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
2020-02-05.15:05:29.785,0.146617,-0.0243787,0.309942,-0.203763,-0.40228,0.887387,0.0958907,0.00622781,-0.105623,0.0414359,-0.163852,0.100136,0.122172,0.0224948,0.043868,0.0103356,0.000246533,-0.000230268,0.000511622,0.0740435,0.386873,-0.277446,-1.29832,1.20202,-0.334552,0.225009,-0.0253598,0.0679367,-0.345084,-0.0413476,0.144206,-0.0484262,-0.0492402,0.00947863,0.00914484,-0.00350724,-0.000955708,-0.000188923,0.000492909,-3.96024e-05,-0.0192331,0.0356469,0.374496,0.0606222,0.242146,0.113485,0.961671,0.0037011,-0.00531736,-0.0050864,-0.00639311,0.000592862,0.00280307,-0.015939,-0.000490146,-0.00591656,0.00010233,0.000329236,2.17005e-06,-0.414088,0.174998,-0.0928688,0.635915,0.968129,0.352316,-1.16649,-0.00128182,0.0297547,-0.028903,-0.00049157,-0.0073757,0,0,0.00657031,-0.00174192,-0.000385981,0.000234636,-4.82581e-05,0.000313476,4.78048e-05,-0.0727245,0.030653,0.0400684,0.0623365,0.242429,0.112085,0.961654,0.00194565,-0.0045267,-0.00285143,0.0158579,0.0251215,-0.0116622,3.49886,0.234385,-2.7708,-0.0321335,-0.0561421,0.0529346,1.46832,0.327004,0.146355,1.14826,0.853432,-0.13756,0.00340864,-0.0399734,-3.95006e-05,0.0367865,0,0.0267472,0.51557,-0.0938506,0.889886,0.00131108,0.0338124,0.0336598,0.0997271,0.0095852,0.0253444,-0.204755,-0.401694,0.886592,0.103302,0.000446046,-0.0529242,0.0126649,0.0285414,0.0282385,0.348817,-1.54075,3.8508,3.38221,0.0344565,0.0274206,0.0299443,-1.47903,0.201888,0.114648,-1.54416,1.05087,0.415558,0.375087,-0.370691,-0.00351474,-0.187344,-0.17001,-0.172862,0.194218,-0.498235,-0.57215,-0.000592102,-0.0231545,-0.0344565
2020-02-05.15:05:29.801,0.146768,-0.0276345,0.31144,-0.201206,-0.403855,0.887574,0.092891,0.00171829,-0.0962306,0.0516524,0.0597562,0.0155238,0.159631,-0.00837704,0.056234,0.00110456,-0.000299387,-0.000613919,0.000709783,0.0733746,0.388322,-0.287678,-1.29982,1.2109,-0.343434,0.225009,-0.0130797,0.024546,-0.29887,-0.0452673,0.177001,-0.289606,-0.0453312,-0.00800307,0.0121441,-0.00271367,-0.000515853,-6.3691e-05,-0.000101945,-3.96024e-05,-0.0191369,0.0354978,0.374366,0.0606281,0.242161,0.113463,0.96167,0.00219594,-0.00372593,-0.00353863,-0.00635952,-0.000112997,0.00341805,0.00817362,-0.00692085,-0.00774629,0.000248928,-0.000413578,0.000184438,-0.414113,0.175786,-0.093656,0.635995,0.968129,0.352316,-1.16649,0,0.0202351,-0.0196284,-0.00267551,-0.00718512,0,0,-0.000316419,0.00442123,0.00113872,-0.000469132,0.000515288,-0.000124838,-5.94017e-05,-0.0726761,0.0305392,0.0399819,0.0625588,0.242421,0.111849,0.961669,0.00129984,-0.00284613,-0.00254399,-0.00365095,-0.0109518,-0.00768319,3.41963,0.363484,-2.64925,-0.0341418,-0.0544144,0.0603544,1.46855,0.325899,0.146354,1.14868,0.854115,-0.137137,0.00850977,-0.0286958,2.24456e-05,0.00950112,0.029204,0.0265875,0.509906,-0.0650574,0.887074,0.00368922,0.031036,0.0341418,0.0997779,0.00794737,0.025789,-0.202369,-0.403594,0.886768,0.0990026,0.00235988,-0.0492355,0.0154886,-0.0383792,0.0588622,0.318079,-1.0219,2.09096,1.8868,0.0361435,0.0486039,-0.00113882,-1.46691,0.190752,0.114523,-1.55066,1.04472,0.41077,0.382649,-0.329503,-0.00355872,-0.129354,-0.179752,-0.184041,0.0955657,-0.238624,-0.434358,-2.88584e-05,-0.0348067,-0.0361435
2020-02-05.15:05:29.822,0.146791,-0.0295135,0.312556,-0.199391,-0.403964,0.887504,0.096915,3.06901e-05,-0.0925548,0.0599118,-0.00448228,0.106707,0.0927027,-0.00392332,0.0489926,-0.0149169,-0.00037914,-0.000363856,-9.86111e-05,0.0731517,0.388511,-0.293495,-1.3007,1.2109,-0.346395,0.213166,-0.0081409,-0.00602802,-0.273758,-0.0476248,0.162971,-0.189622,-0.123588,-0.00588407,0.0158017,0.00213085,1.19731e-05,0.000499855,-0.00035241,6.76041e-05,-0.019097,0.035433,0.374297,0.0606323,0.242148,0.113494,0.961669,0.00213185,-0.00372941,-0.00324097,-0.00701327,0.00230778,-0.000584427,0.00448464,0.00558531,-0.00436291,-0.000252088,-0.000358072,0.000405485,-0.414113,0.176163,-0.0940076,0.635932,0.968129,0.352316,-1.16649,1.4678e-05,0.018371,-0.018371,0.00297882,-0.00707289,0,0,-0.000316419,-7.50624e-05,-0.000385981,0.000234636,-1.695e-05,-0.000187454,-5.79846e-06,-0.0726597,0.0305028,0.0399575,0.0627825,0.242538,0.111973,0.961611,0.00142023,-0.00357429,-0.00219515,0.0786854,0.0149277,-0.000776453,3.45991,0.43828,-2.64974,-0.0338205,-0.0556048,0.0589678,1.4686,0.325598,0.146354,1.14952,0.854115,-0.136729,0.00466939,-0.0289232,2.18473e-05,0.0811758,0.0210371,0.007006,0.514626,-0.0575051,0.923631,0.00243757,0.0316383,0.0338205,0.0997994,0.00740072,0.0259777,-0.201296,-0.403932,0.887003,0.0976947,0.00107631,-0.0501413,0.0181377,0.112013,0.172902,0.269347,-0.623299,1.74657,1.24885,0.0377501,0.052888,-0.0222979,-1.46253,0.187207,0.114495,-1.55275,1.04281,0.408573,0.403817,-0.309111,-0.00080218,-0.378088,-0.0968056,-0.30335,0.0370352,-0.161685,-0.310626,-0.00478514,-0.0340039,-0.0377501
2020-02-05.15:05:29.841,0.146794,-0.0312988,0.313877,-0.197408,-0.403929,0.887839,0.0980477,0.000800959,-0.0874761,0.0707099,-0.127526,0.130065,0.0546005,-0.00583825,0.0501027,-0.0153484,-0.000655382,-0.000620874,0.0005813,0.073003,0.387912,-0.298551,-1.30179,1.21386,-0.349355,0.207245,-0.00822663,-0.0464324,-0.239797,-0.0575494,0.116006,-0.0694989,-0.135542,-0.00747332,0.0159663,0.00200948,-0.00165948,0.00024939,-0.000258486,-0.000146809,-0.0190532,0.0353515,0.374239,0.0606176,0.242138,0.113501,0.961672,0.00194271,-0.00359281,-0.00250809,-0.00794282,0.00105682,0.000302774,0.0127517,-0.00642474,0.0113623,3.56013e-05,0.000151113,5.9597e-05,-0.414113,0.17651,-0.0943803,0.636033,0.968129,0.352316,-1.16649,-5.2533e-05,0.0168209,-0.0180785,0.00101217,-0.00696354,0,0,-0.00455441,0.00483794,0.00131546,-0.000205219,-0.000110874,-0.000281378,0.000112129,-0.0726243,0.0304329,0.039896,0.0627332,0.242613,0.111847,0.96161,0.000899746,-0.0015216,-0.00180685,-0.0176317,0.00326538,-0.00738146,3.47963,0.499722,-2.63476,-0.0325351,-0.0565418,0.0565652,1.46879,0.324895,0.146355,1.14973,0.854388,-0.136135,0.00700083,-0.0176947,1.27082e-05,-0.00859402,0.00615659,0.0150007,0.51557,-0.0523129,0.954564,0.00137366,0.0320309,0.0325351,0.0998372,0.00589553,0.0264669,-0.195684,-0.408028,0.886034,0.100823,0.000815578,-0.0441013,0.0198498,-0.304942,0.374973,-0.0421661,-0.151472,-0.234205,0.411921,0.0405618,0.0626692,-0.0445965,-1.45103,0.179221,0.11449,-1.58442,1.04336,0.384686,0.388922,-0.237242,0.000411972,-0.668917,-0.122404,-0.993665,0.00493786,0.0776289,0.0746295,0.00241186,-0.0400905,-0.0414454
2020-02-05.15:05:29.861,0.146828,-0.0331186,0.315494,-0.19641,-0.401918,0.88882,0.0994179,0.0027136,-0.0865139,0.0813022,-0.177542,0.0808396,0.0707219,0.0202207,0.0441373,-0.0241095,1.15195e-06,-0.000246871,0.000297355,0.0728049,0.386527,-0.303345,-1.3029,1.21386,-0.349355,0.201323,-0.0114006,-0.0781911,-0.222417,-0.0526365,0.091532,-0.0639347,-0.0831922,0.0025919,0.0220366,0.00914458,-0.000691795,-1.0748e-06,0.000179828,-7.17644e-05,-0.0190219,0.0352967,0.374191,0.0606396,0.242185,0.113421,0.961668,0.00154875,-0.00284798,-0.00195698,-0.00763021,0.000477545,0.00125108,0.000505745,-0.00637489,-0.00205911,0.000331847,6.0565e-05,-0.000308922,-0.414113,0.176825,-0.0946953,0.636094,0.968129,0.352316,-1.16649,-7.91488e-05,0.0130417,-0.0140966,-0.000433048,-0.00685249,0,0,0.00127283,0.000593784,-0.00114833,0.00058652,0.000108283,9.43189e-05,-0.000166608,-0.0726118,0.030401,0.0398744,0.0626669,0.242542,0.111702,0.961649,0.000663825,-0.000941378,-0.00149852,-0.0084515,0.00309705,-0.00132898,3.49731,0.470909,-2.64868,-0.0334188,-0.0565789,0.0585816,1.46883,0.324586,0.146355,1.14952,0.854661,-0.136031,0.00718004,-0.0121944,1.27082e-05,0,0.00617848,0.0130913,0.51793,-0.055145,0.957376,0.00218724,0.0321752,0.0334188,0.0998404,0.00506436,0.0269301,-0.195452,-0.404493,0.887646,0.101329,-0.00130728,-0.0372735,0.0214782,-0.0601581,-0.0901142,-0.198236,0.135277,-0.746486,0.314216,0.0360631,0.065614,-0.0556259,-1.44268,0.174866,0.114497,-1.59197,1.03475,0.369488,0.387334,-0.178378,0.000768906,-0.559781,-0.569922,-0.586691,0.0011617,0.143712,0.403643,-0.00303282,-0.0423286,-0.0360631
2020-02-05.15:05:29.881,0.146918,-0.0348398,0.317208,-0.195589,-0.401052,0.889549,0.0980025,0.00630392,-0.085226,0.088844,-0.228862,0.0444929,-0.00273425,0.0246042,0.0456907,-0.011541,0.000129159,0.000326259,0.00044598,0.0725076,0.3847,-0.307646,-1.3036,1.21682,-0.352316,0.201323,-0.0184289,-0.101593,-0.207941,-0.0124118,0.00854649,-0.0471304,-0.0831922,0.00682989,0.0184613,0.00515256,-0.000691795,-0.000627237,0.000211136,1.40009e-05,-0.0189683,0.035256,0.374166,0.0606201,0.24217,0.113441,0.96167,0.00133164,-0.001509,-0.00132724,-0.00659642,-9.11224e-05,0.00288129,-0.0200798,-0.00649572,-0.0157532,-0.000253961,6.3763e-05,0.000172014,-0.414188,0.177045,-0.094942,0.63611,0.968129,0.352316,-1.16649,-0.00106474,0.00846672,-0.00852856,-0.00115117,-0.00674873,0,0,0.0102785,7.22755e-06,-0.000358292,-0.000469132,-0.000110874,9.43189e-05,-3.79604e-05,-0.0726008,0.0303817,0.0398583,0.0625951,0.242591,0.111731,0.961638,0.000352748,0.000154791,-0.00123508,-0.010432,0.000560175,0.00755333,3.54851,0.343426,-2.64709,-0.0329368,-0.0568241,0.0588963,1.46887,0.324401,0.146356,1.14973,0.854661,-0.135623,0.00940629,-0.00387059,4.35891e-05,0,0.00617848,0.0144131,0.516986,-0.0735537,0.985497,0.00362664,0.0319743,0.0329368,0.0998262,0.00438755,0.0274522,-0.198205,-0.402201,0.888108,0.101062,0.000333573,-0.0288635,0.0282253,-0.444858,-0.297446,-0.0504941,-0.14576,-0.618506,1.46626,0.0341352,0.0574602,-0.0303692,-1.43436,0.171692,0.114512,-1.59511,1.02054,0.362698,0.412595,-0.133658,0.000269339,0.212833,-0.764915,-0.136873,0.100758,0.0629963,0.707348,0.00403901,-0.0416208,-0.0341352
2020-02-05.15:05:29.901,0.147061,-0.0365344,0.319075,-0.193295,-0.400486,0.890429,0.0968713,0.00800833,-0.0827575,0.094931,-0.179278,0.176549,0.0428495,0.00429502,0.0589142,0.00444637,-0.000460469,0.000320713,0.000807411,0.0721112,0.382401,-0.311659,-1.3033,1.22274,-0.355277,0.201323,-0.0212846,-0.122303,-0.191743,0.0286948,0.153386,-0.0538572,-0.0831922,0.000472907,0.0124785,-0.00397855,-0.00165948,-0.000783778,-0.000227178,-3.96024e-05,-0.018898,0.035244,0.374162,0.0606007,0.24216,0.113458,0.961672,0.00395275,0.000384288,0.000289618,-0.00703843,-0.00519424,0.0109981,-0.00337474,0.00989826,-0.00619924,-0.000263887,0.000160039,-0.000185556,-0.414336,0.177171,-0.0950943,0.636212,0.968129,0.352316,-1.16649,-0.0095224,0.00374327,-0.00443573,-0.00228319,-0.00664825,0,0,0.00180257,0.00141668,0.00366496,0.000322607,-0.000423955,-9.35298e-05,2.63635e-05,-0.0725939,0.030373,0.0398487,0.0625699,0.242562,0.111789,0.96164,0.000197537,-6.16132e-05,-0.00054282,-0.00881448,-0.00795717,0.00771408,3.6179,0.285571,-2.62527,-0.0317318,-0.056819,0.0550194,1.46892,0.324308,0.146359,1.14994,0.854798,-0.135326,0.00402948,-0.00257005,7.53676e-05,0.00323219,0.00962439,0.0169228,0.516986,-0.0867703,1.04736,0.00243757,0.0307996,0.0317318,0.0998824,0.00379542,0.0280775,-0.198593,-0.399615,0.889293,0.100131,0.00551571,-0.0289088,0.0332433,-0.382826,0.401115,0.153907,-0.381826,0.0659124,2.78155,0.0327695,0.0513287,-0.00834063,-1.42572,0.169491,0.11453,-1.59406,1.01084,0.358684,0.429398,-0.0888548,0.00208574,0.0293184,-0.0721365,-0.393753,0.191386,-0.0729454,1.04761,0.00604166,-0.0416597,-0.0327695
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