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
2020-02-06.14:24:03.684,0.0987885,0.0576478,0.418451,-0.268846,-0.0978835,0.947517,0.142663,-0.000744945,-0.00113874,0.0014911,-0.00508332,0.00299444,-0.00259197,0.000600187,0.00151281,0.029571,-0.000121367,9.34436e-05,0.00029162,0.245044,-0.0986944,0.113106,-1.27048,0.888192,0.00888192,0.408568,0.00198445,-0.00145083,-0.00379535,0.00175767,0,0,0,0.00577039,-0.0082643,-0.00782153,-0.000691795,-3.23829e-05,8.59034e-05,3.28019e-06,-0.150471,0.0805217,0.3965,0.0160796,0.490077,0.371258,0.788501,0.00623846,-0.0035355,0.00373961,-0.0146873,-0.00756525,0.0114615,-0.00595371,-0.00537272,0.00567237,-7.54145e-05,0.000109526,-5.73618e-05,-0.0931922,-0.109307,0.208557,1.06118,0.23389,-0.032567,-0.106583,-0.019226,-0.00347972,-0.0112202,0.00554471,0,0,0,-0.00190566,-0.00223566,-0.00320326,0.000498549,-0.000110874,-0.00059446,6.92461e-05,-0.102996,0.0289388,0.0620618,0.0172457,0.488602,0.371373,0.789337,0.00214726,-0.00119939,0.000876083,-0.0256824,-0.0144592,0.0428624,-1.78592,0.300531,0.747687,-0.00803366,0.0477347,0.000586034,1.18163,0.491266,0.12525,1.76223,-0.0519219,0.0851385,-0.00671724,-0.0148068,0.00193257,-0.0019213,-0.0292174,0.0612247,-0.148562,0.0199062,0.811148,-0.00288196,-0.0313597,0.00803366,0.0751544,0.0253198,0.0496933,-0.267959,-0.0984554,0.947767,0.142273,-0.000808877,-0.000173812,0.00100413,-0.00375715,0.00685628,0.000357242,0.558341,-0.040862,0.818439,0.0167833,0.0187026,-0.000803733,-1.3776,0.338117,0.145398,-1.3114,0.726086,0.0923114,0.00609664,-8.27124e-06,0.00107232,-0.000561823,0,-0.0052443,-0.0059186,0.00729796,0.982933,0.00904562,-0.0236298,-0.0167833
2020-02-06.14:24:03.691,0.0987776,0.0576163,0.418487,-0.268853,-0.0978319,0.947527,0.142615,-0.000315071,-0.000402417,0.000757844,-0.00238809,0.000560385,0.000199503,-0.000220153,0.00835914,0.024451,-0.000439484,-3.82013e-05,0.000481574,0.245069,-0.0987258,0.113006,-1.27056,0.888192,0.00888192,0.408568,0.000935077,-0.00120884,-0.00124985,-0.000827744,0,0,0,0.00418115,-0.00659745,-0.00817501,-0.00121962,0.000218082,-8.02096e-06,1.40009e-05,-0.150231,0.0804059,0.39663,0.0145836,0.489363,0.372069,0.788591,0.00504096,-0.00183039,0.00231391,-0.00856223,-0.0093259,0.0142735,-0.00497489,-0.003219,-0.00424123,-0.000272998,0.000109951,6.27346e-05,-0.0939354,-0.109433,0.208183,1.06128,0.23389,-0.0355277,-0.106583,-0.0156874,-0.00252431,-0.00608832,-0.0013433,0,0,0,0.000743077,-0.000738646,-0.0023543,-0.000469132,-0.000142182,-6.22216e-05,1.56429e-05,-0.102885,0.0288824,0.0621041,0.0165164,0.488649,0.371617,0.789209,0.00330616,-0.00100079,0.000468528,-0.0939646,-0.0123285,0.149957,-1.81647,0.503605,0.807859,-0.00972064,0.0479589,0.000939419,1.18137,0.49054,0.12535,1.76202,-0.053015,0.0871733,-0.00549722,-0.019762,0.00275299,-0.00689812,-0.111221,0.163345,-0.155642,0.0453952,0.856141,-0.00244388,-0.0313287,0.00972064,0.0751489,0.0253054,0.0497259,-0.267829,-0.0983425,0.947819,0.142252,0.000159057,-0.00036836,0.000586816,-0.00882411,0.00829205,-0.00278306,0.582791,-0.000714552,0.770124,0.0196753,0.0220227,-0.00413848,-1.37733,0.338109,0.145413,-1.3114,0.726086,0.0920664,0.00552448,-0.000175322,0,-0.000561823,0,-0.0114917,-0.015359,0.00446584,0.960436,0.0080443,-0.0268524,-0.0196753
2020-02-06.14:24:03.711,0.0987788,0.0576159,0.418496,-0.268853,-0.0978203,0.947529,0.142608,-0.000261767,-0.000208341,0.000511001,-0.00153569,0.000127924,0.000511527,0.00764492,-0.00259438,0.00803909,-2.70976e-06,-9.77021e-05,6.18683e-05,0.245069,-0.0987573,0.113011,-1.27056,0.888192,0.00888192,0.408568,0.000812981,-0.000918053,-0.000660683,-0.00119214,0,0,0,0.0036514,-0.000779253,-4.19079e-05,-0.00025194,9.28496e-05,0.000179828,-0.000114647,-0.150184,0.0803914,0.396652,0.0145166,0.489354,0.372089,0.788588,0.00448224,-0.00130492,0.00185467,-0.00663601,-0.00896321,0.0137903,0.00724087,-0.00681136,0.0176567,0.00014125,6.90783e-05,-0.000115984,-0.094084,-0.109464,0.208136,1.06131,0.23389,-0.0355277,-0.106583,-0.0140007,-0.0022307,-0.00445743,-0.00243551,0,0,0,-0.00614365,0.000171807,0.00116994,0.000322607,-4.82581e-05,3.94597e-07,-8.08431e-05,-0.102852,0.0288693,0.0621108,0.0157548,0.488634,0.372035,0.789036,0.00280377,-0.00135499,0.000797739,-0.0555617,-0.0542364,0.108841,-1.77449,0.573804,0.776391,-0.00899765,0.0469376,0.000739551,1.18131,0.490332,0.125377,1.76202,-0.0538348,0.0889853,-0.00555308,-0.0186658,0.00239856,-0.00646398,-0.0426177,0.146835,-0.153754,0.0534196,0.816772,-0.00263162,-0.0306697,0.00899765,0.0751491,0.0253027,0.0497313,-0.267809,-0.0983428,0.947826,0.142243,0.000123681,-0.000348098,0.000572135,-0.00775481,0.00767217,-0.00226776,0.612311,0.00601081,0.759529,0.0179079,0.0199914,-0.00177921,-1.37729,0.338109,0.145414,-1.3114,0.726086,0.0920664,0.00510185,-0.000175322,3.07727e-05,-0.000561823,0,-0.0102255,-0.0139429,-0.0011984,0.985745,0.00904562,-0.026219,-0.0183096
2020-02-06.14:24:03.731,0.0987788,0.0576159,0.418496,-0.268853,-0.0978203,0.947529,0.142608,-0.000198261,-7.54689e-05,0.000396149,-0.00109238,-0.00017255,0.000802583,-0.00762072,-0.00451422,-0.00466857,8.42139e-06,5.97094e-05,-0.000327169,0.245069,-0.0987573,0.113011,-1.27056,0.888192,0.00888192,0.408568,0.000670726,-0.000918053,-0.000202792,-0.00145221,0,0,0,-0.00270558,-0.00028025,0.00104624,0.00062777,-6.3691e-05,-0.000258486,-2.88818e-05,-0.150113,0.0803788,0.396675,0.014427,0.489331,0.372135,0.788583,0.00342016,-0.000507743,0.00119135,-0.00381862,-0.00783292,0.0121215,-0.0105845,0.010016,0.00477669,8.31704e-05,-6.68963e-05,-9.59168e-05,-0.0943069,-0.109496,0.208088,1.06134,0.23389,-0.0355277,-0.106583,-0.0107749,-0.00198747,-0.00188224,-0.00365686,0,0,0,0.00127283,-0.00448907,-0.00211865,-0.000117248,7.69744e-05,0.000282168,-0.000145167,-0.102811,0.0288389,0.0621232,0.0153805,0.488458,0.372253,0.78905,0.00160135,-0.00177811,0.000378221,-0.00595926,-0.0180025,0.00539045,-1.62929,0.687352,0.783801,-0.0104436,0.0387138,-1.97365e-05,1.18122,0.489992,0.12541,1.76202,-0.0539714,0.0902402,-0.00488719,-0.017675,0.00107504,-0.00585141,0.000595798,0.0333524,-0.148562,0.0699403,0.805524,-0.00256904,-0.023728,0.0104436,0.0751519,0.0252969,0.0497413,-0.267768,-0.0983433,0.94784,0.142225,9.51924e-05,-0.000286486,0.000464235,-0.00638903,0.00627278,-0.00196053,0.583693,-0.00667065,0.74611,0.0198359,0.0220565,-0.00316801,-1.3772,0.338109,0.145414,-1.3114,0.726086,0.0920664,0.00430427,-0.000175322,2.89845e-05,-0.000561823,0,-0.00850692,-0.0172471,0.00446584,0.943563,0.00892046,-0.0269834,-0.0198359
2020-02-06.14:24:03.751,0.0987788,0.0576159,0.418496,-0.268853,-0.0978203,0.947529,0.142608,-0.00015678,-2.46602e-05,0.000301444,-0.00079402,-0.000324837,0.000915608,-0.00899229,-0.00595209,-0.011287,0.000380581,-0.000232797,-8.58518e-05,0.245069,-0.0987573,0.113011,-1.27056,0.888192,0.00888192,0.408568,0.000548088,-0.000770143,-4.29718e-05,-0.0015036,0,0,0,-0.00429483,0.000800047,0.0023665,0.000363857,6.15414e-05,0.000430293,-7.17644e-05,-0.15005,0.0803744,0.396693,0.0143501,0.489304,0.372185,0.788577,0.00199088,0.000226845,0.000491325,-0.000988818,-0.00604552,0.00934281,0.0181912,-0.0120778,-0.00472144,0.000248443,-8.45499e-05,6.48386e-05,-0.0945051,-0.109527,0.208067,1.06135,0.23389,-0.0355277,-0.106583,-0.00637645,-0.00160226,0.000564613,-0.00476051,0,0,0,-0.00190566,0.00699854,0.00460405,0.000234636,0.000108283,0.000219551,6.92461e-05,-0.102781,0.0287988,0.0621283,0.0155453,0.488404,0.372154,0.789127,0.00136812,-0.00156319,0.00024465,5.32308e-05,-0.00124388,-0.0122437,-1.53594,0.853083,0.888945,-0.00763199,0.0386933,0.000237784,1.18112,0.489606,0.125428,1.76202,-0.0538348,0.0902922,-0.00381076,-0.015608,0.000867764,-0.0052451,0,0.00648209,-0.141482,0.0897651,0.889886,-0.00238129,-0.0245801,0.00763199,0.0751538,0.0252909,0.0497526,-0.267719,-0.0983051,0.947859,0.142216,0.000112976,-0.000281295,0.000426488,-0.00192654,0.00428454,0.000568021,0.668952,-0.0312519,0.686699,0.0178276,0.0210339,-0.00163271,-1.37709,0.338109,0.145415,-1.3114,0.726086,0.0919847,0.00406116,-0.000212427,0,-0.000561823,0,-0.0030477,-0.0295196,0.00257776,0.957624,0.00898304,-0.0268825,-0.0178276
2020-02-06.14:24:03.771,0.0987809,0.0576237,0.4185,-0.268857,-0.0978235,0.947529,0.142599,-0.000145985,-5.02064e-05,0.0002317,-0.000645805,-0.000328919,0.00085223,-0.0028117,-0.0069194,0.00578633,3.23299e-05,-4.67602e-05,1.10897e-05,0.245069,-0.0987888,0.113042,-1.27058,0.888192,0.00888192,0.408568,0.000475511,-0.000495349,-0.000165433,-0.00137816,0,0,0,0.000472907,-0.0025284,-0.000364169,1.19731e-05,3.02333e-05,5.45953e-05,3.28019e-06,-0.150027,0.0803763,0.396694,0.0143274,0.48929,0.372211,0.788574,0.000917177,0.000117589,0.000352233,-0.000772054,-0.00405726,0.00602886,0.0189944,-0.0255021,0.00189476,-0.00011301,9.83338e-05,7.87006e-06,-0.0945794,-0.109527,0.208067,1.06135,0.23389,-0.0355277,-0.106583,-0.00295969,-0.00122998,0.000414228,-0.004311,0,0,0,-0.00614365,0.00708609,0.00231347,-0.000205219,-0.000110874,3.94597e-07,-1.65191e-05,-0.102753,0.028779,0.0621361,0.0156224,0.488438,0.37199,0.789182,0.00182861,-0.000811622,0.000609101,0.00287076,0.000474917,-0.0055636,-1.4968,0.918019,0.905343,-0.00923865,0.0395089,0.000440638,1.18108,0.489382,0.12545,1.76181,-0.0538348,0.0902105,-0.00160665,-0.0110398,0.00161697,0,0,0.00537798,-0.138177,0.10015,0.898322,-0.00213096,-0.0257671,0.00923865,0.0751552,0.025288,0.0497576,-0.267693,-0.0982667,0.94787,0.142218,-0.000315908,-5.62568e-05,0.00029182,0.000560999,0.00122844,0.000832103,0.735241,-0.031687,0.657761,0.016944,0.0183223,-0.00129001,-1.37705,0.338109,0.145415,-1.3114,0.726086,0.091903,0.00166627,-0.000212427,0.000384549,-0.000561823,0,0,-0.0356558,0.00021766,0.98012,0.00885787,-0.0248173,-0.016944
2020-02-06.14:24:03.791,0.0987728,0.0576255,0.418501,-0.268852,-0.0978197,0.947529,0.14261,1.08999e-05,-5.50811e-05,0.000182561,-0.000536454,-0.000596939,0.00126141,0.00271676,-0.00554079,0.00806174,-0.000103041,-1.63767e-05,0.000337169,0.245094,-0.0987888,0.113042,-1.27058,0.888192,0.00888192,0.408568,0,-0.000468613,-7.94081e-05,-0.00139102,0,0,0,0.00206215,-0.00202939,-0.000336479,-0.000691795,6.15414e-05,0.00014852,4.61628e-05,-0.150027,0.0803763,0.396694,0.0143274,0.48929,0.372211,0.788574,0.000475219,7.84134e-05,0.000263748,-0.00059004,-0.00312098,0.0045151,0.00158581,-0.0197804,-0.00153085,-0.000648823,-0.000249691,0.00016135,-0.0945794,-0.109527,0.208067,1.06135,0.23389,-0.0355277,-0.106583,-0.0015501,-0.000975483,0.000346025,-0.00393969,0,0,0,-0.00349491,0.00217835,-0.00270779,-0.000996958,0.000170899,-0.000375303,9.06875e-05,-0.102727,0.0287659,0.0621439,0.0156948,0.488448,0.371947,0.789194,0.000685,-0.000412679,0.000109896,0.00118495,-2.41098e-05,-0.0016097,-1.38801,0.979862,0.809372,-0.00939931,0.0384125,0.000117912,1.18105,0.489212,0.125472,1.76181,-0.0538348,0.0902105,-0.000162263,-0.00519689,0.000517664,0,0.00017995,0.00357255,-0.129681,0.108646,0.791463,-0.00231871,-0.0256361,0.00939931,0.0751556,0.0252871,0.0497593,-0.267686,-0.0982667,0.947873,0.142215,-0.000173547,-2.53035e-05,0.000112343,0.00061958,0.000258797,0.000320034,0.639678,-0.0442057,0.681392,0.0179883,0.0204543,-0.00252848,-1.37703,0.338109,0.145415,-1.3114,0.726086,0.091903,0.000573318,-0.000212427,0.000194822,-0.000561823,0,7.17677e-05,-0.0271595,0.0058819,0.935127,0.00854496,-0.025957,-0.0179883
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