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
2020-02-04.18:37:47.571,0.0620548,0.0671411,0.358333,-0.553648,-0.272603,0.639041,0.459116,-0.0019717,0.000723217,0.000450661,-9.82768e-05,0.00205894,-0.00400536,0.39162,-0.553377,0.307583,-0.026735,0.0176969,0.00207966,0.328006,0.120361,0.0553119,-1.6247,0.136189,0.0118426,-0.384883,0.00584772,-0.000633758,0.000611461,-0.0013706,0,0,0,0.115958,-0.0418717,0.139931,-0.030426,-0.0263938,-0.0061131,0.000432107,-0.055211,0.0587582,0.374963,0.423767,-0.252495,0.775989,-0.393076,-0.00208049,-0.00145511,-0.000932229,0.000360499,-0.00167754,0.000909129,-0.556845,-0.162217,0.543128,-0.016935,-0.0057345,-0.00729592,-0.34656,0.0867906,0.0367324,1.60079,0.503309,0.0118426,3.39881,0.00692231,0.0032943,-0.0032943,-0.00861404,0,0,0,-0.251947,0.0273366,0.1046,0.0333117,-0.0100355,0.000219551,0.000798251,-0.0877289,0.0251967,0.0435945,0.427367,-0.256982,0.768139,-0.401598,2.99884e-06,-4.02319e-06,-5.39775e-06,0.00231766,0.000568222,0.000864103,-1.87677,-1.00859,-0.14335,-0.00120538,-0.0163494,0.00461715,1.37311,0.372707,0.129987,-1.12163,-0.324785,0.0111462,0,0,0,0.00253793,0,0,0.153059,0.21721,0.473698,0.00199949,0.0333756,0.00120538,0.0868369,0.0209669,0.0401025,-0.564935,-0.274008,0.634048,0.451389,0,0,0,0,0,0,1.99442,-1.16196,-0.430956,-0.00755752,-0.0567564,0.00375983,-1.35659,0.316802,0.128386,-2.18182,-0.0487792,0.114594,0,0,0,0,0,0,-0.0649211,0.220651,-0.392176,0.0100469,0.037805,0.00755752
2020-02-04.18:37:47.582,0.0619482,0.0671536,0.35836,-0.553638,-0.272469,0.639035,0.459217,-0.00263383,0.000737252,0.000631588,-0.00051123,0.00331324,-0.00576545,0.386862,-0.564361,0.283137,-0.0269126,0.0172529,0.00202214,0.328303,0.120361,0.0552594,-1.62466,0.136189,0.0118426,-0.384883,0.00764993,-0.000561452,8.18385e-05,-0.00101591,0,0,0,0.106423,-0.0447887,0.139577,-0.0309538,-0.0260494,-0.00623834,0.000346341,-0.0553896,0.058704,0.37492,0.42381,-0.252653,0.776017,-0.392873,-0.00477212,-0.00161227,-0.0010205,0.000400701,0.003649,-0.0075208,-0.532555,-0.184995,0.598615,-0.0159158,-0.00663091,-0.00671425,-0.34604,0.0868221,0.0367272,1.6008,0.503309,0.0118426,3.39881,0.0139794,0.000749383,-0.000576035,-0.00568506,0,0,0,-0.26625,0.00686695,0.0875405,0.0309365,-0.0106304,-9.35298e-05,0.000884016,-0.0877289,0.0251967,0.0435945,0.427367,-0.256982,0.768139,-0.401598,2.99884e-06,-4.02319e-06,-5.39775e-06,0.00231766,0.000568222,0.000864103,-1.8914,-0.986199,-0.186603,-0.000643048,-0.016619,0.00434013,1.37311,0.372707,0.129987,-1.12163,-0.324785,0.0111462,0,0,0,0.00253793,0,0,0.156835,0.216738,0.437141,0.00162399,0.0337814,0.000643048,0.0868369,0.0209669,0.0401025,-0.564935,-0.274008,0.634048,0.451389,0,0,0,0,0,0,1.9541,-1.19046,-0.407878,-0.00731652,-0.0553669,0.00501528,-1.35659,0.316802,0.128386,-2.18182,-0.0487792,0.114594,0,0,0,0,0,0,-0.0602009,0.221595,-0.364055,0.0111108,0.0366481,0.00731652
2020-02-04.18:37:47.602,0.061932,0.0671563,0.358373,-0.553639,-0.272444,0.639039,0.459225,-0.00194565,0.000673425,0.000665008,-0.000637089,0.00216321,-0.00384653,0.385664,-0.56276,0.252466,-0.0265538,0.0177686,0.00199292,0.328353,0.120329,0.0552645,-1.62466,0.136189,0.0118426,-0.384883,0.00583684,-0.00131143,0.000724462,-0.00144628,0,0,0,0.0958276,-0.0434563,0.140783,-0.0298982,-0.0263938,-0.00623834,0.000389224,-0.0554397,0.0586899,0.374901,0.423822,-0.252706,0.776021,-0.392819,-0.0054852,-0.00160955,-0.00104502,0.000513859,0.00458014,-0.00906162,-0.553719,-0.174365,0.60201,-0.0156033,-0.00619962,-0.00657332,-0.345916,0.0868536,0.0366957,1.60082,0.503309,0.0118426,3.39881,0.01549,0,0.000173348,-0.00569957,0,0,0,-0.272607,0.0112757,0.0916504,0.0311125,-0.0105365,0.0004074,0.000819692,-0.0877289,0.0251967,0.0435945,0.427367,-0.256982,0.768139,-0.401598,2.99884e-06,-4.02319e-06,-5.39775e-06,0.00231766,0.000568222,0.000864103,-1.88915,-0.994172,-0.165161,0.000320944,-0.0147042,0.00464374,1.37311,0.372707,0.129987,-1.12163,-0.324785,0.0111462,0,0,0,0.00253793,0,0,0.153531,0.21721,0.456825,0.00156141,0.0318428,-0.000320944,0.0868369,0.0209669,0.0401025,-0.564935,-0.274008,0.634048,0.451389,0,0,0,0,0,0,2.02521,-1.17652,-0.399946,-0.00795918,-0.0580025,0.00423227,-1.35659,0.316802,0.128386,-2.18182,-0.0487792,0.114594,0,0,0,0,0,0,-0.0663371,0.223011,-0.361243,0.0106728,0.0387088,0.00795918
2020-02-04.18:37:47.622,0.0618797,0.0671603,0.358397,-0.553637,-0.272369,0.639042,0.459267,-0.00220477,0.000294938,0.00100794,-0.00195162,0.00333046,-0.00468153,0.395327,-0.54202,0.255579,-0.0266201,0.0176404,0.00201005,0.328501,0.120298,0.0552434,-1.62465,0.136189,0.0118426,-0.384883,0.00636903,-0.00157242,-0.000450184,-0.000659619,0,0,0,0.0974168,-0.0357961,0.144276,-0.0298982,-0.0262999,-0.00645749,0.000421386,-0.0555412,0.0586597,0.374872,0.423846,-0.2528,0.776035,-0.392705,-0.00497021,-0.00160159,-0.00103887,0.000420528,0.00464214,-0.00891201,-0.574746,-0.17344,0.65009,-0.0159134,-0.00647487,-0.00645941,-0.345594,0.086885,0.0367168,1.6008,0.503309,0.0118426,3.39881,0.0144862,0.000568496,-0.000320462,-0.00448126,0,0,0,-0.290619,0.0122737,0.092236,0.0304967,-0.0104739,0.00025086,0.000969781,-0.0877289,0.0251967,0.0435945,0.427367,-0.256982,0.768139,-0.401598,2.99884e-06,-4.02319e-06,-5.39775e-06,0.00231766,0.000568222,0.000864103,-1.92953,-0.946548,-0.139653,-0.00040205,-0.0160743,0.00423822,1.37311,0.372707,0.129987,-1.12163,-0.324785,0.0111462,0,0,0,0.00253793,0,0,0.152587,0.219099,0.482134,0.00206207,0.0333056,0.000884046,0.0868369,0.0209669,0.0401025,-0.564935,-0.274008,0.634048,0.451389,0,0,0,0,0,0,2.01823,-1.21482,-0.444373,-0.00820018,-0.058312,0.00407794,-1.35659,0.316802,0.128386,-2.18182,-0.0487792,0.114594,0,0,0,0,0,0,-0.062561,0.226315,-0.400613,0.0105476,0.0390974,0.00820018
2020-02-04.18:37:47.642,0.061836,0.0671617,0.358419,-0.553635,-0.272304,0.639048,0.4593,-0.00194255,-0.000115163,0.00126347,-0.003091,0.00356132,-0.00411518,0.403236,-0.544339,0.235068,-0.0268783,0.0173343,0.00200931,0.328625,0.120266,0.0552223,-1.62464,0.136189,0.0118426,-0.384883,0.00549068,-0.00204346,-0.00121346,-0.000148452,0,0,0,0.0900004,-0.0333064,0.148559,-0.0309538,-0.026112,-0.0061131,0.0003249,-0.0556457,0.0586364,0.374848,0.423867,-0.25289,0.776047,-0.392599,-0.0057687,-0.00158482,-0.00130865,0.0010845,0.00598216,-0.010732,-0.568471,-0.176548,0.661837,-0.0156945,-0.00624188,-0.00651251,-0.345297,0.086885,0.0367431,1.60079,0.503309,0.0118426,3.39881,0.0166423,0.000505792,0.000451983,-0.00439058,0,0,0,-0.294327,0.00786496,0.0885385,0.0309365,-0.0104739,0.000125627,0.000980502,-0.0877289,0.0251967,0.0435945,0.427367,-0.256982,0.768139,-0.401598,2.92724e-06,-3.92713e-06,-5.26886e-06,0.00226232,0.000554655,0.000843471,-1.93351,-1.00761,-0.15651,-0.00192837,-0.0156464,0.00391669,1.37311,0.372707,0.129987,-1.12163,-0.324785,0.0111462,0,0,0,0.00247733,0,0,0.158723,0.219099,0.479322,0.00156141,0.0331968,0.00192837,0.0868369,0.0209669,0.0401025,-0.564935,-0.274008,0.634048,0.451389,0,0,0,0,0,0,2.01858,-1.17761,-0.417401,-0.00876251,-0.0580833,0.00393258,-1.35659,0.316802,0.128386,-2.18182,-0.0487792,0.114594,0,0,0,0,0,0,-0.0658651,0.222067,-0.378116,0.0104224,0.0388836,0.00876251
2020-02-04.18:37:47.662,0.0618049,0.0671425,0.358438,-0.553635,-0.272234,0.639062,0.459322,-0.00128156,-0.000301657,0.00114674,-0.00306934,0.00259341,-0.00245882,0.399168,-0.565094,0.228267,-0.0266819,0.0172791,0.00207726,0.328699,0.120266,0.0551434,-1.62458,0.136189,0.0118426,-0.384883,0.00358794,-0.00204346,-0.00118971,-0.00016436,0,0,0,0.0873516,-0.0393872,0.147357,-0.030514,-0.0259868,-0.00623834,0.000432107,-0.0557262,0.0586297,0.374824,0.423879,-0.252963,0.776049,-0.392536,-0.00332538,-0.000179127,-0.00120507,0.00280232,0.002337,-0.00338478,-0.584169,-0.16205,0.672698,-0.0158162,-0.00584907,-0.00668641,-0.345074,0.086885,0.0367957,1.60075,0.503309,0.0118426,3.39881,0.0092156,0.000440552,0.00230871,-0.00515517,0,0,0,-0.299624,0.0131947,0.0904756,0.0308486,-0.0098477,0.000156935,0.000830413,-0.0877289,0.0251967,0.0435945,0.427367,-0.256982,0.768139,-0.401598,2.7584e-06,-3.70063e-06,-4.96497e-06,0.00213183,0.000522664,0.000794822,-1.85488,-0.983972,-0.088226,0.000160279,-0.01669,0.00519402,1.37311,0.372707,0.129987,-1.12163,-0.324785,0.0111462,0,0,0,0.00233445,0,0,0.150227,0.213906,0.518691,0.00218724,0.0335105,-0.000160279,0.0868369,0.0209669,0.0401025,-0.564935,-0.274008,0.634048,0.451389,0,0,0,0,0,0,2.01391,-1.21261,-0.435828,-0.00763785,-0.0572121,0.0039154,-1.35659,0.316802,0.128386,-2.18182,-0.0487792,0.114594,0,0,0,0,0,0,-0.063033,0.226787,-0.392176,0.0102347,0.0380626,0.00763785
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