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
2020-02-06.17:42:19.886,0.245391,0.0789342,0.396958,-0.358508,-0.261359,0.782112,0.437566,4.7305e-05,-0.000267391,-0.000210155,0.000215113,0.00051772,-0.000656065,-0.21152,-0.718079,0.572888,0.00264713,-0.0095446,0.00290852,-0.203378,-0.0872629,0.18483,-1.04493,0.562521,0.00592128,-0.390804,6.69241e-05,0.0013754,-0.00114042,0.000763737,0,0,0,-0.0339607,-0.29332,-0.158004,-0.00588209,0.00986098,0.00165131,0.00111823,-0.261196,0.0113477,0.429563,0.287734,0.209093,0.662979,0.658747,0.00440662,-0.0116488,0.0137716,-0.0442647,0.00338168,0.0166541,0.00354385,0.00998559,-0.0266807,-4.49626e-05,0.000186437,2.8293e-05,0.222254,-0.0211308,-0.0498745,0.632183,0.846743,0.248694,0.781609,-0.0135848,-0.0135051,-0.0341365,0.00325716,0,0,0.00343381,0.0086893,0.00616511,0.00430948,-0.000205219,-7.95662e-05,-0.000124838,-1.65191e-05,-0.0910162,-0.0333213,0.0517064,0.289488,0.203615,0.661097,0.661581,0.00198773,-0.00141278,0.00199171,-0.0314922,0.0146077,0.0173815,-3.11621,1.24787,1.06246,0.0320524,0.0777486,0.0459082,1.05218,-0.0370768,0.131805,2.75805,-0.195117,0.394993,-0.0102143,-0.00316501,0.00298796,-0.0209304,-0.035126,-0.0192559,-0.25571,-0.201943,1.09517,0.00875841,-0.0610699,-0.0320524,0.0715634,0.0253858,0.0475252,-0.358562,-0.250912,0.791194,0.427186,7.97539e-06,3.81734e-05,1.16297e-06,-4.9203e-05,1.87799e-05,-0.00027901,1.37368,0.602677,-0.825296,0.0155783,0.0506922,-0.0104384,-1.37724,0.348002,0.146525,-2.08956,0.42084,-0.135376,-0.000123241,0.000255796,0,0,0,0,-0.257033,0.0606362,-0.110968,0.000534385,-0.0641377,-0.0155783
2020-02-06.17:42:19.903,0.245381,0.0789502,0.396946,-0.358495,-0.261382,0.782108,0.43757,0.000224658,0.000121771,-0.000334226,0.00106096,-0.000124011,0.000654776,-0.218691,-0.735837,0.539406,0.00275477,-0.00963416,0.00307148,-0.203353,-0.0872629,0.184882,-1.04496,0.562521,0.00592128,-0.390804,-0.000641192,0.00110174,-1.82057e-05,1.21923e-05,0,0,0,-0.0461449,-0.290573,-0.156625,-0.00605803,0.00998621,0.00183916,0.00120399,-0.261022,0.0108927,0.430071,0.286705,0.207751,0.661312,0.661292,0.00696476,-0.0175009,0.019232,-0.0573758,-0.00495742,0.0158878,0.0101071,-0.00833418,-0.0194701,0.00017269,0.000272187,-0.000212002,0.221709,-0.0215717,-0.0512219,0.63234,0.852664,0.248694,0.775687,-0.021746,-0.0162915,-0.0518124,0.00584795,0.0143426,0,-0.000416627,0.00233232,0.00799128,0.00809707,0.000234636,-0.000392647,-0.000187454,-7.01224e-05,-0.090914,-0.0333929,0.0517976,0.288236,0.206236,0.659398,0.663009,0.00422424,-0.00378043,0.00440007,-0.0410949,0.0400469,-0.0360885,-3.33859,1.63521,1.21707,0.033177,0.0779814,0.0455267,1.05166,-0.0372081,0.131953,2.75092,-0.196347,0.39428,-0.0234371,-0.0062046,0.00650156,-0.0542637,0.00219319,-0.0425722,-0.315185,-0.206191,1.13735,0.00888358,-0.0591057,-0.033177,0.0715629,0.0253868,0.0475235,-0.358568,-0.250914,0.79119,0.427187,1.00251e-06,4.54637e-05,-2.15771e-05,-4.18041e-05,-0.000159734,-0.000338509,1.31341,0.64081,-0.843686,0.0163816,0.0525919,-0.0111021,-1.37726,0.348002,0.146525,-2.08956,0.42084,-0.135376,-0.000307588,0.000217348,0,0,0,0,-0.255145,0.0540279,-0.147525,0.000346637,-0.0655611,-0.0163816
2020-02-06.17:42:19.923,0.245381,0.0789502,0.396946,-0.358495,-0.261382,0.782108,0.43757,0.000216651,0.000157133,-0.000317815,0.00106284,-0.000179367,0.000732444,-0.225383,-0.719348,0.562833,0.00283931,-0.00956462,0.00319166,-0.203353,-0.0872629,0.184882,-1.04496,0.562521,0.00592128,-0.390804,-0.000641192,0.000959293,0.000124238,-8.32024e-05,0,0,0,-0.037669,-0.293978,-0.162114,-0.00605803,0.00995491,0.00196439,0.0013112,-0.260861,0.0105189,0.430489,0.285778,0.206278,0.659652,0.663806,0.00895005,-0.0203895,0.0224815,0.0811435,-0.168105,-0.0686589,0.0050859,-0.00698576,-0.0350583,0.000409644,-1.0351e-05,-0.000344226,0.221214,-0.0219496,-0.0523167,0.632476,0.858585,0.248694,0.769766,-0.0275141,-0.0196619,-0.0598346,0.00354128,0.25638,0,-0.0150968,0.00604056,0.012822,0.00994757,0.000762462,-0.000423955,6.30108e-05,-5.94017e-05,-0.0908311,-0.0334787,0.0519061,0.288399,0.205069,0.66005,0.662651,0.00349259,-0.00435459,0.00551959,0.0836372,-0.0921613,0.00229402,-3.29472,1.7954,1.25996,0.0220108,0.0704067,0.0382308,1.05107,-0.0373394,0.132093,2.75344,-0.196347,0.394689,-0.0328704,-0.00593771,0.00646987,0.0898844,0.0102925,0.0421531,-0.34681,-0.199583,1.10642,0.00756934,-0.0497122,-0.0220108,0.0715627,0.0253873,0.0475226,-0.358571,-0.250914,0.791188,0.427188,1.4298e-07,4.21374e-05,-2.2124e-05,-3.71897e-05,-0.000164904,-0.000314317,1.31558,0.623848,-0.826808,0.014775,0.0513237,-0.0105589,-1.37726,0.348002,0.146525,-2.08956,0.42084,-0.135376,-0.00029997,0.000193365,0,0,0,0,-0.253257,0.0540279,-0.133465,9.63069e-05,-0.064251,-0.014775
2020-02-06.17:42:19.943,0.245383,0.0789424,0.396942,-0.358492,-0.261376,0.782107,0.437578,0.000146308,0.000385685,-0.000204907,0.00105591,-0.000520887,0.00119588,-0.235812,-0.714601,0.544161,0.00270707,-0.0093822,0.00319788,-0.203353,-0.0872314,0.184851,-1.04494,0.562521,0.00592128,-0.390804,-0.000587065,0,0.00106381,-0.000712433,0,0,0,-0.041907,-0.290892,-0.163611,-0.00605803,0.00973575,0.00187047,0.00134336,-0.260667,0.0100851,0.430964,0.284361,0.202827,0.656332,0.668752,0.0108207,-0.0222056,0.0248805,0.176599,-0.348312,-0.265958,0.00873547,-0.00315478,-0.0331025,-8.29445e-05,0.000565447,7.65736e-05,0.220619,-0.022359,-0.0535904,0.632583,0.870428,0.248694,0.757923,-0.0326736,-0.0231241,-0.0643564,0.00548861,0.546793,0,-0.151597,0.00604056,0.0112374,0.00968069,-0.000381161,-0.000330031,-0.000469227,0.000101408,-0.0907932,-0.0335254,0.0519629,0.287781,0.205397,0.659445,0.663421,0.00447857,-0.00484207,0.00588265,-0.305675,-0.0193565,-0.185803,-3.27307,1.86934,1.38148,0.0161465,0.0639981,0.03067,1.0503,-0.0374321,0.132245,2.74694,-0.19539,0.396196,-0.0441998,-0.00308564,0.00930421,-0.382069,0.127606,0.0792298,-0.370411,-0.184478,1.2414,0.00512862,-0.0351591,-0.0122905,0.0715627,0.0253873,0.0475226,-0.358571,-0.250914,0.791188,0.427188,-2.90624e-07,4.09949e-05,-2.26855e-05,-3.53321e-05,-0.000169643,-0.000306109,1.35616,0.631506,-0.839966,0.014293,0.0496417,-0.0101427,-1.37726,0.348002,0.146525,-2.08956,0.42084,-0.135376,-0.00029997,0.000183706,0,0,0,0,-0.257505,0.0544999,-0.12784,3.37242e-05,-0.0628975,-0.014293
2020-02-06.17:42:19.963,0.245383,0.0789424,0.396942,-0.358492,-0.261376,0.782107,0.437578,0.000136629,0.00034413,-0.000181538,0.000938955,-0.000473484,0.00108125,-0.226641,-0.715663,0.532532,0.00280004,-0.00948078,0.00298341,-0.203353,-0.0872314,0.184851,-1.04494,0.562521,0.00592128,-0.390804,-0.000542624,0,0.000945977,-0.000633521,0,0,0,-0.044026,-0.286735,-0.158503,-0.00588209,0.00986098,0.00190177,0.00113967,-0.260443,0.00963132,0.431495,0.282303,0.200252,0.651025,0.675552,0.0110381,-0.0227863,0.0271957,-0.158787,-0.397269,-0.88391,-0.00990281,0.0065353,-0.0298503,0.000640734,0.000196051,-0.000432545,0.21995,-0.0228943,-0.054896,0.632563,0.88227,0.248694,0.74016,-0.032847,-0.0280229,-0.0656176,0.00161463,0.750431,0,-0.879945,0.00498106,0.00757983,0.00560206,0.000234636,-0.000830961,-0.000187454,-3.79604e-05,-0.0906454,-0.0337242,0.0521769,0.28552,0.206368,0.65534,0.668147,0.00445828,-0.00751347,0.00834226,-0.317477,-0.148771,-0.439022,-2.83593,1.82911,1.525,-0.00482035,0.0364915,0.0127078,1.04928,-0.0374707,0.132425,2.73897,-0.191701,0.399232,-0.0578287,0.00105258,0.00899933,-0.46293,0.219447,0.243974,-0.384572,-0.158989,1.22171,0.00243757,-0.0127545,0.00482035,0.0715627,0.0253873,0.0475226,-0.358571,-0.250914,0.791188,0.427188,2.0193e-05,-8.89685e-06,5.93276e-05,-3.21134e-05,0.000468267,8.11522e-05,1.30475,0.627921,-0.822473,0.014293,0.0518057,-0.010531,-1.37726,0.348002,0.146525,-2.08956,0.42084,-0.135376,0.000446107,0.000166971,0,0,0,0,-0.252785,0.0526119,-0.133465,-2.88584e-05,-0.0646263,-0.014293
2020-02-06.17:42:19.983,0.245386,0.0789267,0.396935,-0.358487,-0.261364,0.782104,0.437595,0.000173094,0.000110059,-0.000255415,0.000832926,-0.000120229,0.000545867,-0.231771,-0.718756,0.512033,0.00283963,-0.00943138,0.00297671,-0.203353,-0.0871685,0.184788,-1.0449,0.562521,0.00592128,-0.390804,-0.00050341,0.000805687,4.41687e-05,-2.95798e-05,0,0,0,-0.0498532,-0.283736,-0.157828,-0.00561817,0.00982967,0.00177654,0.00124688,-0.260215,0.00917065,0.432068,0.28109,0.193963,0.64791,0.680866,0.0114585,-0.0215582,0.0284357,0.0829993,-0.541712,-0.819374,-0.00249158,0.00209736,0.00402841,0.000385366,0.000204842,9.59053e-05,0.219282,-0.0235242,-0.0562122,0.632549,0.900034,0.248694,0.728317,-0.0329548,-0.0345204,-0.0604129,-0.00200723,0.943506,0,-0.710033,-0.000316419,-0.00198879,-0.00211865,-0.000117248,-0.000361339,0.000188243,4.78048e-05,-0.0905598,-0.0339032,0.0523574,0.283217,0.20416,0.652212,0.672849,0.00432608,-0.0101396,0.00952047,-0.105348,-0.412344,-0.603162,-2.22106,1.61566,1.67523,-0.0134159,0.0124177,0.000856268,1.04802,-0.0374398,0.132612,2.73121,-0.184869,0.406893,-0.0656726,0.00179942,0.00975432,-0.313336,0.444765,0.470937,-0.358139,-0.110843,1.29201,0.00199949,0.00846893,0.0134159,0.0715629,0.0253868,0.0475235,-0.358568,-0.250914,0.79119,0.427187,1.26676e-05,3.67165e-06,3.22742e-05,-2.82507e-05,0.000256869,-1.8134e-05,1.33543,0.592059,-0.859431,0.0154176,0.050619,-0.0104494,-1.37726,0.348002,0.146525,-2.08956,0.42084,-0.135376,0.000213388,0.000146881,0,0,0,0,-0.253257,0.055916,-0.136277,0.000534385,-0.0651114,-0.0163013
2020-02-06.17:42:20.3,0.245387,0.0789276,0.396926,-0.358479,-0.261372,0.782102,0.4376,0.000184109,-5.2059e-05,-0.000139604,0.000312902,-1.89248e-05,0.000219054,-0.218603,-0.751794,0.564075,0.00300609,-0.0096317,0.00310033,-0.203353,-0.087137,0.184782,-1.04489,0.562521,0.00592128,-0.390804,-0.000486029,0.000754514,-0.00042925,0.000287469,0,0,0,-0.0487937,-0.292821,-0.157623,-0.00605803,0.00995491,0.00190177,0.00128976,-0.260084,0.00894556,0.432379,0.280596,0.189378,0.646472,0.683723,0.012386,-0.0207669,0.0281519,0.101328,-0.542647,-0.817454,-0.0087416,-0.00288795,-0.00606941,-6.20718e-05,0.000276144,0.000193999,0.21891,-0.0239335,-0.0568285,0.632514,0.911877,0.248694,0.722396,-0.0350873,-0.0362599,-0.0569752,0.00199787,0.950833,0,-0.698895,-0.000316419,0.00250751,-0.00047612,-0.000645074,-4.82581e-05,-3.09135e-05,-7.01224e-05,-0.0905126,-0.0340134,0.052459,0.282198,0.201672,0.650687,0.675499,0.00468589,-0.0117439,0.0105951,0.0859066,-0.551297,-0.677155,-1.84188,1.5552,1.74185,-0.0161473,0.00123538,-0.00350886,1.04734,-0.0374089,0.132717,2.7287,-0.179677,0.412215,-0.0698285,0.00397319,0.0107554,-0.154508,0.589947,0.568085,-0.343978,-0.0773299,1.28639,0.0026879,0.017035,0.0161473,0.0715629,0.0253868,0.0475235,-0.358568,-0.250914,0.79119,0.427187,1.23905e-05,2.94132e-06,3.19153e-05,-2.70632e-05,0.000253839,-1.28871e-05,1.32338,0.649529,-0.836939,0.01598,0.0514169,-0.0109365,-1.37726,0.348002,0.146525,-2.08956,0.42084,-0.135376,0.000213388,0.000140707,0,0,0,0,-0.255617,0.0526119,-0.136277,0.000158889,-0.0644652,-0.01598
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