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
2020-02-06.10:14:50.339,0.218004,0.0215027,0.338756,-0.330076,-0.481545,0.459986,0.669013,-0.000266236,7.3469e-05,7.84204e-05,-5.07594e-06,0.000126842,-0.000311488,-0.353561,0.175041,-0.617141,-0.000325333,0.017614,-0.00674169,-0.0956942,0.212473,-0.0669648,-1.28489,0.239812,0.0118426,-1.24939,0.00064162,-0.000474925,0.000465487,-0.000311737,0,0,0,-0.158981,0.146729,-0.00919541,0.0389831,-0.00601223,-0.00404677,-0.00169058,-0.186513,0.035409,0.333068,0.199934,0.300924,0.855168,0.371698,7.90316e-05,7.14598e-05,6.35947e-05,-7.12003e-07,-0.000250978,0.00035016,-0.634573,-0.110487,-1.18356,-0.0179634,-0.0127987,0.00146941,0.0168449,0.200884,-0.0179272,0.647186,0.328631,-0.0207245,1.14281,-0.000200232,-0.000346995,0.000346995,-0.000232383,0,0,0,0.0759673,0.271241,-0.0975496,-0.0017887,0.0215857,0.00904844,-0.00018805,-0.0916025,-0.00290611,0.0134609,0.208344,0.291113,0.852854,0.380113,6.43652e-07,1.3732e-06,-4.88672e-06,-0.000837107,6.75241e-05,-9.12847e-05,0.0376464,-0.271377,-0.418733,0.0149415,0.0303382,0.0378532,1.43683,-0.0151906,0.117909,2.89393,-0.728273,0.578747,0,0,0,-0.000844773,0,0,0.0775356,0.017074,-0.175894,-0.00144255,-0.0464448,-0.0149415,0.0922755,0.0145751,0.0209665,-0.324796,-0.491788,0.448465,0.671961,5.10458e-07,-5.20758e-07,2.98471e-06,-9.56492e-07,2.78363e-05,5.02032e-06,-0.71323,0.543781,1.25211,-0.0614608,-0.0777662,0.0236115,-1.47119,0.217395,0.117242,-3.01178,0.0877206,-0.16154,2.66171e-05,9.6181e-06,0,0,0,0,-0.0734174,-0.182454,1.2557,0.00510292,0.0870418,0.0614608
2020-02-06.10:14:50.352,0.217994,0.0215019,0.338755,-0.330078,-0.481537,0.459981,0.669021,-1.11011e-05,8.60488e-05,8.23141e-05,-4.38456e-06,-0.000176374,0.00022206,-0.367326,0.177456,-0.635671,-4.31102e-05,0.0176644,-0.00683185,-0.0956694,0.212473,-0.0669648,-1.28489,0.239812,0.0118426,-1.24939,0,-0.000431662,0.000423313,-0.000283493,0,0,0,-0.164279,0.15015,-0.0110147,0.0392471,-0.00576177,-0.00401546,-0.00175491,-0.186513,0.0354222,0.33308,0.199918,0.300923,0.855176,0.371688,7.62635e-05,0.000195562,0.000173388,-1.92839e-06,-0.000501601,0.000639813,-0.653017,-0.114726,-1.19999,-0.0179848,-0.0126776,0.00144569,0.0168449,0.200821,-0.0178642,0.647144,0.328631,-0.0207245,1.14281,-0.000186014,-0.000939802,0.000939802,-0.000629386,0,0,0,0.0738483,0.274914,-0.10072,-0.00205261,0.0215543,0.00907975,-0.000263094,-0.0916025,-0.00290611,0.0134609,0.208344,0.291113,0.852854,0.380113,6.43652e-07,1.3732e-06,-4.88672e-06,-0.000837107,6.75241e-05,-9.12847e-05,0.0651029,-0.300185,-0.444312,0.0131742,0.0299139,0.0357621,1.43683,-0.0151906,0.117909,2.89393,-0.728273,0.578747,0,0,0,-0.000844773,0,0,0.0794237,0.017074,-0.19839,-0.0016303,-0.0451958,-0.0131742,0.0922755,0.0145751,0.0209665,-0.324796,-0.491788,0.448465,0.671961,4.85002e-07,-5.04111e-07,2.84235e-06,-9.04353e-07,2.65077e-05,4.85564e-06,-0.708006,0.483545,1.23286,-0.0604164,-0.0780311,0.0241524,-1.47119,0.217395,0.117242,-3.01178,0.0877206,-0.16154,2.53842e-05,9.09382e-06,0,0,0,0,-0.0663371,-0.181038,1.22758,0.00572874,0.0873428,0.0604164
2020-02-06.10:14:50.372,0.217994,0.0215019,0.338755,-0.330078,-0.481537,0.459981,0.669021,-1.08585e-05,8.41807e-05,8.04927e-05,-4.22212e-06,-0.000172521,0.000217218,-0.358135,0.19497,-0.634628,9.58522e-05,0.0179763,-0.00689503,-0.0956694,0.212473,-0.0669648,-1.28489,0.239812,0.0118426,-1.24939,0,-0.000422177,0.000414077,-0.000277307,0,0,0,-0.16216,0.156719,-0.0034984,0.0400388,-0.00573046,-0.00410938,-0.00171203,-0.186513,0.0354222,0.33308,0.199918,0.300923,0.855176,0.371688,7.50481e-05,0.00019558,0.000173398,-1.92839e-06,-0.00050003,0.000637091,-0.641476,-0.106876,-1.18326,-0.0179602,-0.0127966,0.00133042,0.0168449,0.200821,-0.0178642,0.647144,0.328631,-0.0207245,1.14281,-0.000182871,-0.000939802,0.000939802,-0.000629386,0,0,0,0.0749078,0.269497,-0.100426,-0.00161276,0.0215857,0.00892321,-0.000284536,-0.0916025,-0.00290611,0.0134609,0.208344,0.291113,0.852854,0.380113,6.43652e-07,1.3732e-06,-4.88672e-06,-0.000837107,6.75241e-05,-9.12847e-05,-0.00294139,-0.239625,-0.441225,0.0134955,0.0301883,0.0367776,1.43683,-0.0151906,0.117909,2.89393,-0.728273,0.578747,0,0,0,-0.000844773,0,0,0.0728154,0.0114098,-0.175894,-0.00100448,-0.0453617,-0.0134955,0.0922755,0.0145751,0.0209665,-0.324796,-0.491788,0.448465,0.671961,4.79124e-07,-5.00179e-07,2.80942e-06,-8.92357e-07,2.62004e-05,4.81681e-06,-0.68938,0.489181,1.26175,-0.0616214,-0.0792319,0.023947,-1.47119,0.217395,0.117242,-3.01178,0.0877206,-0.16154,2.50986e-05,8.97319e-06,0,0,0,0,-0.0677532,-0.180566,1.25852,0.00522808,0.0883254,0.0616214
2020-02-06.10:14:50.392,0.217994,0.0215019,0.338755,-0.330078,-0.481537,0.459981,0.669021,-1.03928e-05,8.0598e-05,7.69941e-05,-3.89947e-06,-0.000165127,0.00020793,-0.354189,0.182687,-0.63535,2.22139e-05,0.0179527,-0.00694667,-0.0956694,0.212473,-0.0669648,-1.28489,0.239812,0.0118426,-1.24939,0,-0.000404865,0.00039723,-0.000266025,0,0,0,-0.160571,0.153067,-0.0104255,0.0401268,-0.00620008,-0.00401546,-0.00172275,-0.186513,0.0354314,0.333075,0.199916,0.30091,0.855184,0.371681,7.16286e-05,8.56345e-05,0.000229625,-0.000314425,-0.000356351,0.000475067,-0.643207,-0.0987161,-1.18982,-0.0177595,-0.0128655,0.00141966,0.0168449,0.200821,-0.0178379,0.647127,0.328631,-0.0207245,1.14281,-0.000176955,-0.000939802,0.000626619,-0.000419647,0,0,0,0.0775566,0.26817,-0.10342,-0.00161276,0.0214291,0.00917367,-0.000230932,-0.0916025,-0.00290611,0.0134609,0.208344,0.291113,0.852854,0.380113,6.43652e-07,1.3732e-06,-4.88672e-06,-0.000837107,6.75241e-05,-9.12847e-05,-0.00410587,-0.242292,-0.45771,0.0130938,0.0300231,0.036451,1.43683,-0.0151906,0.117909,2.89393,-0.728273,0.578747,0,0,0,-0.000844773,0,0,0.0732874,0.00999375,-0.18433,-0.000941894,-0.0450342,-0.0130938,0.0922755,0.0145751,0.0209665,-0.324796,-0.491788,0.448465,0.671961,4.67353e-07,-4.92196e-07,2.74339e-06,-8.68383e-07,2.55842e-05,4.73804e-06,-0.708445,0.47472,1.24006,-0.0609788,-0.0780598,0.0238173,-1.47119,0.217395,0.117242,-3.01178,0.0877206,-0.16154,2.45256e-05,8.73212e-06,0,0,0,0,-0.0658651,-0.181038,1.23321,0.00535325,0.0873211,0.0609788
2020-02-06.10:14:50.412,0.218004,0.0215027,0.338756,-0.330076,-0.481545,0.459986,0.669013,-9.55822e-05,7.27783e-05,6.84024e-05,3.59825e-06,-5.30181e-05,1.68596e-05,-0.365379,0.176072,-0.626626,-4.90396e-05,0.017845,-0.00682428,-0.0956942,0.212473,-0.0669648,-1.28489,0.239812,0.0118426,-1.24939,0.000215861,-0.000387809,0.000387809,-0.000259716,0,0,0,-0.1611,0.148401,-0.0113959,0.039423,-0.00582438,-0.00385892,-0.00174419,-0.186513,0.035438,0.333081,0.199907,0.30091,0.855188,0.371677,6.19318e-05,-0.000252196,-7.136e-05,-0.000306991,0.000349842,-0.000354007,-0.646909,-0.105557,-1.20203,-0.0178814,-0.0131146,0.00131704,0.0168449,0.20079,-0.0178064,0.647106,0.328631,-0.0207245,1.14281,-0.000171182,0.000682066,-0.000991135,0.000663763,0,0,0,0.0780863,0.272918,-0.102009,-0.000996958,0.0216483,0.00895452,-0.00019877,-0.0916025,-0.00290611,0.0134609,0.208344,0.291113,0.852854,0.380113,6.43652e-07,1.3732e-06,-4.88672e-06,-0.000837107,6.75241e-05,-9.12847e-05,0.0340883,-0.321141,-0.450537,0.0118889,0.029429,0.035982,1.43683,-0.0151906,0.117909,2.89393,-0.728273,0.578747,0,0,0,-0.000844773,0,0,0.0803677,0.0142419,-0.173081,-0.000566398,-0.0446279,-0.0118889,0.0922755,0.0145751,0.0209665,-0.324796,-0.491788,0.448465,0.671961,4.56706e-07,-4.84844e-07,2.68357e-06,-8.4676e-07,2.5026e-05,4.66559e-06,-0.689878,0.463376,1.26886,-0.0611394,-0.0780548,0.0245182,-1.47119,0.217395,0.117242,-3.01178,0.0877206,-0.16154,2.40059e-05,8.51469e-06,0,0,0,0,-0.064449,-0.17915,1.26133,0.00604166,0.08726,0.0611394
2020-02-06.10:14:50.432,0.218004,0.0215027,0.338756,-0.330076,-0.481545,0.459986,0.669013,-9.51998e-05,6.97597e-05,6.56626e-05,3.46228e-06,-4.69362e-05,9.1584e-06,-0.357726,0.179116,-0.633866,5.05358e-05,0.0175479,-0.00687025,-0.0956942,0.212473,-0.0669648,-1.28489,0.239812,0.0118426,-1.24939,0.000215861,-0.000373154,0.000373154,-0.000249901,0,0,0,-0.164279,0.150644,-0.00807957,0.0391591,-0.00563654,-0.00407808,-0.00179779,-0.186503,0.0354313,0.333075,0.199907,0.30091,0.855189,0.371674,2.73805e-06,6.98682e-05,0.000204593,-0.000292256,-0.000226877,0.000273218,-0.63748,-0.102884,-1.193,-0.018176,-0.0127045,0.00141125,0.0168202,0.200821,-0.0178379,0.647127,0.328631,-0.0207245,1.14281,0,-0.000822782,0.000531574,-0.000355995,0,0,0,0.0786161,0.270747,-0.100544,-0.0017887,0.0217422,0.00873536,-0.00019877,-0.0916025,-0.00290611,0.0134609,0.208344,0.291113,0.852854,0.380113,6.43652e-07,1.3732e-06,-4.88672e-06,-0.000837107,6.75241e-05,-9.12847e-05,0.0451532,-0.295586,-0.435555,0.0114069,0.0290481,0.0337308,1.43683,-0.0151906,0.117909,2.89393,-0.728273,0.578747,0,0,0,-0.000844773,0,0,0.0756475,0.0147139,-0.181518,-0.00131739,-0.0431784,-0.0114069,0.0922755,0.0145751,0.0209665,-0.324796,-0.491788,0.448465,0.671961,4.45722e-07,-4.77124e-07,2.62177e-06,-8.24519e-07,2.44493e-05,4.58959e-06,-0.689986,0.46936,1.26789,-0.0603361,-0.0776985,0.0238205,-1.47119,0.217395,0.117242,-3.01178,0.0877206,-0.16154,2.34685e-05,8.29104e-06,0,0,0,0,-0.064449,-0.178678,1.26133,0.00547841,0.0867971,0.0603361
2020-02-06.10:14:50.452,0.218004,0.0215027,0.338756,-0.330076,-0.481545,0.459986,0.669013,-9.24585e-05,6.68264e-05,6.29359e-05,3.32137e-06,-4.35949e-05,6.30685e-06,-0.357528,0.166319,-0.628121,-9.44934e-05,0.0180992,-0.00697624,-0.0956942,0.212473,-0.0669648,-1.28489,0.239812,0.0118426,-1.24939,0.000210573,-0.000358547,0.000358547,-0.000240119,0,0,0,-0.159511,0.151482,-0.01028,0.0395989,-0.00613747,-0.00389023,-0.00172275,-0.186503,0.0354313,0.333075,0.199907,0.30091,0.855189,0.371674,2.79532e-06,7.54458e-05,0.000201742,-0.000276408,-0.000234014,0.000281175,-0.646914,-0.104182,-1.19651,-0.0182989,-0.0125187,0.00147549,0.0168202,0.200821,-0.0178379,0.647127,0.328631,-0.0207245,1.14281,0,-0.000822782,0.000547457,-0.000366632,0,0,0,0.0764971,0.271334,-0.102394,-0.00231652,0.0217735,0.00879798,-0.000230932,-0.0916025,-0.00290611,0.0134609,0.208344,0.291113,0.852854,0.380113,6.43652e-07,1.3732e-06,-4.88672e-06,-0.000837107,6.75241e-05,-9.12847e-05,0.0284661,-0.266266,-0.447677,0.0131742,0.0290142,0.0365196,1.43683,-0.0151906,0.117909,2.89393,-0.728273,0.578747,0,0,0,-0.000844773,0,0,0.0761195,0.0128259,-0.189954,-0.000628981,-0.0445235,-0.0131742,0.0922755,0.0145751,0.0209665,-0.324796,-0.491788,0.448465,0.671961,4.35599e-07,-4.6988e-07,2.56472e-06,-8.04082e-07,2.39169e-05,4.51837e-06,-0.683093,0.492801,1.26346,-0.0616214,-0.0788987,0.023959,-1.47119,0.217395,0.117242,-3.01178,0.0877206,-0.16154,2.29719e-05,8.08553e-06,0,0,0,0,-0.0682252,-0.179622,1.26133,0.00529066,0.0879412,0.0616214
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