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
2020-02-06.11:31:12.95,0.13729,0.0630935,0.367236,-0.277285,-0.32496,0.649689,0.628822,-4.56542e-06,-6.15176e-05,8.41008e-05,-0.000297447,8.7943e-05,-5.36812e-05,0.00240545,0.00825138,0.000483093,8.12703e-05,1.82577e-05,-0.000103511,0.122943,0.0386401,0.11339,-1.16863,0.592128,-0.0858585,-0.734238,9.05702e-06,-0.000178279,-0.000122971,8.23537e-05,0,0,0,0.00206215,0.00238461,0.0018675,0.000363857,6.15414e-05,-0.000133253,3.54422e-05,-0.0966556,0.0573579,0.342437,0.409796,0.255595,0.623023,0.615289,0.00594073,-0.0531483,-0.0096396,0.365134,-0.657439,-0.702684,-0.0403825,0.0128116,-0.0173583,-0.000344139,-0.000541565,0.000102347,-0.225673,0.160544,0.0372456,1.48559,0.595088,0.0414489,0.911877,0.0150024,0.126584,-0.199432,-0.00144964,1.02423,0.133015,0.0739686,0.0123975,-0.002971,-0.0104839,5.86941e-05,0.000609212,0.000282168,5.85255e-05,-0.124023,-0.0154596,0.0214008,0.405268,0.268231,0.628752,0.607026,-0.00369397,-0.0344098,-0.00594716,0.414046,-0.532843,-0.859696,-3.05798,0.63184,0.094694,-0.0355074,-0.0294984,-0.00124028,1.23465,-0.0427608,0.0869642,2.79957,-0.0877206,0.276462,-0.137134,-0.358102,0.00121258,0.210376,0.465868,0.625775,-0.173107,-0.229792,0.186865,0.0104481,0.0565444,0.0355074,0.131976,0.00111812,0.0222019,-0.274943,-0.323248,0.650912,0.629468,-4.69154e-05,-0.000360359,-0.000125063,0.00287867,0.00318131,0.0103996,-5.0181,2.31145,-0.221052,-0.00956584,0.0806519,-0.0184602,-1.30866,0.180388,0.0781015,-2.66663,0.0967386,-0.382647,0.000435666,-0.00458993,5.08158e-06,0,0.00640431,-0.00522228,-0.0210232,-0.326892,0.17024,0.0100469,-0.036047,0.00956584
2020-02-06.11:31:12.107,0.137307,0.0630916,0.367235,-0.277286,-0.324974,0.6497,0.628804,5.9874e-05,-5.20338e-05,6.90209e-05,-0.000245901,-2.80764e-05,0.000125348,-0.00507689,-0.00582356,0.000619399,-0.00013784,0.000483896,0.000122838,0.122894,0.0386401,0.11339,-1.16863,0.592128,-0.0858585,-0.734238,-0.000174331,-0.000170591,-7.81571e-05,5.23418e-05,0,0,0,-0.00111634,-0.00252313,-0.0029181,-7.59979e-05,-0.000470697,0.000398985,3.28019e-06,-0.0962961,0.0555956,0.342109,0.41069,0.24013,0.622687,0.621234,0.00998729,-0.0386115,-0.00670186,0.208548,-0.417093,-0.495601,-0.0198769,-0.0170067,-0.0159496,-0.000774015,0.000322413,0.000332021,-0.225598,0.164889,0.0304804,1.48564,0.627655,0.0473702,0.917798,-0.00402109,0.095078,-0.149481,0.00808611,0.679563,0.108758,0,0.00339182,0.00725593,-8.34137e-06,-0.00143681,0.000452672,-0.000187454,-5.94017e-05,-0.124066,-0.0167417,0.0212103,0.406726,0.25072,0.625465,0.616853,0.000920142,-0.0281286,-0.00363995,0.301584,-0.474774,-0.772659,4.01257,-1.00758,0.727783,-0.0414521,-0.0970817,-0.0217389,1.22955,-0.0559666,0.0871198,2.80691,-0.0717342,0.301897,-0.106387,-0.274269,0.00549459,0.137356,0.444648,0.569119,0.0926402,0.209658,0.704289,0.0105733,0.0626404,0.0414521,0.131974,0.00111037,0.0221994,-0.274931,-0.323286,0.650934,0.629431,-3.29655e-05,-0.000146774,-0.000105524,0.00182131,0.00236076,0.00624084,-4.99388,2.2286,-0.168921,-0.00940517,0.0791949,-0.0179823,-1.30864,0.180272,0.0781028,-2.66663,0.0967386,-0.382647,-0.000658817,-0.00198195,1.32137e-07,0,0.00496014,-0.00404466,-0.014887,-0.323588,0.189925,0.0100469,-0.0347373,0.00940517
2020-02-06.11:31:12.127,0.137307,0.0630916,0.367235,-0.277286,-0.324974,0.6497,0.628804,5.9998e-05,-5.00849e-05,6.76538e-05,-0.000239653,-3.09832e-05,0.000127748,0.00498849,-0.0201502,0.00767338,0.000102992,1.15133e-05,4.75512e-06,0.122894,0.0386401,0.11339,-1.16863,0.592128,-0.0858585,-0.734238,-0.000174331,-0.000169565,-7.28209e-05,4.87682e-05,0,0,0,-0.00164609,-0.00660798,-0.00230127,9.99441e-05,6.15414e-05,5.45953e-05,2.47215e-05,-0.0962264,0.0553612,0.342073,0.410252,0.23757,0.622574,0.62262,0.0123559,-0.0369562,-0.00580186,0.196275,-0.386679,-0.463863,-0.0203022,0.0031239,-0.0203828,-0.000658876,0.000381496,8.01086e-07,-0.225648,0.165456,0.0295716,1.48565,0.633577,0.0473702,0.917798,-0.0113046,0.0909228,-0.14463,0.0122986,0.635395,0.108758,0,0.0086893,0.00176163,-0.00253105,-0.000733045,0.000296131,-0.000563151,-0.000102284,-0.124063,-0.0168849,0.0211912,0.40709,0.248483,0.625015,0.617973,0.000496584,-0.0271588,-0.00370576,0.421718,-0.444966,-0.754344,4.67046,-1.22778,0.734953,-0.0392831,-0.101498,-0.0208774,1.22902,-0.057349,0.0871457,2.80817,-0.0692747,0.304792,-0.0995771,-0.260706,0.00491175,0.254587,0.482607,0.519179,0.126154,0.250252,0.743658,0.0126385,0.0605837,0.0392831,0.131974,0.00110989,0.0221991,-0.27493,-0.323288,0.650936,0.629429,-3.70747e-05,-0.000174233,-0.00011641,0.00189663,0.00209079,0.00649091,-5.02811,2.17946,-0.166882,-0.00988717,0.0791022,-0.0190231,-1.30864,0.180264,0.0781028,-2.66663,0.0967386,-0.382647,-0.000606975,-0.00241189,1.32137e-07,0,0.00482335,-0.00393311,-0.0115828,-0.32406,0.17024,0.00904562,-0.0347285,0.00988717
2020-02-06.11:31:12.147,0.137307,0.0630916,0.367235,-0.277286,-0.324974,0.6497,0.628804,6.03021e-05,-4.46309e-05,6.37766e-05,-0.000222041,-3.90429e-05,0.000134321,-0.014258,-0.00933368,-0.00649829,-0.000356672,-0.000142063,9.14025e-05,0.122894,0.0386401,0.11339,-1.16863,0.592128,-0.0858585,-0.734238,-0.000174217,-0.000166491,-5.79631e-05,3.88179e-05,0,0,0,-0.00482458,-0.00235329,-0.00482751,-0.000691795,-0.000157615,-7.06372e-05,-0.000103926,-0.0960255,0.0547855,0.341985,0.412068,0.233459,0.620962,0.624582,0.0119478,-0.0335613,-0.00520099,0.25005,-0.306382,-0.496211,-0.0173059,-0.00359111,-0.0153422,-0.00063269,0.000287495,0.000270051,-0.225846,0.166873,0.027313,1.48582,0.642459,0.0532915,0.917798,-0.0121424,0.0828802,-0.131947,0.00740934,0.614563,0.210436,0,0.00551081,0.00325864,-0.00132861,-0.0011729,0.000358747,-0.000187454,-4.86811e-05,-0.124057,-0.0172975,0.021138,0.40961,0.239878,0.625265,0.619453,0.00138896,-0.021205,-0.00242091,0.515117,-0.402619,-0.531206,6.28823,-1.60466,0.750574,-0.0363108,-0.10927,-0.0302307,1.22751,-0.0612953,0.0872209,2.81886,-0.0618963,0.312906,-0.0777844,-0.200628,0.00503439,0.40431,0.367313,0.416893,0.19082,0.356456,0.816772,0.00638027,0.056047,0.0363108,0.131973,0.00110941,0.0221989,-0.27493,-0.323291,0.650937,0.629427,-2.2822e-05,-0.000109195,-7.50413e-05,0.00152405,0.00240055,0.0052952,-5.00497,2.20652,-0.171057,-0.00844118,0.0800136,-0.018838,-1.30864,0.180256,0.0781028,-2.66663,0.0967386,-0.382647,-0.000486832,-0.00136409,1.32137e-07,0,0.00444029,-0.00362076,-0.0106388,-0.321228,0.167428,0.0102973,-0.0355323,0.00795918
2020-02-06.11:31:12.167,0.137307,0.0630916,0.367235,-0.277286,-0.324974,0.6497,0.628804,5.91048e-05,-3.6949e-05,5.83581e-05,-0.000197353,-4.77804e-05,0.000139216,0.00483315,-0.013364,0.000652711,-7.21075e-05,0.00018654,2.00842e-06,0.122894,0.0386401,0.11339,-1.16863,0.592128,-0.0858585,-0.734238,-0.00016948,-0.00016168,-3.79465e-05,2.54128e-05,0,0,0,-0.00482458,-0.00244084,-0.00188887,0.000715741,-0.000314156,0.00014852,5.68835e-05,-0.0957035,0.0538253,0.341844,0.415814,0.222844,0.622162,0.624782,0.00916644,-0.0324169,-0.00401755,0.411773,-0.185072,-0.419412,-0.0102427,-0.0151016,-0.0152575,-0.00057703,0.000393221,0.000244102,-0.226143,0.169204,0.0235625,1.4861,0.660222,0.0621734,0.92964,-0.00581937,0.0748631,-0.124275,0.00585609,0.517679,0.340112,0.146829,0.00233232,0.00725067,0.0026045,-0.00126087,0.000264823,-0.000187454,-0.000123726,-0.12397,-0.0178211,0.0210753,0.412008,0.231613,0.623936,0.622342,0.00511344,-0.0141753,-0.00112239,0.636535,-0.275519,-0.24715,5.62543,-2.01172,0.800568,-0.0368731,-0.10708,-0.0253937,1.22581,-0.0662302,0.0873959,2.8262,-0.053015,0.32151,-0.0382033,-0.128239,0.00753492,0.581641,0.239479,0.222306,0.200261,0.302646,1.09517,0.0108862,0.0584264,0.0368731,0.131973,0.00110967,0.0221984,-0.274933,-0.323293,0.650935,0.629427,-5.54491e-06,-7.51028e-05,-2.24189e-05,0.0011883,0.00273586,0.00437713,-5.04811,2.14894,-0.143368,-0.00980684,0.0788809,-0.0184355,-1.30865,0.180256,0.0781028,-2.66663,0.0967386,-0.382647,0,-0.000636509,1.32137e-07,0,0.00388201,-0.00316552,-0.0082787,-0.324532,0.178677,0.00954628,-0.0341217,0.00980684
2020-02-06.11:31:12.187,0.137309,0.063099,0.367239,-0.277288,-0.32498,0.649703,0.628797,5.59704e-05,-4.78168e-05,4.53004e-05,-0.000181604,-2.51733e-05,0.000107197,-0.00478377,0.0159046,-0.00740959,0.000170834,5.86521e-05,5.48115e-05,0.122894,0.0386086,0.113422,-1.16865,0.592128,-0.0858585,-0.734238,-0.0001661,-9.24706e-05,-9.16621e-05,6.13861e-05,0,0,0,0.00100266,0.0053016,0.00163184,1.19731e-05,6.15414e-05,0.000242444,3.28019e-06,-0.0955434,0.0531139,0.341767,0.41749,0.218716,0.620538,0.626735,0.0076689,-0.0329347,-0.00278031,0.385246,-0.119434,-0.358087,-0.0131211,-0.0284301,0.00197132,-0.000267024,4.33907e-05,0.000109759,-0.226168,0.170778,0.0208834,1.4861,0.669104,0.0680947,0.92964,-0.00203325,0.0703961,-0.123268,-0.00165733,0.422574,0.346049,0.146829,-0.00455441,0.00759036,0.000199626,-0.000381161,0.000202207,-6.22216e-05,4.9222e-06,-0.123866,-0.0180664,0.0210565,0.415,0.22604,0.624393,0.621944,0.00420162,-0.00911075,-0.00101855,0.431601,-0.0750253,-0.220069,3.38006,-1.82204,0.664526,-0.0392027,-0.0895732,-0.0218055,1.22524,-0.0683153,0.0875411,2.83606,-0.0478228,0.324218,-0.0149068,-0.0731101,0.00561863,0.361283,0.247821,0.064035,0.135122,0.152072,1.04736,0.00907133,0.0610944,0.0392027,0.131973,0.00110945,0.0221977,-0.274935,-0.323297,0.650934,0.629425,3.55893e-06,-3.57412e-05,4.29053e-06,0.000940353,0.00288245,0.00358271,-4.9996,2.22904,-0.183727,-0.00916417,0.0788746,-0.0184151,-1.30866,0.180249,0.0781028,-2.66663,0.0967386,-0.382647,9.91618e-05,0,1.32137e-07,0,0.00356736,-0.00290895,-0.014887,-0.32406,0.175865,0.00954628,-0.0345497,0.00916417
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