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_position_7,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_velocity_7,PSM1_joint_effort_1,PSM1_joint_effort_2,PSM1_joint_effort_3,PSM1_joint_effort_4,PSM1_joint_effort_5,PSM1_joint_effort_6,PSM1_joint_effort_7,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_position_7,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_velocity_7,PSM2_joint_effort_1,PSM2_joint_effort_2,PSM2_joint_effort_3,PSM2_joint_effort_4,PSM2_joint_effort_5,PSM2_joint_effort_6,PSM2_joint_effort_7
2020-02-04.18:48:51.138,0.0622304,0.0493268,0.357396,-0.544412,-0.331271,0.6437,0.423704,0.000423076,0.000220543,-0.0012051,0.0182034,0.0114975,-0.0354948,0.19348,0.493899,0.492451,-0.0221503,0.020087,-0.0211868,0.314133,0.153741,-0.00599781,-1.72386,0.171717,-0.0118426,-0.450017,-0.00138934,0.00315412,-0.000142626,0.0149918,-0.0100271,0.0192534,-0.0189638,0.181117,0.194239,0.0692494,-0.0174943,-0.0274896,-0.00122904,-0.0229175,-0.0247656,0.0419737,0.367229,0.560972,-0.350166,0.597987,-0.452885,0.000256229,0.00134779,-0.000179634,-0.0821068,1.65131e-05,-0.000189696,-0.164154,0.842012,0.389088,-0.0269077,-0.000595153,0.00042416,-0.403164,0.178714,-0.0699709,1.81009,0.0917798,0.0148032,3.71856,-0.00166399,-0.00144567,0.00405046,-0.00236765,-0.0110797,0,-0.0838202,-0.0877249,0.311638,0.103721,0.0461555,-0.0152014,-0.00175286,0.00263148,-0.0745353,0.020475,0.0377695,0.561132,-0.3602,0.583104,-0.464087,5.90685e-07,1.64895e-06,-2.85607e-06,5.0822e-21,2.2764e-05,1.31428e-05,-0.0995624,0.23124,0.826742,-0.00040205,-0.0253012,-0.0146609,1.39343,0.279625,0.139117,-0.814645,0.00259609,0.187296,3.71856,2.62856e-05,0,0,0,0,0,-0.0838202,0.0595988,-0.00511088,0.74647,-0.010079,0.0291541,0.00144638,0.00263148,0.0855401,0.0233289,0.0471863,-0.535733,-0.360354,0.613523,0.454671,8.6043e-07,-1.68638e-06,2.92089e-06,-9.74088e-21,2.55189e-05,1.47333e-05,2.31116,-0.53443,-0.643779,-0.0242667,-0.0628704,-0.00120175,-1.32487,0.358343,0.132503,-2.30932,0.0676351,0.255799,3.71856,2.94667e-05,0,0,0,0,0,-0.0838202,-0.118731,0.20177,-0.33031,0.013489,0.0400972,0.0242667,0.00263148
2020-02-04.18:48:51.156,0.0622266,0.0493227,0.35738,-0.545533,-0.331062,0.64276,0.423854,0.000592162,0.000590616,0.000308965,0.0147948,-0.00311961,0.000601855,0.204215,0.460399,0.51066,-0.0202717,0.0140016,-0.0209845,0.314133,0.153804,-0.00603449,-1.72369,0.168756,-0.0118426,-0.450017,-0.00093769,-0.00265049,0.00306776,-0.0210987,0,0.0175644,-0.017802,0.187474,0.186733,0.0706251,-0.0191657,-0.0211967,-0.00157343,-0.0227888,-0.0247742,0.0420537,0.367181,0.560949,-0.350173,0.59791,-0.453011,-0.000683911,0.00272107,-0.00150641,-0.0726439,0.000869721,0.00230852,-0.0923548,0.679766,0.341843,-0.0269943,-0.000426585,0.000378004,-0.403189,0.178714,-0.0697342,1.80993,0.0917798,0.0148032,3.71856,0,-0.000941298,0.00878004,-0.00553254,-0.0107067,0,-0.0793129,-0.0739514,0.242373,0.0676157,0.0458916,-0.0151075,-0.00115801,0.00254572,-0.0745351,0.0204741,0.037769,0.561158,-0.360154,0.583162,-0.464018,-8.06621e-06,6.49601e-05,-8.41883e-06,-7.2046e-05,5.53442e-05,0.000496067,-0.0806193,0.184332,0.834975,-0.0020087,-0.0258986,-0.0153442,1.39343,0.279617,0.139117,-0.814855,0.00259609,0.187296,3.71856,0.000295963,0.00040834,0,0,0,0,-0.0793129,0.0553507,-0.00699896,0.785839,-0.0102667,0.0290364,0.0020087,0.00254572,0.0855401,0.0233289,0.0471863,-0.535733,-0.360354,0.613523,0.454671,8.6043e-07,-1.68638e-06,2.92089e-06,-9.74088e-21,2.55189e-05,1.47333e-05,2.30354,-0.537326,-0.670223,-0.0247487,-0.0628639,-0.00136688,-1.32487,0.358343,0.132503,-2.30932,0.0676351,0.255799,3.71856,2.94667e-05,0,0,0,0,0,-0.0793129,-0.114011,0.199882,-0.364055,0.0134264,0.0407917,0.0254717,0.00254572
2020-02-04.18:48:51.176,0.06224,0.0493355,0.357379,-0.545545,-0.331141,0.642755,0.423783,0.000250068,0.000828004,0.000105401,0.0166151,0.0152358,-0.0233818,0.175035,0.508488,0.475445,-0.0190013,0.0129864,-0.0212218,0.314109,0.153773,-0.0059767,-1.72387,0.168756,-0.0118426,-0.450017,0,-0.00204187,0.00325394,0.00879194,0,0.0170517,-0.0174374,0.171052,0.193251,0.0633203,-0.0174063,-0.0197252,-0.00188651,-0.0228532,-0.0247871,0.0420674,0.367168,0.56095,-0.350237,0.597899,-0.452975,-0.000887901,0.00189122,-0.00115962,-0.0731857,0.00135855,0.000233111,-0.0935282,0.683554,0.333274,-0.0269413,6.23486e-05,0.000366191,-0.403164,0.178714,-0.0696816,1.81005,0.0917798,0.0148032,3.71856,0.00101515,-0.000841381,0.0065985,-0.00441902,-0.0105859,0,-0.0778949,-0.0702432,0.243788,0.0688494,0.0462435,-0.0146691,-0.00106408,0.00254572,-0.074535,0.0204741,0.037769,0.561184,-0.360106,0.583221,-0.46395,-8.06621e-06,6.49601e-05,-8.41883e-06,-7.2046e-05,5.53442e-05,0.000496067,-0.112235,0.205048,0.804639,-0.000884046,-0.0255148,-0.0145097,1.39343,0.279617,0.139117,-0.815065,0.00259609,0.187296,3.71856,0.000295963,0.00040834,0,0,0,0,-0.0778949,0.0586548,-0.00511088,0.752094,-0.00951571,0.0287916,0.000884046,0.00254572,0.0855401,0.0233289,0.0471863,-0.535733,-0.360354,0.613523,0.454671,8.6043e-07,-1.68638e-06,2.92089e-06,-9.74088e-21,2.55189e-05,1.47333e-05,2.30986,-0.522956,-0.681474,-0.0239454,-0.0623485,-0.00173513,-1.32487,0.358343,0.132503,-2.30932,0.0676351,0.255799,3.71856,2.94667e-05,0,0,0,0,0,-0.0778949,-0.119203,0.202242,-0.36968,0.0128632,0.0397391,0.0239454,0.00254572
2020-02-04.18:48:51.196,0.0622287,0.0493955,0.357389,-0.546682,-0.331025,0.641798,0.423859,0.000136677,0.00282429,0.000412027,0.0172869,0.00478798,-0.0225479,0.166293,0.550947,0.484044,-0.0175984,0.0114397,-0.0212388,0.314183,0.153647,-0.00577184,-1.72401,0.165796,-0.0118426,-0.450017,0.00180942,-0.00640398,0.0103325,0.0010046,-0.00677675,0.0161302,-0.0167666,0.172111,0.20226,0.0602986,-0.0167025,-0.0177215,-0.0014795,-0.0228103,-0.024791,0.0420844,0.367157,0.560944,-0.35024,0.597882,-0.453001,-0.000633824,0.000931624,-0.000563192,-0.073255,0.00158431,-0.00173711,-0.0958936,0.691654,0.338027,-0.0269447,-8.56305e-05,0.00037785,-0.403164,0.178714,-0.069629,1.81001,0.0917798,0.0148032,3.71856,0.000952837,-0.000694187,0.00355027,-0.00237762,-0.0103529,0,-0.0752142,-0.0718324,0.246952,0.0700518,0.0458036,-0.0147944,-0.000782308,0.00252428,-0.074535,0.0204741,0.037769,0.561184,-0.360106,0.583221,-0.46395,-8.06621e-06,6.49601e-05,-8.41883e-06,-7.2046e-05,5.53442e-05,0.000496067,-0.0943825,0.18878,0.812957,-0.000964379,-0.0260673,-0.0138502,1.39343,0.279617,0.139117,-0.815065,0.00259609,0.187296,3.71856,0.000295963,0.00040834,0,0,0,0,-0.0752142,0.0562947,-0.00511088,0.763342,-0.00876472,0.0290492,0.000964379,0.00252428,0.0855401,0.0233289,0.0471863,-0.535733,-0.360354,0.613523,0.454671,8.58484e-07,-1.68256e-06,2.91429e-06,-9.31736e-21,2.54612e-05,1.47e-05,2.23867,-0.531126,-0.669886,-0.0251504,-0.0619218,-0.000893979,-1.32487,0.358343,0.132503,-2.30932,0.0676351,0.255799,3.71856,2.94001e-05,0,0,0,0,0,-0.0752142,-0.113539,0.196106,-0.361243,0.013489,0.0397613,0.0251504,0.00252428
2020-02-04.18:48:51.216,0.0622118,0.0494758,0.35739,-0.54667,-0.331041,0.641759,0.423921,-0.00123074,0.00403614,0.000265586,0.0184199,-3.67266e-05,-0.0182137,0.107852,0.62623,0.479833,-0.0154376,0.0085582,-0.021419,0.314282,0.153521,-0.00551438,-1.72403,0.165796,-0.0118426,-0.450017,0.00601537,-0.00662435,0.0127463,-0.00853618,-0.00671055,0.0152759,-0.0161258,0.163635,0.206556,0.0392851,-0.015295,-0.0141837,-0.0014795,-0.0228746,-0.0248054,0.0420957,0.367154,0.560861,-0.349136,0.597855,-0.453992,-0.000328557,-0.000121357,-7.00652e-05,-0.0733795,0.00276961,-0.00536338,-0.102173,0.680139,0.335029,-0.026831,-0.000352165,0.000377846,-0.403139,0.178683,-0.0695712,1.80997,0.0917798,0.0118426,3.71856,0.000902934,0,0,0,-0.0101306,0.00154462,-0.0727217,-0.0728919,0.244781,0.0718122,0.0454517,-0.0149509,-0.000907541,0.00251356,-0.074535,0.0204741,0.037769,0.561184,-0.360106,0.583221,-0.46395,-1.61801e-05,9.05381e-05,4.66924e-06,-0.000111767,-5.54543e-05,0.000687975,-0.138837,0.200748,0.835378,-0.00104471,-0.0253907,-0.0130207,1.39343,0.279617,0.139117,-0.815065,0.00259609,0.187296,3.71856,0.000295963,0.000633469,0,0,0,0,-0.0727217,0.0614869,-0.0032228,0.783027,-0.00807631,0.0286345,0.00104471,0.00251356,0.0855401,0.0233289,0.0471863,-0.535733,-0.360354,0.613523,0.454671,8.34607e-07,-1.63577e-06,2.83323e-06,-9.31736e-21,2.4753e-05,1.42912e-05,2.27499,-0.507324,-0.706991,-0.0246684,-0.0632149,-0.0017759,-1.32487,0.358343,0.132503,-2.30932,0.0676351,0.255799,3.71856,2.85824e-05,0,0,0,0,0,-0.0727217,-0.116843,0.197522,-0.400613,0.0129883,0.0409049,0.0246684,0.00251356
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2020-02-04.18:49:14.11,0.107853,0.097688,0.435312,-0.129428,-0.0463403,0.960839,0.240603,-0.00466669,-0.0255277,0.0615478,-0.0782926,0.308705,0.235693,0.0125763,-0.00666708,0.0372998,-0.000254721,0.000563372,0.0003964,0.250767,-0.263458,0.26998,-1.70775,1.20794,0.444096,-0.219087,0.022945,-0.146523,-0.0645502,0.0028761,0.32766,-0.107932,0.0414189,0.00630014,-0.0095197,-0.00556217,-0.00104368,-0.000188923,2.32872e-05,-3.96024e-05,-0.0191893,-0.0464006,0.366308,0.335911,-0.363286,0.836431,-0.235735,-0.00113874,0.00294748,-0.0029041,-0.0280043,0.0164991,-0.0104848,7.46372e-05,0.0136497,0.00548388,0.000263675,-0.000128325,0.000184839,-0.349706,0.35809,-0.406978,1.73266,0.746081,0.304946,3.41658,0.00147596,0,0.0107391,-0.00696688,0,-0.00870864,-0.0437294,-0.000846168,0.00234293,-0.00159195,-0.000821016,0.000108283,6.30108e-05,-0.000155888,-0.0721337,-0.0154222,0.0381872,0.33593,-0.362753,0.836674,-0.235664,0.000309119,0.0015917,-0.00172397,0.0269028,0.0133971,0.00522387,-2.48285,-0.202508,-2.11758,-0.012452,0.0489514,-0.0156111,1.29191,0.0548855,0.14186,-1.18454,-0.495444,0.00263199,3.41658,0.0173359,0.00478165,-0.000339914,0.0188248,-0.00955004,0.0131055,-0.0437294,0.344227,0.150656,-0.682069,-0.0088273,-0.0263163,0.012452,-0.000155888,0.103556,0.0422958,0.0783688,-0.141698,-0.037329,0.958625,0.244061,-0.00225067,-0.0104679,0.0263822,-0.0127436,0.1975,0.170313,1.86878,-1.07489,0.437968,-0.0504552,-0.101798,0.0564679,-1.17481,0.609972,0.139863,-1.42841,0.714882,0.0394535,3.41658,0.234313,-0.0384043,0.0140466,0.0390584,0.000191625,0.00224856,-0.0437294,-0.039904,0.0526119,1.58753,0.0188711,0.0824855,0.0504552,-0.000155888
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2020-02-04.18:49:15.491,0.103669,0.0894535,0.455178,-0.0215896,0.023704,0.982908,0.181287,-0.00338859,-0.0163488,0.0151243,-0.117982,0.0381509,0.0440192,0.0202181,-2.21716e-05,0.0181959,0.000242119,0.00109633,0.000432394,0.267191,-0.304523,0.244431,-1.69511,1.43591,0.506269,-0.18356,0.00528098,-0.000295267,-0.0568191,0.0181501,0,0.061628,0.0600485,0.00577039,-0.00494112,-0.00318498,-0.00121962,-0.000470697,0.000492909,-2.88818e-05,-0.0216891,-0.046518,0.364609,0.337382,-0.36065,0.837547,-0.233707,-0.00130552,-0.000316502,-0.000130147,-1.19099e-05,0.00107266,-0.00179141,-0.00648898,0.0277236,0.00571951,0.000306828,0.000255362,6.92681e-05,-0.344009,0.359948,-0.405523,1.73139,0.746081,0.296064,3.41066,0.00286203,-0.000462755,0.000462755,-0.000775103,0,0,0,-0.00190566,0.00792478,-0.000122635,-0.000117248,0.000327439,-0.00025007,9.06875e-05,-0.0730669,-0.0151677,0.0375721,0.337751,-0.360193,0.837378,-0.234487,-0.000162466,8.22185e-05,-0.000164461,-0.00195734,0.00041158,-0.00149623,-1.68748,1.18802,-1.97288,-0.00682867,0.0418557,-0.021508,1.29479,0.054507,0.140765,-1.18999,-0.495034,0.00074584,3.41066,0.00111467,-3.68948e-05,-0.000204094,-0.00253264,-0.00160543,0.00034001,0,0.320626,-0.0589211,-0.935156,-0.0105796,-0.0264837,0.00682867,9.06875e-05,0.102054,0.0390569,0.086788,-0.0308519,0.0297647,0.982262,0.182545,-0.00114414,-0.00611209,0.00702605,-0.0811158,0.0815317,0.0833784,1.27943,0.72504,1.13139,-0.0230617,-0.0847042,0.0569118,-1.11326,0.587986,0.146065,-1.29525,0.861083,-0.0320632,3.41066,0.0691669,-0.0354622,0.0035421,0.043908,0,-0.0687152,0,0.105478,-0.122507,1.72251,0.0130509,0.0748425,0.0230617,9.06875e-05
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2020-02-04.18:50:36.31,0.0399317,-0.0529675,0.406019,-0.172218,-0.320451,0.930919,0.032274,0.00420281,0.00893457,0.0023282,0.0118331,0.0346486,0.10699,-0.0155814,-0.00789613,0.0111135,-0.000384175,0.000151279,8.87076e-05,0.317131,0.248657,-0.373442,-1.66246,1.23459,-0.331592,0.177638,-0.00271023,-0.0314136,0.0435347,-0.024903,0.0964669,0,0.0644056,-0.00376508,-0.00868628,-0.00503194,-0.00025194,-0.000126307,-0.000383718,2.47215e-05,-0.0277386,-0.0323706,0.366122,0.32125,-0.31298,0.810291,-0.377187,-7.10644e-05,-6.97045e-05,-0.000154061,-0.0113563,0.00573561,0.0134285,0.00187301,0.022866,-0.00566778,-9.08308e-05,-0.000174717,5.48359e-05,-0.341135,0.319324,-0.339048,1.65778,0.710553,0.136189,3.58829,0.000248153,0.000481364,-0.000327993,0.000219657,-0.0139682,-0.0125589,0,0.00127283,0.00775494,0.00131546,-0.000205219,-0.000173491,0.000125627,-4.86811e-05,-0.0754905,-0.00980495,0.0381366,0.319611,-0.313803,0.811175,-0.375994,-2.53881e-05,4.1899e-05,-6.0802e-05,-0.00584233,-0.00170314,0.00980068,-2.66718,0.300539,-2.45838,0.0147005,0.0298733,-0.00947735,1.29637,0.0957464,0.137689,-0.966671,-0.378756,-0.226309,3.58829,0,-0.000262108,-7.40894e-05,-4.00502e-05,0.0092043,-0.00733214,0,0.382932,0.147352,-1.177,-0.00494718,-0.00696681,-0.0147005,-4.86811e-05,0.0761214,-0.0182894,0.0669111,-0.186157,-0.310464,0.931534,0.0346736,0.000633755,0.00202577,0.00207611,0.101996,-0.0160524,0.0516364,-0.654739,-2.00369,1.57146,-0.0765633,-0.119024,0.051771,-1.11717,0.119556,0.150659,-1.45441,0.728682,0.287612,3.58829,0.00714561,0.0183518,0.000164656,0.0317537,0,0.149067,0,0.34432,0.137575,1.11229,0.0201853,0.105408,0.0765633,-4.86811e-05
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