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
2020-02-05.17:09:20.120,0.0952516,0.0707958,0.323083,-0.508787,-0.42582,0.50201,0.554797,-0.000630174,-0.00370247,0.00160026,-0.020159,0.00160717,-0.0339024,-0.0112254,-0.0154401,0.0248554,-0.000504534,-0.000287922,-7.91342e-05,0.230553,0.209513,0.0537065,-1.51607,0.0473702,-0.0947404,-0.746081,0.000171573,0,-0.0103501,0.00693145,-0.0268237,0.0170699,0.00345224,0.00841913,-0.007184,-0.00673692,-0.00130759,-0.000126307,0.000179828,-0.000114647,-0.0224497,0.0682096,0.304903,0.171322,0.479321,0.586155,0.630335,-0.00607589,-0.00391546,-0.000495733,-0.00632773,0.010032,-0.0161392,-0.00226918,0.00476227,-0.0056424,-0.000210513,-0.000321321,-0.000151784,-0.400241,0.34584,-0.0697078,1.23888,0.18652,0.0799372,0.307906,0.0173454,-0.000657733,-0.00407729,0.00241267,-0.00261355,0,0,0.00286207,-0.0013252,-0.000680552,-0.000205219,0.000358747,3.17027e-05,-0.000177329,-0.0868474,-0.00359846,0.0392553,0.171638,0.477734,0.586263,0.631352,-0.00160343,-0.00101476,-0.000474949,-0.00315638,0.0018428,-0.0107826,-1.68311,-0.0466249,-1.82112,0.00666723,0.0441233,0.0161124,1.2461,0.122344,0.126759,2.29128,-0.323282,0.316379,0.307906,-0.00521476,-0.00766935,-0.00163725,-0.00530034,-0.00094235,-0.00234196,0,-0.101832,-0.196279,-1.09263,-0.00238129,-0.0316301,-0.00666723,-0.000177329,0.0804162,-0.00410503,0.0361569,-0.503842,-0.419922,0.505594,0.560521,-4.17182e-05,-1.11835e-05,-0.000139247,-0.00252383,-0.00125107,0.000856615,-2.78159,0.749251,-0.284836,-0.0661201,0.0414162,0.00344371,-1.29213,0.104489,0.131647,-2.64188,-0.188422,0.151032,0.307906,-0.000949047,-0.000620382,0,0.00282911,0,0,0,0.0157943,-0.343413,0.178677,0.0106728,-0.0172069,0.0661201,-0.000177329
2020-02-05.17:09:20.135,0.0952085,0.070568,0.323191,-0.51007,-0.42542,0.501294,0.554573,-0.000747224,-0.00505433,0.0023882,-0.0165455,0.0210067,-0.0149312,0.000703544,-0.00178165,-0.0108633,-3.65609e-05,0.000309898,3.11631e-06,0.230578,0.209481,0.0530805,-1.51595,0.0444096,-0.0947404,-0.746081,0,-0.000804201,-0.0137321,0.00850525,0.000446061,0.0160183,0.00334309,-0.00376508,-0.00036254,0.000252663,0.000187915,-0.00025154,0.000179828,3.28019e-06,-0.0227705,0.0681009,0.30486,0.171595,0.479386,0.585897,0.630452,-0.00622344,-0.00243777,-0.000898118,-0.00258998,0.00890983,-0.0128449,0.00795771,-0.00418404,-0.00141292,4.29026e-05,0.000257956,-0.000136898,-0.399399,0.345745,-0.0696396,1.23883,0.18652,0.0799372,0.307906,0.016643,-0.00121262,0.000158914,-0.000424317,-0.00254476,0,0,-0.000316419,0.00341796,0.00287138,-0.000117248,-0.000267415,6.30108e-05,-0.000155888,-0.0869707,-0.00366288,0.0392328,0.171811,0.477819,0.585892,0.631586,-0.00301313,-0.00131471,-0.000339302,-0.00830622,-0.00210258,-0.0162665,-1.56075,-0.0358544,-1.77733,0.00843455,0.0434868,0.0172617,1.24566,0.121911,0.126637,2.29086,-0.323282,0.315971,0.307906,-0.011245,-0.00788937,-0.0029147,-0.0107264,-0.000869727,-0.00334421,0,-0.0909755,-0.185422,-1.09544,-0.0016303,-0.032495,-0.00843455,-0.000155888,0.0804152,-0.0041163,0.0361576,-0.504265,-0.419767,0.505557,0.56029,0.000132074,-0.000612115,0.000320539,-0.0149164,-0.0169169,-0.0134529,-3.28836,0.563422,-0.250771,-0.0662807,0.0490107,0.00376072,-1.29205,0.104373,0.13165,-2.64125,-0.189105,0.151507,0.307906,0.00571619,-0.00441301,2.42696e-05,0.00686973,-0.0237652,0.0196657,0,0.0601642,-0.381174,0.29116,0.00973403,-0.0190928,0.0662807,-0.000155888
2020-02-05.17:09:20.148,0.0951909,0.0705132,0.323216,-0.510104,-0.425384,0.501338,0.554529,-0.000792077,-0.00482195,0.00229264,-0.0160577,0.0191753,-0.0133655,-0.00308355,-0.0067641,-0.00892058,-0.000210569,-0.000328074,3.18834e-05,0.230602,0.209481,0.0529227,-1.51599,0.0444096,-0.0947404,-0.746081,0.000211993,-0.000758411,-0.0131489,0.00612414,0.000446061,0.0158256,0.00332227,-0.00376508,-0.00269298,-0.0018924,-0.000779766,9.28496e-05,2.32872e-05,1.40009e-05,-0.0228384,0.0680824,0.304853,0.171649,0.479397,0.585848,0.630474,-0.00648573,-0.00239319,-0.000879162,-0.00240608,0.00896545,-0.0130358,-0.00353455,-0.00823592,-0.00223442,-0.00046436,-9.04873e-05,4.80192e-05,-0.39925,0.345714,-0.0696081,1.23881,0.18652,0.0799372,0.307906,0.0171844,-0.00162873,0.000715279,-0.000796915,-0.00253146,0,0,-0.000316419,0.0046681,0.00240007,-0.000821016,-1.695e-05,-3.09135e-05,4.9222e-06,-0.0870004,-0.00367685,0.0392299,0.171884,0.477829,0.585824,0.631621,-0.00295035,-0.00159276,-0.000326262,-0.00729799,-0.0027191,-0.0180969,-1.46863,-0.00453275,-1.76261,0.00996087,0.0419239,0.01717,1.24555,0.121826,0.126609,2.29086,-0.323282,0.315807,0.307906,-0.012278,-0.00994806,-0.0028424,-0.0104742,-0.000856671,-0.00259153,0,-0.0857832,-0.177398,-1.12075,-0.0016303,-0.0318187,-0.00996087,4.9222e-06,0.0804211,-0.00410915,0.0361637,-0.50554,-0.419505,0.504622,0.56018,0.000328626,2.57848e-05,0.000497871,-0.0540583,-0.0937496,-0.101757,-3.416,0.64365,-0.201546,-0.0645134,0.0514302,0.00456766,-1.29194,0.104288,0.13165,-2.64125,-0.191564,0.153513,0.307906,0.00853965,-0.00523748,2.42696e-05,0.00686973,-0.142203,0.116245,0,0.0615802,-0.391087,0.341777,0.00979661,-0.0187741,0.0662004,4.9222e-06
2020-02-05.17:09:20.168,0.0951837,0.070466,0.323237,-0.510126,-0.425317,0.501373,0.554528,-0.000776066,-0.00470927,0.00223394,-0.0157248,0.0188301,-0.0131321,-0.00163983,0.0112737,0.0019797,8.71133e-05,0.00030057,-2.62892e-05,0.230602,0.209481,0.0527912,-1.5159,0.0444096,-0.0947404,-0.746081,0.000211993,-0.000717528,-0.0128536,0.00592634,0.000447431,0.0156341,0.0033013,0.00100266,0.00347017,0.000928409,0.000451828,-0.000157615,8.59034e-05,-1.81611e-05,-0.0228969,0.0680673,0.304847,0.171695,0.479405,0.585808,0.630493,-0.00652338,-0.00196778,-0.000452378,-0.00215362,0.00777607,-0.011619,-0.00364278,0.00392329,0.00303611,0.000110037,-0.000285102,-4.44602e-05,-0.399077,0.345682,-0.0695766,1.23879,0.18652,0.0799372,0.307906,0.0167219,-0.00362385,0.00281952,-0.00220613,-0.00251801,0,0,-0.000316419,-0.00232321,-0.00138399,0.000234636,0.000233515,0.000156935,-3.79604e-05,-0.087033,-0.00369154,0.0392277,0.171904,0.477786,0.585794,0.631676,-0.00331396,-0.00137644,-0.000238902,-0.00732297,-0.00444236,-0.016367,-1.46991,-0.0661303,-1.68023,0.00915754,0.0421658,0.017141,1.24541,0.121741,0.126578,2.29086,-0.323282,0.315807,0.307906,-0.0129925,-0.00768649,-0.00316362,-0.00973665,-0.000843717,-0.0026021,0,-0.081063,-0.177398,-1.02795,-0.00156772,-0.0320281,-0.00915754,-3.79604e-05,0.0804228,-0.00411913,0.0361702,-0.50573,-0.419498,0.504489,0.560133,0.00023397,-0.00136387,0.000629744,-0.0109818,-0.00697752,-0.00176301,-3.45755,0.63031,-0.163699,-0.0641921,0.0508131,0.00396022,-1.29184,0.104218,0.131651,-2.64125,-0.192111,0.15404,0.307906,0.010693,-0.00799886,3.07357e-05,0.00686973,-0.016976,0.0122287,0,0.0615802,-0.400055,0.406455,0.0094837,-0.0193553,0.0641921,-3.79604e-05
2020-02-05.17:09:20.188,0.0951693,0.0703717,0.323277,-0.507854,-0.425521,0.503241,0.554765,-0.000847928,-0.00516638,0.00241361,-0.0115952,0.0325364,4.52805e-05,0.0093607,0.0178149,-0.0192942,0.000177695,0.000456911,9.37531e-05,0.230602,0.209481,0.0525282,-1.51572,0.0503309,-0.0947404,-0.746081,0.000211993,-0.000649023,-0.0141592,0.00680071,0.0199255,0.0152769,0.0032615,-0.00641382,0.00762678,0.00627193,0.000979654,-0.000220232,-0.000101945,0.000121207,-0.023039,0.0680406,0.304846,0.171789,0.479418,0.585724,0.630535,-0.0065543,-0.00130312,0.000211816,-0.00176428,0.00590504,-0.00938148,0.00155705,0.0049087,-0.00789772,-0.000217147,-6.19884e-05,0.000123856,-0.39873,0.345556,-0.0694507,1.23871,0.18652,0.0799372,0.307906,0.0159227,-0.00669849,0.00604913,-0.00436899,-0.00249132,0,0,0.00339182,0.000254097,0.0010798,-0.000557103,0.000139591,0.000156935,5.85255e-05,-0.0871,-0.00371759,0.0392245,0.171981,0.477749,0.585702,0.631768,-0.00322285,-0.00122282,1.31889e-05,-0.00769144,-0.000970061,-0.01714,-1.4087,-0.133522,-1.63688,0.00899688,0.0416867,0.0170122,1.24515,0.121602,0.126514,2.29086,-0.323282,0.315644,0.307906,-0.0138718,-0.00569475,-0.00299921,-0.00858262,-0.000819725,-0.00840216,0,-0.0706786,-0.175982,-0.988586,-0.0016303,-0.0320891,-0.00899688,5.85255e-05,0.0804212,-0.00415568,0.0361834,-0.50509,-0.419431,0.505073,0.560234,-0.000192069,-0.00266644,0.000632131,0.0470191,0.140253,0.109095,-3.36177,0.650153,-0.0818053,-0.0577655,0.0483832,0.00613251,-1.29163,0.104064,0.131656,-2.64104,-0.191291,0.152718,0.307906,0.0106015,-0.00987447,0.000288146,0.00507011,0.104112,-0.137636,0,0.0587481,-0.388727,0.462697,0.0107979,-0.0181609,0.0577655,5.85255e-05
2020-02-05.17:09:20.208,0.095138,0.0702748,0.32334,-0.506758,-0.425578,0.504223,0.554832,-0.0012244,-0.0061691,0.00295408,-0.0128423,0.0368201,0.005388,-0.00823475,0.00401638,-0.0063034,-0.000532562,0.000116542,-7.12306e-05,0.230652,0.209418,0.0522756,-1.5157,0.0532915,-0.0947404,-0.746081,0.000830469,-0.000874473,-0.0169843,0.00570121,0.0264666,0.0149147,0.00322017,-0.00270558,0.000141727,-0.00221466,-0.000515853,-0.000439388,-0.000101945,-8.24851e-05,-0.0231698,0.0680268,0.304871,0.171841,0.479422,0.585664,0.630574,-0.00621748,7.31816e-05,0.00132155,-0.00074767,0.0022388,-0.00447046,0.0039724,-0.00993476,-0.0178294,-3.75016e-05,2.74741e-05,-5.9438e-05,-0.398433,0.345336,-0.0692565,1.23858,0.18652,0.0799372,0.307906,0.0134814,-0.011714,0.011714,-0.0081643,-0.00246546,0,0,0.00551081,0.00533695,0.00181446,-0.000205219,-1.695e-05,0.000125627,-9.15637e-05,-0.0871572,-0.00374105,0.0392287,0.172039,0.477707,0.585618,0.631863,-0.00226831,-0.00116928,0.000467879,-0.00675722,-0.00461576,-0.0148189,-1.2937,-0.151868,-1.58975,0.0102019,0.0405658,0.0177658,1.24487,0.121502,0.126462,2.29086,-0.323282,0.315481,0.307906,-0.0142232,-0.00447806,-0.00194977,-0.0076402,-0.000796022,-0.00540799,0,-0.0588781,-0.167958,-0.977337,-0.00100448,-0.0323034,-0.0102019,-9.15637e-05,0.0804187,-0.00420484,0.0361955,-0.504203,-0.419336,0.506113,0.560166,-0.000311665,-0.00337377,0.000548642,0.0295049,0.197109,0.190856,-3.15132,0.685658,0.00894168,-0.0545521,0.0399392,0.00564545,-1.29141,0.103863,0.131662,-2.64021,-0.189788,0.150757,0.307906,0.0105758,-0.0103509,0.000288424,0.0538634,0.176971,-0.197579,0,0.0474196,-0.37315,0.502066,0.0110483,-0.0116571,0.0545521,-9.15637e-05
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