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
2020-02-06.10:16:17.638,0.185146,0.0139899,0.338678,-0.303493,-0.589423,0.356129,0.658517,0.000207074,-0.000184248,-0.000192382,4.16286e-05,0.000130058,-5.77135e-05,-0.687974,0.179235,-0.610206,-0.00769964,0.00714705,-0.00792501,-0.0127823,0.220881,-0.0877069,-1.50579,0.106583,0.00592128,-1.50993,-0.000506318,0.000978755,-0.000936059,0.000626879,0,0,0,-0.209307,0.178914,-0.0313813,0.0162866,-0.00817249,-0.00210566,-0.00698659,-0.183072,0.0420057,0.331608,0.489146,0.350388,0.751564,0.270399,0,0,0,0,0,0,-0.449583,-0.272489,-0.629047,0.00477311,-0.0280187,0.00301866,0.00805089,0.194366,0.00352896,1.17685,0.032567,-0.00296064,1.48624,0,0,0,0,0,0,0,0.17609,0.181866,-0.0063369,0.0531932,-0.00239637,0.00335036,0.0038322,-0.0903294,-0.000347694,0.0126188,0.505826,0.338985,0.750489,0.256894,1.05205e-05,-0.000168434,-9.60747e-05,0.000168759,0.000875494,-0.0015164,-1.57143,-5.03847,-1.09915,0.034864,0.0692302,0.0238323,1.47471,0.0290143,0.117318,3.32799,-0.319456,-0.0496391,1.48624,0,-0.0017591,0,0,0,0,0,0.60667,-0.0291839,-0.786116,0.000685254,-0.0536623,-0.034864,0.0038322,0.0787733,0.0100893,0.0219725,-0.288513,-0.603448,0.335759,0.663233,-1.5229e-06,-3.14313e-06,-6.9589e-06,5.89307e-06,-5.78945e-05,2.48596e-05,1.82659,3.45228,-0.220316,-0.0921478,-0.0965699,0.0277447,-1.45458,0.170263,0.130194,-3.27641,0.13773,-0.0049017,1.48624,-3.77083e-05,-5.08191e-05,0,0,0,0,0,-0.490683,0.19941,0.0493208,0.0100469,0.0800829,0.0921478,0.0038322
2020-02-06.10:16:17.652,0.185146,0.0139899,0.338678,-0.303493,-0.589423,0.356129,0.658517,0.000185578,-0.000184991,-0.000192228,4.01494e-05,0.000157357,-0.000104772,-0.676915,0.187723,-0.598325,-0.00773559,0.00707099,-0.00798366,-0.0127823,0.220881,-0.0877069,-1.50579,0.106583,0.00592128,-1.50993,-0.000452895,0.000978755,-0.000937537,0.000627868,0,0,0,-0.20454,0.18057,-0.0267448,0.0157588,-0.0082038,-0.00172997,-0.0070938,-0.183072,0.0420057,0.331608,0.489146,0.350388,0.751564,0.270399,0,0,0,0,0,0,-0.459987,-0.277528,-0.632743,0.00534074,-0.0284109,0.00295077,0.00805089,0.194366,0.00352896,1.17685,0.032567,-0.00296064,1.48624,0,0,0,0,0,0,0,0.17609,0.184618,-0.00674577,0.0540729,-0.0029286,0.00335036,0.00377859,-0.0903294,-0.000348434,0.0126184,0.505829,0.338984,0.750487,0.256896,-1.02287e-05,0.000163786,9.34236e-05,-0.000164103,-0.000851335,0.00147456,-1.55163,-5.00417,-1.07651,0.033418,0.0678046,0.0225324,1.47471,0.0290066,0.117318,3.32799,-0.319456,-0.0496391,1.48624,0,0.00171056,0,0,0,0,0,0.601006,-0.0287119,-0.769243,-6.57371e-05,-0.0524832,-0.033418,0.00377859,0.0787731,0.0100884,0.021972,-0.288511,-0.60345,0.33576,0.66323,-2.38814e-07,3.45414e-06,-2.90358e-06,-1.46301e-06,-2.38299e-05,-2.8228e-05,1.84044,3.43216,-0.250528,-0.0914249,-0.0973565,0.0274336,-1.45458,0.170255,0.130194,-3.27641,0.13773,-0.0049017,1.48624,-3.47513e-05,1.26163e-05,0,0,0,0,0,-0.487379,0.200354,0.0211999,0.0098592,0.0807419,0.0914249,0.00377859
2020-02-06.10:16:17.672,0.185146,0.0139899,0.338678,-0.303493,-0.589423,0.356129,0.658517,0.000180746,-0.000185171,-0.000192186,3.97785e-05,0.000163507,-0.000115368,-0.675392,0.176073,-0.608248,-0.0077194,0.00683377,-0.00786395,-0.0127823,0.220881,-0.0877069,-1.50579,0.106583,0.00592128,-1.50993,-0.000441409,0.000978755,-0.000937891,0.000628105,0,0,0,-0.213016,0.17291,-0.0301789,0.0158468,-0.0082038,-0.00201174,-0.00694371,-0.183072,0.0419991,0.331602,0.489154,0.350386,0.751559,0.270403,-5.21333e-07,-4.97262e-05,-4.34375e-05,2.50393e-07,0.000104535,-0.000118829,-0.471011,-0.271891,-0.62337,0.00521254,-0.0283745,0.00275933,0.00805089,0.194397,0.00349747,1.17687,0.032567,-0.00296064,1.48624,0,0.000236323,-0.000236323,0.000158265,0,0,0,0.171322,0.182792,-0.0102977,0.0539849,-0.00280337,0.00335036,0.00358562,-0.0903294,-0.000348434,0.0126184,0.505829,0.338984,0.750487,0.256896,-9.49821e-06,0.000152089,8.67516e-05,-0.000152383,-0.000790535,0.00136925,-1.60017,-5.06385,-1.07183,0.0345427,0.0694999,0.023463,1.47471,0.0290066,0.117318,3.32799,-0.319456,-0.0496391,1.48624,0,0.0015884,0,0,0,0,0,0.609502,-0.0306,-0.752371,0.000372341,-0.0536884,-0.0345427,0.00358562,0.0787731,0.0100884,0.021972,-0.288511,-0.60345,0.33576,0.66323,-2.29045e-07,3.41179e-06,-2.83024e-06,-1.46301e-06,-2.32249e-05,-2.78787e-05,1.8052,3.4106,-0.23986,-0.0926298,-0.0964814,0.0275059,-1.45458,0.170255,0.130194,-3.27641,0.13773,-0.0049017,1.48624,-3.40527e-05,1.26163e-05,0,0,0,0,0,-0.486435,0.196578,0.0268241,0.00979661,0.0801878,0.0926298,0.00358562
2020-02-06.10:16:17.692,0.185146,0.0139989,0.338673,-0.303482,-0.589433,0.356124,0.658516,0.000172263,-0.000199229,-0.000184205,-1.11301e-06,0.000190437,-0.000155757,-0.676853,0.179159,-0.595632,-0.00777705,0.00689565,-0.00806584,-0.0127823,0.220881,-0.0876806,-1.50581,0.106583,0.00592128,-1.50993,-0.00041999,0.000978755,-0.000978755,0.000655473,0,0,0,-0.211426,0.173661,-0.0309135,0.0154949,-0.0082038,-0.00169866,-0.00693299,-0.183081,0.0419991,0.331602,0.489162,0.350383,0.751553,0.270409,-4.29253e-05,-4.94298e-05,-4.32663e-05,2.51164e-07,0.000160073,-0.000215025,-0.455554,-0.289061,-0.629327,0.00482627,-0.0286375,0.00279319,0.00807567,0.194397,0.00349747,1.17687,0.032567,-0.00296064,1.48624,0.000111078,0.000236323,-0.000236323,0.000158265,0,0,0,0.17556,0.188358,-0.00169682,0.0541609,-0.00239637,0.00363214,0.00361778,-0.0903294,-0.000348434,0.0126184,0.505829,0.338984,0.750487,0.256896,-5.89288e-06,9.43591e-05,5.38224e-05,-9.45413e-05,-0.000490464,0.000849508,-1.53561,-5.03431,-1.06674,0.0347033,0.0683238,0.0244764,1.47471,0.0290066,0.117318,3.32799,-0.319456,-0.0496391,1.48624,0,0.000985473,0,0,0,0,0,0.605726,-0.0254077,-0.766431,0.00131108,-0.053051,-0.0347033,0.00361778,0.0787731,0.0100884,0.021972,-0.288511,-0.60345,0.33576,0.66323,-2.14144e-07,3.3199e-06,-2.70583e-06,-1.4465e-06,-2.22e-05,-2.71237e-05,1.83882,3.39029,-0.201835,-0.0922282,-0.0967486,0.0273625,-1.45458,0.170255,0.130194,-3.27641,0.13773,-0.0049017,1.48624,-3.27876e-05,1.24739e-05,0,0,0,0,0,-0.483131,0.19941,0.0690054,0.00973403,0.0801484,0.0922282,0.00361778
2020-02-06.10:16:17.712,0.185146,0.0139989,0.338673,-0.303482,-0.589433,0.356124,0.658516,0.000164051,-0.000181835,-0.00016815,-1.01626e-06,0.00016548,-0.000127665,-0.672201,0.15839,-0.590975,-0.00773041,0.00716342,-0.00789708,-0.0127823,0.220881,-0.0876806,-1.50581,0.106583,0.00592128,-1.50993,-0.000399891,0.000893674,-0.000893674,0.000598494,0,0,0,-0.20295,0.16809,-0.036607,0.0159347,-0.0082038,-0.00172997,-0.00699731,-0.183091,0.0420019,0.331592,0.489175,0.350369,0.751551,0.270409,-7.95183e-05,-8.47927e-05,-7.35808e-05,-9.26563e-07,0.000281998,-0.000381836,-0.441143,-0.280113,-0.635765,0.00484593,-0.0277611,0.00287776,0.00810044,0.194429,0.00349228,1.17688,0.032567,-0.00296064,1.48624,0.000205954,0.000403323,-0.000404681,0.000271015,0,0,0,0.179268,0.184191,-0.00269836,0.0526654,-0.00249029,0.00338167,0.00368211,-0.0903294,-0.000348434,0.0126184,0.505829,0.338984,0.750487,0.256896,-5.13541e-06,8.22302e-05,4.69041e-05,-8.2389e-05,-0.00042742,0.000740313,-1.6332,-5.02132,-1.14419,0.032454,0.0688776,0.0237193,1.47471,0.0290066,0.117318,3.32799,-0.319456,-0.0496391,1.48624,0,0.000858801,0,0,0,0,0,0.603838,-0.0381523,-0.808612,0.00137366,-0.0527536,-0.032454,0.00368211,0.0787733,0.0100893,0.0219725,-0.288513,-0.603448,0.335759,0.663233,-7.08121e-07,4.63469e-07,-4.11967e-06,1.57598e-06,-3.41143e-05,-4.10881e-06,1.83332,3.38531,-0.220921,-0.0917462,-0.0971727,0.0267861,-1.45458,0.170263,0.130194,-3.27641,0.13773,-0.0049017,1.48624,-3.15983e-05,-1.35905e-05,0,0,0,0,0,-0.482187,0.198466,0.0493208,0.00923337,0.0806197,0.0917462,0.00368211
2020-02-06.10:16:17.732,0.185146,0.0139989,0.338673,-0.303482,-0.589433,0.356124,0.658516,0.000156456,-0.000164654,-0.000152292,-9.20723e-07,0.000140199,-9.88194e-05,-0.669521,0.171218,-0.593616,-0.00782336,0.00716971,-0.00799899,-0.0127823,0.220881,-0.0876806,-1.50581,0.106583,0.00592128,-1.50993,-0.000381747,0.000809661,-0.000809661,0.00054223,0,0,0,-0.20348,0.17308,-0.0314402,0.0161986,-0.00829773,-0.00198043,-0.00707235,-0.183091,0.0420046,0.331581,0.48918,0.350359,0.751554,0.270403,-7.95173e-05,-4.27795e-05,-0.000145954,0.000224696,0.000260148,-0.000359702,-0.436724,-0.273409,-0.616557,0.00499807,-0.0284461,0.00295669,0.00810044,0.19446,0.00348709,1.17688,0.032567,-0.00296064,1.48624,0.000205954,0.000583173,-0.000358853,0.000240324,0,0,0,0.173971,0.180194,-0.00337057,0.053897,-0.00258422,0.00353821,0.00377859,-0.0903294,-0.000348857,0.0126191,0.505827,0.338982,0.750489,0.256899,-1.13104e-05,0.000181107,0.000103303,-0.000181471,-0.000941364,0.00163049,-1.5938,-5.08427,-1.11615,0.034382,0.0684773,0.0241094,1.4747,0.0290066,0.117318,3.32799,-0.319456,-0.0496391,1.48624,0,0.00189145,0,0,0,0,0,0.611862,-0.032016,-0.797364,0.000935585,-0.052693,-0.034382,0.00377859,0.0787733,0.0100893,0.0219725,-0.288513,-0.603448,0.335759,0.663233,-6.92829e-07,3.9719e-07,-4.00487e-06,1.57598e-06,-3.31673e-05,-3.56207e-06,1.82428,3.44178,-0.225622,-0.0919069,-0.0971193,0.0280167,-1.45458,0.170263,0.130194,-3.27641,0.13773,-0.0049017,1.48624,-3.05048e-05,-1.35905e-05,0,0,0,0,0,-0.489267,0.198466,0.0436966,0.0103599,0.0806547,0.0919069,0.00377859
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