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
2020-02-05.13:30:47.579,0.125031,0.084707,0.274889,-0.527894,0.137678,0.827131,0.135008,0.000268436,-0.000451304,-0.00010199,0.000843765,0.0234128,-0.0176523,-0.00367985,0.00642358,-0.00274866,-1.26207e-05,0.000588094,-5.93212e-05,0.146279,0.354752,0.034489,-1.37043,0.00296064,0.242772,0.92964,-0.000874935,0.000731005,-0.00147461,-0.00107052,0,0.0312001,0,-0.00111634,-0.00244084,-0.00306715,-0.00104368,-0.000345464,8.59034e-05,-6.10438e-05,-0.126867,0.127799,0.279175,0.281123,0.440341,0.255235,0.813588,0.0353287,0.00353383,0.0249052,0.510569,-0.10248,0.279453,-0.014669,-0.0025668,0.0314228,0.000382673,0.000236771,-0.000166387,-0.157921,0.299327,0.175042,1.22176,0.535876,0.165796,-0.37304,-0.110489,-0.0908374,0.04262,0.0198929,0.0429374,0.11017,0.577621,-0.00614365,-0.00955612,-0.0096903,0.000498549,-0.000110874,0.0004074,-0.000145167,-0.113694,0.0240815,0.0370691,0.284046,0.442504,0.246878,0.813978,0.015719,-0.00257998,0.0150862,0.63059,0.121661,0.304036,5.04567,9.16521,-4.04072,-0.0229755,-0.0396229,0.0815913,1.38404,0.4236,0.104192,1.70059,0.421114,-0.334242,-0.140173,0,0.018784,0.793554,-0.102091,0.0758661,0.263983,1.06024,1.32295,0.0119501,0.018281,0.0229755,0.0900549,0.0207939,0.0350037,-0.534031,0.144559,0.821387,0.138693,6.33114e-05,-0.00013416,7.44603e-05,0.000870871,0.000673274,0.000793045,0.939153,-2.78037,-0.242536,-0.0617018,-0.0765427,0.0320332,-1.39992,0.303689,0.123797,-1.10066,0.115048,-0.225153,0.00125312,-0.000536814,-6.09375e-05,-0.000849554,0,-4.93052e-05,-0.13714,0.20413,-0.743687,0.00973403,0.0732161,0.0617018
2020-02-05.13:30:47.586,0.125024,0.0846693,0.274858,-0.527904,0.137684,0.827125,0.134995,-0.000566154,-0.000586101,-0.000870683,0.00191732,0.0259218,-0.0207256,-0.01729,0.00512991,2.32218e-06,8.84552e-05,-9.28243e-05,5.72347e-05,0.146279,0.354909,0.0343052,-1.37046,0.00296064,0.242772,0.92964,0.00112061,0.00410999,-0.00388886,0.00260437,0,0.0296003,0,-0.00164609,-0.00643813,-0.00385719,1.19731e-05,-1.0748e-06,0.000242444,5.68835e-05,-0.125535,0.128021,0.28014,0.286052,0.436169,0.268303,0.809904,0.0296504,0.00299186,0.0214062,0.668296,-0.154413,0.366569,-0.00158858,0.00296881,0.00895352,-0.000179055,-1.88161e-05,4.61628e-05,-0.162133,0.295737,0.176948,1.22272,0.535876,0.165796,-0.343434,-0.0930881,-0.0780491,0.0362979,0.0371455,0.0337256,0.0693112,0.778602,-0.00243541,-0.00224092,-0.00129738,-0.000381161,-1.695e-05,3.94597e-07,-5.94017e-05,-0.11324,0.0242471,0.0376944,0.289859,0.442122,0.258807,0.808411,0.0101211,0.00997641,0.0152596,0.450255,-0.199096,0.560925,6.37102,3.87299,-2.80489,-0.0386404,-0.0696066,0.0746214,1.37954,0.426642,0.104858,1.73183,0.418791,-0.327774,-0.0746632,0.127721,0.0174658,0.727462,-0.0335802,0.412225,0.422582,0.591522,1.33138,0.0113243,0.0317748,0.0377568,0.0900629,0.0207892,0.0350055,-0.534024,0.14452,0.821405,0.138657,0.000593342,-0.000219979,9.10209e-05,0.000642806,0.00214639,0.000754382,1.07771,-2.74683,-0.275577,-0.0621838,-0.0781542,0.0332711,-1.39988,0.303681,0.123789,-1.10066,0.115048,-0.225072,0.00256996,0.000231607,-0.000568326,-0.000785613,-6.31926e-05,-0.000114549,-0.147053,0.192802,-0.752123,0.010485,0.0738012,0.0621838
2020-02-05.13:30:47.606,0.125014,0.084665,0.274852,-0.52789,0.137694,0.827131,0.135007,-0.000592125,-0.00030042,-0.000529011,0.00183106,0.0248267,-0.0199823,0.00788601,0.000219988,0.000504148,-0.000117445,0.000219617,1.4823e-05,0.146303,0.354941,0.0342737,-1.37044,0.00296064,0.242772,0.92964,0.00135028,0.00254198,-0.00232383,0.00155627,0,0.0291124,0,0.00100266,0.00230232,0.000779356,-0.000515853,-3.23829e-05,2.32872e-05,1.40009e-05,-0.125266,0.128039,0.280332,0.288336,0.434536,0.273218,0.808327,0.0278886,0.00172667,0.0201518,0.847253,-0.196266,0.456155,-0.00286154,0.00782141,0.00597437,-0.000358714,-0.000345412,9.74172e-05,-0.162975,0.295044,0.177247,1.22311,0.535876,0.165796,-0.331591,-0.0871452,-0.0726154,0.0308751,0.0466188,0.0321666,0.063285,0.991019,-0.00137592,-0.00241076,-0.000153859,-0.000908987,0.000264823,-3.09135e-05,-0.000155888,-0.113142,0.0243453,0.0378467,0.290665,0.441225,0.262656,0.80737,0.0102083,0.0100002,0.0151226,0.690862,-0.260634,0.584728,6.10018,2.74623,-2.34384,-0.0370338,-0.0722939,0.0710196,1.37883,0.428056,0.105042,1.74064,0.419611,-0.323378,-0.0598341,0.138738,0.0179379,0.952206,0.153827,0.422691,0.406061,0.460301,1.25264,0.013014,0.0356032,0.0370338,0.0900657,0.0207891,0.0350058,-0.53402,0.144522,0.821408,0.138657,0.000340378,-0.000210542,-2.12197e-05,0.000795383,0.000564922,0.000947119,1.12284,-2.73539,-0.271928,-0.0611394,-0.0784746,0.0329087,-1.39987,0.303689,0.123787,-1.10066,0.115048,-0.225072,0.00128519,-0.00074777,-0.000362929,-0.000770817,-5.23045e-05,-0.00011996,-0.151301,0.190442,-0.740875,0.0101721,0.073622,0.0611394
2020-02-05.13:30:47.626,0.124995,0.0846717,0.274844,-0.527875,0.137697,0.827136,0.135032,-0.00120071,9.8423e-05,0.000143265,0.00126849,0.0238503,-0.0200342,0.00319477,-0.00188991,-0.00348174,-0.000380437,0.00071639,-2.7607e-05,0.146353,0.354972,0.0342685,-1.37043,0.00296064,0.242772,0.92964,0.0032099,-0.00015159,-6.31265e-05,4.22758e-05,0,0.0281374,0,-0.00164609,0.00155118,0.000807046,-0.00121962,-0.000126307,-0.000383718,-2.88818e-05,-0.12473,0.128039,0.280715,0.293967,0.432138,0.282328,0.804445,0.0233116,-0.000815424,0.0169235,1.13786,-0.309916,0.615995,-0.0041613,0.0106366,0.0293843,-0.000336266,-0.000136159,-0.000161885,-0.164635,0.29369,0.177733,1.22443,0.535876,0.168756,-0.307906,-0.0719617,-0.0592327,0.0191577,0.0667793,0.0291852,0,1.35684,-0.0077329,-0.0073185,-0.00405575,-2.92769e-05,-1.695e-05,-0.000531843,-5.94017e-05,-0.112945,0.0245538,0.0381271,0.293467,0.438439,0.27296,0.804451,0.00819038,0.00972098,0.0123912,0.974052,-0.339004,0.767072,5.21857,0.2604,-1.44507,-0.0383191,-0.0761269,0.0633566,1.37794,0.431013,0.105392,1.7637,0.423846,-0.312538,-0.0342465,0.148975,0.0153902,1.30995,0.254238,0.594039,0.369716,0.19833,0.965812,0.015267,0.0444307,0.0383191,0.0900655,0.0207883,0.0350054,-0.534022,0.144519,0.821407,0.138655,0.000117896,-1.53973e-05,-0.000134392,0.000695283,-0.000982623,-0.000464252,1.15694,-2.76994,-0.241925,-0.0624248,-0.0795223,0.0331281,-1.39987,0.303681,0.123787,-1.10066,0.115048,-0.225072,-0.000779763,-0.000303003,-0.000153459,-0.000744655,-3.5609e-05,-0.000127493,-0.155077,0.19233,-0.715566,0.0100469,0.0743819,0.0624248
2020-02-05.13:30:47.646,0.124975,0.0846642,0.274848,-0.527856,0.137724,0.827142,0.135044,-0.000658387,2.28085e-05,0.000147315,0.00112927,0.0224122,-0.0182108,-0.019231,0.00929924,0.0177451,0.000437666,0.000139697,5.64975e-05,0.146402,0.354972,0.0342422,-1.37042,0.00296064,0.242772,0.92964,0.00176291,-0.000311325,4.48813e-06,-3.0057e-06,0,0.0272622,0,0.00471089,-0.00910299,-0.00467846,0.000275886,-0.00040808,2.32872e-05,5.68835e-05,-0.1243,0.127995,0.28102,0.300689,0.430393,0.290817,0.799858,0.0202287,-0.00334131,0.013671,0.688885,-0.0917937,0.320667,-2.80519e-05,0.0249569,0.0320366,-0.000121981,-0.00017827,-0.000131834,-0.165948,0.29265,0.177983,1.2256,0.535876,0.174678,-0.284221,-0.0610996,-0.0451219,0.00664252,0.0644912,0.0267558,0.0967661,0.789751,-0.00879239,-0.0075759,-0.000327067,0.000322607,7.69744e-05,-0.000500535,6.92461e-05,-0.112832,0.0247182,0.0383264,0.298181,0.43519,0.284273,0.800554,0.00348471,0.00751333,0.00799437,0.944932,-0.242165,0.583377,4.14499,-1.10701,-0.526063,-0.0327761,-0.0774551,0.0507927,1.3775,0.433825,0.105632,1.79096,0.429858,-0.302085,-0.0128031,0.128413,0.00906591,1.16223,0.279273,0.412257,0.297497,0.0227383,0.971437,0.0128889,0.0513399,0.0327761,0.090065,0.0207896,0.0350032,-0.534029,0.144521,0.821401,0.138661,4.36209e-05,5.89056e-05,-0.000213297,0.000659844,-0.00183661,-0.00103791,1.11609,-2.68943,-0.185817,-0.0596131,-0.0773799,0.0326986,-1.39989,0.303681,0.123787,-1.10066,0.115048,-0.225072,-0.00182421,-0.000239527,-9.41709e-05,-0.000717898,-2.12531e-05,-0.000132978,-0.149885,0.189498,-0.648076,0.0103599,0.0725694,0.0596131
2020-02-05.13:30:47.666,0.124964,0.0846499,0.274845,-0.527835,0.137749,0.827149,0.135052,0.000274744,-0.000330721,-0.000626118,0.00191204,0.021424,-0.0162785,-0.0157166,0.00323726,-0.00238943,4.37198e-05,0.00036313,-2.83849e-05,0.146427,0.355004,0.0341845,-1.37038,0.00296064,0.242772,0.92964,-0.000952419,0.00258634,-0.00213759,0.00143154,0,0.0264192,0,-0.00270558,-0.00544013,-0.00315376,-0.000427882,-0.00025154,-0.000101945,-2.88818e-05,-0.123913,0.127873,0.281259,0.303641,0.431293,0.29205,0.797807,0.0204356,-0.00948529,0.011546,0.48779,0.204556,0.0947147,-0.00698422,0.0309351,-0.00371815,-0.000465752,-0.000227637,0.000277437,-0.167087,0.291926,0.177892,1.22686,0.535876,0.180599,-0.2783,-0.0585494,-0.0314806,-0.0160629,0.0641527,0.0247882,0.347253,0.455846,0.00233232,-0.00367143,0.00483617,-0.000908987,0.000170899,-0.000218762,0.000101408,-0.112759,0.0248814,0.0384673,0.301652,0.433301,0.291113,0.797816,0.00324341,0.00760928,0.00645346,0.466682,-0.0379018,0.137951,2.61383,-2.03114,0.634304,-0.0305268,-0.0703443,0.039287,1.37741,0.436149,0.105807,1.80795,0.433821,-0.29723,-0.00118995,0.0957588,0.00794058,0.451256,0.177738,-0.00889853,0.18138,-0.132556,1.10923,0.0106985,0.0549802,0.0305268,0.0900652,0.0207904,0.0350029,-0.533969,0.144567,0.821427,0.138692,6.86537e-05,8.85713e-05,-6.60964e-05,0.000496969,-0.000514797,-0.00122528,1.13685,-2.66333,-0.194135,-0.0608984,-0.0792485,0.0322248,-1.39991,0.303681,0.123787,-1.10066,0.115185,-0.225183,-0.000793953,0.000579398,-6.8411e-05,-0.000693471,0,-0.000144648,-0.148941,0.185249,-0.648076,0.00929595,0.0740977,0.0608984
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2020-02-05.13:31:13.226,0.124891,0.0967722,0.285875,-0.229606,0.0288069,0.957869,-0.17011,0.0300218,0.0407684,0.0538499,-0.137772,1.38082,1.35666,0.0259785,0.0334944,0.0224321,-0.000256751,0.00269619,0.000295688,0.153091,0.300492,0.0937455,-1.49977,0.817136,0.630616,1.07767,-0.0558426,-0.264142,0.248329,-0.016553,1.7263,0.613246,0.162139,0.00418115,-0.0107488,-0.0165438,-0.00253919,-0.000564621,-0.00235613,0.000110487,-0.0708039,0.103521,0.244606,0.301394,0.728573,0.177207,0.589017,0.000144692,-0.00118481,-0.00184318,0.000273531,-0.0145593,-0.00347401,0.00409669,-0.00158372,0.0108542,0.000303035,5.88633e-05,-4.50714e-05,-0.285547,0.483993,-0.0169092,1.4422,0.0828979,0.642459,-0.301985,0.00105712,0.00772131,-0.00772131,0.002261,0.0123194,-0.0136217,-0.00488386,-0.00296516,0.0020085,-0.000150324,0.00058652,-1.695e-05,3.17027e-05,-1.65191e-05,-0.091353,0.0152076,0.0240219,0.301861,0.728637,0.176547,0.588897,0.000106643,-0.000239973,3.55579e-05,-0.00698391,-0.00252442,-0.000830435,1.63176,-0.12176,0.955834,-0.00747133,-0.0259403,0.0124381,1.43297,0.222052,0.118992,1.81591,-0.211377,-0.485395,-0.00142209,-0.00197166,8.30086e-05,-0.0077169,-0.00107741,0.00321571,0.162971,-0.0117192,0.47651,0.000309759,0.0135444,0.00739099,0.089725,0.0252886,0.0383053,-0.245455,0.037792,0.954551,-0.164792,0.00458705,0.00502162,0.0179632,-0.480079,0.347303,1.15684,-2.37127,-2.46885,1.30603,-0.0780093,-0.0740245,0.0436763,-1.4076,0.311157,0.127526,-0.457753,0.62074,0.530005,0.195261,0.116011,-0.000197215,1.35686,-0.561723,0.977263,0.131439,0.419371,0.552684,0.0235022,0.0633675,0.0780093
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