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
2020-02-06.17:41:14.131,0.286782,0.091091,0.389386,-0.23853,-0.277375,0.66571,0.650382,-3.89527e-05,0.00102872,-0.000756431,0.00335244,-0.000352187,0.00238164,0.00638422,0.0036621,-0.0190565,-0.000690784,0.00013005,9.70294e-05,-0.3314,-0.044466,0.181007,-1.77332,0.965168,0.775687,-1.57506,-0.000396049,0.000681003,0.00277724,-0.00185992,0,0,0,-0.00323533,0.00587763,0.00477138,-0.000515853,-0.000314156,0.000211136,-6.10438e-05,-0.273528,0.0239905,0.437015,0.245548,0.128403,0.608679,0.743457,0.013676,-0.00241939,0.0100502,-0.0114382,-0.00251016,0.0366712,-0.00434209,0.0210577,-0.0255893,3.10158e-05,-0.000251689,-0.000148614,0.265011,-0.0622272,-0.0104086,0.128995,1.18426,0.376001,0.148032,-0.0348124,-0.0354632,0.00734439,-0.00491854,0.0111067,0.015381,0,0.0108083,0.00591824,0.00328378,0.000498549,7.69744e-05,-3.09135e-05,0.000112129,-0.0943754,-0.0280361,0.0521708,0.2455,0.1297,0.609977,0.742183,0.00430668,-0.00105218,0.00215499,-0.00726692,-0.0112961,0.00822028,-0.153442,-1.61444,0.511916,-0.0167096,-0.0285241,-0.0036817,1.06052,0.0160401,0.127598,2.67418,0.0168063,0.570952,-0.000229879,5.66571e-06,0.00492694,0,-0.0106579,0.0114749,0.0808397,-0.0933786,1.30045,0.0122005,0.0273859,0.0167096,0.0874319,0.0304615,0.0430698,-0.23632,-0.27694,0.667424,0.649617,-9.00944e-05,0.000277365,-0.000439597,0.0283482,-0.0446282,-0.0163926,2.82196,1.57261,-1.79072,0.0195146,-0.000416681,0.00664156,-1.38967,0.416325,0.131268,-2.63287,0.328338,-0.469484,-0.00382813,0.000406913,-8.68074e-06,-0.0307951,-0.00216903,0.033387,-0.366542,0.19233,0.0718175,0.00522808,-0.0223034,-0.0195146
2020-02-06.17:41:14.142,0.286784,0.0911039,0.389354,-0.238486,-0.277403,0.665707,0.650389,0.000123655,0.000633502,-0.00101701,0.00344405,0.000400548,0.00147764,0.00447465,-0.00813119,0.0279077,-0.000516592,0.000104657,0.000276558,-0.3314,-0.0443715,0.181017,-1.77332,0.965168,0.775687,-1.57506,-0.000396049,0.00257992,0.00102998,-0.00068978,0,0,0,-0.00959231,0.000136464,0.000574924,-7.59979e-05,-0.000188923,0.000398985,-7.44046e-06,-0.273072,0.0239758,0.437365,0.24621,0.129377,0.608955,0.742843,0.0163228,0.0015399,0.0130122,-0.019483,-0.0232607,0.0505812,-0.0157866,-0.00777163,-0.0109389,-5.36409e-05,-0.000302609,-7.89718e-05,0.263896,-0.0636128,-0.00991714,0.128665,1.18426,0.378962,0.148032,-0.0384311,-0.055993,0.0253092,-0.0169495,0.0106207,0,0,-0.000846168,0.0054245,5.41078e-05,0.000146665,0.000264823,3.94597e-07,-0.000102284,-0.0942032,-0.0280742,0.0522591,0.24533,0.129749,0.610124,0.74211,0.00686993,-0.00189674,0.00354041,0.0176951,0.0266716,-0.0204932,-0.0878362,-1.3605,0.673502,-0.0102026,-0.0256899,-0.00276109,1.06051,0.0160787,0.127795,2.67418,0.0163964,0.571123,-0.000281709,0.00185014,0.00796043,0,0.0276665,-0.0286725,0.0591268,-0.0702496,1.30045,0.011512,0.0239047,0.0102026,0.0874297,0.0304671,0.04306,-0.236409,-0.277017,0.667375,0.649603,-0.000112038,0.000124601,-0.000406037,0.0101311,-0.0096327,-0.00509486,2.87779,1.62014,-1.88904,0.0211213,-0.00242244,0.00601148,-1.38977,0.416325,0.131268,-2.63287,0.328338,-0.46932,-0.00348079,-0.000673767,-8.65377e-06,-0.0109614,0,0.00335707,-0.377398,0.19469,0.0268241,0.00410159,-0.0213085,-0.0211213
2020-02-06.17:41:14.162,0.286785,0.0911053,0.389345,-0.238474,-0.277408,0.665705,0.650393,0.000215958,0.000298507,-0.000973277,0.00285942,0.00071784,0.00075412,0.011618,-0.0110966,0.0192141,-0.000886109,4.44419e-05,0.00037473,-0.3314,-0.04434,0.181012,-1.77332,0.965168,0.775687,-1.57506,-0.000396049,0.00318235,-0.000153563,0.000102841,0,0,0,-0.00111634,-0.00669553,-0.00107114,-0.00104368,-9.49992e-05,0.000242444,-1.81611e-05,-0.272903,0.0239894,0.437508,0.245994,0.12947,0.60916,0.742731,0.0164468,0.00246371,0.014528,-0.0220968,-0.0234089,0.052701,-0.00926851,-0.00221725,-0.0158562,-0.000175478,-0.000283679,-0.000246713,0.2635,-0.0642112,-0.00966068,0.128494,1.18426,0.378962,0.148032,-0.0376556,-0.0626262,0.0293323,-0.0196438,0.010463,0,0,0.00180257,0.00617037,0.00228578,0.000498549,0.000108283,-0.000218762,-1.65191e-05,-0.0941347,-0.0280888,0.0522962,0.245405,0.129824,0.610119,0.742076,0.00727719,-0.00174321,0.00383273,0.0164787,0.03024,-0.0159491,-0.037354,-1.25185,0.709093,-0.00787299,-0.026132,-0.00224585,1.0605,0.0161173,0.127874,2.67418,0.0163964,0.570878,0,0.00390938,0.0084057,0,0.0250097,-0.0330228,0.0520465,-0.0598652,1.27233,0.0122005,0.0235417,0.00787299,0.0874283,0.0304702,0.0430541,-0.236423,-0.277129,0.667293,0.649634,-0.000142077,0.000228835,-0.000557725,-0.000126333,0.000634564,-0.00184947,2.84393,1.58097,-1.85604,0.0212819,-0.00191268,0.00625892,-1.38982,0.416325,0.131268,-2.63308,0.328338,-0.469239,-0.00534634,-0.000673767,-8.41578e-06,0,0,-0.00560706,-0.370318,0.194218,0.0268241,0.00472742,-0.0213435,-0.0212819
2020-02-06.17:41:14.182,0.286786,0.0911168,0.389321,-0.238442,-0.27743,0.665704,0.650397,0.000206697,0.000270604,-0.00087112,0.00256423,0.000624964,0.000709569,0.00291248,-0.0146582,0.0172958,-0.000613123,-0.000306542,0.000201415,-0.3314,-0.044277,0.181028,-1.77333,0.965168,0.775687,-1.57506,-0.000396049,0.00285797,-0.000141724,9.49124e-05,0,0,0,-0.00058659,-0.00735385,-0.00459185,-0.000339911,-3.23829e-05,-0.00019587,-2.88818e-05,-0.272656,0.0240522,0.437739,0.246912,0.130342,0.609186,0.742252,0.0165136,0.00493065,0.0162295,-0.0100916,0.0113541,0.0576818,-0.0182629,-0.0143486,-0.0326445,-0.000125599,9.47911e-06,-0.000241677,0.262955,-0.0652504,-0.00912113,0.128281,1.18426,0.381922,0.148032,-0.0357029,-0.073526,0.0390183,-0.0256163,0.0102415,0.0384261,0,0.000213329,0.0138305,0.00571989,0.000410578,-0.000173491,-0.000218762,4.9222e-06,-0.0939695,-0.028121,0.0523806,0.245636,0.129952,0.610163,0.741941,0.00739177,-0.00132215,0.00392482,0.00802036,0.0279998,-7.57359e-05,0.248676,-0.931948,0.87241,-0.00361536,-0.0249622,-0.00120203,1.06052,0.01621,0.128062,2.67439,0.0163964,0.570306,0.000874899,0.00623487,0.00844582,0,0.00951448,-0.0309349,0.0336378,-0.00983108,1.2414,0.0124508,0.0193976,0.00361536,0.0874251,0.0304755,0.0430409,-0.236401,-0.277155,0.667309,0.649613,-0.00014014,0.000425237,-0.000690716,-0.000246172,-0.00147063,-0.00357393,2.84878,1.47907,-1.79365,0.0217639,-0.00253537,0.00553262,-1.38995,0.416317,0.131268,-2.63308,0.328474,-0.46935,-0.00717315,0.000227897,-7.99418e-06,0,0,-0.00463857,-0.358045,0.20177,0.0380724,0.00435193,-0.0211603,-0.0217639
2020-02-06.17:41:14.202,0.28679,0.0911107,0.389308,-0.238429,-0.277429,0.665698,0.650408,0.000266617,2.0221e-05,-0.000785687,0.00199513,0.000798184,0.000177305,0.00454933,-0.0122709,-0.000208152,0.00023849,-0.000348839,3.02659e-05,-0.3314,-0.0442141,0.180991,-1.77331,0.965168,0.775687,-1.57506,-0.000396049,0.00310739,-0.000967058,0.000647639,0,0,0,-0.00376508,-0.00169497,-0.000423083,-7.59979e-05,0.000186774,-0.00035241,3.54422e-05,-0.272229,0.0242349,0.438219,0.247535,0.131349,0.609493,0.741614,0.0156569,0.00882986,0.0194843,-0.0126626,0.0139838,0.0605706,-0.0175405,-0.0102441,-0.0135472,-0.000245872,0.000270752,0.000357397,0.262088,-0.0674548,-0.00788976,0.127606,1.18426,0.384883,0.148032,-0.0298253,-0.0914601,0.0536228,-0.033875,0.00987362,0.0409711,0,-0.00190566,0.00642251,0.00028623,-0.000996958,0.000108283,-9.35298e-05,-0.000145167,-0.0938412,-0.0281394,0.0524538,0.246593,0.130531,0.60999,0.741664,0.00643608,-0.000479935,0.00414252,0.037499,0.138397,0.00453905,0.569355,-0.651303,0.99248,0.000642275,-0.0273656,-0.00277898,1.06053,0.0163876,0.12821,2.6746,0.0168063,0.56793,-0.000787355,0.014236,0.00751359,0.000337822,0.0245982,-0.150041,0.0213652,0.0368989,1.1964,0.0123882,0.0193834,-0.000642275,0.0874234,0.0304842,0.0430265,-0.236454,-0.277185,0.667269,0.649623,-0.000120315,0.000402079,-0.000616644,-0.000242856,-0.00144961,-0.00338199,2.73501,1.43009,-1.76864,0.0220049,-0.00195344,0.00480589,-1.3901,0.416325,0.131266,-2.63308,0.328474,-0.46935,-0.00649273,0.000368478,-5.87603e-06,0,0,-0.0039999,-0.351437,0.197522,0.00151536,0.00416418,-0.0224832,-0.0223262
2020-02-06.17:41:14.222,0.286792,0.0911135,0.38929,-0.238406,-0.27744,0.665694,0.650416,0.000332379,-0.000129985,-0.000907739,0.00208719,0.00111225,-0.00016994,0.00937291,-0.00712002,0.0288832,-0.00104564,0.000217636,6.49045e-05,-0.3314,-0.0441511,0.180981,-1.7733,0.965168,0.775687,-1.57506,-0.000396049,0.00391642,-0.00165704,0.00110972,0,0,0,0.00206215,-0.00860925,-0.00227358,-0.000603824,-0.000627237,0.000273752,-3.96024e-05,-0.271915,0.0244422,0.438636,0.248307,0.132317,0.609625,0.741076,0.0155019,0.0110647,0.0218406,-0.0190025,0.00664771,0.0610402,-0.0198341,-0.00118153,-0.0192515,-1.17767e-05,0.000535552,0.000426106,0.261518,-0.0694388,-0.00669474,0.127104,1.18426,0.387844,0.148032,-0.0272115,-0.103467,0.0624215,-0.0366847,0.00960968,0.032178,0,0.00180257,0.00675693,-0.000153859,-0.000908987,-0.000204799,3.17027e-05,0.000101408,-0.0937111,-0.0281391,0.0525426,0.247516,0.13126,0.609932,0.741275,0.00656724,0.000400618,0.00471799,0.0307546,0.126958,0.0136194,0.972379,-0.355081,1.32214,0.00208826,-0.0296863,-0.00442236,1.06051,0.0167429,0.128361,2.6748,0.0169429,0.565286,-0.000799226,0.0225516,0.00767284,0.00115217,0.0209444,-0.142168,-0.00270776,0.100622,1.32295,0.0121379,0.0185884,-0.00208826,0.0874214,0.0304928,0.0430152,-0.236498,-0.277208,0.667233,0.649634,-0.000137318,0.000227286,-0.000537487,-4.1198e-05,-0.00138379,-0.00192202,2.67545,1.44019,-1.73435,0.0228886,-0.000197833,0.00377764,-1.39022,0.41634,0.131266,-2.63308,0.328474,-0.46935,-0.00518193,-0.000606161,-5.87603e-06,0,6.46611e-07,-0.00340876,-0.342469,0.189498,0.0155758,0.00441451,-0.0224615,-0.0228886
2020-02-06.17:41:14.242,0.286799,0.0911102,0.389259,-0.23837,-0.277449,0.665685,0.650434,0.000507263,-0.00038345,-0.00148517,0.00317136,0.00209262,-0.000815843,0.00175187,-0.025172,0.016356,-8.58191e-05,0.000264739,-2.21054e-05,-0.3314,-0.0440251,0.180934,-1.77327,0.965168,0.775687,-1.57506,-0.000396049,0.00669479,-0.00323906,0.0021692,0,0,0,-0.00376508,-0.00934986,-0.00629329,9.99441e-05,-6.3691e-05,0.000273752,-3.96024e-05,-0.271606,0.0246775,0.439109,0.249069,0.133336,0.609703,0.740573,0.0151785,0.0125788,0.0236228,0.0157383,0.119534,0.0481975,-0.0213082,-0.0168583,-0.00843233,0.00016393,-0.00033985,-8.03456e-05,0.260998,-0.0716432,-0.00538448,0.126674,1.18426,0.390804,0.148032,-0.024804,-0.111937,0.0681853,-0.0210345,0.00935974,0.143076,0,-0.00402466,0.00609335,-0.00082607,0.000322607,0.000233515,0.000188243,-1.65191e-05,-0.0935681,-0.028121,0.0526598,0.24835,0.132098,0.609879,0.740891,0.00686857,0.00112761,0.00612228,0.0240194,0.122958,0.0249981,1.34457,-0.136758,1.4574,0.00546224,-0.0301612,-0.00605782,1.06042,0.0173375,0.128532,2.6748,0.0170796,0.56248,-0.00589353,0.0328818,0.00837477,0.00115217,0.0147013,-0.147217,-0.00742796,0.152544,1.32857,0.0109488,0.0165095,-0.00546224,0.0874206,0.0304948,0.0430068,-0.236458,-0.277223,0.667264,0.64961,-9.47554e-05,0.000114912,-0.000374905,-2.68702e-06,-0.000371965,-0.000975266,2.67851,1.44268,-1.80079,0.0214426,-0.00177909,0.00353983,-1.3903,0.416333,0.131265,-2.63308,0.328611,-0.469462,-0.00342578,-0.000711291,-1.57046e-05,0,0,-0.00295054,-0.347661,0.188082,-0.0378538,0.00297511,-0.0211864,-0.0214426
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