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
2020-02-04.18:31:24.461,0.0754355,0.0456777,0.356506,-0.480796,-0.237848,0.792163,0.291103,0.00026011,-0.000137809,-0.000186332,8.46123e-05,-0.00205769,0.00273067,0.713334,0.370922,-0.363301,0.00233161,0.0108418,-0.00776122,0.278214,0.150309,-0.00524766,-1.63337,0.444096,-0.00592128,-0.0710553,-0.000810191,0.000624067,-0.000428274,-0.00261091,0,0,0,-0.00482458,0.348317,0.258886,0.0138234,-0.0105832,-0.00382761,-0.00446723,-0.0270968,0.0621607,0.370166,0.412677,-0.224921,0.812372,-0.345195,0.000105212,3.8116e-06,-0.00048138,0.00089231,0.0010791,-0.000726594,-0.718924,0.807186,-0.17447,-0.0104429,0.0012769,0.00266042,-0.417185,0.131981,0.00463865,1.65108,0.568443,0.00296064,3.2567,0,0.00168932,-0.000642085,0.00117979,0,0,0,-0.0781894,0.3846,0.179037,0.00736029,7.69744e-05,0.0105825,0.00262076,-0.0783852,0.0268102,0.0404996,0.411289,-0.244905,0.801969,-0.357364,-9.90395e-06,-2.77929e-05,4.81387e-05,-1.35525e-20,-0.00039583,-0.000228532,-2.36402,-1.29212,-1.92262,-0.0220115,-0.027273,-0.0142252,1.42308,0.348118,0.13821,-1.22794,-0.42494,-0.00536233,-0.000457065,0,0,0,0,0,0.315434,0.271493,-0.783304,-0.0088273,0.0487089,0.0220115,0.0939906,0.036861,0.0349128,-0.481583,-0.256161,0.778399,0.310733,-2.32682e-05,-4.45506e-05,-2.3615e-05,3.69411e-05,-0.000235609,0.000408086,2.6083,-0.841749,-1.02744,-0.0141448,-0.0316599,0.00994778,-1.49256,0.43998,0.124711,-1.77733,0.401848,0.222345,0,-0.000472663,0,0,0,0,-0.233432,0.161176,0.268663,0.0135516,0.00495147,0.0141448
2020-02-04.18:31:24.480,0.0754346,0.04568,0.356495,-0.480794,-0.237857,0.792158,0.291111,0.000193077,-0.000703986,0.000324909,-0.00185368,-0.000837676,0.00208101,0.683613,0.343774,-0.308548,0.00191516,0.0108714,-0.00743649,0.278214,0.15034,-0.00525285,-1.63336,0.444096,-0.00592128,-0.0710553,-0.000810191,0,-0.00186892,-0.00142583,0,0,0,0.00894888,0.326263,0.24315,0.0126798,-0.0106458,-0.00367107,-0.00441363,-0.0271053,0.0621574,0.370164,0.412679,-0.224928,0.812374,-0.345185,-8.07224e-05,1.66649e-05,-0.000459305,0.00087088,0.0015268,-0.0014053,-0.721083,0.827987,-0.162953,-0.011586,0.00141245,0.0020608,-0.41716,0.131981,0.00463865,1.65108,0.568443,0.00296064,3.2567,0.000426649,0.00134415,-0.000296913,0.00156839,0,0,0,-0.0808382,0.386611,0.17508,0.00964754,7.69744e-05,0.0108956,0.00255644,-0.0783853,0.0268098,0.0405004,0.411285,-0.244905,0.801971,-0.357363,4.26397e-06,1.19652e-05,-2.07244e-05,3.38813e-20,0.00017041,9.83864e-05,-2.2849,-1.27465,-1.86839,-0.0232969,-0.0296179,-0.0143154,1.42307,0.348118,0.13821,-1.22794,-0.42494,-0.00536233,0.000196909,0,0,0,0,0,0.311185,0.268661,-0.786116,-0.00857697,0.050054,0.0237789,0.0939906,0.036861,0.0349128,-0.481583,-0.256161,0.778399,0.310733,-1.85691e-05,-3.55535e-05,-1.88459e-05,2.94808e-05,-0.000188027,0.000325672,2.62768,-0.848609,-1.04056,-0.0123775,-0.0323434,0.00912466,-1.49256,0.43998,0.124711,-1.77733,0.401848,0.222345,0,-0.000379733,0,0,0,0,-0.233904,0.164481,0.251791,0.0130509,0.00553167,0.0126185
2020-02-04.18:31:24.500,0.0754331,0.0456711,0.3565,-0.480793,-0.237843,0.792164,0.291111,0.000348945,0.000402109,-0.000312197,0.00120271,-0.00279145,0.00312667,0.703202,0.343357,-0.345034,0.00263902,0.0105838,-0.00797706,0.278214,0.15034,-0.00527915,-1.63335,0.444096,-0.00592128,-0.0710553,-0.000742641,0,0.00139104,-0.00339653,0,0,0,0.00100266,0.340075,0.254984,0.0147031,-0.0106771,-0.0033893,-0.00436003,-0.0271018,0.0621511,0.370159,0.412683,-0.224933,0.812374,-0.345176,-0.000221725,0.000246682,-0.000221397,0.00038126,0.00561508,-0.00687979,-0.724142,0.817481,-0.160508,-0.0110342,0.00144118,0.00243314,-0.41716,0.132012,0.00460716,1.6511,0.568443,0.00296064,3.2567,0.000426649,0,0.000925082,0.0084174,0,0,0,-0.0829572,0.385356,0.17675,0.00841594,0.000170899,0.010833,0.00262076,-0.0783853,0.0268098,0.0405004,0.411285,-0.244905,0.801971,-0.357363,3.78565e-06,1.0623e-05,-1.83996e-05,2.37169e-20,0.000151294,8.73496e-05,-2.25017,-1.29965,-1.87106,-0.0232165,-0.0301576,-0.0145168,1.42307,0.348118,0.13821,-1.22794,-0.42494,-0.00536233,0.000174699,0,0,0,0,0,0.303633,0.266773,-0.783304,-0.00863956,0.0505558,0.0232165,0.0939906,0.036861,0.0349128,-0.481583,-0.256161,0.778399,0.310733,-1.53436e-05,-2.93777e-05,-1.55723e-05,2.43598e-05,-0.000155366,0.000269101,2.58825,-0.849473,-1.04864,-0.0135021,-0.0328637,0.00976551,-1.49256,0.43998,0.124711,-1.77733,0.401848,0.222345,0,-0.000313129,0,0,0,0,-0.232488,0.163064,0.246167,0.0140522,0.00664971,0.0142251
2020-02-04.18:31:24.520,0.075437,0.0456866,0.3565,-0.480798,-0.237863,0.792158,0.291103,0.000151405,-0.000564762,0.000133777,-0.00122938,-0.000814912,0.00174056,0.687577,0.343643,-0.334168,0.00297108,0.0110169,-0.00811769,0.278214,0.150309,-0.00522136,-1.63338,0.444096,-0.00592128,-0.0710553,-0.000686929,0.000422903,-0.0016502,-0.00124093,0,0,0,0.00206215,0.331505,0.248909,0.0153189,-0.0107085,-0.00385892,-0.0044994,-0.0271033,0.0621351,0.370147,0.412717,-0.224987,0.812379,-0.345089,-0.000239743,-6.91864e-05,-0.000408106,0.00211328,-0.0142216,0.0191259,-0.72911,0.825446,-0.171678,-0.0108677,0.00154912,0.00219443,-0.417135,0.132075,0.00454418,1.65129,0.568443,0.00296064,3.2567,0.000864187,0.00110687,-0.000290322,-0.0247693,0,0,0,-0.0803084,0.389935,0.179422,0.00867986,0.000296131,0.0104573,0.00252428,-0.0783853,0.0268098,0.0405004,0.411285,-0.244905,0.801971,-0.357363,3.44718e-06,9.6732e-06,-1.67545e-05,1.69407e-20,0.000137767,7.95397e-05,-2.30315,-1.34469,-1.94109,-0.0235379,-0.0292687,-0.01517,1.42307,0.348118,0.13821,-1.22794,-0.42494,-0.00536233,0.000159079,0,0,0,0,0,0.309769,0.274797,-0.825485,-0.00926538,0.0501456,0.0235379,0.0939906,0.036861,0.0349128,-0.481583,-0.256161,0.778399,0.310733,-5.40491e-06,-1.03485e-05,-5.48547e-06,8.58095e-06,-5.47288e-05,9.47931e-05,2.57796,-0.866951,-1.02618,-0.0145465,-0.0328512,0.0097571,-1.49256,0.43998,0.124711,-1.77733,0.401848,0.222345,0,-0.000109794,0,0,0,0,-0.228712,0.162592,0.263039,0.0135516,0.00643152,0.0145465
2020-02-04.18:31:24.540,0.075437,0.0456866,0.3565,-0.480798,-0.237863,0.792158,0.291103,7.42339e-05,-0.000826974,0.000295894,-0.00197022,-0.000122623,0.00118807,0.683004,0.32649,-0.323246,0.0014574,0.0108387,-0.00746775,0.278214,0.150309,-0.00522136,-1.63338,0.444096,-0.00592128,-0.0710553,-0.000597364,0.000422903,-0.00245134,-0.000498077,0,0,0,0.00735964,0.322924,0.246116,0.0133836,-0.0107085,-0.00370238,-0.00464949,-0.0270983,0.0621311,0.370132,0.412721,-0.225003,0.812374,-0.345085,5.34516e-05,-0.000690859,-0.00061815,0.000927232,-0.00754841,0.00992202,-0.702539,0.779833,-0.147386,-0.0109522,0.00143227,0.0023473,-0.417135,0.132138,0.00450749,1.65132,0.568443,0.00296064,3.2567,0.000844604,0.00322359,-0.00301442,-0.0133358,0,0,0,-0.0829572,0.370283,0.171379,0.00859188,0.000170899,0.0105825,0.0026422,-0.0783852,0.0268102,0.0404996,0.411289,-0.244905,0.801969,-0.357364,0,0,0,0,0,0,-2.26687,-1.31818,-1.87852,-0.0241002,-0.0293841,-0.0149821,1.42308,0.348118,0.13821,-1.22794,-0.42494,-0.00536233,0,0,0,0,0,0,0.304577,0.268661,-0.783304,-0.00876472,0.0499318,0.0241002,0.0939906,0.036861,0.0349128,-0.481583,-0.256161,0.778399,0.310733,-5.40491e-06,-1.03485e-05,-5.48547e-06,8.58095e-06,-5.47288e-05,9.47931e-05,2.60878,-0.833149,-1.02257,-0.0137431,-0.0327354,0.00963687,-1.49256,0.43998,0.124711,-1.77733,0.401848,0.222345,0,-0.000109794,0,0,0,0,-0.232488,0.160232,0.271475,0.0136142,0.00606459,0.0137431
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