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
2020-02-04.18:16:21.322,0.069961,0.0497817,0.360627,-0.354356,-0.360406,0.744624,0.435976,-0.000518697,-0.00178731,0.00345237,-0.0125538,0.0245375,-0.00156691,0.109689,-0.00526372,0.0195775,-0.0127615,-0.0065451,0.00953669,0.296273,0.134532,0.00789976,-1.69393,0.595088,-0.0207245,-0.532915,0.00145438,-0.00774696,-0.00283894,0.00600736,0.0148233,0.0100219,0,0.0115976,0.0170236,0.0314006,-0.0352644,-0.0012534,0.000649449,-0.000597077,-0.00325468,0.0663746,0.358032,0.461249,-0.330556,0.650428,-0.504902,-0.00018235,-0.000215632,0.000404798,0.019308,0.00451336,0.00234203,-0.20093,-0.188392,0.336655,-0.0259641,0.0164166,-0.00955161,-0.470618,0.19805,-0.0330547,1.73778,0.331592,0.0296064,3.69488,0.000398748,-0.00123956,7.40258e-05,0.00510537,0,0.00121946,0.0218828,-0.11898,-0.0405154,0.0141264,0.0673565,-0.000298723,-0.00256687,0.0019132,-0.0721101,0.023936,0.0404314,0.458481,-0.334512,0.643275,-0.513901,1.53919e-06,-1.89191e-05,-1.73359e-05,0.00127329,0.00102393,8.2448e-05,-0.371832,-0.70399,-0.725309,-0.0142193,-0.0133436,-0.000585497,1.40017,0.312624,0.142851,-0.781305,-0.156176,-0.0217947,3.69488,3.41567e-05,-0.000166754,-7.02372e-06,0.00128956,0,0.000695209,0.0218828,-0.00129171,0.111478,-0.673632,0.000372341,0.0167114,0.0142193,0.0019132,0.092648,0.0347045,0.0400625,-0.353655,-0.363235,0.740304,0.441518,-1.31534e-06,9.70443e-06,-1.19312e-05,6.12345e-05,-0.000272109,-5.33131e-05,0.817273,1.89079,0.633635,0.0334925,0.0549102,0.00584696,-1.44801,0.456885,0.127644,-2.2051,0.587674,0.0339791,3.69488,-0.000140167,2.24417e-05,0,0,0,0.000177741,0.0218828,-0.177262,-0.102211,0.926691,0.0122373,-0.0625143,-0.0334925,0.0019132
2020-02-04.18:16:21.330,0.0699363,0.0496914,0.36075,-0.355458,-0.359184,0.746012,0.433709,-0.000298868,-0.00172603,0.00231057,-0.0095593,0.0286354,-0.00865243,0.121328,0.0119191,-0.00411418,-0.0129561,-0.00692988,0.00965693,0.296322,0.134311,0.00769942,-1.69395,0.595088,-0.0207245,-0.526994,0.000495342,-0.00428376,-0.00367982,0.0154531,0.0143794,0.00968978,0,0.00735964,0.0286705,0.0409093,-0.0359682,-0.000940318,0.000555525,-0.000661401,-0.00327566,0.0664007,0.358069,0.461268,-0.330607,0.650448,-0.504825,-0.000775368,0.000936577,0.00088029,0.0195081,0.00383316,0.00363154,-0.171717,-0.0798042,0.337659,-0.0260598,0.0161862,-0.00966683,-0.470618,0.197861,-0.032892,1.73797,0.331592,0.0296064,3.69488,0.000317416,-0.00535429,0.00535429,0.00381998,0,0.00082684,0.0209819,-0.115272,-0.0150853,0.00919524,0.0674445,-0.000549188,-0.0026921,0.00182743,-0.0721121,0.0239351,0.0404293,0.458483,-0.334516,0.643273,-0.513899,1.03185e-06,9.48994e-06,2.41372e-05,0.00121891,0.000692604,0.000272685,-0.364569,-0.737835,-0.703496,-0.0133356,-0.0130513,0.000420277,1.40018,0.312616,0.142849,-0.781305,-0.156176,-0.0217947,3.69488,-0.000131169,0.000142344,9.7987e-06,0.00128956,0,0.000658175,0.0209819,-0.0060119,0.11431,-0.653948,0.00118592,0.016375,0.0133356,0.00182743,0.0926487,0.0347046,0.0400624,-0.353583,-0.363223,0.740345,0.441517,1.28227e-06,-1.5568e-05,1.6922e-05,6.5309e-05,4.95538e-06,0.000176504,0.869892,1.88519,0.598087,0.0328498,0.0532414,0.00564255,-1.44802,0.456892,0.127644,-2.2051,0.58781,0.0338677,3.69488,0.000206383,-4.62082e-05,0,0,0,0.000165655,0.0209819,-0.18151,-0.0984345,0.926691,0.0117993,-0.0613179,-0.0328498,0.00182743
2020-02-04.18:16:21.350,0.0699363,0.0496914,0.36075,-0.355458,-0.359184,0.746012,0.433709,-0.000298868,-0.00172603,0.00231057,-0.0095593,0.0286354,-0.00865243,0.121328,0.0119191,-0.00411418,-0.0129561,-0.00692988,0.00965693,0.296322,0.134311,0.00769942,-1.69395,0.595088,-0.0207245,-0.526994,0.000495342,-0.00428376,-0.00367982,0.0154531,0.0143794,0.00968978,0,0.00735964,0.0286705,0.0409093,-0.0359682,-0.000940318,0.000555525,-0.000661401,-0.00327566,0.0664007,0.358069,0.461268,-0.330607,0.650448,-0.504825,-0.000775368,0.000936577,0.00088029,0.0195081,0.00383316,0.00363154,-0.171717,-0.0798042,0.337659,-0.0260598,0.0161862,-0.00966683,-0.470618,0.197861,-0.032892,1.73797,0.331592,0.0296064,3.69488,0.000317416,-0.00535429,0.00535429,0.00381998,0,0.00082684,0.0209819,-0.115272,-0.0150853,0.00919524,0.0674445,-0.000549188,-0.0026921,0.00182743,-0.0721121,0.0239351,0.0404293,0.458483,-0.334516,0.643273,-0.513899,1.03185e-06,9.48994e-06,2.41372e-05,0.00121891,0.000692604,0.000272685,-0.364569,-0.737835,-0.703496,-0.0133356,-0.0130513,0.000420277,1.40018,0.312616,0.142849,-0.781305,-0.156176,-0.0217947,3.69488,-0.000131169,0.000142344,9.7987e-06,0.00128956,0,0.000658175,0.0209819,-0.0060119,0.11431,-0.653948,0.00118592,0.016375,0.0133356,0.00182743,0.0926487,0.0347046,0.0400624,-0.353583,-0.363223,0.740345,0.441517,1.28227e-06,-1.5568e-05,1.6922e-05,6.5309e-05,4.95538e-06,0.000176504,0.869892,1.88519,0.598087,0.0328498,0.0532414,0.00564255,-1.44802,0.456892,0.127644,-2.2051,0.58781,0.0338677,3.69488,0.000206383,-4.62082e-05,0,0,0,0.000165655,0.0209819,-0.18151,-0.0984345,0.926691,0.0117993,-0.0613179,-0.0328498,0.00182743
2020-02-04.18:16:21.370,0.0699248,0.0496629,0.360788,-0.354385,-0.360127,0.744741,0.435982,8.51229e-05,-0.00164388,0.00153158,-0.00853726,0.0150625,0.00787623,0.132793,-0.0137446,0.0111851,-0.0124749,-0.00682295,0.00877097,0.296347,0.134248,0.00763092,-1.69375,0.595088,-0.0207245,-0.532915,-0.000725644,-0.00222449,-0.00385765,-0.00452959,0.0141706,0.00953418,0,0.0137166,0.0214218,0.0410896,-0.0342088,-0.000846394,0.00030506,-0.00105806,-0.00328243,0.0664008,0.358096,0.461268,-0.33058,0.650462,-0.504825,-0.000621034,0.000581827,0.000940102,0.0183027,0.00394473,0.00273872,-0.150115,-0.0743338,0.34069,-0.0258893,0.0157055,-0.00951958,-0.470618,0.197767,-0.0328502,1.73794,0.331592,0.0296064,3.69488,0.000287127,-0.0047881,0.00401041,0.00471997,0,0.000662924,0.0205475,-0.113683,-0.01882,0.00129779,0.0668287,-0.000862269,-0.00291126,0.0019132,-0.0721122,0.0239346,0.0404302,0.45848,-0.334515,0.643275,-0.513899,-1.3456e-06,3.79567e-07,3.61424e-05,0.00122039,0.000582042,0.000206789,-0.369468,-0.766545,-0.740657,-0.0155046,-0.0141191,-0.000301659,1.40017,0.312616,0.142849,-0.781305,-0.156176,-0.0217947,3.69488,-0.000247669,0.000128458,9.52923e-06,0.00128956,0,0.00064112,0.0205475,-0.00553988,0.117142,-0.690505,0.000747837,0.0174713,0.0155046,0.0019132,0.0926487,0.0347046,0.0400624,-0.353583,-0.363223,0.740345,0.441517,1.28227e-06,-1.5568e-05,1.6922e-05,1.03099e-05,0.000144042,0.000145527,0.828579,1.89712,0.669993,0.0328498,0.0560844,0.00657846,-1.44802,0.456892,0.127644,-2.2051,0.58781,0.0338677,3.69488,0.000206383,-4.62082e-05,0,0,0,1.29157e-05,0.0205475,-0.178206,-0.103627,0.963248,0.0124251,-0.063815,-0.0328498,0.0019132
2020-02-04.18:16:21.390,0.0699212,0.0496342,0.360814,-0.354404,-0.360113,0.744774,0.435923,7.99908e-05,-0.00116639,0.000950461,-0.00579666,0.0250123,-0.00633047,0.128662,-0.0126507,-0.00421528,-0.012044,-0.00618826,0.00849382,0.296347,0.134217,0.00755721,-1.69385,0.595088,-0.0207245,-0.532915,-0.000619778,-0.00115397,-0.00286143,0.0129094,0.0139627,0.00937978,0,0.0137166,0.023248,0.0456431,-0.0326253,-0.00115948,0.000179828,-0.000800769,-0.00328892,0.0663741,0.358125,0.461291,-0.330608,0.650507,-0.504727,0.000170099,-0.00131399,0.00160716,0.0132565,0.00421578,-0.00123734,-0.157701,-0.0809132,0.335258,-0.0252043,0.0159762,-0.00947525,-0.470593,0.197704,-0.0328924,1.73812,0.331592,0.0296064,3.69488,0,-0.00295888,-0.00268117,0.00862715,0,0.000523403,0.0201423,-0.11898,-0.0138299,0.00528628,0.0653332,-0.000643112,-0.00294257,0.00189176,-0.0721122,0.0239346,0.0404302,0.45848,-0.334515,0.643275,-0.513899,-1.1595e-06,-9.54441e-07,3.53067e-05,0.00122148,0.000572516,0.00020141,-0.416179,-0.713019,-0.720707,-0.0134963,-0.0113754,6.88613e-05,1.40017,0.312616,0.142849,-0.781305,-0.156176,-0.0217947,3.69488,-0.000246996,0.00011708,9.22156e-06,0.00128956,0,0.000624884,0.0201423,0.000124354,0.115726,-0.662384,0.000935585,0.0151614,0.0134963,0.00189176,0.0926485,0.0347034,0.0400627,-0.353561,-0.363194,0.740363,0.441529,-1.26597e-07,1.93444e-05,-1.70959e-05,-2.9482e-05,-0.000105093,-0.000188142,0.841565,1.91248,0.621123,0.0325285,0.0554019,0.00699842,-1.44801,0.456885,0.127644,-2.2051,0.58781,0.033786,3.69488,-0.0002237,7.55038e-05,0,0,0,-5.6192e-05,0.0201423,-0.181982,-0.103155,0.929503,0.0125502,-0.0632649,-0.0325285,0.00189176
2020-02-04.18:16:21.410,0.0699201,0.0496121,0.360845,-0.35441,-0.360065,0.744798,0.435915,2.79511e-05,-0.00118825,0.000966125,-0.00606803,0.0208578,-0.00146997,0.124235,-0.0583077,0.0280293,-0.0122037,-0.00636753,0.00889566,0.296347,0.134154,0.007515,-1.69383,0.595088,-0.0207245,-0.532915,-0.000493897,-0.00110718,-0.00298441,0.00657916,0.0136641,0.00915875,0,0.0147761,0.0041878,0.0331957,-0.033329,-0.00109686,0.00030506,-0.000618518,-0.00327935,0.0663252,0.358172,0.46131,-0.330572,0.650567,-0.504657,0.000556736,-0.00186544,0.00106566,0.0125973,0.00434572,-0.00166329,-0.183681,-0.124284,0.315452,-0.0246752,0.0154855,-0.00924208,-0.470593,0.197641,-0.0330135,1.7382,0.331592,0.0296064,3.69488,-1.36187e-05,0.000205325,-0.00577988,0.00943514,0,0,0.0195604,-0.110504,-0.0235177,0.0142371,0.0645415,-0.000392647,-0.00300518,0.00182743,-0.0721122,0.0239346,0.0404302,0.45848,-0.334515,0.643275,-0.513899,-2.34468e-07,-4.59121e-07,3.06748e-05,0.00122263,0.000586423,0.000212154,-0.391069,-0.760278,-0.724264,-0.0122913,-0.0109916,0.000698099,1.40017,0.312616,0.142849,-0.781305,-0.156176,-0.0217947,3.69488,-0.000213488,0.000103551,8.80235e-06,0.00128956,0,0.000602383,0.0195604,-0.00742796,0.118558,-0.67082,0.00131108,0.014563,0.0122913,0.00182743,0.0926485,0.0347034,0.0400627,-0.353561,-0.363194,0.740363,0.441529,-1.26597e-07,1.93444e-05,-1.70959e-05,-2.9482e-05,-0.000105093,-0.000188142,0.882262,1.90966,0.637848,0.0312432,0.0544865,0.00630586,-1.44801,0.456885,0.127644,-2.2051,0.58781,0.033786,3.69488,-0.0002237,7.55038e-05,0,0,0,-5.6192e-05,0.0195604,-0.184342,-0.102211,0.96606,0.0112986,-0.062697,-0.0312432,0.00182743
2020-02-04.18:16:21.430,0.0699211,0.0496099,0.360855,-0.354413,-0.360056,0.744805,0.435909,0.000119732,-0.000715791,0.000862284,-0.00511158,0.0196586,-0.0006561,0.139432,0.0146591,-0.0456303,-0.0116607,-0.00591756,0.00846663,0.296347,0.134122,0.0075202,-1.69383,0.595088,-0.0207245,-0.532915,-0.000450014,-0.00169526,-0.00137115,0.00528302,0.0135252,0.00905624,0,0.000472907,0.0407289,0.0562123,-0.0317456,-0.00119078,0.000367676,-0.000618518,-0.00327047,0.0663022,0.358177,0.461318,-0.330571,0.650586,-0.504625,0.000663386,-0.00188933,0.000704833,0.0130253,0.00467067,-0.00165108,-0.193037,-0.128072,0.319109,-0.0248871,0.0153246,-0.00923251,-0.470593,0.197672,-0.0330976,1.73826,0.331592,0.0296064,3.69488,-2.35557e-05,0.00155121,-0.0064487,0.00926381,0,0.000267841,0.0192897,-0.113153,-0.0226895,0.0169678,0.0648933,-0.000643112,-0.00316173,0.00192392,-0.0721127,0.023935,0.0404315,0.458478,-0.334511,0.643277,-0.513901,1.05506e-05,6.33164e-06,-8.11877e-06,0.00123966,0.000882308,0.000273726,-0.38591,-0.708644,-0.679019,-0.0132553,-0.0125084,0.000189923,1.40016,0.312624,0.142849,-0.781305,-0.156176,-0.0217947,3.69488,8.11457e-05,0,8.60689e-06,0.00128956,0,0.000591739,0.0192897,-0.00223575,0.112894,-0.625827,0.000998168,0.0160213,0.0132553,0.00192392,0.0926485,0.0347034,0.0400627,-0.353561,-0.363194,0.740363,0.441529,-1.26597e-07,1.93444e-05,-1.70959e-05,-2.9482e-05,-0.000105093,-0.000188142,0.858978,1.8979,0.629306,0.0340548,0.056156,0.00546796,-1.44801,0.456885,0.127644,-2.2051,0.58781,0.033786,3.69488,-0.0002237,7.55038e-05,0,0,0,-5.6192e-05,0.0192897,-0.18151,-0.0989065,0.946375,0.0121748,-0.0641253,-0.0340548,0.00192392
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