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
2020-02-05.14:08:28.979,0.100675,0.107646,0.322297,-0.509976,-0.0556995,0.858297,0.0121939,-0.00220287,-0.00104267,-0.000230906,0.0207081,0.00512856,-0.0166182,0.00531365,0.0138062,0.00240873,0.000297282,-1.82934e-05,3.91722e-05,0.236226,0.158623,0.176023,-1.6044,0.46186,0.136189,0.775687,0.00561542,0.00387215,-0.00554182,-0.00018346,0,0,-0.0254859,0.000472907,-0.000768726,-0.00473737,0.000187915,-0.000188923,0.000211136,4.61628e-05,-0.0762306,0.0238233,0.346976,0.3171,0.127161,-0.00912528,0.939784,-0.000221772,0.000849606,0.00078623,0.000100776,-0.00195876,0.00263558,-0.00258941,-0.00800671,-0.00434405,-0.000124156,7.30704e-05,4.99445e-05,-0.26018,0.219496,-0.0927118,1.24832,1.40926,0.124347,-0.669104,-0.000188687,-0.00420963,0.00420963,-0.00309804,0,0,0,0.00233232,0.00217308,0.000317454,-0.000205219,-0.000110874,-3.09135e-05,-8.08431e-05,-0.110666,-0.0290698,0.0114443,0.317806,0.127728,-0.00916011,0.939469,-1.75226e-05,1.52327e-05,1.83234e-05,-0.00115646,-0.000202266,0.000482534,-0.331947,0.141312,0.81083,-0.0134963,-0.0146156,0.0373025,1.39005,-0.186882,0.105994,1.81256,1.12944,0.159874,-0.000126992,0.000202743,-2.00167e-05,0,-0.000119289,0.00117457,-0.0999438,0.0435072,0.0322007,0.0023124,0.0115118,0.0134963,0.0755645,-0.0143126,0.025163,-0.514038,-0.0518325,0.856052,0.015911,-0.000577183,-5.21915e-05,-3.5912e-05,-0.00183832,-0.00500628,0.00427367,2.11387,3.33733,0.697422,-0.0155908,-0.066522,0.0255706,-1.36176,-0.00668016,0.13464,-1.17573,0.301557,-0.068003,-0.000729884,-0.00046376,0.000552639,0.0044219,-0.00334716,0.00446569,0.0228746,-0.467554,1.50879,0.00654232,0.0488696,0.0155908
2020-02-05.14:08:28.992,0.100566,0.107592,0.322271,-0.509903,-0.0556104,0.858344,0.0123013,-0.00477797,-0.00202277,-0.00117703,0.0210998,0.0114261,-0.024946,0.00020619,0.00400259,-0.0220012,-0.000251591,0.000553815,0.000204975,0.236498,0.158875,0.175718,-1.60434,0.46186,0.136189,0.775687,0.0120833,0.0107937,-0.012385,0.00393754,0,0,-0.0254859,-0.00747332,0.0029659,0.00186397,-0.00113165,-0.000157615,-0.000101945,-2.88818e-05,-0.0762298,0.0238505,0.347001,0.317091,0.127122,-0.0090029,0.939794,-0.00040099,0.000865243,0.000813745,9.75023e-05,-0.00169209,0.00219835,-0.00657246,-0.00756306,0.00870233,9.10026e-05,-0.000278412,0.000569613,-0.260205,0.21937,-0.0925858,1.24808,1.40926,0.124347,-0.669104,0.000223197,-0.00447532,0.00447532,-0.00299713,0,0,0,0.00233232,-0.00306908,-0.00432263,-0.0011729,0.000421364,3.94597e-07,-5.94017e-05,-0.110666,-0.0290669,0.0114487,0.317692,0.127761,-0.00921917,0.939502,-1.88182e-05,-1.0869e-05,-1.27913e-06,0.00300431,-0.0015541,0.00094544,-0.385608,0.329106,0.86273,-0.01197,-0.0132741,0.0423268,1.39003,-0.186867,0.105994,1.81214,1.12944,0.159711,-0.000191777,0.000276874,-1.55402e-05,0.00489368,-0.000114713,0.00174887,-0.107496,0.064276,-0.00716848,0.0041273,0.00988298,0.01197,0.0755364,-0.0143212,0.0251637,-0.514051,-0.0518483,0.856044,0.0158951,-0.00120118,-0.000277225,9.32098e-05,-0.000889734,-0.00347448,0.00381288,2.17774,3.42784,0.736284,-0.0143055,-0.0686537,0.0255637,-1.36176,-0.00673422,0.134669,-1.17573,0.301557,-0.068003,-0.000112951,-0.00144695,0.00121417,0.0027526,-0.00217073,0.00279417,0.0228746,-0.47841,1.57066,0.00654232,0.0504147,0.0143055
2020-02-05.14:08:29.12,0.100515,0.107565,0.322258,-0.509016,-0.0563709,0.858831,0.0115717,-0.00559455,-0.00251373,-0.00141927,0.0206976,0.0131754,-0.0271808,-0.00494857,0.0037778,0.0077178,-0.000299543,0.00028323,2.653e-05,0.236622,0.159001,0.175566,-1.60439,0.46482,0.136189,0.775687,0.0140441,0.0129863,-0.0150288,0.00476981,0,0,-0.0254859,0.00100266,-0.00285756,-0.0028315,-0.000691795,3.02333e-05,-0.000133253,-0.000114647,-0.076232,0.0238567,0.347006,0.31709,0.127118,-0.00899294,0.939795,-0.000390152,0.000842609,0.00079238,9.49409e-05,-0.00164802,0.00214128,-0.00694595,-0.00328204,-0.00460538,0.00032426,-0.000201519,0.000100513,-0.260205,0.219338,-0.0925543,1.24806,1.40926,0.124347,-0.669104,0.000216553,-0.00435776,0.00435776,-0.00291839,0,0,0,0.00339182,0.00150424,0.00131546,-0.000205219,0.000390056,0.000156935,-7.01224e-05,-0.110667,-0.0290663,0.0114496,0.317691,0.127757,-0.00921632,0.939503,-8.67913e-06,-1.74932e-05,3.06933e-05,0.00297938,-0.00189384,0.000910473,-0.346542,0.260546,0.841278,-0.0126126,-0.0143257,0.0439288,1.39002,-0.186859,0.105992,1.81214,1.12944,0.159711,-0.000502479,0.000419238,0,0.00489368,-0.00011369,0.00174804,-0.104664,0.0600278,0.0237644,0.00487829,0.010311,0.0126126,0.0755244,-0.0143249,0.0251632,-0.514115,-0.0519395,0.856001,0.0158455,-0.00151755,-0.000444965,9.42962e-05,-0.00202227,-0.0016425,0.00244825,2.21231,3.47455,0.726201,-0.0136628,-0.0689558,0.0251695,-1.36176,-0.00675739,0.134681,-1.17573,0.30142,-0.0678099,-0.000115469,-0.00261452,0.00154687,0.00253637,0,-0.000177804,0.0209865,-0.485019,1.57347,0.0062294,0.0503708,0.0136628
2020-02-05.14:08:29.32,0.100376,0.107494,0.322227,-0.508954,-0.0562675,0.858874,0.0116714,-0.00707172,-0.00384131,-0.00172397,0.0186472,0.0138265,-0.0285993,-0.00931641,-0.00454441,0.00221846,0.000299771,0.000290285,6.3694e-05,0.236969,0.159315,0.175172,-1.60442,0.46482,0.136189,0.775687,0.0173676,0.0169774,-0.0209798,0.00289645,0,0,-0.0254859,-5.68415e-05,-0.00244611,0.000134835,1.19731e-05,-0.00040808,-3.93291e-05,8.90455e-05,-0.0762386,0.0238754,0.347024,0.317088,0.127108,-0.00896304,0.939797,-0.000390974,0.000861481,0.000809369,9.68733e-05,-0.0016907,0.00220068,-0.000521279,-0.00103691,0.00375424,-0.000210414,2.4004e-05,-0.000225754,-0.260205,0.219244,-0.0924599,1.248,1.40926,0.124347,-0.669104,0.000202693,-0.00444645,0.00444645,-0.00297779,0,0,0,0.000213329,-0.00157207,-0.00176516,0.000410578,-0.000204799,-0.000187454,4.9222e-06,-0.110666,-0.0290642,0.0114518,0.317687,0.12775,-0.00920265,0.939505,1.51049e-05,8.14035e-05,9.60041e-05,0.00244419,-0.00244491,0.00194015,-0.441806,0.333736,0.89061,-0.0133356,-0.0135209,0.0473197,1.39001,-0.186828,0.105992,1.81214,1.12944,0.159711,-0.000524617,0.00167238,0,0.00455371,-0.000111408,0.00172836,-0.11316,0.0689962,-0.0465377,0.00494087,0.00984407,0.0133356,0.0754773,-0.0143394,0.0251716,-0.513892,-0.0516975,0.856147,0.0159471,-0.00272498,-0.000721858,0.000484305,-0.0115442,0.0255654,-0.00773855,2.54598,3.48992,0.70345,-0.0180811,-0.0779608,0.0272178,-1.36176,-0.00683462,0.134731,-1.17573,0.301967,-0.0684189,-0.000106002,-0.00358376,0.00289826,0.00213387,0.0266438,-0.0167784,-0.00639062,-0.503899,1.65502,0.00616682,0.0564708,0.0180811
2020-02-05.14:08:29.52,0.10022,0.107394,0.322185,-0.50886,-0.0561373,0.858936,0.011799,-0.00810601,-0.00543477,-0.00210098,0.0161834,0.0125024,-0.0275736,-0.00251813,-0.00610895,0.00146952,0.000358033,-5.55608e-05,-0.000127941,0.23734,0.159725,0.174658,-1.60438,0.46482,0.136189,0.775687,0.01923,0.0212625,-0.0275114,-0.000716996,0,0,-0.0254859,0.00100266,-0.00019796,0.00160415,0.000715741,-0.00025154,-7.06372e-05,5.68835e-05,-0.0762453,0.0238941,0.347041,0.317086,0.127099,-0.00893315,0.939799,-0.000347922,0.000753903,0.000708596,8.78031e-05,-0.0015287,0.00198821,-0.00327548,-0.00865417,0.00257147,1.05804e-05,1.54981e-05,0.000445299,-0.260205,0.219149,-0.0923654,1.24794,1.40926,0.124347,-0.669104,0.000191127,-0.00389709,0.00389709,-0.00269898,0,0,0,0.00180257,-0.000239642,-0.00214987,-0.000908987,0.000108283,9.43189e-05,-2.72398e-05,-0.110667,-0.0290622,0.0114544,0.317683,0.12774,-0.00918973,0.939508,1.36999e-05,8.49134e-05,0.000113094,0.00215408,-0.00253669,0.00193346,-0.425291,0.420972,0.802576,-0.01197,-0.0135952,0.0429675,1.39,-0.186797,0.105991,1.81214,1.12944,0.159711,-0.000659974,0.00177184,-3.16597e-07,0.0042545,-0.00010939,0.00171049,-0.105608,0.0732444,-0.0746585,0.0037518,0.0104592,0.01197,0.0754201,-0.014357,0.0251793,-0.513635,-0.0514759,0.856316,0.0159097,-0.00261716,-0.00110031,0.0001393,-0.000228273,0.00671721,0.00588406,2.60118,3.51055,0.622797,-0.0203304,-0.0792894,0.027828,-1.36178,-0.00694274,0.134792,-1.17552,0.30265,-0.0688127,0.000263341,-0.00701935,0.00272567,0,0.00991117,-0.00176057,-0.0115828,-0.512396,1.59878,0.00585391,0.0573445,0.0203304
2020-02-05.14:08:29.72,0.100049,0.107265,0.32214,-0.508779,-0.055991,0.858992,0.0118977,-0.00828102,-0.00681557,-0.00245748,0.0143722,0.0120456,-0.0264455,-0.00667081,0.00108605,-0.000805212,5.77358e-05,2.54339e-05,-0.000104926,0.237737,0.160197,0.174027,-1.6044,0.46482,0.136189,0.775687,0.0187594,0.0245565,-0.0326057,-0.00149476,0,0,-0.0254859,-0.00111634,-0.00177726,-0.000922086,-7.59979e-05,-6.3691e-05,0.00014852,-0.00016825,-0.0762497,0.0239066,0.347053,0.317085,0.127092,-0.00891322,0.939801,-0.000278103,0.000569175,0.000536065,6.71435e-05,-0.00115161,0.00149028,0.00035995,-0.00502455,0.0127106,1.98104e-05,-0.000373871,-4.20597e-05,-0.260205,0.219086,-0.0923024,1.24789,1.40926,0.124347,-0.669104,0.000180931,-0.00295865,0.00295865,-0.00206393,0,0,0,-0.000316419,-0.00423167,-0.00549384,5.86941e-05,0.000296131,-0.000218762,-2.72398e-05,-0.110667,-0.0290604,0.0114555,0.31768,0.127737,-0.00917892,0.93951,3.07069e-06,4.16576e-05,7.62637e-05,0.00202717,-0.00207885,0.00142204,-0.434153,0.488464,0.825779,-0.0120503,-0.012946,0.0444679,1.39,-0.186774,0.105991,1.81214,1.12944,0.159711,-0.000565479,0.00114129,-1.51171e-06,0.00398919,-0.000107418,0.00169353,-0.107968,0.0807967,-0.0774706,0.00368922,0.00966036,0.0120503,0.075368,-0.0143829,0.0251797,-0.51355,-0.0514329,0.85637,0.0158946,-0.00283016,-0.00156413,-6.09516e-05,-0.000827891,0.00724177,0.00726979,2.70005,3.54976,0.646765,-0.0198484,-0.0826009,0.0275864,-1.36178,-0.00712036,0.134847,-1.17552,0.302923,-0.0690355,0.000219291,-0.0109834,0.00295197,0,0.0122368,-0.0043441,-0.0172471,-0.519476,1.65502,0.00541583,0.0597367,0.0198484
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