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
2020-02-05.17:14:27.108,0.166284,0.00674796,0.322439,-0.210071,-0.398195,0.479383,0.753328,-0.0179337,-0.0169863,0.0208758,0.220497,0.00389272,0.0851606,-0.00837012,-0.00686057,-0.0152421,-7.84081e-05,0.000211371,-2.44299e-05,0.0328972,0.287423,-0.13726,-1.63849,0.574364,0.355277,-1.504,0.0426388,-0.035292,-0.0350811,0.0011901,0.119886,-0.248665,-0.200979,-0.00588407,0.00139187,-0.00186118,1.19731e-05,-6.3691e-05,0.000336368,-0.000114647,-0.0462702,0.119024,0.303619,0.0991278,0.415468,0.703743,0.567719,-0.000337441,1.89629e-05,6.62966e-05,6.12246e-05,8.41941e-05,-0.000447097,-0.00395774,-0.0100865,0.0107772,-0.000456258,5.05241e-05,-1.56227e-05,-0.386047,0.270323,0.117235,1.39398,0.133229,-0.381922,0.402647,0.000827629,-0.000642442,0.000642442,-0.000430244,0,0,0,-0.0056139,-7.50624e-05,-0.00109295,-0.000821016,0.000108283,-6.22216e-05,-7.01224e-05,-0.131684,-0.0062997,0.0395312,0.0997058,0.412554,0.703736,0.569749,-9.36517e-05,-1.34363e-05,-5.10592e-05,0.00383917,0.000389286,0.00057037,-1.75201,2.2067,-1.20493,0.0284374,0.0427957,0.0429005,1.0326,0.126815,0.0871664,2.55109,-0.613635,0.325994,8.07908e-05,-0.000375578,-0.000110454,0.00407334,0.00105304,-0.00101188,-0.154698,-0.0631693,-0.502095,0.0145786,-0.0383373,-0.0284374,0.122934,-0.0116471,0.0543337,-0.212479,-0.383146,0.477758,0.761446,-0.0070079,-0.00781019,0.00763018,0.205434,0.0563001,0.144226,-2.71376,-4.60909,1.20532,-0.0674857,-0.0752814,-0.00585766,-0.969906,0.170788,0.101555,-3.18771,-0.10439,-0.00815384,0.0501569,-0.0367818,0.0108729,-0.0909548,0.154891,-0.0969567,0.349984,-0.338221,1.44411,-0.00378382,0.0999263,0.0674857
2020-02-05.17:14:27.126,0.165711,0.00625113,0.323074,-0.20605,-0.399949,0.479921,0.753166,-0.0197115,-0.0161754,0.0206655,0.254275,0.0205147,0.233725,0.00231923,-0.00724874,-0.000987915,-0.000411052,-6.43993e-06,-0.000131249,0.0342597,0.286321,-0.138261,-1.63842,0.580285,0.346395,-1.50993,0.0469171,-0.0355924,-0.0329158,0.00114467,0.211617,-0.36155,-0.166569,-0.00217583,-0.00227626,-0.00136218,1.19731e-05,-0.000439388,-7.06372e-05,-0.000103926,-0.0463033,0.11904,0.303614,0.0991518,0.415451,0.703749,0.567721,-0.00081886,-6.75296e-05,-0.00035679,0.000806419,0.00131061,-0.0017814,0.00119505,-0.00898918,-0.000860065,-0.00041991,0.00026684,6.11451e-05,-0.385972,0.270292,0.117319,1.39392,0.133229,-0.381922,0.402647,0.00238722,0.000533956,0.000305116,-0.000204336,0,0,0,-0.00190566,0.00225537,0.000462972,-0.000733045,-0.000110874,-0.00025007,2.63635e-05,-0.131687,-0.00629888,0.0395288,0.0997073,0.412556,0.703737,0.569746,-0.000142068,2.34954e-05,8.16596e-06,0.00313851,-0.000568252,0.000754972,-1.78989,2.23835,-1.21151,0.0290801,0.0432646,0.0451259,1.03261,0.126815,0.0871625,2.55109,-0.613635,0.325994,-0.00062141,0.000446603,-0.000125294,0.00376355,0.000982025,-0.000953969,-0.156114,-0.0645854,-0.493659,0.0159554,-0.0391495,-0.0290801,0.122728,-0.0118957,0.0545705,-0.208153,-0.384747,0.478584,0.761314,-0.0074694,-0.00923349,0.00846697,0.308944,0.0619691,0.228709,-2.14968,-4.13811,1.38693,-0.068289,-0.0862883,-0.00648217,-0.968253,0.169722,0.101883,-3.19085,-0.0983783,-0.011831,0.0599097,-0.036165,0.0118342,-0.124776,0.269674,-0.147728,0.307975,-0.294795,1.54254,-0.00447222,0.105768,0.068289
2020-02-05.17:14:27.146,0.165514,0.00609418,0.323285,-0.204795,-0.400126,0.481175,0.752615,-0.0201005,-0.0156698,0.0199442,0.2333,0.0358497,0.219112,0.000688692,-0.00173936,0.00413175,-0.000160617,-0.000342637,0.000288038,0.0347303,0.285943,-0.138567,-1.63851,0.583246,0.343434,-1.50993,0.0478463,-0.0340346,-0.032226,0.00173619,0.21142,-0.333128,-0.155899,0.000472907,-0.00169497,-0.00101222,-0.000955708,6.15414e-05,5.45953e-05,3.28019e-06,-0.0463142,0.119046,0.30361,0.0991632,0.415443,0.703753,0.56772,-0.00105416,-0.000151149,-0.000404378,0.000804272,0.00166892,-0.00240265,-0.00598279,-0.0129958,-0.0050358,0.000334929,-3.95783e-05,-0.000130376,-0.385947,0.270292,0.117345,1.39391,0.133229,-0.381922,0.402647,0.00310308,0.000533956,0.000303008,-0.000202924,0,0,0,-0.000846168,0.00159705,-0.00252751,0.000762462,-1.695e-05,-9.35298e-05,-7.01224e-05,-0.131688,-0.00629869,0.0395282,0.0997073,0.412556,0.703737,0.569746,-9.00197e-05,1.92524e-05,2.91412e-05,0.00298663,-0.000473679,0.000768459,-1.67738,2.28321,-1.15989,0.031249,0.0436479,0.0454183,1.03261,0.126815,0.0871612,2.55109,-0.613635,0.325994,-0.000520592,0.000446603,-6.92682e-05,0.00360717,0.000945497,-0.000924182,-0.146674,-0.0608092,-0.513344,0.015267,-0.03987,-0.0299637,0.122661,-0.0119822,0.0546542,-0.206818,-0.38524,0.47921,0.761035,-0.00612188,-0.00787053,0.00851825,0.108101,0.0555361,0.223469,-2.01666,-3.87656,1.34678,-0.0683694,-0.0826407,-0.00382008,-0.967635,0.169375,0.101995,-3.19106,-0.0961921,-0.0131237,0.0632646,-0.0313398,0.0106977,0.0310949,0.161624,-0.102934,0.285318,-0.278274,1.48348,-0.00171859,0.100935,0.0683694
2020-02-05.17:14:27.166,0.165097,0.00578142,0.323679,-0.203149,-0.401127,0.482659,0.751577,-0.020468,-0.0151833,0.0186839,0.174726,0.0864073,0.179423,-0.000637145,-0.0184496,0.0197716,-0.000261788,-0.000679236,0.000440145,0.0357212,0.285281,-0.139221,-1.63852,0.586206,0.337513,-1.50993,0.0486881,-0.0306191,-0.0324598,-0.00149687,0.221779,-0.245791,-0.137809,0.0015324,-0.0111813,-0.00835176,-0.00148353,6.15414e-05,-0.000164562,6.76041e-05,-0.0463382,0.119042,0.303596,0.0991998,0.415445,0.703738,0.56773,-0.00161718,0.000368821,-0.000434001,0.00220106,0.00143536,-0.00209163,-0.0220433,0.00198914,0.019537,-0.000585264,0.000120429,0.000162931,-0.385873,0.270323,0.11734,1.39391,0.133229,-0.381922,0.402647,0.00411036,-0.000436972,0.00255042,-0.00170802,0,0,0,-0.000846168,-0.00107307,-0.000912674,0.000938404,-0.000236107,0.000125627,5.85255e-05,-0.131694,-0.0062972,0.0395252,0.0997039,0.412556,0.703738,0.569745,-0.000400455,7.28852e-05,-0.000154153,0.00280934,-0.000487792,0.000730332,-1.63366,2.2392,-1.21851,0.0298834,0.0420605,0.0441946,1.03261,0.126823,0.0871548,2.55109,-0.613635,0.325994,-0.000524269,0.000461618,-0.000433475,0.00340745,0.000898116,-0.000885546,-0.150922,-0.0575051,-0.58927,0.0150793,-0.0391322,-0.0298834,0.122522,-0.0121511,0.0548414,-0.204951,-0.38593,0.48117,0.759953,-0.00673226,-0.00854045,0.00876747,0.0910956,0.0632169,0.366906,-1.75466,-3.18055,1.4721,-0.0682087,-0.0886045,-0.000785983,-0.966284,0.168757,0.102233,-3.18917,-0.0922296,-0.0152113,0.065311,-0.0289496,0.0113696,0.130995,0.250558,-0.168531,0.223483,-0.255617,1.57909,0.00147312,0.10455,0.0682087
2020-02-05.17:14:27.186,0.16467,0.00546667,0.324055,-0.202131,-0.40101,0.483889,0.751123,-0.0197819,-0.0150145,0.0169739,0.141889,0.0978709,0.150758,0.00497245,-0.0152718,0.00921544,0.000253382,0.000126944,-0.00027876,0.0367368,0.284683,-0.139911,-1.63865,0.589167,0.334552,-1.50993,0.0469605,-0.0253125,-0.0343429,-0.00187374,0.208731,-0.199691,-0.122882,-0.00058659,-0.00743614,-0.00438388,0.000715741,6.15414e-05,-0.00019587,-3.96024e-05,-0.0463817,0.119037,0.303584,0.0992464,0.415448,0.703714,0.567749,-0.00199583,1.48108e-05,-0.00045912,0.00163565,0.00220193,-0.0035768,0.000674433,-0.00505581,-0.00058502,-0.000253195,-0.000133476,-7.73051e-05,-0.385749,0.270323,0.117366,1.39389,0.133229,-0.381922,0.402647,0.00543672,-0.000436972,0.00199703,-0.00133741,0,0,0,-0.000846168,0.00133966,0.000317454,-0.000205219,0.000233515,-0.000156146,-8.08431e-05,-0.131704,-0.00629672,0.0395211,0.099789,0.412493,0.703763,0.569745,-0.00050964,0.000122725,-0.00031106,0.000669072,0.000572652,9.18058e-05,-1.62564,2.2977,-1.21797,0.029321,0.0413181,0.043541,1.0326,0.126823,0.0871431,2.5513,-0.613498,0.325882,0.000379067,0.000372516,-0.000609357,0.000895106,0.00068504,-0.000711797,-0.155642,-0.055617,-0.608954,0.0153922,-0.0382895,-0.029321,0.122375,-0.0123183,0.0550373,-0.202611,-0.386533,0.483265,0.758944,-0.00733616,-0.00711088,0.00997863,0.0745218,0.0588176,0.202033,-1.78389,-2.52989,1.47155,-0.06853,-0.0880046,0.000664353,-0.964925,0.168224,0.102482,-3.1875,-0.0878573,-0.0182049,0.0628873,-0.0218154,0.0124736,0.044217,0.136261,-0.0908861,0.163537,-0.255617,1.57628,0.00303769,0.104235,0.06853
2020-02-05.17:14:27.206,0.164273,0.00515745,0.32438,-0.200419,-0.401986,0.485296,0.750152,-0.0179486,-0.0137214,0.0139802,0.127211,0.076792,0.120025,-0.00680639,0.00941336,-0.047797,0.000871579,0.000849964,-0.000606825,0.0376534,0.284242,-0.140627,-1.63847,0.592128,0.328631,-1.50993,0.0423776,-0.0180698,-0.0337757,-0.00402992,0.171261,-0.172845,-0.111283,-0.0111816,0.0137952,0.00630315,0.00177139,-9.49992e-05,-0.000164562,-2.88818e-05,-0.0464171,0.119035,0.303575,0.0992843,0.415447,0.703698,0.567763,-0.0020453,-8.15467e-05,-0.000450547,0.00143317,0.0023455,-0.00388197,-0.0010926,0.00420166,0.0124512,8.95667e-05,8.62535e-05,9.8967e-05,-0.38565,0.270323,0.117392,1.39387,0.133229,-0.381922,0.402647,0.0056499,-0.000436972,0.00179884,-0.00120468,0,0,0,-0.00296516,-0.00249305,-4.80644e-06,5.86941e-05,-0.000142182,3.17027e-05,0.000101408,-0.131715,-0.00629485,0.0395146,0.099789,0.412493,0.703763,0.569745,-0.000616566,3.02229e-05,-0.000308832,0.00110532,-0.000119421,-0.00118824,-1.72815,2.41284,-1.2371,0.0303654,0.0432678,0.0448453,1.0326,0.126823,0.0871301,2.5513,-0.613498,0.325882,-0.000858235,-0.000505826,-0.000693324,0.000878701,0.00068504,-0.000711797,-0.165083,-0.0575051,-0.594894,0.0158303,-0.0396213,-0.0303654,0.122225,-0.0124516,0.0552383,-0.201342,-0.386651,0.484723,0.758292,-0.00669483,-0.00619928,0.00922604,0.0214869,0.0603182,0.20285,-2.1094,-2.01357,1.30562,-0.0637904,-0.0816446,0.00134819,-0.96372,0.167823,0.102735,-3.18603,-0.0856711,-0.0198242,0.0570294,-0.0179593,0.0114349,0.088259,0.109952,-0.0896587,0.119167,-0.280162,1.4413,0.00360093,0.100851,0.0637904
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