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
2020-02-04.18:24:46.433,0.0841512,0.0400695,0.336722,-0.420213,-0.280077,0.798855,0.326815,-0.0359652,0.0223108,0.0148694,0.751265,0.232159,-0.0722844,-0.0762984,0.011196,-0.0130742,-0.000576511,0.00011014,6.80527e-05,0.246556,0.218331,-0.0409487,-1.43567,0.5566,-0.13915,-0.0769766,0.105438,-0.0586581,0.0641605,-0.0337343,0.326429,-0.193022,-0.631288,-0.0201873,-0.0178994,-0.0234085,-0.000867737,-0.000188923,-0.000258486,-0.000125368,-0.0563014,0.0555972,0.343348,0.430025,-0.154804,0.852668,-0.253124,-0.00136458,-0.0155563,0.000750388,-0.269382,-0.52127,0.237719,0.0237058,0.0424704,-0.0234816,0.00044583,0.000190992,0.00018607,-0.32751,0.196161,-0.00881166,1.13679,0.577325,0.293103,2.74155,0.0143168,0.0208304,-0.0498009,0.0105746,-0.0136758,-0.636172,-0.0144897,0.0123975,-0.000553012,-0.011572,-0.000821016,0.000108283,-0.000218762,4.9222e-06,-0.0915342,0.0240264,0.0318951,0.437316,-0.159998,0.847454,-0.254908,0.00125732,-0.012153,0.00215405,-0.474091,-0.607337,0.513843,2.07942,6.49978,0.222423,0.00875588,-0.0411056,-0.0468636,1.46314,0.324973,0.122881,-1.53598,-0.438876,0.035325,-0.0682221,-0.0846538,-0.000627278,-0.0206971,-0.034836,-0.973981,-0.149506,-0.768367,-0.890163,-0.0196541,0.0238122,-0.00875588,0.0982324,0.0328308,0.03003,-0.423115,-0.272441,0.798465,0.330459,-0.0135822,-0.0195578,0.00412314,0.157043,0.199563,-0.057004,6.13891,-0.927432,-2.49271,-0.0194468,-0.0965155,-0.00464137,-1.52113,0.413135,0.118769,-1.83122,0.540807,0.123408,0.127893,-0.162773,0.00778534,-0.332731,0,-0.366907,-0.5275,0.273517,1.1376,0.00197379,0.0404888,0.0194468
2020-02-04.18:24:46.446,0.0820992,0.0414011,0.337356,-0.418048,-0.286635,0.798331,0.325183,-0.0398825,0.0254705,0.0101699,0.438929,0.0172966,0.00891581,-0.0210415,-0.0262156,-0.00591673,0.000439531,-0.000437918,-0.000311278,0.25255,0.215622,-0.0373989,-1.43685,0.565482,-0.153953,-0.0769766,0.115873,-0.0443337,0.0641452,-0.0497006,0.152949,-0.236399,-0.300205,-0.00641382,-0.00977184,-0.00315022,0.00106763,0.000562471,-0.000101945,1.40009e-05,-0.05613,0.0562871,0.343037,0.423749,-0.147948,0.855599,-0.257873,0.0133279,0.0377272,-0.00852744,-0.0623822,-0.329064,0.243132,0.0610253,0.0399318,-0.026425,0.000260729,0.00013021,0.000224403,-0.328303,0.196287,-0.00709675,1.13549,0.577325,0.272379,2.74155,-0.0566849,-0.0172993,0.0997784,-0.0450154,-0.0126716,-0.35828,-0.0136884,0.0208735,-0.0121176,-0.0208763,-0.000557103,0.000108283,-0.000124838,0.000112129,-0.0914526,0.0230222,0.0319751,0.423977,-0.147264,0.855339,-0.258749,0.00359565,-0.0180795,-0.00140175,-0.200591,-0.636867,0.105716,-3.11776,-0.901492,-2.22543,0.00265059,0.0345601,-0.0168381,1.45938,0.317744,0.12284,-1.53661,-0.456776,-0.00455901,-0.0398894,-0.14622,0.000758963,0,-0.367877,-0.656157,0.369716,0.111478,-0.625827,-0.0197167,-0.00626498,-0.00265059,0.0972972,0.0324441,0.0303295,-0.420174,-0.279718,0.799551,0.325468,-0.0213492,0.00297092,0.00765579,0.39141,-0.149222,0.52163,9.58202,-3.7921,-4.05779,-0.0269177,-0.1446,-0.0250352,-1.51783,0.408309,0.119633,-1.83185,0.549552,0.133757,0.011189,-0.016958,0.0242448,-0.0123454,0.382632,0.52269,-0.760678,0.698335,2.00653,0.00166087,0.0594505,0.0269177
2020-02-04.18:24:46.457,0.0818176,0.0415784,0.33743,-0.418025,-0.286547,0.798274,0.325432,-0.0394925,0.024347,0.0106933,0.412802,0.00351191,0.00787608,-0.000106181,-0.0261533,0.00550692,5.69833e-05,-9.23631e-05,-0.000317955,0.253368,0.215307,-0.0369525,-1.43715,0.565482,-0.153953,-0.0769766,0.114521,-0.0444082,0.0611663,-0.0468863,0.136358,-0.236399,-0.280181,0.0015324,-0.00561523,0.00160415,0.000715741,0.000186774,-0.000383718,-3.96024e-05,-0.0559455,0.0567345,0.342949,0.421911,-0.146073,0.856347,-0.259466,0.0178131,0.0438773,-0.0075516,-0.0592398,-0.316254,0.231096,0.0497198,0.020125,-0.0267413,0.000252425,-7.12943e-05,-9.09236e-05,-0.329046,0.196066,-0.00592957,1.1353,0.577325,0.266457,2.74155,-0.0727181,-0.025474,0.11612,-0.00540825,-0.0124769,-0.366159,-0.0135294,0.0187545,-0.00971544,-0.0136546,-0.000205219,-0.000173491,-0.000156146,-0.000123726,-0.091411,0.022846,0.031962,0.421275,-0.146362,0.856799,-0.258847,0.00433404,-0.0153909,-0.00112807,0.0401187,-0.546517,-0.182338,-4.16194,-2.70361,-2.48887,-0.00168737,0.0428243,-0.00882259,1.4591,0.316315,0.12286,-1.5364,-0.461831,-0.00933953,-0.0182811,-0.12755,0.00271267,0.00702756,-0.527818,-0.298046,0.464592,0.310198,-0.426169,-0.0169005,-0.00422051,0.00233003,0.0970786,0.0324959,0.0304077,-0.419417,-0.282724,0.799399,0.324218,-0.0200204,0.00589952,0.00744387,0.383168,-0.0852917,0.402904,9.31349,-3.56508,-4.21332,-0.0252307,-0.1402,-0.024572,-1.5178,0.408309,0.119887,-1.83248,0.553378,0.138886,-0.0018634,0.0102814,0.0237389,-0.0711121,0.362633,0.398865,-0.754542,0.678038,1.76469,0.00222412,0.0574987,0.0252307
2020-02-04.18:24:46.478,0.0812995,0.041866,0.337573,-0.417998,-0.28637,0.798185,0.325837,-0.0400325,0.0199858,0.0118901,0.344088,0.0276273,-0.0253427,0.00500657,-0.0068035,-0.00876473,-0.00013796,-0.000168637,5.05355e-05,0.254854,0.214772,-0.0362594,-1.43777,0.565482,-0.153953,-0.0769766,0.113921,-0.0405082,0.0468577,-0.0371499,0.113664,-0.183084,-0.249586,-0.00217583,0.00196263,0.00406795,-7.59979e-05,0.000155466,-0.000227178,9.97661e-05,-0.0557555,0.0571765,0.342894,0.42091,-0.145176,0.85666,-0.26056,0.0210221,0.0461897,-0.00449652,-0.0504456,-0.300992,0.231998,0.035721,0.0256534,-0.0382906,0.000329969,-0.00020378,0.000347734,-0.329814,0.195751,-0.00474681,1.13511,0.577325,0.263497,2.74155,-0.0837179,-0.0358807,0.123766,-0.0116835,-0.0123074,-0.335448,-0.01339,0.0192843,-0.00214284,-0.00863691,-0.000908987,-0.000142182,0.000188243,6.92461e-05,-0.0913682,0.0227081,0.031943,0.419065,-0.146439,0.85796,-0.258544,0.00431375,-0.0122266,-0.00246243,0.0647693,-0.408434,-0.168321,-4.98465,-3.99072,-2.5516,-0.00040205,0.0469232,-0.000601685,1.45903,0.315142,0.122886,-1.53619,-0.466614,-0.0115658,0.000347256,-0.10833,0.0026203,0.0193499,-0.432841,-0.195129,0.551443,0.477293,-0.0774706,-0.0160869,-0.00156677,0.00040205,0.0968914,0.0325686,0.0304782,-0.418591,-0.284841,0.799335,0.32359,-0.017449,0.00869803,0.00711632,0.297551,-0.000828736,0.275367,8.894,-3.17462,-4.31663,-0.0204911,-0.133764,-0.0240268,-1.51789,0.40854,0.120114,-1.83332,0.556657,0.142012,-0.0135542,0.0373316,0.0219103,-0.0665923,0.318231,0.254941,-0.739909,0.637916,1.45255,0.00310027,0.0548824,0.0204911
2020-02-04.18:24:46.498,0.080527,0.0422007,0.33783,-0.417959,-0.285987,0.798109,0.326412,-0.0367868,0.0144211,0.0125593,0.273573,0.0390953,-0.0415749,0.0261945,-0.0129459,0.00323404,0.00023253,-0.000233776,0.000179815,0.257034,0.213985,-0.0354984,-1.43857,0.565482,-0.153953,-0.0769766,0.103116,-0.0358489,0.0312125,-0.0304083,0.0907573,-0.136448,-0.214168,0.00630014,0.00445239,0.00888124,-0.000339911,0.000186774,0.000555525,-3.96024e-05,-0.0552557,0.0581057,0.342876,0.422923,-0.141418,0.855716,-0.262465,0.0269569,0.0443684,0.00139234,-0.07464,-0.182109,0.223911,0.00151883,0.0162891,-0.0317244,-0.000251927,0.00242144,-7.91469e-05,-0.331722,0.194869,-0.00226085,1.13523,0.568443,0.260536,2.74155,-0.0998027,-0.0462447,0.117628,0.00261073,-0.0780739,-0.231147,-0.0131072,0.0108083,0.00692151,0.00155112,0.000146665,0.00217462,-0.00103277,0.00013357,-0.0912256,0.0225614,0.0318874,0.417156,-0.145456,0.85892,-0.258996,0.00958102,-0.0028791,-0.00192736,-0.0496839,-0.117967,0.11512,-6.86151,-6.15893,-2.70444,0.00128494,0.0638267,0.0098078,1.4592,0.31352,0.122989,-1.53535,-0.470166,-0.0167551,0.0145682,-0.051379,0.00807749,0.0614196,-0.0388735,-0.242424,0.724203,0.739736,0.605866,-0.0160869,-0.00121363,-0.00128494,0.0966236,0.0328114,0.0305943,-0.417571,-0.284968,0.799677,0.323952,-0.0098948,0.0139283,0.00372278,-0.075054,0.191772,-0.191493,7.80812,-1.94328,-3.35401,-0.0188041,-0.122165,-0.0161146,-1.51842,0.409845,0.120475,-1.83332,0.55939,0.141907,-0.0427849,0.081317,0.0142859,-0.0228833,0.0288809,-0.233919,-0.657306,0.455245,1.56222,0.00272478,0.0521621,0.0188041
2020-02-04.18:24:46.518,0.0797696,0.0423472,0.338141,-0.418719,-0.287867,0.797377,0.32557,-0.035699,0.00581716,0.0139009,0.157985,-0.105867,-0.133673,0.0261555,-0.0157917,0.0048986,0.00091827,-0.000702255,-7.40007e-05,0.258966,0.213386,-0.0353208,-1.43929,0.565482,-0.159874,-0.0769766,0.096146,-0.027575,0.0033903,-0.0356282,-0.10545,-0.136243,-0.187489,0.00630014,0.00253866,0.00750205,-0.000163969,0.000687704,0.000931223,0.000121207,-0.0547164,0.0589096,0.34295,0.425891,-0.13644,0.854435,-0.264466,0.026052,0.0356891,0.00445011,-0.278625,0.0853877,0.338232,-0.0328116,-0.00593196,-0.0183776,0.000350489,-0.000487915,-1.95267e-05,-0.333679,0.193925,-0.000132686,1.13515,0.5566,0.257576,2.74155,-0.0927195,-0.0435469,0.0932475,-0.0104037,-0.408194,-0.104716,-0.0128396,-0.000846168,0.013897,0.0133505,-0.000117248,-0.000580496,-0.000187454,1.56429e-05,-0.0909873,0.0226236,0.0318385,0.419313,-0.14102,0.858077,-0.260755,0.0137522,0.00782752,-0.00234199,-0.469888,0.232019,0.434097,-7.34687,-7.2809,-2.50832,-0.00168737,0.0594898,0.00670579,1.4596,0.313103,0.123186,-1.5364,-0.463334,-0.0244497,0.0297296,0.00340526,0.0118079,-0.106248,0.514239,-0.328154,0.768573,0.855853,0.847705,-0.0206554,0.00759718,0.00257103,0.0963995,0.0331476,0.0306466,-0.418118,-0.282595,0.799209,0.326468,-0.0124738,0.0187391,0.00203754,-0.0734069,0.00541614,-0.35283,5.60642,-0.790522,-1.5042,-0.0220174,-0.0961005,-0.00165418,-1.51952,0.411699,0.120782,-1.835,0.55693,0.136806,-0.0657181,0.0992646,0.0167319,-0.0978218,-0.171448,-0.20452,-0.449617,0.223011,1.79,0.00284994,0.0444098,0.0220174
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