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
2020-02-06.16:49:34.282,0.186693,0.026566,0.410092,-0.384051,-0.260667,0.837872,0.287278,-0.000121976,0.000460417,0.000278296,-8.02488e-05,-0.000473656,0.000830341,0.585622,-0.85988,-0.319896,0.0218629,0.023528,-0.00810601,-0.0188019,-0.033444,0.0283421,-1.42255,0.645419,-0.00888192,-0.2783,0.000314228,-0.00197676,0.00189662,-0.00127017,0,0,0,-0.0434962,0.0224872,0.297491,0.0409185,-0.0164691,0.0163035,0.000314179,-0.157473,0.0248577,0.398229,0.104064,-0.269575,0.848765,-0.442828,-5.74996e-05,-0.0014111,0.00138913,-0.00709187,-0.0020688,0.00175819,0.613201,0.236247,-0.434938,0.0108654,-0.00807363,0.0275665,-0.06193,0.00982535,0.0113974,1.18024,1.13096,0.074016,-2.73563,0.000247379,-0.00111726,-0.0041579,-0.00680145,0,0,-0.00441921,0.120466,0.161392,-0.0143157,-0.0563307,0.00064052,-0.00225379,0.00430391,-0.0679003,0.00754885,0.0268754,0.0952966,-0.268487,0.839056,-0.463486,1.14904e-05,2.44268e-05,-3.53286e-05,-0.000804049,0.000229821,1.71565e-05,-2.01114,2.42312,-2.76727,0.00265059,0.0186039,-0.0634711,1.44699,0.185191,0.143485,-0.550855,-0.691927,-0.815007,0.000359396,0,5.58078e-06,-0.000824345,0,0,0.51557,-0.125004,1.17953,-0.0034452,-0.0406483,-0.00265059,0.111173,0.0161064,0.0357154,-0.390517,-0.250017,0.836124,0.293062,-1.13349e-06,-1.36238e-06,-2.20469e-06,5.17128e-06,-2.57577e-05,1.32582e-05,1.36027,1.99189,0.923089,-0.0773666,-0.112461,0.0461457,-1.36163,0.343484,0.104445,-1.79893,0.459782,0.0930979,-1.56896e-05,-2.49168e-05,0,0,0,0,-0.0450962,-0.292435,1.22758,0.00810688,0.0949651,0.076242
2020-02-06.16:49:34.287,0.186666,0.0265786,0.410163,-0.384045,-0.260528,0.837882,0.28738,-0.000324649,9.39841e-05,0.00193947,-0.00462966,0.000779951,-0.00153343,0.567831,-0.78153,-0.372391,0.0216255,0.0233313,-0.0082064,-0.0187276,-0.0336959,0.0284362,-1.42232,0.645419,-0.00888192,-0.2783,0.000856777,-0.00625086,0.0016203,0.000861204,0,0,0,-0.0535614,0.0463222,0.297931,0.0408305,-0.0163439,0.0159591,0.000260576,-0.157471,0.024781,0.398305,0.104196,-0.270816,0.848453,-0.44264,-5.7177e-05,-0.00155931,0.0016352,-0.006042,-0.00528083,0.007986,0.570701,0.228326,-0.482238,0.0118666,-0.00821138,0.0262258,-0.06193,0.00976236,0.0111711,1.17994,1.13096,0.0769766,-2.73563,0.000247379,-0.00154422,-0.00452212,-0.00980602,0,0,0,0.126293,0.171099,0.00776185,-0.0546593,7.69744e-05,-0.0038192,0.00435751,-0.0679003,0.00754885,0.0268754,0.0952966,-0.268487,0.839056,-0.463486,9.05017e-06,1.71178e-05,-2.2779e-05,-0.000804049,0.000134375,-3.79492e-05,-2.0113,2.4067,-2.782,0.00489991,0.0209264,-0.0638046,1.44699,0.185191,0.143485,-0.550855,-0.691927,-0.815007,0.000249185,0,5.28236e-06,-0.000824345,0,0,0.51321,-0.123588,1.16266,-0.00375811,-0.0424825,-0.00489991,0.111173,0.0161064,0.0357154,-0.390517,-0.250017,0.836124,0.293062,-1.08108e-06,-1.31815e-06,-2.09428e-06,4.9594e-06,-2.44764e-05,1.28454e-05,1.31378,1.95885,0.892699,-0.0773666,-0.113677,0.0461511,-1.36163,0.343484,0.104445,-1.79893,0.459782,0.0930979,-1.47744e-05,-2.38832e-05,0,0,0,0,-0.0408481,-0.288658,1.21634,0.00810688,0.0969386,0.0773666
2020-02-06.16:49:34.302,0.186666,0.0265786,0.410163,-0.384045,-0.260528,0.837882,0.28738,-0.000324649,9.39841e-05,0.00193947,-0.00462966,0.000779951,-0.00153343,0.567831,-0.78153,-0.372391,0.0216255,0.0233313,-0.0082064,-0.0187276,-0.0336959,0.0284362,-1.42232,0.645419,-0.00888192,-0.2783,0.000856777,-0.00625086,0.0016203,0.000861204,0,0,0,-0.0535614,0.0463222,0.297931,0.0408305,-0.0163439,0.0159591,0.000260576,-0.157471,0.024781,0.398305,0.104196,-0.270816,0.848453,-0.44264,-5.7177e-05,-0.00155931,0.0016352,-0.006042,-0.00528083,0.007986,0.570701,0.228326,-0.482238,0.0118666,-0.00821138,0.0262258,-0.06193,0.00976236,0.0111711,1.17994,1.13096,0.0769766,-2.73563,0.000247379,-0.00154422,-0.00452212,-0.00980602,0,0,0,0.126293,0.171099,0.00776185,-0.0546593,7.69744e-05,-0.0038192,0.00435751,-0.0679003,0.00754885,0.0268754,0.0952966,-0.268487,0.839056,-0.463486,9.05017e-06,1.71178e-05,-2.2779e-05,-0.000804049,0.000134375,-3.79492e-05,-2.0113,2.4067,-2.782,0.00489991,0.0209264,-0.0638046,1.44699,0.185191,0.143485,-0.550855,-0.691927,-0.815007,0.000249185,0,5.28236e-06,-0.000824345,0,0,0.51321,-0.123588,1.16266,-0.00375811,-0.0424825,-0.00489991,0.111173,0.0161064,0.0357154,-0.390517,-0.250017,0.836124,0.293062,-1.08108e-06,-1.31815e-06,-2.09428e-06,4.9594e-06,-2.44764e-05,1.28454e-05,1.31378,1.95885,0.892699,-0.0773666,-0.113677,0.0461511,-1.36163,0.343484,0.104445,-1.79893,0.459782,0.0930979,-1.47744e-05,-2.38832e-05,0,0,0,0,-0.0408481,-0.288658,1.21634,0.00810688,0.0969386,0.0773666
2020-02-06.16:49:34.322,0.186656,0.0266004,0.410207,-0.384048,-0.260471,0.837889,0.287408,-0.000750226,0.00153246,0.00192813,-0.00272486,-0.000602395,0.000974879,0.550307,-0.739596,-0.364597,0.0210232,0.0232514,-0.00789738,-0.0187028,-0.0338849,0.0285463,-1.42224,0.645419,-0.00888192,-0.2783,0.00198756,-0.00970464,0.00697962,-0.00313307,0,0,0,-0.0509127,0.0490081,0.288183,0.0396869,-0.0164378,0.01574,0.000282017,-0.157471,0.024762,0.39835,0.104193,-0.270715,0.848427,-0.442751,-9.10539e-05,-0.00113245,0.00198848,-0.00628064,-0.00575798,0.00874797,0.568769,0.236163,-0.506691,0.0117096,-0.00848236,0.0259916,-0.06193,0.00966789,0.011134,1.17967,1.13096,0.0769766,-2.73563,0.000247379,-0.00363828,-0.00266823,-0.0107047,0,0,0,0.122585,0.186414,0.017891,-0.0536916,0.000515288,-0.00388181,0.0041967,-0.0679001,0.00754936,0.0268745,0.0952999,-0.268488,0.839055,-0.463486,4.04893e-06,6.44827e-07,5.69943e-06,-0.00080405,-8.14284e-05,-0.000162536,-2.00775,2.41374,-2.76387,0.00305226,0.0192907,-0.0646831,1.447,0.185191,0.143485,-0.550855,-0.691927,-0.815007,0,0,5.13908e-06,-0.000824345,0,0,0.509434,-0.120284,1.17672,-0.00313229,-0.0405828,-0.00257026,0.111173,0.0161064,0.0357154,-0.390517,-0.250017,0.836124,0.293062,-1.0586e-06,-1.29857e-06,-2.0472e-06,4.86764e-06,-2.39296e-05,1.26619e-05,1.40271,2.009,0.878371,-0.0763223,-0.112842,0.0459296,-1.36163,0.343484,0.104445,-1.79893,0.459782,0.0930979,-1.43927e-05,-2.34413e-05,0,0,0,0,-0.0502885,-0.290074,1.23883,0.00810688,0.0953187,0.0763223
2020-02-06.16:49:34.342,0.186628,0.0266539,0.410246,-0.384017,-0.260372,0.837882,0.287562,-0.00133944,0.00330594,0.00252458,-0.0018726,0.00759153,-0.0133454,0.515468,-0.650589,-0.399999,0.0204845,0.0231515,-0.00733666,-0.0186285,-0.0341368,0.0287719,-1.42195,0.645419,-0.00888192,-0.2783,0.00354826,-0.0158579,0.0139838,0.0118051,0,0,0,-0.0588589,0.066778,0.278463,0.0378395,-0.0165005,0.016053,0.000196252,-0.157472,0.0247505,0.398398,0.104203,-0.270635,0.848423,-0.442806,-0.000154935,-0.000238198,0.00249994,-0.00624486,-0.00465404,0.0069312,0.602603,0.246765,-0.497022,0.011785,-0.00815703,0.026068,-0.06193,0.00954192,0.0111285,1.17952,1.13096,0.0769766,-2.73563,0.000247379,-0.00730969,0.00104183,-0.00857882,0,0,0,0.126293,0.183771,0.00679507,-0.0538675,0.000859677,-0.00375658,0.00413238,-0.0679001,0.00754936,0.0268745,0.0952999,-0.268488,0.839055,-0.463486,3.92907e-06,6.32689e-07,5.6752e-06,-0.00080405,-8.14284e-05,-0.000162536,-1.97536,2.40163,-2.77047,0.00321292,0.0181949,-0.0636434,1.447,0.185191,0.143485,-0.550855,-0.691927,-0.815007,0,0,5.01382e-06,-0.000824345,0,0,0.507546,-0.122644,1.1964,-0.00288196,-0.0413733,-0.00377525,0.111173,0.0161064,0.0357154,-0.390517,-0.250017,0.836124,0.293062,-1.03918e-06,-1.28137e-06,-2.00666e-06,4.78797e-06,-2.34588e-05,1.25004e-05,1.34021,2.00452,0.918486,-0.076965,-0.11157,0.0462243,-1.36163,0.343484,0.104445,-1.79893,0.459782,0.0930979,-1.40658e-05,-2.30576e-05,0,0,0,0,-0.0450962,-0.291963,1.24727,0.00798172,0.0945942,0.076965
2020-02-06.16:49:34.362,0.186591,0.0267388,0.410292,-0.384001,-0.260332,0.837877,0.287633,-0.00152022,0.00346789,0.00235603,-0.0012528,0.00662701,-0.0116248,0.477519,-0.53561,-0.409648,0.0199423,0.0229239,-0.00687338,-0.0185294,-0.0344832,0.0291183,-1.42188,0.645419,-0.00888192,-0.2783,0.00405567,-0.01574,0.014486,0.00932538,0,0,0,-0.0572697,0.0832312,0.261112,0.03652,-0.0164378,0.0159278,0.000314179,-0.157473,0.024739,0.398447,0.104213,-0.270555,0.848418,-0.442862,-0.000151078,-0.00016431,0.00224768,-0.00554569,-0.00404751,0.00601478,0.622254,0.281592,-0.488068,0.011481,-0.00826141,0.0257107,-0.06193,0.00941596,0.011123,1.17938,1.13096,0.0769766,-2.73563,0.000247379,-0.00668864,0.00112277,-0.00748167,0,0,0,0.123115,0.190273,0.00615055,-0.0533397,0.000577904,-0.00419489,0.00429319,-0.0679001,0.00754936,0.0268745,0.095281,-0.268454,0.839066,-0.46349,3.81006e-06,6.20636e-07,5.65114e-06,-0.00080405,-8.14284e-05,-0.000162536,-2.00231,2.37862,-2.76839,0.00393592,0.0206212,-0.0630285,1.447,0.185191,0.143485,-0.550855,-0.691927,-0.815089,0,0,4.8918e-06,-0.000824345,0,0,0.51085,-0.121228,1.1486,-0.0030697,-0.0417924,-0.00393592,0.111173,0.0161064,0.0357154,-0.390517,-0.250017,0.836124,0.293062,-1.01611e-06,-1.2606e-06,-1.95867e-06,4.69282e-06,-2.29013e-05,1.23047e-05,1.36258,1.93821,0.879111,-0.078652,-0.1143,0.0460723,-1.36163,0.343484,0.104445,-1.79893,0.459782,0.0930979,-1.36807e-05,-2.25994e-05,0,0,0,0,-0.0446242,-0.28677,1.22758,0.00760622,0.0971223,0.078652
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