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
2020-02-06.11:15:33.546,0.242335,0.0366246,0.306915,0.111506,-0.379694,-0.27153,0.877308,5.7207e-05,3.85469e-05,9.78539e-05,-0.000101562,-0.000218061,0.000265671,0.000612199,0.0113059,0.00434409,-0.000232956,3.434e-05,-0.000125512,-0.155073,0.303704,-0.0713325,-1.48976,0.583246,0.5566,-3.17973,-0.00017155,-0.000366103,0.000257109,-0.000172186,0,0,0,-0.00111634,-0.00136581,0.0018675,0.000363857,-6.3691e-05,0.00014852,-6.10438e-05,-0.259464,0.0368174,0.324716,0.0769697,0.392465,0.452441,0.797085,0.000602507,-0.000306791,-0.000191501,-9.92118e-05,-0.000419892,0.00100861,-0.00862284,-0.00112348,0.000483113,-7.00381e-05,-0.000350729,-4.29551e-05,0.201173,0.252373,-0.0551358,1.04355,0.364159,-0.367119,0.142111,-0.00166608,0.000763256,-0.000887676,0.000594477,-1.78794e-06,0,0,0.000213329,-0.00257008,-0.00317557,-0.000205219,0.000327439,0.000125627,-0.000102284,-0.100656,0.0179221,0.0304968,0.0754504,0.394898,0.45397,0.795157,0.000461748,-0.00011803,3.21348e-05,0.0014778,3.21209e-05,-0.00057486,1.31243,-2.48951,-0.217047,-0.00731066,-0.0518489,-0.0133882,1.41823,0.303735,0.112222,1.92663,0.254827,0.409779,0.142111,-0.000168543,-0.00207891,0.00042433,0.00166617,0,0.0014843,0,0.13937,-0.203831,1.09798,0.0116998,0.0409472,0.00731066,-0.000102284,0.105938,0.0163833,0.0355392,0.0229407,-0.389663,-0.199613,0.898772,-6.92179e-05,2.20541e-05,3.10801e-06,0.000682228,-0.000612763,0.00065557,-4.30429,-2.16865,-0.867688,-0.00426388,0.110898,0.0144787,-1.37437,0.31274,0.109161,-4.5379,-0.4371,0.106897,0.142111,-0.000224334,-4.63937e-06,6.85874e-05,0,0,-0.00110491,0,-0.261281,-0.277802,1.25008,-0.00453481,-0.0726407,0.00426388,-0.000102284
2020-02-06.11:15:33.557,0.242335,0.0366246,0.306915,0.111506,-0.379694,-0.27153,0.877308,5.55505e-05,3.32528e-05,9.22486e-05,-0.000102191,-0.000202526,0.000246813,-0.00126061,-0.011768,-0.0180234,0.000470631,-0.000901612,0.000374967,-0.155073,0.303704,-0.0713325,-1.48976,0.583246,0.5566,-3.17973,-0.000164667,-0.000339687,0.000230693,-0.000154495,0,0,0,-0.00270558,0.00455573,-0.00113005,-0.00113165,-0.000470697,-0.000164562,0.00016409,-0.259417,0.0368027,0.324705,0.0769413,0.392449,0.45248,0.797073,0.000782142,-0.000283412,-0.000158613,-0.000101282,-0.000750957,0.0015085,0.0148023,-0.000598407,-0.000971217,0.000308025,2.48424e-05,-3.50942e-05,0.201049,0.252404,-0.0551673,1.04357,0.364159,-0.367119,0.142111,-0.00209014,0.000501676,-0.000621667,0.00041633,0,0,0,-0.000846168,0.00507955,0.00566097,0.000322607,-4.82581e-05,0.000282168,-2.72398e-05,-0.100637,0.0179118,0.0304949,0.0755408,0.394868,0.453999,0.795146,0.000269196,-0.000138289,-3.31308e-05,0.0012589,0.000805883,-0.00109786,1.41395,-2.46857,-0.214815,-0.0103633,-0.0544656,-0.0142453,1.41823,0.303596,0.112238,1.92684,0.254827,0.40986,0.142111,0,-0.00198186,0.000220598,0.00116136,0,0.000498943,0,0.144562,-0.196279,1.11766,0.0111366,0.0427641,0.0103633,-2.72398e-05,0.105938,0.0163837,0.0355386,0.0229406,-0.389666,-0.199615,0.89877,-4.746e-05,3.01231e-06,2.7336e-05,0.000618101,-0.000266942,0.000759436,-4.26844,-2.13617,-0.841109,-0.00426388,0.110281,0.0153737,-1.37438,0.31274,0.109161,-4.5379,-0.4371,0.106897,0.142111,0.000129098,-3.09833e-06,5.38778e-05,0,0,-0.00100141,0,-0.257977,-0.274026,1.2557,-0.00353349,-0.0724486,0.00426388,-2.72398e-05
2020-02-06.11:15:33.566,0.242343,0.0366318,0.306922,0.111517,-0.379704,-0.271513,0.877308,-3.32407e-05,-7.7911e-05,-2.17695e-05,-0.000114497,0.000171981,-0.000244436,0.0127945,0.00138041,0.0125461,0.000296975,-0.000239618,0.000229232,-0.155097,0.303673,-0.071301,-1.48978,0.583246,0.5566,-3.17973,0.000111372,0.000176883,-0.000285877,0.000191452,0,0,0,-5.68415e-05,-0.00735385,-0.00494534,-0.000867737,6.15414e-05,8.59034e-05,-6.10438e-05,-0.259417,0.0368027,0.324705,0.0769413,0.392449,0.45248,0.797073,0.000754053,-0.000277861,-0.000156036,-9.96994e-05,-0.00071584,0.00144659,0.0109198,-0.0137256,-0.0236994,-4.28199e-05,-0.00034412,-8.23114e-06,0.201049,0.252404,-0.0551673,1.04357,0.364159,-0.367119,0.142111,-0.00201787,0.000501676,-0.000620007,0.000415219,0,0,0,0.000213329,0.0101677,0.0034293,-2.92769e-05,0.000327439,3.94597e-07,-5.79846e-06,-0.100634,0.0179109,0.0304949,0.0755136,0.394851,0.45401,0.795151,0.000278211,-0.000143892,-3.47518e-05,0.00125441,0.000833158,-0.001162,1.40878,-2.45542,-0.217345,-0.00835499,-0.0525666,-0.0143898,1.41823,0.303581,0.112241,1.92684,0.254827,0.409942,0.142111,0,-0.00205918,0.000227676,0.00114724,0,0.000509547,0,0.145978,-0.196751,1.10923,0.0107611,0.0411264,0.00835499,-5.79846e-06,0.105938,0.016384,0.0355395,0.0229384,-0.389662,-0.199616,0.898772,-4.40499e-05,-6.22728e-06,2.77882e-05,0.000621238,-0.000243424,0.000833541,-4.29718,-2.18602,-0.881816,-0.00321955,0.110782,0.015732,-1.37437,0.312748,0.109161,-4.5379,-0.4371,0.106897,0.142111,0.000186828,-6.92852e-05,4.9398e-05,0,0,-0.000985536,0,-0.260337,-0.281106,1.23602,-0.00390898,-0.072724,0.00321955,-5.79846e-06
2020-02-06.11:15:33.579,0.242343,0.0366318,0.306922,0.111517,-0.379704,-0.271513,0.877308,-3.32407e-05,-7.7911e-05,-2.17695e-05,-0.000114497,0.000171981,-0.000244436,0.0127945,0.00138041,0.0125461,0.000296975,-0.000239618,0.000229232,-0.155097,0.303673,-0.071301,-1.48978,0.583246,0.5566,-3.17973,0.000111372,0.000176883,-0.000285877,0.000191452,0,0,0,-5.68415e-05,-0.00735385,-0.00494534,-0.000867737,6.15414e-05,8.59034e-05,-6.10438e-05,-0.259417,0.0368027,0.324705,0.0769413,0.392449,0.45248,0.797073,0.000754053,-0.000277861,-0.000156036,-9.96994e-05,-0.00071584,0.00144659,0.0109198,-0.0137256,-0.0236994,-4.28199e-05,-0.00034412,-8.23114e-06,0.201049,0.252404,-0.0551673,1.04357,0.364159,-0.367119,0.142111,-0.00201787,0.000501676,-0.000620007,0.000415219,0,0,0,0.000213329,0.0101677,0.0034293,-2.92769e-05,0.000327439,3.94597e-07,-5.79846e-06,-0.100634,0.0179109,0.0304949,0.0755136,0.394851,0.45401,0.795151,0.000278211,-0.000143892,-3.47518e-05,0.00125441,0.000833158,-0.001162,1.40878,-2.45542,-0.217345,-0.00835499,-0.0525666,-0.0143898,1.41823,0.303581,0.112241,1.92684,0.254827,0.409942,0.142111,0,-0.00205918,0.000227676,0.00114724,0,0.000509547,0,0.145978,-0.196751,1.10923,0.0107611,0.0411264,0.00835499,-5.79846e-06,0.105938,0.016384,0.0355395,0.0229384,-0.389662,-0.199616,0.898772,-4.40499e-05,-6.22728e-06,2.77882e-05,0.000621238,-0.000243424,0.000833541,-4.29718,-2.18602,-0.881816,-0.00321955,0.110782,0.015732,-1.37437,0.312748,0.109161,-4.5379,-0.4371,0.106897,0.142111,0.000186828,-6.92852e-05,4.9398e-05,0,0,-0.000985536,0,-0.260337,-0.281106,1.23602,-0.00390898,-0.072724,0.00321955,-5.79846e-06
2020-02-06.11:15:33.599,0.242344,0.0366224,0.306927,0.111502,-0.379705,-0.271515,0.877309,-5.39677e-05,0.000130034,-0.000116825,0.0004745,-1.66351e-05,8.47219e-05,0.00162515,0.0138114,-0.0192658,-0.000405363,0.000259828,-0.000182613,-0.155097,0.303673,-0.0713273,-1.48976,0.583246,0.5566,-3.17973,0.000111372,0.000176883,0.00029624,-0.000198392,0,0,0,-0.00800307,0.00438062,0.00409917,0.000715741,6.15414e-05,0.000211136,-3.96024e-05,-0.259398,0.0367993,0.324703,0.0769272,0.392441,0.452498,0.797069,0.000785935,-0.000280092,-0.000157666,-9.69308e-05,-0.000762529,0.00152255,-0.011506,-0.012834,0.00804977,-2.4496e-05,-0.000275953,0.000221299,0.201,0.252404,-0.0551673,1.04357,0.364159,-0.367119,0.142111,-0.00209778,0.000490843,-0.000605968,0.000405817,0,0,0,-0.00508415,-0.00414938,-0.00528941,-0.000381161,0.000139591,0.000282168,0.000112129,-0.100628,0.017907,0.0304938,0.0754996,0.39484,0.454009,0.795159,0.000335973,-0.000222336,-6.97463e-05,0.00102879,0.000358875,-0.00131177,1.39009,-2.43287,-0.208783,-0.00803366,-0.0541372,-0.0147535,1.41823,0.303527,0.112246,1.92684,0.254827,0.410024,0.142111,0,-0.00299859,0.000258679,0.00110579,0,0.0017001,0,0.13937,-0.195335,1.14016,0.0103856,0.0430256,0.00891732,0.000112129,0.105938,0.016384,0.0355395,0.0229384,-0.389662,-0.199616,0.898772,-4.29908e-05,-2.22668e-05,1.82844e-05,0.000636357,-0.000316119,0.000958302,-4.27198,-2.1312,-0.845363,-0.00386222,0.110349,0.0154117,-1.37437,0.312748,0.109161,-4.5379,-0.4371,0.106897,0.142111,0.000186828,-0.000240259,4.25204e-05,0,0,-0.00095594,0,-0.258449,-0.274026,1.25289,-0.00365865,-0.072488,0.00386222,0.000112129
2020-02-06.11:15:33.619,0.242344,0.0366224,0.306927,0.111502,-0.379705,-0.271515,0.877309,-5.39677e-05,0.000130034,-0.000116825,0.0004745,-1.66351e-05,8.47219e-05,0.0141335,0.0151143,0.00119646,-3.10363e-05,9.68372e-05,-1.3465e-05,-0.155097,0.303673,-0.0713273,-1.48976,0.583246,0.5566,-3.17973,0.000111372,0.000176883,0.00029624,-0.000198392,0,0,0,-0.00588407,-0.00477654,-0.00130326,9.99441e-05,6.15414e-05,-8.02096e-06,1.40009e-05,-0.259369,0.0367942,0.3247,0.078169,0.392924,0.451933,0.79703,0.00113777,-0.000332244,-0.000185503,-9.50973e-05,-0.00123151,0.00232179,-0.00138902,0.00602709,0.0100103,0.000413335,-0.000262551,-0.00020915,0.200926,0.252404,-0.0551673,1.04357,0.364159,-0.364159,0.142111,-0.00299429,0.000448043,-0.000560062,0.000375074,0,0,0,0.000213329,-0.00299206,8.53323e-05,0.000938404,0.000327439,3.94597e-07,-2.72398e-05,-0.100621,0.0179018,0.030492,0.0754908,0.39483,0.454002,0.795168,0.000386514,-0.000252173,-7.79638e-05,0.000980458,0.000342241,-0.00152446,1.37493,-2.40171,-0.162619,-0.00939931,-0.053333,-0.0149571,1.41823,0.303457,0.112251,1.92684,0.254827,0.410105,0.142111,0,-0.00341496,0.000298888,0.0010673,0,0.00197563,0,0.138426,-0.190615,1.12891,0.0101352,0.0423622,0.00939931,-2.72398e-05,0.105938,0.016384,0.0355395,0.0229384,-0.389662,-0.199616,0.898772,-3.81037e-05,-2.31759e-05,1.66366e-05,0.000619029,-0.000305533,0.000938877,-4.19187,-2.14837,-0.837653,-0.00442454,0.109614,0.0156244,-1.37437,0.312748,0.109161,-4.5379,-0.4371,0.106897,0.142111,0.000186828,-0.000240259,3.72834e-05,0,0,-0.000927839,0,-0.251369,-0.274026,1.22758,-0.00322057,-0.0725097,0.00442454,-2.72398e-05
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