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
2020-02-05.12:04:39.139,0.155868,0.070206,0.351722,-0.343777,-0.30369,0.870518,0.17829,-0.000134741,8.10923e-06,4.68187e-06,-3.75321e-06,1.46538e-05,-0.000133396,-0.0102011,0.00810827,-0.00436497,-0.000195472,0.000293751,0.000264722,0.0693863,0.0755166,0.125876,-1.68135,0.799372,0.109544,-0.0947404,0.000388025,0,0,-0.000270644,0,0,0,-0.00376508,-0.000357276,-0.0028315,-0.000691795,-0.00025154,8.59034e-05,3.28019e-06,-0.149097,0.0832746,0.425538,0.319745,-0.339182,0.826058,-0.316774,0.000196302,-0.00459769,0.00337387,-0.0143492,0.00380717,-0.0092092,-0.0145435,0.0196979,-0.0257016,0.000154847,6.42329e-06,-0.000429216,-0.102977,-0.220566,0.238476,1.51029,0.74312,0.136189,-2.75932,0.000135185,0.000144212,-0.0145518,0.00974537,0,0,0,0.00180257,0.0108207,0.0104466,0.000762462,-4.82581e-05,-0.000563151,-3.79604e-05,-0.079,-0.00420959,0.0209131,0.313658,-0.338062,0.82935,-0.315453,-4.00077e-05,-5.6403e-05,8.6558e-05,-0.000216115,-0.000722311,-0.000510753,-1.52602,2.50798,-2.56242,-0.0149423,-0.0402984,-0.00992101,1.43998,0.0771964,0.130776,-1.01196,-0.584941,-0.232236,-0.000871705,-3.92425e-05,-2.27536e-05,-0.000235085,0,1.84518e-05,0.479224,-0.165598,-0.755183,0.00769451,0.0508198,0.0149423,0.0735301,0.0213901,0.022699,-0.342391,-0.300278,0.872123,0.178894,4.68805e-06,-4.53444e-07,-5.61469e-05,0.00127053,-0.00416608,-0.000136861,3.26383,0.456932,-4.2419,-0.0173581,-0.0534842,0.0139678,-1.55143,0.234431,0.139349,-1.62531,0.798914,0.183133,-0.000233227,-0.000207941,-3.27961e-05,0,-0.00296115,0.00278863,-0.618128,0.0478917,-0.628391,0.00604166,0.0203454,0.0173581
2020-02-05.12:04:39.151,0.155868,0.070206,0.351722,-0.343777,-0.30369,0.870518,0.17829,-0.000134741,8.10923e-06,4.68187e-06,-3.52491e-06,2.55641e-05,-0.000145723,-0.0185882,-0.0236151,0.00620764,0.000163642,0.000215612,2.15807e-05,0.0693863,0.0755166,0.125876,-1.68135,0.799372,0.109544,-0.0947404,0.000388025,0,0,-0.00025445,0,0,0,0.00206215,0.000465623,0.00215854,-0.000691795,6.15414e-05,0.00014852,5.68835e-05,-0.149117,0.0827968,0.42588,0.318919,-0.342351,0.824878,-0.317275,-0.000826653,-0.015552,0.011253,-0.0481111,0.0152338,-0.035234,-0.0187436,0.0128488,-0.000721127,-8.84302e-05,-7.13088e-05,-0.000351464,-0.102828,-0.220535,0.236971,1.51115,0.74312,0.142111,-2.75339,0.00540879,0.000555687,-0.0488668,0.0327261,0,0,0,-0.00402466,0.00541397,0.00551545,0.000850433,-0.000204799,-0.000375303,4.78048e-05,-0.0790037,-0.00423524,0.0209067,0.313197,-0.340284,0.828549,-0.315628,0.000213994,-0.00130455,-0.0012067,0.352211,-0.00200029,0.0563028,-0.653871,2.35328,-1.79981,-0.0176736,-0.0493493,4.60102e-05,1.43989,0.0771347,0.130776,-1.00861,-0.585761,-0.230261,-0.00475277,-0.00194713,2.24057e-05,0.358718,0.00593507,-0.0030397,0.352251,-0.194863,-0.651136,0.0140154,0.0540075,0.0176736,0.0735297,0.0213902,0.0226969,-0.342399,-0.300279,0.87212,0.178892,7.34062e-06,5.55132e-05,-5.14564e-05,0.000827658,-0.00316609,-0.000638852,3.28131,0.470873,-4.22068,-0.0171171,-0.0534959,0.0115996,-1.55144,0.234424,0.139349,-1.62531,0.798914,0.183133,-0.000455994,0.000181934,-2.11045e-05,0,-0.00227614,0.00194063,-0.618128,0.0474196,-0.603083,0.00447709,0.0206291,0.0171171
2020-02-05.12:04:39.164,0.155868,0.070206,0.351722,-0.343777,-0.30369,0.870518,0.17829,-0.000134741,8.10923e-06,4.68187e-06,-3.52491e-06,2.55641e-05,-0.000145723,-0.0185882,-0.0236151,0.00620764,0.000163642,0.000215612,2.15807e-05,0.0693863,0.0755166,0.125876,-1.68135,0.799372,0.109544,-0.0947404,0.000388025,0,0,-0.00025445,0,0,0,0.00206215,0.000465623,0.00215854,-0.000691795,6.15414e-05,0.00014852,5.68835e-05,-0.149117,0.0827968,0.42588,0.318919,-0.342351,0.824878,-0.317275,-0.000826653,-0.015552,0.011253,-0.0481111,0.0152338,-0.035234,-0.0187436,0.0128488,-0.000721127,-8.84302e-05,-7.13088e-05,-0.000351464,-0.102828,-0.220535,0.236971,1.51115,0.74312,0.142111,-2.75339,0.00540879,0.000555687,-0.0488668,0.0327261,0,0,0,-0.00402466,0.00541397,0.00551545,0.000850433,-0.000204799,-0.000375303,4.78048e-05,-0.0790037,-0.00423524,0.0209067,0.313197,-0.340284,0.828549,-0.315628,0.000213994,-0.00130455,-0.0012067,0.352211,-0.00200029,0.0563028,-0.653871,2.35328,-1.79981,-0.0176736,-0.0493493,4.60102e-05,1.43989,0.0771347,0.130776,-1.00861,-0.585761,-0.230261,-0.00475277,-0.00194713,2.24057e-05,0.358718,0.00593507,-0.0030397,0.352251,-0.194863,-0.651136,0.0140154,0.0540075,0.0176736,0.0735297,0.0213902,0.0226969,-0.342399,-0.300279,0.87212,0.178892,7.34062e-06,5.55132e-05,-5.14564e-05,0.000827658,-0.00316609,-0.000638852,3.28131,0.470873,-4.22068,-0.0171171,-0.0534959,0.0115996,-1.55144,0.234424,0.139349,-1.62531,0.798914,0.183133,-0.000455994,0.000181934,-2.11045e-05,0,-0.00227614,0.00194063,-0.618128,0.0474196,-0.603083,0.00447709,0.0206291,0.0171171
2020-02-05.12:04:39.184,0.155868,0.070206,0.351722,-0.343777,-0.30369,0.870518,0.17829,-0.000134741,8.10923e-06,4.68187e-06,-3.44107e-06,2.95703e-05,-0.000150249,-0.00254466,-0.0147401,0.0114976,5.88148e-05,0.000167854,1.51508e-05,0.0693863,0.0755166,0.125876,-1.68135,0.799372,0.109544,-0.0947404,0.000388025,0,0,-0.000248135,0,0,0,0.00206215,-0.00519326,-0.00136218,1.19731e-05,-0.000157615,8.59034e-05,3.28019e-06,-0.149151,0.0823511,0.426153,0.319054,-0.343233,0.824848,-0.316263,-0.00266336,-0.0247248,0.0138711,-0.0644981,0.00576424,-0.0229928,-0.0185113,-0.00186224,-0.0099561,0.000306547,2.03444e-06,-0.00011771,-0.10263,-0.220346,0.235546,1.51136,0.74312,0.145071,-2.75339,0.0137248,0.0146969,-0.079522,0.00907073,0,0,0,-0.00137592,0.00382415,0.0078025,-0.000205219,0.000108283,-0.000218762,-0.000177329,-0.0790037,-0.00426103,0.020909,0.313026,-0.341404,0.828071,-0.315842,-0.000187249,-0.00132616,0.000812426,0.0338361,0.0784824,-0.0564124,-0.0514627,2.26708,-1.35292,-0.0225739,-0.0546691,-0.00433107,1.43973,0.0770265,0.130778,-1.00672,-0.585761,-0.229363,-0.0101654,-0.0072389,2.13462e-05,-0.0386351,-0.00455442,0.11657,0.272008,-0.226488,-0.639887,0.0112617,0.052721,0.0225739,0.0735311,0.0213913,0.0226963,-0.342402,-0.300277,0.872118,0.178896,-7.40889e-06,1.33975e-05,2.00544e-05,0.000715826,-0.00235325,-0.000288189,3.28324,0.501777,-4.22107,-0.0162335,-0.0527655,0.010461,-1.55145,0.234431,0.139347,-1.62531,0.798914,0.183133,0.000187241,0.000140413,0,0,-0.00208034,0.00171509,-0.619544,0.0450595,-0.605895,0.00403901,0.0201006,0.0162335
2020-02-05.12:04:39.203,0.155868,0.070206,0.351722,-0.343777,-0.30369,0.870518,0.17829,-0.000133453,8.03167e-06,4.63709e-06,-3.36358e-06,3.1418e-05,-0.000151219,0.00174654,0.00429627,0.0090747,-8.64387e-05,-0.000155651,2.39661e-05,0.0693863,0.0755166,0.125876,-1.68135,0.799372,0.109544,-0.0947404,0.000384314,0,0,-0.000242547,0,0,0,0.0025919,-0.0011907,-0.00247801,-0.000163969,0.000155466,-3.93291e-05,-3.96024e-05,-0.149234,0.0817673,0.426443,0.318121,-0.347607,0.823335,-0.316368,-0.00517424,-0.0329398,0.0151943,0.186647,0.193992,-0.257684,-0.0277732,-0.0197966,0.00730259,-6.05843e-05,2.76985e-05,-0.000151618,-0.102234,-0.219874,0.23368,1.51141,0.74312,0.153953,-2.74747,0.0241608,0.0307084,-0.10705,0.00577458,0,0.394233,0,-0.0056139,-0.00300258,0.00483971,0.00058652,-4.82581e-05,-0.000406611,1.56429e-05,-0.0790148,-0.00430801,0.0209329,0.313398,-0.343312,0.827658,-0.314485,-0.000636194,-0.00311421,0.00132068,0.220398,0.193488,-0.17333,0.842478,2.27718,-0.598195,-0.0267512,-0.0631021,-0.00704669,1.43943,0.0768026,0.130778,-1.00756,-0.586854,-0.224387,-0.0194222,-0.0136562,2.08935e-05,0.0167091,-0.0662885,0.318928,0.152587,-0.285491,-0.530216,0.00925907,0.0522856,0.0267512,0.0735312,0.0213908,0.0226972,-0.342398,-0.300278,0.87212,0.178895,-3.86097e-06,-6.1531e-06,5.26643e-05,0.000629666,-0.00188214,-0.000142137,3.28899,0.52934,-4.22607,-0.0163941,-0.0530566,0.011554,-1.55144,0.234431,0.139347,-1.62531,0.798914,0.183133,0.000480107,0.000137762,0,0,-0.00192327,0.00154003,-0.62096,0.0408114,-0.608707,0.00453967,0.0201356,0.0163941
2020-02-05.12:04:39.224,0.15586,0.0702138,0.351727,-0.343779,-0.303689,0.870518,0.178292,-9.60517e-05,5.78282e-06,3.33871e-06,-3.28625e-06,-1.86799e-05,-6.21878e-05,-0.0171286,-0.0111351,0.00448458,1.92836e-05,0.000456342,7.05146e-05,0.0694111,0.0754851,0.125907,-1.68137,0.799372,0.109544,-0.0947404,0.000276615,0,0,-0.000237129,0,0,0,-0.00376508,-0.000696963,0.000810581,0.000275886,-6.3691e-05,-8.02096e-06,8.90455e-05,-0.149363,0.0810038,0.426755,0.317189,-0.351909,0.821872,-0.31635,-0.00730823,-0.0406374,0.0153757,0.198339,0.209088,-0.279903,-0.042019,-0.00155003,-0.00403371,0.000321828,9.06563e-05,-0.000245477,-0.101639,-0.219023,0.231147,1.51147,0.74312,0.162835,-2.74155,0.0333226,0.0496206,-0.134061,0.00211698,0,0.423348,0,-0.00720315,0.00589719,0.0130871,0.000234636,0.000139591,-0.000437919,-8.08431e-05,-0.0790179,-0.00438661,0.0209386,0.313173,-0.34681,0.826139,-0.314864,-0.000160952,-0.00512879,0.000500297,0.360003,0.119454,-0.0319942,1.85186,2.27899,0.0216854,-0.0286792,-0.0765662,-0.000716919,1.43895,0.0764396,0.130778,-1.00253,-0.586717,-0.220742,-0.0311648,-0.025921,1.88064e-05,0.259994,0.0192886,0.168777,0.0364699,-0.340245,-0.592082,0.0125134,0.0576994,0.0286792,0.0735315,0.0213912,0.0226985,-0.342394,-0.300276,0.872122,0.178898,-1.49777e-05,-2.77968e-05,6.15146e-06,0.00056255,-0.00206362,2.25212e-05,3.29683,0.51079,-4.2172,-0.0168761,-0.0546303,0.0116994,-1.55144,0.234439,0.139347,-1.62531,0.798914,0.183133,0.000238793,-0.000191904,0,0,-0.00178352,0.00138887,-0.619072,0.0422274,-0.594646,0.00460226,0.0215851,0.0168761
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