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
2020-02-05.15:03:54.722,0.118113,0.0690594,0.339922,-0.537529,-0.276027,0.786633,0.126809,0.000740314,-0.00437189,0.0133413,-0.021891,-0.00762592,-0.00583137,0.00221854,-0.0117801,-0.0140651,-0.00015749,0.000122304,0.000229613,0.173008,0.136201,0.0894121,-1.57175,0.458899,-0.18652,0.236851,-0.000647332,-0.0418915,0.00410637,0.00234781,-0.0159827,-0.0110003,-0.0147269,-0.00323533,0.00145837,0.0054159,-0.00104368,-0.000188923,0.000524217,-0.000125368,-0.11673,-0.085138,0.365928,0.388151,0.262923,-0.146157,0.871119,-0.00513067,-0.043568,0.00500156,-0.0190143,-0.105686,-0.0887466,-0.0145904,0.0272805,-0.0400742,-0.000247676,-0.000114505,6.45242e-05,-0.132505,0.369332,-0.472001,1.6691,1.17537,0.488505,-0.355277,0.0203401,0.0911155,-0.184512,0.0679418,0.0858863,0.0443066,0.0832075,0.00339182,0.00389591,0.0132915,-0.000205219,7.69744e-05,-0.00025007,4.9222e-06,-0.111375,-0.0160468,0.0348098,0.383749,0.265148,-0.144911,0.872602,-0.000682007,-0.00536439,-0.000417625,0.229562,0.0033155,-0.0870738,-1.92482,-1.92546,4.82845,0.0133348,-0.000207105,-0.0478507,1.21526,0.0126576,0.104709,1.13652,0.640552,-0.6767,-0.355277,-0.0244139,-0.0438931,-2.88515e-05,0.109109,-0.0286467,-0.132272,0.0832075,-0.434606,-0.3157,0.901134,0.00256273,-0.0122881,-0.0133348,4.9222e-06,0.0882917,0.0442845,0.0379567,-0.536058,-0.274432,0.788206,0.12673,0.000174308,-0.00202359,0.00350634,0.222529,0.0935281,-0.0992979,2.41855,-0.723271,-0.884345,-0.00699519,-0.0166434,-0.0124115,-1.50003,0.469774,0.132933,-1.45189,0.314947,0.602034,-0.355277,0.025627,0.00414205,0.000562102,-0.258017,0.126877,-0.108424,0.0832075,-0.269306,0.10359,0.437388,-9.1441e-05,3.07082e-06,0.00619186,4.9222e-06
2020-02-05.15:03:54.733,0.118095,0.0688573,0.340474,-0.53749,-0.275378,0.786945,0.126445,-0.00141243,-0.0058543,0.0141546,-0.026994,-0.00386757,-0.0082549,0.0112481,0.00393168,-0.00575417,9.07316e-06,7.61284e-06,-5.28714e-05,0.173107,0.134532,0.089477,-1.57165,0.458899,-0.18652,0.236851,0.00483308,-0.0411329,-0.00124783,0.00083567,-0.0144397,-0.0103684,-0.0141603,-0.00482458,0.00146363,0.00321546,-0.000603824,-6.3691e-05,-8.02096e-06,-9.32057e-05,-0.116893,-0.0873738,0.366118,0.399304,0.260709,-0.143022,0.867256,-0.00319134,-0.0634846,0.00436338,0.589182,-0.123167,-0.230771,-0.0174837,0.0465521,-0.0433323,-0.000556832,-0.000451257,-0.000107335,-0.131663,0.374245,-0.481621,1.67375,1.17537,0.51219,-0.337513,0.0210022,0.143268,-0.275762,0.142283,0.0598692,0.660264,0.308477,-0.000316419,-0.00110465,0.0134094,-2.92769e-05,0.000139591,-0.000688384,-7.01224e-05,-0.111398,-0.0164584,0.0348448,0.391387,0.265224,-0.141417,0.869755,0.000675343,-0.0150213,0.00241509,0.723248,-0.223967,0.049925,-1.83247,-3.87039,6.66832,0.00843455,-0.00805196,-0.0400129,1.2133,0.0100318,0.104767,1.15267,0.640552,-0.677843,-0.337513,-0.069016,-0.089441,0.0044832,0.644006,0.0911455,-0.074323,0.308477,-0.544114,-0.548878,1.14016,0.0157051,-0.00344229,-0.00931821,-7.01224e-05,0.0883001,0.0442303,0.0380838,-0.536135,-0.274905,0.788001,0.126656,0.000349113,-0.00155576,0.00334767,-0.0157263,0.00391864,0.0252143,1.81618,-0.993152,-0.71191,-0.00562953,-0.0108075,-0.00332736,-1.4987,0.469913,0.132944,-1.45336,0.313991,0.602732,-0.337513,0.0350173,0.00220003,8.55977e-05,0.0124489,-0.0269839,0.0187715,0.308477,-0.198503,0.121999,0.538623,0.00491517,-0.00573782,0.00562953,-7.01224e-05
2020-02-05.15:03:54.753,0.118095,0.0688573,0.340474,-0.53749,-0.275378,0.786945,0.126445,-0.00141243,-0.0058543,0.0141546,-0.026994,-0.00386757,-0.0082549,0.0112481,0.00393168,-0.00575417,9.07316e-06,7.61284e-06,-5.28714e-05,0.173107,0.134532,0.089477,-1.57165,0.458899,-0.18652,0.236851,0.00483308,-0.0411329,-0.00124783,0.00083567,-0.0144397,-0.0103684,-0.0141603,-0.00482458,0.00146363,0.00321546,-0.000603824,-6.3691e-05,-8.02096e-06,-9.32057e-05,-0.116893,-0.0873738,0.366118,0.399304,0.260709,-0.143022,0.867256,-0.00319134,-0.0634846,0.00436338,0.589182,-0.123167,-0.230771,-0.0174837,0.0465521,-0.0433323,-0.000556832,-0.000451257,-0.000107335,-0.131663,0.374245,-0.481621,1.67375,1.17537,0.51219,-0.337513,0.0210022,0.143268,-0.275762,0.142283,0.0598692,0.660264,0.308477,-0.000316419,-0.00110465,0.0134094,-2.92769e-05,0.000139591,-0.000688384,-7.01224e-05,-0.111398,-0.0164584,0.0348448,0.391387,0.265224,-0.141417,0.869755,0.000675343,-0.0150213,0.00241509,0.723248,-0.223967,0.049925,-1.83247,-3.87039,6.66832,0.00843455,-0.00805196,-0.0400129,1.2133,0.0100318,0.104767,1.15267,0.640552,-0.677843,-0.337513,-0.069016,-0.089441,0.0044832,0.644006,0.0911455,-0.074323,0.308477,-0.544114,-0.548878,1.14016,0.0157051,-0.00344229,-0.00931821,-7.01224e-05,0.0883001,0.0442303,0.0380838,-0.536135,-0.274905,0.788001,0.126656,0.000349113,-0.00155576,0.00334767,-0.0157263,0.00391864,0.0252143,1.81618,-0.993152,-0.71191,-0.00562953,-0.0108075,-0.00332736,-1.4987,0.469913,0.132944,-1.45336,0.313991,0.602732,-0.337513,0.0350173,0.00220003,8.55977e-05,0.0124489,-0.0269839,0.0187715,0.308477,-0.198503,0.121999,0.538623,0.00491517,-0.00573782,0.00562953,-7.01224e-05
2020-02-05.15:03:54.773,0.118059,0.0687356,0.340785,-0.537472,-0.275,0.787123,0.126242,-0.0022493,-0.0051661,0.0132852,-0.0242814,-0.00274713,-0.00989629,-0.022462,-0.00290741,0.00905535,-0.000597273,0.000328663,0.000131004,0.17323,0.133618,0.0894698,-1.57164,0.458899,-0.18652,0.236851,0.00720547,-0.0385828,-0.000692053,0.000463468,-0.0136923,-0.0100425,-0.0138048,-0.00058659,-0.00859872,-0.00744035,-0.000867737,-0.000220232,-0.000446335,2.47215e-05,-0.116971,-0.0888628,0.366231,0.405101,0.258775,-0.141145,0.865452,-0.0030693,-0.0721807,0.00645491,0.541515,-0.256498,-0.154788,-0.0141415,0.0249573,-0.0252748,4.54677e-05,0.000503004,0.000655211,-0.131168,0.377583,-0.488088,1.67779,1.17537,0.524033,-0.32567,0.0224052,0.160036,-0.313553,0.195138,0.0516148,0.567819,0.487866,0.00127283,-0.000595119,0.00803463,-0.00134884,0.000296131,0.000470016,-8.08431e-05,-0.111371,-0.0167913,0.0349112,0.397557,0.264115,-0.138023,0.867837,0.00154975,-0.0145909,0.00338979,0.0896787,-0.137564,-0.115682,-1.67852,-3.91357,6.28358,0.0019276,-0.0138494,-0.0375619,1.21169,0.00796986,0.104889,1.16692,0.643148,-0.678327,-0.32567,-0.0844279,-0.112704,0.0057195,0.080447,0.105985,0.0137796,0.487866,-0.507297,-0.543685,0.943316,0.00894616,0.00248821,-0.0019276,-8.08431e-05,0.0883075,0.0441881,0.0381761,-0.535708,-0.274738,0.78835,0.126653,0.000281251,-0.00200669,0.00422651,-0.00676249,0.0425025,0.00732367,1.70378,-1.06905,-0.572087,-0.00177357,-0.00717307,-0.00244257,-1.49779,0.469967,0.13295,-1.45315,0.313991,0.602324,-0.32567,0.0418048,0.00203997,0.000321839,0,-0.00216218,-0.0143734,0.487866,-0.184814,0.125775,0.653919,0.00479,-0.00820981,0.00177357,-8.08431e-05
2020-02-05.15:03:54.793,0.118002,0.0686318,0.34104,-0.536632,-0.276253,0.786901,0.128441,-0.00263236,-0.00444356,0.0112589,-0.020097,-0.00278687,-0.0107415,-0.0239737,-0.00532591,0.0237641,3.80528e-05,-5.98582e-05,-0.000102668,0.173404,0.132894,0.0894578,-1.57163,0.458899,-0.18652,0.23093,0.00807088,-0.0321473,-0.00167169,0.00111953,-0.0130937,-0.00977137,-0.0121049,0.000472907,-0.00669027,-0.00238787,0.000715741,-0.000188923,0.000367676,-2.88818e-05,-0.117004,-0.0903699,0.366413,0.408845,0.257714,-0.14202,0.863863,-0.00123221,-0.0768009,0.0108579,0.326093,-0.183668,-0.217716,-0.0100013,-0.00332442,-0.0286743,0.000281529,0.000644902,0.00032122,-0.130771,0.380827,-0.494619,1.68261,1.17537,0.532915,-0.319749,0.0190171,0.161776,-0.332125,0.272761,0.0457846,0.389443,0.390744,0.00815955,0.00840273,0.0100029,-0.000645074,-0.000110874,0.000595249,-2.72398e-05,-0.111387,-0.017265,0.0349971,0.403002,0.262105,-0.136906,0.866111,-0.00138628,-0.0231472,0.00414963,0.543164,-0.152339,-0.0829835,-1.75472,-5.87697,8.14604,0.00747055,-0.0204761,-0.0563476,1.20936,0.00495799,0.10499,1.17426,0.645744,-0.68028,-0.319749,-0.135181,-0.155314,0.0043557,0.516056,0.0671937,-0.0943337,0.390744,-0.629078,-0.783944,1.00518,0.0123256,-0.00193074,-0.00546224,-2.72398e-05,0.0883031,0.0441388,0.0382822,-0.535513,-0.274956,0.788342,0.127052,-0.000599888,-0.00291216,0.0053829,0.242495,0.0263805,-0.103283,1.7187,-1.1187,-0.456657,-0.00169323,-0.00610455,-0.00819158,-1.49674,0.470013,0.132968,-1.45441,0.313717,0.601893,-0.319749,0.0491185,0.00275835,0.00128468,-0.282337,0.0526855,-0.0799528,0.390744,-0.182454,0.125303,0.774838,-0.000341772,-0.00597029,0.00169323,-2.72398e-05
2020-02-05.15:03:54.813,0.117962,0.0685565,0.341236,-0.536592,-0.275968,0.787036,0.128393,-0.00206876,-0.00483979,0.00898996,-0.0155823,-0.0021972,-0.0109758,-0.0174055,-0.0171641,0.00302591,0.000323253,4.64872e-05,-0.000115758,0.173528,0.132327,0.0894198,-1.57146,0.458899,-0.18652,0.23093,0.00581691,-0.0235336,-0.00542533,0.00359697,-0.0125502,-0.00951693,-0.0121049,0.000472907,-0.00752369,-0.00238787,0.000715741,-6.3691e-05,-3.93291e-05,5.68835e-05,-0.116988,-0.0919182,0.366649,0.410026,0.256165,-0.142943,0.863612,0.00278906,-0.0745933,0.0123329,0.131159,-0.158115,-0.191923,0.0010798,-0.0106636,-0.0148794,0.000428262,0.000479534,9.4577e-05,-0.130474,0.38407,-0.501334,1.6883,1.17537,0.535876,-0.313828,0.00998803,0.155222,-0.324412,0.279974,0.0410962,0.204986,0.319213,0.00445132,0.00857784,0.00636441,-0.000117248,-0.000173491,0.000595249,-1.65191e-05,-0.111396,-0.0176779,0.0350769,0.405841,0.261223,-0.136894,0.865052,0.00169934,-0.0260074,0.00487656,0.29002,-0.0838355,-0.161417,-1.36771,-6.24191,8.30482,0.00570324,-0.023852,-0.0564283,1.20641,0.00149049,0.105099,1.18034,0.646017,-0.680667,-0.313828,-0.15506,-0.195261,0.00806931,0.236824,-0.00111715,0.00119876,0.319213,-0.598397,-0.851442,1.19359,0.0116372,-0.00452832,-0.00570324,-1.65191e-05,0.0882868,0.0440949,0.0383762,-0.53521,-0.275712,0.788028,0.128627,-0.000651427,-0.00192546,0.00528527,0.00815217,0.0958554,-0.0335279,1.92287,-1.06568,-0.443009,-0.000568575,-0.0083708,-0.00672597,-1.49591,0.47006,0.132998,-1.45818,0.314537,0.600408,-0.313828,0.0462461,0.00293942,0.00159728,-0.0261026,0.0321968,-0.0736365,0.319213,-0.201807,0.117279,0.819832,0.00222412,-0.00679133,0.000568575,-1.65191e-05
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