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
2020-02-04.17:04:52.838,0.118657,0.0582906,0.390415,0.184723,-0.102348,-0.119312,0.970138,0.0143709,0.066601,0.0719685,-0.167354,0.0346461,0.0409358,-0.0448077,-0.020439,-0.0150693,5.07201e-06,-0.000581787,0.000318416,0.179423,-0.0224849,0.109559,-1.76962,1.33821,0.254615,2.98432,0.00749032,-0.397706,0.307641,0.010156,0.0247751,0.0677098,0.0526312,0.0131869,0.0103792,0.00415455,-0.000691795,-0.00040808,0.00014852,4.61628e-05,-0.0793574,0.0742046,0.371564,0.378602,-0.321073,0.804858,-0.325233,0.00677051,-0.00321819,-0.00307887,0.00190634,-0.00306115,0.0084821,0.00814336,0.0120543,-0.00838413,0.000438017,-0.000269492,0.000323342,-0.29278,0.0439621,0.113249,1.74288,0.645419,-0.0118426,-2.85406,-0.015009,0.023525,-0.0212409,0.00620924,0,0,0,0.00339182,0.0020085,-0.00132861,-0.0011729,-0.000142182,-3.09135e-05,-2.72398e-05,-0.0876325,0.03377,0.0343685,0.380371,-0.319377,0.804704,-0.32522,0.00165747,-0.00118826,-0.000687191,-0.0102301,-0.00869551,0.0143582,-3.91193,1.34003,-2.92008,0.00361458,0.0824326,-0.00715635,1.50206,0.403544,0.130415,-1.25688,-0.634677,0.142304,0,-0.0152961,0.000936035,0.01374,0.0129644,-0.0374907,0.491969,0.0534196,-0.187142,-0.0120816,-0.0448092,-0.00433758,0.0998643,0.0298727,0.0524604,0.190255,-0.10233,-0.116582,0.969402,0.00069742,0.0202857,0.0282855,-0.0157266,0.00253983,0.00312194,0.678871,4.02914,2.37666,-0.0134218,-0.039302,-0.00249611,-1.34197,0.434195,0.127482,2.01554,-1.01685,-0.437093,0.150391,0.226484,0.0156625,0.182774,0.22253,-0.270757,0.18997,0.462325,1.45255,0.0219376,0.0283726,0.0134218
2020-02-04.17:04:52.844,0.119348,0.0608865,0.393443,0.182335,-0.0968565,-0.116719,0.971468,0.0179602,0.0639272,0.0772111,-0.171717,0.125154,0.114686,-0.0114058,-0.019894,-0.0340891,2.34203e-05,-0.000327726,-0.000195654,0.179399,-0.038892,0.121784,-1.76931,1.35005,0.254615,2.98432,-0.00266208,-0.415201,0.302839,0.0136257,0.136543,0.048471,0.0500268,0.00100266,0.0137076,0.00729762,0.000275886,-0.00040808,-8.02096e-06,-2.88818e-05,-0.0791174,0.074044,0.371448,0.378612,-0.321035,0.804834,-0.325316,0.00537506,-0.00362559,-0.00287519,0.000901249,-0.00193476,0.00559742,-0.0202241,0.0103167,-0.00582118,-0.000201508,0.000134888,-0.000252734,-0.293276,0.0449069,0.11233,1.7432,0.645419,-0.0118426,-2.85406,-0.0109532,0.0221422,-0.0209547,0.00520246,0,0,0,-0.00243541,0.00774441,0.00683572,0.00058652,7.69744e-05,3.17027e-05,-0.000102284,-0.0875762,0.0337168,0.0343356,0.380255,-0.319263,0.804715,-0.325439,0.00134792,-0.00139681,-0.00102758,-0.0116368,-0.0210924,0.0276279,-4.08666,1.42969,-2.74501,0.00321292,0.0832286,-0.00738781,1.50209,0.402918,0.130442,-1.25604,-0.634403,0.140774,0.0012378,-0.0164182,0.000492854,0.0257453,0.0144455,-0.0615473,0.499521,0.0368989,0.0715699,-0.0116435,-0.0441802,-0.00321292,0.100095,0.0307692,0.0536249,0.185946,-0.0996518,-0.114762,0.970733,0.00735864,0.0254872,0.0309768,-0.348004,0.182237,0.178093,-0.0106467,4.52565,1.2639,0.000315085,-0.0236055,0.00405529,-1.3354,0.443964,0.127997,2.03315,-1.01029,-0.448567,0.176388,0.265075,0.013197,0.636372,0.188196,-0.33909,0.0606362,0.49631,1.65783,0.0234396,0.0231257,-0.000315085
2020-02-04.17:04:52.862,0.119543,0.0615234,0.394214,0.181701,-0.0954938,-0.116028,0.971804,0.0201493,0.0648787,0.0791646,-0.178055,0.307222,0.255674,-0.030968,-0.0174386,-0.0119971,0.00035857,-0.000405869,0.000110251,0.179324,-0.0430489,0.12481,-1.76925,1.35301,0.254615,2.98432,-0.00809766,-0.426176,0.308665,0.00646775,0.365232,0.0452909,0.0494288,0.00894888,0.00804875,0.00283428,-0.000427882,-0.000376772,-0.000258486,-3.96024e-05,-0.079068,0.074012,0.371416,0.378603,-0.321017,0.804824,-0.325372,0.00498481,-0.00438687,-0.00255203,-0.00106381,-0.000488965,0.00253287,-0.0135593,0.00704379,-0.00123456,-0.000115715,0.000179502,-2.02352e-05,-0.293375,0.0451273,0.112136,1.74318,0.645419,-0.0118426,-2.85406,-0.00946695,0.0219996,-0.0227741,0.00711677,0,0,0,-0.00243541,0.00483268,0.00404613,0.000146665,0.000139591,0.000156935,-1.65191e-05,-0.0875642,0.0337008,0.0343259,0.380204,-0.319223,0.804733,-0.325494,0.00126735,-0.00156766,-0.000891926,-0.0119703,-0.0179535,0.0190494,-4.11583,1.48192,-2.73154,0.00401625,0.0844725,-0.00623442,1.50209,0.402748,0.130446,-1.25583,-0.634403,0.140366,-0.000367962,-0.017077,0.000421102,0.0189861,0.0122691,-0.0515954,0.502353,0.0321787,0.0940665,-0.0110177,-0.0453155,-0.00401625,0.100157,0.0310336,0.053944,0.184278,-0.0987943,-0.113862,0.971245,0.00592157,0.0265412,0.0313323,-0.317198,0.181819,0.178081,-0.0494889,4.53812,1.23514,0.00706303,-0.014419,0.0122575,-1.33362,0.44666,0.128146,2.03965,-1.00838,-0.452169,0.170985,0.26807,0.0150556,0.633867,0.179046,-0.36616,0.0634683,0.487342,1.69158,0.0238151,0.0187758,-0.00706303
2020-02-04.17:04:52.882,0.119956,0.0628537,0.395809,0.180302,-0.0914653,-0.113959,0.972697,0.0213069,0.0698368,0.0823642,-0.179177,0.383022,0.32582,-0.0144859,-0.0351712,-0.032653,-0.000152861,-0.000523091,7.37567e-05,0.179151,-0.051709,0.131104,-1.76928,1.36189,0.254615,2.98432,-0.00845965,-0.450486,0.328357,-0.00846766,0.466735,0.040026,0.0482754,0.00206215,0.013965,0.0033922,-0.000339911,-0.00040808,0.000273752,-0.000125368,-0.0789579,0.0739322,0.371363,0.378608,-0.320996,0.804816,-0.325406,0.00530922,-0.00409475,-0.00239095,-0.000922618,-0.00246678,0.00530448,0.00358871,0.00820777,-0.0196558,0.000206323,5.13625e-05,-4.1099e-05,-0.293598,0.0455682,0.111695,1.74332,0.645419,-0.0118426,-2.85406,-0.0106255,0.0212253,-0.0219591,0.00485821,0,0,0,0.00604056,0.00425139,0.00287138,-0.000117248,0.000108283,-0.000187454,-3.79604e-05,-0.0875501,0.0336825,0.0343164,0.380134,-0.319081,0.804818,-0.325504,0.0013838,-0.00179852,-0.00100489,-0.0181221,-0.0271785,0.0203091,-4.21149,1.45115,-2.70172,0.00329325,0.0852873,-0.00731438,1.50209,0.402347,0.130463,-1.25583,-0.634403,0.139631,-7.46876e-05,-0.0205405,0.00102307,0.0147357,0.00931619,-0.0366635,0.512266,0.040203,0.189677,-0.0115184,-0.0439615,-0.00176693,0.100225,0.031304,0.0542658,0.182925,-0.0978542,-0.113104,0.971684,0.00646142,0.0266429,0.0316091,-0.282735,0.217241,0.178842,-0.133816,4.39471,1.19151,0.0127667,-0.00458386,0.0214897,-1.33186,0.44944,0.128296,2.04574,-1.00674,-0.456038,0.17254,0.270362,0.0151703,0.630764,0.139835,-0.38795,0.0648844,0.459021,1.7197,0.0247539,0.0147971,-0.0127667
2020-02-04.17:04:52.902,0.120165,0.0635184,0.396598,0.179553,-0.088781,-0.112627,0.973239,0.0232679,0.0713251,0.0842195,-0.182017,0.436542,0.345108,-0.00813012,-0.0280649,-0.0214302,-8.50827e-06,-2.22144e-05,1.76557e-05,0.179052,-0.0560234,0.134234,-1.76929,1.36782,0.254615,2.98432,-0.0130838,-0.462327,0.335749,0.0100999,0.520706,0.037914,0.0477427,0.00100266,0.00938645,0.00107393,-7.59979e-05,-1.0748e-06,2.32872e-05,-3.96024e-05,-0.0789121,0.0739055,0.371346,0.378596,-0.320962,0.80481,-0.325467,0.00565627,-0.00396187,-0.00233635,-0.000777431,-0.00422798,0.00779074,-0.0167725,0.0259235,-0.00431964,-9.65938e-05,0.000108837,4.51406e-05,-0.293697,0.0457257,0.111538,1.74328,0.645419,-0.0118426,-2.85406,-0.0116918,0.0211407,-0.0218172,0.00286616,0,0,0,-0.00243541,0.00991553,0.00454514,0.000146665,7.69744e-05,6.30108e-05,9.06875e-05,-0.0875128,0.0336476,0.0343019,0.380068,-0.319068,0.804864,-0.32548,0.00185647,-0.00187217,-0.000910299,-0.0211198,-0.0177949,0.00549666,-4.28279,1.41568,-2.69674,0.00321292,0.0858847,-0.00467587,1.50207,0.402154,0.130472,-1.25562,-0.634403,0.139386,-0.00074355,-0.0216363,0.000895069,0.00319857,0.00844372,-0.0445245,0.511794,0.0430351,0.229047,-0.00970346,-0.0454288,-0.00321292,0.100339,0.0318527,0.0548844,0.179551,-0.0950387,-0.11088,0.972849,0.00631915,0.0296551,0.0335594,-0.3282,0.342803,0.283746,-0.0684893,4.27828,1.07552,0.0235312,0.0111779,0.0343201,-1.32856,0.454668,0.12862,2.06125,-1.00496,-0.46492,0.179051,0.28076,0.0178975,0.860611,0.0536782,-0.526325,0.0719647,0.434476,1.60159,0.0249416,0.00601935,-0.0235312
2020-02-04.17:04:52.922,0.121002,0.0657513,0.399295,0.177083,-0.0820555,-0.109107,0.974682,0.0292916,0.0673676,0.0883403,-0.198486,0.470943,0.408663,-0.0325107,-0.0146358,-0.0320356,0.000147222,-8.08431e-05,0.000224001,0.178333,-0.0708244,0.144828,-1.76908,1.38262,0.254615,2.98432,-0.0319993,-0.474807,0.326639,-0.00651428,0.579975,0.032248,0.0460543,0.00788938,0.0141191,0.00932133,-0.000427882,-1.0748e-06,-0.000101945,5.68835e-05,-0.078752,0.0737831,0.371276,0.378616,-0.320939,0.804806,-0.325477,0.0043386,-0.00331788,-0.00242968,0.000351405,-0.00111833,0.00371336,0.00879833,0.00876704,-0.000601664,-0.000332646,-8.7247e-05,-0.000182067,-0.294019,0.0463555,0.110882,1.74357,0.645419,-0.0118426,-2.85406,-0.00849432,0.0189621,-0.0183683,0.00477823,0,0,0,0.00233232,-0.000152089,-0.00308543,0.000674491,-0.000173491,3.17027e-05,1.56429e-05,-0.0874502,0.0335913,0.0342744,0.379995,-0.31897,0.804926,-0.325508,0.00157453,-0.00133986,-0.00103087,-0.0101788,-0.0207977,0.00866874,-4.29711,1.42671,-2.6778,0.00321292,0.0839096,-0.00498869,1.50206,0.401497,0.130505,-1.2552,-0.634267,0.138376,0.00272915,-0.0170066,0.000792513,0.0129006,0,-0.0464524,0.514626,0.0420911,0.251543,-0.0095783,-0.0433158,-0.00321292,0.100587,0.0327867,0.0559438,0.177061,-0.0888467,-0.106881,0.974337,0.0088374,0.0306458,0.0325248,-0.102383,0.383819,0.377967,0.00250491,3.99732,1.02371,0.0303595,0.0290207,0.0430591,-1.32281,0.463596,0.129164,2.08893,-1.00496,-0.487299,0.175735,0.282431,0.0166098,0.999484,-0.0246678,-0.860538,0.0889574,0.396714,1.4863,0.0255049,-0.00550331,-0.0303595
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