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
2020-02-05.16:50:30.976,0.0203203,0.0507469,0.305032,-0.430125,-0.361219,0.6428,0.520885,-0.000404741,-0.000180019,-1.09165e-05,-0.000374532,0.00108381,-0.00114894,-0.00728025,-0.00045129,-0.00238983,0.000217311,0.000375733,-8.51824e-05,0.390927,0.369616,-0.129065,-1.57774,0.376001,-0.106583,-0.526994,0.000746244,0.000730618,-0.00121565,0.000814118,0,0,0,-0.00164609,-0.00168971,-0.00232896,0.000803712,-0.000188923,-8.02096e-06,6.76041e-05,-0.0736491,0.0350178,0.361221,0.196637,0.43724,0.564111,0.67226,0.00375878,-0.00114571,-0.000923167,0.0358643,0.00960999,0.0266426,0.00830506,0.000906173,-0.00171973,-5.5632e-05,-8.4741e-05,0.000106636,-0.277768,0.155883,-0.039066,1.19583,0.331592,0.0828979,0.432253,-0.00829221,0.00851154,-0.00892543,0.00597736,0,0,0.0450192,0.000213329,0.00225011,0.0034293,-2.92769e-05,0.000108283,-3.09135e-05,0.000112129,-0.0856967,-0.00140172,0.0268794,0.195133,0.435342,0.561265,0.676301,0.000253468,-0.000472811,-0.000293816,0.0184801,0.020514,-0.000921392,-1.73762,-0.943936,0.0362062,0.0134152,0.0484547,0.0397433,1.35721,0.0987042,0.123984,2.26276,-0.113545,0.419222,0.000374217,-0.00533464,0.000190629,0.0192462,-0.00579165,-0.0170994,-0.031029,-0.175982,0.61149,0.0140779,-0.0446239,-0.0134152,0.0896937,0.023356,0.0409833,-0.429035,-0.359896,0.643903,0.521337,-2.20103e-05,-3.03046e-05,5.68111e-05,0.000434628,-9.1473e-05,0.000267758,0.849966,3.3584,0.374993,0.0110797,0.00783284,0.00886108,-1.37043,0.359238,0.126692,-2.4129,0.230369,0.0165913,0.000525767,-8.12365e-05,3.37503e-05,-0.000414958,0,0.000427788,-0.336332,-0.18859,0.504878,0.00403901,-0.0157134,-0.0110797
2020-02-05.16:50:30.988,0.0203172,0.0507419,0.305026,-0.430123,-0.361213,0.642799,0.520893,-0.000268142,-3.77524e-05,0.000153451,-0.000380359,0.000585028,-0.000602737,0.00663884,0.0029847,-0.00952044,6.64642e-05,0.00037347,-0.000189893,0.390927,0.369647,-0.129097,-1.57772,0.376001,-0.106583,-0.526994,0.000631616,-0.000148707,-0.000281178,0.000188305,0,0,0,-0.00217583,0.00396391,0.00409917,0.000715741,-0.00025154,-0.000133253,-3.96024e-05,-0.0735051,0.0349819,0.361185,0.199149,0.436994,0.565427,0.670573,0.00353181,-0.000803845,-0.000665819,0.0423656,0.0107652,0.0314857,-0.00645886,-0.0233839,-0.00713501,-0.000285532,-5.51306e-05,1.04921e-05,-0.27809,0.156198,-0.0393809,1.19604,0.331592,0.0858585,0.438174,-0.0080263,0.00684966,-0.00720679,0.00482639,0,0,0.0528342,-0.000846168,0.00567663,-0.00117956,-0.000205219,0.000170899,-0.00025007,1.56429e-05,-0.0856666,-0.00140798,0.0268703,0.198018,0.433021,0.565184,0.673683,0.00119255,-0.000929828,0.000123586,0.199529,0.171288,-0.0587211,-1.88785,-1.07342,0.159092,0.0159055,0.0500516,0.0416761,1.35722,0.0983876,0.124013,2.27451,-0.116141,0.419215,0.000403287,-0.0071731,0.00116963,0.199575,0.0315042,-0.1956,-0.031973,-0.192975,0.797087,0.0147663,-0.0455021,-0.0159055,0.0896933,0.0233552,0.0409825,-0.429012,-0.359958,0.643841,0.521391,-4.06632e-05,3.8224e-05,-6.40785e-05,4.97165e-05,-0.00106892,-0.00023215,0.852597,3.38046,0.392074,0.0103567,0.00720729,0.0095823,-1.37043,0.359231,0.126692,-2.41311,0.230369,0.0165913,-0.00071966,-6.20524e-05,2.29432e-05,0,0,0.000423644,-0.338221,-0.191422,0.521751,0.00453967,-0.0151239,-0.0103567
2020-02-05.16:50:31.3,0.0203172,0.0507419,0.305026,-0.430123,-0.361213,0.642799,0.520893,-0.000255791,-3.55472e-05,0.000148287,-0.000365223,0.000557377,-0.000573368,-0.01597,0.00691841,-0.00499002,-9.69686e-05,0.00061197,-4.98267e-05,0.390927,0.369647,-0.129097,-1.57772,0.376001,-0.106583,-0.526994,0.000603754,-0.000148707,-0.000263654,0.000176569,0,0,0,-0.00376508,-0.00118544,-0.00461954,0.000363857,-0.000564621,0.000117212,-7.44046e-06,-0.0734726,0.0349756,0.361178,0.199088,0.436974,0.565489,0.670552,0.00321062,-0.000869468,-0.000706318,0.0423724,0.0111913,0.030766,-0.00195116,-0.00643313,0.0148443,-0.000105126,-6.47656e-05,1.79361e-05,-0.278165,0.156261,-0.0394439,1.19594,0.331592,0.0858585,0.438174,-0.00717492,0.00680759,-0.00715318,0.00481177,0,0,0.0528342,-0.00614365,-0.00107307,-0.00167856,-0.000205219,0.000108283,6.30108e-05,-2.72398e-05,-0.0856581,-0.00141785,0.0268682,0.198749,0.433348,0.56489,0.673504,0.00074862,-0.000860683,-0.000495097,-0.0436107,0.14461,-0.0585802,-1.80593,-1.09571,0.180167,0.0151825,0.0503707,0.040106,1.35722,0.0983027,0.124021,2.27493,-0.116004,0.417552,0.000403287,-0.00932244,0.000637344,-0.0422781,-0.0117855,-0.144382,-0.0244207,-0.187311,0.81396,0.0133895,-0.045873,-0.0151825,0.0896929,0.0233555,0.0409814,-0.428991,-0.360017,0.643776,0.521447,-3.38733e-05,2.66681e-05,-4.44257e-05,-0.000265126,-0.000817026,-1.42753e-05,0.865928,3.36516,0.385805,0.0124453,0.00687806,0.00898975,-1.37044,0.359231,0.126692,-2.41332,0.230369,0.0165913,-0.000514401,-6.20524e-05,2.11643e-05,0.000342971,0,0.000421925,-0.336332,-0.187646,0.518939,0.00447709,-0.0149062,-0.0124453
2020-02-05.16:50:31.23,0.0203203,0.0507469,0.305032,-0.430125,-0.361219,0.6428,0.520885,-0.000325645,-0.000176101,-5.01778e-05,-0.00028405,0.000924207,-0.000970841,-0.00920651,-0.00390385,0.00505696,0.000139614,-9.77883e-05,-0.0002281,0.390927,0.369616,-0.129065,-1.57774,0.376001,-0.106583,-0.526994,0.000556974,0.000764171,-0.00114681,0.000768016,0,0,0,0.000472907,-0.00402014,-0.00412054,0.000363857,0.000186774,-0.000133253,-0.000146809,-0.0734169,0.0349609,0.361163,0.201623,0.436716,0.566774,0.668875,0.00280792,-0.000996446,-0.000796786,0.154979,0.0463657,0.0998177,-0.00729373,-0.00731699,0.0147047,-0.000173798,0.000248593,4.21161e-05,-0.278288,0.156387,-0.0395699,1.19602,0.331592,0.0888192,0.444096,-0.00606575,0.00696458,-0.00728845,0.00490124,0,0.00524914,0.18978,0.000213329,0.00342322,0.00025854,-0.00029319,-0.000142182,-6.22216e-05,-5.79846e-06,-0.0856433,-0.00142873,0.0268585,0.198861,0.43398,0.564601,0.673306,0.000710929,-0.000221125,-0.000523247,-0.0114424,-0.00254009,0.063565,-1.72806,-1.05712,0.324589,0.0192795,0.0505741,0.0404949,1.35722,0.0981405,0.124034,2.2743,-0.116688,0.416557,0.000369602,-0.0075518,0.000637887,0,-0.0641724,0.0310325,-0.0206445,-0.175038,0.920819,0.0133269,-0.0469088,-0.0192795,0.0896924,0.0233552,0.0409803,-0.428994,-0.360021,0.643774,0.521444,-2.22566e-05,4.06402e-05,-2.91694e-05,-0.000293403,-0.000661542,-0.000136312,0.852031,3.34341,0.39737,0.0110797,0.00672839,0.0106117,-1.37045,0.359223,0.126692,-2.41332,0.230369,0.0165913,-0.000439708,0.000121456,1.84146e-05,0.000333706,0,0.000419029,-0.333972,-0.18859,0.527375,0.00579133,-0.014657,-0.0110797
2020-02-05.16:50:31.43,0.0203172,0.0507419,0.305026,-0.430123,-0.361213,0.642799,0.520893,-0.000184454,2.21065e-05,0.000197583,-0.000335093,0.00032383,-0.00032312,-0.00511033,0.0167498,0.0101348,-0.000106065,-6.8561e-05,5.57756e-05,0.390927,0.369647,-0.129097,-1.57772,0.376001,-0.106583,-0.526994,0.000515993,-0.000466481,0.000110196,-7.37983e-05,0,0,0,-0.00429483,-0.00851643,-0.00593981,0.00062777,0.000186774,0.000273752,-2.88818e-05,-0.0733587,0.0349395,0.361143,0.202909,0.436121,0.568758,0.667188,0.00243472,-0.0010527,-0.000830869,0.143618,0.0436099,0.0915788,0.00104554,0.0113135,-0.00268966,-0.000314336,3.8258e-05,1.17565e-05,-0.278412,0.156544,-0.0397273,1.19613,0.331592,0.0888192,0.450017,-0.0050931,0.00683671,-0.00714035,0.0047819,0,0.00521228,0.175786,0.00233232,-0.00241076,0.000140712,-0.000469132,0.000108283,-0.000124838,-4.86811e-05,-0.0856237,-0.00144293,0.0268594,0.201293,0.432812,0.566055,0.672113,0.000998257,-0.000475319,-8.13375e-05,0.0760791,0.0563017,0.0178392,-1.77781,-1.11093,0.286883,0.0200025,0.0520657,0.041198,1.35723,0.0979783,0.124054,2.2808,-0.116688,0.41476,-0.000518335,-0.00645328,0.000982708,0.0828609,-0.0242115,-0.0502732,-0.0173404,-0.184478,0.912383,0.0133269,-0.0480746,-0.0200025,0.0896927,0.0233559,0.0409807,-0.428994,-0.360018,0.643774,0.521447,-1.74136e-05,4.56988e-05,-2.56342e-05,-0.000297245,-0.000619296,-0.000185612,0.826217,3.30261,0.368083,0.0114813,0.00680936,0.0106878,-1.37045,0.359231,0.126692,-2.41332,0.230369,0.0165913,-0.000426415,0.000183095,1.61539e-05,0.000324273,0,0.000416456,-0.32878,-0.186702,0.49363,0.00604166,-0.0145043,-0.0114813
2020-02-05.16:50:31.63,0.0203172,0.0507419,0.305026,-0.430123,-0.361213,0.642799,0.520893,-0.000177244,2.28753e-05,0.000193409,-0.000325189,0.000308528,-0.000307082,-0.00750913,-0.0157703,0.00573464,-0.000214659,0.000192444,-0.000119425,0.390927,0.369647,-0.129097,-1.57772,0.376001,-0.106583,-0.526994,0.000496982,-0.000462005,0.000118043,-7.90532e-05,0,0,0,0.000472907,-0.00735385,-0.00423837,0.000187915,-0.00025154,-0.000289794,-3.96024e-05,-0.0733471,0.0349353,0.361139,0.202908,0.436122,0.56876,0.667187,0.00224121,-0.00107028,-0.000836531,0.14362,0.0437887,0.0912388,0.00473385,-0.0201279,-0.0123708,0.000288065,1.88338e-05,-3.7771e-05,-0.278437,0.156576,-0.0397588,1.19615,0.331592,0.0888192,0.450017,-0.00460059,0.00671026,-0.00700937,0.00469418,0,0.00518856,0.175786,0.00127283,0.00850081,0.00354713,0.000146665,-0.000142182,0.000344784,-7.01224e-05,-0.0856144,-0.00144543,0.0268564,0.201325,0.432788,0.566403,0.671826,0.000620254,-0.000205656,-0.000482366,0.0544622,-0.00378236,0.089022,-1.91954,-1.13967,0.310243,0.0216091,0.0543068,0.0489863,1.35722,0.0979011,0.124063,2.28143,-0.117371,0.414908,-0.00017782,-0.00820344,0.000569111,0.0697224,-0.0742303,0.0337847,-0.0220606,-0.194863,0.963,0.0192723,-0.0519779,-0.0216091,0.0896927,0.0233559,0.0409807,-0.428994,-0.360018,0.643774,0.521447,-1.54651e-05,4.26755e-05,-2.09579e-05,-0.000293879,-0.00057433,-0.000161149,0.793076,3.36193,0.37684,0.011642,0.00811854,0.00996301,-1.37045,0.359231,0.126692,-2.41332,0.230369,0.0165913,-0.000374627,0.000183095,1.5371e-05,0.000320515,0,0.000415529,-0.332084,-0.19331,0.49363,0.00522808,-0.0154997,-0.011642
2020-02-05.16:50:31.83,0.0203172,0.0507419,0.305026,-0.430123,-0.361213,0.642799,0.520893,-0.000167046,1.9798e-05,0.000179923,-0.000305463,0.000293715,-0.000292048,-0.0159676,0.00403598,-0.00416513,-0.000329717,-7.40839e-05,0.000293515,0.390927,0.369647,-0.129097,-1.57772,0.376001,-0.106583,-0.526994,0.000465929,-0.000425405,0.000101705,-6.81115e-05,0,0,0,-0.00429483,-0.00235329,-0.00506316,-0.00104368,-0.000157615,0.000273752,5.68835e-05,-0.0732982,0.0349117,0.361117,0.202911,0.436127,0.568758,0.667184,0.00195436,-0.000969996,-0.000750475,0.14363,0.0437364,0.0911636,-0.00252151,-0.00418081,0.00695235,-0.000390441,0.000288287,0.000287959,-0.278536,0.156733,-0.0399163,1.19625,0.331592,0.0888192,0.450017,-0.00398092,0.00598671,-0.00626585,0.00421049,0,0.00507793,0.175786,-0.00349491,-0.000491776,-0.00126969,-0.00108493,-4.82581e-05,3.17027e-05,0.000112129,-0.0855964,-0.00144306,0.0268501,0.202413,0.431943,0.568369,0.670381,0.000637943,-0.000642028,-0.000373561,0.0559432,0.0984542,0.00284725,-1.85748,-1.08726,0.290831,0.0232961,0.0552593,0.0426359,1.35722,0.0977389,0.124081,2.28667,-0.11942,0.415028,-0.00017782,-0.00876181,0.000573515,0.0639057,-0.0299108,-0.0913359,-0.0201725,-0.188727,0.920819,0.0128889,-0.0508564,-0.0232961,0.0896928,0.0233572,0.0409803,-0.428997,-0.360016,0.643771,0.521449,-1.55993e-05,-2.84373e-05,1.45805e-05,-0.000209922,-0.000263261,0.000448909,0.866594,3.36361,0.397178,0.0101157,0.00476086,0.0101411,-1.37045,0.359238,0.126692,-2.41332,0.230369,0.0165913,0.000201353,-0.000200185,1.3789e-05,0.000311958,0,0.000413623,-0.336332,-0.19095,0.530187,0.00510292,-0.0128144,-0.0101157
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