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_position_7,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_velocity_7,PSM1_joint_effort_1,PSM1_joint_effort_2,PSM1_joint_effort_3,PSM1_joint_effort_4,PSM1_joint_effort_5,PSM1_joint_effort_6,PSM1_joint_effort_7,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_position_7,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_velocity_7,PSM2_joint_effort_1,PSM2_joint_effort_2,PSM2_joint_effort_3,PSM2_joint_effort_4,PSM2_joint_effort_5,PSM2_joint_effort_6,PSM2_joint_effort_7
2020-02-04.18:55:21.863,0.06693,0.0640181,0.346353,-0.482928,-0.426489,0.617136,0.451698,0.0628294,0.0193489,0.0122205,0.020839,0.0694507,0.160238,0.0126478,0.0377041,0.0122691,-0.000418139,7.69485e-05,0.000117702,0.308114,0.161677,0.0357701,-1.75288,0.248694,-0.074016,-0.609892,-0.141977,-0.13554,0.151361,0.00812384,0.134644,0.0583249,0,0.00471089,0.0136253,0.00626839,-0.000515853,-0.000314156,-0.000101945,6.76041e-05,-0.0325414,0.0636775,0.366856,0.464573,-0.347532,0.60389,-0.546544,-0.00142343,-0.000651539,-0.000458798,5.68512e-05,0.00290084,-0.00461204,-0.00777525,0.0066317,0.00106665,-0.000105991,-0.000135221,-5.78912e-05,-0.40356,0.132926,0.0142658,1.55259,0.263497,0.130268,3.79554,0.00431623,0.000714564,-0.000581313,0.00114068,0,0,0,-0.00137592,0.00350025,0.00337039,-0.000117248,-0.000173491,0.000125627,-9.15637e-05,-0.0765391,0.00641788,0.0237591,0.461787,-0.347892,0.606645,-0.545624,-0.000534151,-8.37561e-05,-8.15211e-05,0.000586158,0.000858727,-0.00124491,-4.72557,2.57015,-1.52411,0.0061049,0.0253259,-0.0156625,1.43077,0.138638,0.13239,-0.692816,0.00587537,-0.151649,3.79554,-0.000334627,-0.000264581,-0.000543538,0.000436189,-0.000752252,0.00114475,0,0.617998,0.21721,-1.14606,-0.0117687,0.0156013,-0.0061049,-9.15637e-05,0.08705,0.00741523,0.0309246,-0.486071,-0.421257,0.617321,0.452983,0.0232459,0.00699817,0.000434155,-0.0183139,0.0929468,0.058214,3.98385,-1.34907,-1.61522,-0.00876251,-0.0844044,-0.00335828,-1.37614,0.19469,0.123908,-2.38145,0.126389,0.124985,3.79554,0.00458309,0.0986455,-0.0216719,0.0382036,0.140224,-0.00388472,0,-0.147053,0.407571,-0.920848,0.00779397,0.0479117,0.00876251,-9.15637e-05
2020-02-04.18:55:21.879,0.0689522,0.064625,0.346843,-0.479099,-0.428341,0.617949,0.452909,0.0694128,0.0205251,0.019028,0.00717179,0.190475,0.204771,0.0195463,0.045617,0.0239406,-0.000440868,-8.87267e-05,3.80615e-06,0.30368,0.157174,0.0405363,-1.75249,0.254615,-0.0710553,-0.615813,-0.156022,-0.166009,0.169434,0.000772349,0.247551,0.127696,0,0.00735964,0.00547671,-0.0024191,-7.59979e-05,-0.000157615,-0.000101945,1.40009e-05,-0.0325774,0.063649,0.366837,0.464585,-0.347638,0.603921,-0.546432,-0.00134715,-0.000976906,-0.000705786,3.71903e-05,0.00315374,-0.00499538,0.00172713,0.00123797,-0.000638051,0.000254975,-3.39371e-05,-0.000128884,-0.403436,0.132989,0.0142028,1.55278,0.263497,0.130268,3.79554,0.00455284,0.00216397,-0.00203809,0.00136491,0,0,0,0.000213329,-7.50624e-05,-0.000621638,-0.000117248,0.000108283,-0.000281378,-0.000113005,-0.0765529,0.006415,0.0237563,0.461784,-0.347897,0.606649,-0.545619,-0.000399454,-6.86934e-05,-4.95144e-05,0.000562297,0.000785684,-0.00118001,-4.69702,2.63681,-1.55438,0.00546224,0.0248181,-0.0157039,1.43076,0.138623,0.132376,-0.692816,0.00587537,-0.151649,3.79554,-0.000344242,-0.000185625,-0.00040463,0.000422511,-0.000752252,0.0011194,0,0.62319,0.208714,-1.16575,-0.0118939,0.0158372,-0.00546224,-0.000113005,0.0877749,0.00764343,0.0309608,-0.481981,-0.423031,0.617219,0.455829,0.0257233,0.00824545,0.00153799,0.425072,0.192204,0.0219382,3.65062,-1.93602,-1.50992,-0.0141448,-0.087752,-0.0114928,-1.37598,0.198196,0.123243,-2.38942,0.13404,0.122258,3.79554,0.00817451,0.128066,-0.0234938,-0.402479,0.269847,-0.0920593,0,-0.0701133,0.415595,-0.763371,-2.88584e-05,0.0552779,0.0141448,-0.000113005
2020-02-04.18:55:21.899,0.0696225,0.0648181,0.347036,-0.477861,-0.427775,0.61907,0.453222,0.071272,0.0221169,0.0207656,0.00258943,0.20631,0.207591,0.00257261,0.0489437,0.0145116,-0.000361119,8.37442e-05,4.96915e-05,0.302045,0.155379,0.0423314,-1.7525,0.257576,-0.0680947,-0.615813,-0.159705,-0.177183,0.179428,-0.00757251,0.259907,0.147007,0,0.00418115,0.0147985,0.00333329,-0.000427882,-0.000282848,-7.06372e-05,3.28019e-06,-0.032603,0.0636395,0.366832,0.464585,-0.347663,0.60393,-0.546406,-0.00175058,-0.00112673,-0.000791373,3.49638e-05,0.00373807,-0.00600889,0.00820137,0.0212115,0.0108896,0.000496871,-2.86206e-05,5.93456e-05,-0.403362,0.132989,0.0142028,1.55278,0.263497,0.130268,3.79554,0.00572118,0.00216397,-0.00204043,0.00136648,0,0,0,-0.00402466,0.0043442,-0.00203204,-0.000733045,0.000296131,-9.35298e-05,-2.72398e-05,-0.0765529,0.006415,0.0237563,0.461784,-0.347897,0.606649,-0.545619,-0.000399454,-6.86934e-05,-4.95144e-05,0.000562297,0.000785684,-0.00118001,-4.69702,2.63681,-1.55438,0.00546224,0.0248181,-0.0157039,1.43076,0.138623,0.132376,-0.692816,0.00587537,-0.151649,3.79554,-0.000344242,-0.000185625,-0.00040463,0.000422511,-0.000752252,0.0011194,0,0.62319,0.208714,-1.16575,-0.0118939,0.0158372,-0.00546224,-2.72398e-05,0.0880405,0.00774099,0.0309856,-0.480852,-0.423533,0.617135,0.456669,0.0256357,0.0104233,0.00337416,0.114808,0.144877,0.0518683,3.45587,-2.1778,-1.55496,-0.0184024,-0.0935517,-0.00814183,-1.37587,0.199609,0.123004,-2.39172,0.136363,0.121834,3.79554,0.0131157,0.146446,-0.0228206,-0.0909103,0.212,-0.019922,0,-0.0328237,0.410875,-0.797116,0.00366352,0.0623993,0.0184024,-2.72398e-05
2020-02-04.18:55:21.919,0.0710809,0.0652563,0.347504,-0.475404,-0.427808,0.621247,0.452796,0.0750451,0.0221182,0.0256986,-0.00393236,0.263867,0.248586,-0.0040394,0.0341139,0.0070042,-0.000540076,0.000114106,-6.42143e-06,0.298775,0.151632,0.0459999,-1.75257,0.263497,-0.065134,-0.615813,-0.168362,-0.197634,0.188923,-0.00161748,0.325512,0.15635,0,0.00100266,0.00938645,0.000720442,-0.000603824,-0.00040808,-0.000133253,-7.17644e-05,-0.0326338,0.0636205,0.366819,0.464586,-0.347703,0.603944,-0.546364,-0.00195973,-0.00100427,-0.000683552,6.2978e-05,0.00357094,-0.00587189,0.00318024,-0.00892291,0.00472591,-0.000274526,0.00013389,-5.05658e-05,-0.403263,0.13302,0.0141713,1.5528,0.263497,0.130268,3.79554,0.00606601,0.00133404,-0.00121467,0.000813463,0,0,0,-0.000846168,-0.00382022,-0.00258643,0.000674491,-7.95662e-05,-6.22216e-05,4.78048e-05,-0.0765617,0.00641115,0.0237547,0.461774,-0.347968,0.606671,-0.545559,-0.000448562,-2.22569e-05,-0.000140911,0.000641258,0.00176965,-0.00137553,-4.67708,2.6033,-1.61798,0.00690823,0.02702,-0.0168093,1.43075,0.138608,0.132367,-0.692816,0.00573873,-0.151538,3.79554,0.000440716,-0.000127814,-0.0004677,0.000406659,-0.00132717,0.00155982,0,0.616582,0.20777,-1.23324,-0.0126448,0.0133135,-0.00690823,4.78048e-05,0.0885739,0.00795245,0.0310749,-0.478882,-0.422833,0.619184,0.456614,0.0275048,0.0107182,0.00501678,-0.0646163,0.267827,0.167428,2.99574,-2.5355,-1.64315,-0.0214551,-0.0949678,-0.00463366,-1.37553,0.202753,0.122536,-2.39005,0.142102,0.120095,3.79554,0.0206837,0.163334,-0.0239892,0.110563,0.306385,-0.0920068,0,0.0304269,0.396714,-0.889915,0.00716814,0.0675777,0.0214551,4.78048e-05
2020-02-04.18:55:21.939,0.0727244,0.065737,0.348093,-0.471781,-0.427963,0.624407,0.452091,0.0823684,0.0243461,0.0292395,-0.00148266,0.330622,0.333222,0.00681452,0.0577644,0.0343666,-0.000343319,4.66909e-05,0.000164488,0.295084,0.147223,0.0501458,-1.75266,0.272379,-0.0621734,-0.615813,-0.185495,-0.220243,0.207671,-0.0116351,0.42733,0.163579,0,0.0115976,0.0167997,0.00271645,-0.000603824,-0.00025154,5.45953e-05,7.83248e-05,-0.0326766,0.0636047,0.36681,0.464586,-0.347745,0.603958,-0.546321,-0.00175907,-0.000906782,-0.000621272,6.28855e-05,0.00322342,-0.00529091,0.0152914,-0.00068494,-0.00851847,-0.000161794,0.000283615,-8.56597e-05,-0.403139,0.13302,0.0141713,1.5528,0.263497,0.130268,3.79554,0.00545367,0.00123237,-0.00111721,0.000748193,0,0,0,0.00498106,-0.00248253,-0.00470027,0.000498549,0.000108283,0.000125627,-3.79604e-05,-0.0765731,0.00641056,0.0237525,0.461774,-0.347968,0.606671,-0.545559,-0.000749319,3.00212e-05,-0.000147896,0.000540517,0.00135646,-0.000848388,-4.61524,2.61719,-1.5977,0.00369492,0.0241514,-0.0157822,1.43075,0.138608,0.132355,-0.692816,0.00573873,-0.151538,3.79554,0.000359658,0.000532845,-0.00076131,0.000397619,-0.00132717,0.00154412,0,0.617054,0.201162,-1.21074,-0.0120816,0.0157416,-0.00369492,-3.79604e-05,0.0891344,0.00818255,0.0311994,-0.476422,-0.422224,0.621342,0.456819,0.0292274,0.0112246,0.00690013,0.0161562,0.343259,0.200465,2.39646,-2.74607,-1.73057,-0.0243471,-0.094584,-0.00267235,-1.375,0.206297,0.122055,-2.389,0.148661,0.118014,3.79554,0.0321358,0.183909,-0.0249277,0.0396123,0.38456,-0.135659,0,0.0903734,0.361313,-1.0249,0.00873271,0.0724331,0.0243471,-3.79604e-05
2020-02-04.18:55:21.959,0.0753561,0.0665317,0.349027,-0.464566,-0.426663,0.630694,0.452065,0.0930055,0.0282356,0.0329577,-0.0152571,0.532191,0.377502,-0.000154038,0.0342256,0.0160264,-0.000586573,-3.43686e-05,3.76515e-05,0.289139,0.140169,0.0568054,-1.75294,0.290143,-0.0532915,-0.615813,-0.211094,-0.249014,0.23467,0.00735734,0.60102,0.272394,0,0.00471089,0.00938645,0.000720442,-0.000603824,-0.000314156,-0.000383718,3.28019e-06,-0.0327365,0.0635825,0.366797,0.464587,-0.347804,0.603979,-0.546261,-0.00176314,-0.000835745,-0.000565008,6.94455e-05,0.00305648,-0.00506043,-0.000451821,-0.00905136,0.00275027,3.63951e-05,-5.03166e-05,-1.09453e-05,-0.402966,0.13302,0.0141713,1.5528,0.263497,0.130268,3.79554,0.00536986,0.000926081,-0.000816406,0.000546747,0,0,0,-0.000846168,-0.00307435,-0.00112064,-0.000117248,-1.695e-05,3.94597e-07,-2.72398e-05,-0.0766064,0.00641055,0.0237471,0.461796,-0.347986,0.606655,-0.545545,-0.00159635,-0.000174883,-0.000393052,0.000734358,0.0016623,-0.00204822,-4.55897,2.67986,-1.66425,0.00281126,0.0228877,-0.0152617,1.43075,0.138623,0.132321,-0.692816,0.00573873,-0.151456,3.79554,0.000283925,-0.000890674,-0.00164871,0.000385166,-0.00132717,0.00120573,0,0.62083,0.190305,-1.26698,-0.0117687,0.0165582,-0.00281126,-2.72398e-05,0.0901443,0.00852154,0.0314455,-0.470423,-0.421531,0.626658,0.456415,0.0349343,0.0106022,0.00890834,0.0342041,0.477929,0.378476,1.79737,-3.28069,-1.62652,-0.0273997,-0.0927872,-0.00209743,-1.37376,0.212483,0.121198,-2.38606,0.164374,0.113124,3.79554,0.0486402,0.211824,-0.0294433,0.0700447,0.596444,-0.19004,0,0.173449,0.347624,-0.934908,0.00892046,0.0760748,0.0273997,-2.72398e-05
2020-02-04.18:55:21.979,0.0773485,0.0671578,0.349712,-0.458533,-0.425791,0.635794,0.451902,0.0986401,0.0321608,0.0323269,-0.0223024,0.623588,0.390705,-0.0239713,0.0137704,0.0250693,-0.000584551,-8.31473e-05,0.000158951,0.28468,0.134973,0.0617648,-1.75268,0.301985,-0.0473702,-0.615813,-0.22548,-0.257635,0.250857,0.0130473,0.673173,0.334542,0,0.00735964,0.00156697,-0.00591212,-7.59979e-05,-0.00025154,-0.000101945,2.47215e-05,-0.0327673,0.0635635,0.366785,0.464588,-0.347844,0.603993,-0.546219,-0.00140386,-0.000539794,-0.000363749,9.22927e-05,0.00215227,-0.00361906,-0.000540577,-0.0121698,-0.00521554,-0.000125387,0.000115847,-3.9602e-05,-0.402867,0.133052,0.0141398,1.55282,0.263497,0.130268,3.79554,0.00411692,0.000247242,-0.000141014,9.44371e-05,0,0,0,0.00233232,-0.00340877,-0.00050381,5.86941e-05,1.43582e-05,0.000282168,-7.01224e-05,-0.0766304,0.00640724,0.0237422,0.461811,-0.34808,0.606659,-0.545468,-0.000926647,-4.46351e-05,-0.00020355,0.00061377,0.000731081,-0.00122754,-4.54777,2.69753,-1.55329,0.00498024,0.0237488,-0.0162266,1.43075,0.138615,0.132297,-0.692816,0.0056021,-0.151263,3.79554,0.0002479,0,-0.000949522,0.000377004,-0.00133502,0.000740694,0,0.617526,0.189833,-1.1545,-0.0125823,0.0154619,-0.00498024,-7.01224e-05,0.0908533,0.00873729,0.0316342,-0.466185,-0.421156,0.630512,0.4558,0.0365065,0.010676,0.0106024,0.00328518,0.504217,0.413607,1.7603,-3.70891,-1.63146,-0.0271587,-0.0965334,-0.00159607,-1.37268,0.216785,0.120603,-2.38355,0.175715,0.110247,3.79554,0.0624322,0.225408,-0.0302829,0.10984,0.627191,-0.185233,0,0.211211,0.373585,-0.887103,0.0102973,0.0801042,0.0271587,-7.01224e-05
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