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_velocity_1,PSM1_joint_velocity_2,PSM1_joint_velocity_3,PSM1_joint_velocity_4,PSM1_joint_velocity_5,PSM1_joint_velocity_6,PSM1_joint_effort_1,PSM1_joint_effort_2,PSM1_joint_effort_3,PSM1_joint_effort_4,PSM1_joint_effort_5,PSM1_joint_effort_6,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_velocity_1,PSM2_joint_velocity_2,PSM2_joint_velocity_3,PSM2_joint_velocity_4,PSM2_joint_velocity_5,PSM2_joint_velocity_6,PSM2_joint_effort_1,PSM2_joint_effort_2,PSM2_joint_effort_3,PSM2_joint_effort_4,PSM2_joint_effort_5,PSM2_joint_effort_6
2020-02-04.17:23:55.558,0.109817,0.0838592,0.360355,0.316323,0.0445062,-0.192019,0.927948,-0.00319188,-0.0137111,0.0813193,-0.113358,0.503198,-0.590312,-0.0217476,-0.0331468,-0.0201715,8.0738e-06,-7.86496e-05,0.000306949,0.208877,0.040813,0.160316,-1.80108,1.57506,0.0710553,2.72379,0.0268607,-0.277396,0.050781,-0.0164083,0,-0.0794681,-0.761914,0.00894888,0.00963332,0.00221745,-0.000603824,-3.23829e-05,2.32872e-05,1.40009e-05,-0.0769457,0.135844,0.342393,0.448885,-0.0571344,0.81934,-0.352022,-0.0414507,0.0155229,0.0156515,0.121372,0.204643,0.179786,0.0725343,-0.0676282,0.0354949,-0.000331126,-0.00025931,-5.81565e-05,-0.336007,0.0624162,0.271072,1.56573,0.334552,-0.32567,-3.39289,0.102768,-0.132116,0.120288,-0.00494324,-0.173563,0.00174873,0.240456,0.00392157,-0.025983,-0.00558045,0.000674491,-0.000110874,0.000125627,3.70842e-05,-0.110394,-0.00709738,0.0241666,0.441113,-0.054702,0.825288,-0.348321,-0.017682,0.022678,0.0103556,0.200951,0.290585,0.399381,-6.43438,2.36852,-3.43603,-0.0398454,-0.00696599,-0.0134896,1.31775,0.0664309,0.0996614,-1.38207,-0.141965,-0.483514,-0.0682712,0.273478,-0.0166098,0.247059,0.468991,0.223766,0.676529,-0.262834,-1.01108,-0.00463427,0.058449,0.0398454,0.0742193,-0.0198453,0.0357754,0.324036,0.0406261,-0.184361,0.927017,0.00111838,-0.0106025,0.0361869,-0.0386275,0.570804,-0.399356,-1.86649,-0.639259,-1.20175,-0.0598541,0.0614178,-0.105423,-1.29445,0.0555651,0.143947,0.648781,-1.15717,0.712611,0.318446,0.0854158,0.00681884,-0.83958,0.434072,0.768174,-0.143748,0.133799,1.5116,-0.00397156,0.0394391,0.0598541
2020-02-04.17:23:55.569,0.109756,0.0834572,0.362904,0.312565,0.0479275,-0.206695,0.925896,-0.00182028,-0.0122381,0.0838257,-0.113518,0.785876,-0.973401,0.0137243,-0.0305865,-0.0204804,-0.00014486,-4.20292e-05,0.000314607,0.209621,0.0320583,0.161997,-1.80101,1.5721,0.0710553,2.69418,0.024577,-0.289213,0.0575624,-0.00384365,0,-0.0636196,-1.22749,-0.00270558,0.00988545,0.00127836,-0.000515853,6.15414e-05,0.00014852,0.000110487,-0.0781008,0.136237,0.342708,0.450141,-0.0586677,0.817678,-0.354026,-0.0347119,0.00989379,0.00637002,0.191087,0.208777,0.20665,0.0430913,-0.044751,0.0222252,0.00030135,-2.00831e-05,7.67062e-05,-0.333035,0.0592985,0.274111,1.56549,0.331592,-0.32567,-3.38697,0.0929176,-0.0782069,0.0806639,-0.000825158,-0.151222,0.00355156,0.302718,0.00180257,-0.0157403,-0.00241322,-0.000557103,-0.000142182,-3.09135e-05,-1.65191e-05,-0.110844,-0.00648058,0.0243856,0.443855,-0.0545475,0.822702,-0.350967,-0.0131904,0.0170945,0.00468245,-0.0115466,0.106218,0.111556,-1.64727,4.56036,-3.90713,-0.0367928,-0.0457357,0.00178252,1.31696,0.0735513,0.099231,-1.38123,-0.133494,-0.476945,4.9278e-05,0.193273,-0.012784,-0.0126807,0.116758,0.174929,0.312601,-0.530941,-1.14606,-0.00726274,0.05644,0.0367928,0.0742734,-0.0200825,0.0367376,0.327903,0.0475735,-0.193124,0.923536,0.000475752,-0.00414631,0.0358751,0.139601,0.437925,-0.709078,-1.48731,-1.26666,-1.09833,-0.0677267,0.0382601,-0.109514,-1.28549,0.0585924,0.14411,0.613972,-1.14665,0.732701,0.291095,0.115869,0.00476483,-0.763006,0.667325,0.416524,-0.155077,0.0535559,1.36819,0.00378868,0.0583442,0.0677267
2020-02-04.17:23:55.590,0.109742,0.0833398,0.363775,0.310989,0.050689,-0.214985,0.92439,-0.00101929,-0.0118401,0.0834048,-0.106881,0.929667,-1.17188,-0.00278954,0.00270374,0.00903246,4.6486e-05,-0.000144633,0.000295316,0.209819,0.029728,0.162486,-1.80119,1.5721,0.0710553,2.68234,0.0228906,-0.287922,0.0574279,-0.00740654,0,-0.060486,-1.25916,-0.00058659,0.00238461,0.00169076,9.99441e-05,-0.000470697,0.000242444,-7.44046e-06,-0.0784355,0.136348,0.34275,0.451232,-0.0583952,0.816945,-0.354374,-0.0324189,0.0104424,0.00325769,0.214298,0.181528,0.18036,0.0700924,-0.0558209,-0.00514871,0.000253803,-8.88225e-05,0.000113691,-0.332143,0.0586057,0.274909,1.5654,0.328631,-0.32567,-3.38697,0.0872201,-0.0631578,0.0747921,-0.00169241,-0.106604,0.00391124,0.302718,0.013457,-0.0200668,-0.00567058,-0.000205219,-0.000173491,-0.00025007,0.000122849,-0.110981,-0.00631319,0.0244131,0.444145,-0.0542284,0.821982,-0.352335,-0.013511,0.0146578,0.00106867,0.145592,0.0553401,0.357896,-0.456813,4.79814,-3.89566,-0.0371944,-0.054462,0.0123411,1.317,0.0752812,0.0990988,-1.37997,-0.131581,-0.476789,0.00852083,0.156338,-0.0138632,0.233323,0.214595,-0.041964,0.21867,-0.563982,-1.21074,-0.00188063,0.0575226,0.0364714,0.0742666,-0.0201139,0.0371061,0.328124,0.0487033,-0.19793,0.922381,-0.000683437,-0.00247267,0.0322505,0.00875005,0.578843,-0.741638,-1.24868,-1.4822,-0.747734,-0.0756796,0.0532309,-0.133275,-1.28245,0.0598821,0.144159,0.604326,-1.13859,0.738787,0.272692,0.119819,0.00440144,-1.00691,0.705754,0.799023,-0.0913542,0.0304269,1.32038,-0.00077985,0.061756,0.0756796
2020-02-04.17:23:55.609,0.109716,0.0831374,0.365325,0.30817,0.0552751,-0.228884,0.921731,-0.00225906,-0.0098863,0.080083,-0.0920159,1.09675,-1.42037,0.0105905,0.00619864,0.00141729,-3.99352e-05,9.17469e-05,-0.000227866,0.210314,0.0236501,0.163751,-1.80114,1.5721,0.0710553,2.64681,0.0260825,-0.278194,0.0586604,0.00825205,-0.00542343,-0.0534231,-1.75788,-0.00376508,-0.000861543,-1.06834e-05,0.000539799,6.15414e-05,-8.02096e-06,7.83248e-05,-0.0790192,0.136523,0.34276,0.451306,-0.0602967,0.815924,-0.356308,-0.0276484,0.00810516,-0.00139085,0.131288,0.13905,0.123264,0.0503762,-0.0440025,0.0222355,7.38277e-05,-0.000197902,-3.1636e-05,-0.330533,0.0576924,0.276138,1.56532,0.328631,-0.32567,-3.38105,0.077455,-0.035097,0.0548321,-0.0144839,-0.100963,0.00440885,0.18175,0.00286207,-0.0179009,-0.00493592,0.000146665,-0.000173491,-0.000156146,1.56429e-05,-0.111243,-0.00607379,0.0244022,0.44489,-0.0536298,0.820822,-0.354186,-0.0122189,0.00964489,-0.00156345,-0.0189475,0.106831,0.0552702,1.35889,4.66052,-3.44334,-0.0392831,-0.069497,0.0202243,1.31734,0.0777293,0.0988175,-1.37871,-0.128165,-0.476716,0.0242641,0.0913349,-0.0128874,-0.0262515,0.0777909,0.109709,0.0652631,-0.566342,-1.08701,-0.00213096,0.0586628,0.0392831,0.0742461,-0.0201502,0.0376466,0.32789,0.0542109,-0.207498,0.920051,-0.00380553,-0.000159204,0.0219389,0.38939,1.05346,-1.0545,-0.621875,-1.78699,0.14745,-0.0824276,0.0550987,-0.170615,-1.27709,0.0623997,0.144232,0.571824,-1.12547,0.765582,0.265818,0.134415,0.00301055,-2.35959,0.860138,1.74961,0.0398673,-0.0186631,1.14041,-0.00478514,0.084162,0.0824276
2020-02-04.17:23:55.629,0.109705,0.0828376,0.367654,0.305449,0.0620279,-0.257346,0.914673,-0.000778915,-0.0101476,0.074456,-0.117491,1.11734,-1.5659,-0.0042176,0.0158236,0.0103982,-0.000430866,-5.91512e-05,0.000305827,0.210909,0.0155568,0.165428,-1.80107,1.56618,0.0680947,2.5876,0.0199992,-0.256951,0.0504629,0.00402851,-0.0659873,0,-1.89229,-0.00058659,-0.00552768,-0.00127557,-0.000603824,0.000218082,0.000398985,-7.44046e-06,-0.0797321,0.136749,0.342632,0.453243,-0.0613419,0.813342,-0.35956,-0.0193688,0.00663842,-0.00628792,0.121853,0.134289,0.135424,0.0491291,-0.0340853,-0.0084466,-0.000266296,2.35672e-05,1.31339e-06,-0.328501,0.0571571,0.277462,1.56488,0.32271,-0.32567,-3.37513,0.0571962,-0.00319433,0.033094,-0.0125999,-0.110121,0.00482171,0.160512,0.0108083,-0.0108168,-0.00552507,-0.000733045,0.000358747,-6.22216e-05,0.000112129,-0.11151,-0.00588175,0.0242793,0.446195,-0.0550414,0.818706,-0.357214,-0.00852306,0.00320343,-0.00586658,0.0395208,0.222635,0.100107,3.29342,3.06043,-2.50626,-0.0403274,-0.0843916,0.0343021,1.31822,0.0790885,0.0985103,-1.37368,-0.122836,-0.475425,0.0278945,0.00344139,-0.0101587,0.0393773,0.200379,0.0785021,-0.119769,-0.428513,-1.2248,0.00118592,0.0607629,0.0403274,0.0739916,-0.020042,0.0384462,0.32357,0.0586361,-0.237031,0.914156,-0.0110162,0.0066968,0.0313468,-0.704659,1.0816,-2.29787,0.508779,-1.83444,1.47747,-0.0813833,0.0457559,-0.170321,-1.26924,0.0662997,0.144276,0.514579,-1.07328,0.814909,0.26883,0.131073,-0.000120991,-1.61042,2.40543,1.70681,0.229619,-0.109763,0.673603,-0.00159342,0.0879205,0.0813833
2020-02-04.17:23:55.650,0.109679,0.0826295,0.369199,0.304821,0.0637638,-0.275087,0.909585,-0.0014974,-0.00921005,0.0726345,-0.0739498,0.401148,-1.11772,-0.00921178,0.0258319,0.0453349,-0.000145077,0.000524235,0.00025674,0.211355,0.0102347,0.166463,-1.80132,1.5573,0.065134,2.55207,0.022104,-0.250789,0.0498232,-0.0275237,-0.375825,-0.0573194,-1.1203,-5.68415e-05,-0.0175913,-0.0113146,-0.000691795,0.000562471,-0.000164562,-0.000211133,-0.0800772,0.136881,0.342473,0.454099,-0.0626561,0.811473,-0.362464,-0.0138642,0.00553331,-0.00937107,0.112785,0.152149,0.165563,0.0590533,-0.0364822,-0.00215123,-0.000172162,0.000165487,-1.66334e-05,-0.327486,0.057283,0.27802,1.56466,0.319749,-0.32567,-3.36921,0.0421487,0.0174702,0.0185148,-0.00698044,-0.143122,0.00495094,0.155043,0.0102785,-0.0171445,-0.00810669,-0.000117248,0.000170899,0.000344784,-9.15637e-05,-0.111674,-0.00584828,0.0241485,0.447432,-0.0570265,0.816595,-0.360173,-0.00767964,3.26287e-05,-0.00622917,0.165949,0.272157,0.169692,3.31174,1.69178,-1.81218,-0.0405684,-0.0856835,0.0353025,1.31856,0.0788105,0.0983106,-1.36781,-0.116961,-0.474744,0.00757496,-0.0297576,-0.00931509,0.18033,0.292762,0.0618251,-0.14573,-0.290683,-1.21918,-0.000503815,0.062208,0.0405684,0.0737608,-0.0198854,0.0390927,0.315903,0.0603772,-0.264556,0.909159,-0.00919859,0.00660559,0.0333678,-0.802658,1.11348,-2.22502,1.24997,-1.80854,2.24847,-0.0670037,0.0284426,-0.132341,-1.26354,0.0689949,0.144258,0.477674,-1.02054,0.851783,0.267315,0.116581,-0.00049642,-1.28193,2.40543,1.48656,0.322135,-0.200391,0.420516,0.00422676,0.0694719,0.0670037
2020-02-04.17:23:55.669,0.109657,0.0824421,0.370659,0.306263,0.0631625,-0.284339,0.906292,0.000431477,-0.0101163,0.0702854,-0.068222,0.079668,-0.986075,-0.0144888,0.00242746,0.0100545,-0.000326959,8.91276e-05,-0.0004057,0.211776,0.0051961,0.167452,-1.80183,1.54841,0.0592128,2.53431,0.0153093,-0.241252,0.044447,-0.0214827,-0.560112,-0.06388,-0.816294,0.00471089,-0.00418999,-0.00238787,0.000715741,0.000218082,0.000211136,-0.000114647,-0.0802919,0.136994,0.34225,0.455086,-0.0625955,0.810637,-0.363106,-0.00777646,0.00541145,-0.0115972,0.109716,0.165066,0.195678,0.0264281,-0.0304658,-0.0189773,-0.000261992,-0.000146811,-4.16787e-05,-0.326817,0.0578499,0.278268,1.56449,0.316788,-0.32567,-3.36921,0.0248623,0.0338143,0.00763156,-0.000930424,-0.168413,0.0050005,0.155043,0.0108083,-0.00574447,0.00096551,0.000762462,-1.695e-05,-0.000156146,0.000112129,-0.111824,-0.00587094,0.0240138,0.449221,-0.0582883,0.814367,-0.362779,-0.00632948,-0.00227681,-0.00608085,0.0680103,0.279262,0.170356,2.52865,0.253523,-0.973177,-0.0396847,-0.0772602,0.0343167,1.31857,0.0779147,0.0981253,-1.36361,-0.109856,-0.47482,-0.0055795,-0.0541959,-0.00783898,0.0909521,0.328569,0.0233496,-0.115048,-0.127836,-1.02233,0.000247176,0.0613914,0.0396847,0.0736597,-0.0197878,0.0398539,0.306058,0.0590673,-0.284212,0.906677,-0.00020954,0.0020181,0.0398922,-0.700343,0.495597,-1.44762,1.46711,-2.11748,2.12069,-0.0487682,0.0174586,-0.0964197,-1.25837,0.0711341,0.144256,0.468867,-0.979547,0.86908,0.270362,0.103599,-0.000102796,-0.0902439,1.66072,0.35081,0.281069,-0.273554,0.454261,0.000972464,0.0495251,0.0494912
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2020-02-04.17:25:12.8,0.0274655,0.0180968,0.350955,0.417378,0.382539,-0.562635,0.602413,0.00112287,-0.00792162,0.00874063,-0.10096,0.0708934,-0.0013474,0.0156207,0.00390106,-0.00893561,-6.56662e-05,0.000322834,0.000260603,0.37044,0.266481,-0.167126,-1.8597,1.64908,-0.583246,1.73493,-0.00462369,-0.0137679,-0.0164751,0.00308209,0.00937956,0.0744125,-0.0549919,-0.00323533,0.00762678,0.0053293,-0.000427882,-0.000157615,-0.000321102,5.68835e-05,-0.0167946,0.0882758,0.344908,0.639601,-0.253528,0.628868,-0.362159,0.000313887,0.000614263,0.000436246,0.000216189,-0.00166559,0.00241356,-0.00571185,0.0126975,-0.00637751,2.94519e-05,-2.54645e-05,1.08836e-05,-0.453327,0.191122,0.0431957,1.46087,0.0473702,0.408568,-3.00209,-0.0016388,-0.0018803,0.00197144,-0.00132028,0,0,0,0.00339182,0.00400452,0.0014922,5.86941e-05,-1.695e-05,-0.000124838,1.56429e-05,-0.0851359,-0.0235185,0.0216535,0.639246,-0.253548,0.629318,-0.361991,-0.000147714,-7.75599e-06,4.84552e-05,-0.0004136,0.00347311,-0.00353527,0.0065365,-0.533801,-0.340203,-0.00731066,-0.00950647,0.00395775,1.28475,-0.0902324,0.126326,-1.20446,0.378346,-0.111834,-0.000724553,4.53494e-05,-0.000131852,1.74092e-05,5.62917e-05,0.0052466,-0.0248927,0.0449232,-0.367115,0.00162399,0.0098293,0.00731066,0.0660693,-0.0342121,0.0495974,0.424435,0.381154,-0.560398,0.600442,-4.65005e-05,-0.000782171,0.0013835,-0.142865,-0.0271071,0.0542953,0.905462,-1.08642,3.32323,-0.0105298,-0.0109087,-0.047935,-1.13764,-0.0162641,0.153831,-0.609569,-0.333393,1.19115,0.00703084,0.00188727,0.000686211,0.155982,0.00206319,-0.00260268,0.230563,-0.379758,1.82093,0.00422676,0.0403248,0.0105298
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