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
2020-02-06.17:44:02.493,0.424096,-0.0631742,0.429166,0.0418989,-0.494749,0.179233,0.849319,-0.0200656,-0.00259375,0.00723608,0.013452,-0.00349435,-0.030199,0.00415387,0.0167852,-0.00341537,0.000440347,-0.000113734,0.000339084,-0.522317,0.369521,-0.586377,-0.464156,0.828979,-0.503309,-2.15534,0.0341438,-0.0450337,0.0372596,0.0302278,0.00301284,-0.0428329,0.00925106,-0.00376508,0.0017105,0.0044179,-0.00104368,-9.49992e-05,-8.02096e-06,-7.17644e-05,-0.243818,0.0794058,0.365725,-0.0894363,0.453959,0.586147,0.665097,-0.000255103,-2.14087e-05,-1.444e-05,5.96644e-06,0.000476511,-0.000763211,0.0205071,-0.00656551,-0.0156726,8.57335e-05,1.47348e-05,0.000101408,0.189753,0.0245319,0.156164,0.546261,0,-0.210205,0.153953,0.000727401,0.000262834,-0.000262834,0.00017602,0,0,0,0.000213329,-0.0068195,-0.00343891,0.000146665,0.000108283,-9.35298e-05,2.63635e-05,-0.0845745,-0.00547673,0.0253323,-0.0909823,0.450082,0.585096,0.668439,1.27629e-05,1.75218e-05,-8.82907e-05,-0.00135198,0.00111397,0.00052539,-0.824372,1.27,0.353178,0.0337393,0.0289953,0.0517563,1.33848,0.0606543,0.12517,1.85785,-0.297731,0.927819,0.000666617,-0.000227291,-5.4386e-06,-0.00137629,-0.000739101,0.0002509,-0.0834231,0.0680522,-0.527404,0.000372341,-0.0513045,-0.0337393,0.143658,-0.0294052,0.0582737,0.0393894,-0.490943,0.180188,0.851443,-0.00652588,-0.00162339,0.00248028,0.180486,-0.136897,0.112858,-0.690043,0.701275,1.82359,0.0409634,-0.0222307,-0.0171121,-0.696336,0.0571637,0.0929051,-3.99019,0.210284,0.170108,-0.0203423,0.00690544,0.00683347,-0.0250463,0.198365,-0.164673,-0.111651,-0.040376,1.49754,-0.00616196,0.0310861,-0.0409634
2020-02-06.17:44:02.508,0.423405,-0.0632368,0.429442,0.0432068,-0.496219,0.178978,0.848449,-0.020154,-0.00143784,0.00744849,0.0860726,-0.0825892,0.0340946,0.00377422,-0.0109649,-0.00688868,0.000212767,0.00023325,-4.95138e-05,-0.521178,0.367852,-0.584971,-0.46286,0.828979,-0.50923,-2.15534,0.0332281,-0.0483045,0.0423411,0.0408031,0.00292075,-0.173536,0.00894038,-0.00323533,5.94371e-05,-0.00230127,9.99441e-05,0.000343314,-8.02096e-06,5.68835e-05,-0.243826,0.0794071,0.365726,-0.0894278,0.453964,0.586141,0.6651,-1.38486e-05,-6.15363e-05,-3.76077e-05,5.96721e-06,0.000113481,-0.000134423,-0.00610223,0.0088322,-0.0159134,-0.000397287,-0.00013244,-7.01224e-05,0.189778,0.0245319,0.156164,0.546261,0,-0.210205,0.153953,0,0.000262834,-0.000262834,0.00017602,0,0,0,0.00392157,-0.000651092,-0.00440923,-0.000557103,0.000202207,-0.000187454,-7.01224e-05,-0.0845743,-0.00547628,0.0253315,-0.0909812,0.450084,0.585098,0.668436,-3.79605e-08,-1.18709e-05,-3.6568e-05,-0.00135073,0.000654871,0.000256569,-0.839561,1.27605,0.373094,0.0334983,0.0286861,0.0516751,1.33849,0.0606543,0.12517,1.85785,-0.297731,0.927819,0.000152417,-0.000223422,-5.53913e-06,-0.00137629,-0.000719952,0.000248812,-0.0857832,0.0699403,-0.516156,0.000685254,-0.0509159,-0.0334983,0.143408,-0.0294722,0.0584225,0.0404819,-0.492069,0.180131,0.850754,-0.00711858,-0.00174053,0.00469035,0.0132137,-0.0130674,-0.0304966,-0.920949,1.35164,1.86243,0.0413651,-0.0221786,-0.0168517,-0.697147,0.0573336,0.0931968,-3.99061,0.21288,0.16791,-0.0261568,0.00371238,0.00841903,-0.0240187,0,-0.0014738,-0.162629,-0.0111108,1.37944,-0.00703811,0.0330635,-0.0413651
2020-02-06.17:44:02.528,0.423405,-0.0632368,0.429442,0.0432068,-0.496219,0.178978,0.848449,-0.020154,-0.00143784,0.00744849,0.0860726,-0.0825892,0.0340946,0.00377422,-0.0109649,-0.00688868,0.000212767,0.00023325,-4.95138e-05,-0.521178,0.367852,-0.584971,-0.46286,0.828979,-0.50923,-2.15534,0.0332281,-0.0483045,0.0423411,0.0408031,0.00292075,-0.173536,0.00894038,-0.00323533,5.94371e-05,-0.00230127,9.99441e-05,0.000343314,-8.02096e-06,5.68835e-05,-0.243826,0.0794071,0.365726,-0.0894278,0.453964,0.586141,0.6651,-1.38486e-05,-6.15363e-05,-3.76077e-05,5.96721e-06,0.000113481,-0.000134423,-0.00610223,0.0088322,-0.0159134,-0.000397287,-0.00013244,-7.01224e-05,0.189778,0.0245319,0.156164,0.546261,0,-0.210205,0.153953,0,0.000262834,-0.000262834,0.00017602,0,0,0,0.00392157,-0.000651092,-0.00440923,-0.000557103,0.000202207,-0.000187454,-7.01224e-05,-0.0845743,-0.00547628,0.0253315,-0.0909812,0.450084,0.585098,0.668436,-3.79605e-08,-1.18709e-05,-3.6568e-05,-0.00135073,0.000654871,0.000256569,-0.839561,1.27605,0.373094,0.0334983,0.0286861,0.0516751,1.33849,0.0606543,0.12517,1.85785,-0.297731,0.927819,0.000152417,-0.000223422,-5.53913e-06,-0.00137629,-0.000719952,0.000248812,-0.0857832,0.0699403,-0.516156,0.000685254,-0.0509159,-0.0334983,0.143408,-0.0294722,0.0584225,0.0404819,-0.492069,0.180131,0.850754,-0.00711858,-0.00174053,0.00469035,0.0132137,-0.0130674,-0.0304966,-0.920949,1.35164,1.86243,0.0413651,-0.0221786,-0.0168517,-0.697147,0.0573336,0.0931968,-3.99061,0.21288,0.16791,-0.0261568,0.00371238,0.00841903,-0.0240187,0,-0.0014738,-0.162629,-0.0111108,1.37944,-0.00703811,0.0330635,-0.0413651
2020-02-06.17:44:02.548,0.422682,-0.0632733,0.429692,0.0444744,-0.497617,0.178481,0.84767,-0.0196574,-0.00055515,0.00716708,0.0831383,-0.0748611,0.0252262,-0.00584936,-0.00982398,-0.00389753,0.000182545,0.000282358,0.000169916,-0.519989,0.36612,-0.583396,-0.46108,0.828979,-0.515151,-2.15534,0.032065,-0.0490957,0.045348,0.0492063,0.0028318,-0.120636,0.00864247,0.00418115,-0.005687,-0.00441511,-7.59979e-05,0.000155466,-0.000133253,9.97661e-05,-0.243836,0.0794011,0.365722,-0.0894115,0.453974,0.58613,0.665105,-0.000202015,-0.000103715,-6.43595e-05,1.28378e-05,0.000503255,-0.000738014,-0.00815204,0.0107695,-0.0142435,-0.000632562,0.00027662,4.9222e-06,0.189803,0.0245634,0.156132,0.546282,0,-0.210205,0.153953,0.000518291,0.000565387,-0.000565387,0.00037864,0,0,0,0.00392157,-0.00198352,-0.00526172,-0.00108493,-0.000173491,-0.00025007,4.9222e-06,-0.0845743,-0.00547628,0.0253315,-0.0910085,0.45006,0.585116,0.668433,-1.85573e-05,-5.27808e-05,3.94628e-05,-0.00139156,0.000279268,-0.000402341,-0.908545,1.25193,0.310646,0.0326147,0.0295996,0.052314,1.33849,0.0606543,0.12517,1.85785,-0.297731,0.927901,-0.00059443,-0.000201279,-5.46763e-06,-0.00137629,-0.000706477,-0.000167244,-0.0909755,0.0614439,-0.513344,0.000434924,-0.0513479,-0.0326147,0.143228,-0.0295125,0.0584978,0.0414861,-0.493096,0.179828,0.850175,-0.00630455,-0.000870771,0.00180078,0.0713624,-0.0579073,0.000901106,-0.947246,1.62213,1.88439,0.0420078,-0.0217516,-0.0166664,-0.697919,0.0573876,0.0933834,-3.99145,0.215202,0.166097,-0.0359186,0.00137023,0.00574425,-0.0343758,0.0589491,-0.0493868,-0.17915,0.00493786,1.35132,-0.00728844,0.0328276,-0.0420078
2020-02-06.17:44:02.568,0.422296,-0.0632865,0.429845,0.0441748,-0.497411,0.177867,0.847935,-0.0195945,-0.000245232,0.00792077,0.0564705,-0.0421642,-0.0078004,0.00618665,0.00225415,-0.000555378,-0.000112844,0.000133307,-0.000163564,-0.519369,0.365144,-0.582525,-0.460171,0.828979,-0.515151,-2.15534,0.0310349,-0.0510108,0.0461371,0.0517455,0.0027856,-0.113941,0.00848855,-0.00217583,-0.00177726,-0.000568601,0.000451828,0.000155466,2.32872e-05,2.47215e-05,-0.243849,0.0793804,0.365709,-0.0893793,0.453994,0.586109,0.665114,-0.000263803,-0.000418946,-0.000257035,4.32765e-05,0.0010686,-0.00140039,0.00335932,0.0126137,0.00318446,6.31399e-05,-0.000398277,7.99668e-05,0.189828,0.0246578,0.156038,0.546345,0,-0.210205,0.153953,0.000491614,0.00190568,-0.00190568,0.00127623,0,0,0,0.00392157,-8.03259e-05,0.00199121,5.86941e-05,0.000358747,0.000188243,7.99668e-05,-0.084576,-0.00547834,0.0253331,-0.0909813,0.450079,0.585092,0.668445,-3.05068e-05,-7.76261e-05,0.000114227,-0.00134471,-0.000633837,-0.000353117,-0.861609,1.23397,0.251688,0.033418,0.0293516,0.0513454,1.33847,0.0606466,0.125168,1.85785,-0.297731,0.927819,-0.0012528,-7.02604e-05,0,-0.00133403,-0.000691348,0.000212611,-0.0853112,0.0553076,-0.547089,-0.000316068,-0.0508504,-0.033418,0.143004,-0.029543,0.058579,0.0421967,-0.493827,0.179285,0.84983,-0.00880175,-0.0012673,0.00283041,0.109623,-0.066947,0.0322414,-0.639616,1.76652,1.9055,0.0444177,-0.0227027,-0.0167414,-0.699147,0.0574726,0.0935973,-3.99271,0.216432,0.164523,-0.0480978,0.00275811,0.008249,-0.045122,0.0774647,-0.10227,-0.167349,0.0294829,1.41599,-0.00697553,0.0309585,-0.0444177
2020-02-06.17:44:02.588,0.422103,-0.0632834,0.429932,0.0440083,-0.497297,0.177514,0.848084,-0.0201533,-0.000316608,0.00859922,0.0498847,-0.0335212,-0.0193086,0.00686916,-0.0110445,-0.00775793,-5.08296e-05,-4.92967e-05,0.000370023,-0.519072,0.364609,-0.582043,-0.4596,0.828979,-0.515151,-2.15534,0.0317636,-0.0532426,0.0473185,0.0560936,0.00276239,-0.102373,0.00841145,-0.00482458,-0.00127299,-0.0033305,-0.000691795,-0.000439388,0.00030506,-2.88818e-05,-0.243851,0.079373,0.365705,-0.0893714,0.453999,0.586105,0.665115,-0.000350856,-0.000805597,-0.00049344,8.07849e-05,0.00178172,-0.00224512,0.00669597,-0.0147,-0.0150946,0.000120965,-0.000356337,-5.79846e-06,0.189828,0.0246893,0.156006,0.546367,0,-0.210205,0.153953,0.000491614,0.00355737,-0.00355737,0.00238237,0,0,0,-0.00243541,0.00550679,0.000729854,0.000410578,0.000327439,-6.22216e-05,-5.79846e-06,-0.0845762,-0.00547878,0.0253339,-0.0909824,0.450077,0.58509,0.668448,3.13254e-07,-5.34657e-06,-1.0508e-05,-0.00132541,0.000443656,0.000273052,-0.823106,1.22308,0.251946,0.0325344,0.0282733,0.0505751,1.33846,0.0606466,0.125168,1.85785,-0.297731,0.927819,-3.33704e-06,-6.86575e-05,0,-0.0013143,-0.000686365,0.000211316,-0.0820071,0.0562517,-0.549901,0.000309759,-0.0499378,-0.0325344,0.142919,-0.0295506,0.0586092,0.042287,-0.494054,0.178927,0.849769,-0.00821608,-0.000566402,0.00318432,0.0262927,-0.0177425,-0.0436812,-0.601691,1.74691,1.88484,0.0429717,-0.0227063,-0.0172479,-0.699641,0.0575266,0.0936764,-3.99334,0.216705,0.1643,-0.0496323,0.00646584,0.00772119,-0.0417461,-0.00579881,-0.0159958,-0.164517,0.031371,1.40756,-0.00772652,0.030697,-0.0429717
2020-02-06.17:44:02.608,0.421447,-0.0633117,0.430232,0.0453058,-0.498778,0.17725,0.847201,-0.0220398,-0.00133691,0.0107926,0.0426983,-0.0379303,-0.00958983,0.00646457,-0.00308742,-0.0188688,0.000599751,0.000281667,0.000443382,-0.518032,0.362877,-0.580574,-0.458197,0.828979,-0.521072,-2.15534,0.0349656,-0.0587026,0.0479071,0.0398818,0.00269461,-0.100004,0.00818705,-0.00906256,0.00413375,0.00142388,-0.00104368,0.000155466,0.000211136,5.68835e-05,-0.243856,0.0793509,0.365691,-0.0893478,0.454015,0.586091,0.66512,-0.000258722,-0.00048117,-0.000295059,4.90192e-05,0.00115006,-0.00148171,0.00430162,-0.00772193,0.00444108,0.000259132,-0.000141747,-4.86811e-05,0.189828,0.0247838,0.155912,0.54643,0,-0.210205,0.153953,0.000436174,0.00215856,-0.00215856,0.00144559,0,0,0,-0.00243541,0.00158653,0.00234469,0.00058652,0.000108283,-3.09135e-05,-4.86811e-05,-0.0845774,-0.0054795,0.0253331,-0.0909792,0.450078,0.585088,0.668449,2.18877e-05,7.21683e-05,-0.000136903,-0.00127258,0.001468,0.000980403,-0.931576,1.25495,0.17519,0.0339,0.0297467,0.0536561,1.33846,0.0606389,0.125167,1.85785,-0.297731,0.927819,0.00126246,-3.13134e-05,-9.6462e-06,-0.00125816,-0.00067173,0.000268406,-0.0909755,0.0468113,-0.586458,0.000434924,-0.0522999,-0.0339,0.142662,-0.029563,0.0586904,0.0424868,-0.494591,0.178347,0.849569,-0.00898477,-0.000533262,0.0028012,0.0591112,-0.0310172,0.0197033,0.000539872,1.57309,1.79566,0.0438554,-0.0281358,-0.0177929,-0.701294,0.0577197,0.0939045,-3.99438,0.216979,0.16326,-0.0571324,0.00613769,0.00800443,-0.0288427,0.0168324,-0.0832691,-0.118259,0.0497797,1.48067,-0.00685036,0.0306487,-0.0438554
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