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_position_7,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_velocity_7,PSM1_joint_effort_1,PSM1_joint_effort_2,PSM1_joint_effort_3,PSM1_joint_effort_4,PSM1_joint_effort_5,PSM1_joint_effort_6,PSM1_joint_effort_7,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_position_7,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_velocity_7,PSM2_joint_effort_1,PSM2_joint_effort_2,PSM2_joint_effort_3,PSM2_joint_effort_4,PSM2_joint_effort_5,PSM2_joint_effort_6,PSM2_joint_effort_7
2020-02-06.10:16:52.695,0.188901,0.0373302,0.338061,-0.416065,-0.554312,0.329013,0.641388,1.13031e-05,0.00016901,1.94033e-05,0.000264758,-0.000939369,0.00113594,-0.662508,0.197675,-0.542529,-0.00637244,0.00803526,-0.00597805,-0.0232609,0.180541,-0.00447383,-1.41594,-0.0828979,0.0236851,-1.33229,-3.90184e-05,-0.000366845,0.000625819,-0.00143663,0,0,0,-0.150505,0.101918,-0.114885,0.0190137,-0.0082038,-0.0068645,-0.00707235,-0.195193,0.0424699,0.334591,0.439067,0.421706,0.702455,0.368702,1.63523e-06,-2.2765e-05,0.000121193,-0.000294452,-2.83633e-05,5.0203e-05,-0.378805,-0.0146925,-0.71632,0.00215352,-0.0107963,0.00422235,0.039982,0.184131,0.00824106,1.16161,0.0118426,-0.0118426,1.21386,0,-0.000381953,8.77143e-05,-5.87423e-05,0,0,0,0.203637,0.0448903,-0.129121,0.0158935,0.001705,0.0057924,0.00428246,-0.0959582,-0.00154045,0.0149345,0.45537,0.409778,0.704126,0.359065,1.62047e-06,4.86299e-06,-1.07875e-05,-0.00414664,0.00016508,-0.000548481,0.926267,-0.979136,1.37667,-0.0220115,-0.0479367,-0.00540181,1.43714,0.0313697,0.11204,3.04239,-0.31891,-0.00344623,1.21386,0,0,0,-0.00418602,0,0,0,0.0888641,0.0784366,1.01362,-0.00119222,0.0394888,0.0220115,0.00428246,0.0801138,0.0182292,0.0222292,-0.403678,-0.571979,0.310866,0.642842,1.1737e-06,1.35277e-05,-4.7634e-06,-6.53657e-06,-3.87388e-05,-0.000111625,2.59726,3.70418,0.0165169,-0.0837129,-0.0249932,0.012445,-1.48644,0.22528,0.129807,-3.14325,0.0718708,0.147878,1.21386,-8.93615e-05,7.75769e-05,0,0,0,0,0,-0.520892,0.301838,-0.341559,0.00754364,-0.000748189,0.0837129,0.00428246
2020-02-06.10:16:52.712,0.188901,0.0373302,0.338061,-0.416065,-0.554312,0.329013,0.641388,1.10784e-05,0.000166662,2.06182e-05,0.000257615,-0.000868117,0.00105086,-0.663865,0.176503,-0.546918,-0.0064888,0.00769279,-0.00592805,-0.0232609,0.180541,-0.00447383,-1.41594,-0.0828979,0.0236851,-1.33229,-3.83448e-05,-0.000366845,0.000619124,-0.00132629,0,0,0,-0.152095,0.0936822,-0.122224,0.0184859,-0.00823511,-0.00705235,-0.00700803,-0.195193,0.0424699,0.334591,0.439067,0.421706,0.702455,0.368702,1.4447e-06,-2.09101e-05,0.000108453,-0.000264452,-2.4514e-05,4.39856e-05,-0.391422,-0.0313107,-0.723682,0.00223576,-0.0104811,0.00427799,0.039982,0.184131,0.00824106,1.16161,0.0118426,-0.0118426,1.21386,0,-0.000340867,7.65953e-05,-5.12959e-05,0,0,0,0.203107,0.0513879,-0.127919,0.0154536,0.00151715,0.00569847,0.00433607,-0.095958,-0.00153996,0.0149334,0.455312,0.409915,0.704027,0.359175,-1.48164e-06,-4.44192e-06,9.86459e-06,0.00379116,-0.000150928,0.000501461,0.858565,-0.914165,1.36889,-0.0206459,-0.0465874,-0.00429406,1.43714,0.0313697,0.11204,3.04197,-0.31891,-0.00344623,1.21386,0,0,0,0.00382716,0,0,0,0.0831998,0.0732444,1.02768,-0.00037865,0.0387593,0.0206459,0.00433607,0.0801138,0.0182292,0.0222292,-0.403678,-0.571979,0.310866,0.642842,1.15371e-06,1.28361e-05,-4.30416e-06,-6.27797e-06,-3.49475e-05,-0.000105905,2.57459,3.72468,0.0269223,-0.0829096,-0.0239936,0.0122326,-1.48644,0.22528,0.129807,-3.14325,0.0718708,0.147878,1.21386,-8.3218e-05,7.45077e-05,0,0,0,0,0,-0.52278,0.29995,-0.335935,0.00723073,-0.00149929,0.0829096,0.00433607
2020-02-06.10:16:52.732,0.188911,0.0373304,0.338061,-0.416061,-0.554321,0.329017,0.641381,-3.56142e-06,0.000164042,2.16559e-05,0.000250723,-0.000808477,0.000969346,-0.678604,0.19951,-0.54477,-0.00657703,0.00772946,-0.00590798,-0.0232857,0.180541,-0.00447383,-1.41594,-0.0828979,0.0236851,-1.33229,0,-0.000366845,0.000612481,-0.00126325,0,0,0,-0.150505,0.103091,-0.118232,0.0184859,-0.00832903,-0.00702104,-0.00698659,-0.195193,0.0424699,0.334591,0.439067,0.421706,0.702455,0.368702,1.33286e-06,-1.97601e-05,0.000100869,-0.000246513,-2.22964e-05,4.03644e-05,-0.376478,-0.00741909,-0.736595,0.00239406,-0.0109,0.00411522,0.039982,0.184131,0.00824106,1.16161,0.0118426,-0.0118426,1.21386,0,-0.000316489,7.01377e-05,-4.69712e-05,0,0,0,0.211583,0.0431464,-0.131997,0.0160694,0.00151715,0.00598024,0.00417526,-0.095958,-0.00153996,0.0149334,0.455312,0.409915,0.704027,0.359175,-1.48164e-06,-4.44192e-06,9.86459e-06,0.00379116,-0.000150928,0.000501461,0.836995,-0.902125,1.33508,-0.0213689,-0.0464008,-0.00325183,1.43714,0.0313697,0.11204,3.04197,-0.31891,-0.00344623,1.21386,0,0,0,0.00382716,0,0,0,0.0813118,0.0704123,1.00237,0.000873002,0.0387726,0.0213689,0.00417526,0.0801138,0.0182292,0.0222292,-0.403678,-0.571979,0.310866,0.642842,1.03876e-06,1.20346e-05,-4.26682e-06,-5.80492e-06,-3.47079e-05,-9.93071e-05,2.56019,3.76388,0.0566132,-0.0814636,-0.0234466,0.0122375,-1.48644,0.22528,0.129807,-3.14325,0.0718708,0.147878,1.21386,-7.97115e-05,6.88935e-05,0,0,0,0,0,-0.526556,0.298534,-0.313438,0.00723073,-0.00191006,0.0814636,0.00417526
2020-02-06.10:16:52.752,0.188911,0.0373304,0.338061,-0.416061,-0.554321,0.329017,0.641381,-3.52957e-06,0.000161787,2.28287e-05,0.000244044,-0.000771878,0.000925631,-0.661857,0.195722,-0.54504,-0.00626959,0.007398,-0.00594495,-0.0232857,0.180541,-0.00447383,-1.41594,-0.0828979,0.0236851,-1.33229,0,-0.000366845,0.000606034,-0.00120621,0,0,0,-0.152095,0.101085,-0.115533,0.018046,-0.00795334,-0.00708366,-0.00700803,-0.195203,0.0424703,0.334591,0.439076,0.421703,0.702448,0.368707,8.65732e-05,-2.1739e-05,9.28948e-05,-0.000231638,-0.000132832,0.000231981,-0.397189,-0.0388627,-0.731431,0.00225872,-0.0106208,0.00393663,0.0400067,0.184131,0.00824106,1.16161,0.0118426,-0.0118426,1.21386,-0.000224653,-0.000296808,6.501e-05,-4.35372e-05,0,0,0,0.208934,0.0462227,-0.128799,0.0156296,0.00154846,0.00569847,0.00416454,-0.095958,-0.00153996,0.0149334,0.455312,0.409915,0.704027,0.359175,-1.48164e-06,-4.44192e-06,9.86459e-06,0.00379116,-0.000150928,0.000501461,0.849124,-0.942788,1.38957,-0.0202442,-0.0458821,-0.00322087,1.43714,0.0313697,0.11204,3.04197,-0.31891,-0.00344623,1.21386,0,0,0,0.00382716,0,0,0,0.086976,0.0732444,1.05017,0.000434924,0.0381437,0.0202442,0.00416454,0.0801137,0.0182296,0.0222284,-0.40368,-0.571981,0.310864,0.642841,1.68465e-06,6.6195e-06,3.65729e-06,-5.29491e-06,3.13115e-05,-5.42331e-05,2.60628,3.72405,0.0558763,-0.0819456,-0.0238345,0.0119348,-1.48645,0.22528,0.129807,-3.14325,0.0718708,0.147878,1.21386,0,6.29756e-05,0,0,0,0,0,-0.521364,0.300894,-0.333123,0.00716814,-0.000665443,0.0829899,0.00416454
2020-02-06.10:16:52.772,0.188911,0.0373304,0.338061,-0.416061,-0.554321,0.329017,0.641381,-3.49874e-06,0.000159603,2.3964e-05,0.000237595,-0.000738704,0.000885994,-0.662921,0.18055,-0.531804,-0.00651518,0.00744863,-0.00596515,-0.0232857,0.180541,-0.00447383,-1.41594,-0.0828979,0.0236851,-1.33229,0,-0.000366845,0.000599961,-0.00115584,0,0,0,-0.156333,0.100257,-0.117851,0.0183099,-0.00804726,-0.00664534,-0.00699731,-0.195202,0.0424769,0.334597,0.439068,0.421704,0.702454,0.368704,8.34287e-05,-8.00118e-05,3.67943e-05,-0.00021717,-8.75256e-06,8.85321e-05,-0.391209,-0.0133001,-0.732455,0.00256072,-0.0110792,0.00414693,0.0400067,0.184099,0.00827256,1.16159,0.0118426,-0.0118426,1.21386,-0.000224653,0,-0.000218463,0.000146305,0,0,0,0.207875,0.0449008,-0.133817,0.0163333,0.00142322,0.00616809,0.00420742,-0.095958,-0.00153996,0.0149334,0.455312,0.409915,0.704027,0.359175,-1.48164e-06,-4.44192e-06,9.86459e-06,0.00379116,-0.000150928,0.000501461,0.82216,-0.943917,1.3244,-0.0220115,-0.0466003,-0.00399694,1.43714,0.0313697,0.11204,3.04197,-0.31891,-0.00344623,1.21386,0,0,0,0.00382716,0,0,0,0.0846159,0.0680522,0.996745,0.000247176,0.0391046,0.0220115,0.00420742,0.0801136,0.0182301,0.0222276,-0.403682,-0.571982,0.310861,0.642839,2.38462e-06,1.11754e-06,1.19451e-05,-4.85964e-06,0.000100376,-8.42068e-06,2.56464,3.74419,0.0162995,-0.0831506,-0.0247769,0.0122087,-1.48646,0.22528,0.129807,-3.14325,0.0718708,0.147878,1.21386,8.27175e-05,5.76854e-05,0,0,0,0,0,-0.52514,0.298062,-0.349995,0.00729331,-0.000630474,0.0831506,0.00420742
2020-02-06.10:16:52.792,0.188911,0.0373304,0.338061,-0.416061,-0.554321,0.329017,0.641381,-3.47984e-06,0.000158264,2.46601e-05,0.000233646,-0.000719366,0.00086288,-0.680843,0.196266,-0.552972,-0.00664866,0.0079568,-0.00598137,-0.0232857,0.180541,-0.00447383,-1.41594,-0.0828979,0.0236851,-1.33229,0,-0.000366845,0.000595967,-0.00112434,0,0,0,-0.153154,0.101929,-0.120169,0.0185739,-0.00845427,-0.00670796,-0.00705091,-0.195193,0.0424766,0.334597,0.439059,0.421707,0.702461,0.368699,-0.000139737,-6.93581e-05,3.98017e-05,-0.000208944,0.000281189,-0.000416451,-0.378966,-0.0328074,-0.73369,0.00249743,-0.0110865,0.00408794,0.039982,0.184099,0.00827256,1.16159,0.0118426,-0.0118426,1.21386,0.000363086,0,-0.000210188,0.000140763,0,0,0,0.208934,0.0525505,-0.125039,0.0167732,0.00148584,0.00569847,0.00415382,-0.095958,-0.00153996,0.0149334,0.455312,0.409915,0.704027,0.359175,-1.42353e-06,-4.26773e-06,9.47775e-06,0.00364249,-0.000145009,0.000481797,0.853044,-0.90005,1.3611,-0.0205656,-0.0458906,-0.0029284,1.43714,0.0313697,0.11204,3.04197,-0.31891,-0.00344623,1.21386,0,0,0,0.00367708,0,0,0,0.0822558,0.0732444,1.02205,0.000935585,0.0381176,0.0205656,0.00415382,0.0801136,0.01823,0.0222277,-0.403732,-0.571948,0.310938,0.642802,2.30094e-06,7.8871e-07,1.17634e-05,-4.59663e-06,9.88201e-05,-5.72656e-06,2.56959,3.74379,0.0842917,-0.0829096,-0.0247574,0.0124542,-1.48646,0.22528,0.129807,-3.14304,0.0718708,0.147878,1.21386,8.27175e-05,5.45634e-05,0,0,0,0,0,-0.526084,0.298062,-0.282505,0.00754364,-0.000730949,0.0829096,0.00415382
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