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
2020-02-06.14:21:03.59,0.14246,0.0581727,0.376825,-0.343566,-0.0147794,0.92616,0.15483,0.000224935,-0.000167506,-9.91514e-05,5.29205e-06,-0.000108968,0.000286041,-0.00109106,0.00223292,0.0122066,0.000161015,-0.00040313,-0.000139453,0.108353,0.0125021,0.10847,-1.6415,0.719435,0.521072,0.195402,-0.00070477,0.000605542,-0.000605542,0.000405531,0,0,0,0.00312165,-0.00335656,-0.00256461,0.000451828,0.000218082,0.000179828,-8.24851e-05,-0.131955,0.0598525,0.340641,0.0704374,0.694797,0.35819,0.619674,-3.10695e-05,-2.72418e-05,-9.11282e-05,0.000151906,0.000163071,-0.00018537,-0.00135711,-0.00431807,-0.00358687,-0.000584901,-1.43931e-06,-6.00198e-05,-0.132035,0.142058,0.0666975,0.886921,-0.260536,0.46186,0.0532915,0.000109346,0.000359558,-0.000202584,0.000135671,0,0,0,0.000213329,-0.000157352,-0.00153304,-0.000733045,-1.695e-05,-0.000437919,-1.65191e-05,-0.0993976,0.0386897,0.0537792,0.0730539,0.693064,0.357884,0.621486,1.23476e-06,-2.56203e-05,-2.56559e-05,-0.000654152,0.000104111,0.00109052,1.39056,1.4398,-0.358028,0.00321292,0.0180159,-0.00956322,1.27393,0.515631,0.127642,1.90587,-0.405537,-0.228321,0,-0.000260079,-1.49158e-05,-0.000429404,-0.00112085,0.00107881,0.0921682,0.225235,-0.569585,-0.000754146,-0.0323669,-0.00321292,0.0826019,0.0223187,0.0316426,-0.341709,-0.0106309,0.926578,0.156765,7.76776e-07,-2.1018e-05,2.63574e-05,0.000788695,-0.000715663,0.000890332,0.806227,0.9156,-0.294666,-0.02507,0.0161353,0.036578,-1.47811,0.275454,0.131883,-1.27408,0.655992,-0.0793133,0.000316721,-3.74531e-05,-9.93073e-07,0,-0.000614121,0.00129322,-0.0545366,-0.18387,0.316469,0.00942112,-0.020523,0.02507
2020-02-06.14:21:03.71,0.142459,0.0581652,0.376821,-0.34356,-0.0147757,0.92616,0.154838,0.000164018,-0.000192965,-0.000114378,6.42052e-06,2.55478e-05,7.38013e-05,-0.000499127,-0.00422733,0.00549223,0.000297461,0.00014779,0.000119632,0.108353,0.0125336,0.108438,-1.64148,0.719435,0.521072,0.195402,-0.00053955,0.000734665,-0.000734665,0.000492005,0,0,0,0.00100266,-0.00161268,7.59205e-05,-7.59979e-05,-6.3691e-05,0.000367676,1.40009e-05,-0.13195,0.0598251,0.340619,0.0704686,0.694812,0.358168,0.619666,9.96033e-05,-0.000805361,-0.000699188,7.64111e-05,0.00175524,-0.00196372,0.0197484,-0.00867525,0.0185834,5.40667e-07,-0.000295792,-0.000139974,-0.132035,0.142184,0.0665716,0.887005,-0.260536,0.46186,0.0532915,0.000107171,0.00391832,-0.00377171,0.00252591,0,0,0,-0.000316419,-0.00972597,-0.0086646,-0.000205219,4.56663e-05,-6.22216e-05,-0.000102284,-0.0993982,0.0386885,0.0537783,0.0730575,0.693064,0.357882,0.621486,-1.32288e-06,4.44821e-06,-8.83117e-06,-0.000707699,-2.58004e-05,0.00126792,1.47054,1.37655,-0.35206,0.00184727,0.0149928,-0.0097695,1.27393,0.515624,0.12764,1.90587,-0.405537,-0.228321,0,0,0,-0.000419527,-0.00108373,0.00105211,0.0983045,0.221459,-0.608954,-0.00125481,-0.0301969,-0.00184727,0.0826017,0.0223174,0.0316429,-0.341701,-0.010595,0.92658,0.156774,8.68534e-06,-1.76966e-05,2.57025e-05,0.000232653,-0.000457037,0.000365533,0.824456,0.928547,-0.341887,-0.0252307,0.0156323,0.0363827,-1.4781,0.275447,0.131883,-1.27408,0.655992,-0.079395,0.000302918,0,-7.96642e-06,0,-0.000592669,0.00051594,-0.0583128,-0.187174,0.29116,0.00904562,-0.0201999,0.0252307
2020-02-06.14:21:03.91,0.142458,0.0581577,0.376816,-0.343555,-0.0147719,0.926161,0.154846,0.000105632,-0.000541962,-0.000321825,1.92427e-05,0.000635704,-0.000747263,-0.0204324,-0.00894154,0.0100846,-0.000193042,-0.000194516,2.18123e-05,0.108353,0.0125651,0.108407,-1.64146,0.719435,0.521072,0.195402,-0.000498797,0.00220184,-0.00220184,0.00147457,0,0,0,-0.00323533,-0.00710698,-0.0029181,-7.59979e-05,0.000218082,-0.000133253,3.28019e-06,-0.131949,0.0598183,0.340614,0.0704764,0.694816,0.358162,0.619664,0.000116379,-0.000903616,-0.00077518,6.50353e-05,0.00195522,-0.00218717,0.0121592,0.00513665,-0.00788947,-0.000188275,-0.000286834,-0.000165501,-0.132035,0.142216,0.0665401,0.887026,-0.260536,0.46186,0.0532915,0.000106004,0.00436491,-0.00422149,0.00282713,0,0,0,0.00392157,0.00324812,0.00401491,-0.000645074,0.000139591,0.000219551,-4.86811e-05,-0.0993982,0.0386885,0.0537783,0.0730575,0.693064,0.357882,0.621486,-1.30556e-06,4.39595e-06,-8.73638e-06,-0.000700375,-2.75794e-05,0.00125571,1.38728,1.38599,-0.384669,0.00449824,0.0184998,-0.00927267,1.27393,0.515624,0.12764,1.90587,-0.405537,-0.228321,0,0,0,-0.000416276,-0.00107175,0.0010435,0.0926402,0.218154,-0.60333,-0.00106706,-0.0327427,-0.00449824,0.0826017,0.0223174,0.0316429,-0.341701,-0.010595,0.92658,0.156774,8.8879e-06,-1.64314e-05,2.32091e-05,0.000204753,-0.00045895,0.000329067,0.762613,0.964333,-0.307663,-0.0249897,0.0168322,0.0370458,-1.4781,0.275447,0.131883,-1.27408,0.655992,-0.079395,0.000279206,0,-8.53419e-06,0,-0.000585969,0.000474879,-0.0498164,-0.189062,0.282724,0.00960887,-0.0207806,0.0249897
2020-02-06.14:21:03.111,0.142456,0.0581426,0.376808,-0.343543,-0.0147644,0.926163,0.154862,6.11864e-05,-0.000711438,-0.000422644,2.5525e-05,0.000957608,-0.00118931,-0.00782102,0.0162964,0.0120445,-0.000157059,0.00057004,0.000188102,0.108353,0.0126281,0.108344,-1.64142,0.719435,0.521072,0.195402,-0.00043292,0.00292069,-0.00292069,0.00195599,0,0,0,0.0015324,-0.00584631,-0.00837945,-0.000779766,-0.00025154,-3.93291e-05,-3.96024e-05,-0.131955,0.0597967,0.340597,0.0705094,0.694831,0.358139,0.619657,9.3403e-05,-0.000943574,-0.000803443,5.61898e-05,0.00206818,-0.00233899,0.000513568,-0.00181153,0.00516624,1.3976e-05,-8.84589e-05,-0.000163504,-0.13201,0.14231,0.0664456,0.88709,-0.260536,0.46186,0.0532915,0.000185893,0.00452397,-0.00438645,0.0029376,0,0,0,-0.00190566,0.000506231,0.000317454,-0.000205219,-1.695e-05,0.000188243,-0.000113005,-0.0993989,0.0386874,0.0537774,0.0730611,0.693065,0.357881,0.621486,1.36125e-06,-1.26702e-05,-1.74218e-05,-0.000642667,4.0541e-05,0.00110877,1.4048,1.34366,-0.385962,0.00265059,0.0161425,-0.00993449,1.27393,0.515616,0.127639,1.90587,-0.405537,-0.228321,0,-0.000149487,-7.21079e-06,-0.000410018,-0.00104902,0.00102717,0.0926402,0.215322,-0.620203,-0.00156772,-0.0307559,-0.00265059,0.0826012,0.0223158,0.0316421,-0.341711,-0.0106363,0.926579,0.156754,3.83753e-06,-2.83717e-05,1.15753e-05,-0.000663603,-0.000180646,-0.000347178,0.776913,0.985055,-0.295351,-0.0233831,0.0172106,0.0354391,-1.4781,0.275431,0.131883,-1.27408,0.655992,-0.0793133,0.000239941,-0.000135916,-8.80051e-06,0,-0.000572367,-0.000757617,-0.0507605,-0.189534,0.302408,0.00923337,-0.0214184,0.0233831
2020-02-06.14:21:03.131,0.142454,0.0581276,0.376799,-0.343532,-0.0147569,0.926165,0.154878,2.62366e-05,-0.000851409,-0.000505943,3.07082e-05,0.0012207,-0.00154969,-0.000396556,0.00127709,0.0196072,0.000105828,6.09994e-05,-1.30315e-05,0.108353,0.0126911,0.108281,-1.64137,0.719435,0.521072,0.195402,-0.000383553,0.00351377,-0.00351377,0.00235317,0,0,0,0.00471089,-0.0051057,-0.00329927,9.99441e-05,-9.49992e-05,5.45953e-05,2.47215e-05,-0.131961,0.0597819,0.340586,0.0704795,0.694814,0.35816,0.619667,3.59106e-05,-0.000870969,-0.000742844,5.7419e-05,0.00196786,-0.00226579,0.0137793,-0.00962898,0.00285757,-0.000164802,-0.000198111,-5.08407e-05,-0.131985,0.142373,0.0663826,0.886983,-0.260536,0.46186,0.0532915,0.000308342,0.00415833,-0.00402622,0.00269636,0,0,0,-0.000846168,0.00600053,0.00337039,-0.000117248,0.000170899,-0.000218762,-7.01224e-05,-0.0994006,0.0386858,0.0537759,0.0730646,0.693065,0.35788,0.621486,-3.29732e-05,-1.25728e-05,-2.9283e-05,-0.000586231,-0.000199079,0.00145026,1.37807,1.26667,-0.364143,0.00240959,0.0174361,-0.0100906,1.27393,0.515608,0.127637,1.90587,-0.405537,-0.228321,0,-4.45973e-05,-4.12363e-05,-0.00040408,-0.00102782,0.00135322,0.0940563,0.205882,-0.606142,-0.0016303,-0.0318079,-0.00240959,0.0826006,0.0223142,0.0316412,-0.341708,-0.010602,0.926579,0.156762,-1.04759e-05,-6.74005e-05,-1.33008e-05,7.70769e-05,-0.000679564,0.000594024,0.818037,0.989599,-0.309749,-0.0244274,0.0152863,0.0363582,-1.4781,0.275416,0.131883,-1.27408,0.655992,-0.079395,0.000210947,-0.000527068,-8.5526e-06,0,-0.000559663,0.000220349,-0.0531206,-0.192366,0.316469,0.00917079,-0.0197985,0.0244274
2020-02-06.14:21:03.151,0.14247,0.0581198,0.376783,-0.343535,-0.0147739,0.926164,0.154872,4.64846e-05,-0.000735939,-0.00043735,2.64572e-05,0.0010175,-0.00127567,-0.00721659,-0.00765259,-0.00178815,-8.40062e-06,0.000116801,-1.7546e-05,0.108303,0.0127541,0.108244,-1.64135,0.719435,0.521072,0.195402,-0.000399567,0.00302808,-0.00302808,0.00202791,0,0,0,-0.00270558,-0.00103139,0.00101501,-0.000163969,-6.3691e-05,5.45953e-05,-0.000103926,-0.131958,0.0597614,0.340569,0.0705029,0.694826,0.358143,0.619661,-6.27325e-06,-0.000619674,-0.000542735,7.35851e-05,0.00145011,-0.00168889,-0.00332885,0.00550456,0.000801716,0.000320501,9.28055e-05,3.71116e-05,-0.131985,0.142468,0.0662881,0.887046,-0.260536,0.46186,0.0532915,0.000308342,0.0029956,-0.00286851,0.00192104,0,0,0,0.000213329,-0.00174192,-0.000150324,0.00058652,-4.82581e-05,6.30108e-05,-3.79604e-05,-0.099401,0.0386826,0.0537733,0.0730341,0.693097,0.357671,0.621573,-9.38179e-05,-9.3257e-05,-9.58966e-05,0.000704737,-0.000699638,0.00290514,1.41444,1.2355,-0.403815,0.00257026,0.0157638,-0.0100364,1.27393,0.515593,0.127634,1.90545,-0.405537,-0.228403,0,-0.000555504,-0.000147823,0.000478849,-0.00100631,0.00317915,0.0950003,0.203522,-0.662384,-0.00206838,-0.0304983,-0.00257026,0.0826013,0.0223123,0.0316401,-0.341698,-0.0105299,0.92658,0.156784,-3.14258e-05,-0.000101601,-3.37831e-05,-0.00057452,-0.000579674,0.00028872,0.796457,0.966332,-0.330556,-0.025311,0.0145638,0.036232,-1.4781,0.2754,0.131882,-1.27408,0.655992,-0.0795584,0.000188508,-0.000883426,0,0,-0.000547692,-0.000737892,-0.0526486,-0.190006,0.285536,0.00860754,-0.0188859,0.025311
2020-02-06.14:21:03.171,0.142503,0.0581091,0.376777,-0.343552,-0.0147887,0.926163,0.15484,0.00168468,-0.000688435,-0.000406514,1.91491e-05,-0.00165419,0.00321771,-0.0073528,-0.00389811,-0.0128368,-0.000138576,0.000551581,-6.53921e-05,0.108204,0.0127855,0.108213,-1.64133,0.719435,0.521072,0.195402,-0.00507206,0.00219365,-0.00219365,0.00146909,0,0,0,-0.00535432,0.00155118,0.0014551,-0.00025194,-0.000502005,-0.000289794,-1.81611e-05,-0.131957,0.0597545,0.340564,0.0705107,0.69483,0.358138,0.619659,-2.13894e-05,-0.000530151,-0.000470113,7.64868e-05,0.00126449,-0.00148263,-0.00882802,0.00110958,-0.00313661,-0.000270827,3.86693e-05,-8.09943e-05,-0.131985,0.142499,0.0662566,0.887067,-0.260536,0.46186,0.0532915,0.000308342,0.00257659,-0.00245421,0.00164358,0,0,0,0.000213329,-0.00340351,-0.00317557,-0.000205219,-4.82581e-05,-0.000343995,-0.000102284,-0.0994034,0.0386799,0.0537709,0.0730413,0.693098,0.357669,0.621573,-7.44299e-05,-0.000139177,-0.000115383,0.000833597,-0.000495237,0.00251211,1.4272,1.21811,-0.406716,0.0014456,0.0167309,-0.00852403,1.27393,0.515577,0.12763,1.90545,-0.405537,-0.228403,0,-0.00099585,-0.000155145,0.000470191,-0.00098647,0.00316296,0.0978324,0.202578,-0.673632,-0.00012832,-0.0312139,-0.0014456,0.082602,0.0223105,0.0316389,-0.341689,-0.0104578,0.92658,0.156806,-1.45669e-05,-9.89167e-05,-3.65468e-05,-0.00713905,0.00216197,-0.00552089,0.824735,1.00579,-0.409104,-0.0241061,0.0160556,0.0348673,-1.4781,0.275385,0.131881,-1.27408,0.655992,-0.0797217,0.000169572,-0.000838347,-1.61855e-05,0,-0.00053566,-0.00988743,-0.0606729,-0.196615,0.243355,0.00810688,-0.0207328,0.0241061
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