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
2020-02-06.14:44:32.952,0.159538,0.0554404,0.291373,-0.469383,0.27391,0.834409,0.0917279,-0.000446157,-0.000731332,0.000288627,-0.00199315,0.00222932,-0.00235582,-0.00862195,-0.00376695,-0.00203131,3.16197e-05,-0.00025865,0.000132487,0.0523927,0.318379,-0.0166853,-1.0936,-0.112504,0.210205,1.08951,0.0010747,0,-0.00202983,0.0021793,0,0,0,-0.00323533,0.00463276,0.00327791,0.000979654,-0.000282848,2.32872e-05,-7.44046e-06,-0.170137,0.0932022,0.28469,0.553001,0.154337,0.721712,-0.386655,0.000330956,0.0226137,0.0359797,1.73803,-0.104848,-0.193523,-0.00506368,-0.00379363,0.00400123,0.00060605,0.000344014,-7.41335e-05,-0.0273235,0.297154,0.0953479,0.707372,-0.307906,0.109544,-3.54092,-0.00376053,-0.164457,0.141537,0.0380701,1.40669,-0.302392,0.896629,-0.000846168,0.00225011,0.00307582,-0.000557103,7.69744e-05,-0.000813616,-0.000113005,-0.0989608,0.0269897,0.0397883,0.559405,0.161821,0.718155,-0.380965,0.00187265,0.00439236,0.0116518,1.40055,0.0682725,-0.39091,-2.28311,-4.65308,3.52427,0.0355067,0.0866864,-0.0445486,1.35041,0.398315,0.118531,-1.65529,0.180907,-0.451281,-0.025921,0.0448473,0.00608434,1.28129,-0.537793,0.775431,0.219142,0.658549,0.712725,0.0135147,-0.0766603,-0.0355067,0.0930311,0.0259456,0.0502585,-0.470396,0.278989,0.831825,0.0946551,0.000135962,8.38095e-05,0.0002426,-0.000902122,0.00358695,-0.00188743,0.741656,-1.36421,0.633527,-0.0457959,-0.0163099,0.0293679,-1.30015,0.399026,0.127559,-0.920958,0.116414,-0.359567,0.00168721,0.00168082,0,0,0.00149102,-0.00121582,-0.113067,0.0686605,0.198361,0.0178698,0.0188515,0.0457959
2020-02-06.14:44:32.965,0.159529,0.0554369,0.291383,-0.469318,0.273953,0.834429,0.0917557,-0.000659458,-0.000438561,0.000364628,-0.00157684,0.00106604,-0.00154746,-0.0256924,0.0308894,0.00816378,-0.000123844,0.000356617,2.15133e-05,0.0524175,0.318348,-0.0166801,-1.09346,-0.112504,0.210205,1.08951,0.00165889,-0.000629989,-0.000952512,0.000224395,0,0,0,0.000472907,-0.0131773,-0.0102889,-0.00139556,-9.49992e-05,0.00014852,-8.24851e-05,-0.170137,0.0933531,0.285736,0.543899,0.137241,0.729966,-0.390499,-5.8528e-05,-0.0113298,0.0331635,1.10766,-0.322856,-0.336007,-0.0262584,-0.0487065,0.0363371,-0.000259802,8.21353e-05,0.000199587,-0.027373,0.292902,0.0978636,0.707776,-0.266457,0.109544,-3.52908,-0.000351916,-0.117798,0.0288244,-0.00274227,1.1786,-0.161434,0.369162,0.00233232,0.012456,0.0252399,0.000498549,0.000202207,-3.09135e-05,0.00013357,-0.0989279,0.0272061,0.0401715,0.552861,0.140983,0.723441,-0.388718,0.000130524,0.00721983,0.0139117,1.15428,-0.122536,-0.593931,-2.10145,-4.21909,3.08339,0.00048161,0.0727658,-0.028337,1.34988,0.400493,0.118725,-1.61419,0.163007,-0.424188,-0.0173995,0.0869816,0.00587562,0.929199,-0.720906,0.824967,0.186572,0.565089,0.718349,0.0116998,-0.0588565,-0.00048161,0.093035,0.0259543,0.0502623,-0.470371,0.279017,0.831828,0.0946735,9.61167e-05,0.000241296,7.64391e-05,-0.00103022,0.00206475,-0.00329956,0.873226,-1.2561,0.594598,-0.0456352,-0.0181903,0.0295795,-1.30015,0.399111,0.127559,-0.920958,0.116414,-0.359567,-0.000337113,0.00216009,0,0,0.00149102,-0.00121582,-0.115899,0.0493077,0.215234,0.0173065,0.0194888,0.0456352
2020-02-06.14:44:32.985,0.15952,0.0554432,0.29139,-0.469318,0.273955,0.834428,0.091759,-0.000428885,-0.000732595,-3.8849e-05,-0.00141422,0.00155295,-0.00174442,-0.00570523,-0.0080265,-0.0223431,2.80419e-05,5.57118e-05,-5.37317e-05,0.0524423,0.318316,-0.0166486,-1.09348,-0.112504,0.210205,1.08951,0.00100841,0.00118017,-0.00261722,0.00133925,0,0,0,-0.00906256,0.00163874,-0.000481997,-0.000163969,-6.3691e-05,8.59034e-05,-3.96024e-05,-0.170129,0.093204,0.286059,0.541006,0.133524,0.732924,-0.390266,0.000296397,-0.0158357,0.032118,1.00665,-0.329533,-0.350381,-0.0270755,-0.0201955,0.0402049,-0.000638106,1.90934e-05,0.000276815,-0.0273978,0.2918,0.0980191,0.707672,-0.254615,0.109544,-3.52908,-0.00100064,-0.108821,0.0124149,0.00372454,1.12328,-0.139972,0.301504,-0.0056139,0.0110518,0.0195465,0.000938404,0.000296131,0.000282168,0.000197894,-0.0989387,0.0272748,0.0403185,0.550398,0.135949,0.726051,-0.38914,-0.00205224,0.00628861,0.014163,0.867341,-0.308561,-0.641271,-1.98577,-3.60441,2.66952,-0.000964379,0.071772,-0.0252303,1.34966,0.401428,0.118774,-1.60643,0.155082,-0.416419,-0.0218455,0.0933107,0.00374619,0.586807,-0.792724,0.712093,0.168163,0.482958,0.664919,0.0118875,-0.0577735,0.000964379,0.0930344,0.025954,0.0502613,-0.470371,0.279049,0.831815,0.0946936,-5.41269e-05,-0.000117059,-5.82561e-05,-0.000122467,0.000585251,-0.0003759,0.787761,-1.25992,0.609857,-0.0462779,-0.0187598,0.0300681,-1.30016,0.399103,0.127559,-0.920958,0.116414,-0.359649,-0.000156566,-0.00123521,0,0,0.00149102,-0.00121582,-0.107875,0.056388,0.218046,0.0174943,0.0209733,0.0462779
2020-02-06.14:44:32.5,0.1595,0.0554441,0.29139,-0.469302,0.273966,0.834432,0.0917735,-0.00069141,-0.000592988,-5.44197e-05,-0.00111852,0.00169122,-0.00216974,-0.00626279,0.00210185,0.0135729,0.000396938,-0.000352186,-4.60979e-05,0.0524918,0.318316,-0.0166486,-1.09348,-0.112504,0.210205,1.08951,0.00169446,0.0010916,-0.0022285,0.00107893,0,0,0,0.0036514,-0.00286282,0.000606148,0.000715741,-0.000188923,0.000273752,-7.17644e-05,-0.170129,0.0928521,0.286686,0.536376,0.125494,0.736864,-0.391897,0.000266108,-0.0171481,0.0295662,0.698467,-0.450648,-0.425496,0.00131847,-0.000767251,0.0206453,-0.00056977,0.000409877,0.000547397,-0.0273978,0.289722,0.0981251,0.707601,-0.23389,0.109544,-3.52316,-0.000733181,-0.0972525,0.00306617,0.00482621,0.999214,-0.109817,0,-0.00455441,0.000166544,0.00437193,0.00137826,0.000671829,-0.000500535,0.000337263,-0.0990067,0.0273847,0.0405934,0.545469,0.129581,0.731421,-0.388195,-0.00392461,0.0058133,0.013819,0.721638,-0.438209,-0.452852,-1.4281,-1.85038,1.82975,0.00506057,0.0742133,-0.0192252,1.34915,0.403297,0.118819,-1.59868,0.139369,-0.405566,-0.0258293,0.0976306,0.00197505,0.447572,-0.782746,0.451482,0.102081,0.272437,0.743658,0.015267,-0.0627824,-0.00506057,0.0930331,0.025952,0.0502595,-0.470381,0.279042,0.831812,0.0946911,-8.48932e-05,-0.00017988,-9.1305e-05,4.79869e-05,0.000234948,0.000131307,0.725727,-1.28215,0.692512,-0.0460369,-0.017219,0.0287288,-1.30017,0.39908,0.127559,-0.920958,0.116414,-0.359649,-0.000206335,-0.00187282,0,0,0.00149102,-0.00121582,-0.106931,0.0653564,0.279912,0.0168684,0.0196243,0.0460369
2020-02-06.14:44:33.25,0.1595,0.0554285,0.291387,-0.469287,0.273984,0.834434,0.0917741,-0.000664033,9.23912e-05,-0.00019835,0.0005128,0.000607316,-0.00128109,0.0103713,-0.0160051,-0.0179936,1.51663e-05,-0.000453247,6.93852e-05,0.0524918,0.318348,-0.0167064,-1.09344,-0.112504,0.210205,1.08951,0.00169446,0.000695588,-0.000177482,-0.000294643,0,0,0,-0.00535432,0.00813104,0.004217,0.000891683,0.000218082,-7.06372e-05,1.40009e-05,-0.170146,0.0925048,0.287264,0.533252,0.12754,0.750167,-0.369628,-0.000793871,-0.0175913,0.0281059,-1.55581,-1.09766,-2.30564,0.00743117,-0.00858531,-0.0110059,0.00125965,0.000977061,0.000736074,-0.0273483,0.287832,0.0981474,0.707884,-0.213166,0.124347,-3.57053,0.00229221,-0.0909656,-0.00128483,0.00754491,0.773366,1.14696,-2.69068,0.00392157,-0.000908489,-0.000680552,-0.000205219,0.00048398,-0.0026921,0.000487352,-0.099072,0.0274893,0.0408577,0.540453,0.123877,0.736753,-0.386989,-0.00256021,0.00295271,0.0131856,-0.505064,-0.81978,-1.25268,-1.04866,-0.260758,0.985454,0.0131742,0.0772581,-0.0395371,1.34873,0.405111,0.118865,-1.59239,0.123519,-0.395827,-0.0163983,0.0846538,0.00224349,-1.02861,-0.946443,0.6574,0.0374139,0.0826848,0.673356,-0.00432136,-0.0769859,-0.0131742,0.0930306,0.0259523,0.0502571,-0.470396,0.279158,0.831783,0.0945242,5.59541e-06,0.000150783,-6.94645e-05,0.000436566,0.000344239,-0.00314303,0.757976,-1.20627,0.638779,-0.0463582,-0.0182524,0.0289231,-1.30019,0.399065,0.12756,-0.920539,0.116414,-0.359649,-0.0012643,0.000808234,0,-0.00124522,0.00149102,-0.00121582,-0.103155,0.0544999,0.260227,0.0165555,0.0203665,0.0463582
2020-02-06.14:44:33.45,0.1595,0.0554285,0.291387,-0.469287,0.273984,0.834434,0.0917741,-0.000546105,6.64337e-05,-0.00019386,0.000457843,0.000485144,-0.00104155,0.00210096,-0.00589946,-0.00632233,-0.000144665,0.000354413,-6.16527e-05,0.0524918,0.318348,-0.0167064,-1.09344,-0.112504,0.210205,1.08951,0.00139036,0.000695588,-0.000233096,-0.000257398,0,0,0,-0.00270558,0.0024669,0.00142388,-0.00104368,-6.3691e-05,0.000273752,1.40009e-05,-0.170233,0.0920488,0.287848,0.537181,0.132883,0.762389,-0.335474,-0.00319826,-0.028073,0.0289294,-2.71111,-1.06736,-3.16064,-0.00644872,-0.0127174,0.0219506,0.000787125,0.00128522,0.000544369,-0.0271005,0.286037,0.0978386,0.708091,-0.201323,0.156914,-3.63566,0.00961137,-0.0827561,-0.0329036,0.0269764,0.57345,1.88825,-3.81269,-0.00455441,0.00415331,0.00968069,-0.000381161,0.000859677,-0.00209725,0.000380145,-0.099123,0.0274856,0.0411384,0.539956,0.128856,0.750115,-0.359404,-0.00292386,-0.00218662,0.0149299,-2.25103,-1.58728,-2.93329,-0.480095,0.571002,0.477554,0.0102822,0.0671472,-0.040123,1.34853,0.406579,0.118897,-1.64313,0.0983783,-0.374591,-0.0065243,0.0626796,0.00108446,-3.35504,-1.48715,1.38796,-0.0220606,-0.0272958,0.603054,-0.012019,-0.0728029,-0.0102822,0.0930316,0.0259547,0.0502581,-0.470389,0.279165,0.831784,0.0945292,9.34395e-05,0.000118156,0.000134345,0.000259583,0.00229248,-0.00275489,0.859312,-1.18288,0.644546,-0.0466795,-0.0196998,0.0295301,-1.30019,0.399088,0.12756,-0.920539,0.116414,-0.359649,0.000628769,0.00151864,0,-0.00124522,0.00149102,-0.00121582,-0.105987,0.0540279,0.29116,0.0154916,0.0210344,0.0461172
2020-02-06.14:44:33.65,0.15949,0.0554387,0.291384,-0.469285,0.273976,0.834436,0.0917847,0.000161414,-0.000289253,-7.71691e-05,-0.000434936,2.0836e-05,0.000193158,0.00104475,0.00894523,-0.00627276,-0.000316706,6.09066e-05,-8.36803e-05,0.0525166,0.318348,-0.0166801,-1.09346,-0.112504,0.210205,1.08951,-0.000451356,0.000637628,-0.00107798,0.000308422,0,0,0,-0.00058659,-0.001772,-0.0038295,-0.000691795,0.000218082,0.000273752,-2.88818e-05,-0.170296,0.0913326,0.288491,0.546058,0.145965,0.776262,-0.279164,-0.00117532,-0.0356224,0.0300465,-4.64607,-1.31854,-4.23112,-0.00849628,-0.0172593,0.00163912,0.000761032,0.00101851,0.000731698,-0.0269024,0.284305,0.0968093,0.70878,-0.192442,0.210205,-3.74225,0.0044377,-0.0782385,-0.0552959,0.0337088,0.329008,2.7141,-5.75867,0.00127283,0.00599,0.00812476,-0.000469132,0.000577904,-0.00178417,0.000616,-0.0991809,0.0274111,0.041431,0.541253,0.139376,0.767319,-0.31439,-0.00218111,-0.00450538,0.00926361,-3.77734,-1.61246,-3.21976,1.23605,0.991705,0.0594892,-0.0109256,0.0232998,-0.0452648,1.34828,0.407529,0.118914,-1.72931,0.0691381,-0.342661,-0.0171635,0.0207289,-0.000172114,-4.88006,-0.919994,1.2848,-0.187267,-0.0825221,0.473698,-0.0360507,-0.0484022,0.0109256,0.093031,0.0259572,0.0502556,-0.470396,0.27917,0.831777,0.0945411,-0.000105684,0.000119238,-0.000290047,0.000767299,-0.00179815,-0.00300349,0.784924,-1.22194,0.68365,-0.0458762,-0.0194914,0.0287556,-1.30022,0.399095,0.12756,-0.920539,0.116414,-0.359649,-0.00304986,-0.000428798,0,-0.00124522,0.00149102,-0.00121582,-0.106931,0.05686,0.299596,0.0160549,0.021222,0.0458762
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