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
2020-02-06.10:15:37.716,0.187685,0.0197191,0.331243,-0.286789,-0.605376,0.400532,0.625177,-0.000212304,5.53242e-05,6.38845e-05,-1.90523e-05,0.000133968,-0.000296865,-0.427139,0.236449,-0.174769,-0.0143467,-0.0155655,0.00840986,-0.0191487,0.234895,-0.0768688,-1.59182,0.156914,0.00592128,-1.44479,0.000525151,-0.000323704,0.000304034,-0.000203612,0,0,0,-0.0768703,0.131683,0.00151932,-0.0351764,-0.0122112,-0.000634183,0.00578171,-0.187095,0.0530793,0.329957,0.445063,0.33238,0.775515,0.300031,3.33194e-05,3.82981e-06,3.41085e-06,-5.75489e-08,-5.38667e-05,8.72496e-05,-0.218419,-0.203735,-0.507631,-0.00267584,-0.0204059,0.00743897,0.0190249,0.181706,0.0396466,1.08524,0.109544,0.00592128,1.41519,-8.90486e-05,-2.03343e-05,2.03343e-05,-1.36179e-05,0,0,0,0.135829,0.140954,0.0182244,0.0377103,0.00615075,0.000814406,0.00958919,-0.0918399,0.00455235,0.0117542,0.459966,0.311311,0.783038,0.279944,-4.14625e-07,4.17928e-06,2.19669e-06,0.000626747,6.06954e-06,0.000106751,0.39583,-4.29393,-0.4056,0.00570324,-0.0327176,0.0152923,1.5023,0.0608783,0.11594,3.29087,-0.364,0.103647,2.01564e-05,4.63548e-05,0,0.000632569,0,0,0.469312,0.088349,-0.0971552,0.00237499,0.0280479,-0.00473924,0.0799473,0.0129821,0.0188194,-0.303787,-0.604702,0.411146,0.610744,8.75017e-07,1.38874e-05,-3.99795e-06,-6.75007e-06,-3.25717e-05,-0.000114619,2.0864,3.26344,-1.13582,-0.0899789,-0.0991786,0.0373558,-1.48963,0.188736,0.128987,-3.12396,0.257013,-0.0508753,-8.55175e-05,8.32513e-05,0,0,0,0,-0.494459,0.165897,-0.406237,0.00065955,0.0819638,0.0899789
2020-02-06.10:15:37.732,0.187685,0.0197346,0.331244,-0.285789,-0.604918,0.401478,0.625472,-0.000199797,0.000203168,0.000166195,5.52476e-05,-0.000169938,8.97991e-05,-0.415442,0.226803,-0.188252,-0.018396,-0.0148879,0.00849011,-0.0191487,0.234864,-0.076811,-1.59185,0.159874,0.00592128,-1.44479,0.000485455,-0.000926822,0.000980101,-0.000656373,0,0,0,-0.0816381,0.127933,0.00151932,-0.0351764,-0.0163126,-0.00035241,0.00579244,-0.187086,0.0530792,0.329957,0.445055,0.332383,0.775521,0.300025,0.000129645,3.58788e-06,3.63893e-06,-7.50919e-08,-0.000185822,0.000313948,-0.228579,-0.196347,-0.499321,-0.0025074,-0.0206697,0.00750698,0.0190001,0.181706,0.0396466,1.08524,0.109544,0.00592128,1.41519,-0.000347231,-2.68865e-05,2.68865e-05,-1.80059e-05,0,0,0,0.13318,0.143866,0.0210729,0.0382381,0.00571244,0.00100225,0.00959991,-0.0918399,0.00455235,0.0117542,0.459966,0.311311,0.783038,0.279944,-3.91361e-07,3.88961e-06,2.09481e-06,0.000626938,7.0195e-06,0.000104093,0.457122,-4.26885,-0.364387,0.00570324,-0.0338365,0.0160167,1.5023,0.0608783,0.11594,3.29087,-0.364,0.103647,1.96421e-05,4.35247e-05,0,0.000632569,0,0,0.469784,0.0888211,-0.0887189,0.00224982,0.0278381,-0.00570324,0.0799473,0.0129821,0.0188194,-0.303787,-0.604702,0.411146,0.610744,8.42124e-07,1.29845e-05,-3.58498e-06,-6.36275e-06,-2.91736e-05,-0.000107159,2.06578,3.23558,-1.11442,-0.0911839,-0.099983,0.0371911,-1.48963,0.188736,0.128987,-3.12396,0.257013,-0.0508753,-7.88448e-05,7.84743e-05,0,0,0,0,-0.492099,0.16212,-0.392176,0.000221472,0.0829464,0.0911839
2020-02-06.10:15:37.752,0.187685,0.0197437,0.331239,-0.285778,-0.604929,0.401473,0.62547,-0.000192224,9.33939e-05,0.000225912,-0.000262373,-4.93071e-05,-6.44814e-05,-0.446046,0.25543,-0.185055,-0.0194696,-0.0148911,0.00854198,-0.0191487,0.234864,-0.0767847,-1.59187,0.159874,0.00592128,-1.44479,0.000469705,-0.000926822,0.000663062,-0.000444053,0,0,0,-0.0789893,0.141427,0.00501234,-0.0351764,-0.0173771,-0.000634183,0.00586748,-0.187086,0.0530792,0.329957,0.445055,0.332383,0.775521,0.300025,0.000129655,3.96859e-06,3.96309e-06,-8.0091e-08,-0.000186635,0.000314829,-0.224043,-0.195736,-0.518099,-0.00289576,-0.0200157,0.00742353,0.0190001,0.181706,0.0396466,1.08524,0.109544,0.00592128,1.41519,-0.000347231,-2.85529e-05,2.85529e-05,-1.91219e-05,0,0,0,0.142716,0.146032,0.0211006,0.0375344,0.00568113,0.000657865,0.00955703,-0.0918399,0.00455235,0.0117542,0.459966,0.311311,0.783038,0.279944,-3.84187e-07,3.79909e-06,2.06385e-06,0.000626997,7.30823e-06,0.000103263,0.418327,-4.26523,-0.372819,0.0053819,-0.0332755,0.0161445,1.5023,0.0608783,0.11594,3.29087,-0.364,0.103647,1.94769e-05,4.26591e-05,0,0.000632569,0,0,0.469784,0.0850449,-0.0830947,0.00243757,0.0276199,-0.0053819,0.0799473,0.0129821,0.0188194,-0.303787,-0.604702,0.411146,0.610744,8.31431e-07,1.27103e-05,-3.464e-06,-6.24359e-06,-2.81788e-05,-0.000104894,2.16317,3.26862,-1.11262,-0.0903002,-0.100507,0.0377119,-1.48963,0.188736,0.128987,-3.12396,0.257013,-0.0508753,-7.68503e-05,7.70046e-05,0,0,0,0,-0.495403,0.172977,-0.364055,0.000847298,0.08261,0.0903002
2020-02-06.10:15:37.772,0.187675,0.0197435,0.331239,-0.284976,-0.606243,0.398668,0.626356,7.89534e-05,9.78905e-05,0.000228509,-0.000262374,-0.00038726,0.000520883,-0.442317,0.229381,-0.17922,-0.0198972,-0.0145465,0.0092663,-0.019124,0.234864,-0.0767847,-1.59187,0.156914,0.00592128,-1.45071,-0.000206212,-0.000926822,0.000663062,-0.000444053,0,0,0,-0.0779298,0.130443,-0.00323506,-0.0348246,-0.0179406,-0.000289794,0.00665009,-0.187067,0.0530695,0.329961,0.445041,0.332398,0.775524,0.300021,0.000246079,3.87368e-06,2.70992e-06,3.50376e-06,-0.000345478,0.00058804,-0.227997,-0.193974,-0.504892,-0.00249393,-0.0201512,0.00743178,0.0189506,0.181706,0.0396203,1.08526,0.109544,0.00592128,1.41519,-0.000659306,-3.1127e-05,3.47282e-05,-2.32575e-05,0,0,0,0.143245,0.149607,0.0247981,0.0370945,0.00618206,0.000814406,0.00948198,-0.0918399,0.00455235,0.0117542,0.459966,0.311311,0.783038,0.279944,-3.70997e-07,3.63108e-06,2.00756e-06,0.000627107,7.83332e-06,0.000101721,0.422922,-4.27742,-0.378378,0.00449824,-0.0340852,0.0156314,1.5023,0.0608783,0.11594,3.29087,-0.364,0.103647,1.91609e-05,4.10579e-05,0,0.000632569,0,0,0.470256,0.0845729,-0.0887189,0.0023124,0.0284365,-0.00449824,0.0799473,0.0129821,0.0188194,-0.303787,-0.604702,0.411146,0.610744,8.10473e-07,1.21952e-05,-3.24239e-06,-6.01792e-06,-2.63573e-05,-0.000100639,2.1275,3.2576,-1.12305,-0.0902199,-0.0994648,0.0372887,-1.48963,0.188736,0.128987,-3.12396,0.257013,-0.0508753,-7.31454e-05,7.42214e-05,0,0,0,0,-0.493987,0.170145,-0.38374,0.000534385,0.0818722,0.0902199
2020-02-06.10:15:37.792,0.187675,0.0197408,0.33125,-0.284984,-0.606239,0.398676,0.626351,7.78365e-05,0.000257613,6.85686e-05,0.000340817,-0.000529307,0.000714041,-0.459583,0.233195,-0.186967,-0.0155333,-0.0154536,0.00994957,-0.019124,0.234832,-0.0767795,-1.59188,0.156914,0.00592128,-1.45071,-0.000206212,-0.000684571,0.00102339,-0.000685363,0,0,0,-0.0821678,0.133113,-0.00549795,-0.0359682,-0.0134949,-8.02096e-06,0.007229,-0.187058,0.0530693,0.329961,0.445032,0.332401,0.77553,0.300015,0.000628229,-2.13772e-06,-4.98241e-07,3.08547e-06,-0.00085842,0.00147607,-0.223153,-0.196472,-0.518767,-0.00272367,-0.0196947,0.0074428,0.0189258,0.181706,0.0396203,1.08526,0.109544,0.00592128,1.41519,-0.0016839,-3.2982e-05,3.61686e-05,-2.42221e-05,0,0,0,0.139537,0.145363,0.0214506,0.0365667,0.00577505,0.000689173,0.00946054,-0.0918399,0.00455235,0.0117542,0.459966,0.311311,0.783038,0.279944,-3.5879e-07,3.47359e-06,1.95622e-06,0.000627209,8.31221e-06,0.000100276,0.4156,-4.29399,-0.395008,0.00602457,-0.0314895,0.0163475,1.5023,0.0608783,0.11594,3.29087,-0.364,0.103647,1.88532e-05,3.95635e-05,0,0.000632569,0,0,0.4712,0.0892931,-0.0830947,0.00218724,0.0283011,-0.00489991,0.0799473,0.0129821,0.0188194,-0.303787,-0.604702,0.411146,0.610744,7.90138e-07,1.17203e-05,-3.04449e-06,-5.80766e-06,-2.47316e-05,-9.67156e-05,2.10906,3.25892,-1.14156,-0.0904609,-0.0996916,0.0371747,-1.48963,0.188736,0.128987,-3.12396,0.257013,-0.0508753,-6.9776e-05,7.16282e-05,0,0,0,0,-0.494459,0.168257,-0.406237,0.000346637,0.0822608,0.0904609
2020-02-06.10:15:37.812,0.187674,0.0197654,0.331246,-0.286738,-0.605466,0.400544,0.625105,8.01058e-05,0.000403181,-0.000421231,0.00155554,-0.000448464,0.000650782,-0.461482,0.23596,-0.187646,-0.0150644,-0.0162178,0.00894543,-0.019124,0.234801,-0.0766954,-1.59208,0.156914,0.00592128,-1.44479,-0.000206212,0.00067461,0.000879439,-0.00058896,0,0,0,-0.0832273,0.134528,-0.00497126,-0.0366719,-0.0128374,-0.0006968,0.00621054,-0.187058,0.0530599,0.329965,0.445035,0.33241,0.775521,0.300024,0.000626991,-1.69132e-05,6.75474e-06,-3.89563e-05,-0.000837771,0.0014539,-0.213716,-0.205875,-0.522691,-0.00285611,-0.0200671,0.00736171,0.0189258,0.181706,0.039594,1.08527,0.109544,0.00592128,1.41519,-0.00168102,-3.43537e-05,-4.62247e-06,3.09567e-06,0,0,0,0.142186,0.148604,0.0264129,0.0372704,0.0059629,0.000689173,0.00941766,-0.0918399,0.00455235,0.0117542,0.459966,0.311311,0.783038,0.279944,-3.47253e-07,3.32281e-06,1.90846e-06,0.000627306,8.75797e-06,9.8893e-05,0.410004,-4.25578,-0.381075,0.00578357,-0.0324981,0.0162821,1.5023,0.0608783,0.11594,3.29087,-0.364,0.103647,1.85475e-05,3.81392e-05,0,0.000632569,0,0,0.469312,0.0845729,-0.0887189,0.00237499,0.0269082,-0.00578357,0.0799473,0.0129821,0.0188194,-0.303787,-0.604702,0.411146,0.610744,7.71028e-07,1.12932e-05,-2.87179e-06,-5.61682e-06,-2.33137e-05,-9.31881e-05,2.11647,3.21145,-1.12944,-0.0905412,-0.0998955,0.0376743,-1.48963,0.188736,0.128987,-3.12396,0.257013,-0.0508753,-6.67843e-05,6.92745e-05,0,0,0,0,-0.495403,0.167785,-0.394988,0.000284055,0.0822126,0.0895772
2020-02-06.10:15:37.832,0.187674,0.0197681,0.331235,-0.287701,-0.60599,0.39961,0.624753,9.4964e-05,-0.000754962,3.14058e-05,-0.00145183,0.00101393,-0.00124132,-0.4534,0.246179,-0.183717,-0.0137803,-0.0145987,0.00817496,-0.019124,0.234832,-0.0767006,-1.59223,0.153953,0.00592128,-1.44479,-0.000206212,0.00125724,-0.00270388,0.00181079,0,0,0,-0.0795191,0.137939,8.47559e-05,-0.033593,-0.0117729,-0.000101945,0.00567451,-0.187049,0.0530503,0.329969,0.44503,0.332423,0.775518,0.300026,0.000250981,-2.22287e-05,1.59028e-05,-7.15146e-05,-0.000318952,0.000565826,-0.211497,-0.200601,-0.530921,-0.00267624,-0.0204033,0.00745037,0.018901,0.181706,0.0395677,1.08529,0.109544,0.00592128,1.41519,-0.000673234,-3.52971e-05,-3.63312e-05,2.4331e-05,0,0,0,0.145894,0.147441,0.0248293,0.0378862,0.00583767,0.000783098,0.00953559,-0.0918399,0.00455235,0.0117542,0.459966,0.311311,0.783038,0.279944,-3.36801e-07,3.18446e-06,1.86586e-06,0.000627395,9.15551e-06,9.76236e-05,0.488551,-4.31175,-0.341683,0.0061049,-0.0344873,0.0161761,1.5023,0.0608783,0.11594,3.29087,-0.364,0.103647,1.82571e-05,3.6838e-05,0,0.000632569,0,0,0.474032,0.0930692,-0.0746585,0.00218724,0.0281829,-0.0061049,0.0799473,0.0129821,0.0188194,-0.303787,-0.604702,0.411146,0.610744,7.51816e-07,1.08803e-05,-2.70953e-06,-5.43074e-06,-2.19822e-05,-8.9778e-05,2.12328,3.28518,-1.12917,-0.0897379,-0.100013,0.0369325,-1.48963,0.188736,0.128987,-3.12396,0.257013,-0.0508753,-6.39262e-05,6.69795e-05,0,0,0,0,-0.496819,0.169201,-0.389364,0.000221472,0.0824396,0.0897379
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