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
2020-02-04.17:28:59.611,0.150482,0.160878,0.303854,0.550924,-0.495846,-0.342814,0.577146,-0.000339353,-0.00391919,0.00666764,1.82808,0.49112,-0.0127727,-0.0250173,-0.0238027,0.0145613,0.00014114,0.000198654,0.000108661,0.100525,0.156891,0.333914,-1.64137,0.254615,-0.260536,2.79484,0.0011273,-0.028297,0.00235313,-0.00157589,-0.224781,0.0332051,-1.96286,0.00471089,0.00962279,0.00732531,-0.000427882,9.28496e-05,-8.02096e-06,5.68835e-05,-0.0757463,0.116445,0.292125,0.65228,-0.203866,0.619521,-0.386217,0.00407883,-0.0164393,-0.0174245,0.586059,0.820113,0.0594238,0.0195218,-0.00703895,0.0060419,0.000259984,-0.000284616,-1.48376e-05,-0.300013,0.288746,0.124979,1.55467,-0.0444096,0.0858585,-3.19749,0.00818022,0.0863574,-0.0863574,-0.00215781,-0.404667,0.502226,0.810145,-0.00296516,-0.00714866,-0.00567058,-0.000205219,-0.000298723,-0.000281378,-1.65191e-05,-0.0919152,0.0012448,0.0247697,0.642877,-0.19689,0.630904,-0.387174,0.00023736,-0.00788977,-0.00694961,0.580238,0.746876,0.210193,-0.576687,1.7643,-0.0145783,-0.0451474,-0.0626769,0.0290003,1.3585,0.113277,0.117739,-1.20006,0.28844,-0.057797,-0.0185237,-0.125029,0,0.737456,0.591193,0.446006,0.208285,-0.18259,-0.0802827,0.00688093,0.0694954,0.0451474,0.0880859,0.0122413,0.0397464,0.546732,-0.502301,-0.335109,0.580069,-0.00343062,0.0040843,-0.00124401,1.86483,0.569581,-0.133217,-3.97768,0.423203,-0.271636,-0.00892318,0.0602365,-0.0384392,-1.34048,0.273655,0.126279,0.82513,-0.304563,-0.537562,-0.0469554,0.0888548,0.00524146,-1.88629,-0.798378,0.594568,-0.226824,0.312223,1.17697,0.00197379,-0.0352264,0.00892318
2020-02-04.17:28:59.625,0.150459,0.160457,0.304132,0.561508,-0.483973,-0.356565,0.56863,-0.000867235,-0.0150726,0.00599124,0.287181,0.0689462,-0.115067,0.00899532,0.0416172,-0.00133319,0.000918383,0.0001224,-6.67643e-05,0.100525,0.155914,0.33326,-1.64063,0.251654,-0.260536,2.74747,-0.000497472,-0.0162196,-0.0316762,0.0194195,-0.151882,0.0281885,-0.360231,0.000472907,-0.0104407,-0.00380181,-0.00139556,-0.00025154,-0.00035241,-0.000211133,-0.0754982,0.115731,0.291343,0.656801,-0.215742,0.60979,-0.387587,0.00705629,-0.0173495,-0.0190829,0.33677,0.568126,-0.157852,-0.00549312,-0.00779381,-0.000648205,0.000202356,-0.000609318,3.50144e-06,-0.29984,0.29265,0.1211,1.55459,-0.0532915,0.106583,-3.1738,0.00145498,0.0959741,-0.0955507,-0.000536442,-0.144892,0.47873,0.473781,-0.000316419,0.000999971,0.00331147,-0.000205219,-0.000611804,-0.000156146,4.9222e-06,-0.0918692,0.00089965,0.0244558,0.651445,-0.209928,0.617325,-0.387891,0.00129474,-0.00742246,-0.00732403,0.3121,0.817334,-0.0627934,-0.976244,1.56707,0.416346,-0.0399257,-0.0537627,0.0251403,1.35808,0.107995,0.117765,-1.17636,0.310301,-0.0278418,-0.0020644,-0.115587,0.00073272,0.484064,0.449529,0.660093,0.23755,-0.13586,0.116563,0.00606736,0.0639107,0.0408897,0.0880529,0.0124839,0.0397366,0.561605,-0.486927,-0.354062,0.567576,0.00207487,0.00730522,0.00244209,0.369512,0.126899,0.199147,-0.927274,0.673607,0.464381,-0.00876251,0.035608,-0.019383,-1.34228,0.277872,0.126414,0.766836,-0.335443,-0.522347,-0.0258012,0.0930362,0.000811392,-0.269259,-0.424523,0.0347638,0.0106021,0.0620522,1.00262,0.00485259,-0.032092,0.00876251
2020-02-04.17:28:59.636,0.150456,0.1603,0.304185,0.560337,-0.483848,-0.35752,0.569292,-0.00134168,-0.0175336,0.00497429,0.23108,0.0413203,-0.0973745,-0.00433498,0.00236427,-0.0152509,0.000325304,6.2081e-05,-0.000253191,0.1005,0.155788,0.332912,-1.6404,0.251654,-0.257576,2.74747,0.000207186,-0.00932808,-0.0411252,0.0258485,-0.135218,0,-0.297041,-0.00376508,0.00112921,0.00395012,-0.00025194,-1.0748e-06,-0.000321102,-0.000254016,-0.0754344,0.115563,0.291161,0.656763,-0.218585,0.60829,-0.388416,0.00743229,-0.0177916,-0.0196092,0.370528,0.538338,-0.157078,0.0152202,-0.0145437,0.00308618,-3.51542e-05,-0.000196458,-8.31016e-05,-0.299815,0.293564,0.120187,1.5546,-0.0532915,0.109544,-3.16788,0.000976498,0.098691,-0.0982983,-0.00212748,-0.123153,0.451483,0.49701,-0.00190566,-0.00673721,-0.00317557,-0.000205219,-0.000204799,0.000282168,-7.01224e-05,-0.0918589,0.000822596,0.0243868,0.652974,-0.212842,0.614855,-0.387655,0.0012016,-0.00851825,-0.00665836,0.348269,0.709088,-0.212244,-1.13829,1.58734,0.508239,-0.0408094,-0.0501441,0.0267182,1.3581,0.106875,0.117768,-1.17175,0.313581,-0.0212861,0.00214524,-0.115869,0.000299141,0.484336,0.253127,0.664257,0.259263,-0.130668,0.164369,0.0073816,0.0610599,0.0408094,0.0880751,0.0125568,0.0397638,0.562698,-0.485995,-0.354578,0.566969,0.0022715,0.00740616,0.00298269,0.269086,-0.0377084,0.0301594,-0.246398,0.531011,0.889466,-0.0110922,0.0292031,-0.0189007,-1.34245,0.278737,0.126418,0.76453,-0.338312,-0.522784,-0.0101145,0.0823758,0.000141986,-0.214463,-0.17804,-0.0897478,0.0393953,-0.0233833,1.05886,0.00203637,-0.0324973,0.0110922
2020-02-04.17:28:59.656,0.15042,0.160115,0.304225,0.560128,-0.483909,-0.357499,0.569459,-0.00250151,-0.0191348,0.00420307,0.182396,0.0396503,-0.0959086,-0.00872909,0.0109315,-0.0172131,0.000321247,-9.43465e-05,-0.000147437,0.100574,0.155757,0.332444,-1.64023,0.251654,-0.257576,2.74747,0.0035167,-0.00404635,-0.0478158,0.0305528,-0.121466,0,-0.24686,-0.00323533,0.000125937,0.00556496,-7.59979e-05,-0.000157615,-0.000383718,-0.000114647,-0.0753583,0.115368,0.290948,0.657297,-0.222302,0.606446,-0.388285,0.00737247,-0.0183988,-0.0202626,0.515635,0.548406,-0.158369,0.00973682,-0.0219407,-0.00753484,-0.000125232,4.78597e-06,-0.000188492,-0.299791,0.294634,0.119116,1.55457,-0.0532915,0.115465,-3.16196,0.00184578,0.101673,-0.101309,0.00462339,-0.105699,0.427987,0.637692,0.00180257,-0.00624347,-0.000240463,-0.00029319,-1.695e-05,0.000532633,-0.000166608,-0.0918439,0.000724351,0.0243296,0.653528,-0.216806,0.612779,-0.387812,0.00137685,-0.00955649,-0.0051041,0.574173,0.525458,-0.285852,-1.49108,1.6474,0.681757,-0.0375158,-0.0449211,0.0257899,1.35813,0.105655,0.117772,-1.16504,0.314537,-0.0143065,0.00338806,-0.115306,0.000261816,0.667704,0.03895,0.595202,0.295609,-0.117452,0.209362,0.00769451,0.0588544,0.0375158,0.0880945,0.0126255,0.0397976,0.563134,-0.48587,-0.354907,0.566439,0.00187214,0.00628467,0.00339275,0.0704528,0.0130493,-0.0375332,0.373294,0.264958,1.28522,-0.0148678,0.0216391,-0.0136029,-1.34247,0.279463,0.126421,0.763271,-0.339132,-0.523504,0.00120926,0.0650871,0.000153406,-0.0696767,-0.0400893,-0.0215516,0.0521398,-0.106459,1.05042,0.00278736,-0.0289383,0.0148678
2020-02-04.17:28:59.676,0.150302,0.159663,0.304288,0.559046,-0.482056,-0.361198,0.569759,-0.00811028,-0.0257737,0.00206551,-0.0698468,0.0318497,-0.143358,-0.00387244,0.00151182,-0.0382687,0.000271423,7.50303e-05,0.000149478,0.100847,0.155851,0.331219,-1.63971,0.251654,-0.251654,2.74155,0.0200885,0.0130475,-0.0736198,0.0377354,-0.100595,0.0459206,0,-0.0101221,0.00154066,0.00650405,-0.000163969,-6.3691e-05,-0.000415026,0.000185531,-0.0752337,0.114976,0.290523,0.656455,-0.229934,0.602301,-0.391701,0.00596926,-0.0192435,-0.0210344,0.681953,0.441718,-0.0799724,0.00282874,-0.00343983,0.0012827,0.000202072,-8.46814e-05,6.06866e-05,-0.299667,0.296744,0.117006,1.55449,-0.0532915,0.121386,-3.1442,0.00654057,0.104136,-0.103817,-0.00333582,-0.082738,0.273113,0.773618,-0.000846168,-0.00124291,-0.000417206,-0.000557103,-7.95662e-05,0.000156935,7.99668e-05,-0.0918123,0.000536134,0.0242349,0.652524,-0.223383,0.609639,-0.390707,0.00178993,-0.00912117,-0.00485399,0.748703,0.206193,-0.0355863,-1.99687,1.87145,0.931043,-0.0391224,-0.0363557,0.0240877,1.35824,0.103384,0.117781,-1.14994,0.314537,-0.00679211,0.0083912,-0.112437,0.000641697,0.77845,0,0.203247,0.355555,-0.115564,0.279664,0.00531637,0.0546901,0.0391224,0.0881246,0.0127082,0.0398753,0.562072,-0.485444,-0.355852,0.567264,0.00101611,0.00208939,0.0037519,-0.0679406,0.290195,-0.0722808,1.5329,-0.136881,2.09971,-0.0235437,0.00278939,-0.00177794,-1.3422,0.280405,0.126427,0.763271,-0.339132,-0.520972,0.0215137,0.0305037,0.000494431,-0.0197823,0.0102622,0.275755,0.080933,-0.255617,1.14322,0.00416418,-0.0172536,0.0235437
2020-02-04.17:28:59.696,0.150074,0.159043,0.304333,0.561009,-0.474468,-0.374048,0.565895,-0.0137598,-0.0346043,0.00247784,1.50648,1.12562,-0.257783,-0.00791315,-0.00847417,-0.0515737,0.00115952,-0.00130301,0.000128292,0.101441,0.156198,0.329426,-1.63881,0.248694,-0.239812,2.71194,0.0364767,0.0200185,-0.100625,0.0490187,0,0.6691,-1.79596,-0.0133005,0.00553268,0.010555,-7.59979e-05,-0.0016291,-0.00085334,0.000217693,-0.0751085,0.114604,0.290118,0.656239,-0.235644,0.599294,-0.39328,0.00594039,-0.0187154,-0.0205446,0.578303,0.364765,-0.0679481,-0.00510256,0.00938105,0.0073664,0.000349968,5.01691e-05,-3.70186e-05,-0.299568,0.29876,0.114991,1.5545,-0.0532915,0.127307,-3.13236,0.00601743,0.10162,-0.101335,-0.00540649,-0.0684316,0.226242,0.653568,-0.00243541,0.0030888,0.000462972,-0.000733045,4.56663e-05,3.17027e-05,-1.65191e-05,-0.0917639,0.000340031,0.0241386,0.650491,-0.229725,0.607389,-0.393912,0.00217122,-0.00920551,-0.00489759,0.71976,0.202372,-0.15332,-2.27029,2.26109,1.01187,-0.0428177,-0.0310544,0.0265449,1.35852,0.101114,0.1178,-1.13505,0.312214,-0.00130414,0.0159921,-0.109202,0.000767984,0.740848,-0.0998165,0.265458,0.400869,-0.142941,0.268416,0.00575445,0.0517487,0.0428177,0.0880934,0.0126921,0.0399102,0.562136,-0.482111,-0.363489,0.565197,-0.00325202,-0.00439346,-0.000112986,1.25204,0.801086,-0.440382,2.21046,-0.22719,2.37272,-0.0340673,-0.00872544,-0.00792763,-1.34166,0.280667,0.126469,0.746916,-0.339952,-0.508705,0.0310425,-0.00244995,0.00310503,-1.54569,-0.199868,0.977697,0.119167,-0.320284,1.11229,-0.00328315,-0.0163558,0.0340673
2020-02-04.17:28:59.716,0.14971,0.158227,0.304388,0.563315,-0.459203,-0.389492,0.565778,-0.0223427,-0.0451735,0.0034012,1.28976,1.74064,0.0259367,-0.00763088,-0.0315771,-0.0648599,0.000896439,-0.000145002,-9.37404e-06,0.102432,0.156702,0.327029,-1.6375,0.260536,-0.222048,2.67642,0.0621094,0.0271227,-0.132867,0.0724252,0.640564,1.00537,-1.65745,-0.018598,0.0114437,0.0133134,-0.000427882,-0.000502005,-0.000978573,5.68835e-05,-0.0750133,0.114241,0.289711,0.655372,-0.240437,0.596638,-0.395854,0.00397336,-0.0173787,-0.0188243,0.571601,0.299131,-0.0380149,0.00786666,-0.00274128,0.0139459,-0.000153478,-0.000110578,1.53296e-05,-0.299394,0.300744,0.113033,1.55432,-0.0532915,0.130268,-3.12051,0.00960381,0.0919818,-0.0919818,-0.00273445,-0.0579406,0.152355,0.631011,-0.00508415,-0.00248779,-0.00244091,0.000146665,-0.000110874,0.000156935,1.56429e-05,-0.0917261,0.000173343,0.0240295,0.649398,-0.23519,0.604997,-0.396165,0.00158572,-0.00800536,-0.00623732,0.45428,0.277893,-0.130675,-2.46996,2.6642,1.07959,-0.04338,-0.0288924,0.0273573,1.35889,0.0990518,0.117811,-1.12289,0.311258,0.00445819,0.0208016,-0.102481,0.000184213,0.489954,0,0.279167,0.440991,-0.17079,0.259979,0.00544153,0.0512468,0.04338,0.0879974,0.0125272,0.0399035,0.565419,-0.472528,-0.378661,0.56003,-0.00513596,-0.0135623,-0.00021909,1.64703,1.29857,0.0266401,2.52668,-0.270504,2.56604,-0.0542308,-0.0186547,-0.00589336,-1.34087,0.280297,0.126562,0.7098,-0.348013,-0.484489,0.0450389,-0.0359594,0.00560676,-1.86176,-0.794224,1.4246,0.137575,-0.343885,1.15447,0.000972464,-0.00922994,0.0542308
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2020-02-04.17:30:18.20,0.168442,0.189116,0.373085,0.0121462,0.169781,-0.683485,0.709842,-0.00197893,0.0123626,0.0053272,0.0274278,0.0418689,0.0562422,0.00687119,0.0103153,0.0154118,1.49922e-05,-3.83961e-05,1.79365e-05,0.0494449,-0.24576,0.553134,-1.85009,1.97771,0.476663,1.18426,0.0112765,-0.0558234,0.048446,0.000628353,0.0438793,-0.0396036,0.0412463,-0.00323533,-0.00326901,-0.00491411,-7.59979e-05,3.02333e-05,2.32872e-05,-2.88818e-05,-0.0417061,0.0802634,0.313008,0.500088,-0.214419,0.796101,-0.264876,-0.000277004,-0.000108762,-0.000216386,0.000243193,0.000668217,-0.000841508,0.00845862,-0.00728081,0.0185817,-0.000385356,0.000274938,-8.21638e-05,-0.368731,0.281786,0.00909925,1.53353,0.450017,0.112504,-3.35736,0.000794062,0.00120839,-0.00120839,0.000809256,0,0,0,0.00127283,8.95175e-05,8.17974e-05,-0.000557103,-1.695e-05,0.000156935,5.85255e-05,-0.0686066,-0.0232657,0.0409343,0.497145,-0.211836,0.798159,-0.266298,-0.000392936,9.1359e-05,-0.000180482,-0.0033616,0.000458018,-0.00922175,-1.07121,1.6729,-1.39461,-0.0296432,-0.0120575,-0.000377984,1.22923,0.00282652,0.146082,-1.359,-0.0394879,-0.153864,0.000825172,0,-0.000435948,-0.00614722,-0.00630094,0.00541526,0.224334,-0.248673,-1.07857,-0.00037865,0.0216051,0.0296432,0.102369,0.0114466,0.057566,0.0190334,0.165504,-0.682174,0.711959,0.000558387,0.00219538,0.000510484,-0.0268043,-0.0240477,-0.0151988,-0.142851,-1.10109,0.503979,-0.0506158,-0.0104775,-0.0298249,-1.1518,0.366861,0.120708,0.250999,-0.264938,1.28652,-0.00395318,0.020012,0,0.022458,0,-0.0336521,0.0667724,0.0304269,1.13197,0.0138019,0.0300328,0.0497322
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