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
2020-02-05.15:28:25.622,0.0562389,0.176557,0.379857,-0.497387,-0.156781,0.799725,0.297432,0.00484825,-0.0257929,-0.0306574,0.122196,-0.0965346,0.0522448,-0.0581648,-0.0605647,0.0373774,-0.004642,0.00837753,0.00428741,0.474284,-0.128674,0.416141,-1.77117,0.420411,0.127307,0.159874,-0.0793944,0.170545,-0.106121,0.0365816,0,-0.0734474,-0.045095,0.0036514,-0.0202772,-0.010934,-0.0135356,-0.00657578,0.000179828,0.00148273,-0.0596846,0.146581,0.375795,-0.166961,0.372087,0.21218,0.888062,-0.0133526,-0.0183154,-0.0183407,0.000896342,0.048444,-0.0973768,0.0149451,-0.00437019,0.107044,0.00984486,0.0118006,-0.00846317,-0.42048,-0.0709503,0.326675,1.44182,0.254615,-0.396726,-0.757923,0.0760235,0.0852727,-0.0585209,0.000788463,-0.00463333,0.0204642,-0.0397354,-0.0119709,-0.0140261,-0.00460188,0.0297049,0.00295732,0.00288074,-0.00496946,-0.0902955,0.0180255,0.031258,-0.16806,0.373837,0.186976,0.892772,-4.72436e-06,-1.4351e-05,2.48566e-05,-5.42101e-20,-0.000226578,-0.000130815,1.30631,0.656764,0.0348206,-0.0352664,-0.056496,0.00133434,1.44471,0.260009,0.123052,1.19481,0.508288,0.395533,-0.757923,-0.000261629,0,0,0,0,0,-0.0397354,0.12521,0.0708843,0.442765,0.000184593,0.0397325,0.0352664,-0.00496946,0.107595,0.00639932,0.0188571,-0.501849,-0.145069,0.802239,0.288989,-3.21076e-07,1.46997e-05,-1.4692e-05,-0.000191442,0.00102771,-0.000440615,1.18412,2.87331,0.258589,0.0155783,-0.00198751,0.00486818,-1.45302,0.162201,0.101271,-1.70478,0.244306,-0.157559,-0.757923,-0.000290291,7.09436e-05,0,0,0.000813011,-0.000987292,-0.0397354,-0.122507,-0.235792,0.971684,0.00197379,-0.00804872,-0.0155783,-0.00496946
2020-02-05.15:28:25.635,0.0562601,0.175792,0.37828,-0.499654,-0.157609,0.797499,0.299167,-0.00401055,-0.010951,-0.0455204,0.17847,-0.129175,0.00701377,-0.131336,-0.0726091,0.00430064,-0.00508144,0.00463644,0.00575996,0.471782,-0.120329,0.411951,-1.76971,0.414489,0.127307,0.159874,-0.0407004,0.232692,-0.0961681,0.0129768,-0.0144808,-0.0700159,-0.0450164,-0.0159493,-0.0399187,-0.0257344,-0.0162627,-0.00256834,0.00202701,0.00230822,-0.0604352,0.145611,0.374766,-0.16824,0.374328,0.210048,0.887386,-0.021501,-0.0286178,-0.0318038,0.0428083,0.0992427,-0.054002,-0.0295999,-0.00555479,0.126951,0.010228,0.00415353,-0.0072829,-0.416293,-0.0662581,0.32356,1.44152,0.248694,-0.396726,-0.763845,0.12215,0.145641,-0.0949421,-0.0322452,-0.0345888,0.0204642,0.0140479,-0.0146196,-0.0246138,-0.00887846,0.0210838,0.00759092,0.000689173,-0.00464784,-0.0902953,0.0180248,0.0312576,-0.168058,0.373839,0.186973,0.892772,4.23665e-06,2.54894e-05,-2.95679e-05,-8.25111e-06,0.000268167,0.000229994,1.30717,0.701044,0.0493048,-0.0342221,-0.0551931,-0.000593098,1.44471,0.260001,0.123052,1.19481,0.508288,0.395533,-0.763845,0.000347236,6.56182e-05,0,0,0,0,0.0140479,0.126626,0.0737164,0.439953,-0.00150514,0.0392651,0.0342221,-0.00464784,0.107594,0.00639968,0.0188564,-0.501852,-0.145069,0.802237,0.28899,4.93882e-06,-3.80826e-06,1.73646e-05,-0.000191436,0.00137462,-0.000240326,1.10755,2.8632,0.253112,0.0161406,8.05938e-05,0.00378895,-1.45302,0.162201,0.101271,-1.70478,0.244306,-0.157559,-0.763845,0.00011029,7.09436e-05,0,0,0.000813011,-0.000987292,0.0140479,-0.117787,-0.234848,0.946375,0.00141054,-0.00956373,-0.0161406,-0.00464784
2020-02-05.15:28:25.648,0.0562368,0.175735,0.37802,-0.499701,-0.157942,0.797344,0.299326,-0.00582925,-0.00906724,-0.0473108,0.185501,-0.127761,-0.00207196,-0.113887,-0.0634472,0.00786,-0.0042029,0.00428122,0.0055368,0.471559,-0.119006,0.411417,-1.76965,0.414489,0.127307,0.159874,-0.0334753,0.241402,-0.0959686,0.0127222,-0.0144808,-0.068089,-0.0446005,-0.0127708,-0.035587,-0.0233814,-0.0142393,-0.00244311,0.00196439,0.00252263,-0.0605642,0.14545,0.374577,-0.167973,0.37452,0.209919,0.887386,-0.022146,-0.0295823,-0.0337314,0.04444,0.117739,-0.0725915,-0.0289479,-0.01381,0.12428,0.00977849,0.00301959,-0.0067291,-0.415575,-0.0654078,0.323026,1.44143,0.248694,-0.396726,-0.763845,0.126464,0.154293,-0.0994099,-0.0104816,-0.0345888,0.0204642,0.0140479,-0.0156791,-0.0247784,-0.0113493,0.0188845,0.00774746,0.000501324,-0.00434766,-0.0902953,0.0180248,0.0312576,-0.168058,0.373839,0.186973,0.892772,4.23665e-06,2.54894e-05,-2.95679e-05,-8.25111e-06,0.000268167,0.000229994,1.35559,0.562711,0.0285881,-0.0359091,-0.0574531,-0.000642334,1.44471,0.260001,0.123052,1.19481,0.508288,0.395533,-0.763845,0.000347236,6.56182e-05,0,0,0,0,0.0140479,0.122849,0.0604999,0.493382,-0.00100448,0.0409289,0.0359091,-0.00434766,0.107594,0.00639968,0.0188564,-0.501852,-0.145069,0.802237,0.28899,4.93882e-06,-3.80826e-06,1.73646e-05,-0.000191436,0.00137462,-0.000240326,1.15303,2.86926,0.220127,0.015739,7.98945e-06,0.00438466,-1.45302,0.162201,0.101271,-1.70478,0.244306,-0.157559,-0.763845,0.00011029,7.09436e-05,0,0,0.000813011,-0.000987292,0.0140479,-0.122507,-0.235792,0.926691,0.00184862,-0.00981246,-0.015739,-0.00434766
2020-02-05.15:28:25.668,0.0561232,0.175628,0.377284,-0.50038,-0.159791,0.795252,0.302757,-0.00874847,-0.0060106,-0.0520007,0.186051,-0.139448,-0.00990108,-0.130659,-0.0846557,0.00894368,-0.00319786,0.00314983,0.00470818,0.471188,-0.115416,0.410036,-1.76947,0.411529,0.127307,0.159874,-0.0237198,0.262886,-0.0978431,0.000575783,-0.0225188,-0.0636405,-0.043578,-0.016479,-0.0322586,-0.0191189,-0.0116002,-0.00153517,0.00227747,0.00234038,-0.0609114,0.144986,0.374009,-0.164967,0.376035,0.214839,0.886131,-0.0235441,-0.0323211,-0.039663,0.103843,0.13722,-0.00604854,-0.0288791,-0.0140432,0.0810624,0.00704899,0.0018819,-0.00522516,-0.413568,-0.0628255,0.321416,1.44117,0.248694,-0.396726,-0.752002,0.137612,0.181419,-0.11333,-0.0452153,-0.0345888,0.0204642,0.0872892,-0.00826264,-0.0196185,-0.0111555,0.0139581,0.00590028,-0.000218762,-0.00339353,-0.0902858,0.0180069,0.0312418,-0.167147,0.374301,0.189212,0.892278,0.00519561,-0.00809631,-0.00676102,1.30637,0.938854,1.32352,0.668283,0.270188,0.11788,-0.054707,-0.054663,0.0397813,1.44471,0.260024,0.123045,1.20006,0.506238,0.398103,-0.752002,-0.000847617,0.00043023,-0.00150088,2.19105,-0.814648,0.983669,0.0872892,0.0747035,0.0902371,0.327469,0.0227769,0.0288851,0.054707,-0.00339353,0.107601,0.00639694,0.0188562,-0.5015,-0.146222,0.801856,0.290077,0.00121,-0.00119495,-0.00117784,1.38546,-0.107559,-0.271178,0.674052,1.90572,0.303219,0.012365,0.000395566,-0.0156538,-1.45299,0.162262,0.101265,-1.70813,0.244306,-0.157641,-0.752002,0.00175166,0.017821,-0.00150234,-1.41575,-0.00162576,0.00111286,0.0872892,-0.0753055,-0.148941,0.743905,-0.0159874,-0.00898206,-0.012365,-0.00339353
2020-02-05.15:28:25.688,0.0559053,0.175481,0.376175,-0.50005,-0.165053,0.792425,0.307849,-0.0124577,-0.00925084,-0.0565953,0.409943,-0.0955675,-0.17602,-0.0566043,-0.0647672,0.00024798,-3.88173e-05,0.000494859,0.00129802,0.470742,-0.109559,0.407781,-1.7687,0.411529,0.124347,0.142111,-0.0196084,0.295621,-0.119994,0.0428889,-0.0225188,-0.0258182,-0.275774,-0.00376508,-0.0191094,-0.00412761,-0.00262716,-0.000220232,0.00171393,0.00049643,-0.0614039,0.144284,0.373148,-0.159507,0.378316,0.225156,0.883595,-0.0247619,-0.038415,-0.046703,1.03477,0.836206,1.01331,-0.15059,0.0136776,0.0751738,0.000263416,8.23216e-05,-0.000868451,-0.410645,-0.0588576,0.318921,1.43971,0.248694,-0.396726,-0.728317,0.152504,0.218626,-0.139422,-0.0577186,-0.0345888,0.0204642,1.62773,0.00551081,-0.045038,-0.0199337,0.000850433,0.00048398,-0.000156146,-0.000756245,-0.0901935,0.0177089,0.0309095,-0.156957,0.381164,0.226488,0.882486,-0.00635528,-0.010577,-0.0129093,1.14498,1.01341,2.11035,0.426127,0.398172,-1.04126,-0.0298038,-0.0339285,-0.0173614,1.44461,0.259963,0.122855,1.28142,0.470303,0.446764,-0.728317,-0.00749581,-0.00485129,-0.01551,2.55116,-1.14217,1.75228,1.62773,0.0567667,-0.00227877,-0.797364,-0.0140217,0.0342217,0.0298038,-0.000756245,0.107613,0.00632375,0.0187502,-0.497131,-0.166178,0.794157,0.307507,0.00140998,-0.00301471,-0.00435518,1.8631,-0.100979,-0.456892,2.80372,2.45578,-0.960238,0.0170243,-0.0116929,0.0180361,-1.45311,0.162309,0.101222,-1.7637,0.24171,-0.156749,-0.728317,-0.0118473,-0.0034308,-0.00248306,-1.94613,-0.0190614,-0.129933,1.62773,-0.28913,-0.177262,0.122435,0.0139896,-0.0111487,-0.0170243,-0.000756245
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