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
2020-02-06.17:14:50.496,0.149293,0.0228783,0.392467,0.457855,-0.340271,-0.303014,0.763392,-0.0224015,-0.0266002,0.0145999,-0.827334,0.122543,1.3058,-0.00085617,0.0185916,-0.0259176,0.000177135,-0.000602499,-0.000104349,0.0832834,0.0344832,-0.00258339,-1.84086,0.595088,-0.0828979,2.45733,0.0569288,0.020608,-0.0933247,0.00240994,1.00665,-0.584127,1.11465,-0.00747332,-0.00120649,0.00536052,0.000363857,-0.000564621,0.000179828,-6.10438e-05,-0.136302,0.0802051,0.330592,0.516063,-0.0198261,0.83443,-0.192388,6.68565e-05,-0.000236476,-0.000214355,3.54836e-05,0.000509944,-0.000466617,0.00973107,0.00311583,0.00342728,0.000248098,0.000276164,2.14685e-06,-0.124504,0.144389,0.123328,1.29696,0.242772,-0.0828979,2.6172,-7.84259e-05,0.001203,-0.00114192,0.000764742,0,0,0,-0.000316419,-0.00382022,-0.00347014,-0.000645074,0.000108283,-6.22216e-05,-7.01224e-05,-0.0963352,-0.0118324,0.0318772,0.515263,-0.0195755,0.834892,-0.192548,-6.0634e-05,-4.47352e-05,5.15415e-05,0.00293147,-2.47511e-05,-0.00742952,-2.25368,0.268091,-1.05493,-0.0116486,0.0239522,-0.0279125,1.26606,0.0510936,0.115638,-1.70751,-0.0971486,-0.326153,-0.000569194,-0.000126652,-3.58906e-05,0,-0.00223988,0.00728608,0.208285,-0.107539,-0.690505,-0.0170256,-0.0111243,0.0116486,0.0809252,-0.00897135,0.0294988,0.455262,-0.344763,-0.316091,0.757603,-0.00862402,-0.00928306,0.00741839,-0.896577,0.115656,1.1714,0.590128,-1.80577,1.99138,0.0289135,0.0480275,0.0485005,-1.35098,0.0774281,0.130437,0.921797,-0.477954,-0.0327026,0,-0.0391166,0.0143503,1.20124,-0.911999,-0.206573,0.00540988,-0.349077,1.43849,0.0220002,-0.0522323,-0.0297169
2020-02-06.17:14:50.509,0.147773,0.021255,0.393248,0.442895,-0.335855,-0.258704,0.790011,-0.0375351,-0.0360708,0.0156661,-1.71629,-0.179722,1.63527,0.0285476,0.0171276,-0.0237182,0.000467479,-0.000275323,-0.000276285,0.0871478,0.0361522,-0.00843386,-1.84022,0.65134,-0.106583,2.55207,0.0954825,0.0440161,-0.13299,0.0210945,1.21046,-0.387304,2.15632,-0.0138303,-0.00535784,-0.00218344,0.000275886,-0.000439388,-0.000446335,-0.000114647,-0.136292,0.0801992,0.330587,0.516064,-0.0198243,0.834428,-0.192391,9.65066e-05,-2.46066e-05,-4.63683e-05,5.20197e-05,-2.90325e-05,0.000133253,0.00738422,0.0178875,0.00119373,0.000255147,0.000103068,5.129e-05,-0.124529,0.14442,0.123296,1.29698,0.242772,-0.0828979,2.6172,-0.000256425,0.000252649,-0.000195847,0.000131159,0,0,0,0.00498106,-0.00232321,-0.00197313,-0.000645074,4.56663e-05,6.30108e-05,-7.01224e-05,-0.0963369,-0.0118346,0.0318774,0.51526,-0.0195821,0.834896,-0.192541,-3.47181e-05,-5.0288e-05,3.6336e-05,0.00181736,-0.000446182,-0.00482734,-2.2708,0.277843,-1.05999,-0.0114076,0.0254218,-0.0276648,1.26604,0.0510782,0.115637,-1.70751,-0.0971486,-0.326153,-0.000442686,-0.000245415,-1.54564e-05,0,-0.00180461,0.00438235,0.215837,-0.103763,-0.682069,-0.0162121,-0.012919,0.00980098,0.0804322,-0.00938652,0.0300035,0.440507,-0.340056,-0.277157,0.783262,-0.0135558,-0.00729536,0.0133285,-1.84744,-0.283837,1.69937,0.327744,-3.23636,2.065,0.0367058,0.06159,0.063598,-1.3511,0.075065,0.131274,1.01721,-0.525231,-0.054676,-0.00699252,-0.0567565,0.021042,2.60797,-0.96716,-0.824709,-0.0767216,-0.513812,1.46661,0.0241906,-0.0610047,-0.0367058
2020-02-06.17:14:50.525,0.147373,0.0208705,0.393414,0.439352,-0.334508,-0.250771,0.795102,-0.0414347,-0.0388769,0.0167025,-1.63564,0.0110641,1.55905,0.0352983,-0.00788624,-0.0588543,0.000480278,-0.000248873,8.04347e-05,0.0881635,0.0366246,-0.00985297,-1.83987,0.663183,-0.109544,2.56983,0.105365,0.0485774,-0.144044,0.0296726,1.29962,-0.311961,1.98736,-0.024955,0.00695793,0.00650405,-0.000163969,-0.000470697,-0.000321102,0.000121207,-0.136292,0.0801992,0.330587,0.516064,-0.0198243,0.834428,-0.192391,9.65302e-05,-2.48925e-05,-4.62503e-05,5.12219e-05,-2.87433e-05,0.000132834,0.00179991,-0.00199254,0.00191685,0.000126904,-9.96504e-05,-6.18638e-05,-0.124529,0.14442,0.123296,1.29698,0.242772,-0.0828979,2.6172,-0.000256425,0.000252649,-0.000196666,0.000131707,0,0,0,-0.000316419,-0.000826199,-4.80644e-06,5.86941e-05,-0.000142182,-0.000156146,-3.79604e-05,-0.0963371,-0.011835,0.0318781,0.515258,-0.0195824,0.834898,-0.19254,-5.03025e-06,-5.9466e-06,-4.07809e-05,0.00165442,0.000300109,-0.0039938,-2.28823,0.258015,-1.02525,-0.0110863,0.0252221,-0.0274698,1.26603,0.0510782,0.115637,-1.70751,-0.0971486,-0.326153,0.000404447,-0.000245415,-1.47234e-05,0,-0.00164039,0.00397269,0.211117,-0.105179,-0.662384,-0.0162746,-0.0118709,0.0110863,0.0802957,-0.00946354,0.0301363,0.436771,-0.339759,-0.266607,0.789123,-0.0131945,-0.00830777,0.0130073,-1.77558,-0.212665,1.78415,0.363581,-3.75878,2.12235,0.0347778,0.0600922,0.064991,-1.35118,0.0744626,0.131488,1.04321,-0.535342,-0.0633385,-0.00791917,-0.0642063,0.0211819,2.57667,-1.06064,-0.842902,-0.0937143,-0.566678,1.36538,0.0220002,-0.0588824,-0.0344565
2020-02-06.17:14:50.545,0.146944,0.020474,0.393573,0.434882,-0.334393,-0.240397,0.800793,-0.0439108,-0.0403204,0.0163479,-1.64865,-0.0201962,1.55669,0.0184966,0.0281629,-0.0243476,-0.000205132,-0.000173569,-5.81943e-05,0.0891791,0.0371285,-0.0112773,-1.83966,0.675026,-0.112504,2.59352,0.111135,0.0537306,-0.15057,0.0233951,1.28006,-0.292706,2.01538,-0.0122411,-0.00103665,0.00333329,-0.000427882,-0.000314156,-0.000383718,-1.81611e-05,-0.136293,0.0802087,0.330583,0.516057,-0.0198309,0.834429,-0.192404,9.7933e-05,-4.54455e-05,-3.80049e-05,-5.57722e-06,-7.35606e-06,0.000101848,0.000443433,0.000591231,-0.000906216,-1.05578e-05,0.000409604,-3.68923e-06,-0.124529,0.14442,0.123323,1.29697,0.242772,-0.0828979,2.6172,-0.000255557,0.000253432,-0.000253432,0.000169723,0,0,0,0.000213329,7.22755e-06,-0.000181549,-0.000205219,0.000358747,-0.000187454,-5.79846e-06,-0.0963371,-0.0118357,0.0318776,0.515259,-0.0195854,0.834898,-0.192538,-8.80717e-06,4.33221e-05,-7.75368e-06,0.00136562,3.51861e-06,-0.00325581,-2.3357,0.295151,-1.03673,-0.0102026,0.0269673,-0.0280055,1.26603,0.0510704,0.115637,-1.70751,-0.0971486,-0.326153,0.000348755,0.000298914,-1.41103e-05,0,-0.00151235,0.00365737,0.213949,-0.108955,-0.65676,-0.0162746,-0.0132638,0.0102026,0.0801644,-0.00955598,0.0302619,0.433392,-0.338645,-0.25626,0.794872,-0.0131283,-0.0100932,0.01217,-1.58319,-0.0931938,1.81329,0.391779,-4.11314,2.19568,0.0335728,0.059773,0.0648426,-1.35126,0.0737598,0.131702,1.06795,-0.546546,-0.0715998,-0.0078943,-0.0750173,0.021613,2.36826,-1.16435,-0.797806,-0.0979625,-0.62096,1.41599,0.0213118,-0.058546,-0.0335728
2020-02-06.17:14:50.565,0.146016,0.0196323,0.393905,0.425813,-0.332651,-0.219277,0.812369,-0.0477966,-0.0413222,0.0152256,-1.76696,-0.103863,1.65546,0.0209568,-0.000291482,-0.0257965,0.000151324,-0.000302153,2.30452e-05,0.0916068,0.0383252,-0.0144989,-1.83915,0.701671,-0.118426,2.64089,0.121178,0.0615994,-0.157235,0.0287529,1.30989,-0.265376,2.21342,-0.0122411,0.00113447,0.00157293,-7.59979e-05,-0.000345464,8.59034e-05,-3.96024e-05,-0.136293,0.0802087,0.330583,0.516057,-0.0198309,0.834429,-0.192404,9.3032e-05,-4.50386e-05,-3.7573e-05,-5.48388e-06,-2.56157e-06,9.20525e-05,-0.00869596,-0.00143088,0.00781603,-0.000162099,0.00035918,-9.54099e-06,-0.124529,0.14442,0.123323,1.29697,0.242772,-0.0828979,2.6172,-0.000241938,0.000249191,-0.000249191,0.000166883,0,0,0,-0.00349491,0.00208553,0.00237238,-0.000117248,0.000390056,3.17027e-05,-2.72398e-05,-0.0963366,-0.0118342,0.0318767,0.515263,-0.0195817,0.834894,-0.192543,-1.12e-05,5.42089e-05,8.68058e-06,0.00110128,-0.000141414,-0.00262838,-2.29472,0.284982,-1.04399,-0.0108453,0.0250786,-0.0274924,1.26605,0.0510782,0.115637,-1.70751,-0.0971486,-0.326153,0.000246944,0.00046275,-1.29419e-05,0,-0.00129055,0.00311662,0.211589,-0.108483,-0.67082,-0.0163372,-0.0116833,0.0108453,0.0798746,-0.00977444,0.0304983,0.426935,-0.334941,-0.236494,0.805985,-0.0157347,-0.0113274,0.0115402,-1.65867,0.012397,1.74726,0.300845,-4.83822,2.3651,0.0307612,0.0576281,0.0717895,-1.35143,0.0720531,0.132163,1.1145,-0.570047,-0.086496,-0.00792395,-0.0972305,0.024098,2.377,-1.11933,-0.687376,-0.118259,-0.711116,1.46942,0.0231267,-0.0539483,-0.0307612
2020-02-06.17:14:50.585,0.144991,0.0188153,0.394173,0.417071,-0.330553,-0.197957,0.823165,-0.0518054,-0.0394917,0.0114137,-1.86045,-0.268796,1.76112,0.0270152,0.0239009,-0.00361907,9.93328e-06,0.000264483,-0.000107537,0.0941335,0.0396478,-0.0175835,-1.83857,0.728317,-0.124347,2.68826,0.131376,0.0709902,-0.155563,0.0196239,1.27693,-0.260116,2.43342,-0.00376508,-0.00960199,-0.00553094,-0.00025194,0.00024939,-0.000101945,-3.96024e-05,-0.136292,0.0802114,0.330574,0.516922,-0.0207691,0.834019,-0.191763,9.15219e-05,-3.86951e-05,-9.2802e-05,0.000130019,4.74598e-05,6.12538e-05,-0.0182739,0.00926879,-0.0101119,7.85133e-05,-0.000116763,-2.09923e-05,-0.124529,0.144452,0.123318,1.29697,0.242772,-0.0799372,2.6172,-0.00022987,0.000448453,-0.000310532,0.000207963,0,0,0,0.000213329,0.00658709,0.00181446,-0.000205219,-0.000142182,0.000188243,-7.01224e-05,-0.0963361,-0.0118334,0.0318753,0.515285,-0.0196492,0.834888,-0.192504,1.25363e-05,8.28298e-05,-5.4069e-05,0.000790115,0.00032242,-0.00158206,-2.34576,0.235386,-1.05325,-0.0120503,0.0254674,-0.0280327,1.26606,0.0510782,0.115637,-1.70751,-0.0971486,-0.32599,0.000899819,0.000403619,-1.19595e-05,0,-0.00112512,0.0022868,0.217253,-0.105651,-0.690505,-0.0166501,-0.0117572,0.0120503,0.0795038,-0.00999422,0.030727,0.417407,-0.332925,-0.215704,0.81756,-0.0204715,-0.0105964,0.0107095,-1.9861,-0.184404,1.60466,0.0388546,-5.37803,2.26604,0.0322072,0.0623463,0.0781342,-1.35162,0.0697517,0.132686,1.16776,-0.589313,-0.101579,-0.00964567,-0.125858,0.0270898,2.71801,-0.802193,-0.750756,-0.143748,-0.773895,1.39912,0.0237525,-0.0544551,-0.0322072
2020-02-06.17:14:50.605,0.143934,0.018043,0.394354,0.409904,-0.328211,-0.17904,0.831986,-0.0553444,-0.0400848,0.00792821,-1.2777,0.0690045,1.47437,0.0298655,0.0293169,-0.00643242,-0.000334166,4.53989e-05,3.24704e-05,0.0968832,0.0412224,-0.0207623,-1.83823,0.752002,-0.130268,2.72971,0.13976,0.0851226,-0.162303,0.0197897,1.2329,-0.301809,1.7237,-0.00906256,-0.0126836,-0.00611655,0.000363857,0.000186774,0.00014852,0.00016409,-0.136293,0.080221,0.33057,0.516915,-0.0207756,0.83402,-0.191776,7.67452e-05,8.94852e-05,-0.000141133,0.00047772,-8.19315e-05,0.000243344,0.00347654,-0.00538738,-0.00137876,-5.57998e-05,0.00016171,-6.77935e-05,-0.124529,0.144452,0.123344,1.29695,0.242772,-0.0799372,2.6172,-0.00021886,0.000429457,5.08627e-05,-3.40628e-05,0,0,0,-0.00243541,-0.000574066,-0.00112064,-0.000117248,4.56663e-05,-3.09135e-05,4.9222e-06,-0.0963393,-0.0118326,0.0318764,0.515369,-0.0202892,0.834947,-0.191955,1.61457e-05,-4.67395e-05,5.11139e-05,0.042588,0.0375127,-0.0918111,-2.24846,0.24892,-1.0415,-0.0145406,0.022307,-0.0277775,1.26607,0.0510859,0.115634,-1.70771,-0.0974218,-0.324297,-0.000657371,-0.00013849,3.42669e-05,0,0.00133081,0.107711,0.209229,-0.108011,-0.684881,-0.0172134,-0.00953441,0.0145406,0.0790731,-0.0102227,0.0309154,0.406908,-0.332493,-0.194842,0.828197,-0.0216526,-0.0135805,0.00653679,-1.47954,-0.180312,1.46754,-0.486102,-5.60543,1.93224,0.0316448,0.0696998,0.0720792,-1.35186,0.0668789,0.133238,1.22312,-0.60407,-0.118052,-0.0131434,-0.151593,0.0272287,2.21935,-0.736399,-0.781563,-0.181982,-0.780503,1.31195,0.0177446,-0.0563016,-0.0316448
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