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
2020-02-04.18:55:59.562,0.0687898,0.0688116,0.354147,-0.394168,-0.521985,0.443205,0.61297,0.162853,0.0422756,-0.00634894,-0.153417,0.543509,0.0499375,0.00208478,0.0102609,0.046766,0.000229507,-0.000101183,-3.7362e-05,0.309947,0.12499,0.063674,-1.72308,0.153953,-0.0414489,-1.14873,-0.397387,-0.21344,0.31675,-0.0159821,0.367456,0.755853,0.237506,0.0168951,0.00247216,-0.00065874,-0.000427882,0.00024939,0.000430293,-0.000103926,-0.0364946,0.0619268,0.401063,-0.366238,0.448745,-0.521154,0.626815,-0.0152128,0.0190646,0.0116595,-0.350659,-0.0894531,-0.0082521,0.00170243,-0.0195305,-0.00573459,0.00030226,-0.000447914,-3.56285e-06,-0.410472,0.0209733,0.0450879,1.52583,0.319749,0.257576,4.20411,0.0139991,-0.095078,0.0950551,-0.00533859,0,-0.149924,-0.330622,0.00286207,-0.00690179,-0.00464489,-0.000908987,7.69744e-05,-0.000156146,-0.000134446,-0.0779742,0.00568352,0.0367576,-0.362478,0.451935,-0.522849,0.625295,-0.00506499,0.00728261,0.00315651,-0.170325,-0.0242522,0.0317754,-2.30262,0.26323,-0.935639,-0.0167899,0.0046333,-0.0110156,1.33886,0.18767,0.134083,-0.316212,-0.0587537,-0.053862,-0.00202648,0.0667818,-0.00362018,-0.155741,0.0185536,0.0215243,0.14173,0.262052,-0.783304,-0.0095783,0.0157342,0.0167899,0.0870681,0.00911973,0.0340579,-0.392632,-0.532698,0.442648,0.605092,0.0629887,0.0169913,-0.00461067,-0.458431,0.622516,-0.07948,0.48835,0.289893,-1.25982,0.0445784,0.0588779,0.0122296,-1.35562,0.22209,0.124879,-2.9323,0.130624,0.138847,0.00951884,0.208107,-0.0603364,0.407443,-0.172912,-0.446441,0.00729796,0.137103,-1.21049,0.00979661,-0.0623163,-0.0436144
2020-02-04.18:55:59.579,0.0737357,0.0700919,0.353991,-0.397128,-0.51123,0.455239,0.611303,0.163774,0.0414306,-0.00379987,-0.953296,0.577565,0.21902,0.00391009,0.0366491,0.023378,-0.00062769,-0.000432596,-5.86032e-05,0.297809,0.118471,0.0732171,-1.72306,0.165796,-0.0177638,-1.11912,-0.404785,-0.216183,0.310811,0.0245735,0.397411,0.70884,1.03799,0.00894888,0.0128689,0.00873218,-0.00130759,-0.000376772,-8.02096e-06,-0.00016825,-0.0369487,0.0624187,0.401407,-0.366669,0.446468,-0.520962,0.628346,-0.0150086,0.0145632,0.0104891,-0.250944,-0.121477,0.0614509,-0.0128286,-0.00995286,-5.26493e-05,-0.000188492,0.000444878,-0.000127044,-0.409976,0.0182966,0.0476595,1.52575,0.319749,0.251654,4.20411,0.0185218,-0.0824739,0.0785711,-0.00521537,0,-0.198348,-0.208292,-0.000316419,-0.00324419,0.00108334,0.000938404,-1.695e-05,6.30108e-05,1.56429e-05,-0.0781264,0.00592322,0.0368609,-0.363815,0.448646,-0.524065,0.625868,-0.00493282,0.00756731,0.00347823,-0.011542,-0.121282,0.142693,-2.13298,-0.0453227,-1.04067,-0.0173522,0.00276692,-0.0081038,1.33877,0.189686,0.133977,-0.321035,-0.0557477,-0.0561498,-0.00548236,0.064468,-0.0034065,0.029098,0.100872,-0.069026,0.102081,0.254972,-0.921096,-0.00694983,0.0161927,0.0173522,0.0890489,0.00956447,0.0339258,-0.392999,-0.523447,0.451212,0.606599,0.0675022,0.0139308,-0.0034754,-0.835378,0.617341,0.178756,1.55533,0.425521,-1.05839,0.0436947,0.0461795,0.0123969,-1.35491,0.22833,0.122984,-2.91637,0.128028,0.124874,0.033497,0.215186,-0.0642291,0.843151,-0.0223064,-0.416784,-0.0417921,0.238116,-0.895539,0.0117367,-0.0615174,-0.0436947
2020-02-04.18:55:59.599,0.0750953,0.0704298,0.353964,-0.397433,-0.508854,0.45785,0.611136,0.164471,0.0411429,-0.00309817,-1.03603,0.698953,0.131948,-0.00587888,0.00427176,0.009589,-0.000537355,-0.000308997,-2.2635e-05,0.29444,0.116676,0.0757748,-1.72283,0.168756,-0.0118426,-1.1132,-0.40804,-0.217275,0.309447,0.0274681,0.41662,0.866598,1.10168,0.0025919,0.00113973,-0.00127557,-0.000603824,-0.000345464,-0.000415026,-3.96024e-05,-0.0371131,0.062561,0.401515,-0.366886,0.445306,-0.520852,0.629134,-0.0153041,0.0124269,0.00998898,-0.236519,-0.134059,0.0794473,-0.00685149,0.00758668,0.00232886,8.06693e-05,-0.000366817,8.50067e-05,-0.409753,0.0174463,0.0484572,1.52567,0.319749,0.248694,4.20411,0.0216358,-0.0771928,0.0713672,0.000328135,0,-0.223319,-0.184263,-0.00243541,0.00274911,0.00339808,-0.000821016,-4.82581e-05,6.30108e-05,-5.94017e-05,-0.0781727,0.00600083,0.0368995,-0.363906,0.447985,-0.523969,0.62637,-0.00440267,0.00739934,0.00396371,-0.0134695,-0.0968357,0.107597,-2.03404,-0.118609,-1.01516,-0.0178342,-0.000108011,-0.00703825,1.3387,0.190365,0.133947,-0.321035,-0.0549279,-0.0567367,-0.00749868,0.0669231,-0.00274162,0.0174717,0.0620452,-0.0479354,0.0907522,0.248364,-0.907035,-0.00607367,0.0182185,0.0178342,0.0897511,0.00970288,0.0338914,-0.393914,-0.519897,0.455554,0.605813,0.0665576,0.0127863,-0.00296396,-0.953243,0.556172,0.20699,1.83012,0.478292,-0.960237,0.0444177,0.0429061,0.0125619,-1.35453,0.230554,0.122317,-2.90672,0.128028,0.120953,0.0395569,0.209486,-0.0632096,0.967218,-0.013854,-0.338463,-0.0564247,0.261245,-0.768996,0.0124877,-0.0607623,-0.0444177
2020-02-04.18:55:59.619,0.0804069,0.0718179,0.353875,-0.400579,-0.490562,0.478915,0.607885,0.162268,0.0435147,-0.00296608,-1.75259,1.20332,0.420713,0.00974644,0.00564525,0.0206778,-0.000836048,-2.3982e-05,-9.74456e-05,0.28141,0.109716,0.0857324,-1.72279,0.192442,0.0207245,-1.06583,-0.406949,-0.214268,0.308317,0.00307401,0.855277,1.13695,1.83003,-0.00058659,0.00064073,-0.000890861,0.000715741,-0.000783778,-0.000759416,-0.000221854,-0.0375488,0.0628434,0.401786,-0.36863,0.441984,-0.522611,0.628999,-0.0144729,0.00677034,0.00780195,-0.0589953,-0.118432,0.120626,-0.0141083,-0.0242705,0.00592971,-0.000407881,-9.61573e-05,-6.68544e-05,-0.40906,0.0154308,0.0502359,1.52567,0.319749,0.242772,4.19819,0.0262328,-0.0581731,0.0493532,-0.00272647,0,-0.197808,0,-0.00190566,-0.00882078,-0.00282208,0.000322607,-0.000423955,-9.35298e-05,4.9222e-06,-0.0783285,0.00622946,0.0370133,-0.365739,0.444383,-0.525711,0.626408,-0.00665973,0.00689437,0.00313428,-0.454511,-0.125047,0.000850146,-1.53454,-0.324165,-1.18506,-0.0201639,-0.00699943,-0.00931022,1.3385,0.19235,0.133841,-0.327745,-0.0519219,-0.0586161,-0.00719227,0.0612238,-0.00515662,-0.436502,0.0938943,-0.0500034,0.0534626,0.201634,-1.12075,-0.00876472,0.0204063,0.0201639,0.0917046,0.0100715,0.0338387,-0.397798,-0.507558,0.471978,0.601148,0.0670798,0.0114249,-0.000924985,-1.59697,0.936437,0.571218,2.91376,0.735746,-1.01099,0.0508444,0.0333933,0.0128362,-1.35318,0.236949,0.120475,-2.86877,0.128848,0.108768,0.0544134,0.219669,-0.0629597,1.6819,0.0783696,-0.653983,-0.115899,0.358953,-0.701506,0.0148658,-0.0611046,-0.0508444
2020-02-04.18:55:59.639,0.0816635,0.0721637,0.353854,-0.402789,-0.484422,0.485971,0.605747,0.161466,0.044005,-0.00293877,-1.97329,1.28715,0.510293,0.00454028,0.0104144,0.00745449,-0.00072616,-1.97084e-05,-0.000243438,0.278066,0.107953,0.0882585,-1.72269,0.198363,0.0296064,-1.04807,-0.405324,-0.212153,0.306422,0.00794688,0.932421,1.16617,2.05468,0.00312165,0.00396391,0.00351003,-0.000163969,-0.000627237,-0.000540259,-0.000211133,-0.0376575,0.062891,0.401848,-0.368628,0.44204,-0.522682,0.628902,-0.0136362,0.00592011,0.00708213,-0.0576366,-0.116098,0.118507,-0.0114379,-0.0108144,-0.00691284,-7.25272e-05,2.25562e-06,-0.000178737,-0.408862,0.01499,0.0505979,1.52572,0.319749,0.242772,4.19819,0.025322,-0.0530747,0.0447348,-0.00228206,0,-0.19414,0,0.00180257,-0.0031619,0.00134669,0.00058652,-0.000142182,-0.000437919,-1.65191e-05,-0.078382,0.00627824,0.0370349,-0.366096,0.443562,-0.52602,0.626522,-0.00753246,0.00676172,0.00284466,-0.118335,-0.115975,0.124388,-1.4307,-0.383139,-1.1325,-0.0202442,-0.00842651,-0.00648363,1.33843,0.192783,0.133798,-0.329004,-0.051102,-0.0591213,-0.00922425,0.059422,-0.00608667,-0.0783303,0.117726,-0.0547732,0.0430782,0.192665,-1.07857,-0.00607367,0.0210481,0.0202442,0.0922498,0.0101702,0.0338382,-0.398939,-0.502581,0.478619,0.599319,0.0646331,0.0113722,7.47247e-05,-1.78643,1.07435,0.610831,3.27288,0.977052,-1.04545,0.0509247,0.0319506,0.0111093,-1.35271,0.238771,0.119965,-2.85388,0.128985,0.103021,0.0570294,0.216166,-0.0603364,1.87394,0.0370589,-0.760069,-0.156965,0.385858,-0.709942,0.0132387,-0.0627068,-0.0509247
2020-02-04.18:55:59.659,0.0861421,0.0734073,0.353774,-0.404638,-0.463475,0.510917,0.600353,0.15693,0.0437071,-0.00205628,-1.92084,1.30809,0.690516,0.00292981,-0.00361974,-0.0121503,-0.000218163,0.000521786,-6.07841e-05,0.266769,0.102095,0.0967458,-1.72241,0.227969,0.0621734,-0.994775,-0.397906,-0.205506,0.295521,-0.00899627,1.03119,1.11258,1.98692,-0.00376508,-0.00019796,0.0013685,0.000363857,-0.000470697,0.000273752,-5.03231e-05,-0.0380198,0.0629964,0.402,-0.368838,0.44095,-0.522696,0.629532,-0.0116739,0.00294328,0.00403424,-0.0171915,-0.0218569,0.0145879,-0.00363652,-0.0267638,-0.0014298,0.000176242,-8.05465e-06,-0.000123523,-0.408118,0.0137933,0.0515842,1.52551,0.319749,0.239812,4.19819,0.0248869,-0.0349099,0.0295758,-0.00305794,0,-0.0479708,0,0.00180257,-0.00964894,-0.00549384,5.86941e-05,0.000108283,-0.000187454,-9.15637e-05,-0.0785752,0.00643629,0.0371042,-0.366401,0.44318,-0.525163,0.627332,-0.00514461,0.0047294,0.00252211,-0.0245166,-0.0159017,0.0242172,-1.0968,-0.514126,-0.90398,-0.0212886,-0.00711833,-0.00641249,1.3382,0.194343,0.133641,-0.327745,-0.0502822,-0.0583196,-0.00775128,0.0498147,-0.00393304,-0.0163923,-0.0121745,0.0139731,0.0123969,0.155376,-0.876102,-0.0059485,0.0167133,0.0212886,0.0939862,0.0105365,0.0338589,-0.402276,-0.482129,0.503562,0.593423,0.0618602,0.015089,0.00131084,-2.08948,1.54591,0.640031,3.95558,1.20111,-1.26746,0.055825,0.0322885,0.0093624,-1.35126,0.244996,0.118355,-2.79852,0.127618,0.0774258,0.0456016,0.242703,-0.0568886,2.17441,-0.0370073,-1.17165,-0.219272,0.438252,-0.84211,0.0126128,-0.0689117,-0.055825
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