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
2020-02-05.10:58:15.372,0.104562,0.101841,0.366623,0.404107,0.610784,-0.320082,-0.600989,0.00018279,-5.9315e-05,-6.84311e-05,9.49013e-05,-0.000270538,0.000459335,-0.0166647,2.42694,-0.142206,-0.0284347,-0.0352584,-0.00133638,0.236944,-0.0111165,0.223843,-1.80424,-0.0680947,0.0236851,-1.33229,-0.000615381,0.000219085,-0.00012575,8.42146e-05,0,0,0,-0.170106,0.772586,0.778771,-0.0555857,-0.0193495,-0.0263695,-0.000339781,-0.0346324,0.125712,0.362016,0.58061,-0.317181,0.553401,-0.505999,-8.15544e-05,0.000137969,9.0948e-05,-0.00418597,-0.00864619,-0.00721233,-0.721153,1.35094,0.250545,-0.0359578,0.00222753,-0.00101301,-0.459149,0.0530947,0.208389,1.76479,0.0384883,-0.00888192,-2.66457,0,-0.000659546,0.000659546,-0.000499588,0.00976583,0,-0.00690955,-0.0156791,0.497966,0.321578,0.0577677,-0.0145126,0.00820312,-5.94017e-05,-0.072316,0.0170472,0.0388801,0.587293,-0.329824,0.54178,-0.50277,0,0,0,0,0,0,-3.09422,2.18885,0.0018755,0.0316507,0.0776772,0.00622833,1.36835,0.248826,0.141175,-0.755094,0.167243,0.162324,0,0,0,0,0,0,0.398037,0.0604999,-0.862042,-0.00432136,-0.0495053,-0.0316507,0.0810422,0.0172004,0.0346665,0.393554,0.635954,-0.300612,-0.59187,3.08999e-06,1.04771e-05,5.40486e-06,-1.73077e-05,4.79376e-05,-8.30304e-05,-0.815126,1.20635,1.89056,-0.0481255,-0.0106401,0.0228575,-1.3922,0.280212,0.131908,-3.16275,0.273273,0.317959,0,9.74249e-05,0,0,0,0,-0.260809,-0.140444,1.14603,0.00685523,0.0103786,0.0481255
2020-02-05.10:58:15.380,0.104562,0.101843,0.366614,0.404101,0.610788,-0.320072,-0.600995,0.000184416,-1.62746e-05,-8.30886e-05,0.000193004,-0.000339845,0.000495243,-0.0170873,2.4204,-0.159375,-0.0282118,-0.0348654,-0.00127662,0.236944,-0.011085,0.223838,-1.80424,-0.0680947,0.0236851,-1.33229,-0.000598422,0.000197971,6.00246e-07,-4.01985e-07,0,0,0,-0.174874,0.769675,0.77663,-0.0550579,-0.0192243,-0.0260251,-0.000286178,-0.0346363,0.125719,0.362021,0.580608,-0.317173,0.553401,-0.506006,9.64564e-05,-0.000163183,-0.00010756,-0.00416478,-0.00772097,-0.00766066,-0.711256,1.36476,0.238131,-0.0361726,0.00237418,-0.000970421,-0.459149,0.0530632,0.208421,1.76477,0.0384883,-0.00888192,-2.66457,0,0.00078006,-0.00078006,0.00046204,0.00944903,0,-0.00669217,-0.0103816,0.499139,0.31876,0.0580316,-0.0144813,0.00845359,-1.65191e-05,-0.072316,0.0170472,0.0388801,0.587293,-0.329824,0.54178,-0.50277,0,0,0,0,0,0,-3.18294,2.20873,-0.00281038,0.0327754,0.0798227,0.00558057,1.36835,0.248826,0.141175,-0.755094,0.167243,0.162324,0,0,0,0,0,0,0.405117,0.0666361,-0.884539,-0.00513493,-0.0507106,-0.0327754,0.0810422,0.0172004,0.0346665,0.393554,0.635954,-0.300612,-0.59187,2.6149e-06,8.86627e-06,4.57386e-06,-1.46467e-05,4.05672e-05,-7.02645e-05,-0.777121,1.23688,1.87095,-0.0501339,-0.0139653,0.0226224,-1.3922,0.280212,0.131908,-3.16275,0.273273,0.317959,0,8.24459e-05,0,0,0,0,-0.265529,-0.138084,1.12916,0.00704298,0.0132648,0.0501339
2020-02-05.10:58:15.394,0.104562,0.101843,0.366614,0.404101,0.610788,-0.320072,-0.600995,0.000174886,-1.42817e-05,-8.1938e-05,0.000193004,-0.000324593,0.000468825,-0.039273,2.43908,-0.162629,-0.0283435,-0.0350081,-0.00127112,0.236944,-0.011085,0.223838,-1.80424,-0.0680947,0.0236851,-1.33229,-0.000567918,0.000197971,6.00246e-07,-4.01985e-07,0,0,0,-0.178052,0.776507,0.777569,-0.0551459,-0.0193182,-0.0262755,-0.000286178,-0.0346363,0.125719,0.362021,0.580608,-0.317173,0.553401,-0.506006,9.64564e-05,-0.000163183,-0.00010756,-0.00413318,-0.00765719,-0.00760166,-0.719796,1.40214,0.215462,-0.0360164,0.00211702,-0.000976335,-0.459149,0.0530632,0.208421,1.76477,0.0384883,-0.00888192,-2.66457,0,0.00078006,-0.00078006,0.000461516,0.0093732,0,-0.00663998,-0.00190566,0.510046,0.324367,0.0582075,-0.0146378,0.00776481,-5.79846e-06,-0.072316,0.0170472,0.0388801,0.587293,-0.329824,0.54178,-0.50277,0,0,0,0,0,0,-3.15189,2.20299,-0.0148426,0.032695,0.0788589,0.0057462,1.36835,0.248826,0.141175,-0.755094,0.167243,0.162324,0,0,0,0,0,0,0.402285,0.064748,-0.890163,-0.00482202,-0.0500688,-0.032695,0.0810422,0.0172004,0.0346665,0.393554,0.635954,-0.300612,-0.59187,2.51835e-06,8.53887e-06,4.40497e-06,-1.41058e-05,3.90693e-05,-6.767e-05,-0.835779,1.2375,1.85156,-0.0506962,-0.0129763,0.0238518,-1.3922,0.280212,0.131908,-3.16275,0.273273,0.317959,0,7.94016e-05,0,0,0,0,-0.265529,-0.143276,1.09542,0.00773139,0.0124747,0.0506962
2020-02-05.10:58:15.414,0.104562,0.101843,0.366614,0.404101,0.610788,-0.320072,-0.600995,0.00016537,-1.22917e-05,-8.07891e-05,0.000193004,-0.000309363,0.000442446,-0.0421113,2.44266,-0.163664,-0.0284514,-0.0343833,-0.00120346,0.236944,-0.011085,0.223838,-1.80424,-0.0680947,0.0236851,-1.33229,-0.000537458,0.000197971,6.00246e-07,-4.01985e-07,0,0,0,-0.178052,0.777757,0.778099,-0.0543541,-0.0195686,-0.0258998,-0.000232574,-0.0346251,0.125715,0.362018,0.58061,-0.317171,0.5534,-0.506007,0.000100506,-0.000232822,-0.000152437,-0.00411922,-0.00741195,-0.00775541,-0.708693,1.38864,0.221969,-0.0357254,0.00193113,-0.00102729,-0.459173,0.0530947,0.208389,1.76479,0.0384883,-0.00888192,-2.66457,0.00010076,0.00105235,-0.00105235,0.000643325,0.00928974,0,-0.00658248,-0.00455441,0.504304,0.319228,0.0572399,-0.0146691,0.00804658,-8.08431e-05,-0.072316,0.0170472,0.0388801,0.587293,-0.329824,0.54178,-0.50277,0,0,0,0,0,0,-3.13349,2.19339,0.0151181,0.0321327,0.0777429,0.00571674,1.36835,0.248826,0.141175,-0.755094,0.167243,0.162324,0,0,0,0,0,0,0.401813,0.064276,-0.856418,-0.00475943,-0.04913,-0.0321327,0.0810424,0.0172013,0.0346669,0.393556,0.635952,-0.300612,-0.591872,-7.97888e-07,-2.70529e-06,-1.39558e-06,4.46902e-06,-1.2378e-05,2.14393e-05,-0.855588,1.22355,1.90201,-0.0484469,-0.0108976,0.0230579,-1.3922,0.280219,0.131908,-3.16275,0.273273,0.317959,0,-2.51561e-05,0,0,0,0,-0.268362,-0.145636,1.13197,0.00729331,0.0125398,0.0490092
2020-02-05.10:58:15.434,0.104563,0.101852,0.366609,0.404094,0.610799,-0.320064,-0.600993,0.000160284,5.5483e-05,-0.000110711,0.000366037,-0.000405433,0.000471649,-0.0312351,2.43368,-0.170264,-0.028057,-0.0348901,-0.00127149,0.236944,-0.011085,0.223864,-1.80426,-0.0680947,0.0236851,-1.33229,-0.00049014,0.000197971,0.000184902,-0.000123829,0,0,0,-0.179642,0.774006,0.777687,-0.0549699,-0.0190677,-0.0260877,-0.000286178,-0.0346251,0.125715,0.362018,0.58061,-0.317171,0.5534,-0.506007,0.000100506,-0.000232822,-0.000152437,-0.00405656,-0.00728584,-0.00763897,-0.71188,1.35373,0.220013,-0.0358015,0.00200642,-0.000947868,-0.459173,0.0530947,0.208389,1.76479,0.0384883,-0.00888192,-2.66457,0.00010076,0.00105235,-0.00105235,0.000642421,0.00913999,0,-0.00647914,-0.0056139,0.496387,0.319405,0.0575038,-0.0146378,0.00798396,4.9222e-06,-0.072316,0.0170472,0.0388801,0.587293,-0.329824,0.54178,-0.50277,0,0,0,0,0,0,-3.17574,2.17826,-0.0061425,0.031731,0.0791811,0.0056065,1.36835,0.248826,0.141175,-0.755094,0.167243,0.162324,0,0,0,0,0,0,0.402757,0.0685242,-0.881726,-0.00513493,-0.0501471,-0.031731,0.0810422,0.0172004,0.0346665,0.393554,0.635954,-0.300612,-0.59187,6.17814e-06,2.0948e-05,1.08065e-05,-3.46052e-05,9.58468e-05,-0.000166011,-0.848402,1.24632,1.9289,-0.0486075,-0.0111329,0.0240665,-1.3922,0.280212,0.131908,-3.16275,0.273273,0.317959,0,0.000194792,0,0,0,0,-0.267418,-0.145164,1.16009,0.00785655,0.0107716,0.0486075
2020-02-05.10:58:15.454,0.104571,0.10185,0.366608,0.404089,0.610807,-0.320068,-0.600986,6.72337e-05,7.49435e-05,-9.94753e-05,0.00036604,-0.000256497,0.000213703,-0.0299767,2.43606,-0.156773,-0.0281125,-0.0348609,-0.00135195,0.236919,-0.011085,0.223864,-1.80426,-0.0680947,0.0236851,-1.33229,-0.000192285,0.000197971,0.000184902,-0.000123829,0,0,0,-0.179112,0.772926,0.776484,-0.0545301,-0.0193495,-0.0261503,-0.000296898,-0.0346251,0.125715,0.362018,0.58061,-0.317171,0.5534,-0.506007,0.000100506,-0.000232822,-0.000152437,-0.00399458,-0.00716134,-0.00752417,-0.726851,1.36656,0.217203,-0.0358005,0.00218316,-0.000848445,-0.459173,0.0530947,0.208389,1.76479,0.0384883,-0.00888192,-2.66457,0.00010076,0.00105235,-0.00105235,0.000641654,0.00899831,0,-0.00638117,-0.00614365,0.500878,0.32425,0.0580316,-0.0145752,0.00804658,-5.94017e-05,-0.072316,0.0170472,0.0388801,0.587293,-0.329824,0.54178,-0.50277,0,0,0,0,0,0,-3.14608,2.18823,-0.0182526,0.03149,0.0770268,0.00517857,1.36835,0.248826,0.141175,-0.755094,0.167243,0.162324,0,0,0,0,0,0,0.402285,0.0661641,-0.890163,-0.0052601,-0.0482218,-0.03149,0.0810422,0.0172004,0.0346665,0.393554,0.635954,-0.300612,-0.59187,6.17814e-06,2.0948e-05,1.08065e-05,-3.46052e-05,9.58468e-05,-0.000166011,-0.797456,1.21428,1.84799,-0.0502945,-0.0120707,0.0234902,-1.3922,0.280212,0.131908,-3.16275,0.273273,0.317959,0,0.000194792,0,0,0,0,-0.262225,-0.138084,1.10948,0.00729331,0.0113789,0.0502945
2020-02-05.10:58:15.474,0.104578,0.101849,0.366607,0.404069,0.610866,-0.320087,-0.600929,0.00022044,4.29127e-05,-0.000117968,0.000366043,-0.000501696,0.000638417,-0.050634,2.43433,-0.172694,-0.0282508,-0.0350268,-0.00128799,0.236894,-0.011085,0.223864,-1.80426,-0.0680947,0.0236851,-1.33229,-0.000682698,0.000197971,0.000184902,-0.000123829,0,0,0,-0.176463,0.776008,0.777011,-0.0552338,-0.0192869,-0.0263695,-0.000296898,-0.0346251,0.125715,0.362018,0.58061,-0.317171,0.5534,-0.506007,9.53695e-05,-0.000223366,-0.000146216,-0.00393213,-0.00706396,-0.00739263,-0.705782,1.34802,0.213957,-0.0355256,0.0018285,-0.000961545,-0.459173,0.0530947,0.208389,1.76479,0.0384883,-0.00888192,-2.66457,9.95302e-05,0.00100789,-0.00100789,0.000611172,0.008852,0,-0.00627981,-0.00402466,0.493557,0.317055,0.056976,-0.0146691,0.00785873,-1.65191e-05,-0.072316,0.0170472,0.0388801,0.587293,-0.329824,0.54178,-0.50277,0,0,0,0,0,0,-3.12746,2.16077,-0.014375,0.03149,0.0777344,0.00634657,1.36835,0.248826,0.141175,-0.755094,0.167243,0.162324,0,0,0,0,0,0,0.398037,0.0661641,-0.878914,-0.00419619,-0.0492783,-0.03149,0.0810422,0.0172004,0.0346665,0.393554,0.635954,-0.300612,-0.59187,6.17814e-06,2.0948e-05,1.08065e-05,-3.46052e-05,9.58468e-05,-0.000166011,-0.833672,1.23407,1.87441,-0.0502142,-0.0128453,0.023421,-1.3922,0.280212,0.131908,-3.16275,0.273273,0.317959,0,0.000194792,0,0,0,0,-0.265529,-0.143748,1.11791,0.00741847,0.0124659,0.0502142
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