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
2020-02-06.16:54:57.219,0.148635,-0.00618974,0.387817,-0.156403,-0.340249,0.893743,0.246965,0.0176949,-0.0415109,-0.0264244,0.0297768,-0.103495,-0.0454573,-0.000916588,-0.0110666,-0.00241546,0.000394542,-0.000130607,0.000452192,0.0791713,0.114251,-0.115934,-1.46407,1.128,-0.18356,-0.266457,-0.0542793,0.166796,-0.175525,0.0699199,-0.103919,-0.0649681,0,-0.00217583,-0.00228153,0.000602613,-0.000779766,6.15414e-05,0.000555525,3.28019e-06,-0.0955655,0.0502165,0.325957,0.755706,-0.312031,0.480811,-0.316804,-0.00407359,-0.00576394,0.00396049,-0.0474096,0.0018807,-0.00711987,-0.00692535,0.00590303,0.00536248,0.000199773,0.000714558,-8.77352e-05,-0.220074,0.230077,-0.010986,1.08499,-0.458899,0.746081,-2.62905,0.0119783,-0.007356,-0.0107058,0.0075276,0,0,-0.0318369,0.00233232,-0.000908489,-0.000621638,-0.000117248,-0.000110874,-0.000281378,-5.94017e-05,-0.0483241,0.0331114,0.0278278,0.755204,-0.312641,0.481288,-0.316677,-0.000576758,-0.000178409,0.000601217,-0.00890669,0.0310216,0.00869453,-1.12617,0.0525596,0.947245,0.0117282,0.0178122,0.00425029,1.50707,0.265284,0.16455,-1.02706,0.277099,0.455817,-0.00557185,0.000885876,-0.000419778,0.0081777,0.0282014,0.0277878,0.184684,0.0449232,0.487758,-0.00181805,-0.00761646,-0.0117282,0.102917,0.0607042,0.0445807,-0.154269,-0.333379,0.896796,0.246612,0.010428,-0.0112952,-0.0094891,0.0794917,-0.0206076,-0.0473187,2.7824,3.36093,-7.62816,-0.0219371,-0.0533886,-0.0257049,-1.56512,0.630994,0.134508,-1.18307,1.15431,0.701546,-0.0335088,-0.0342465,-0.0168025,-0.169312,0.0619062,-0.109642,-0.804104,-0.120619,-0.690257,0.005541,0.0320508,0.0219371
2020-02-06.16:54:57.226,0.149272,-0.00785016,0.386785,-0.156396,-0.349529,0.890735,0.24487,0.0136578,-0.0416283,-0.0234041,0.552003,-0.282935,0.116399,-0.0194047,0.0175891,-0.0177396,0.000540918,0.000182917,0.000326173,0.0771895,0.120864,-0.122968,-1.46115,1.128,-0.204284,-0.266457,-0.043411,0.159115,-0.175303,0.0827531,-0.0796869,-0.656555,0,-0.00800307,0.00738517,0.00127836,-0.000515853,-0.000188923,0.000774682,-0.000114647,-0.0956745,0.049887,0.326184,0.755831,-0.31218,0.480965,-0.316127,-0.00130332,-0.0104378,0.00724979,-0.0630524,0.00187918,-0.0102367,-0.026771,-0.00256174,-0.000917427,0.000236894,0.000109123,-2.50816e-05,-0.219703,0.22973,-0.0116652,1.08559,-0.458899,0.746081,-2.62905,0.00641267,-0.00958207,-0.0238722,0.0158276,0,0,-0.0318369,-0.00137592,0.00274911,0.00381048,-0.000205219,-4.82581e-05,0.000156935,-5.79846e-06,-0.0483478,0.0330925,0.0278579,0.755538,-0.312611,0.481073,-0.316237,-0.000819688,-0.00065929,0.00112555,-0.016819,-0.00779519,0.0449687,-0.86102,0.20879,0.641755,0.0138972,0.017354,0.000683609,1.50678,0.265291,0.16453,-1.02727,0.277919,0.456864,-0.0114069,0,-0.000614119,-0.0127319,0.048235,-0.0229448,0.139842,0.0194341,0.229047,-0.00413361,-0.00804052,-0.0138972,0.103294,0.0603388,0.0441847,-0.156909,-0.333622,0.897214,0.24307,0.00777086,-0.0120362,-0.0100787,0.104624,-0.181438,0.106115,2.72994,3.7932,-7.10505,-0.0482059,-0.109063,0.0208648,-1.56626,0.628939,0.133842,-1.17384,1.14898,0.711282,-0.0227135,-0.0696747,-0.016155,0.0972062,-0.0482107,0.251004,-0.730469,-0.254673,-0.726814,0.00629199,0.0441551,0.0482059
2020-02-06.16:54:57.246,0.149395,-0.00825444,0.38657,-0.156386,-0.352123,0.889859,0.244343,0.0120962,-0.0425915,-0.0212702,0.597609,-0.292585,0.122458,-0.024331,0.00565927,-0.0242377,0.000382414,-5.78636e-05,0.000371002,0.0767931,0.122376,-0.124664,-1.46031,1.128,-0.210205,-0.266457,-0.0393686,0.155409,-0.177817,0.0933396,-0.0755451,-0.714133,0,-0.0122411,0.00646419,0.00321546,-0.000603824,-1.0748e-06,0.000524217,3.28019e-06,-0.0956825,0.0497785,0.326269,0.755865,-0.312123,0.481049,-0.315974,0.000245554,-0.0117773,0.0089422,-0.0690316,-0.000387732,-0.0084868,-0.0149784,-0.000245363,-0.0164787,2.43942e-05,-3.97874e-05,3.9287e-05,-0.219653,0.229605,-0.0119337,1.08562,-0.458899,0.746081,-2.62905,0.00260623,-0.0122399,-0.0275111,0.0170818,0,0,-0.0318369,0.00710006,0.00199798,0.00454514,0.000146665,7.69744e-05,-0.000187454,-5.94017e-05,-0.0483517,0.0330826,0.0278689,0.755618,-0.312656,0.481144,-0.315893,-0.000489391,-0.00062026,0.000753005,-0.0537279,0.0187207,-0.00189894,-0.753064,0.257633,0.569796,0.0134152,0.0170787,0.00161601,1.50668,0.265284,0.164526,-1.02769,0.277919,0.457354,-0.00824462,-0.000517046,-0.000401737,-0.0390991,0.0284241,0.025601,0.123322,0.00574557,0.175617,-0.0034452,-0.00850349,-0.0147005,0.103368,0.0601147,0.0440677,-0.156878,-0.337066,0.895578,0.244368,0.00529718,-0.0210983,-0.0101025,0.857468,-0.11666,-0.255576,2.72994,3.7932,-7.10505,-0.0482059,-0.109063,0.0208648,-1.56656,0.628128,0.133659,-1.18244,1.15253,0.709855,-0.0279437,-0.0699314,-0.0150272,-0.998709,0.403119,-0.203889,-0.753126,-0.238624,-0.619955,0.0037261,0.0541972,0.0528652
2020-02-06.16:54:57.266,0.149568,-0.00916008,0.386189,-0.155291,-0.358937,0.886925,0.245793,0.00522404,-0.0464305,-0.0157503,0.694484,-0.316061,0.13607,-0.0127923,0.00703876,-0.0438589,-6.85121e-05,-0.000647738,9.58635e-05,0.0761738,0.125494,-0.128413,-1.45825,1.128,-0.225009,-0.272379,-0.0221751,0.149639,-0.190216,0.107682,-0.0679211,-0.842384,0,-0.0117113,0.0151118,0.0128733,-0.000339911,0.000562471,-0.000227178,6.76041e-05,-0.0956559,0.0495165,0.326484,0.755955,-0.311957,0.481257,-0.315605,0.00210336,-0.0146474,0.0127029,-0.081896,-0.0035641,-0.00777167,-0.0217029,0.0221472,-3.84948e-05,0.000144871,-0.00017059,-5.11849e-05,-0.219653,0.22929,-0.0125392,1.08573,-0.458899,0.746081,-2.62905,-0.00173804,-0.0193735,-0.0334552,0.0192605,0,0,-0.0318369,0.00498106,0.0107437,0.00668667,-0.000381161,-0.000173491,-3.09135e-05,6.92461e-05,-0.0483583,0.0330606,0.0278963,0.755782,-0.312611,0.481153,-0.315531,-0.000235831,-0.0011182,0.00161948,0.0180656,0.00868758,0.00178618,-0.398349,0.300446,0.42969,0.0142988,0.011149,-0.000489378,1.50643,0.265253,0.164521,-1.02811,0.278329,0.457918,-0.0134016,-0.00145944,-0.000144674,0.0259706,0.0127357,0.0110168,0.0784796,-0.0173834,0.133436,-0.00238129,-0.00615906,-0.0142988,0.103444,0.0598177,0.0438727,-0.158279,-0.34266,0.893288,0.244067,0.00384809,-0.0110011,-0.00905794,0.297725,-0.29238,0.180424,2.75049,3.77944,-7.22023,-0.0621034,-0.148248,0.0329428,-1.56701,0.626507,0.133395,-1.18831,1.15417,0.716033,-0.0173264,-0.0854927,-0.0119856,0.178644,-0.029546,0.551479,-0.71442,-0.257505,-0.693069,0.00835721,0.0651879,0.0621034
2020-02-06.16:54:57.286,0.149623,-0.0101441,0.385932,-0.155611,-0.365448,0.883719,0.247533,0.00179126,-0.0521163,-0.0104185,0.525204,-0.189938,0.10337,-0.00357527,0.0223387,-0.0327711,-0.00013623,0.000116615,5.22257e-05,0.0758518,0.128454,-0.132399,-1.45602,1.12504,-0.239812,-0.2783,-0.0139715,0.147754,-0.208899,0.115456,-0.0049184,-0.662633,0,-0.00482458,0.0159505,0.0103782,-0.000339911,-0.000220232,2.32872e-05,-0.000211133,-0.0955833,0.0491635,0.326797,0.755141,-0.312467,0.482125,-0.315724,0.00446888,-0.0196723,0.0181097,-0.101106,-0.0204986,0.00601673,-0.0327696,0.00945575,0.00903722,-0.000519859,5.40717e-05,0.000210725,-0.219752,0.228817,-0.0133555,1.08583,-0.455938,0.746081,-2.62905,-0.00676937,-0.0283674,-0.0448767,0.00344029,0,0,-0.0318369,0.00180257,0.0132334,0.0125015,0.000850433,0.000108283,0.000219551,3.70842e-05,-0.0483612,0.0330309,0.0279378,0.755823,-0.312304,0.481231,-0.315617,-0.00017225,-0.00174613,0.00208163,-0.0349721,-0.0175898,0.0191157,-0.0805165,0.318249,0.379508,0.0122905,0.00767502,-0.00304126,1.50606,0.265206,0.164521,-1.02832,0.279012,0.457524,-0.0196678,-0.00337397,-7.9771e-05,-0.0327318,0.0349998,-0.0156246,0.040246,-0.0419284,0.169993,-0.00363295,-0.00480954,-0.0122905,0.103485,0.0594283,0.0436985,-0.157721,-0.349972,0.890054,0.245859,0.000691844,-0.0262936,-0.00861843,1.19059,0.0182006,-0.344913,2.74933,3.54541,-7.27646,-0.0590508,-0.135985,-0.00337062,-1.56726,0.624676,0.133169,-1.20215,1.16168,0.717011,-0.00941387,-0.0933107,-0.011031,-1.42673,0.681685,-0.407605,-0.720557,-0.17915,-0.58621,-0.0020315,0.0796983,0.0590508
2020-02-06.16:54:57.306,0.149683,-0.0112743,0.385788,-0.155612,-0.371359,0.881594,0.246311,0.0040847,-0.0612167,-0.0048018,0.510534,-0.205744,0.128976,0.00803947,0.018947,-0.0301846,0.000122536,-1.19188e-05,-7.67227e-05,0.075505,0.131414,-0.136858,-1.45408,1.12504,-0.254615,-0.2783,-0.0205339,0.151396,-0.238971,0.097829,-0.0049184,-0.676008,0,-0.00058659,0.0152817,0.0116708,9.99441e-05,6.15414e-05,0.000117212,-8.24851e-05,-0.095465,0.0487015,0.327242,0.75531,-0.312029,0.482547,-0.315107,0.0075998,-0.0244857,0.0245902,-0.122793,-0.0287759,0.0103918,-0.0405658,0.0171159,0.0115591,-0.000206411,-0.000177395,7.68779e-05,-0.21995,0.228093,-0.0143932,1.08593,-0.455938,0.746081,-2.62905,-0.0141249,-0.0407204,-0.0547741,0.00284176,0,0,-0.0318369,0.00233232,0.0174776,0.015142,0.000322607,-7.95662e-05,-3.09135e-05,-5.79846e-06,-0.0483621,0.0329822,0.0280002,0.755702,-0.31234,0.481478,-0.315496,-1.31162e-05,-0.00279055,0.0035424,-0.00025776,-0.0239139,-0.0130495,0.454485,0.311952,0.322988,0.0142988,0.00825421,-0.00348579,1.50554,0.265137,0.164521,-1.02853,0.279012,0.457606,-0.0295721,-0.00443254,4.36524e-05,-0.000505056,0.00461412,-0.00330632,-0.032445,-0.079218,0.271228,-0.00363295,-0.0100008,-0.0142988,0.103475,0.0590107,0.0435395,-0.15758,-0.357089,0.886669,0.247939,-0.0002157,-0.0150685,-0.00786081,0.288471,-0.246668,0.105846,2.43747,2.86791,-7.06635,-0.06853,-0.167093,0.0352269,-1.56727,0.622699,0.13297,-1.21914,1.16838,0.714982,0.00556899,-0.110602,-0.0100561,-0.0716917,-0.00557291,0.281476,-0.652586,-0.14186,-0.583398,0.0109231,0.0808971,0.06853
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