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
2020-02-06.19:29:13.430,0.256535,-0.0271747,0.3404,-0.53539,-0.323132,0.664827,0.408594,-0.0166267,0.00271502,0.00431652,7.28633e-05,0.0163353,-0.0284983,-0.00233048,-0.0181713,0.00255245,6.20841e-05,-0.00010589,-5.05613e-05,-0.17328,0.317655,-0.268293,-1.67992,0.18652,0.402647,-0.586206,0.0351441,-0.0275019,0.0275561,-0.00229899,0,0,0,-0.00164609,-0.00652569,-0.00186118,1.19731e-05,9.28496e-05,-8.02096e-06,-5.03231e-05,-0.217174,0.0816593,0.359778,0.172722,0.527869,0.46103,0.692079,0.000141714,0.000379616,3.63974e-05,0.000481544,-0.000819923,0.00093897,-0.00827406,0.00859735,0.00397223,-0.000238048,-0.000123227,-9.03138e-05,0.111078,0.0285628,0.171094,1.44846,0.115465,-0.441135,0.266457,-0.000305284,-0.000893072,0.00139832,-0.000936452,0,0,0,0.000213329,-0.00415464,-0.00267657,-0.000205219,0.000202207,-0.000187454,-9.15637e-05,-0.125916,-0.00224425,0.0519834,0.173058,0.527847,0.461213,0.691889,1.67571e-05,-2.04021e-05,6.68021e-06,0.000269275,-0.000225703,-0.00202344,-0.84335,1.26824,-0.878198,0.0105232,0.0134956,0.00705301,0.982247,0.247768,0.0976093,2.18036,-0.377527,-0.0334878,7.14584e-05,-0.000102456,1.29401e-05,-0.00076338,0.001686,-0.000584445,-0.123073,0.0378429,-0.465538,0.00744418,-0.0055774,-0.0105232,0.125434,-0.0359403,0.0608711,-0.533727,-0.318906,0.666966,0.410599,-0.00680647,2.89187e-06,0.00216943,0.0221015,0.0491531,-0.0135965,-0.749179,1.46678,1.74029,-0.026757,0.0134952,-0.018662,-0.774104,-0.0373858,0.110632,-2.24955,-0.583711,0.23527,-0.0385917,0.015013,0.00595247,-0.0168011,0.0600261,-0.0497041,-0.149885,-0.164517,1.53973,0.00616682,-0.00195575,0.026757
2020-02-06.19:29:13.447,0.255975,-0.0270892,0.340524,-0.536318,-0.321254,0.665988,0.406964,-0.0184491,0.00199889,0.00385133,-0.000229836,0.0162217,-0.0288271,0.0094104,-0.016571,-0.0110013,-0.000153229,0.000527076,6.48683e-05,-0.172091,0.316804,-0.267416,-1.68021,0.18652,0.402647,-0.580285,0.0395579,-0.0256529,0.0253639,-0.00649001,0,0,0,-0.00694357,-0.00111894,0.00277537,-0.000515853,-0.00040808,0.000774682,-6.10438e-05,-0.217164,0.0816753,0.359778,0.172708,0.527853,0.461057,0.692076,0.000100171,0.00019549,-0.000440089,0.00142062,-0.000366628,0.000274466,0.0101468,-0.0103528,0.00500788,0.000214024,7.41367e-06,-0.00017809,0.111053,0.0285313,0.171151,1.44842,0.115465,-0.441135,0.266457,-0.000313632,0.00126827,0.000163586,-0.000109554,0,0,0,-0.00296516,0.00391696,0.00354713,0.000146665,1.43582e-05,0.000282168,-0.00018805,-0.125915,-0.00224397,0.0519829,0.173087,0.527869,0.461192,0.69188,1.2946e-05,-2.29783e-05,1.09675e-05,0.000273381,-0.000926636,-0.00160287,-0.662742,1.28048,-0.797973,0.00988054,0.0108492,0.0071206,0.982254,0.247768,0.0976093,2.18036,-0.377527,-0.0335695,0,-0.000102456,1.23464e-05,-0.000741591,0.001686,0.000192511,-0.111744,0.0477553,-0.457102,0.00769451,-0.00457314,-0.00988054,0.1252,-0.0359361,0.0609083,-0.534526,-0.318571,0.667973,0.408173,-0.00810522,-0.000487133,0.000538503,-0.238894,-0.0584799,0.217389,-0.926383,1.29017,1.50929,-0.0171974,0.017903,-0.00250607,-0.775424,-0.0367911,0.110816,-2.24326,-0.582208,0.233636,-0.0456016,0.018885,0.00596585,0.365589,0.0906493,-0.085592,-0.111179,-0.145636,1.4863,0.011987,-0.00840636,0.0171974
2020-02-06.19:29:13.467,0.255791,-0.0270692,0.340561,-0.536308,-0.321128,0.665971,0.407103,-0.0191702,0.00196651,0.00386685,-0.00020396,0.015362,-0.027638,-0.0165999,-0.00288853,-0.0115396,0.000344348,0.00021691,-0.000120465,-0.171695,0.316553,-0.267164,-1.68023,0.18652,0.402647,-0.580285,0.0411794,-0.0260133,0.0257243,-0.00957488,0,0,0,-0.00482458,-0.00484831,-0.0063799,0.000715741,-6.3691e-05,0.000117212,-6.10438e-05,-0.217155,0.0816837,0.359773,0.172702,0.527841,0.461078,0.692073,6.06697e-05,1.84745e-05,-0.000349888,0.000922315,-5.18799e-05,-2.34516e-05,-0.00923317,0.011047,-0.00649145,-0.000403055,-1.10705e-06,-4.83469e-05,0.111028,0.0285313,0.171178,1.4484,0.115465,-0.441135,0.266457,-0.000232316,0.00126827,-0.000345352,0.000231283,0,0,0,0.00339182,-0.00382022,-0.00341123,-0.000557103,0.000108283,-0.000218762,-7.01224e-05,-0.125915,-0.00224432,0.0519821,0.173063,0.527852,0.461213,0.691884,-1.47718e-05,-1.5327e-05,5.04709e-05,0.000125208,-0.000706724,-0.00213223,-0.671668,1.25641,-0.83995,0.0102019,0.0106228,0.00733854,0.982262,0.247761,0.0976093,2.18036,-0.377527,-0.0334878,-0.000466193,0.000200092,1.21657e-05,-0.000734801,0.001683,-0.000719072,-0.112216,0.0444512,-0.493659,0.00769451,-0.0042589,-0.0102019,0.125121,-0.0359296,0.0609218,-0.534581,-0.318307,0.668198,0.40794,-0.00725447,0.00133843,0.00181552,0.0195029,0.0567611,-0.0802094,-0.980297,1.26165,1.46812,-0.0186434,0.0195181,-0.00525198,-0.77588,-0.036598,0.110874,-2.242,-0.581798,0.232812,-0.0466553,0.021206,0.00579019,-0.0136243,0.0210601,-0.0718216,-0.107403,-0.156021,1.49754,0.00979661,-0.00819654,0.0181614
2020-02-06.19:29:13.487,0.255401,-0.0270405,0.340639,-0.536299,-0.320896,0.665943,0.407344,-0.0198138,0.00172877,0.00385174,-0.000555316,0.0159128,-0.0287428,0.00543939,-0.0120249,0.00427562,-0.000530328,-0.000185451,0.000186332,-0.170852,0.316049,-0.266687,-1.6804,0.18652,0.402647,-0.580285,0.0427165,-0.0257986,0.0251509,-0.00988018,0,0,0,-0.00058659,-0.00253366,0.00130605,-0.00121962,-1.0748e-06,8.59034e-05,5.68835e-05,-0.217155,0.0816837,0.359773,0.172702,0.527841,0.461078,0.692073,6.18528e-05,5.35318e-05,-0.000328296,0.000920152,-0.000111855,4.16286e-05,0.00530084,-0.0109215,-0.0138605,0.000351227,-8.56308e-05,-7.75552e-05,0.111028,0.0285313,0.171178,1.4484,0.115465,-0.441135,0.266457,-0.000222224,0.00112134,-0.000198427,0.000132886,0,0,0,0.00233232,0.00467336,0.00096551,0.000762462,4.56663e-05,-3.09135e-05,-2.72398e-05,-0.125915,-0.00224397,0.0519829,0.173059,0.52785,0.461214,0.691887,2.96563e-05,1.38349e-05,-1.2448e-05,0.000147961,0.000125438,-0.00164334,-0.628327,1.32284,-0.764443,0.0108445,0.010778,0.00809872,0.982254,0.247768,0.0976093,2.18036,-0.377527,-0.0334878,0.000470943,0.000127027,1.18415e-05,-0.000722424,0.0016273,-0.000673647,-0.109856,0.0520035,-0.437417,0.00838292,-0.00478295,-0.0108445,0.124977,-0.0358988,0.0609573,-0.534707,-0.318001,0.667854,0.408577,-0.00749831,0.00149747,0.00162694,-0.000289695,0.00650111,-0.0577633,-1.11224,1.37186,1.39398,-0.0175991,0.021162,-0.00664083,-0.77683,-0.0361578,0.110992,-2.24326,-0.581798,0.232322,-0.0485655,0.0221774,0.00586049,-0.0209633,0.00914301,-0.03224,-0.0998505,-0.165461,1.48067,0.00848238,-0.00894321,0.0175991
2020-02-06.19:29:13.507,0.254998,-0.0270073,0.340723,-0.537167,-0.321007,0.664826,0.407937,-0.0199838,0.00219801,0.00360855,0.00073736,0.015746,-0.0281021,-0.0125537,-0.0106866,-0.0162072,-3.40196e-06,-0.000372088,-2.47525e-05,-0.169985,0.315513,-0.266178,-1.68059,0.18356,0.402647,-0.580285,0.0430123,-0.0260703,0.0267269,-0.0108153,0,0,0,-0.00853281,-0.00535257,-0.00503194,-0.00025194,0.000280698,-0.000133253,-3.96024e-05,-0.217146,0.0816922,0.359768,0.172696,0.527829,0.461098,0.69207,5.034e-06,-0.000651592,5.29448e-05,-0.00112065,0.000970128,-0.000853376,-0.0260272,0.00373806,0.008,-4.08995e-05,6.14453e-05,7.64326e-05,0.111003,0.0285313,0.171204,1.44838,0.115465,-0.441135,0.266457,-0.000192575,0.000998755,-0.00215831,0.00144542,0,0,0,-0.00190566,-0.00864041,-0.0096037,-0.000117248,-7.95662e-05,3.94597e-07,6.92461e-05,-0.125915,-0.00224305,0.0519826,0.173056,0.527853,0.461216,0.691884,1.53618e-05,1.56824e-05,7.13849e-06,5.91339e-05,-0.000150299,-0.00160329,-0.575323,1.22954,-0.740287,0.0095592,0.00974291,0.00856925,0.982262,0.247776,0.0976093,2.18036,-0.377527,-0.0334878,0.000222915,0.000255694,1.15134e-05,-0.000709646,0.00157171,-0.000631218,-0.102304,0.0482274,-0.437417,0.00894616,-0.00421507,-0.0095592,0.124821,-0.0358695,0.0609878,-0.534807,-0.317634,0.667783,0.408848,-0.00775857,0.0013872,0.00168183,-0.00709356,0.00445314,-0.0522008,-1.26906,1.46915,1.41338,-0.0165548,0.0227885,-0.00700302,-0.777849,-0.0357022,0.111111,-2.24326,-0.581388,0.231416,-0.0491439,0.0221102,0.00611236,-0.0108126,0.0101617,-0.0349721,-0.101739,-0.17915,1.56785,0.0084198,-0.00903531,0.0160728
2020-02-06.19:29:13.527,0.254596,-0.0269653,0.3408,-0.537152,-0.320788,0.664794,0.40818,-0.0203055,0.00241731,0.003862,0.000766966,0.014102,-0.0256069,-0.0105019,0.00858186,-0.00982547,-0.000329317,-0.000260524,6.02135e-05,-0.169143,0.315009,-0.265674,-1.68078,0.18356,0.402647,-0.580285,0.0435165,-0.0274032,0.0280598,-0.0144394,0,0,0,-0.00641382,-0.00568173,-0.00685121,1.19731e-05,6.15414e-05,-8.02096e-06,6.76041e-05,-0.217139,0.081684,0.359763,0.172696,0.52783,0.4611,0.692068,0.000318064,-0.000317996,0.000218077,-0.00103707,-9.24359e-05,0.000575683,-0.00265716,0.0188043,0.00432973,3.42755e-05,-0.000339839,9.36962e-06,0.110978,0.0285628,0.171173,1.44841,0.115465,-0.441135,0.266457,-0.000997553,-0.0003639,-0.000689807,0.000461964,0,0,0,0.00233232,-0.00415991,0.000171936,0.000322607,0.000296131,-9.35298e-05,3.70842e-05,-0.125913,-0.00224227,0.0519839,0.173053,0.527856,0.461217,0.691881,-3.1249e-05,-6.53118e-05,1.72774e-05,0.000412595,-0.000528388,-0.00241546,-0.528289,1.1878,-0.732334,0.0101215,0.00888826,0.0079622,0.98227,0.247784,0.0976119,2.18036,-0.377527,-0.0334878,-0.000547263,-0.000407988,-1.86706e-05,-0.000697732,0.00152156,-0.000616837,-0.0975837,0.0468113,-0.448666,0.00800742,-0.00380923,-0.0101215,0.124658,-0.0358416,0.0610362,-0.534941,-0.317398,0.667056,0.410041,-0.0082183,0.00171126,0.00197662,0.0115653,-0.0935361,-0.100701,-1.2866,1.45136,1.32809,-0.0226601,0.0251281,-0.0111358,-0.778838,-0.0353006,0.111251,-2.24578,-0.581798,0.231505,-0.0491439,0.0205806,0.00687179,-0.0684946,-0.0649083,0.0628025,-0.0956024,-0.186702,1.50879,0.00716814,-0.0101947,0.0226601
2020-02-06.19:29:13.547,0.253963,-0.0268941,0.340912,-0.537043,-0.322365,0.662438,0.410903,-0.0206623,0.00155963,0.00387471,-0.000904922,0.0184633,-0.0329829,-0.0167937,-0.0096386,-0.00549127,-0.00033086,0.000324779,-1.87391e-05,-0.167756,0.314159,-0.264797,-1.68107,0.180599,0.402647,-0.586206,0.0447513,-0.0258022,0.0248262,-0.0069641,0,0,0,-0.00376508,-0.0077653,-0.00708687,-0.000339911,-0.00040808,0.000117212,-6.10438e-05,-0.217139,0.0816822,0.359772,0.172685,0.527836,0.461095,0.69207,0.000365689,0.000320259,-3.25904e-05,0.000568893,-0.00108619,0.00143386,0.00964438,-0.0323354,-0.0118757,-0.00013894,-0.000350857,-3.12044e-05,0.110978,0.0285313,0.171178,1.4484,0.115465,-0.441135,0.266457,-0.000997553,-0.000609273,0.00119944,-0.000803268,0,0,0,-0.00243541,0.00950408,0.00199121,5.86941e-05,0.000358747,-0.000156146,-1.65191e-05,-0.125914,-0.00224312,0.0519834,0.173084,0.527871,0.461194,0.691877,1.26479e-05,-5.38924e-05,-9.20553e-06,0.000450542,0.000135028,-0.00223262,-0.581881,1.22144,-0.763907,0.0106839,0.0114674,0.00790518,0.982262,0.247776,0.0976106,2.18036,-0.377527,-0.0335695,-1.25608e-09,-0.00050814,1.99044e-06,-0.000680442,0.00145149,-0.000754897,-0.10136,0.0472833,-0.457102,0.00794484,-0.00590049,-0.0106839,0.124429,-0.0358008,0.0611058,-0.534707,-0.317418,0.665576,0.412726,-0.00750693,0.00129249,0.00322234,0.271258,0.0722405,-0.238189,-1.05566,1.5484,1.5086,-0.0261947,0.0195461,-0.0183012,-0.78032,-0.0348064,0.111447,-2.25207,-0.582071,0.232381,-0.0492715,0.0144506,0.00690456,-0.389637,0.00766218,0.0491286,-0.126284,-0.18859,1.50879,0.00504033,-0.00519953,0.0261947
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