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
2020-02-04.18:41:53.439,0.067761,0.0322961,0.345887,-0.531774,-0.317369,0.698566,0.358469,0.0113814,-0.0241956,0.0148449,-0.352626,0.440766,0.00449406,-0.00871641,0.0127275,0.00467533,-0.000171269,-0.000285313,0.000168557,0.285076,0.215433,-0.0727389,-1.49792,0.272379,-0.248694,-0.260536,-0.0369012,-0.0161774,-0.0545035,-0.00646436,0.278117,0.389999,0.306977,-5.68415e-05,-0.000187433,-0.0043285,-0.000691795,0.000155466,0.00014852,5.68835e-05,-0.0372387,0.00908814,0.371704,0.31785,-0.282861,0.857065,-0.290518,0.0663698,-0.0787242,0.00659262,-0.000191082,-0.985516,-1.0845,0.0310035,-0.04504,0.0138354,0.000514044,0.00068443,-4.85371e-05,-0.350746,0.210269,-0.164142,1.50574,0.811215,0.201323,3.22117,-0.096359,0.208383,-0.368598,0.0546784,1.43093,0,-0.601158,0.00498106,-0.0214762,-0.00916361,-0.000205219,0.000703137,-0.000437919,-7.01224e-05,-0.0804737,0.00807754,0.0407929,0.329786,-0.281694,0.849572,-0.300194,0.0278801,-0.03682,0.00573906,0.342818,-1.08856,-1.27149,-0.810318,2.94801,0.951136,0.0437809,0.0801695,-0.00483106,1.35066,0.23125,0.134289,-1.21725,-0.546136,-0.0526579,-0.0419341,-0.249729,0.0328429,-0.0300229,-1.57652,-0.221132,0.0548786,-0.328916,1.36513,-0.0095783,-0.0729388,-0.0437809,0.0884677,0.0167538,0.0431354,-0.534557,-0.313258,0.694209,0.366323,0.00277574,-0.016434,0.00964587,-0.0442297,0.346366,0.127446,-0.047078,1.47614,0.181115,-0.0423416,-0.0561206,0.0118232,-1.32275,0.306554,0.127284,-2.06146,0.0885404,0.21139,0.137134,-0.0743706,-0.00131316,0.0744127,0.114346,-0.227644,-0.0469843,-0.22352,-0.136277,0.0183078,0.0528191,0.0423416
2020-02-04.18:41:53.451,0.068547,0.0311301,0.346442,-0.528047,-0.311094,0.705373,0.35614,0.0196208,-0.0205272,0.00647236,-0.402932,0.255779,0.0866621,-0.0107193,-0.0179659,0.0392483,-0.000472378,4.09592e-05,2.5151e-05,0.282673,0.214961,-0.0753172,-1.49783,0.284221,-0.236851,-0.248694,-0.0573039,-0.00271935,-0.0434784,0.0064999,0.184321,0.235932,0.382048,0.0137166,-0.0108469,-0.00814379,-0.000427882,-0.000157615,-0.000446335,2.47215e-05,-0.0339272,0.00568418,0.371296,0.300306,-0.286353,0.869268,-0.268684,0.0658694,-0.0544369,-0.0216038,-0.174192,-0.123421,-0.990124,0.0333982,-0.0151032,0.0444575,-0.000475458,0.000931918,-0.000435297,-0.355577,0.221826,-0.181406,1.50791,0.864506,0.213166,3.17973,-0.0990879,0.243682,-0.309271,0.0263236,0.706412,0.290915,-0.88579,-0.000846168,-0.0242846,-0.0201971,0.00120232,0.000734445,0.00025086,-0.000123726,-0.0791121,0.00635059,0.0409823,0.304798,-0.284385,0.86582,-0.27673,0.0242412,-0.030306,-0.00176061,-0.274681,-0.269339,-1.11337,-2.05717,2.0136,-0.34347,0.036069,0.0831619,-0.00399664,1.34905,0.218013,0.135838,-1.24514,-0.609945,-0.0513483,-0.00998154,-0.26883,0.0248112,-0.800954,-0.811498,0.302956,0.209229,-0.165598,0.960188,-0.00964088,-0.0656548,-0.0359083,0.0887119,0.0160586,0.0435335,-0.531912,-0.306418,0.702944,0.359231,0.00573172,-0.0114071,0.00615859,-0.451555,0.225989,0.231609,0.997541,1.64309,-0.0841337,-0.0229814,-0.0529286,0.0116314,-1.31654,0.303418,0.127108,-2.03923,0.0894969,0.204157,0.10226,-0.0493998,-0.00457068,0.491825,0.0204901,-0.0984139,-0.151301,-0.159797,-0.324686,0.0186833,0.0403937,0.0229814
2020-02-04.18:41:53.457,0.068547,0.0311301,0.346442,-0.528047,-0.311094,0.705373,0.35614,0.0196208,-0.0205272,0.00647236,-0.402932,0.255779,0.0866621,-0.0107193,-0.0179659,0.0392483,-0.000472378,4.09592e-05,2.5151e-05,0.282673,0.214961,-0.0753172,-1.49783,0.284221,-0.236851,-0.248694,-0.0573039,-0.00271935,-0.0434784,0.0064999,0.184321,0.235932,0.382048,0.0137166,-0.0108469,-0.00814379,-0.000427882,-0.000157615,-0.000446335,2.47215e-05,-0.0339272,0.00568418,0.371296,0.300306,-0.286353,0.869268,-0.268684,0.0658694,-0.0544369,-0.0216038,-0.174192,-0.123421,-0.990124,0.0333982,-0.0151032,0.0444575,-0.000475458,0.000931918,-0.000435297,-0.355577,0.221826,-0.181406,1.50791,0.864506,0.213166,3.17973,-0.0990879,0.243682,-0.309271,0.0263236,0.706412,0.290915,-0.88579,-0.000846168,-0.0242846,-0.0201971,0.00120232,0.000734445,0.00025086,-0.000123726,-0.0791121,0.00635059,0.0409823,0.304798,-0.284385,0.86582,-0.27673,0.0242412,-0.030306,-0.00176061,-0.274681,-0.269339,-1.11337,-2.05717,2.0136,-0.34347,0.036069,0.0831619,-0.00399664,1.34905,0.218013,0.135838,-1.24514,-0.609945,-0.0513483,-0.00998154,-0.26883,0.0248112,-0.800954,-0.811498,0.302956,0.209229,-0.165598,0.960188,-0.00964088,-0.0656548,-0.0359083,0.0887119,0.0160586,0.0435335,-0.531912,-0.306418,0.702944,0.359231,0.00573172,-0.0114071,0.00615859,-0.451555,0.225989,0.231609,0.997541,1.64309,-0.0841337,-0.0229814,-0.0529286,0.0116314,-1.31654,0.303418,0.127108,-2.03923,0.0894969,0.204157,0.10226,-0.0493998,-0.00457068,0.491825,0.0204901,-0.0984139,-0.151301,-0.159797,-0.324686,0.0186833,0.0403937,0.0229814
2020-02-04.18:41:53.477,0.0687542,0.0309375,0.346499,-0.527547,-0.308875,0.707515,0.35456,0.0211742,-0.0184671,0.00436584,-0.327726,0.299589,0.0848074,-0.0165441,-0.00767998,-0.00267555,-2.4921e-05,0.000285659,-8.01985e-05,0.282103,0.214929,-0.0756801,-1.49789,0.287182,-0.23389,-0.248694,-0.0604684,-0.000880131,-0.0379515,0.00337042,0.22538,0.259218,0.37633,0.00894888,-0.0149212,-0.0129294,-0.000867737,-0.000439388,-0.00035241,8.90455e-05,-0.0332466,0.00516386,0.371045,0.298698,-0.287254,0.870456,-0.265653,0.0659786,-0.0479675,-0.0260315,-0.117936,-0.0960151,-0.720317,0.0335366,-0.000460737,0.0401007,0.000114056,0.00118812,-8.10242e-05,-0.356617,0.224345,-0.184477,1.50817,0.870428,0.216127,3.1738,-0.101771,0.244144,-0.290527,0.0219825,0.528394,0.226343,-0.661824,0.000213329,-0.0204519,-0.0203461,0.000234636,0.00114145,-9.35298e-05,-5.94017e-05,-0.0788421,0.00603077,0.0409471,0.302889,-0.284656,0.867847,-0.27216,0.0244603,-0.0285824,-0.00524189,-0.143024,-0.0847396,-0.746146,-2.41251,1.91395,-0.516114,0.0366313,0.0861574,-0.000597228,1.34899,0.215117,0.1361,-1.25227,-0.616641,-0.0484208,-0.00139402,-0.262872,0.0223719,-0.475839,-0.450011,0.198448,0.252183,-0.141525,1.05017,-0.00807631,-0.0641314,-0.0366313,0.0887754,0.0159355,0.0435952,-0.530886,-0.305296,0.704566,0.358527,0.0060164,-0.0117139,0.00576078,-0.0691798,0.388923,0.074114,1.15685,1.64563,-0.224297,-0.0191254,-0.053248,0.0060872,-1.31552,0.302916,0.127056,-2.0363,0.09059,0.201877,0.0938644,-0.0457335,-0.00490721,0.0901734,0.144797,-0.285699,-0.165461,-0.145164,-0.442794,0.0135516,0.0404188,0.0191254
2020-02-04.18:41:53.497,0.0692162,0.0306077,0.346558,-0.524436,-0.306501,0.709903,0.356458,0.0239751,-0.0144987,0.00118315,-0.312412,0.561771,-0.0729084,-0.0329605,0.00179406,0.0167846,-0.000186373,0.000106184,-3.83337e-05,0.28079,0.214898,-0.0763061,-1.49792,0.293103,-0.225009,-0.242772,-0.0659156,0,-0.0243209,-0.00195961,0.317944,0.557756,0.277725,0.00206215,-0.0114999,-0.0143363,1.19731e-05,-0.000126307,-0.000289794,3.28019e-06,-0.0318949,0.00433787,0.370427,0.297838,-0.287075,0.872346,-0.260563,0.0661096,-0.0335666,-0.0325041,-0.0191721,-0.0428329,-0.350632,0.0441988,0.011123,0.0326261,0.000452046,0.000835754,0.000317673,-0.358773,0.22929,-0.189947,1.5084,0.876349,0.219087,3.16196,-0.109025,0.235239,-0.245209,0.00393046,0.280352,0.169592,-0.361236,0.00551081,-0.0188673,-0.021611,-0.000908987,0.00098491,-9.35298e-05,-0.000102284,-0.0783305,0.00548492,0.0407931,0.301757,-0.286428,0.868909,-0.268141,0.0263305,-0.0260568,-0.00723055,-0.219842,0.0592758,-0.554433,-3.35903,1.45362,-0.987826,0.0311687,0.0971041,-0.0096988,1.34911,0.210004,0.136534,-1.25562,-0.621286,-0.0461845,0.0116238,-0.257872,0.0226262,-0.462515,-0.215365,0.160847,0.353195,-0.0570331,1.21328,-0.0150856,-0.0688104,-0.033418,0.0889032,0.0157373,0.0436874,-0.528692,-0.303466,0.707063,0.358407,0.00806266,-0.00934201,0.00361143,-0.328215,0.530099,0.131041,1.18243,1.83114,-0.454209,-0.0153498,-0.0540015,0.00963746,-1.3139,0.302167,0.126947,-2.03336,0.0927762,0.196664,0.0681242,-0.0311853,-0.00719459,0.365745,0.199167,-0.392844,-0.17443,-0.155077,-0.690257,0.0170562,0.0403174,0.0153498
2020-02-04.18:41:53.517,0.0697042,0.0303734,0.346559,-0.521923,-0.301484,0.713531,0.357179,0.0260541,-0.00992195,-0.00166128,-0.190709,0.628581,-0.133757,-0.0216934,-0.00343866,0.0155077,-0.000597755,-0.000234596,-4.29428e-06,0.279478,0.214867,-0.0766165,-1.49786,0.299024,-0.213166,-0.236851,-0.0691343,-0.00062801,-0.00961348,-0.0078231,0.342882,0.630255,0.152703,0.0025919,-0.00901017,-0.00969971,-0.000515853,9.28496e-05,-0.000728108,2.47215e-05,-0.0306124,0.0037964,0.369777,0.298366,-0.289278,0.871425,-0.260603,0.0669027,-0.02457,-0.0333827,0.00867868,0.0141551,-0.229254,0.0324142,0.033802,0.0203721,0.000166046,0.000995568,9.8996e-05,-0.360953,0.233698,-0.19433,1.50851,0.876349,0.225009,3.16196,-0.116271,0.221504,-0.215103,0.00894596,0.16943,0.165883,-0.270539,0.00604056,-0.0077089,-0.0168254,-0.000469132,0.00107883,0.000156935,-0.000273815,-0.0777969,0.0049882,0.0406285,0.301431,-0.286195,0.870835,-0.262446,0.0274276,-0.0229883,-0.00970504,0.00944392,0.114706,-0.261274,-4.21997,1.11514,-1.47218,0.0299637,0.101213,0.00423726,1.34956,0.205131,0.13697,-1.26527,-0.625522,-0.0428122,0.0277233,-0.234893,0.022185,-0.0983186,-0.0680066,0.0470827,0.456095,0.0114098,1.30889,-0.00544784,-0.0633744,-0.030285,0.0890942,0.015571,0.0437382,-0.525402,-0.299224,0.711475,0.358081,0.0107386,-0.00648604,0.000591973,-0.400407,0.513856,0.0158972,1.06035,1.90824,-0.539088,-0.0102085,-0.0498625,0.0101102,-1.31271,0.301689,0.126771,-2.02644,0.0967386,0.186735,0.0467013,-0.018117,-0.0104451,0.387702,0.105198,-0.449455,-0.166405,-0.163101,-0.777432,0.0165555,0.0374696,0.0102085
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