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
2020-02-05.14:11:36.442,0.23899,0.0722058,0.395941,0.455054,0.528187,-0.488901,-0.524327,-0.00105004,-0.00977459,0.0210876,0.0213979,0.235263,0.145117,0.00316999,-0.032127,-0.0167352,9.92334e-06,0.000266529,0.000106489,-0.180414,-0.0734382,0.164772,-1.5997,0.0296064,0.192442,-1.07175,0.00200758,-0.053671,-0.0157646,-0.00181776,0.292487,0.0118692,-0.150948,-0.00641382,-0.0103479,-0.00735021,1.19731e-05,-9.49992e-05,0.000461601,9.97661e-05,-0.032099,0.0814062,0.326161,0.0251104,0.729547,0.350886,0.586524,-4.91466e-06,-0.000172376,-0.000159991,-0.000338016,0.00242108,-0.00259214,0.00021917,0.00242614,0.00129859,0.000137137,8.28117e-05,6.60107e-05,-0.399473,0.245161,0.0193204,1.2619,-0.316788,0.358237,-0.065134,0.000246409,0.000772245,-0.000772245,0.00332459,0,0,0,-0.000316419,8.95175e-05,0.000729854,0.000410578,-1.695e-05,-9.35298e-05,-1.65191e-05,-0.0930369,-0.00612732,0.00314236,0.0247906,0.729025,0.350671,0.587314,0.000406384,-2.9791e-05,-4.56512e-06,-0.000698528,0.00125129,-0.00184682,-0.547271,1.00425,0.302581,0.000963606,0.00842204,0.00682763,1.48374,-0.0332773,0.114343,1.52256,-0.399662,0.445393,0.000228262,-0.00013465,0.000407336,-3.1824e-05,0,-0.0021967,-0.0451895,0.111478,0.0659457,0.00562928,-0.00556165,-0.000963606,0.130712,-0.0288168,0.0539525,0.456359,0.529674,-0.486028,-0.524364,6.45998e-05,-0.00593807,0.0114656,-0.0318385,0.160224,0.127959,-1.07959,-1.54211,0.60374,0.0196753,0.01329,0.0291734,-0.839979,-0.000671878,0.0991688,-2.80544,-0.244853,0.655673,0.104512,0.0109672,0.00841014,0.066276,0.0442847,-0.0913318,0.109254,-0.00450254,1.63815,0.00791913,-0.0184967,-0.0196753
2020-02-05.14:11:36.453,0.238957,0.0719,0.396741,0.451726,0.527799,-0.491272,-0.52538,-0.000752391,-0.00449284,0.0160328,-0.0383845,0.114777,0.0713979,-0.0034165,-0.0217055,-0.009782,0.000170372,-3.53e-06,0.000202388,-0.18039,-0.0756111,0.164394,-1.59974,0.0384883,0.192442,-1.07767,0,-0.0470997,-0.00187036,-0.00489903,0.146334,0.011339,-0.0406905,-0.00376508,-0.00734858,-0.00673338,0.000187915,0.000186774,-3.93291e-05,0.000206973,-0.0320904,0.0814094,0.326163,0.0251004,0.729543,0.350892,0.586524,0.000308155,0.000359871,0.000295401,-0.000174939,0.000580985,-0.000177605,0.00812844,0.000596129,-0.00496518,0.000112696,9.89724e-05,0.00014504,-0.399498,0.245161,0.0193204,1.2619,-0.316788,0.358237,-0.065134,-0.0012164,-0.0011191,0.0011191,0.00172053,0,0,0,0.00286207,0.00241995,0.00234469,0.00058652,1.43582e-05,-0.000281378,4.9222e-06,-0.0930389,-0.00612968,0.0031461,0.0249462,0.72899,0.35079,0.58728,-8.94858e-06,-0.000317194,0.000548887,-0.00203235,-0.0026761,-0.00535687,-0.45797,0.94057,0.306991,0.000883273,0.00830875,0.00614188,1.48368,-0.0332927,0.114342,1.52298,-0.399798,0.44526,-0.00598788,4.34182e-05,2.88094e-05,-0.0010303,-0.00106413,-0.00337399,-0.0357491,0.105342,0.0603215,0.00494087,-0.00597636,-0.000883273,0.130723,-0.0290325,0.0543568,0.453082,0.529072,-0.489499,-0.524586,0.00143617,-0.00419245,0.00708258,0.188178,0.248089,0.0766591,-0.75439,-1.45783,0.576834,0.0275479,0.0174739,0.0299912,-0.836256,-0.000185346,0.0994579,-2.80251,-0.241573,0.650631,0.0683203,0.0114911,0.00409586,-0.143158,0.150907,-0.14703,0.102174,0.0261787,1.48348,0.00453967,-0.0252044,-0.0275479
2020-02-05.14:11:36.472,0.238947,0.0718686,0.396902,0.450312,0.529037,-0.489811,-0.526711,-0.000811866,-0.00390709,0.0156705,0.0231794,0.104873,0.0611995,-0.0111072,-0.00797667,-0.0115497,-7.07967e-05,-0.000750925,0.000134714,-0.18039,-0.076115,0.164425,-1.59976,0.0384883,0.192442,-1.08359,0,-0.0471341,-0.000110549,-0.00528887,0.130819,0.0112245,-0.0974231,-0.00429483,-0.00285229,-0.00556217,-0.00104368,0.000312006,-0.00035241,0.000121207,-0.0320817,0.0814126,0.326165,0.0250904,0.72954,0.350899,0.586525,0.000479762,0.000405307,0.000315492,-0.000173265,0.000336394,0.000238054,0.0126938,-0.00266573,0.00891176,-0.000109143,0.00016694,-1.8339e-05,-0.399523,0.245161,0.0193204,1.2619,-0.316788,0.358237,-0.065134,-0.00168268,-0.00104066,0.00104066,0.00170397,0,0,0,-0.00190566,0.0057484,0.00436839,-0.000117248,-0.000173491,-6.22216e-05,-5.79846e-06,-0.093039,-0.0061302,0.00314866,0.0249436,0.728983,0.350789,0.58729,1.34187e-05,-6.70836e-05,0.000198569,-0.00199931,0.000503133,-0.0028403,-0.387825,1.03876,0.373159,0.00160627,0.00795445,0.00521009,1.48366,-0.033285,0.114342,1.52298,-0.399798,0.44526,-0.00198297,0.000429814,2.65478e-05,-0.0010303,-0.00106413,-0.00315842,-0.0281968,0.117142,0.0490732,0.00444021,-0.00589362,-0.00160627,0.130738,-0.0290727,0.0544272,0.452042,0.529126,-0.489949,-0.525008,0.00109625,-0.0034911,0.00653473,0.0552537,0.151635,0.117479,-0.606609,-1.44397,0.732838,0.0262625,0.0169249,0.0282114,-0.835553,-6.17819e-05,0.099498,-2.80293,-0.240207,0.649516,0.0637748,0.0122136,0.00390221,0,0.106565,-0.0991995,0.0870693,0.0356191,1.55941,0.00410159,-0.0250207,-0.0262625
2020-02-05.14:11:36.492,0.238922,0.0717979,0.39721,0.450608,0.528832,-0.489995,-0.526492,-0.000861508,-0.0030273,0.0155947,0.0286209,0.0802002,0.045529,-0.00296647,-0.0149602,-0.00758819,4.05601e-05,-0.000411696,-3.6216e-05,-0.180365,-0.0770597,0.164449,-1.59978,0.0384883,0.192442,-1.08359,-0.000246404,-0.0488041,0.0028886,-0.0062138,0.100747,0.0110065,-0.0952978,-0.00323533,-0.00485357,-0.00465077,-0.000427882,0.000218082,-0.000258486,-3.96024e-05,-0.032073,0.0814157,0.326167,0.0250804,0.729537,0.350905,0.586526,0.000759214,0.000471762,0.000341186,-0.000172168,-4.56504e-05,0.000894521,-0.0109826,0.00527342,-0.0113149,4.39564e-05,0.000154468,1.73879e-06,-0.399547,0.245161,0.0193204,1.2619,-0.316788,0.358237,-0.065134,-0.00243171,-0.000878806,0.000878806,0.00169308,0,0,0,0.00286207,-0.00556936,-0.00349783,5.86941e-05,-0.000142182,6.30108e-05,4.9222e-06,-0.0930392,-0.00613144,0.00315081,0.0249443,0.728977,0.350786,0.587299,2.04347e-05,3.3849e-05,1.14793e-05,-0.00185731,0.00205104,-0.0015279,-0.551982,0.990954,0.385114,0.00104394,0.0100043,0.00465656,1.48364,-0.033285,0.114342,1.52298,-0.399798,0.44526,0,0.000371188,2.2278e-05,-0.0010303,-0.00106413,-0.00271547,-0.0418854,0.114782,0.141872,0.00325114,-0.00601133,-0.00104394,0.130754,-0.0291226,0.054551,0.450868,0.529025,-0.489756,-0.526298,0.000349693,-0.00201676,0.00611313,0.171603,0.136315,-0.0787257,-0.257228,-1.61873,0.744353,0.0206393,0.0120764,0.0187471,-0.834472,0.000216237,0.0995719,-2.80565,-0.239114,0.648952,0.0469322,0.0159759,0.00388887,-0.213807,0.0389989,-0.0206569,0.0847092,0.0601642,1.58753,0.000722133,-0.0186105,-0.0206393
2020-02-05.14:11:36.512,0.238912,0.0717668,0.39737,0.451034,0.527706,-0.489868,-0.527374,-0.000933395,-0.00270282,0.0157782,0.0254505,0.0712184,0.0395,0.0051147,-0.0281949,-0.00455726,-3.8216e-05,-0.000543965,-1.08549e-05,-0.180365,-0.0775636,0.164479,-1.5998,0.0384883,0.195402,-1.08359,-0.000234721,-0.0501969,0.0041964,-0.00668749,0.0900738,0.0114857,-0.0900077,-0.00323533,-0.00910299,-0.00550325,-0.000955708,0.000218082,-3.93291e-05,-2.88818e-05,-0.0320643,0.0814189,0.326169,0.0250704,0.729533,0.350912,0.586527,0.000847461,0.000489696,0.000346449,-0.000170852,-0.000170857,0.0011051,0.00527793,-0.0149968,-0.00740063,-0.000440474,-0.000225951,-0.000338148,-0.399572,0.245161,0.0193204,1.2619,-0.316788,0.358237,-0.065134,-0.00266409,-0.000813793,0.000813793,0.00168004,0,0,0,0.00286207,0.00184392,-0.00238553,-0.00126087,-1.695e-05,0.000219551,-0.000102284,-0.0930382,-0.00612985,0.00314954,0.0249079,0.728994,0.350848,0.587242,-5.57238e-06,4.83939e-05,-4.51259e-05,-0.00123212,0.00332512,0.000864178,-0.454488,0.932994,0.416689,-0.000161052,0.00774379,0.00438277,1.48365,-0.0332773,0.114343,1.52298,-0.399935,0.445371,0.000354601,0.000222561,0,-0.0010303,-0.00295772,-0.000961526,-0.032445,0.111006,0.15312,0.00425246,-0.00474061,0.000161052,0.130749,-0.0291403,0.0546098,0.45079,0.528992,-0.489629,-0.526516,-0.0011065,-0.00210879,0.00604299,0.0436246,0.0186886,-0.004424,-0.233481,-1.75521,0.629406,0.0163013,0.0113581,0.016975,-0.834047,0.000362968,0.099616,-2.80628,-0.239114,0.64936,0.0403131,0.0145906,0.00499492,-0.0499719,0.0235785,0.0371515,0.0960377,0.0644123,1.57347,0.00040922,-0.0171861,-0.0163013
2020-02-05.14:11:36.532,0.23889,0.0717213,0.39769,0.44976,0.528864,-0.488497,-0.528574,-0.00106536,-0.00211821,0.0161325,0.0216971,0.058093,0.0318347,-0.011235,-0.0158041,-0.0187479,-0.000260296,-0.000152404,0.000145333,-0.180365,-0.0786028,0.164598,-1.59988,0.0384883,0.195402,-1.08951,-0.000212815,-0.0527923,0.00656813,-0.00767542,0.0747215,0.0114857,-0.083274,-0.00641382,-0.00534731,-0.00776261,-0.000603824,-0.000126307,8.59034e-05,0.000131928,-0.032047,0.0814253,0.326172,0.0250504,0.729527,0.350925,0.586528,0.000684159,0.000407498,0.000291012,-0.000167482,5.44826e-05,0.000698728,-0.00614381,0.0112473,-0.0166154,0.000226174,-1.06143e-05,6.23442e-05,-0.399622,0.245161,0.0193204,1.2619,-0.316788,0.358237,-0.065134,-0.00216733,-0.000711874,0.000711874,0.00164671,0,0,0,0.00551081,-0.00482349,-0.00120725,0.000498549,7.69744e-05,-3.09135e-05,-2.72398e-05,-0.0930381,-0.00612943,0.00314882,0.0249077,0.728996,0.350849,0.587239,-7.90494e-06,2.24236e-05,-7.24293e-06,-0.00115558,0.0027918,0.000794658,-0.532925,1.01015,0.420161,0.00128494,0.00916363,0.00513353,1.48365,-0.0332773,0.114343,1.52298,-0.399935,0.445371,-6.69128e-05,0.000189188,0,-0.0010303,-0.00287475,-0.000713265,-0.0395253,0.117614,0.155932,0.00400213,-0.00563159,-0.00128494,0.130731,-0.0291666,0.0547293,0.450349,0.528711,-0.488644,-0.528088,-0.00110594,-0.00103198,0.0064087,0.309822,0.158105,-0.253579,-0.216364,-2.20395,0.427323,0.0144536,0.0122594,0.0135118,-0.833329,0.000718214,0.099708,-2.81026,-0.239251,0.649962,0.0306911,0.0217056,0.00491782,-0.435543,0.00190154,0.0227165,0.135215,0.079989,1.67752,-0.00340832,-0.0159676,-0.0144536
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