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
2020-02-05.17:12:49.172,0.082587,0.0827727,0.282484,-0.463398,-0.262301,0.630886,0.564308,0.00112366,-0.000666575,-0.00100985,0.000516593,-0.00308778,0.00395848,-0.00186403,-0.00876368,0.00272554,8.54807e-05,3.4299e-06,0.000150273,0.256786,0.352327,0.0111415,-1.3542,0.210205,0.0266457,-0.349355,-0.00355007,0.00360027,-0.00292414,-0.00152136,0,0,0,-5.68415e-05,-0.0030274,-0.000863172,1.19731e-05,3.02333e-05,0.000117212,0.000142649,0.00402971,0.0781435,0.334068,0.133799,0.210439,0.658259,0.710288,0.00100855,-0.015227,0.0218264,0.390729,-0.195985,0.0116986,-0.00418152,-0.0222308,-0.00564471,-8.23297e-05,0.000177029,1.39596e-05,-0.485011,0.270355,-0.0383512,1.16761,0.701671,-0.100662,0.331591,0.000425249,-0.0514038,-0.0194476,0.00647795,0.430805,-0.0154579,0.273318,-0.00349491,0.0043442,-0.00161964,-0.000117248,-0.000142182,-0.000124838,4.9222e-06,-0.111714,-0.0222372,0.0512281,0.133375,0.218424,0.65895,0.70731,-0.00098442,-0.00610863,0.0117489,0.689045,-0.313239,0.23501,-1.49039,0.0551109,1.18278,-0.0375961,-0.0383414,-0.015906,0.996781,0.041417,0.111271,2.55612,-0.271497,0.572688,0.331591,-0.0915994,0.00119342,0.00597928,0.760304,0.112816,0.0396379,0.273318,-0.179715,-0.0806341,1.32857,0.0188968,0.0544059,0.0375961,4.9222e-06,0.0893471,0.018138,0.0391688,-0.458398,-0.255162,0.633286,0.568958,0.000434135,-7.11059e-05,-0.000256748,0.00257017,-0.0012344,-0.000604719,-0.44521,3.26171,-1.18195,-0.0534275,0.00300567,0.00264292,-1.34908,0.300924,0.125275,-2.3718,-0.0140736,-0.141345,0.331591,-0.000786213,-0.000351264,-0.00050002,-0.00254959,0.000343117,8.44306e-05,0.273318,-0.277802,-0.354741,-0.704318,0.00422676,0.00144805,0.0534275,4.9222e-06
2020-02-05.17:12:49.186,0.0826231,0.082773,0.28246,-0.463418,-0.2624,0.63089,0.564241,0.000692035,0.000156739,-0.000578746,0.00127871,-0.00292382,0.00279301,-0.00538566,-0.0124487,-0.00292118,0.000506938,0.000179525,-0.000152199,0.256687,0.35239,0.0111311,-1.35434,0.210205,0.0266457,-0.349355,-0.0018468,0.0014691,5.60147e-05,-0.00217613,0,0,0,-0.00217583,-0.0041077,-0.00177104,0.000891683,-1.0748e-06,0.000211136,-8.24851e-05,0.00406818,0.0774679,0.33484,0.137506,0.198769,0.662851,0.708669,0.00167577,-0.0192792,0.0165534,0.697957,-0.25746,0.137205,0.0119024,0.0045635,0.0153587,0.000354686,0.000457954,-0.000141337,-0.484862,0.268717,-0.0394749,1.16776,0.725356,-0.103622,0.349355,0.00618271,-0.0276757,-0.0406731,0.0122611,0.658614,0,0.552125,-0.00455441,-0.0031619,0.00128777,0.000498549,-0.00051788,3.94597e-07,1.56429e-05,-0.111691,-0.022473,0.0516672,0.136811,0.209997,0.663637,0.704819,0.000518866,-0.00556934,0.0107108,0.57321,-0.22367,0.250481,-1.35656,-0.264937,0.669984,-0.0360698,-0.039326,-0.0137878,0.993421,0.0413707,0.111551,2.57688,-0.268901,0.572123,0.349355,-0.0793453,-0.00314849,0.00683347,0.660854,0.0377207,-0.00463626,0.552125,-0.124489,-0.110371,1.04174,0.0192723,0.0528731,0.0360698,1.56429e-05,0.0893745,0.0181315,0.0391589,-0.458302,-0.255138,0.633348,0.568976,0.000752098,-0.000188935,-0.000209966,0.0022459,-0.000399086,-3.9879e-05,-0.464839,3.33426,-1.11078,-0.0543111,0.00302602,0.00117668,-1.34908,0.300916,0.125245,-2.3718,-0.0139369,-0.141538,0.349355,0.000705077,-0.000282742,-0.000798768,-0.00238261,0,0.000534702,0.552125,-0.282522,-0.361822,-0.622767,0.00278736,0.00140027,0.0543111,1.56429e-05
2020-02-05.17:12:49.206,0.0826211,0.0827676,0.282453,-0.463414,-0.262393,0.630889,0.564248,0.000575567,0.000245025,-0.000480628,0.00123982,-0.00291114,0.00261875,-0.0071205,-0.00150028,-0.0101886,0.0003302,0.00021526,-0.000133979,0.256687,0.352421,0.0110996,-1.35432,0.210205,0.0266457,-0.349355,-0.00146999,0.00110005,0.00040678,-0.00241104,0,0,0,-0.00376508,-0.00127299,-0.00232896,0.000803712,-9.49992e-05,-8.02096e-06,-5.03231e-05,0.00407898,0.0772596,0.334992,0.137596,0.195352,0.66471,0.70786,0.00130132,-0.0219751,0.0149209,0.740807,-0.309007,0.0664818,0.00993655,-0.0128297,0.00679477,0.000530233,0.000739943,0.000125071,-0.484763,0.268497,-0.0399382,1.16792,0.731278,-0.106583,0.355277,0.010735,-0.0193535,-0.0506841,0.015064,0.745748,-0.0150222,0.521213,-0.0066734,0.00192095,0.0014922,5.86941e-05,-0.000893577,0.000313476,5.85255e-05,-0.111692,-0.0225296,0.0517722,0.137574,0.207083,0.665551,0.703727,-0.000547056,-0.00489167,0.00949535,0.574778,-0.356125,0.330368,-1.483,-0.406712,0.492281,-0.0399257,-0.0397389,-0.0134733,0.992611,0.0413012,0.111614,2.58401,-0.268764,0.57291,0.355277,-0.0753749,-0.00693085,0.00532024,0.696774,-0.0172548,0.131129,0.521213,-0.11552,-0.133972,1.00518,0.0202736,0.0541926,0.0399257,5.85255e-05,0.0893791,0.0181299,0.0391568,-0.458302,-0.255141,0.633349,0.568974,0.000424672,-5.14805e-05,-5.76476e-05,0.00204809,-0.000104907,-0.000698554,-0.425352,3.30669,-1.10345,-0.0549538,0.00236057,0.00208795,-1.34908,0.300909,0.12524,-2.3718,-0.0139369,-0.141538,0.355277,0.000613718,0.000455298,-0.000422509,-0.00234391,0,0.000526922,0.521213,-0.282994,-0.357101,-0.619955,0.00360093,0.00182828,0.0549538,5.85255e-05
2020-02-05.17:12:49.226,0.0826281,0.0827601,0.282445,-0.463439,-0.262444,0.630894,0.564198,0.000176049,0.000159291,-0.000501515,0.00157812,0.00244083,-0.00219365,0.00590109,0.0224863,-0.0347332,0.000135898,0.000249957,-1.05346e-05,0.256662,0.352453,0.0110682,-1.35445,0.210205,0.0266457,-0.349355,-0.000518583,0.00155329,-0.000285031,0.00389317,0,0,0,-0.00959231,0.010549,0.0033056,0.000275886,-0.000188923,0.00014852,3.28019e-06,0.00412859,0.0767483,0.335269,0.138636,0.185902,0.668004,0.7071,0.00310999,-0.0265217,0.0129443,0.916329,-0.413004,0.014248,0.0238851,0.0114616,0.00780788,0.000529624,0.000527274,0.000255002,-0.484515,0.268308,-0.0412483,1.16806,0.749042,-0.112504,0.367119,0.0124755,-0.00428982,-0.070897,0.00911116,0.960239,-0.0182018,0.572055,-0.00296516,0.00040815,0.00724459,-0.00029319,-0.000737037,0.000595249,-1.65191e-05,-0.111711,-0.0226292,0.0519439,0.137867,0.200598,0.66908,0.7022,-0.000755286,-0.00616107,0.00799928,0.57305,-0.494808,0.129046,-1.79309,-0.73756,0.224804,-0.0446654,-0.0441074,-0.0158086,0.991213,0.0411776,0.111703,2.59659,-0.267808,0.577766,0.367119,-0.0648646,-0.00921805,0.0042739,0.587208,0.172893,0.28749,0.572055,-0.0994718,-0.188255,1.04455,0.0210872,0.0618992,0.0446654,-1.65191e-05,0.0893856,0.0181293,0.0391558,-0.4583,-0.255137,0.633351,0.568976,0.000180864,-0.000177061,-0.000147916,0.00237885,-0.00149193,0.000559826,-0.384482,3.39199,-1.10367,-0.0553555,0.00166583,0.00217047,-1.34908,0.300916,0.125233,-2.3718,-0.0139369,-0.141538,0.367119,8.53202e-06,-0.00136787,-0.000244314,-0.00226749,0,0.000511449,0.572055,-0.292907,-0.361349,-0.608707,0.00360093,0.00215581,0.0553555,-1.65191e-05
2020-02-05.17:12:49.246,0.0826276,0.0827688,0.282426,-0.463401,-0.26241,0.630881,0.564261,-7.33676e-05,-0.000936837,-0.000311323,-0.00170325,-0.00269337,0.00288906,-0.0463534,-0.0472236,0.0513179,-0.000921353,-0.000225896,0.000137267,0.256662,0.352516,0.0110578,-1.35429,0.210205,0.0266457,-0.349355,-0.000454936,0.00217165,-0.00359369,-0.00363111,0,0,0,0.0105381,-0.0296602,-0.0195066,-0.00174745,-9.49992e-05,-0.000164562,-2.88818e-05,0.00420045,0.0761187,0.335497,0.137869,0.172826,0.671312,0.707435,0.00458379,-0.0338628,0.00999672,0.965836,-0.968391,-0.082831,0.0205642,0.0141749,0.00243636,0.000386817,0.00103083,-7.88862e-05,-0.484168,0.268465,-0.0430362,1.16836,0.772727,-0.124347,0.378962,0.0183637,0.0170924,-0.100595,0.0136603,1.28693,-0.468547,0.538036,-0.000316419,0.000243571,0.00654115,0.000146665,-0.00108143,-3.09135e-05,-7.01224e-05,-0.111735,-0.0227637,0.0520951,0.137423,0.190632,0.672766,0.701541,-0.000838146,-0.00770625,0.00689701,0.778325,-0.918942,0.0922918,-2.33287,-1.09142,-0.06802,-0.0488427,-0.0455561,-0.0154607,0.989985,0.0409073,0.111776,2.61127,-0.263299,0.588301,0.378962,-0.0540723,-0.0166925,0.00366011,0.741274,0.336134,0.676802,0.538036,-0.0881433,-0.261418,1.13735,0.022464,0.0677066,0.0488427,-7.01224e-05,0.0893892,0.0181287,0.0391545,-0.4583,-0.255137,0.633351,0.568976,0.000102171,-0.000126065,-9.59009e-05,0.0022363,-0.00127806,0.0002803,-0.41249,3.34055,-1.11946,-0.0563195,-0.000402105,0.00163593,-1.34908,0.300916,0.125229,-2.3718,-0.0139369,-0.141538,0.378962,2.41534e-05,-0.00100576,-0.00014606,-0.00219894,0,0.00049749,0.538036,-0.286298,-0.361822,-0.631203,0.00278736,0.00438252,0.0563195,-7.01224e-05
2020-02-05.17:12:49.266,0.0826276,0.0827688,0.282426,-0.463401,-0.26241,0.630881,0.564261,-9.0339e-05,-0.00093298,-0.000309096,-0.00165921,-0.00229722,0.00253849,-0.018088,-0.00852703,0.012278,-0.000798494,-7.87494e-05,0.000190142,0.256662,0.352516,0.0110578,-1.35429,0.210205,0.0266457,-0.349355,-0.000409193,0.00217165,-0.00359369,-0.00314328,0,0,0,0.00206215,-0.00851643,-0.00753049,-0.00174745,-0.000188923,0.00014852,-7.44046e-06,0.00426889,0.0756211,0.335635,0.138724,0.162428,0.672131,0.708952,0.00525174,-0.0378113,0.0102284,1.16522,-1.03248,-0.118029,0.00508823,0.00798916,0.00192348,-0.000225666,0.000728467,0.000350296,-0.483896,0.268748,-0.0445294,1.16846,0.793451,-0.130268,0.384883,0.0207189,0.0225155,-0.113957,0.00714778,1.50169,-0.422932,0.626114,0.000213329,-0.00133047,0.00128424,-0.000996958,-0.00067442,-0.000156146,1.56429e-05,-0.111725,-0.0228962,0.0522008,0.137361,0.181142,0.675191,0.701738,0.00152758,-0.0112127,0.00781532,1.09729,-1.05404,-0.0737978,-2.68649,-1.21459,-0.198466,-0.0476377,-0.0426188,-0.0135649,0.989298,0.0406293,0.111852,2.62364,-0.256603,0.598524,0.384883,-0.0460218,-0.0220383,0.00625886,0.94211,0.638885,0.754668,0.626114,-0.0853112,-0.301539,1.18515,0.0219008,0.0673002,0.0476377,1.56429e-05,0.0893916,0.0181283,0.0391537,-0.4583,-0.255137,0.633351,0.568976,0.0001032,-9.36757e-05,-7.66047e-05,0.00212756,-0.00110777,3.77202e-05,-0.383987,3.43272,-1.13219,-0.0539898,0.00216195,0.00255587,-1.34908,0.300916,0.125227,-2.3718,-0.0139369,-0.141538,0.384883,3.06292e-05,-0.000700276,-0.00013571,-0.00215366,0,0.000488264,0.626114,-0.295739,-0.36371,-0.631203,0.00403901,0.00171451,0.0539898,1.56429e-05
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