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
2020-02-06.18:43:47.196,0.147967,0.096116,0.347995,-0.579903,-0.0756984,0.669489,0.458003,-0.00328124,-0.000902223,-0.000197893,0.00425265,0.0273356,0.0138495,0.00626903,0.000827512,-0.0131653,0.000211053,-0.000350406,-4.00089e-05,0.0977502,0.0469538,0.206351,-1.49955,-0.0592128,0.390804,-0.0177638,0.00968701,0.00341158,-0.00444122,-2.21338e-05,0.0319713,0,0,-0.00376508,0.00271903,0.00125067,0.000187915,0.000312006,0.000211136,-3.96024e-05,-0.114688,0.101208,0.365663,0.027908,0.575242,0.569299,0.5867,0.00253353,0.000750157,0.000400344,0.00123664,-0.00929546,0.0139794,0.0228432,0.0010315,-0.0108173,-0.000347051,0.000204503,-2.88282e-05,-0.205409,-0.0142342,0.228512,1.0405,-0.136189,-0.0355277,0.248694,-0.00809048,-0.00106814,0.00114268,-0.00076525,0,-0.00785422,0,-0.00455441,0.000835391,0.00266695,0.000322607,-0.000173491,-0.000124838,6.92461e-05,-0.0981406,0.0159991,0.0164143,0.0299124,0.57919,0.566905,0.585032,0.000547722,-0.000606226,-0.000987005,-0.389472,-0.107275,-0.0152168,3.45067,-1.16026,0.10196,-0.0368731,-0.0519533,-0.0464781,1.4828,0.202258,0.111366,1.95662,-0.33353,0.491442,0.000606935,0.000443546,0.000307315,-0.423516,-0.00764837,0.0813417,0.289944,0.0543636,-0.527404,-0.00638658,0.0363366,0.0368731,0.0785097,0.0254197,0.0205092,-0.581372,-0.0670881,0.664217,0.465105,-0.00016882,-0.000474232,-1.6183e-06,0.0070544,0.0272895,0.0205018,4.09525,2.54782,0.762764,-0.0469205,-0.117733,0.0429288,-1.52305,0.257661,0.132336,-1.8545,-0.0863543,-0.31184,-0.000566413,-0.00282303,4.21022e-05,0.00286956,0.0341108,-0.00828963,-0.459058,-0.196143,1.14885,0.010485,0.087959,0.0469205
2020-02-06.18:43:47.204,0.147872,0.0960518,0.348014,-0.580557,-0.0765488,0.669389,0.457179,-0.00313883,-0.00251475,0.000844597,-0.000997047,0.0296548,0.012456,0.00559043,0.00283678,0.000129132,0.000139432,6.24941e-05,6.97928e-05,0.0980227,0.0470168,0.20613,-1.49955,-0.0592128,0.387844,-0.0177638,0.00899178,0.00193153,-0.00832241,0.00313525,0.0319713,0,0,0.000472907,0.0019679,0.00163184,1.19731e-05,-3.23829e-05,0.000273752,7.83248e-05,-0.114612,0.10123,0.365676,0.0243964,0.575359,0.565885,0.590035,0.00280415,0.000751604,0.000403532,0.0012274,-0.0096252,0.0146028,0.00556229,-0.00822809,0.01443,9.60682e-05,-0.000230953,-3.49262e-05,-0.205682,-0.0142656,0.228544,1.04048,-0.136189,-0.0355277,0.236851,-0.0091181,-0.000881156,0.000951557,-0.000637258,0,-0.00785422,0,-0.00455441,0.00266682,0.00366496,0.000322607,0.000202207,-3.09135e-05,-5.94017e-05,-0.0981309,0.0159876,0.0164089,0.0274229,0.578806,0.566428,0.585996,0.000653738,-0.00115592,0.00013818,-0.231869,-0.152498,-0.110057,3.79581,-1.05928,0.340112,-0.0393634,-0.060207,-0.0550586,1.48283,0.202282,0.111369,1.95179,-0.332437,0.49586,0.000648244,0.00126111,0.000135839,-0.283271,0.127296,0.0540811,0.306465,0.086461,-0.479599,-0.0081389,0.04461,0.0393634,0.0784974,0.0254105,0.0205035,-0.582033,-0.0680522,0.664126,0.464267,-0.000464073,-0.00042058,-0.000136375,-0.00941165,-0.0546933,0.0699069,3.96762,2.60136,0.909352,-0.0490895,-0.115081,0.0419069,-1.52305,0.257553,0.132345,-1.8545,-0.0863543,-0.309063,-2.70892e-05,-0.00408389,0.000334833,0.00269885,0.00848131,0.0845634,-0.449145,-0.202751,1.30913,0.0108605,0.0862701,0.0490895
2020-02-06.18:43:47.224,0.147839,0.0960355,0.348024,-0.579661,-0.0767671,0.670441,0.456737,-0.0030057,-0.00261127,0.000959186,-0.00326312,0.0218255,0.00514921,0.0397438,0.0225422,-0.047074,0.00121466,0.000437028,0.000132211,0.0981218,0.0470168,0.206078,-1.49952,-0.0562521,0.387844,-0.0177638,0.00857942,0.0015946,-0.00843916,0.00321344,0.020968,0,0,-0.0101221,0.01646,0.00753681,0.00212328,-0.000314156,0.000336368,7.83248e-05,-0.114581,0.101235,0.365679,0.0226542,0.575415,0.564162,0.591698,0.00279329,0.000749427,0.000402762,0.00122619,-0.00960746,0.0145721,-0.0155939,0.00793866,0.00286358,-9.39593e-05,0.000170314,-4.73158e-05,-0.205781,-0.0142656,0.228544,1.04048,-0.136189,-0.0355277,0.236851,-0.00908352,-0.000881156,0.000950382,-0.000636471,0,-0.00785422,0,-0.000316419,0.000254097,0.0014922,5.86941e-05,4.56663e-05,-0.000312687,5.85255e-05,-0.0981249,0.0159746,0.0164054,0.0260006,0.579407,0.564879,0.58696,0.000659081,-0.00126634,-0.000442433,-0.395201,-0.16204,-0.116903,3.97723,-1.05552,0.423634,-0.0406487,-0.0638573,-0.0583895,1.48284,0.202312,0.111369,1.94697,-0.331207,0.496654,0.00150056,0.00123459,9.8433e-05,-0.446641,0.103677,0.058467,0.318738,0.0963734,-0.465538,-0.00870214,0.0477711,0.0406487,0.0784895,0.025406,0.0205027,-0.582104,-0.0682409,0.66416,0.464101,-0.000872393,-0.000332522,-7.09168e-05,-0.00560009,-0.0220133,0.0256613,3.93358,2.6189,0.945586,-0.0485272,-0.116984,0.041323,-1.52305,0.257507,0.132351,-1.8545,-0.0862176,-0.308603,0.000523524,-0.00424322,0.000763828,0.00263986,0,0.0299873,-0.444425,-0.204639,1.35132,0.00973403,0.0882126,0.0485272
2020-02-06.18:43:47.244,0.14777,0.0959861,0.348043,-0.579669,-0.0766646,0.670439,0.456748,-0.00374791,-0.00283307,0.00142988,-0.00490018,0.0215097,0.00488378,-0.00541251,-0.00463362,-0.00728404,0.000443065,0.000374487,3.49287e-05,0.09832,0.0470483,0.205915,-1.49956,-0.0562521,0.387844,-0.0177638,0.0108396,0.000351765,-0.00878895,0.000950458,0.020968,0,0,-0.00217583,-0.00210642,-0.00221113,0.000979654,-0.000314156,-7.06372e-05,3.28019e-06,-0.11451,0.10124,0.365682,0.019168,0.575512,0.560702,0.595006,0.00414498,0.000104659,4.77885e-05,-0.439984,-0.398618,-0.194377,0.00648392,0.0153705,-0.0084013,-0.000169831,0.000112048,0.0002318,-0.206004,-0.0142342,0.228512,1.0405,-0.136189,-0.0355277,0.219087,-0.0127459,0.0026873,-0.00262056,0.00175499,0,-0.00785422,-0.624473,0.00498106,-0.000414749,0.00219564,-0.000381161,-7.95662e-05,3.17027e-05,0.000262218,-0.0981122,0.0159511,0.0164016,0.0235778,0.580211,0.562507,0.588545,0.000702715,-0.00146329,-0.000284176,-0.403276,-0.206573,-0.118543,4.43285,-1.0309,0.748269,-0.0424161,-0.0745603,-0.0668098,1.48285,0.202343,0.111372,1.93921,-0.329157,0.498413,0.00129474,0.00162876,6.37159e-05,-0.471486,0.131142,0.0924799,0.348947,0.127999,-0.344618,-0.00970346,0.0570877,0.0424161,0.0784616,0.025385,0.0205181,-0.58093,-0.0678347,0.665188,0.464159,-0.00118951,-0.000930798,0.000517496,0.0197828,0.100173,0.0236829,4.01264,2.64615,0.892591,-0.0489289,-0.117096,0.0431182,-1.52305,0.257422,0.132375,-1.85408,-0.0836215,-0.310557,0.000855557,-0.0048985,0.000984387,0.00944487,0.086563,-0.0602978,-0.453393,-0.207471,1.31757,0.0110483,0.088156,0.0489289
2020-02-06.18:43:47.264,0.147693,0.0959352,0.348071,-0.580305,-0.077496,0.670344,0.455938,-0.00462612,-0.00320478,0.00165783,-0.00617464,0.0231916,0.00159863,-0.00712578,-0.00479151,-0.0048717,0.000355682,-5.39379e-05,-6.84618e-06,0.0985429,0.0470483,0.205757,-1.49945,-0.0562521,0.384883,-0.0177638,0.013436,0.000374854,-0.0100277,0.00192407,0.0203922,0,0,-0.00164609,-0.00252313,-0.00238787,0.000715741,6.15414e-05,-8.02096e-06,-2.88818e-05,-0.114425,0.101193,0.365656,0.0146316,0.574628,0.555531,0.600811,0.00331598,-0.00375334,-0.0021119,-0.835766,-0.735302,-0.397499,-0.00921443,0.00761052,0.018683,-9.66693e-05,9.77628e-05,7.90612e-05,-0.206227,-0.0139822,0.228261,1.04067,-0.133229,-0.0355277,0.201323,-0.00738175,0.0175705,-0.0175059,0.0117237,0,-0.00785422,-1.1835,-0.00455441,-0.0042422,-0.000562724,-2.92769e-05,-7.95662e-05,-0.000187454,6.92461e-05,-0.0980891,0.0159029,0.01639,0.018813,0.582382,0.556871,0.591922,0.00182484,-0.00381769,-2.79197e-05,-0.91929,-0.468095,-0.404747,5.29487,-0.989549,1.09916,-0.0464327,-0.0925477,-0.0768086,1.48292,0.202421,0.111373,1.92244,-0.324648,0.500535,0.0046318,0.00425925,0.000124802,-1.06562,0.402057,0.111128,0.411254,0.171425,-0.324934,-0.00795115,0.0698712,0.0464327,0.0784396,0.0253761,0.020519,-0.581245,-0.0682411,0.665299,0.463545,-0.0010191,-0.000519712,-0.000160832,-0.00684252,-0.0986688,0.10091,3.87392,2.59159,0.911838,-0.0519012,-0.1146,0.040885,-1.52304,0.257329,0.132394,-1.85366,-0.0833483,-0.309146,0.000577031,-0.00618824,0.000853262,-0.00744549,0,0.135908,-0.439233,-0.207943,1.32882,0.0100469,0.0863538,0.0519012
2020-02-06.18:43:47.284,0.147591,0.09586,0.348104,-0.580071,-0.0786038,0.671295,0.454645,-0.00452706,-0.00357439,0.00190212,-0.00836797,0.0206712,-0.0042865,-0.0231362,-0.0124867,0.0168338,-7.07969e-06,6.1996e-05,-9.13661e-05,0.0988402,0.0470798,0.205515,-1.49944,-0.0532915,0.381922,-0.0177638,0.0130718,0,-0.0108929,0.00465778,0.0141766,0,0,0.0036514,-0.00918528,-0.00547203,-0.000163969,-9.49992e-05,0.00014852,-8.24851e-05,-0.114366,0.101078,0.365592,0.0108313,0.572731,0.550334,0.607449,0.0029436,-0.0075348,-0.0042323,-0.427021,-0.36448,-0.214387,-0.0118619,0.0122507,0.0285363,9.47288e-06,0.000648663,5.90688e-05,-0.206326,-0.0134784,0.227757,1.04101,-0.127307,-0.0355277,0.18356,-0.00346719,0.0324842,-0.0324218,0.0217129,0,-0.00785422,-0.603642,-0.0066734,-0.00632576,-0.000327067,0.000322607,-0.000643112,-0.000531843,4.9222e-06,-0.0980483,0.0158139,0.0164324,0.0151724,0.581367,0.551168,0.598328,0.00216081,-0.00468231,0.00340448,-0.19439,-0.770698,-0.459531,6.06812,-1.09864,1.20544,-0.0486017,-0.100507,-0.0816414,1.48307,0.202536,0.111372,1.90818,-0.311531,0.50397,0.0103056,0.00655181,-0.000116862,-0.463263,0.802576,0.29345,0.481585,0.187473,-0.350243,-0.00801373,0.0722161,0.0486017,0.0784069,0.0253679,0.0205183,-0.581766,-0.0690212,0.665236,0.462866,-0.00203499,-0.000209417,-4.20938e-05,0.00420695,-0.0334612,0.0418478,3.83647,2.63832,0.94322,-0.0523028,-0.117348,0.0417381,-1.52302,0.257206,0.132424,-1.85366,-0.0833483,-0.30694,-0.000744195,-0.0055743,0.0019116,-0.00744549,0.00688793,0.0476689,-0.434041,-0.215023,1.371,0.0103599,0.0895626,0.0523028
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