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
2020-02-05.12:26:50.34,0.0885698,0.0714307,0.319867,-0.448968,-0.334035,0.694147,0.452779,-0.00035599,0.0015123,-0.00256993,0.00806076,0.00106049,-0.00410901,0.0412408,0.745785,-0.101733,-0.00869875,0.00678903,-0.00161193,0.247323,0.225196,0.0449401,-1.58568,0.37304,0.0177638,-0.37304,0.000940373,0.00743594,0.000657666,0.00326685,0,0,0,0.00524064,0.204289,0.018099,1.19731e-05,-0.00955005,-0.0100266,0.000110487,-0.0653249,0.0495326,0.30393,0.494217,0.470384,0.479419,0.551947,8.43191e-05,-4.13677e-05,-0.000496302,0.0181741,-0.0117366,0.00742354,-0.164727,-1.26694,-0.12463,0.0163972,0.0026672,0.00734334,-0.286637,0.330031,-0.0764104,1.87228,0.18652,-0.00296064,0.757923,-1.45397e-06,0.00181745,-0.00104118,-0.000279453,0.00317642,-0.011154,0.0188992,0.122585,0.433192,0.14033,0.011407,-0.013229,0.00726388,0.00787389,-0.0571294,0.0514826,0.0491649,0.518983,0.459166,0.490539,0.528388,4.61881e-06,-5.23859e-06,-7.93647e-06,6.04355e-06,5.77278e-05,-3.4587e-05,0.482895,-0.467449,-1.60913,0.0166285,0.04126,-0.0215314,1.4684,0.469249,0.166992,2.5729,0.453087,-0.294236,3.27003e-05,-5.91268e-05,0,0,0,0,0.120489,0.182753,-1.2951,-0.000566398,-0.0501255,-0.0166285,0.104184,0.0444893,0.0351197,-0.45542,-0.340482,0.688921,0.449503,-3.8451e-06,-3.7954e-06,-5.68246e-06,3.07751e-06,-6.07351e-05,3.84834e-05,4.17247,0.699074,-2.41494,-0.0605771,-0.0605656,0.0349733,-1.52252,0.548391,0.118765,-2.13401,0.477545,0.173851,-3.33565e-05,-6.37695e-05,0,0,0,0,-0.392031,0.170617,-0.30219,0.0109231,0.0156338,0.0605771
2020-02-05.12:26:50.45,0.0885659,0.0715151,0.319766,-0.449181,-0.335382,0.693839,0.452042,0.000220545,0.00351415,-0.0043399,0.0197276,-0.0149963,0.00796165,0.00849714,0.747076,-0.11184,-0.00558155,0.00812689,-0.00144231,0.247348,0.225448,0.0450564,-1.58576,0.37304,0.0148032,-0.37304,0,0.0105917,0.00501598,-0.000283738,0,-0.0157092,0,-5.68415e-05,0.196233,0.00621655,0.00238719,-0.00964397,-0.00595656,1.40009e-05,-0.0653322,0.0495246,0.303922,0.494232,0.470383,0.479402,0.55195,-0.000358835,0.000358234,6.88728e-05,0.0178061,-0.0123624,0.00793203,-0.157767,-1.26136,-0.13569,0.0164525,0.002616,0.00711734,-0.286612,0.330062,-0.0764419,1.8723,0.18652,-0.00296064,0.757923,0.000608359,-0.00102884,0.00170376,-0.00208411,0.00310559,-0.0107882,0.0184538,0.125764,0.43277,0.143061,0.0117588,-0.013229,0.00710734,0.00769163,-0.0571294,0.0514826,0.0491649,0.518983,0.459166,0.490539,0.528388,4.43226e-06,-4.89126e-06,-7.75807e-06,5.76642e-06,5.63793e-05,-3.22513e-05,0.490749,-0.498654,-1.61348,0.0147808,0.0395233,-0.019834,1.4684,0.469249,0.166992,2.5729,0.453087,-0.294236,3.27003e-05,-5.64155e-05,0,0,0,0,0.122377,0.181337,-1.30354,-0.000253485,-0.0480426,-0.0147808,0.104184,0.0444893,0.0351197,-0.45542,-0.340482,0.688921,0.449503,-7.95885e-05,-0.000118214,-6.73856e-05,6.83331e-05,-0.000735012,0.00120872,4.19561,0.613503,-2.46785,-0.0610591,-0.0602637,0.0347613,-1.52252,0.548391,0.118765,-2.13401,0.477545,0.173851,-3.21785e-05,-0.00141594,0,0,0,0,-0.390615,0.181473,-0.324686,0.0108605,0.0151624,0.0610591
2020-02-05.12:26:50.65,0.08857,0.0715658,0.31971,-0.449163,-0.335474,0.69379,0.452068,0.00032791,0.00446995,-0.00514503,0.0230019,-0.016809,0.00860418,0.0102246,0.733187,-0.0973241,-0.00526107,0.00826295,-0.00110215,0.247348,0.225574,0.0451408,-1.58581,0.37304,0.0148032,-0.37304,0,0.0120858,0.00700224,-0.00180256,0,-0.0157092,0,0.00471089,0.191068,0.00474723,0.00168342,-0.00964397,-0.00476685,2.47215e-05,-0.0653322,0.0495246,0.303922,0.494232,0.470383,0.479402,0.55195,-0.00033392,0.000353957,7.68129e-05,0.0176451,-0.0122655,0.00787832,-0.146607,-1.28839,-0.12068,0.016634,0.0022719,0.00716465,-0.286612,0.330062,-0.0764419,1.8723,0.18652,-0.00296064,0.757923,0.000549254,-0.00102884,0.00167515,-0.00205403,0.00308196,-0.0106691,0.018307,0.119936,0.444093,0.14908,0.0125506,-0.0131037,0.00704472,0.00782028,-0.0571294,0.0514826,0.0491649,0.518983,0.459166,0.490539,0.528388,4.36915e-06,-4.77376e-06,-7.69772e-06,5.67267e-06,5.59231e-05,-3.14611e-05,0.496062,-0.4715,-1.60153,0.0141382,0.0390659,-0.0197006,1.4684,0.469249,0.166992,2.5729,0.453087,-0.294236,3.27003e-05,-5.54983e-05,0,0,0,0,0.118601,0.182753,-1.28385,-0.000628981,-0.0476146,-0.0141382,0.104184,0.0444893,0.0351197,-0.45542,-0.340482,0.688921,0.449503,-7.55753e-05,-0.000112177,-6.40844e-05,6.48785e-05,-0.000698955,0.00114698,4.16529,0.559403,-2.46142,-0.0628264,-0.0614051,0.0345245,-1.52252,0.548391,0.118765,-2.13401,0.477545,0.173851,-3.18239e-05,-0.00134436,0,0,0,0,-0.385422,0.182417,-0.324686,0.0102347,0.0166036,0.0628264
2020-02-05.12:26:50.85,0.0885682,0.0716565,0.319614,-0.449088,-0.335539,0.693698,0.452236,0.000504561,0.0058607,-0.00527092,0.0256841,-0.0188283,0.00952711,-0.0104652,0.702793,-0.0921492,-0.00512201,0.00838603,-0.001031,0.247373,0.225794,0.0452885,-1.58561,0.37304,0.0148032,-0.37304,0.00028991,0.0104702,0.0115337,-0.00398294,0,-0.0157092,0,0.0025919,0.177667,-0.00317791,0.00177139,-0.00970659,-0.0045477,7.83248e-05,-0.0653346,0.0495301,0.303928,0.494225,0.470383,0.47941,0.551949,-0.000332166,0.000426761,0.000184958,0.0173748,-0.0122932,0.0079882,-0.152831,-1.27917,-0.11177,0.0163318,0.00238491,0.00723845,-0.286612,0.330031,-0.0764104,1.87228,0.18652,-0.00296064,0.757923,0.00046348,-0.0014949,0.00209339,-0.00231419,0.00303802,-0.0104512,0.0180361,0.116758,0.439268,0.144617,0.0118468,-0.0129785,0.00713865,0.00782028,-0.0571294,0.0514826,0.0491649,0.518983,0.459166,0.490539,0.528388,4.25662e-06,-4.56934e-06,-7.58477e-06,5.50674e-06,5.50727e-05,-3.00874e-05,0.475278,-0.444104,-1.59926,0.0149415,0.0400333,-0.0187567,1.4684,0.469249,0.166992,2.5729,0.453087,-0.294236,3.26506e-05,-5.38749e-05,0,0,0,0,0.114825,0.182281,-1.28385,0.000685254,-0.0480775,-0.0149415,0.104184,0.0444893,0.0351197,-0.45542,-0.340482,0.688921,0.449503,-4.88078e-05,-7.18112e-05,-4.21907e-05,4.18255e-05,-0.000459753,0.000734142,4.20155,0.583675,-2.46335,-0.0599344,-0.0588382,0.0338547,-1.52252,0.548391,0.118765,-2.13401,0.477545,0.173851,-3.112e-05,-0.000880832,0,0,0,0,-0.391087,0.182417,-0.335935,0.0102973,0.0147039,0.0604968
2020-02-05.12:26:50.105,0.0885726,0.071785,0.319503,-0.449052,-0.33575,0.693585,0.452287,0.000468551,0.00557315,-0.0051471,0.0249252,-0.0184652,0.00943175,-0.0431616,0.701996,-0.0822008,-0.00471725,0.00809876,-0.00131677,0.247398,0.226014,0.0455415,-1.58578,0.37304,0.0148032,-0.37304,0.000260904,0.0104669,0.010736,-0.0036808,0,-0.0157092,0,0.00206215,0.167862,-0.016443,0.00282705,-0.00929959,-0.0049234,4.61628e-05,-0.0653346,0.0495301,0.303928,0.494225,0.470383,0.47941,0.551949,-0.000102387,-5.06597e-05,-0.000355765,0.016949,-0.0108431,0.0065636,-0.162277,-1.27696,-0.113874,0.0164677,0.0023438,0.00700533,-0.286612,0.330031,-0.0764104,1.87228,0.18652,-0.00296064,0.757923,0.000396704,0.00119306,-0.000638396,-0.000464275,0.00299196,-0.0102277,0.0177548,0.118877,0.436526,0.141037,0.0124626,-0.0130411,0.00682556,0.00767019,-0.0571294,0.0514826,0.0491649,0.518983,0.459166,0.490539,0.528388,4.13589e-06,-4.42478e-06,-7.38533e-06,5.34692e-06,5.36192e-05,-2.91305e-05,0.493214,-0.467894,-1.60771,0.0151022,0.0397115,-0.0197078,1.4684,0.469249,0.166992,2.5729,0.453087,-0.294236,3.18703e-05,-5.23113e-05,0,0,0,0,0.119073,0.183225,-1.28948,-6.57371e-05,-0.0482086,-0.0151022,0.104184,0.0444886,0.0351193,-0.45542,-0.340485,0.688921,0.4495,4.31298e-06,8.34226e-06,1.19927e-06,-3.92926e-06,1.43408e-05,-8.56251e-05,4.14937,0.632513,-2.4595,-0.0608984,-0.0594355,0.0343464,-1.52252,0.548384,0.118765,-2.13401,0.477545,0.173851,-3.03931e-05,8.14188e-05,0,0,0,0,-0.388727,0.177697,-0.341559,0.0103599,0.0148394,0.0608984
2020-02-05.12:26:50.125,0.0885724,0.0718852,0.319403,-0.448997,-0.335874,0.693489,0.452398,0.000291158,0.00455485,-0.00466265,0.0220361,-0.0181353,0.0100605,-0.0666955,0.680837,-0.0669741,-0.004772,0.0079511,-0.00104599,0.247423,0.226235,0.0457155,-1.58575,0.37304,0.0148032,-0.37304,0.000302168,0.0102835,0.0079714,-0.00411971,0,-0.0157092,0,0.00312165,0.154548,-0.0270122,0.00194734,-0.00917435,-0.00439116,6.76041e-05,-0.0653316,0.0495285,0.303911,0.49424,0.47038,0.479406,0.551941,6.4704e-05,-0.000496793,-0.000578586,0.0161082,-0.00984201,0.00540041,-0.149909,-1.27249,-0.122547,0.0163374,0.00212137,0.00716653,-0.286612,0.330094,-0.0764471,1.87231,0.18652,-0.00296064,0.757923,0.000348493,0.00270288,-0.00267782,0.00092023,0.00294886,-0.0100226,0.0174937,0.120466,0.437766,0.14585,0.0121987,-0.0127907,0.00716995,0.0077774,-0.0571294,0.0514826,0.0491649,0.518983,0.459166,0.490539,0.528388,4.02173e-06,-4.28877e-06,-7.19601e-06,5.19595e-06,5.22396e-05,-2.82305e-05,0.506525,-0.49728,-1.60231,0.0140578,0.0389101,-0.0189983,1.4684,0.469249,0.166992,2.5729,0.453087,-0.294236,3.11256e-05,-5.08344e-05,0,0,0,0,0.122377,0.182281,-1.28667,-3.15443e-06,-0.047357,-0.0140578,0.104184,0.0444886,0.0351193,-0.45542,-0.340485,0.688921,0.4495,2.29037e-05,3.63705e-05,1.64146e-05,-1.99395e-05,0.000180572,-0.000372278,4.18521,0.667503,-2.42396,-0.0611394,-0.0596938,0.0339064,-1.52252,0.548384,0.118765,-2.13401,0.477545,0.173851,-2.9759e-05,0.00041317,0,0,0,0,-0.392503,0.174865,-0.299378,0.00973403,0.0148438,0.0611394
2020-02-05.12:26:50.145,0.0885786,0.0719613,0.31932,-0.448949,-0.335967,0.693413,0.452493,0.000235444,0.00402364,-0.00418377,0.0201504,-0.0171504,0.00973823,-0.0610281,0.678482,-0.0676441,-0.00464421,0.0078941,-0.0012713,0.247423,0.226424,0.0458421,-1.58568,0.37304,0.0148032,-0.37304,0.000302168,0.00934271,0.00691449,-0.00332039,0,-0.0157092,0,0.0036514,0.155711,-0.0246038,0.00256313,-0.00908043,-0.00470424,3.28019e-06,-0.0653407,0.0495298,0.303899,0.494208,0.469295,0.479345,0.552945,0.000181651,-0.000298134,-0.000716386,-0.000609428,-0.00625516,0.00643341,-0.141133,-1.23403,-0.142797,0.0193135,0.00525312,0.00722785,-0.286587,0.330125,-0.0764523,1.87231,0.189481,-0.00296064,0.757923,0,0.00299999,-0.00236632,0.000729742,0.000253568,-0.00982307,0,0.124704,0.432338,0.150605,0.0118468,-0.0168607,0.00738911,0.00782028,-0.0571294,0.0514826,0.0491649,0.518983,0.459166,0.490539,0.528388,3.91199e-06,-4.15866e-06,-7.01333e-06,5.05099e-06,5.09088e-05,-2.73697e-05,0.511119,-0.504021,-1.59607,0.0147005,0.039147,-0.0192171,1.4684,0.469249,0.166992,2.5729,0.453087,-0.294236,3.04034e-05,-4.94161e-05,0,0,0,0,0.124266,0.181809,-1.28104,0.000184593,-0.0476889,-0.0147005,0.104184,0.0444886,0.0351193,-0.45542,-0.340485,0.688921,0.4495,5.62794e-05,8.67199e-05,4.36915e-05,-4.86861e-05,0.000478599,-0.000887222,4.17635,0.612736,-2.48679,-0.0617018,-0.0607896,0.0346296,-1.52252,0.548384,0.118765,-2.13401,0.477545,0.173851,-2.91322e-05,0.00100883,0,0,0,0,-0.389671,0.180529,-0.349995,0.0105476,0.0158786,0.0617018
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2020-02-05.12:26:58.45,0.0883966,0.0817854,0.351691,-0.505736,-0.454327,0.42705,0.596193,0.00454202,0.00535542,0.0169877,0.00391986,-0.0115818,0.0143755,-0.0164695,0.0243246,0.0133213,-0.000382194,0.000272871,5.7184e-05,0.265234,0.0937187,0.124241,-1.59732,-0.032567,-0.0207245,-0.953326,-0.00269261,-0.0751247,0.0439785,-0.0143877,0,0,-0.0357329,0.00418115,0.00705601,-0.000364169,1.19731e-05,-0.000470697,-8.02096e-06,5.68835e-05,-0.0394619,0.0460598,0.309798,0.495244,0.478724,0.475226,0.547464,-0.00626043,-0.000996749,-0.00853844,0.017196,0.0778929,-0.0330892,0.00168002,0.00934195,0.00290071,5.08941e-05,2.32528e-05,3.38632e-05,-0.346585,0.339447,-0.109994,1.85226,0.174678,0.0858585,0.763845,0.0184462,0.0231389,-0.00834738,0.00260711,-0.0337781,0.0556708,0,-0.00190566,-0.00307435,-0.00106173,-2.92769e-05,-4.82581e-05,6.30108e-05,2.63635e-05,-0.0467297,0.0499985,0.052384,0.495926,0.474012,0.475411,0.550777,0.000199098,-0.00148995,-0.00126185,0.0195376,0.02666,-0.0218735,0.512062,-1.21396,0.614269,0.0267504,0.0327243,-0.0278088,1.45219,0.439084,0.176684,2.50475,0.396109,-0.301437,0.00278228,-0.00975548,-0.000587196,0.0113438,0.0186758,-0.0174761,0.245103,-0.0683615,0.406208,-0.000503815,-0.0441649,-0.0267504,0.104369,0.0479247,0.0479153,-0.500947,-0.446026,0.429828,0.60445,-0.00152506,0.00118462,0.00277337,0.070689,0.0989747,0.156458,2.44655,0.882614,1.19441,-0.0858819,-0.0742832,0.00792121,-1.39849,0.612189,0.124021,-2.77671,0.27341,0.306739,0.0100212,0.0193194,0.00323756,0.0138887,0.164734,-0.109767,-0.229184,0.0889574,1.50036,0.00272478,0.0461606,0.0858819
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