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
2020-02-04.18:54:29.41,0.0662747,0.0785061,0.369,-0.485697,-0.424072,0.58331,0.493974,-0.00302376,0.002818,0.00209339,-0.00103351,0.00239306,-0.00542603,-0.0150357,-0.00988198,0.000549185,-0.000492508,-0.000184274,1.54906e-05,0.330557,0.0592355,0.110362,-1.7366,0.195402,-0.0621734,-0.710553,0.0113926,-0.00888657,0.00811692,-0.00557704,0,0,0,-0.00164609,-0.00551715,-0.00656017,-0.00104368,-0.000188923,5.45953e-05,-9.32057e-05,-0.167093,-0.00841634,0.389742,-0.00461221,-0.237658,0.857556,-0.456174,-0.0029915,-0.0396987,0.0297865,0.199258,-0.13066,-0.159134,0.0475071,-0.0305672,-0.00442775,0.000162214,0.000398106,0.00025747,-0.0325504,0.110126,-0.119067,1.59743,1.35893,-0.0769766,4.05015,0.00913954,0.00343356,-0.128493,-0.00437648,0.189994,0.330503,0,0.0208735,-0.000815672,-0.00540724,-0.000557103,0.000327439,0.000282168,-5.94017e-05,-0.129993,-0.0212571,0.0328051,0.00437358,-0.238343,0.853219,-0.463888,-0.00949219,-0.0193455,0.0128791,0.151769,-0.341931,-0.124485,6.00972,5.15603,-1.37761,0.0521355,0.000284463,0.0147262,1.08575,0.0161019,0.0874231,-0.521918,-0.431088,-0.764943,-0.297483,-0.130174,0.00187995,0.214466,0.0682766,-0.12386,0.0232533,-0.606464,-0.170269,0.00581703,-0.0446958,-0.0521355,0.088038,0.0143213,0.0388076,-0.481555,-0.427338,0.58578,0.49229,-0.00102025,0.000173174,0.000468712,-0.000320264,0.00146433,-0.0006483,0.149244,0.474751,1.59481,0.0134896,0.0588107,0.0247579,-1.34521,0.277532,0.125931,-2.4735,0.130488,0.18233,0.000743128,0.000622789,0.00112977,0,-0.000441297,-0.000591412,-0.0904101,-0.00261446,1.48911,0.0144277,-0.0636831,-0.0134896
2020-02-04.18:54:29.59,0.066199,0.0785548,0.369063,-0.48572,-0.423988,0.583314,0.494019,-0.00363247,0.00314258,0.00279041,-0.00221766,0.00337408,-0.00657878,0.00152245,-0.00558258,0.00735201,-0.000278907,8.21481e-05,2.17289e-05,0.33083,0.0590151,0.110504,-1.73669,0.195402,-0.0621734,-0.710553,0.0136229,-0.0112181,0.00924001,-0.00632918,0,0,0,0.0025919,-0.00169497,-0.000835482,-0.000691795,-0.00025154,0.000367676,-8.24851e-05,-0.167081,-0.00919933,0.390357,-0.00652318,-0.238606,0.857751,-0.455288,0.00247285,-0.0396881,0.032186,0.105881,-0.110266,-0.114299,0.0202719,-0.0150453,-0.02789,-8.52474e-05,0.000284719,-3.47376e-05,-0.0325504,0.110126,-0.121592,1.59748,1.36189,-0.0710553,4.05015,-0.0047281,-0.00251503,-0.127579,0.00054415,0.149224,0.240238,0,0.0118678,0.00991027,0.00698124,5.86941e-05,0.000108283,0.000282168,-5.94017e-05,-0.130178,-0.0216852,0.0330814,0.00167172,-0.238283,0.854259,-0.462018,-0.00641312,-0.0212671,0.0130198,0.112114,-0.139303,-0.274032,3.88608,5.07017,-1.91894,0.0454679,0.00949265,-0.00141969,1.07969,0.013229,0.0874918,-0.521709,-0.431498,-0.764609,-0.276667,-0.145995,0.00567063,0,-0.0381046,0.0479208,0.128986,-0.490347,0.304973,0.00500346,-0.0431965,-0.0454679,0.088011,0.0143259,0.0388196,-0.48155,-0.427331,0.585785,0.492295,-0.00189972,0.000389088,0.000542649,-0.00028236,-0.000458061,-0.00155415,0.333457,0.437216,1.56619,0.0138913,0.0570794,0.0245907,-1.34519,0.277547,0.12596,-2.4735,0.130488,0.18233,-0.00133961,0.000486194,0.00200473,0,-0.000427977,-0.000536628,-0.0984345,0.0167384,1.49192,0.0146781,-0.0636265,-0.0138913
2020-02-04.18:54:29.79,0.0661226,0.0785926,0.36914,-0.485743,-0.423835,0.583326,0.494114,-0.00470063,0.00131873,0.00443454,-0.00845126,0.0100909,-0.0118487,-0.00666372,-0.010977,0.00545387,-0.000300913,-0.000147596,0.000104385,0.331102,0.0587631,0.110624,-1.73662,0.195402,-0.0621734,-0.710553,0.0158074,-0.0126142,0.00370698,-0.000507873,0,0,0,0.00100266,-0.00477128,-0.0043285,-0.000691795,-9.49992e-05,2.32872e-05,3.54422e-05,-0.166893,-0.00995656,0.391016,-0.00789698,-0.23816,0.858067,-0.454904,0.0139325,-0.0394051,0.0353931,0.0845077,-0.140444,-0.0965777,0.0311293,-0.0229135,-0.00803853,3.56538e-05,-9.38823e-05,0.000113198,-0.0329963,0.109968,-0.124012,1.59746,1.36485,-0.0680947,4.05015,-0.0336894,-0.0106993,-0.125767,0.00360218,0.166133,0.224575,0,0.0150463,0.0010105,-0.00173747,-0.00029319,-4.82581e-05,-6.22216e-05,-4.86811e-05,-0.130254,-0.0220801,0.0333223,-0.000918242,-0.238667,0.854823,-0.460776,-0.00172549,-0.0209825,0.0124901,0.185787,-0.178874,-0.197319,2.32171,4.78867,-1.97352,0.0471549,0.0220114,-0.00814604,1.07472,0.0104875,0.0876331,-0.520031,-0.431498,-0.764609,-0.247773,-0.145325,0.00950974,0.124025,-0.016316,0.00127511,0.170523,-0.387447,0.74647,0.00713126,-0.0426513,-0.0471549,0.0879799,0.0143331,0.0388313,-0.48161,-0.427222,0.585834,0.492272,-0.00141773,0.000279443,0.00063351,-0.000736681,0.000989852,-0.000383811,0.286886,0.341092,1.53736,0.015016,0.0575974,0.0244127,-1.34519,0.277563,0.125994,-2.47329,0.130351,0.182278,0.000702969,0.00111501,0.00156946,0.000532668,0,0.000234161,-0.0856899,0.0209865,1.47505,0.0146781,-0.0636792,-0.015016
2020-02-04.18:54:29.99,0.0660091,0.0786114,0.369248,-0.485786,-0.423648,0.583366,0.494184,-0.00519135,0.000552139,0.00511008,-0.0110834,0.0124315,-0.0135111,-0.00319541,-0.0233693,0.0124247,-6.53019e-05,2.00293e-05,-1.41843e-05,0.331474,0.0584797,0.110671,-1.73665,0.195402,-0.0621734,-0.710553,0.0168321,-0.0130909,0.00130565,0.0011003,0,0,0,0.0025919,0.0019679,0.00110162,-0.000779766,9.28496e-05,0.000273752,-2.88818e-05,-0.166508,-0.0108078,0.391804,-0.0110943,-0.238222,0.858453,-0.454077,0.0204389,-0.0402872,0.0379044,0.113099,-0.155147,-0.0926667,0.0378749,-0.0193451,-0.0290335,8.98017e-05,0.000272534,0.000279231,-0.0339376,0.109685,-0.126726,1.59764,1.37078,-0.0621734,4.05015,-0.0500161,-0.0145436,-0.128571,0.00416307,0.176728,0.260036,0,0.0171653,0.0104145,0.00457283,-0.000557103,0.000202207,0.000219551,-1.65191e-05,-0.13023,-0.0225175,0.0335893,-0.00357298,-0.239295,0.855313,-0.459526,0.00244466,-0.0199869,0.0119568,0.113135,-0.135663,-0.198637,0.706221,3.99349,-1.88539,0.0464319,0.0314576,-0.0149375,1.06986,0.00746016,0.0878859,-0.517934,-0.431498,-0.764609,-0.208565,-0.13976,0.0127227,0.0512177,-0.00944353,-0.00498287,0.188932,-0.255281,0.979873,0.00650544,-0.0394686,-0.0464319,0.0879366,0.0143395,0.0388475,-0.481608,-0.427219,0.585836,0.492274,-0.0021418,0.000294421,0.000810987,-0.000699051,0.00345507,-0.000171528,0.313367,0.195069,1.56171,0.0153373,0.0592387,0.0246319,-1.34518,0.27757,0.126041,-2.47329,0.130351,0.182278,0.00053346,0.000239801,0.00230819,0.000532668,0,-0.00284038,-0.0753055,0.0346751,1.52848,0.0148032,-0.0655739,-0.0153373
2020-02-04.18:54:29.119,0.0659163,0.0786181,0.369337,-0.485822,-0.423487,0.583404,0.494242,-0.00505606,0.000220498,0.00535653,-0.0121118,0.0127797,-0.0132358,0.00193415,0.00547938,0.00116605,0.000254878,-0.000237029,2.78943e-05,0.331771,0.0582593,0.110681,-1.73666,0.195402,-0.0621734,-0.710553,0.0163163,-0.0135223,0.000621702,0.00155834,0,0,0,0.000472907,0.00188561,0.00113284,1.19731e-05,0.000343314,5.45953e-05,2.47215e-05,-0.166094,-0.0115352,0.39251,-0.0118363,-0.239578,0.858094,-0.454023,0.0233787,-0.0386594,0.037894,0.141846,-0.148629,-0.0862602,-0.0062365,-0.00844606,-0.00438279,0.000211871,0.000234021,-0.00043741,-0.0349533,0.10937,-0.129041,1.59755,1.37078,-0.0562521,4.05015,-0.0574444,-0.0173075,-0.123194,0.00436074,0.168076,0.286564,0,0.00180257,0.000418677,0.00302044,0.000850433,0.000358747,-3.09135e-05,-1.65191e-05,-0.130123,-0.0228833,0.0338195,-0.00594592,-0.239853,0.85558,-0.458713,0.00909304,-0.0198963,0.0131555,0.226339,-0.191903,-0.112292,-0.0565994,3.1784,-1.24129,0.0459499,0.0409266,-0.0175933,1.06625,0.00499661,0.0881775,-0.515418,-0.431498,-0.765262,-0.185346,-0.12755,0.0190081,0.216396,-0.0039282,-0.0456044,0.14173,-0.168902,1.21046,0.0070061,-0.0411885,-0.0459499,0.0878996,0.014348,0.0388629,-0.481822,-0.427122,0.585776,0.49222,-0.00216748,0.000328016,0.000851421,-0.00223268,0.00157116,-0.00211161,0.279753,0.0375634,1.55169,0.0142126,0.0586579,0.0238633,-1.34516,0.277578,0.126081,-2.47308,0.129941,0.182531,0.000757863,0.000410076,0.00234661,0.00128193,-0.00261002,-0.000958768,-0.0592568,0.0417554,1.54254,0.0141774,-0.0645608,-0.0142126
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