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
2020-02-05.13:55:30.79,0.239869,0.0844517,0.289872,-0.573237,0.10262,0.765437,0.273814,-0.000467964,5.73217e-05,-7.49868e-05,0.000333125,0.000498289,-0.000909536,-0.00797936,-0.00666094,-0.00967766,-0.000527482,-6.67675e-05,3.4205e-05,-0.162207,0.300492,0.0597944,-1.51075,-0.263497,0.669104,0.710553,0.0012405,0,0.000324999,-0.000217652,0,0,0,-0.00535432,-0.00185955,-0.00159783,-0.000339911,0.000343314,-0.000415026,1.40009e-05,-0.126332,0.111597,0.319852,0.0158692,0.599628,0.341983,0.723355,0.00513649,-0.000325193,-0.000214235,0.01075,0.0959272,-0.058917,-0.0064481,0.011792,-0.00585847,0.00017704,-0.00017539,4.28083e-05,-0.162504,0.147349,0.202918,1.48622,-0.0680947,-0.245733,-0.355277,-0.0150913,0.00393557,-0.00441201,0.00154233,0,0.121492,0.029667,0.00339182,-0.00199405,0.000788768,0.000498549,0.000202207,-0.000281378,1.56429e-05,-0.137955,0.0351206,0.0332761,0.01472,0.593841,0.34521,0.726613,0.000174019,-0.000356915,0.000114218,0.0151154,0.0987013,-0.164211,-1.73237,1.51691,0.727242,0.0385593,0.0654984,0.0012938,1.37759,0.639998,0.0852155,1.67144,-0.0956455,-0.141397,-0.355277,-0.00378088,-0.00429612,2.62178e-05,0.00466283,0,-0.188414,0.029667,-0.0484937,0.0694682,1.09517,0.0084455,-0.0495162,-0.039202,1.56429e-05,0.112485,0.027183,0.0291797,-0.572848,0.103612,0.765564,0.2739,3.23805e-06,-1.30029e-05,3.48376e-05,0.00156716,0.00261898,-0.00166498,2.34437,0.836882,1.29112,0.00818769,-0.0170684,0.0157854,-1.43567,0.408185,0.102675,-1.3546,-0.0244579,-0.209982,-0.355277,0.000173987,0,3.46131e-06,-0.0012147,0.00241633,-0.00204506,0.029667,-0.173486,-0.08805,1.37944,0.0117993,-0.00134987,-0.00818769,1.56429e-05
2020-02-05.13:55:30.90,0.239853,0.0844413,0.289848,-0.573206,0.10264,0.765447,0.273844,-0.000711386,-0.000112063,-0.000279053,0.000378352,0.00128537,-0.001888,0.00334564,0.00728708,-0.00332603,-0.000210862,-0.000115872,-6.60096e-05,-0.162157,0.300586,0.0597263,-1.5107,-0.263497,0.669104,0.710553,0.00200688,0.000849027,-0.000448328,0.000300245,0,0,0,0.0015324,-0.00643287,-0.00588089,0.000715741,-0.000126307,2.32872e-05,-2.88818e-05,-0.125979,0.111549,0.319803,0.0204831,0.604512,0.337348,0.721347,0.0123919,-0.00212385,-0.00188934,-0.0477148,0.442398,-0.353616,0.00357823,0.00990244,-0.0395676,-0.000505814,-0.000408328,1.16855e-05,-0.16352,0.14779,0.202477,1.48621,-0.0680947,-0.227969,-0.355277,-0.03548,0.0168454,-0.0172539,0.00977866,0,0.590966,0.0284263,0.0129273,0.00192095,0.000903061,-0.000821016,0.000202207,-0.000406611,2.63635e-05,-0.137906,0.0351358,0.0332679,0.0183882,0.59726,0.341805,0.725335,0.00290359,0.00107926,0.000262131,-0.0416935,0.331269,-0.307651,-2.0869,0.88113,0.932609,0.040648,0.0723338,-0.000141297,1.3774,0.639689,0.0852609,1.67228,-0.099608,-0.152949,-0.355277,-0.00687105,-0.0122258,0.00299865,0.0261184,-0.144396,-0.422662,0.0284263,-0.0645424,0.00716163,1.25827,0.00744418,-0.0525201,-0.040648,2.63635e-05,0.112486,0.0271822,0.0291814,-0.572778,0.103644,0.765603,0.273926,-2.78776e-06,1.1138e-06,1.01949e-06,0.000995564,-0.000294869,-0.000391564,2.41111,0.941284,1.28738,0.0102763,-0.0172886,0.0154788,-1.43566,0.408185,0.102675,-1.3546,-0.0243213,-0.210093,-0.355277,0,0,3.16093e-06,-0.00110683,0,-5.71421e-05,0.0284263,-0.177734,-0.0970184,1.39631,0.0114238,-0.00180447,-0.0102763,2.63635e-05
2020-02-05.13:55:30.110,0.239855,0.0844355,0.289841,-0.573199,0.102646,0.76545,0.273848,-0.000596932,-0.000229303,-0.000412871,0.000351967,0.00152624,-0.00198265,-0.00897346,0.00401668,-0.00327194,-0.000454783,0.000214299,-0.000342705,-0.162157,0.300618,0.0596948,-1.51068,-0.263497,0.669104,0.710553,0.00176541,0.00154117,-0.00114047,0.000763774,0,0,0,-0.00111634,-0.00335656,-0.00350724,-0.000955708,-0.000188923,-0.000101945,-0.000211133,-0.125851,0.111532,0.319786,0.0228684,0.606991,0.334951,0.720311,0.0139221,-0.00227688,-0.0020649,-0.0531192,0.472303,-0.378268,-0.00861519,-0.000104405,-0.0107441,-0.000103849,-0.000203526,5.54986e-05,-0.163891,0.147947,0.20232,1.48632,-0.0680947,-0.219087,-0.355277,-0.0399106,0.0185648,-0.0189596,0.010921,0,0.633095,0.0281392,0.00339182,-0.00257008,-0.00317557,-0.000205219,0.000139591,-0.000124838,5.85255e-05,-0.137869,0.0351494,0.033271,0.0198921,0.598719,0.340409,0.724749,0.00391758,0.0013918,0.000313593,-0.0647123,0.397847,-0.364571,-2.16413,0.594088,0.943206,0.041612,0.076265,8.78739e-05,1.37733,0.639535,0.0852985,1.6727,-0.101384,-0.157708,-0.355277,-0.0076467,-0.0169853,0.00399419,0.0216072,-0.183692,-0.49945,0.0281392,-0.0640703,-0.0169114,1.23858,0.00819517,-0.0556112,-0.041612,5.85255e-05,0.112485,0.0271816,0.0291811,-0.57278,0.103641,0.765603,0.273924,-1.05844e-05,-1.53451e-05,-7.25765e-06,0.00100236,-0.000392246,-0.000202104,2.41778,0.961735,1.2458,0.010196,-0.0173902,0.016068,-1.43566,0.408177,0.102675,-1.3546,-0.0243213,-0.210093,-0.355277,0,-0.000207954,3.09502e-06,-0.00108361,0,-5.34121e-05,0.0281392,-0.180094,-0.100323,1.37944,0.0120496,-0.0010839,-0.00939268,5.85255e-05
2020-02-05.13:55:30.130,0.239859,0.0844218,0.289813,-0.573173,0.102657,0.765461,0.273867,-0.00027763,-0.0010463,-0.00134726,0.000245614,0.00370435,-0.00361828,-0.00386813,0.00678953,0.00690722,-1.06952e-05,0.00016601,-2.34577e-05,-0.162157,0.300744,0.0595951,-1.51061,-0.263497,0.669104,0.710553,0.00142692,0.00614693,-0.00567869,0.00380302,0,0,0,0.00312165,-0.00227626,-0.00159783,-0.000339911,-0.000157615,0.000117212,5.68835e-05,-0.125522,0.111482,0.319736,0.0258491,0.610164,0.331922,0.71893,0.0186049,-0.00261546,-0.00249405,-0.0590677,0.498464,-0.396009,-0.00273162,0.0183451,-0.0284639,-3.25173e-05,7.46214e-06,0.000129795,-0.164833,0.148388,0.201879,1.48632,-0.0680947,-0.207245,-0.355277,-0.0535441,0.0232293,-0.0235986,0.0117799,0,0.676901,0.0275672,0.0108083,-0.000497039,0.00210903,0.000234636,-4.82581e-05,-0.000281378,0.000112129,-0.137776,0.0351826,0.0332771,0.0232029,0.602108,0.337406,0.723246,0.00529566,0.00172621,3.23269e-05,-0.0764564,0.508227,-0.375273,-2.40361,-0.0503615,0.924193,0.039925,0.0798182,-0.00120541,1.37716,0.639118,0.0853931,1.67395,-0.105757,-0.168192,-0.355277,-0.00850973,-0.0265743,0.00518854,0.0651844,-0.264741,-0.560356,0.0275672,-0.0730387,-0.0674175,1.15141,0.00769451,-0.0570208,-0.039925,0.000112129,0.112485,0.0271804,0.0291811,-0.572718,0.103668,0.765636,0.27395,-1.2769e-05,-2.67386e-05,-1.83608e-06,0.00151523,0.00253133,-0.00160953,2.53211,0.961814,1.26832,0.00931235,-0.0192898,0.0165183,-1.43567,0.408162,0.102675,-1.3546,-0.0241847,-0.210205,-0.355277,-0.000158739,-0.000345839,2.96691e-06,-0.00103881,0.00270281,-0.00225024,0.0275672,-0.185286,-0.102211,1.37944,0.0120496,-0.000730271,-0.00931235,0.000112129
2020-02-05.13:55:30.150,0.239863,0.0844042,0.289793,-0.573201,0.10263,0.76545,0.273851,-0.000285486,-0.000644587,-0.000915802,0.000325253,0.00251589,-0.00253342,-0.0178383,0.00781269,-0.00272684,-0.000373374,-0.000223759,-0.000170221,-0.162157,0.300838,0.0595006,-1.5107,-0.263497,0.669104,0.710553,0.00120231,0.00405796,-0.00358971,0.00240403,0,0,0,-0.00058659,-0.00676729,-0.00632452,-0.000691795,0.000124158,0.00030506,-1.81611e-05,-0.125068,0.111429,0.31968,0.0295441,0.614099,0.328147,0.717167,0.02609,-0.00266304,-0.00278433,-0.0834607,0.627772,-0.50052,0.00590991,0.0155641,-0.0329188,-0.000535718,-8.99705e-05,5.20364e-05,-0.166146,0.148923,0.201343,1.48638,-0.0680947,-0.192442,-0.355277,-0.0756269,0.0284823,-0.0288295,0.00151304,0,0.87575,0.0270273,0.011338,0.0023324,0.00363373,-0.000469132,-0.000110874,-0.00059446,4.78048e-05,-0.137655,0.0352095,0.0332716,0.0267563,0.606323,0.333345,0.721483,0.00574873,0.000732102,-0.00043127,-0.113655,0.525399,-0.466911,-2.43348,-0.686526,0.962433,0.0410496,0.0837185,-0.000695348,1.37698,0.638384,0.0855033,1.67437,-0.111632,-0.180472,-0.355277,-0.00865863,-0.0405023,0.00492238,0.0142727,-0.264908,-0.626804,0.0270273,-0.0673745,-0.11934,1.08954,0.008821,-0.0603389,-0.0410496,4.78048e-05,0.112484,0.0271779,0.0291798,-0.572724,0.103657,0.765636,0.273942,-5.67169e-05,-0.000119782,-4.73812e-05,0.00163638,0.00197218,-0.000580642,2.63936,0.949697,1.20741,0.010196,-0.0193187,0.0162261,-1.43567,0.408131,0.102675,-1.3546,-0.0241847,-0.210205,-0.355277,-0.000146376,-0.00151575,2.84751e-06,-0.000997387,0.00270281,-0.00224374,0.0270273,-0.194727,-0.103627,1.31476,0.0117367,-0.00173896,-0.010196,4.78048e-05
2020-02-05.13:55:30.170,0.239854,0.0844029,0.289793,-0.573195,0.102638,0.765451,0.273858,8.37442e-05,-0.000275907,-0.000546057,0.000387831,0.0010693,-0.000792728,0.0161577,-0.00712495,-0.0249436,-0.00043312,7.33034e-05,-0.000219992,-0.162133,0.300838,0.0595006,-1.5107,-0.263497,0.669104,0.710553,0,0.00241686,-0.00194861,0.00130498,0,0,0,-0.00747332,0.00705075,0.00148279,-0.000955708,-6.3691e-05,0.000117212,-5.03231e-05,-0.12442,0.111367,0.319621,0.0354903,0.620353,0.322015,0.714289,0.0354449,-0.00253709,-0.00314296,-0.118772,0.826557,-0.663421,-0.0238683,0.0305558,-0.0582819,-0.000110417,-3.13614e-05,-3.09366e-07,-0.168028,0.149585,0.200656,1.48639,-0.0680947,-0.168756,-0.355277,-0.103256,0.0349047,-0.0349047,0.00554611,0,1.15695,0.0264859,0.0214033,-0.00757064,-0.00264534,0.00058652,-1.695e-05,-0.000813616,-4.86811e-05,-0.137527,0.0352194,0.0332644,0.0309871,0.610419,0.329569,0.719592,0.00780541,0.00057009,2.77606e-05,-0.0734377,0.582491,-0.514806,-2.44042,-1.3939,1.27472,0.041371,0.0849706,-0.00247904,1.37681,0.637442,0.0856083,1.67605,-0.116688,-0.193012,-0.355277,-0.00940796,-0.0555928,0.00659305,0.0633352,-0.262835,-0.687033,0.0264859,-0.0593501,-0.174566,1.24983,0.00750676,-0.0621904,-0.0424956,-4.86811e-05,0.112482,0.0271768,0.0291787,-0.572732,0.103649,0.765633,0.273937,-5.18934e-05,-0.00012116,-4.10991e-05,0.00157641,0.00194643,-0.000491614,2.66261,0.951946,1.196,0.00818769,-0.0218056,0.0161939,-1.43568,0.408108,0.102677,-1.3546,-0.0241847,-0.210205,-0.355277,-5.90124e-05,-0.00147841,0,-0.000959957,0.00259125,-0.00214699,0.0264859,-0.194254,-0.105987,1.30351,0.011236,0.000474941,-0.00818769,-4.86811e-05
2020-02-05.13:55:30.190,0.239863,0.0844042,0.289793,-0.573201,0.10263,0.76545,0.273851,0.000228468,0.000109683,0.000561096,-0.000821905,-0.00115772,0.00113375,0.00624822,0.00166308,-0.00694117,0.000366689,3.08955e-05,9.48907e-05,-0.162157,0.300838,0.0595006,-1.5107,-0.263497,0.669104,0.710553,-0.000771617,-0.00214064,0.00125917,-0.000843263,0,0,0,-0.00058659,0.00197316,-0.000391858,0.000715741,-6.3691e-05,-0.000133253,-3.96024e-05,-0.123644,0.111364,0.319539,0.0411667,0.624829,0.316346,0.712615,0.0443824,0.000752717,-0.00506928,-0.120156,0.896462,-0.71055,0.00168961,0.0105651,-0.0550318,-0.000371523,0.000157741,-6.3057e-05,-0.170307,0.15034,0.200031,1.48636,-0.065134,-0.148032,-0.355277,-0.130587,0.0437001,-0.0335928,0.00155626,0,1.27052,0.0259994,0.0182248,0.000840654,-6.37206e-05,-2.92769e-05,-0.000267415,-0.000563151,-8.08431e-05,-0.137335,0.0352353,0.0332727,0.0359437,0.614982,0.324592,0.717736,0.011801,0.00109251,0.000941173,-0.0891078,0.709291,-0.72154,-2.22581,-2.12967,1.61415,0.0445843,0.0877258,-0.00116535,1.37663,0.636114,0.0857781,1.67689,-0.12229,-0.208373,-0.355277,-0.00787501,-0.0767775,0.0104933,0.0437636,-0.280533,-0.908707,0.0259994,-0.0381092,-0.244897,1.40169,0.00875841,-0.0658144,-0.0445843,-8.08431e-05,0.112481,0.027175,0.0291778,-0.572737,0.10364,0.765633,0.273931,-2.9933e-05,-7.42295e-05,-1.90499e-05,0.00143612,0.00206784,-0.000897251,2.70806,0.959801,1.16956,0.0105173,-0.0209774,0.017096,-1.43568,0.408085,0.102677,-1.3546,-0.0241847,-0.210205,-0.355277,-5.90124e-05,-0.000889854,0,-0.000925286,0.00243666,-0.00201564,0.0259994,-0.198503,-0.105987,1.2782,0.0122373,-0.000560346,-0.0105173,-8.08431e-05
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2020-02-05.13:55:32.10,0.239533,0.0842731,0.291097,-0.57332,0.103266,0.765886,0.272137,9.48661e-05,-0.000457662,-0.000371762,-0.000319381,0.00117407,-0.00102257,0.00472704,0.00326086,-0.00496745,9.30902e-06,-0.000235818,-0.000109972,-0.161513,0.295894,0.0617098,-1.51173,-0.260536,0.669104,0.710553,0,0.00197209,-0.00220603,0.00157206,0,0,0,-5.68415e-05,0.00163874,-0.000423083,-7.59979e-05,3.02333e-05,0.000336368,-5.03231e-05,-0.000119937,0.0378204,0.311983,0.117237,0.419978,-0.289461,0.852107,0.0655406,-0.0908436,0.00914483,0.110322,0.295677,-0.10798,0.0304934,-0.00558279,-0.0126852,-0.000114624,-0.000262961,0.000362717,-0.427168,0.388889,-0.193124,1.52202,0.97405,0.210205,-1.32637,-0.0666809,0.179484,-0.399916,0.0114898,-0.048686,0.515737,-0.0342701,0.00286207,0.0104198,0.00184215,-0.000908987,0.000108283,-3.09135e-05,-1.65191e-05,-0.088023,0.00735685,0.0301808,0.114926,0.418202,-0.287943,0.853808,0.0307038,-0.0322017,-0.00300733,0.147836,0.223842,-0.0311116,2.08657,-2.77392,3.20107,-0.0346238,-0.0367453,0.0295476,1.38479,0.169251,0.122992,0.617537,0.261659,-0.673952,-1.32637,-0.0635612,-0.292892,0.0267262,0.226304,-0.0211345,0.261592,-0.0342701,-0.266567,-0.396887,1.28358,0.000998168,0.0281636,0.0346238,-1.65191e-05,0.112311,0.0270681,0.0295644,-0.572922,0.103388,0.766199,0.272048,3.09333e-07,4.97308e-05,-3.25706e-05,-0.00141289,0.00171357,-0.00306199,0.705122,0.0945716,1.43038,0.0148553,0.0113707,0.0116023,-1.43126,0.408208,0.102919,-1.35355,-0.0274639,-0.208266,-1.32637,-0.000689952,0.000269465,3.47654e-06,0.00118143,0.000956221,-0.00327354,-0.0342701,-0.0734174,0.0167384,1.39912,0.0132387,-0.0151426,-0.0148553,-1.65191e-05
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