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
2020-02-05.16:36:34.592,0.0933447,0.0690978,0.390695,0.549605,0.396578,-0.504063,-0.535333,-0.000968196,-0.00771864,0.0049837,-0.164968,0.418326,0.279999,-0.00840799,-0.0187034,0.000372953,-0.000162905,0.000252724,-6.36996e-06,0.257752,-0.0263269,0.128128,-1.15434,-0.0207245,-0.470742,-0.8349,-0.000389824,-0.000354436,-0.0231922,0.00358833,0.514343,0,0.472849,0.000472907,-0.007184,-0.00608886,-0.000339911,-0.00025154,0.000492909,3.28019e-06,-0.264271,0.0442058,0.364066,0.254705,0.547673,0.508985,0.613281,-0.0109824,-0.0111185,-0.00388851,-0.0285028,-0.325505,-0.295762,0.0254925,0.00118088,0.00533692,0.000502265,4.4169e-05,9.73231e-05,0.227754,0.110882,0.0170069,1.16738,0.0414489,-0.189481,0.521072,0.0216643,0.0423193,-0.0525438,0.0129351,0.408988,0,-0.0978319,0.00127283,0.00573787,0.00994757,0.000762462,-0.000298723,6.30108e-05,0.000112129,-0.0874089,0.00733127,0.00390478,0.255886,0.55176,0.510851,0.607549,-0.00314708,-0.00425563,0.00107939,-0.00446991,-0.374934,-0.332608,7.46544,-4.57711,-1.38353,-0.04338,-0.124797,-0.0446085,1.56721,0.0691725,0.119434,2.19944,-0.093596,0.289748,0.00200491,-0.00408318,-0.00373302,-0.0586993,0.454272,0.211916,0.861088,0.0147139,-0.715814,-0.00707499,0.0644047,0.04338,0.0657693,0.0403881,0.0223216,0.547715,0.387456,-0.507555,-0.540624,-0.000480216,-0.00281114,0.000658439,-0.157074,0.385208,0.32757,3.20893,4.54065,0.93152,-0.0187238,-0.0875318,0.0131624,-1.5808,0.33546,0.148473,-2.48629,0.0864909,0.07045,-0.00011674,0.000612447,-1.97774e-07,0.287396,0.328891,-0.275907,-0.706396,-0.123924,0.88451,0.0139896,0.0571869,0.0187238
2020-02-05.16:36:34.600,0.0932988,0.0687128,0.390947,0.547047,0.392932,-0.513989,-0.531187,-0.00219768,-0.0102653,0.00662617,-0.31242,0.418789,0.284579,-0.00708685,-0.010816,-0.0113123,0.00019764,0.000543232,-3.78124e-05,0.257728,-0.0263584,0.126976,-1.15416,-0.00296064,-0.473702,-0.811215,0.00206852,0.000437636,-0.0317095,0.000546714,0.486187,0,0.597264,-0.00323533,-0.00451915,-0.00414823,0.00106763,-0.000188923,-8.02096e-06,-3.96024e-05,-0.26483,0.0436524,0.363808,0.253971,0.54004,0.50569,0.623003,-0.0140236,-0.0156193,-0.00794702,-0.0554629,-0.48274,-0.435675,-0.00608318,0.0213737,0.0187731,-0.000106102,0.000266706,-2.72339e-05,0.228844,0.113212,0.0143084,1.16799,0.065134,-0.189481,0.515151,0.0259075,0.0666152,-0.0754645,0.0183339,0.59757,0,-0.163288,-0.00243541,-0.0091552,-0.00279439,-0.000381161,-0.000173491,-6.22216e-05,-3.79604e-05,-0.087613,0.00710713,0.00394319,0.254036,0.543732,0.507318,0.618425,-0.00559607,-0.00573675,0.000499423,-0.277299,-0.528294,-0.483808,7.7428,-5.11382,-1.81305,-0.0418537,-0.12421,-0.0485761,1.5675,0.0689486,0.1192,2.19294,-0.0688648,0.302743,0.0118149,-0.00642439,-0.00629846,-0.34563,0.647009,0.283157,0.926699,-0.03296,-0.73831,-0.00982863,0.0625838,0.0418537,0.0657478,0.0402694,0.0223524,0.543009,0.385044,-0.517232,-0.537916,-0.000113207,-0.00206826,0.0010256,-0.600791,0.403379,0.32712,3.37028,4.45863,0.824562,-0.0244274,-0.0970532,0.0169798,-1.5808,0.335491,0.148476,-2.47308,0.100564,0.0596274,0.000166002,0.000777813,-0.000106947,0.718135,0.247019,-0.171008,-0.705924,-0.119675,0.892946,0.0160549,0.0651993,0.0244274
2020-02-05.16:36:34.609,0.0932988,0.0687128,0.390947,0.547047,0.392932,-0.513989,-0.531187,-0.00219768,-0.0102653,0.00662617,-0.31242,0.418789,0.284579,-0.00708685,-0.010816,-0.0113123,0.00019764,0.000543232,-3.78124e-05,0.257728,-0.0263584,0.126976,-1.15416,-0.00296064,-0.473702,-0.811215,0.00206852,0.000437636,-0.0317095,0.000546714,0.486187,0,0.597264,-0.00323533,-0.00451915,-0.00414823,0.00106763,-0.000188923,-8.02096e-06,-3.96024e-05,-0.26483,0.0436524,0.363808,0.253971,0.54004,0.50569,0.623003,-0.0140236,-0.0156193,-0.00794702,-0.0554629,-0.48274,-0.435675,-0.00608318,0.0213737,0.0187731,-0.000106102,0.000266706,-2.72339e-05,0.228844,0.113212,0.0143084,1.16799,0.065134,-0.189481,0.515151,0.0259075,0.0666152,-0.0754645,0.0183339,0.59757,0,-0.163288,-0.00243541,-0.0091552,-0.00279439,-0.000381161,-0.000173491,-6.22216e-05,-3.79604e-05,-0.087613,0.00710713,0.00394319,0.254036,0.543732,0.507318,0.618425,-0.00559607,-0.00573675,0.000499423,-0.277299,-0.528294,-0.483808,7.7428,-5.11382,-1.81305,-0.0418537,-0.12421,-0.0485761,1.5675,0.0689486,0.1192,2.19294,-0.0688648,0.302743,0.0118149,-0.00642439,-0.00629846,-0.34563,0.647009,0.283157,0.926699,-0.03296,-0.73831,-0.00982863,0.0625838,0.0418537,0.0657478,0.0402694,0.0223524,0.543009,0.385044,-0.517232,-0.537916,-0.000113207,-0.00206826,0.0010256,-0.600791,0.403379,0.32712,3.37028,4.45863,0.824562,-0.0244274,-0.0970532,0.0169798,-1.5808,0.335491,0.148476,-2.47308,0.100564,0.0596274,0.000166002,0.000777813,-0.000106947,0.718135,0.247019,-0.171008,-0.705924,-0.119675,0.892946,0.0160549,0.0651993,0.0244274
2020-02-05.16:36:34.629,0.093255,0.0685257,0.391071,0.54451,0.390994,-0.519343,-0.530015,-0.0021681,-0.0108486,0.00697742,-0.319595,0.435255,0.306938,0.0082218,0.00711202,0.00276782,0.000398101,0.000378896,-1.61269e-05,0.257777,-0.0263584,0.126423,-1.15424,0.00592128,-0.473702,-0.799372,0.00173607,0.000437636,-0.0333094,-0.00175819,0.497797,0,0.620118,-0.00429483,-0.00136581,0.00116053,-0.000691795,0.000280698,0.00014852,5.68835e-05,-0.265087,0.0433571,0.363666,0.252798,0.536572,0.503075,0.628569,-0.0151734,-0.0187837,-0.00902469,-0.0238695,-0.568164,-0.500558,0.0118711,-0.00829471,-0.0105107,-0.00012795,0.000251727,-5.72854e-05,0.229314,0.11444,0.0128961,1.16834,0.0769766,-0.189481,0.50923,0.0268559,0.0770238,-0.0888033,0.0179416,0.712854,0,-0.147415,0.00233232,0.00616511,0.00436839,-0.000117248,-0.000142182,-0.000343995,-4.86811e-05,-0.0876987,0.0070093,0.00395017,0.253147,0.540773,0.504991,0.623269,-0.00534388,-0.00561091,6.57967e-05,-0.00899203,-0.541748,-0.438668,7.80777,-5.30819,-1.92719,-0.0422554,-0.123639,-0.0437492,1.56772,0.0688173,0.119103,2.18874,-0.0577972,0.307277,0.0156673,-0.00978926,-0.00598153,-0.0765738,0.629542,0.326317,0.948412,-0.0513688,-0.682069,-0.00482202,0.06003,0.0422554,0.0657462,0.0402446,0.0223634,0.542677,0.383533,-0.520302,-0.536368,-0.000492811,-0.00140481,0.000303235,-0.0279411,0.129809,0.157717,3.39136,4.46026,0.77875,-0.0224191,-0.097026,0.0123609,-1.5808,0.335499,0.148474,-2.46658,0.103434,0.057696,-8.4262e-05,-0.000410451,0.000259132,0.0794329,0.163172,-0.0898386,-0.706396,-0.120619,0.867637,0.0112986,0.0652904,0.0224191
2020-02-05.16:36:34.649,0.093204,0.0682965,0.391214,0.543212,0.388654,-0.524196,-0.528287,-0.00260699,-0.0110596,0.00714173,-0.276187,0.428937,0.305798,-0.0045577,-0.0186322,0.0127961,-7.67296e-05,0.000395739,-2.98092e-05,0.257827,-0.0263269,0.125682,-1.15419,0.0177638,-0.473702,-0.78753,0.00290583,0.000752507,-0.0344224,-0.000569916,0.51694,0,0.57729,0.00471089,-0.00660271,-0.00467846,0.000275886,-0.000282848,0.000179828,-2.88818e-05,-0.265417,0.0429243,0.363466,0.251712,0.530942,0.500115,0.636103,-0.0168022,-0.0231355,-0.0106094,-0.0460129,-0.736811,-0.637506,0.00527622,0.0233751,0.0086646,5.50893e-05,0.000100802,-1.34166e-05,0.229884,0.116172,0.0108748,1.16865,0.0947404,-0.189481,0.503309,0.0282396,0.0916985,-0.107318,0.0158442,0.913577,0,-0.204268,0.00233232,-0.00566218,0.000934286,-2.92769e-05,-0.000110874,3.17027e-05,-1.65191e-05,-0.0878228,0.00688804,0.00394225,0.252616,0.535982,0.503352,0.628924,-0.00602104,-0.00644345,-0.000495277,-0.0803652,-0.601529,-0.515238,7.97284,-5.79975,-2.32653,-0.0447457,-0.128181,-0.0485738,1.56815,0.0685779,0.118966,2.18686,-0.043997,0.314401,0.0225194,-0.0137972,-0.00668435,-0.150919,0.723702,0.351665,0.994198,-0.0980988,-0.769243,-0.00707499,0.0643658,0.0447457,0.0657371,0.0401828,0.0223795,0.540159,0.381856,-0.525427,-0.535108,-0.000628239,-0.00350245,0.00115999,-0.432633,0.600258,0.426455,3.33656,4.55841,0.76111,-0.0166351,-0.0944866,0.0180464,-1.5808,0.335491,0.148474,-2.45945,0.110402,0.0514419,-8.4262e-05,-0.000457864,0.000164357,0.606989,0.403506,-0.383259,-0.706396,-0.135724,0.890134,0.0163052,0.0630711,0.0166351
2020-02-05.16:36:34.669,0.093153,0.0680674,0.391356,0.540651,0.386761,-0.529556,-0.526956,-0.00239624,-0.0109917,0.0069758,-0.309701,0.489092,0.360582,-0.00323734,-0.00304613,-0.0196348,0.000117627,0.00029673,0.000107063,0.257876,-0.0262954,0.124967,-1.15431,0.0296064,-0.473702,-0.775687,0.00228721,0.00102426,-0.0341655,-0.00244849,0.598585,0,0.663799,-0.00641382,-0.00152513,-0.00138986,0.000715741,-0.000157615,-0.000133253,0.000121207,-0.265774,0.0424305,0.363231,0.250594,0.52527,0.497095,0.643576,-0.0188049,-0.0260108,-0.0133823,-0.135818,-0.869977,-0.757514,0.0123138,0.0132706,0.0166206,0.000417506,0.000154947,-0.00011107,0.230479,0.118156,0.00857527,1.16885,0.112504,-0.189481,0.497387,0.0309826,0.10779,-0.122288,0.00919542,1.05015,0,-0.327407,-0.00137592,-0.00225145,0.00445853,0.000762462,-0.000298723,-0.000156146,-5.94017e-05,-0.0879624,0.00673219,0.00392968,0.251167,0.531066,0.499924,0.636365,-0.00760333,-0.00862999,-0.000935304,-0.133515,-0.76327,-0.675473,8.16222,-6.20937,-2.62411,-0.0461114,-0.130275,-0.0505074,1.56869,0.0682303,0.118811,2.18099,-0.0266441,0.322059,0.0307209,-0.022023,-0.00834406,-0.215406,0.937983,0.43509,1.03857,-0.136332,-0.741122,-0.00707499,0.0652873,0.0461114,0.0657268,0.0401237,0.0223989,0.538231,0.379319,-0.531277,-0.533075,-0.00033775,-0.00240289,0.000682683,-0.188029,0.351443,0.27007,3.34652,4.58705,0.737823,-0.0162335,-0.0946797,0.0156317,-1.5808,0.335476,0.148477,-2.44939,0.117097,0.045574,-8.01238e-05,-0.000419109,1.81165e-05,0.306783,0.271418,-0.235732,-0.708284,-0.148941,0.918255,0.013489,0.0625382,0.0155105
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2020-02-05.16:38:22.709,0.101319,0.0340857,0.391311,0.0273656,-0.13885,0.861992,0.486767,0.0041185,0.00969008,0.0167647,0.0300463,0.0145901,0.0160924,-0.0131669,-0.012791,-0.0325807,9.62116e-05,-0.00012796,-0.000316177,0.215913,0.0386401,0.0116159,-1.52338,1.41222,0.269418,-0.716474,-0.00116877,-0.0769013,0.0525392,-0.0236045,0.0366247,-0.0448443,-0.0275556,-0.00800307,0.0170361,0.0103818,0.0011556,-0.00025154,0.000179828,-0.000136088,-0.219589,0.0847481,0.413758,0.126015,0.0759102,0.604447,0.782944,0.00244109,-0.00592073,-0.0170901,-0.0643825,0.00332404,-0.0315111,-0.00805807,-0.0122022,-0.024038,-0.000438975,0.000229984,4.63708e-05,0.129681,-0.178021,0.232959,0.148451,1.04807,0.148032,-0.0177638,-0.0140075,0.0754029,-0.0315796,0.00623872,-0.0938694,-0.0160663,-0.0504743,-0.00190566,0.0158265,0.00712676,-0.000469132,-0.000173491,-0.000156146,-2.72398e-05,-0.069315,0.0225301,0.0239219,0.1236,0.0712507,0.602835,0.785007,0.001462,-0.00234876,-0.00533657,0.0261131,0.0115137,0.0316777,3.75919,-0.987485,-5.95725,0.0133348,0.0269436,-0.0374408,1.51484,0.261754,0.142165,2.59533,0.467024,1.1072,0.0242084,-0.0377624,-0.000101762,0.0443232,-0.0466482,0.0389883,0.935196,0.0411471,0.102503,-0.00682466,-0.0127683,-0.0133348,0.0677732,0.0251205,0.0229614,0.0282767,-0.138246,0.861858,0.487124,0.00185835,0.00622248,0.00357738,-0.032889,-0.0206738,-0.0305371,2.70001,-2.74042,-0.483526,0.0134093,-0.013589,0.0348315,-1.5354,0.290267,0.145712,-2.72995,0.811484,-1.29644,-0.00334138,0.0536747,6.15205e-05,0.0742834,0.0182351,0.0715201,-0.14186,0.469405,0.0521329,0.00904562,0.0126404,-0.0134093
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2020-02-05.16:38:29.9,0.179478,0.0286275,0.447375,0.104461,-0.0806077,0.94874,0.287199,0.00603982,-0.00728172,0.00954921,0.308194,-0.258208,-0.188279,0.022155,-0.0102992,0.0144962,-0.000270378,0.000459645,9.46163e-05,0.00156063,-0.150813,0.0534829,-1.48728,1.70829,0.219087,-0.550679,-0.0180132,-0.00793299,-0.0245085,0.0168749,-0.277862,-0.371411,-0.0152749,0.00312165,-0.00711224,-0.000599825,-0.000339911,-0.000470697,-8.02096e-06,-3.96024e-05,-0.211506,0.088496,0.392579,-0.00790806,0.254252,0.570662,0.780793,0.000361979,0.00310886,-0.00249285,0.00951635,-0.00445271,-0.000363592,-0.00387525,0.0173516,-0.0311292,-0.000163748,6.02865e-05,7.49594e-05,0.100971,-0.111921,0.232288,0.172469,0.544757,0.174678,-0.0769766,-0.000685899,0.00235531,0.0086599,-0.00342695,0,0,-0.00361148,0.00815955,0.00608808,0.00125655,-0.00029319,-4.82581e-05,-6.22216e-05,1.56429e-05,-0.0658933,0.023587,0.0158705,-0.00766565,0.253522,0.568058,0.782929,-4.1783e-05,4.14954e-05,-8.35754e-05,0.00569861,0.000293066,0.00750667,8.02902,0.142452,-5.59763,-0.0347844,-0.0556176,-0.0904503,1.57624,0.220777,0.14412,2.13339,0.355801,0.972539,0.000305696,0,-5.95086e-05,0.00787415,-0.00541165,0.00441284,1.19953,0.0756045,-0.268692,-0.00238129,0.0330007,0.0347844,0.099381,0.0238993,0.0454424,0.106089,-0.0733328,0.948823,0.288275,6.17742e-05,-0.00142153,0.00105118,0.158789,-0.102322,-0.0482512,0.683566,0.714792,2.25308,-0.0421006,0.0968599,0.10015,-1.36821,0.445787,0.125617,-2.2831,1.28015,-0.964809,0.0156699,-0.00729841,-6.41466e-05,0,-0.0154337,0.202497,0.150792,-0.113539,1.19103,0.0114238,0.0209285,0.0421006
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