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
2020-02-05.10:40:44.383,0.137062,0.0512756,0.329776,-0.477606,-0.479764,0.413861,0.608637,-0.000549519,0.000419808,0.00042449,-0.0125695,-0.00171446,0.0049552,-0.327796,0.899208,-0.549998,-0.00761588,-0.0115759,0.000571954,0.114125,0.193011,0.0242123,-1.50631,-0.0384883,0.0177638,-1.0303,0.00162175,-0.00198815,0.00182998,-0.00541256,0,-0.0017739,0.0124257,-0.205599,0.308206,0.0920616,-0.0154709,-0.000564621,-0.0121869,0.000635799,-0.0905907,0.0360574,0.312551,0.627964,-0.391133,0.426087,-0.520698,0.00246031,0.00132607,0.00117936,0.0267554,-0.0352776,-0.0230802,0.109953,1.435,-0.0645175,-0.0159393,-0.00929468,0.00797986,-0.221833,0.301027,-0.0840139,1.58574,-0.242772,0.0207245,-2.42772,-0.00684712,-0.00432539,0.00432539,-0.00289672,0.0472068,-0.0025021,0.0174658,0.129472,0.468249,0.12893,0.0316403,-0.0171738,-0.0171878,0.00224554,-0.0679251,0.0496288,0.0390315,0.623147,-0.397703,0.406504,-0.536913,5.74036e-05,-9.40656e-05,-7.46374e-05,6.17171e-05,0.000588305,-0.000693975,-2.97308,0.944528,-0.299894,-0.0302055,0.0115953,-0.00892258,1.50196,0.439717,0.152894,-0.534709,0.0254144,0.362268,0.000162499,-0.000897278,0,0,0,0,0.302217,0.292734,-0.690505,-0.0133958,0.0193744,0.0302055,0.0806911,0.0474174,0.0326742,-0.478972,-0.488309,0.417619,0.598109,0,0,0,0,0,0,2.01885,1.4084,1.04612,-0.0643527,-0.0107928,0.0297412,-1.53867,0.464461,0.139251,-2.80628,0.254144,0.149127,0,0,0,0,0,0,-0.294795,0.124831,1.30632,0.0102973,-0.0121172,0.0643527
2020-02-05.10:40:44.400,0.137095,0.0512257,0.329947,-0.477716,-0.479714,0.414001,0.608495,-0.000303784,-0.000442383,6.95488e-05,-0.0011849,-0.00570845,0.00620326,-0.403562,0.953409,-0.531568,-0.0078248,-0.0122277,0.000607126,0.11405,0.192476,0.0243006,-1.50637,-0.0384883,0.0177638,-1.0303,0.000695368,0.000592487,-0.00156007,-0.0091842,0,0,0,-0.201361,0.320477,0.0836687,-0.0145912,-0.000502005,-0.0120303,0.000732285,-0.0902561,0.0356022,0.312845,0.627129,-0.392414,0.42491,-0.521701,0.00015386,0.000210862,0.000403075,0.00524795,-0.0208032,-0.0125321,-0.0957397,1.31631,-0.0960884,-0.0136755,-0.0103743,0.00642792,-0.222502,0.300964,-0.0854236,1.58579,-0.242772,0.0207245,-2.4218,-0.000577452,-0.00157228,0.00122207,-0.00238001,0.0244824,-0.0019861,0,0.144305,0.466944,0.18994,0.0251304,-0.0165789,-0.0161233,0.00158086,-0.0679246,0.0496279,0.0390311,0.623146,-0.397706,0.406505,-0.536911,-4.96886e-05,0.000110118,2.81237e-05,-5.68564e-05,-0.0002343,0.000816953,-3.05171,0.953321,-0.273367,-0.0290005,0.0133289,-0.00789225,1.50196,0.439709,0.152894,-0.534709,0.0254144,0.362268,0.000205566,0.00082661,0,0,0,0,0.307881,0.300286,-0.67082,-0.0130203,0.0181037,0.0290005,0.0806911,0.0474174,0.0326742,-0.478972,-0.488309,0.417619,0.598109,0,0,0,0,0,0,2.00376,1.40283,1.07863,-0.0637101,-0.0101052,0.0302626,-1.53867,0.464461,0.139251,-2.80628,0.254144,0.149127,0,0,0,0,0,0,-0.293379,0.122943,1.33444,0.0108605,-0.0127372,0.0637101
2020-02-05.10:40:44.420,0.137095,0.0512257,0.329947,-0.477716,-0.479714,0.414001,0.608495,-0.000303784,-0.000442383,6.95488e-05,-0.00117266,-0.00537155,0.00583356,-0.381122,0.948432,-0.541821,-0.00709109,-0.0109429,0.000605539,0.11405,0.192476,0.0243006,-1.50637,-0.0384883,0.0177638,-1.0303,0.000695368,0.000592487,-0.00156007,-0.00863526,0,0,0,-0.199772,0.322637,0.0870162,-0.0140634,-0.000439388,-0.0119677,0.00064652,-0.0902547,0.0355929,0.31285,0.627134,-0.392415,0.424917,-0.521688,0.00014445,0.000309217,0.000315934,0.00555664,-0.0206786,-0.0122987,-0.0880191,1.31511,-0.0806241,-0.0143779,-0.00985251,0.00658441,-0.222502,0.300964,-0.0854499,1.58581,-0.242772,0.0207245,-2.4218,-0.000577452,-0.00143675,0.00143675,-0.00249092,0.0243052,-0.00197864,0,0.138478,0.46645,0.188183,0.0269778,-0.0166416,-0.0161859,0.00150581,-0.0679246,0.0496279,0.0390311,0.623146,-0.397706,0.406505,-0.536911,-4.96886e-05,0.000110118,2.81237e-05,-5.68564e-05,-0.0002343,0.000816953,-3.00505,0.926585,-0.293792,-0.0297235,0.0121527,-0.00819246,1.50196,0.439709,0.152894,-0.534709,0.0254144,0.362268,0.000205566,0.00082661,0,0,0,0,0.302217,0.297454,-0.679256,-0.0128952,0.0188854,0.0297235,0.0806911,0.0474174,0.0326742,-0.478972,-0.488309,0.417619,0.598109,0,0,0,0,0,0,2.05902,1.39109,1.0506,-0.0637101,-0.0111647,0.028758,-1.53867,0.464461,0.139251,-2.80628,0.254144,0.149127,0,0,0,0,0,0,-0.293851,0.130023,1.32319,0.00960887,-0.0119689,0.0637101
2020-02-05.10:40:44.440,0.137094,0.051207,0.329956,-0.477731,-0.479689,0.414013,0.608494,-0.000309191,-0.00090272,0.000284382,-0.00237776,-0.00328055,0.00377508,-0.383619,0.963833,-0.57217,-0.0073654,-0.0112774,0.000645071,0.11405,0.192476,0.024248,-1.50633,-0.0384883,0.0177638,-1.0303,0.000621688,0.000592487,-0.00284629,-0.00566377,0,0,0,-0.211426,0.328049,0.088981,-0.0148551,-0.000502005,-0.0120303,0.000700123,-0.0902447,0.0355787,0.312877,0.625987,-0.394246,0.423391,-0.522925,0.000214909,2.09926e-05,0.000453732,0.00604683,-0.019207,-0.012449,-0.0800588,1.33204,-0.0965125,-0.0141965,-0.0101642,0.0058856,-0.222527,0.300901,-0.0854658,1.58582,-0.242772,0.0207245,-2.41588,-0.000648387,-0.00140977,0.000589383,-0.00177056,0.0234122,-0.00193997,0.00160682,0.145364,0.469949,0.188238,0.0255703,-0.0167981,-0.0158415,0.00100194,-0.067925,0.0496293,0.0390307,0.623149,-0.397703,0.406501,-0.536912,2.18363e-05,-6.52684e-05,9.10035e-06,2.70018e-05,-5.87566e-05,-0.000486198,-2.9948,0.978382,-0.304523,-0.0290808,0.0121298,-0.00854232,1.50196,0.439717,0.152894,-0.534709,0.0254144,0.362268,-0.000293983,-0.000392611,0,0,0,0,0.306465,0.295094,-0.679256,-0.0130829,0.0197542,0.0299645,0.0806911,0.0474174,0.0326742,-0.478972,-0.488309,0.417619,0.598109,0,0,0,0,0,0,1.98066,1.41261,1.08323,-0.0632281,-0.008656,0.0292015,-1.53867,0.464461,0.139251,-2.80628,0.254144,0.149127,0,0,0,0,0,0,-0.293851,0.121055,1.33163,0.00973403,-0.0138026,0.0632281
2020-02-05.10:40:44.460,0.137093,0.0512004,0.32995,-0.477732,-0.479681,0.414011,0.608501,-0.000228914,-0.000603522,0.000533775,-0.00234982,-0.00328525,0.00380625,-0.372479,0.976769,-0.577749,-0.00735754,-0.0109575,0.000708187,0.11405,0.192508,0.0242165,-1.50631,-0.0384883,0.0177638,-1.0303,0.000525985,-0.000809531,-0.00141783,-0.00559582,0,0,0,-0.213545,0.33362,0.0953225,-0.0143273,-0.000658545,-0.011999,0.000753726,-0.0902347,0.0355644,0.312904,0.626003,-0.394164,0.423412,-0.522951,-5.47113e-05,-0.00117252,0.00117103,0.00228902,-0.016749,-0.0157462,-0.0901688,1.33554,-0.100044,-0.0142222,-0.0103024,0.00573055,-0.222551,0.300838,-0.0854817,1.58568,-0.242772,0.0207245,-2.41588,0.000364541,-0.00217214,-0.00221373,0.00148254,0.0228014,-0.00191247,0.00160682,0.147483,0.472691,0.191936,0.0251304,-0.0169233,-0.015591,0.000926899,-0.0679246,0.0496279,0.0390311,0.623146,-0.397706,0.406505,-0.536911,-7.39312e-05,0.000159776,4.70173e-05,-8.41093e-05,-0.000387593,0.00118488,-2.9486,0.961882,-0.299999,-0.0298842,0.0109182,-0.00838053,1.50196,0.439709,0.152894,-0.534709,0.0254144,0.362268,0.000256774,0.00122283,0,0,0,0,0.302689,0.288957,-0.696129,-0.0126448,0.0195926,0.0298842,0.0806911,0.0474174,0.0326742,-0.478972,-0.488309,0.417619,0.598109,0,0,0,0,0,0,1.99803,1.42581,1.09828,-0.0637101,-0.00963366,0.0294139,-1.53867,0.464461,0.139251,-2.80628,0.254144,0.149127,0,0,0,0,0,0,-0.296211,0.121055,1.3485,0.00992178,-0.0130254,0.0637101
2020-02-05.10:40:44.480,0.137084,0.0511986,0.329961,-0.477737,-0.479723,0.414026,0.608453,-1.51178e-05,0.000621035,5.72767e-05,0.000964401,-0.000997212,0.000861258,-0.391584,0.977961,-0.56501,-0.00716172,-0.0111182,0.000694966,0.114075,0.192476,0.0242217,-1.50646,-0.0384883,0.0177638,-1.0303,0.000210846,-0.00121772,0.00222514,-0.00149017,0,0,0,-0.208248,0.332715,0.0899513,-0.0141514,-0.00040808,-0.0122495,0.000732285,-0.0902621,0.0355367,0.312921,0.626012,-0.39413,0.42344,-0.522943,-0.00085554,-0.000912433,0.000965055,0.00340057,-0.0186716,-0.0129997,-0.0974135,1.31934,-0.0911045,-0.0131747,-0.0105729,0.00507115,-0.222477,0.300807,-0.0855291,1.58556,-0.242772,0.0207245,-2.41588,0.0022187,-0.00242355,-0.000945702,-0.00372967,0.0222099,-0.00188498,0.00160682,0.142186,0.469017,0.192927,0.0221394,-0.0164537,-0.0147144,0.000723206,-0.0679251,0.0496288,0.0390315,0.623147,-0.397703,0.406504,-0.536913,6.41042e-05,-9.88048e-05,-9.12851e-05,6.81745e-05,0.000716779,-0.000727949,-2.99224,0.939571,-0.271169,-0.0295628,0.0119864,-0.00825486,1.50196,0.439717,0.152894,-0.534709,0.0254144,0.362268,0.000256774,-0.000991159,0,0,0,0,0.299857,0.292734,-0.690505,-0.0126448,0.019536,0.0302858,0.0806911,0.0474174,0.0326742,-0.478972,-0.488309,0.417619,0.598109,0,0,0,0,0,0,2.0034,1.42714,1.04418,-0.0638707,-0.0102134,0.0288299,-1.53867,0.464461,0.139251,-2.80628,0.254144,0.149127,0,0,0,0,0,0,-0.296211,0.122943,1.29789,0.00942112,-0.0124141,0.0638707
2020-02-05.10:40:44.500,0.137085,0.0512052,0.329967,-0.477736,-0.479731,0.414027,0.608447,-2.08387e-05,0.000572141,4.20623e-05,0.0010135,0.00192681,-0.00233849,-0.385513,0.964327,-0.550255,-0.00773559,-0.011469,0.000635024,0.114075,0.192445,0.0242532,-1.50649,-0.0384883,0.0177638,-1.0303,0.000210846,-0.00108153,0.00203159,0.00284427,0,0,0,-0.210897,0.328811,0.0837865,-0.0144153,-0.000314156,-0.0122495,0.000775168,-0.0902804,0.0355236,0.312923,0.626014,-0.394151,0.423451,-0.522916,-0.00190022,-0.00119918,0.000884501,0.003109,-0.0170684,-0.0152631,-0.0867147,1.31947,-0.09048,-0.0128021,-0.0111976,0.00516581,-0.222428,0.300807,-0.0855554,1.58558,-0.242772,0.0207245,-2.41588,0.00488055,-0.00242355,-0.00117289,-0.00357753,0.021924,-0.00187139,0.00160682,0.140597,0.467273,0.189344,0.0212597,-0.0166729,-0.015184,0.000873295,-0.0679246,0.0496279,0.0390311,0.623146,-0.397706,0.406505,-0.536911,-4.71468e-05,0.000109601,2.01809e-05,-5.456e-05,-0.0001733,0.000813712,-2.99646,0.961224,-0.283906,-0.0290808,0.011517,-0.00850894,1.50196,0.439709,0.152894,-0.534709,0.0254144,0.362268,0.000256774,0.000793223,0,0,0,0,0.305521,0.294622,-0.682069,-0.0129578,0.0195138,0.0290808,0.0806911,0.0474174,0.0326742,-0.478972,-0.488309,0.417619,0.598109,0,0,0,0,0,0,2.02233,1.39327,1.06056,-0.0633084,-0.00916787,0.029615,-1.53867,0.464461,0.139251,-2.80628,0.254144,0.149127,0,0,0,0,0,0,-0.292907,0.127191,1.32319,0.0102347,-0.0137371,0.0633084
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2020-02-05.10:41:15.20,0.182471,0.00734842,0.385146,0.139593,-0.0862117,0.813891,0.557371,-0.0116258,0.0342425,-0.00727413,-0.295958,-0.152165,0.359841,0.0110288,-0.0359389,0.0188262,4.99402e-06,-0.000119362,0.000351115,-0.00641594,0.0875464,-0.0621159,-1.50205,1.69052,0.251654,-1.19018,0.0297653,-0.0544335,0.123219,-0.0107424,-0.0567035,0.413388,0.370352,0.000472907,-0.00994168,-0.00353847,-0.00174745,0.000186774,-3.93291e-05,-1.81611e-05,-0.146629,0.0398793,0.295647,-0.50997,0.575925,-0.291001,0.568823,-0.000694932,-8.28236e-06,-0.000336435,0.000618878,0.0011219,-0.00169357,0.012174,0.00598952,0.00255245,-7.16239e-05,-0.000129488,6.86746e-05,-0.0829118,0.327386,-0.0655337,1.52816,-0.287182,0.074016,-1.97771,0.0017548,0.00101158,-0.000384493,0.000282453,0,0,0,-0.000846168,0.00226064,-0.00156073,-2.92769e-05,-0.000110874,-0.000124838,5.85255e-05,-0.0895531,0.0501283,0.0335128,-0.504085,0.577982,-0.296506,0.569139,7.5449e-06,-0.000157832,0.000172132,-0.00201478,-0.000324519,-0.0011094,-3.17881,7.55024,0.250639,-0.0279562,0.00578129,-0.0410659,1.53939,0.523501,0.132867,-0.154541,-0.356485,0.360361,-0.00200447,-0.000418388,-1.04128e-05,-0.00194718,0,0.00219389,0.866753,0.336159,-1.16575,-0.00544784,0.0379974,0.0279562,0.0985531,0.0293142,0.0549946,0.148097,-0.0750118,0.81063,0.561533,-0.00265531,0.0193895,-0.00109692,-0.38569,-0.113795,0.303792,3.51226,-0.485222,-2.10397,-0.0875689,0.0802967,0.1362,-1.27667,0.50953,0.127866,-2.79055,0.754507,-1.261,-0.14444,0.125858,0.00820227,0.64969,0.282658,0.218994,-0.382118,0.15504,1.60159,0.0144277,0.0732757,0.0875689
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2020-02-05.10:42:00.20,0.162846,-0.0102857,0.338969,0.123534,-0.437597,0.701971,0.548166,-0.0633424,-0.0255775,0.0195067,0.00847479,-0.247583,0.0354195,0.00105775,-0.00533257,-0.00189639,-6.51295e-05,0.000411011,-0.000206894,0.0405022,0.267552,-0.179347,-1.5111,1.279,-0.310867,-1.16649,0.148198,-0.00162843,-0.0828782,0.0425142,-0.0615264,-0.210076,0.329944,-0.00164609,-0.000861543,4.82308e-05,0.00062777,-6.3691e-05,0.000273752,6.76041e-05,-0.148238,0.0222655,0.364413,-0.312018,0.325674,-0.414497,0.790426,-6.06579e-05,0.000145831,-0.000272555,0.0453714,0.0228929,0.0164948,-0.00255492,0.000963192,-0.00861387,-7.16422e-05,-4.61202e-05,-2.48798e-05,-0.0828623,0.125462,-0.0315773,1.48857,0.402647,-0.402647,-1.72309,0.000159682,0.000568278,0.000260584,-0.000796457,-0.00146322,0.0191027,0.0485216,0.00286207,0.00192095,0.00137437,-0.000117248,-7.95662e-05,6.30108e-05,-7.01224e-05,-0.0904046,0.0434978,0.0602038,-0.312022,0.327937,-0.415807,0.788799,-0.000126552,-0.000111196,0.00025549,0.000216554,-0.00368955,-0.000799199,-2.09924,0.156429,0.226892,0.0173515,-0.00248602,0.0046574,1.30056,0.540089,0.138899,-0.0824081,-0.0392147,-0.177774,-0.00264709,0.000348032,-2.53177e-05,0,0.000613815,-0.00113364,0.0194772,0.279045,0.333094,0.00350147,0.0223735,-0.0173515,0.0912948,0.0241208,0.0363055,0.129673,-0.427313,0.701996,0.554788,-0.0248048,-0.0070601,0.00992908,-0.042631,-0.17863,-0.0870868,-2.68575,3.56654,3.89322,-0.079134,0.0604355,0.0395267,-1.38089,0.393327,0.126102,-3.37517,0.784567,-1.15034,0.0533129,-0.0950871,0.0245059,0.207577,-0.0293341,0.372104,-0.00544658,-0.639369,1.53129,0.0080443,0.0358559,0.079134
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