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
2020-02-05.15:31:55.230,0.097576,0.0949607,0.374146,-0.328413,-0.50122,0.426037,0.677802,-0.0098954,-0.0645642,0.10491,0.877021,-0.532236,-0.788457,-0.00140618,-0.0220943,-0.00987474,-0.00106109,-0.000491977,2.87678e-05,0.256241,-0.0213197,0.20354,-1.94414,0.263497,0.313828,-1.35597,0.0267378,-0.267798,-0.108838,0.00828809,-0.778592,-0.0299875,-1.18895,-0.00535432,-0.006186,-0.00562108,-0.00113165,-0.000846394,-0.00035241,-7.17644e-05,-0.084704,0.110094,0.341399,-0.0237465,0.472479,0.466777,0.747207,0.000359945,-0.00154792,-0.000705099,-0.00129201,0.00299625,-0.00343235,0.0113038,-0.00459329,-0.0056788,-0.000564977,-0.000304085,-4.91152e-05,-0.291269,0.0930259,0.19828,1.38938,0.103622,-0.358237,-0.148032,0.000426169,0.00531958,-0.00630484,0.00422235,0,0,0,-0.000316419,0.00433368,0.00272233,-0.00108493,0.000202207,-0.000124838,-0.000102284,-0.106724,-0.0152685,0.0106948,-0.0226746,0.473985,0.467634,0.74575,1.2595e-05,-0.000126563,9.82398e-05,0.000354646,-0.000957567,-0.00019134,2.69221,-1.97556,-0.640088,-0.0244215,-0.0357944,-0.0473923,1.38338,-0.0846952,0.101652,1.78803,-0.0877206,0.850337,-0.148032,-0.00159367,-0.000619373,4.43407e-05,0.000288225,-0.000869808,0.000692297,0,0.222918,-0.0914905,0.766154,-0.00225613,0.03677,0.0256265,-0.000102284,0.129057,-0.0261917,0.0216219,-0.324095,-0.492258,0.432194,0.682534,0.000312811,-0.0349976,0.041948,1.27197,-0.590736,-0.808764,-5.3965,-0.423592,-0.482614,-0.101707,0.0289381,-0.040352,-1.14731,-0.193354,0.0856925,-3.09062,-0.370695,0.139736,-0.148032,0.56152,-0.0667348,0.022788,-1.70527,0.00147748,1.84321,0,-0.0507605,-0.400527,1.51442,-0.00616196,0.0264373,0.103153,-0.000102284
2020-02-05.15:31:55.248,0.0971869,0.0930545,0.377339,-0.327244,-0.507633,0.414548,0.680712,-0.0159432,-0.0609589,0.104735,0.725368,-0.330855,-0.362312,0.0137805,-0.0236073,-0.0156467,-0.000830218,0.000761415,-0.000130097,0.257356,-0.0294131,0.200273,-1.9439,0.248694,0.307906,-1.38558,0.0470549,-0.262529,-0.107212,0.0107327,-0.38203,-0.205372,-1.03437,-0.00535432,-0.00710698,-0.00232896,0.000803712,-0.000971626,0.000336368,-6.10438e-05,-0.0846964,0.110074,0.341385,-0.0237275,0.472497,0.46676,0.747207,5.69574e-05,-0.000612383,-0.000148811,-0.000800294,0.00106754,-0.00143915,0.0109243,-0.00178077,-0.00369784,8.01295e-05,8.75805e-07,-7.48352e-05,-0.291269,0.0931204,0.198186,1.38944,0.103622,-0.358237,-0.148032,0.000358897,0.00150777,-0.0022155,0.00148372,0,0,0,0.000213329,0.00383467,0.00316596,0.000322607,4.56663e-05,-0.000156146,-4.86811e-05,-0.106712,-0.0152749,0.0106964,-0.0226616,0.473983,0.467619,0.745761,0.000445329,-0.000104772,2.15909e-06,0.000336489,0.000596233,0.000770613,2.67586,-1.90533,-0.699194,-0.0249035,-0.0364431,-0.0475312,1.38336,-0.0847338,0.101665,1.78803,-0.0877206,0.850337,-0.148032,0.00023233,-0.000560807,0.000454399,0.000280667,-0.000869808,0.000692297,0,0.227166,-0.0976268,0.732409,-0.00319487,0.0354121,0.0249035,-4.86811e-05,0.128988,-0.0272146,0.02283,-0.323823,-0.500378,0.418219,0.685458,-0.00180051,-0.0313324,0.0388562,0.642091,-0.399554,-0.427936,-1.89121,-0.174062,0.887437,-0.100984,-0.00628026,-0.0482571,-1.13064,-0.195014,0.0864457,-3.12333,-0.369055,0.186998,-0.148032,0.521412,-0.0339645,0.023356,-0.891581,0.0633774,1.27477,0,-0.104571,-0.136196,1.52566,-0.0067252,0.0323521,0.100984,-4.86811e-05
2020-02-05.15:31:55.268,0.0970044,0.0924321,0.378424,-0.326087,-0.50893,0.410517,0.68274,-0.0185617,-0.0603879,0.104723,0.574922,-0.199423,-0.252178,-0.015132,-0.0100581,-0.0466154,-0.00120272,0.000116585,2.4257e-06,0.257901,-0.0321213,0.199168,-1.94375,0.245733,0.307906,-1.39742,0.0552046,-0.259188,-0.109288,0.0172633,-0.232919,-0.192285,-0.898002,-0.0159493,0.00055844,-0.00215575,-0.000427882,-0.00112817,0.00014852,-6.10438e-05,-0.0846964,0.110074,0.341385,-0.0237275,0.472497,0.46676,0.747207,4.1052e-05,-0.000541548,-0.000123072,-0.000726149,0.00093992,-0.00128546,0.0127878,-0.00157861,-0.011869,-3.75399e-05,4.76117e-06,-5.84986e-05,-0.291269,0.0931204,0.198186,1.38944,0.103622,-0.358237,-0.148032,0.000340586,0.00129071,-0.00193709,0.00129727,0,0,0,0.00233232,0.0051671,0.00348822,5.86941e-05,1.43582e-05,-0.000124838,-4.86811e-05,-0.106711,-0.015277,0.0106954,-0.0226527,0.473987,0.467613,0.745763,0.000128223,-0.000194215,-0.000117834,0.000655838,0.00143633,-0.000703738,2.74089,-1.93467,-0.72394,-0.0241805,-0.0378135,-0.0487594,1.38336,-0.084757,0.101667,1.78803,-0.0877206,0.850337,-0.148032,0.000222501,-0.00228747,0.000144308,0.000278203,-0.000869808,0.000692297,0,0.232358,-0.100931,0.732409,-0.0030697,0.0366474,0.0241805,-4.86811e-05,0.128957,-0.0275332,0.0232245,-0.32282,-0.502302,0.414995,0.686483,-0.00315635,-0.0305031,0.0383007,0.635387,-0.198979,-0.223236,-0.890531,-0.414673,1.28059,-0.0992171,-0.0168675,-0.0494236,-1.12542,-0.195238,0.0866933,-3.13214,-0.367552,0.198106,-0.148032,0.504771,-0.0143827,0.0240616,-0.793554,0.166212,0.958437,0,-0.0927702,-0.0602009,1.56785,-0.00697553,0.0343685,0.0992171,-4.86811e-05
2020-02-05.15:31:55.288,0.096592,0.0912383,0.380526,-0.323169,-0.510473,0.406827,0.685179,-0.0217843,-0.0585185,0.103854,0.483835,-0.055416,-0.278315,-0.00978459,-0.0161117,-0.0150699,-0.000760143,-0.000109162,0.000144546,0.25914,-0.0372859,0.196969,-1.94317,0.245733,0.304946,-1.41519,0.0656738,-0.252755,-0.109931,0.0414837,-0.145554,-0.0995994,-0.826742,-0.00641382,-0.00376801,-0.00582551,-0.000691795,-0.000627237,0.00014852,4.61628e-05,-0.0846993,0.110058,0.341374,-0.0237069,0.472515,0.466741,0.747209,0.000152955,-0.000507889,-0.000140784,-0.000638025,0.000810208,-0.000993563,0.00135638,-0.00258573,0.0104898,-5.33357e-05,-0.000274416,-3.39359e-05,-0.291244,0.0931833,0.198123,1.38948,0.103622,-0.358237,-0.148032,0,0.00142053,-0.00197285,0.00132122,0,0,0,-0.00349491,-0.000327196,0.000494197,5.86941e-05,0.000264823,-0.00025007,-1.65191e-05,-0.106711,-0.0152796,0.010693,-0.0226051,0.473915,0.467681,0.745767,6.24567e-05,-0.000111502,-4.84097e-05,0.000177287,0.000459432,0.00024024,2.71165,-1.90941,-0.737798,-0.0249839,-0.0366686,-0.0493869,1.38337,-0.0847956,0.101667,1.78824,-0.0877206,0.850419,-0.148032,-0.000101697,-0.00122618,7.4342e-05,2.83977e-05,-0.000869808,0.00101184,0,0.229526,-0.0999869,0.707101,-0.00425877,0.0366301,0.0249839,-1.65191e-05,0.128861,-0.0281157,0.0239885,-0.319972,-0.50468,0.410531,0.688752,-0.00634691,-0.0290216,0.0385247,0.439567,0.00895312,-0.0221619,0.466195,-0.859059,1.91874,-0.0984941,-0.0320907,-0.0494147,-1.11569,-0.195208,0.0871988,-3.14682,-0.364546,0.214032,-0.148032,0.486651,0.0129235,0.0268162,-0.51554,0.1878,0.597572,0,-0.0701133,0.0408114,1.72532,-0.00566129,0.0376861,0.0985745,-1.65191e-05
2020-02-05.15:31:55.308,0.0961182,0.0900559,0.382651,-0.321112,-0.512338,0.401923,0.687644,-0.0238829,-0.0569291,0.103476,0.490679,0.0520013,-0.187896,-0.00453202,-0.0297195,-0.016304,-1.37848e-05,-0.000618005,0.000185164,0.260576,-0.042419,0.194712,-1.94211,0.242772,0.301985,-1.43295,0.0728051,-0.248694,-0.109967,0.0549435,0,-0.125125,-0.84132,-0.00800307,-0.00834659,-0.00885076,-0.00148353,0.000186774,0.000211136,-2.88818e-05,-0.0846949,0.110042,0.341372,-0.0237053,0.47253,0.466723,0.74721,0.000105302,-0.00028707,-0.000205325,-7.27998e-05,0.000633132,-0.000610917,-0.00159966,0.00694497,-0.0136149,-0.000117432,-0.000204252,5.83165e-08,-0.291244,0.0932148,0.198065,1.38952,0.103622,-0.358237,-0.148032,0,0.00131824,-0.00131824,0.000882823,0,0,0,0.00498106,0.000506231,0.000317454,-0.000205219,0.000170899,-9.35298e-05,-5.79846e-06,-0.10671,-0.0152807,0.0106925,-0.0227576,0.474019,0.467583,0.745757,6.33453e-06,1.69645e-05,-3.66056e-05,-0.00687836,0.00118849,0.000896422,2.71553,-1.98508,-0.815171,-0.0258675,-0.0377686,-0.0496822,1.38337,-0.0848033,0.101668,1.78782,-0.0877206,0.8505,-0.148032,0.000335148,0,0,-0.00691124,-0.000869808,0.00130888,0,0.230942,-0.109427,0.712725,-0.00363295,0.0375428,0.0258675,-5.79846e-06,0.128686,-0.0286863,0.0248371,-0.317089,-0.505238,0.406885,0.691834,-0.00885669,-0.0259837,0.0420314,0.638703,0.207768,-0.359894,1.12734,-1.08557,2.03478,-0.104037,-0.0398867,-0.0563265,-1.10573,-0.194482,0.0878107,-3.16045,-0.36359,0.226893,-0.148032,0.467473,0.0524292,0.0300544,-0.883026,-0.0211312,0.64788,0,-0.0606729,0.0932056,1.68033,-0.00785169,0.0412761,0.104037,-5.79846e-06
2020-02-05.15:31:55.328,0.0956198,0.0889343,0.384676,-0.319221,-0.513738,0.40032,0.688415,-0.0273336,-0.0574265,0.103969,0.550303,0.0218045,-0.156433,-0.00261696,-0.000987156,-0.0391619,-0.000114068,-0.000184544,0.000181355,0.262088,-0.0472058,0.192477,-1.94076,0.242772,0.296064,-1.44479,0.0821144,-0.242309,-0.11755,0.0702704,0.000560845,-0.205048,-0.681226,-0.00641382,-0.00219397,-0.000568601,0.000451828,-0.000314156,0.000649449,1.40009e-05,-0.0847028,0.11004,0.341371,-0.0236974,0.472535,0.466715,0.747212,0.000202056,-0.000206413,-0.000151765,-5.99345e-05,0.000339858,-0.000188748,0.00661047,0.000524153,0.00566344,0.00053353,2.52364e-06,-5.01964e-05,-0.291219,0.0932148,0.198065,1.38952,0.103622,-0.358237,-0.148032,-0.000362861,0.00108536,-0.00108536,0.000726869,0,0,0,-0.00137592,0.00158653,0.00263926,0.00102638,0.000108283,3.17027e-05,4.9222e-06,-0.10671,-0.0152824,0.0106907,-0.0228105,0.474087,0.467521,0.745752,1.98183e-05,1.19956e-05,-0.000161376,0.00367681,0.000797268,0.00205293,2.66418,-1.97826,-0.801405,-0.0231362,-0.0368712,-0.0468848,1.38337,-0.0848265,0.101668,1.78761,-0.0877206,0.8505,-0.148032,0.00147493,-0.000790404,0,0.00372032,-0.000869808,0.00130888,0,0.229054,-0.111315,0.721161,-0.00269421,0.0353156,0.0231362,4.9222e-06,0.128502,-0.0291607,0.0256219,-0.314566,-0.505404,0.403725,0.69471,-0.0102867,-0.0238308,0.0399644,0.21827,0.0679317,0.000487045,1.44581,-1.28592,1.94705,-0.103635,-0.0493339,-0.054711,-1.09704,-0.1932,0.0883836,-3.1724,-0.362497,0.237681,-0.148032,0.445526,0.0814566,0.0297179,-0.288689,0.164039,0.443455,0,-0.0422641,0.108782,1.53973,-0.00465997,0.0476716,0.103635,4.9222e-06
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2020-02-05.15:32:15.288,-0.173553,0.133619,0.382404,0.312169,0.0874848,0.898584,0.29571,-0.0388535,-0.0258293,0.00252815,0.0576639,0.0628329,0.210147,0.00925339,-0.000597755,0.0125538,0.000428901,-2.61596e-05,-5.44544e-05,0.906233,0.409326,-0.259505,-2.05083,2.2264,0.74312,-0.663183,0.016361,0.106779,-0.186609,-0.0278945,0.0304165,0.0165294,0.180982,-0.00482458,-0.00135528,-0.00335819,1.19731e-05,-0.000658545,0.000336368,1.40009e-05,-0.125002,0.126589,0.334233,-0.143276,0.473049,0.574392,0.652511,0.00060007,0.000641509,-0.00103393,-0.0100316,-0.0255872,0.0183914,-0.00192936,0.00859077,0.00258507,-0.000284865,0.000323991,-0.000130327,-0.177169,0.0681161,0.273314,1.37567,-0.254615,-0.698711,-0.213166,-0.00191469,0.00393148,-3.63388e-05,0.00183497,-0.0212911,-0.025748,-0.0303691,0.00127283,-0.00149505,0.000462972,-0.000733045,-0.000110874,0.000219551,1.56429e-05,-0.122528,-0.00896634,0.00773115,-0.143649,0.47051,0.571734,0.656586,-0.000390689,0.000534305,2.02933e-05,-0.0268516,0.00622479,0.0262256,1.70652,1.52475,1.66708,-0.00112504,0.0165419,0.0195203,1.39595,-0.0540128,0.0851792,1.70373,-0.277235,1.12739,-0.213166,0,0.00633785,-0.000402597,-0.0283219,-0.0194183,0.0157975,-0.0303691,0.117657,0.189361,-1.10388,-0.000628981,-0.0402587,0.00112504,1.56429e-05,0.0212021,-0.0108409,0.0262841,0.159083,-0.295803,0.848324,0.409317,-0.0169651,-0.00824104,0.000921208,0.0930756,-0.0421892,0.0271824,0.0303766,2.97422,1.26773,-0.0454746,0.00860433,0.0690736,-1.41243,0.0543835,0.18979,-3.20176,0.734831,-1.4093,-0.213166,0.014063,-0.0415122,0.0175042,-0.0585227,0.0191563,0.0421131,-0.0303691,0.0663004,-0.434041,2.34961,-0.0112311,0.0665148,0.0454746,1.56429e-05
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2020-02-05.15:32:15.328,-0.175113,0.132475,0.382566,0.313823,0.0885721,0.900271,0.288412,-0.0378897,-0.0309599,0.00512342,0.0803382,0.0983454,0.237744,0.00991132,-0.00366348,-0.0218983,2.33715e-05,0.000759338,0.000321476,0.906778,0.413515,-0.267139,-2.05169,2.22936,0.746081,-0.65134,0.00951741,0.101968,-0.194271,-0.0289884,0.0731402,0,0.180789,-0.00217583,0.00628908,0.0072664,-0.000515853,0.000312006,8.59034e-05,-7.17644e-05,-0.124852,0.126634,0.334232,-0.14338,0.472955,0.574516,0.652448,0.0052373,0.00108244,0.000768299,-0.0142081,-0.0346927,0.0328791,0.0256354,-0.0165292,-0.0180974,-0.000262854,9.6277e-05,-6.52081e-05,-0.177665,0.0681476,0.273362,1.37579,-0.254615,-0.698711,-0.213166,-0.0172685,-0.00164586,0.00132903,-0.00284889,-0.0212266,-0.0228,-0.0292094,-0.000316419,0.00933424,0.00319365,-0.000381161,-4.82581e-05,-0.000124838,-2.72398e-05,-0.122526,-0.00895816,0.00772487,-0.143999,0.470704,0.572061,0.656086,7.98831e-05,5.25609e-05,-0.000179926,-0.00901338,0.00456006,0.0160213,1.70883,1.51858,2.09377,0.00128494,0.0213086,0.0229258,1.39595,-0.0539587,0.0851818,1.7031,-0.278329,1.1282,-0.213166,0.00107503,-0.000369245,8.22803e-05,-0.0108232,-0.012169,0.0123279,-0.0292094,0.122849,0.218626,-0.92672,-0.0030697,-0.0453933,-0.00128494,-2.72398e-05,0.0205423,-0.0111914,0.0262772,0.161382,-0.300683,0.847225,0.40713,-0.0168006,-0.00934634,0.000125215,0.350056,-0.0473594,0.0379465,0.138731,2.88221,1.43704,-0.0436269,0.00373099,0.0734841,-1.4117,0.0525686,0.190478,-3.21308,0.737564,-1.40989,-0.213166,0.0221567,-0.047496,0.0179581,-0.304931,0.0655057,0.0299622,-0.0292094,0.10123,-0.425072,2.34117,-0.0122951,0.0709456,0.0444302,-2.72398e-05
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