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
2020-02-05.14:59:34.239,0.126453,0.0748341,0.406372,-0.120361,-0.0948713,0.846538,0.50979,0.000235555,-0.000660229,-9.29291e-05,-0.000519601,0.000394361,-0.000305168,-0.820341,-0.207907,-0.235237,0.00444085,-0.0119602,-0.00888739,0.167904,-0.119762,0.185587,-0.718147,0.956286,0.0118426,0.0355277,-0.00104724,0.00172068,-0.00226541,0.00151715,0,0,0,-0.219902,-0.0146771,-0.152684,0.0221807,0.0115516,-0.00144819,-0.000114647,-0.0978727,0.0423977,0.39071,0.0627985,0.0999126,0.47012,0.874678,-0.000316869,0.000245326,0.0010327,-0.00202899,-0.000691409,0.000137579,-1.17767,-0.033587,-0.681388,-0.00420458,-0.0083212,0.0161183,-0.229314,0.0255081,0.0382126,0.520086,0.968129,0.0621734,-0.349355,0.000395537,-0.00410114,0.0020048,-0.000862138,0,0,0,0.345079,0.0932396,-0.163804,-0.0284439,0.00796662,-0.000187454,0.00649092,-0.0938119,0.0358172,0.0584378,0.069971,0.0955849,0.490266,0.863485,5.78872e-05,-0.000100564,-4.3551e-05,0.000837471,0.000692609,-0.000486153,1.20267,-0.122968,-0.084783,0.0330967,0.014129,-0.027376,1.31649,0.523879,0.134981,2.16966,0.716112,0.621065,-0.349355,0,-0.000953333,0,0.000713139,0,0,0,0.112937,0.0118818,0.791463,-0.00037865,-0.00650478,-0.0330967,0.00649092,0.0906935,0.0477498,0.0616511,-0.117346,-0.100081,0.847786,0.507418,1.58618e-05,0.000115613,-6.14215e-05,-0.000133013,-0.000503814,-0.000982674,2.64182,1.12326,-1.23497,0.0465867,0.0085825,-0.0300388,-1.35233,0.593438,0.143029,-2.15834,0.743029,-0.523558,-0.349355,-0.000927653,0.000613701,0,0,0,0,0,-0.305651,0.0507238,1.41318,0.00572874,-0.0464919,-0.0465867,0.00649092
2020-02-05.14:59:34.252,0.126452,0.0748262,0.406368,-0.120357,-0.0948674,0.846535,0.509798,-0.000484226,-5.39941e-05,0.000160577,-0.000472257,0.000954121,-0.00146107,-0.839083,-0.209193,-0.306303,0.00487755,-0.011607,-0.0091683,0.167904,-0.119731,0.185555,-0.718126,0.956286,0.0118426,0.0355277,0.00150741,-0.000129985,-0.000351633,0.000235489,0,0,0,-0.227319,-0.000853842,-0.147313,0.0220047,0.0112072,-0.00126035,0.000110487,-0.0978998,0.0423912,0.390718,0.0627977,0.0999297,0.470089,0.874692,-0.000514816,-0.000541971,0.000321115,-0.00152346,0.00123626,-0.00267503,-1.14476,-0.041592,-0.682407,-0.00400247,-0.00806258,0.0165709,-0.22924,0.0254766,0.0382178,0.520082,0.968129,0.0621734,-0.349355,0.00158188,-0.000301399,-0.00124285,0.00135564,0,0,0,0.335014,0.0983889,-0.155733,-0.0290597,0.00784139,0.000313476,0.00661957,-0.0938114,0.0358164,0.0584375,0.0699731,0.0955858,0.490263,0.863487,-6.33896e-05,0.000115168,4.46008e-05,0.000314142,-0.000314058,0.00125744,1.19122,-0.121587,-0.0990438,0.0303654,0.010855,-0.0272739,1.31649,0.523872,0.134981,2.16966,0.716112,0.621065,-0.349355,0,0.0011269,0,0.000713139,0,0,0,0.109633,0.0123538,0.774591,-0.000628981,-0.00379736,-0.0303654,0.00661957,0.0906932,0.0477502,0.0616503,-0.117349,-0.100082,0.847785,0.507419,0.000142908,8.63653e-05,0.000186485,-0.000321989,0.00184673,-0.000608513,2.60207,1.09842,-1.25783,0.0459441,0.00753411,-0.0284566,-1.35234,0.593438,0.143029,-2.15834,0.743029,-0.523558,-0.349355,0.00129506,0.00148566,0,0,0,0,0,-0.303291,0.0493077,1.36256,0.00597907,-0.0444311,-0.0459441,0.00661957
2020-02-05.14:59:34.272,0.126452,0.0748262,0.406368,-0.120357,-0.0948674,0.846535,0.509798,-0.000483274,-4.57582e-05,0.000157554,-0.000454537,0.000941338,-0.00144738,-0.834493,-0.217333,-0.269737,0.00466976,-0.0115053,-0.00921937,0.167904,-0.119731,0.185555,-0.718126,0.956286,0.0118426,0.0355277,0.00150741,-0.000138175,-0.000325881,0.000218243,0,0,0,-0.226789,-0.00718683,-0.147694,0.0221807,0.0115829,-0.0014795,-0.000103926,-0.0979075,0.0423809,0.390723,0.0627923,0.099942,0.47007,0.874701,-0.00116064,0.000595344,-0.000562028,0.00218164,0.00126264,-0.00132617,-1.14057,-0.0573291,-0.684021,-0.00412025,-0.00849529,0.0160789,-0.229215,0.0254766,0.0381915,0.5201,0.968129,0.0621734,-0.349355,0.00298088,-0.000381653,0.00260402,-0.0012035,0,0,0,0.330776,0.100226,-0.156759,-0.0283559,0.00815447,-0.000187454,0.0064802,-0.0938119,0.0358172,0.0584378,0.069971,0.0955849,0.490266,0.863485,6.0346e-05,-0.000104937,-4.53381e-05,0.000848081,0.000713018,-0.000521502,1.23843,-0.0914295,-0.0821472,0.0309277,0.0110646,-0.0271871,1.31649,0.523879,0.134981,2.16966,0.716112,0.621065,-0.349355,0,-0.000995507,0,0.000713139,0,0,0,0.111521,0.0184901,0.802712,-0.000503815,-0.00444799,-0.0309277,0.0064802,0.0906935,0.0477498,0.0616511,-0.117346,-0.100081,0.847786,0.507418,4.92779e-05,0.000135453,-1.75415e-05,-0.00020798,-6.96251e-05,-0.0011219,2.61094,1.11915,-1.24834,0.0458637,0.00758095,-0.0284672,-1.35233,0.593438,0.143029,-2.15834,0.743029,-0.523558,-0.349355,-0.000621246,0.000959589,0,0,0,0,0,-0.302347,0.0450595,1.3935,0.00497775,-0.0455181,-0.0458637,0.0064802
2020-02-05.14:59:34.292,0.126453,0.0748341,0.406372,-0.120361,-0.0948713,0.846538,0.50979,-0.000425713,4.09691e-05,0.000182794,-0.000427733,0.00073843,-0.00113697,-0.840911,-0.212277,-0.279107,0.00481898,-0.0114155,-0.00914002,0.167904,-0.119762,0.185587,-0.718147,0.956286,0.0118426,0.0355277,0.00137609,-0.000466848,3.3263e-05,-2.22763e-05,0,0,0,-0.2252,-0.00984116,-0.153918,0.0218288,0.0110194,-0.00126035,4.61628e-05,-0.0979182,0.0423865,0.390726,0.0627928,0.0999421,0.470069,0.874702,-0.000921972,0.00035609,-0.000463792,0.00160182,0.00123946,-0.00147062,-1.12649,-0.0537087,-0.650853,-0.00422207,-0.00819725,0.0163834,-0.22919,0.0254451,0.038223,0.520079,0.968129,0.0621734,-0.349355,0.00243708,0,0.00163674,-0.000544864,0,0,0,0.32389,0.0901475,-0.160106,-0.0288838,0.0078727,-3.09135e-05,0.00656596,-0.0938119,0.0358172,0.0584378,0.069971,0.0955849,0.490266,0.863485,4.2596e-05,-7.33634e-05,-3.24365e-05,0.000771487,0.000565684,-0.000266314,1.19991,-0.109352,-0.127086,0.0320524,0.012793,-0.0277544,1.31649,0.523879,0.134981,2.16966,0.716112,0.621065,-0.349355,0,-0.000691048,0,0.000713139,0,0,0,0.114353,0.0123538,0.757718,-0.000628981,-0.00517299,-0.0320524,0.00656596,0.0906938,0.047751,0.0616507,-0.117348,-0.10008,0.847783,0.507422,-4.33512e-05,-0.000149681,3.90727e-05,0.000210955,0.000265304,0.00125039,2.599,1.14372,-1.26308,0.0459441,0.00961644,-0.0279791,-1.35234,0.593446,0.143029,-2.15834,0.743029,-0.523558,-0.349355,0.000854954,-0.000973351,0,0,0,0,0,-0.305651,0.0436435,1.37381,0.00679265,-0.0459678,-0.0459441,0.00656596
2020-02-05.14:59:34.312,0.126445,0.0748353,0.406372,-0.120357,-0.0948669,0.846534,0.509799,0.000216439,-4.43186e-05,0.000122438,-0.000401107,-0.000290691,0.000634082,-0.850923,-0.205209,-0.296021,0.00494903,-0.0120457,-0.00910044,0.167929,-0.119762,0.185587,-0.718147,0.956286,0.0118426,0.0355277,-0.000654067,-0.000466848,6.04701e-05,-4.04969e-05,0,0,0,-0.227319,-0.00475831,-0.153419,0.0218288,0.0116455,-0.0010725,3.54422e-05,-0.0979202,0.0423938,0.390731,0.0627893,0.0999375,0.470077,0.874699,-0.000517702,-0.000541164,9.70005e-05,-0.0010048,0.00146058,-0.00280253,-1.14255,-0.0534205,-0.699283,-0.00419275,-0.00828285,0.0161178,-0.22919,0.0254136,0.0382545,0.520057,0.968129,0.0621734,-0.349355,0.00165972,0.000416816,-0.00142632,0.00150067,0,0,0,0.333955,0.104969,-0.153325,-0.0284439,0.00793531,-0.000156146,0.0064802,-0.0938119,0.0358172,0.0584378,0.069971,0.0955849,0.490266,0.863485,8.33285e-05,-0.000145819,-6.20431e-05,0.000947254,0.000903783,-0.000851918,1.19963,-0.121162,-0.103153,0.0308474,0.011738,-0.0269738,1.31649,0.523879,0.134981,2.16966,0.716112,0.621065,-0.349355,0,-0.00138972,0,0.000713139,0,0,0,0.111521,0.0128259,0.777403,-0.000503815,-0.00476666,-0.0308474,0.0064802,0.0906932,0.0477502,0.0616503,-0.117349,-0.100082,0.847785,0.507419,9.84103e-05,4.73464e-05,0.000137811,-0.000210605,0.00135278,-0.000314368,2.5873,1.07875,-1.22199,0.0450604,0.00744175,-0.028981,-1.35234,0.593438,0.143029,-2.15834,0.743029,-0.523558,-0.349355,0.00101436,0.000971736,0,0,0,0,0,-0.299515,0.0511958,1.36819,0.00522808,-0.0444789,-0.0450604,0.0064802
2020-02-05.14:59:34.332,0.126447,0.0748433,0.406376,-0.120361,-0.0948708,0.846538,0.509791,0.000134088,-0.000418912,-4.60449e-05,-0.000364155,0.000280331,-0.000234141,-0.838016,-0.205202,-0.281444,0.00470595,-0.011967,-0.00882724,0.167929,-0.119794,0.185618,-0.718168,0.956286,0.0118426,0.0355277,-0.000615965,0.00105519,-0.00143571,0.000961496,0,0,0,-0.227319,-0.00134758,-0.149894,0.0226205,0.0111133,-0.00110381,-0.000136088,-0.0979259,0.0423762,0.390731,0.0627874,0.0999544,0.47005,0.874711,0.000129382,-0.000505729,0.000105923,-0.000989061,0.000719274,-0.00147863,-1.1421,-0.0575944,-0.696107,-0.00393373,-0.00844257,0.016409,-0.229166,0.0254451,0.0381967,0.520096,0.968129,0.0621734,-0.349355,-0.000106663,0.000832972,-0.00182262,0.00175037,0,0,0,0.332366,0.10447,-0.154236,-0.0290597,0.00821708,0.000313476,0.00636227,-0.0938119,0.0358172,0.0584378,0.069971,0.0955849,0.490266,0.863485,5.7024e-05,-9.90282e-05,-4.29235e-05,0.000833746,0.000685444,-0.000473743,1.21589,-0.107878,-0.129381,0.0318114,0.0126647,-0.0279976,1.31649,0.523879,0.134981,2.16966,0.716112,0.621065,-0.349355,0,-0.000938527,0,0.000713139,0,0,0,0.115297,0.0132979,0.766154,-0.000879311,-0.00507251,-0.0318114,0.00636227,0.090694,0.0477506,0.0616514,-0.117345,-0.100078,0.847785,0.507421,-0.000117202,-8.43553e-05,-0.000142459,0.000276484,-0.00142409,0.000615791,2.61058,1.08256,-1.24887,0.0439357,0.00831269,-0.0265592,-1.35233,0.593446,0.143029,-2.15834,0.743029,-0.523558,-0.349355,-0.000925403,-0.00127566,0,0,0,0,0,-0.303763,0.0493077,1.36819,0.0062294,-0.0442341,-0.0439357,0.00636227
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