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
2020-02-06.14:18:11.119,0.091628,0.076138,0.389885,-0.38287,-0.173875,0.852629,0.310164,-0.00139528,0.000351113,0.000216767,-3.96758e-05,0.00214357,-0.00370586,-0.0131984,-0.0115855,0.00210827,-6.26861e-05,0.000228355,0.000262896,0.267042,-0.0363412,0.150081,-1.50378,0.618773,0.074016,-0.0236851,0.00434359,-0.000133014,9.38315e-05,-6.28389e-05,0,0,0,-0.00270558,-0.00535784,-0.0028315,-0.000691795,-0.000188923,0.000336368,-1.81611e-05,-0.16272,0.0157713,0.417484,0.268482,0.347716,0.437847,0.784412,0.00130754,0.00138925,0.000752534,-6.43088e-06,-0.00360733,0.00651716,-0.000649939,-0.00853283,-0.0196761,7.86155e-05,-0.000293563,1.28709e-05,-0.0477604,-0.0283109,-0.00876971,0.877643,0.704632,0.402647,0.23093,-0.003817,-0.00542509,0.00542509,-0.00363319,0,0,0,0.00445132,0.00691625,0.00410505,0.000234636,0.000233515,9.43189e-05,5.85255e-05,-0.119269,-0.0204672,0.042702,0.269388,0.351652,0.438607,0.781918,1.89541e-05,0.000297277,0.000129917,-0.00351762,9.26378e-05,0.00145714,4.19594,-0.0548561,-0.499488,-0.0312498,-0.0898612,-0.0213621,1.04012,0.0376406,0.100096,2.21747,-0.0189925,0.199428,0.000433077,0.00344659,1.06143e-05,-0.00238804,0,-0.000774304,0.228582,0.194081,-0.558337,-0.00256904,0.0541291,0.0312498,0.0695055,0.0119098,0.0174632,-0.38417,-0.165772,0.851813,0.315195,-0.000629298,5.59351e-05,0.000102712,-0.000353013,0.00029457,0.000184498,3.42327,-0.457449,-0.124057,-0.0555161,-0.0697271,0.0677056,-1.53542,0.153984,0.139925,-1.83521,0.544087,-0.311592,0.000292529,0,0.000640215,0.000357464,0,0,-0.312731,0.0681885,1.55097,0.00998436,0.0559747,0.0555161
2020-02-06.14:18:11.131,0.091604,0.0761437,0.389889,-0.38286,-0.173857,0.852626,0.310195,-0.000772722,0.00020388,0.000131519,-3.90985e-05,0.00117964,-0.00203669,-0.00215871,-0.00787408,0.0150004,0.000378234,-1.49319e-05,-0.000150603,0.267116,-0.0363412,0.150081,-1.50378,0.618773,0.074016,-0.0236851,0.00241648,-0.000133014,9.44424e-05,-6.32481e-05,0,0,0,0.0036514,-0.0046067,-0.00238787,0.000715741,-1.0748e-06,0.000117212,3.54422e-05,-0.162695,0.015811,0.417506,0.268435,0.347703,0.43792,0.784392,0.000784051,0.00136372,0.000737669,-6.42144e-06,-0.00287818,0.00525341,-0.00252868,0.0150964,0.00201085,-0.000133811,-5.21308e-05,-0.000141498,-0.0478347,-0.0284683,-0.00861225,0.877537,0.704632,0.402647,0.23093,-0.00236894,-0.00540872,0.00540872,-0.00362222,0,0,0,0.00233232,-0.00490578,-0.00194191,0.000146665,-1.695e-05,-0.000218762,-4.86811e-05,-0.119267,-0.0204565,0.0427065,0.269338,0.351666,0.438641,0.781909,3.41943e-05,0.000457265,0.000182661,-0.00411065,-0.000497271,0.0031832,4.24707,-0.033782,-0.468412,-0.0317318,-0.0899788,-0.0217192,1.04014,0.0377642,0.100097,2.21747,-0.0189925,0.199428,0.000832439,0.00520849,1.29001e-05,-0.00199775,0,-0.000671782,0.23047,0.199274,-0.533028,-0.00288196,0.0538498,0.0317318,0.0694929,0.0119121,0.017465,-0.384169,-0.16577,0.851812,0.315198,-0.00040153,2.53086e-05,7.44009e-05,-0.000338181,0.000265966,0.000212602,3.39372,-0.490299,-0.153395,-0.0535882,-0.0685355,0.0669665,-1.53542,0.153991,0.139938,-1.83521,0.544087,-0.311592,0.000283895,-3.91409e-05,0.000408731,0.000343847,0,0,-0.311787,0.0729087,1.50317,0.0107979,0.0548828,0.0535882
2020-02-06.14:18:11.151,0.091588,0.0761475,0.389891,-0.382853,-0.173845,0.852624,0.310216,-0.000670632,0.000179792,0.000117524,-3.889e-05,0.00102152,-0.00176295,-0.0173928,-0.00141652,-0.000866109,-7.50904e-05,0.000233171,0.000123169,0.267166,-0.0363412,0.150081,-1.50378,0.618773,0.074016,-0.0236851,0.0021005,-0.000133014,9.4663e-05,-6.33958e-05,0,0,0,0.00100266,-0.00343885,-0.0038295,-0.000691795,-3.23829e-05,2.32872e-05,-7.44046e-06,-0.162687,0.0158269,0.417514,0.268418,0.347698,0.437947,0.784385,0.000581601,0.00131852,0.00071284,-6.24684e-06,-0.00254856,0.00467506,-0.0111768,-0.0130609,-0.0105813,-5.25052e-05,1.52399e-05,0.000152231,-0.0478595,-0.0285313,-0.00854927,0.877495,0.704632,0.402647,0.23093,-0.00180351,-0.00525894,0.00525894,-0.00352191,0,0,0,0.00233232,0.00400978,-0.00117956,-0.000205219,7.69744e-05,3.94597e-07,0.000101408,-0.119265,-0.0204514,0.0427079,0.269317,0.351678,0.438657,0.781902,0.000107329,0.000490214,0.000106311,-0.00396661,0.000499445,0.00374132,4.27946,-0.0546276,-0.423217,-0.0314908,-0.0906215,-0.0214593,1.04017,0.0378182,0.100098,2.21747,-0.0189925,0.199428,0.00198998,0.00509665,3.39751e-05,-0.00188248,0,-0.000639269,0.233302,0.199746,-0.485223,-0.00250646,0.0541335,0.0314908,0.0694878,0.0119122,0.0174665,-0.384166,-0.16577,0.851814,0.315197,-0.000529988,6.98827e-05,3.57413e-05,-0.000333436,-0.000133815,-1.84023e-05,3.38818,-0.453957,-0.147766,-0.0536685,-0.068583,0.0653018,-1.53541,0.153991,0.139944,-1.83521,0.544087,-0.311592,-0.00017709,-3.91409e-05,0.000534525,0.000339043,0,0,-0.311787,0.0691325,1.51442,0.00923337,0.0544681,0.0536685
2020-02-06.14:18:11.171,0.0915823,0.0761569,0.389896,-0.382854,-0.173844,0.852623,0.310217,-0.00056899,5.14219e-05,4.80363e-05,-3.03123e-05,0.000979156,-0.00162999,-0.00753186,-0.00982146,-0.01289,8.95469e-05,-8.60275e-05,4.59468e-05,0.267191,-0.0363727,0.150113,-1.50381,0.618773,0.074016,-0.0236851,0.00146771,0.000275267,-0.000313053,0.000209652,0,0,0,0.00100266,-0.00868102,-0.00681999,0.000803712,9.28496e-05,0.000398985,4.61628e-05,-0.162679,0.0158505,0.417527,0.268395,0.347692,0.437983,0.784375,0.000426679,0.00111652,0.000603394,-5.30539e-06,-0.00207074,0.00380804,0.00806015,-0.00376334,0.00688618,-0.000202484,2.51873e-05,0.000168101,-0.0478842,-0.0286258,-0.00845479,0.877432,0.704632,0.402647,0.23093,-0.0013457,-0.00446407,0.00446407,-0.00298959,0,0,0,-0.00402466,0.000753101,0.00157881,-0.000557103,0.000170899,3.17027e-05,-4.86811e-05,-0.119264,-0.0204404,0.0427104,0.269228,0.351743,0.438615,0.781927,0.000110085,0.000546437,0.000127873,-0.00268343,-0.000143307,0.0051425,4.26815,-0.0880776,-0.392894,-0.0328565,-0.091224,-0.0211558,1.04021,0.0379341,0.100098,2.21726,-0.0189925,0.199428,0.00209404,0.00572975,3.39751e-05,0,0,-0.000587418,0.23283,0.197858,-0.448666,-0.00206838,0.0547669,0.0328565,0.0694777,0.0119146,0.0174674,-0.384177,-0.165647,0.851845,0.315167,-0.000481564,3.81934e-05,6.60004e-05,0.000569442,0.000334287,-0.000217991,3.41643,-0.478027,-0.137218,-0.0531865,-0.0684955,0.0657456,-1.53542,0.153991,0.139954,-1.835,0.544087,-0.311673,0.000168211,-3.91409e-05,0.000487837,-0.000807749,0,-0.000453683,-0.309899,0.0696046,1.52004,0.00885787,0.0556994,0.0544718
2020-02-06.14:18:11.191,0.09158,0.0761494,0.389892,-0.38285,-0.173839,0.852623,0.310226,-0.00032397,0.000149166,9.71218e-05,-4.20241e-05,0.000427936,-0.000764825,-0.000890324,-0.0144471,0.0135225,-0.00019937,3.55693e-05,8.10961e-05,0.267191,-0.0363412,0.150081,-1.50378,0.618773,0.074016,-0.0236851,0.00107316,-0.000333246,0.000295831,-0.000198118,0,0,0,0.0025919,-0.00461196,-0.000540911,-0.00025194,-3.23829e-05,-0.000164562,5.68835e-05,-0.16268,0.0158657,0.417546,0.268373,0.347695,0.437997,0.784374,0.00026852,0.00104989,0.000567056,-5.01871e-06,-0.00177091,0.00327675,0.0056596,-0.00400226,-0.00211309,9.17513e-05,5.90854e-05,-6.88916e-06,-0.0478842,-0.0287202,-0.00838661,0.877386,0.704632,0.402647,0.23093,-0.000899111,-0.00421986,0.00421986,-0.00282604,0,0,0,-0.000846168,0.00250224,0.00249021,5.86941e-05,-7.95662e-05,6.30108e-05,4.9222e-06,-0.119261,-0.0204261,0.0427148,0.269136,0.351751,0.438673,0.781923,0.000132331,0.00061027,0.000184506,-0.00315013,-0.000606042,0.00579985,4.16177,-0.025666,-0.368003,-0.0302858,-0.0892617,-0.0207287,1.04025,0.0380885,0.1001,2.21726,-0.0189925,0.199509,0.0020564,0.00661079,6.51721e-05,0,0,-0.00053016,0.224334,0.19597,-0.434605,-0.00206838,0.0537272,0.0302858,0.0694708,0.0119131,0.0174662,-0.384137,-0.165825,0.851794,0.315258,-0.000140881,6.80333e-06,3.0892e-05,0.0026879,0.000153975,-0.000564855,3.38506,-0.519039,-0.148958,-0.0550341,-0.0690731,0.0660559,-1.53542,0.153984,0.13996,-1.83542,0.544087,-0.311673,0.000168211,9.60682e-05,0.000143853,-0.00295773,0,-0.000453683,-0.310371,0.0757408,1.49473,0.00929595,0.0551975,0.0550341
2020-02-06.14:18:11.211,0.0915823,0.0761569,0.389896,-0.382854,-0.173844,0.852623,0.310217,-0.000256945,0.000142744,9.2857e-05,-4.24634e-05,0.000313707,-0.00057255,0.00580264,0.00744983,0.00343068,0.00016849,1.78448e-05,-0.00010249,0.267191,-0.0363727,0.150113,-1.50381,0.618773,0.074016,-0.0236851,0.000874086,-0.000369833,0.00033273,-0.000222829,0,0,0,0.0025919,0.00163874,-6.95976e-05,0.000451828,-3.23829e-05,-3.93291e-05,4.61628e-05,-0.162673,0.0158893,0.417559,0.268351,0.347689,0.438033,0.784364,-7.43563e-05,0.00136534,0.000736605,-6.61465e-06,-0.00174064,0.00329078,-0.00820078,-0.00344652,-0.0270668,5.59163e-05,0.000308356,0.000183087,-0.047909,-0.0288147,-0.00829214,0.877323,0.704632,0.402647,0.23093,0,-0.00555888,0.00555888,-0.00372278,0,0,0,0.00815955,0.00591824,0.00263573,-0.000469132,-0.000142182,0.000188243,-5.79846e-06,-0.119261,-0.020418,0.0427181,0.269164,0.35174,0.438653,0.781929,8.41915e-05,0.000657288,0.000287781,-0.00303631,-0.00148028,0.00506556,4.05568,-0.00480189,-0.380743,-0.0305268,-0.0874172,-0.0201576,1.04028,0.0381889,0.1001,2.21726,-0.0188558,0.199398,0.00126859,0.00766094,6.04226e-05,0,0.00103884,-0.00134894,0.216781,0.192665,-0.448666,-0.00188063,0.0527712,0.0305268,0.0694682,0.0119134,0.0174665,-0.38415,-0.16586,0.851787,0.315243,-9.72925e-05,1.91796e-06,2.50437e-05,0.0027156,0.000109191,-0.00053657,3.36857,-0.514388,-0.181446,-0.0549538,-0.0679084,0.0664738,-1.53542,0.153984,0.139963,-1.83542,0.544087,-0.311592,0.000159961,9.32717e-05,9.95849e-05,-0.00295773,0,-0.000399142,-0.311787,0.0738527,1.46099,0.00992178,0.0543637,0.0549538
2020-02-06.14:18:11.231,0.0915869,0.0761719,0.389904,-0.382862,-0.173854,0.852624,0.3102,-3.73692e-05,0.000591499,0.000328694,-8.11641e-05,-0.000578509,0.000685461,-0.0135092,-0.00441442,-0.00112482,-0.000583414,0.000161166,0.00033258,0.267191,-0.0364357,0.150176,-1.50385,0.618773,0.074016,-0.0236851,0.000641074,-0.00232687,0.00229038,-0.00153387,0,0,0,-0.00376508,-0.00369098,-0.00318498,-0.00121962,-0.000126307,-0.000133253,1.40009e-05,-0.162684,0.0159273,0.41759,0.268319,0.347689,0.438063,0.784359,4.67739e-05,0.00186766,0.00103759,-8.16482e-05,-0.00258708,0.00485123,-0.00588779,0.0127356,-0.0103474,-0.000107547,-0.00033766,-6.36772e-05,-0.0478842,-0.0290037,-0.00812949,0.877214,0.704632,0.402647,0.23093,-0.000411849,-0.00766786,0.00759517,-0.00508648,0,0,0,0.00604056,-0.00174192,-0.000385981,0.000234636,0.000264823,-0.000124838,2.63635e-05,-0.119258,-0.0203946,0.0427282,0.269053,0.351768,0.438727,0.781914,9.00627e-05,0.000885273,0.000443634,-0.00458171,-0.00295016,0.00726485,4.00358,-0.171121,-0.383792,-0.0322138,-0.0889815,-0.0193919,1.04031,0.0384592,0.100101,2.21726,-0.0188558,0.199398,0.00110112,0.0105897,8.71661e-05,0,0.000965311,-0.00124166,0.220086,0.178033,-0.417733,-0.000816729,0.054627,0.0322138,0.0694657,0.0119132,0.0174676,-0.384147,-0.165859,0.851789,0.315241,-2.98318e-05,1.38789e-05,-1.74471e-05,0.00256539,-0.00014589,-0.000669415,3.3597,-0.495754,-0.233607,-0.0533472,-0.0675156,0.0662896,-1.53541,0.153984,0.139966,-1.83542,0.544087,-0.311592,-0.00015015,8.82148e-05,2.84117e-05,-0.00280412,0,-0.000396556,-0.31462,0.0714926,1.41881,0.0105476,0.054014,0.0533472
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