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
2020-02-04.17:18:10.737,0.100633,0.0515994,0.395651,0.295334,0.0549668,-0.523805,0.79711,-0.0365939,-0.00037493,-0.0213313,0.130953,0.701523,-0.11047,0.0466004,0.006277,-0.00661088,-4.69641e-05,-0.000186915,0.000322865,0.228422,-0.0124391,0.0772644,-1.80408,1.36189,0.0148032,2.04284,0.0945923,0.100747,-0.0480986,0.0252483,0.54598,0,-0.37072,-0.0127708,0.00389741,-0.00482751,-0.000691795,-3.23829e-05,0.000273752,-8.24851e-05,-0.111919,0.0642215,0.353306,0.442408,-0.333626,0.72553,-0.408136,0.000965307,0.000420057,0.000566822,-0.0169533,-0.0127228,-0.00184751,0.012308,0.0125654,-0.00962536,0.000387238,2.9026e-05,2.00216e-05,-0.19124,0.0999225,0.0863744,1.56352,0.41745,0.0207245,-2.76524,-0.00298944,-0.0021444,0.00147505,-0.000987838,0.0082207,-0.00954871,-0.0157905,0.00392157,0.00118034,-0.00335231,-0.000469132,0.000170899,-0.000218762,-3.79604e-05,-0.0819543,0.002755,0.028821,0.446492,-0.333607,0.722832,-0.40849,0.0003816,-4.33504e-05,0.000121904,3.2455e-05,-0.00115462,-0.000825155,-3.02519,0.500316,0.152897,0.029803,0.0832754,-0.00997296,1.38645,0.147489,0.128226,-0.963106,-0.208234,-0.0747453,-0.000412938,-0.000260923,0.000399884,0,-0.000743999,-0.000678268,0.23755,0.130359,0.811148,-0.00888989,-0.0562584,-0.029803,0.0727787,-0.0158048,0.0416511,0.306979,0.0509073,-0.521192,0.79469,-0.0123824,-0.00793427,-0.0117138,0.185549,0.880825,-0.13582,0.382228,-2.53213,0.0356965,-0.0787323,-0.0195519,-0.0785207,-1.24526,0.0849578,0.142368,0.222691,-0.506921,0.921075,-0.0427656,-0.117884,0.00732359,-0.776807,0.403797,1.00188,-0.0932423,-0.120619,1.59597,0.00366352,0.0708721,0.0787323
2020-02-04.17:18:10.745,0.0987143,0.0519903,0.3949,0.294358,0.0673371,-0.525613,0.79533,-0.0627158,0.0200477,-0.016637,0.127499,0.435825,0.0879894,0.0756614,0.0574866,-0.00370788,-0.000271707,0.000154292,0.000115148,0.233724,-0.00922701,0.0764717,-1.80326,1.38262,0.00592128,2.03692,0.179798,0.0640145,0.00555563,0.00288658,0.439141,-0.0607007,0,-0.0323715,-0.00167918,-0.00784922,1.19731e-05,0.000312006,-3.93291e-05,0.000239135,-0.111909,0.064216,0.353302,0.44241,-0.333625,0.725528,-0.408138,0.000505098,-0.000464503,-9.56346e-05,-0.0163742,-0.00986605,-0.00502357,-0.00298183,0.0108057,-0.0089628,5.01524e-05,-0.00017578,0.000156535,-0.191264,0.099954,0.0863429,1.56354,0.41745,0.0207245,-2.76524,-0.00114558,0.00148687,-0.00206478,0.00138278,0.00789952,-0.00922686,-0.0152245,0.00180257,0.00458581,0.00237238,-0.000117248,-0.000142182,-0.000156146,0.000176453,-0.0819318,0.00275604,0.0288273,0.446442,-0.333639,0.722802,-0.408573,3.81906e-05,0.000146364,-4.32126e-05,-2.59112e-05,6.05055e-05,0.000659872,-2.99524,0.597882,0.108654,0.0327754,0.0829095,-0.0102221,1.38644,0.147496,0.12825,-0.962896,-0.208234,-0.0748269,0.00100389,0.000865999,3.13893e-05,0,-0.000701581,-8.90248e-05,0.240854,0.12139,0.768967,-0.0095783,-0.056185,-0.0327754,0.0721942,-0.0161125,0.0412979,0.304965,0.0624623,-0.52077,0.794917,-0.0174248,-0.00504266,-0.00681529,0.579299,0.126335,0.151418,-0.848821,-2.51127,-0.858564,-0.0777683,-0.00512926,-0.0585189,-1.24707,0.0816216,0.142855,0.201931,-0.508698,0.948824,-0.0473301,-0.0479277,0.0160411,-0.634492,-0.251798,0.262013,-0.215967,0.0139062,1.75907,0.00216153,0.0582728,0.0777683
2020-02-04.17:18:10.762,0.0987143,0.0519903,0.3949,0.294358,0.0673371,-0.525613,0.79533,-0.0627158,0.0200477,-0.016637,0.127499,0.435825,0.0879894,0.0756614,0.0574866,-0.00370788,-0.000271707,0.000154292,0.000115148,0.233724,-0.00922701,0.0764717,-1.80326,1.38262,0.00592128,2.03692,0.179798,0.0640145,0.00555563,0.00288658,0.439141,-0.0607007,0,-0.0323715,-0.00167918,-0.00784922,1.19731e-05,0.000312006,-3.93291e-05,0.000239135,-0.111909,0.064216,0.353302,0.44241,-0.333625,0.725528,-0.408138,0.000505098,-0.000464503,-9.56346e-05,-0.0163742,-0.00986605,-0.00502357,-0.00298183,0.0108057,-0.0089628,5.01524e-05,-0.00017578,0.000156535,-0.191264,0.099954,0.0863429,1.56354,0.41745,0.0207245,-2.76524,-0.00114558,0.00148687,-0.00206478,0.00138278,0.00789952,-0.00922686,-0.0152245,0.00180257,0.00458581,0.00237238,-0.000117248,-0.000142182,-0.000156146,0.000176453,-0.0819318,0.00275604,0.0288273,0.446442,-0.333639,0.722802,-0.408573,3.81906e-05,0.000146364,-4.32126e-05,-2.59112e-05,6.05055e-05,0.000659872,-2.99524,0.597882,0.108654,0.0327754,0.0829095,-0.0102221,1.38644,0.147496,0.12825,-0.962896,-0.208234,-0.0748269,0.00100389,0.000865999,3.13893e-05,0,-0.000701581,-8.90248e-05,0.240854,0.12139,0.768967,-0.0095783,-0.056185,-0.0327754,0.0721942,-0.0161125,0.0412979,0.304965,0.0624623,-0.52077,0.794917,-0.0174248,-0.00504266,-0.00681529,0.579299,0.126335,0.151418,-0.848821,-2.51127,-0.858564,-0.0777683,-0.00512926,-0.0585189,-1.24707,0.0816216,0.142855,0.201931,-0.508698,0.948824,-0.0473301,-0.0479277,0.0160411,-0.634492,-0.251798,0.262013,-0.215967,0.0139062,1.75907,0.00216153,0.0582728,0.0777683
2020-02-04.17:18:10.782,0.0973296,0.0524662,0.394609,0.294544,0.0760385,-0.537615,0.786405,-0.0738975,0.0270805,-0.0132264,0.693094,1.46091,-1.67205,0.0611758,0.0575469,-0.00422336,-0.000359321,-0.000106267,0.000241617,0.237737,-0.00812481,0.0767633,-1.80345,1.38854,0,2.00731,0.215885,0.0482804,0.0227735,-0.00864423,0.31674,-0.216974,-2.08021,-0.029193,-0.00218345,-0.0058532,1.19731e-05,0.000280698,0.000211136,0.000442827,-0.111898,0.0642104,0.353298,0.442411,-0.333624,0.725527,-0.408139,0.000106112,-0.000541769,-0.000157478,-0.0160687,-0.00907909,-0.00594461,0.00116133,0.0129002,0.00239155,0.000224224,9.67426e-05,-2.17261e-05,-0.191289,0.0999855,0.0863115,1.56356,0.41745,0.0207245,-2.76524,0,0.00158793,-0.00212923,0.00142594,0.00774842,-0.0090742,-0.014957,-0.00137592,0.00234293,-0.00106173,-2.92769e-05,0.000170899,-0.000281378,2.63635e-05,-0.0819312,0.00275868,0.0288246,0.446454,-0.333638,0.722793,-0.408577,0.000184486,6.81002e-05,-0.00011742,0.000152754,0.000926651,2.63479e-05,-2.97371,0.565234,0.107018,0.0313294,0.0816446,-0.00998627,1.38647,0.147504,0.12825,-0.962896,-0.208234,-0.0748269,0.00143064,-0.000155828,0.000154087,0,-0.000682011,-0.000104982,0.238494,0.122806,0.76053,-0.0092028,-0.0551019,-0.0313294,0.0717945,-0.0161513,0.0411833,0.309596,0.0677669,-0.521071,0.792491,-0.021805,0.00158182,-0.00565512,1.00172,0.343725,-0.307309,-0.560337,-3.06015,-1.3138,-0.0893362,-0.00465819,-0.0762395,-1.24806,0.0810037,0.143214,0.185156,-0.51143,0.954647,-0.0502366,-0.0180378,0.0184575,-1.237,0.0618646,0.34197,-0.286298,-0.0295196,1.79,-0.00403415,0.0700107,0.0893362
2020-02-04.17:18:10.802,0.0960775,0.0529686,0.394407,0.295481,0.0826209,-0.547307,0.778666,-0.0759874,0.0319323,-0.0114246,0.679926,1.15916,-1.34936,0.0340214,0.0128523,0.0011265,-0.000717394,-0.000852383,0.000249618,0.241428,-0.00746349,0.0773117,-1.80367,1.3915,-0.00592128,1.98363,0.225147,0.0349473,0.0384966,-0.015265,0.23761,-0.291842,-1.64669,-0.0106518,-0.000516593,-0.00608886,-0.000339911,0.000312006,0.00111907,-2.88818e-05,-0.111885,0.0641887,0.353293,0.442438,-0.333667,0.725535,-0.408061,0.000257357,-0.000496342,-0.000361731,-0.0153196,-0.00923395,-0.0052564,1.09246e-05,0.00513659,0.0120056,-0.000658081,8.95934e-05,-0.000353622,-0.191314,0.100048,0.0862222,1.56377,0.41745,0.0207245,-2.76524,-0.000381155,0.00233273,-0.00233273,0.00112662,0.00763228,-0.0089563,-0.0147507,-0.00349491,-0.000486512,-0.00193837,0.00164217,-0.000173491,-0.000187454,1.56429e-05,-0.0819292,0.00275911,0.0288217,0.446432,-0.333707,0.722741,-0.408636,1.70045e-05,-0.000111288,3.47705e-05,-0.000562461,-0.000635091,-0.00161039,-2.9541,0.575301,0.104653,0.0313294,0.0819871,-0.00945435,1.38649,0.147496,0.128251,-0.962687,-0.208234,-0.0748269,-0.000626517,-0.000665772,2.3398e-05,-0.000825854,-0.000666744,-0.000113222,0.237078,0.120446,0.754906,-0.00863956,-0.0555821,-0.0313294,0.0712382,-0.0159779,0.0410992,0.316372,0.0772105,-0.530098,0.782907,-0.0299354,0.013231,-0.00198515,1.13761,1.1125,-1.32371,0.650518,-3.69216,-1.43044,-0.100663,-0.0301229,-0.112173,-1.24918,0.0809188,0.143638,0.14888,-0.497767,0.96515,-0.0560857,0.00279511,0.0214097,-1.94613,1.16678,0.759919,-0.318396,-0.154605,1.64096,-0.000529519,0.10345,0.100663
2020-02-04.17:18:10.822,0.094439,0.0536911,0.394172,0.297336,0.0909551,-0.559118,0.768574,-0.0715478,0.0327707,-0.0101928,0.855015,0.683839,-0.830787,0.00390043,-0.0128188,0.00796084,-0.000789747,-0.000512783,0.000268822,0.246308,-0.00680216,0.0782546,-1.8043,1.39446,-0.0148032,1.95402,0.213913,0.0267838,0.0448212,-0.021918,0.129486,-0.599981,-1.01548,0.00312165,-0.00151986,-0.00470968,-0.000515853,0.000531163,0.000837298,-0.000103926,-0.111865,0.064189,0.35327,0.442433,-0.33368,0.725521,-0.408082,0.000529298,-0.000902736,-0.000816922,-0.0147352,-0.00826779,-0.00584493,-0.00269185,0.0110286,-0.00674371,-8.41721e-06,-0.000176984,-0.000154457,-0.191364,0.100143,0.0861803,1.5638,0.41745,0.0207245,-2.76524,-0.000818613,0.00484869,-0.00448334,0.00257771,0.00747923,-0.00880022,-0.0144782,0.00127283,0.00400452,0.00166895,0.000322607,-0.000173491,-0.000343995,-2.72398e-05,-0.0819263,0.00275361,0.0288268,0.446411,-0.333712,0.722758,-0.408626,1.6893e-05,-0.00025573,0.000245901,-0.000525913,-0.0023217,-0.00282348,-3.01694,0.673777,0.124306,0.0299637,0.0810428,-0.0109499,1.38644,0.147473,0.128255,-0.962687,-0.208234,-0.0748269,-0.00271046,-0.000885713,7.00586e-05,-0.000825854,-0.000647456,-0.00011137,0.250767,0.113838,0.794275,-0.00970346,-0.0541804,-0.0299637,0.0706193,-0.0156318,0.0411499,0.313448,0.0855003,-0.545639,0.772475,-0.0320045,0.0197956,0.00473566,-0.00659592,1.65564,-1.49893,1.16059,-3.9469,-1.62237,-0.0956825,-0.0334125,-0.103606,-1.25026,0.081135,0.144024,0.122878,-0.468663,0.98144,-0.0659465,0.0176849,0.0219103,-1.12371,1.87387,1.12721,-0.354741,-0.213135,1.61565,0.00222412,0.0951497,0.0967268
2020-02-04.17:18:10.842,0.0929096,0.0543711,0.393945,0.302717,0.0978536,-0.565671,0.760791,-0.0681752,0.0290401,-0.0106805,0.882389,0.535887,-0.659816,-0.0054977,-0.00544026,0.0058796,-5.50448e-05,-0.000246436,-0.000102531,0.250866,-0.00614084,0.0791185,-1.80488,1.39446,-0.0296064,1.93626,0.202258,0.0346573,0.0329338,-0.0156698,0.0946576,-0.672141,-0.807302,0.00312165,-0.00194184,-0.00174335,0.000187915,-3.23829e-05,0.000242444,-6.10438e-05,-0.111849,0.0641667,0.353231,0.442436,-0.333718,0.725509,-0.408068,0.00113341,-0.000950064,-0.00182507,-0.0123301,-0.00760019,-0.00530049,-0.00172741,-0.00270212,0.000353446,0.000131176,5.98614e-05,7.16316e-05,-0.191388,0.100332,0.0860439,1.56389,0.41745,0.0207245,-2.76524,-0.00218443,0.00891342,-0.00632145,0.00382319,0.00733382,-0.00865114,-0.0142185,-0.000316419,-0.000244906,0.000639715,-0.000469132,0.000108283,0.000219551,-7.01224e-05,-0.0819253,0.00275193,0.0288283,0.446388,-0.333684,0.722776,-0.408641,0.000144607,7.98184e-05,8.36722e-05,-0.000857315,-0.000863843,-2.80508e-05,-3.0602,0.720226,0.123129,0.0306867,0.0831668,-0.0111805,1.38642,0.147466,0.128256,-0.962687,-0.208234,-0.0749086,0,0.00073974,0.000163209,-0.000825854,-0.000629995,-0.000221763,0.255959,0.111478,0.805524,-0.00982863,-0.0559225,-0.0306867,0.0699878,-0.0152425,0.0412154,0.306517,0.0946859,-0.56119,0.762986,-0.032024,0.0186894,0.00115162,0.445547,1.52188,-1.27359,1.30157,-3.75666,-1.65764,-0.0751977,-0.0256165,-0.0794934,-1.25188,0.0815289,0.144514,0.0966671,-0.430132,1.00752,-0.0836834,0.0175996,0.023186,-1.39884,1.52358,1.09591,-0.367486,-0.243345,1.53973,-0.000466937,0.0690463,0.0751977
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2020-02-04.17:19:15.22,0.083289,0.0205974,0.398408,-0.273089,0.00734467,0.736756,-0.618513,0.000682037,0.00284069,0.00646144,-0.00127962,0.00483639,0.00929902,0.00303256,-0.00064561,0.0290267,-4.72319e-05,-0.000174668,0.000189814,0.257752,0.0607786,-0.0472613,-1.85584,1.14873,0.165796,1.52177,0.00214181,-0.026075,0.0134191,-0.00639907,0.00607806,-0.00974133,0,0.00471089,-0.00502341,-0.00285918,1.19731e-05,0.000186774,5.45953e-05,3.28019e-06,-0.112117,0.0417396,0.354941,0.493283,-0.415156,0.659102,-0.387171,-0.00048829,-0.00029182,-0.000247558,4.68774e-05,0.0015513,-0.00228425,0.00258931,-0.00638934,-0.000123971,0.000701189,-3.95188e-05,0.000143784,-0.181306,0.134847,0.0102147,1.55292,0.269418,0.216127,-2.64681,0.00145612,0.00107962,-0.000997204,0.00131152,0,0,0,-0.000316419,-0.00257534,-0.00138752,-0.00126087,0.000358747,-3.09135e-05,-2.72398e-05,-0.081251,-0.00960816,0.0292915,0.492766,-0.41519,0.659493,-0.387127,-5.11048e-05,-3.71723e-05,4.73293e-05,6.25134e-05,-0.000177049,-0.000366998,-0.0781884,0.92307,0.139194,7.99461e-05,-0.0123774,-0.00190885,1.32555,0.0544762,0.129201,-0.887827,-0.0618963,0.0961307,-0.000577108,-5.73034e-05,-3.5292e-05,0,7.21006e-05,0.000291676,0.0888641,-0.0749698,0.0546974,-0.000190902,0.0132149,-7.99461e-05,0.102828,-0.023901,0.0523206,-0.278954,0.0118921,0.736104,-0.616598,0.000240288,-0.000111742,0.00203298,-0.0185642,0.0110802,-0.0054605,3.41374,0.105335,1.81432,-0.0474829,-0.0586845,-0.017088,-1.0379,0.0411853,0.119454,0.0559872,0.0896335,0.593408,0.0150774,0.006935,0.000767698,0.0097068,0.0118076,-0.00803248,0.197522,-0.291963,1.73376,0.0130509,0.0268713,0.0466795
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