000634978,0.00587093,0.00385794,-0.010891,4.01952,-0.304021,-0.458364,-0.00867632,-0.0150601,0.00487445,1.36019,0.45941,0.114561,1.86855,-0.0131171,-0.155929,0.00500919,0.00100538,-0.000879099,0,0.0114367,-0.0104479,0.36358,0.10723,-0.552713,0.00256273,-0.0209433,0.00867632,0.0856917,0.0461877,0.029656,-0.583097,-0.0450177,0.794685,0.162625,-0.00127832,0.00707539,-0.010704,0.378089,1.17612,2.06829,11.0505,-1.30023,-0.918336,-0.0759206,-0.181731,-0.0116061,-1.55972,0.444096,0.133401,-1.28477,0.152076,0.222963,-0.245847,-0.0431742,0.00354841,0.925861,1.81316,1.767,-1.07457,-0.240984,1.07292,0.0190588,0.0792402,0.0759206
2020-02-05.13:27:52.998,0.111235,0.147214,0.25542,-0.568814,-0.0644876,0.809421,0.130881,-0.040188,-0.0569245,-0.0459472,-0.31283,0.974555,1.67834,-0.0261415,-0.0369541,-0.00957915,3.566e-05,0.000362323,0.000176621,0.206227,0.39525,0.16656,-1.63461,0.23389,0.222048,0.799372,0.0730672,0.231856,-0.2915,0.147403,1.81489,-0.0696567,0.511539,-0.00482458,-0.00146915,0.0107594,-0.000515853,-0.000220232,-8.02096e-06,0.000121207,-0.10597,0.144757,0.287592,0.159135,0.581631,0.3664,0.708613,0.00144666,0.00265949,-0.00133387,0.00851642,-0.00302703,0.00699419,-0.0127014,0.0019592,-0.0173335,2.90853e-06,0.000143635,-3.56183e-05,-0.230999,0.26308,0.227094,1.29594,0.0799372,0.133229,-0.272379,-0.00551388,0.00490591,0.00358476,-0.00233128,0,0,0,0.00604056,-0.0034858,-0.00343891,0.000146665,-0.000142182,-6.22216e-05,-2.72398e-05,-0.105281,0.0314652,0.0413961,0.160113,0.579578,0.365435,0.710571,0.000101675,0.000237714,-0.000183572,0.00321112,0.00297571,-0.00564022,4.27781,-0.244379,-0.427872,-0.00674833,-0.0170952,0.00559629,1.36034,0.459456,0.114553,1.86855,-0.0129805,-0.15604,0.00359621,0.000931755,8.73346e-05,0,0.00635505,-0.00624531,0.38482,0.118558,-0.516156,0.00293823,-0.0211708,0.00674833,0.085616,0.0463851,0.0291419,-0.569946,-0.0529547,0.807606,0.141884,-0.00604954,0.00445563,-0.0220512,-0.660082,0.802235,1.10291,8.91538,2.35471,0.127414,-0.0711007,-0.160537,-0.00363942,-1.56731,0.441964,0.13348,-1.24535,0.192111,0.260561,-0.243951,-0.107349,0.00341747,1.38382,0.865905,0.775458,-0.713476,-0.659666,1.22758,0.0195595,0.0749257,0.0711007
2020-02-05.13:27:53.18,0.110322,0.145929,0.254474,-0.558828,-0.0714831,0.81779,0.117565,-0.0485044,-0.0691317,-0.0453783,-0.311383,1.12899,1.87042,0.0100816,-0.033148,-0.0445353,0.000327551,0.000727156,0.000123932,0.207862,0.399974,0.160337,-1.63118,0.272379,0.222048,0.805294,0.0896079,0.237695,-0.3295,0.19085,2.05658,-0.0651967,0.531308,-0.0180683,0.0167682,0.0185703,0.000715741,-0.000564621,-0.000133253,5.68835e-05,-0.105946,0.144778,0.287563,0.15915,0.581617,0.366454,0.708594,0.00152929,0.000427776,-0.00145219,0.00352663,0.000375103,0.00307125,0.00513602,-0.00231818,-0.00335855,-8.95506e-05,-0.00011376,-3.74081e-05,-0.231073,0.263206,0.227073,1.29596,0.0799372,0.133229,-0.272379,-0.00435202,0.00693703,-0.00307804,0.0021308,0,0,0,0.000743077,0.00183866,0.00105211,0.000146665,7.69744e-05,-0.000375303,-1.65191e-05,-0.105279,0.0314724,0.0413893,0.160105,0.579612,0.365452,0.710536,3.94883e-05,0.000323818,-0.000335203,0.00239535,0.00416826,-0.00290703,4.35824,-0.240185,-0.33922,-0.00915831,-0.0204139,0.00741839,1.36044,0.459479,0.114554,1.86855,-0.0129805,-0.15604,0.00509683,0.00128486,0,0,0.0049493,-0.00505618,0.389541,0.12139,-0.428981,0.00425246,-0.0183413,0.00915831,0.0854367,0.046399,0.0286712,-0.565104,-0.0523017,0.812901,0.130818,-0.0112874,-0.00327192,-0.0239521,-0.589676,0.59081,0.925549,8.74988,3.9877,0.563349,-0.0841146,-0.175133,-0.00282086,-1.57183,0.439138,0.133563,-1.2204,0.206048,0.273455,-0.208107,-0.174123,0.00471825,1.16014,0.655855,0.606685,-0.599719,-0.881987,1.26695,0.0189963,0.0897635,0.0841146
2020-02-05.13:27:53.38,0.109249,0.144423,0.253588,-0.547504,-0.0788675,0.82662,0.103532,-0.0575316,-0.0803035,-0.0426169,-0.101174,1.21612,1.8473,0.0148655,-0.0330572,-0.0610782,0.000179691,0.000543904,-6.15492e-05,0.209943,0.404855,0.153221,-1.62642,0.313828,0.222048,0.811215,0.10997,0.234526,-0.361153,0.227206,2.15712,-0.0611964,0.301761,-0.016479,0.0165983,0.0190657,-0.000779766,-0.000470697,0.000211136,-0.000221854,-0.105925,0.144763,0.287546,0.15915,0.581629,0.366453,0.708584,-4.85285e-05,6.81415e-05,-0.000815817,0.0017939,0.00146856,-0.000679733,0.0176452,-0.0225718,-0.0111979,0.000252192,-3.69281e-05,7.24894e-05,-0.231123,0.2633,0.226978,1.29602,0.0799372,0.133229,-0.272379,0.000393241,0.00342962,-0.00146993,0.00105385,0,0,0,0.00233232,0.00709135,0.000348679,0.00058652,0.000108283,-0.000124838,0.000101408,-0.105276,0.0314798,0.0413799,0.160171,0.57963,0.365436,0.710515,0.000117153,0.000452243,-0.00059042,0.00038477,0.00688883,0.00284904,4.31455,-0.326785,-0.258409,-0.0106846,-0.0216984,0.0071723,1.36058,0.459495,0.114556,1.86855,-0.0128438,-0.156151,0.00779107,0.000982626,8.24187e-06,0,0.00100856,-0.00180203,0.386709,0.111006,-0.361491,0.00381439,-0.0167125,0.0106846,0.0851624,0.0462478,0.0282364,-0.55881,-0.053451,0.818768,0.120389,-0.0152725,-0.0120604,-0.0193528,-0.443261,1.00446,1.27644,8.73409,4.94994,0.787647,-0.0977711,-0.193095,-0.000225417,-1.57559,0.434998,0.13369,-1.19796,0.223674,0.28669,-0.164182,-0.240855,0.00719459,1.29156,1.10678,0.845299,-0.521364,-1.02171,1.30913,0.0213118,0.105798,0.0977711
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