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
2020-02-05.11:05:38.450,0.155001,0.092425,0.350034,-0.511659,-0.176876,0.663957,0.515831,-1.60745e-05,-1.31625e-05,-0.000165027,0.000405576,0.000114074,-0.000171031,0.00791152,0.00624782,-0.00947672,0.000317132,-6.06487e-05,-0.000131596,0.0758766,0.0430489,0.199,-1.7339,0.136189,0.609892,-0.343434,2.70154e-05,0.000677387,-0.000273985,0.000183487,0,0,0,-0.00164609,0.00421604,0.00280659,0.000275886,6.15414e-05,0.00030506,-0.000136088,-0.168308,0.0139891,0.332926,-0.186051,0.0745442,-0.681558,0.703781,2.0136e-05,-0.00131966,0.000889634,-0.00413123,0.00140491,-0.00197148,0.000919082,0.00682303,-0.0203277,-0.000337748,-8.65137e-06,-2.1155e-05,-0.0288346,0.24006,-0.09584,1.63185,1.08063,-0.784569,-1.84744,0,-0.000486757,-0.00363609,0.00243509,0,0,0,0.000743077,0.0075028,0.00260804,0.000234636,-0.000236107,9.43189e-05,-4.86811e-05,-0.0921588,-0.0332362,0.0237507,-0.187505,0.0744182,-0.680283,0.704641,-3.36291e-05,-0.000107391,0.000165655,-0.000194597,-0.00177896,-0.000395062,0.899485,-0.287314,1.40048,-0.00490068,-0.000961889,-0.0179526,1.21889,-0.172294,0.122536,-0.663459,0.415785,-1.02809,-0.0017519,-6.49336e-05,3.54033e-05,-0.000166989,0.000517783,-0.000422218,-0.174051,0.0241543,0.799899,-0.00626142,-0.0230616,0.00490068,0.0989837,0.0120282,0.0302365,-0.510585,-0.171707,0.663571,0.519128,1.39046e-06,9.01756e-06,-2.46624e-05,-1.62939e-05,-0.000536244,8.19713e-05,-0.824951,4.46037,0.185022,-0.0170368,-0.0113344,0.00548601,-1.36546,0.237814,0.11268,-2.14555,-0.111495,-0.230571,-0.00024309,-2.71379e-05,-7.32824e-06,0,0,0.000361492,-0.177262,-0.443953,1.28383,0.00898304,0.0197952,0.0170368
2020-02-05.11:05:38.463,0.155,0.0924197,0.35002,-0.511648,-0.176876,0.663954,0.515845,-5.26061e-05,-0.000486518,-0.000310581,2.74808e-05,0.000974722,-0.00102471,-0.00928164,-0.00759886,0.0172224,4.49267e-05,0.000298769,3.73914e-05,0.0758766,0.0431119,0.198964,-1.73388,0.136189,0.609892,-0.343434,2.65194e-05,0.00207595,-0.0020737,0.00138876,0,0,0,0.00418115,-0.00552242,-0.00312253,0.000363857,-0.000220232,-0.000101945,7.83248e-05,-0.168307,0.0139349,0.332956,-0.186097,0.0744767,-0.681555,0.703778,3.51694e-05,-0.00220095,0.00137376,-0.00667971,0.00240995,-0.00336414,0.00300485,-0.00332179,-0.0022506,-7.96698e-06,-0.000364672,0.000225898,-0.0288346,0.24006,-0.0959978,1.6318,1.08063,-0.784569,-1.84744,0,-0.000451689,-0.00621356,0.00416122,0,0,0,0.00233232,0.00458055,0.00457283,-0.000557103,0.000233515,-3.09135e-05,4.9222e-06,-0.0921577,-0.0332403,0.0237567,-0.187466,0.0743532,-0.680257,0.704683,-2.5102e-05,-0.000160906,0.00025007,-0.000146144,-0.00212991,-0.00130447,1.07748,-0.304547,1.41385,-0.006668,-0.00304294,-0.0139496,1.21882,-0.172302,0.12254,-0.663459,0.415922,-1.0282,-0.00252455,-1.03978e-05,7.44582e-05,-0.000161904,0,0,-0.183491,0.0128259,0.864577,-0.00663691,-0.0201799,0.006668,0.0989837,0.0120282,0.0302365,-0.510585,-0.171707,0.663571,0.519128,1.20827e-06,8.87147e-06,-2.42847e-05,-1.56457e-05,-0.000523985,7.83318e-05,-0.839822,4.54209,0.155407,-0.0178401,-0.0107806,0.00549669,-1.36546,0.237814,0.11268,-2.14555,-0.111495,-0.230571,-0.000239649,-2.71379e-05,-7.06378e-06,0,0,0.000350757,-0.18151,-0.452921,1.27539,0.00929595,0.0193938,0.0178401
2020-02-05.11:05:38.483,0.155,0.0924197,0.35002,-0.511648,-0.176876,0.663954,0.515845,-5.25509e-05,-0.000486521,-0.000310583,2.74808e-05,0.000974639,-0.00102456,0.00273929,0.00625773,0.000800849,-0.00023344,7.54716e-05,-0.000125867,0.0758766,0.0431119,0.198964,-1.73388,0.136189,0.609892,-0.343434,2.63652e-05,0.00207595,-0.0020737,0.00138876,0,0,0,0.0015324,-0.00128352,0.00165953,-0.000691795,-3.23829e-05,2.32872e-05,-5.03231e-05,-0.168306,0.0139078,0.332971,-0.186134,0.0744645,-0.68157,0.703755,4.03911e-05,-0.00250767,0.00154297,-0.00756792,0.00275929,-0.00384871,-0.00754757,-0.00260924,-0.0058299,-0.000363186,2.39406e-05,-0.000162606,-0.0288346,0.24006,-0.0960767,1.63186,1.08063,-0.784569,-1.84744,0,-0.000440709,-0.00711064,0.004762,0,0,0,0.00233232,0.00300125,0.00328378,0.000498549,-1.695e-05,6.30108e-05,-5.79846e-06,-0.0921568,-0.0332432,0.0237608,-0.187454,0.0743433,-0.680267,0.704678,3.26819e-05,-0.000278641,0.000412345,-0.000144668,-0.00340025,-0.00203728,1.0928,-0.349742,1.41617,-0.00723033,-0.00213072,-0.0143836,1.21879,-0.172302,0.122542,-0.663459,0.415922,-1.0282,-0.00399083,-1.03978e-05,0.000195938,-0.000160311,0,0,-0.18774,0.0109378,0.836457,-0.00626142,-0.021162,0.00723033,0.0989837,0.0120282,0.0302365,-0.510585,-0.171707,0.663571,0.519128,1.44031e-06,8.10621e-06,-2.29211e-05,-1.68921e-05,-0.00052856,9.62994e-05,-0.766575,4.54469,0.163221,-0.0175188,-0.0127989,0.00665353,-1.36546,0.237814,0.11268,-2.14555,-0.111495,-0.230571,-0.000224329,-2.71379e-05,-6.98288e-06,0,0,0.0003714,-0.185758,-0.449617,1.27539,0.00992178,0.0209566,0.0175188
2020-02-05.11:05:38.503,0.154999,0.0924144,0.350006,-0.511638,-0.176876,0.663951,0.515859,-3.83159e-05,-0.000254801,-0.000340093,0.000472934,0.000600334,-0.000682971,0.00180499,-0.00283917,-0.0111505,-5.96807e-05,-1.15785e-05,-4.68516e-05,0.0758766,0.0431748,0.198927,-1.73385,0.136189,0.609892,-0.343434,2.60437e-05,0.00178939,-0.00133134,0.000891596,0,0,0,-0.00376508,0.00096989,0.000574924,-7.59979e-05,-3.23829e-05,-3.93291e-05,-5.03231e-05,-0.168305,0.0138508,0.333013,-0.187014,0.075067,-0.680703,0.704297,5.80881e-05,-0.00344119,0.00193288,-0.0100322,0.0038984,-0.00540913,-0.00219171,0.000862473,-0.00386016,-0.000422972,0.000103643,-0.000201949,-0.0288346,0.240028,-0.0962293,1.63181,1.07767,-0.784569,-1.84744,0,0,-0.0100087,0.00670283,0,0,0,-0.000846168,0.00216782,0.00228224,-0.000996958,-1.695e-05,-0.000531843,-7.01224e-05,-0.0921504,-0.033255,0.0237719,-0.187593,0.0744904,-0.680282,0.704611,0.000436262,-0.000591747,0.000688279,-0.00240351,0.0322903,-0.00903818,1.37881,-0.348295,1.29887,-0.011006,-0.00429468,-0.00558109,1.21868,-0.172325,0.122554,-0.663459,0.415922,-1.02771,-0.0060246,-0.000389072,0.000720787,-0.000156616,0,0.037781,-0.1901,-0.0183274,0.898322,-0.00569817,-0.0151059,0.011006,0.0989833,0.0120279,0.0302355,-0.510588,-0.171711,0.663568,0.519127,-3.79717e-07,-6.36894e-06,-2.26479e-05,8.24198e-06,-0.000521936,0.000228161,-0.860771,4.54151,0.126976,-0.0168761,-0.0105329,0.00521978,-1.36546,0.237806,0.11268,-2.14555,-0.111495,-0.230571,-0.000156897,-0.000147899,-6.81299e-06,0,0,0.000362911,-0.179622,-0.453865,1.25008,0.00898304,0.0192801,0.0168761
2020-02-05.11:05:38.523,0.154999,0.0924165,0.349997,-0.511631,-0.176884,0.663948,0.515867,-2.85011e-05,-0.000110223,-0.000335491,0.000691421,0.000355899,-0.00045215,-0.0146602,-0.0151993,0.0165593,-0.000248286,0.000198937,6.27446e-05,0.0758766,0.0432063,0.198922,-1.73385,0.136189,0.609892,-0.343434,2.56755e-05,0.00151968,-0.000836476,0.000560188,0,0,0,0.0025919,-0.00826957,-0.00497303,-0.000163969,-0.000188923,-0.00019587,6.76041e-05,-0.168304,0.0137785,0.333054,-0.185573,0.0755888,-0.68181,0.703551,6.7807e-05,-0.00401789,0.00225792,-0.00226189,0.00746294,-0.010512,0.000518949,-0.00038985,0.000795965,-7.64008e-06,2.85032e-05,-0.000254194,-0.0288346,0.240028,-0.0964396,1.6318,1.08063,-0.781609,-1.84744,0,0,-0.0116874,0.00782708,0,0.010744,0,0.000213329,-0.000491776,-0.000385981,0.000234636,0.000233515,3.94597e-07,-0.000177329,-0.0921418,-0.0332626,0.0237867,-0.188057,0.0746579,-0.680065,0.704679,0.000367753,-0.000261316,0.000724318,-0.00890002,0.0145412,0.0401758,1.42562,-0.422108,1.31758,-0.0111666,-0.00295145,-0.00491036,1.21853,-0.172333,0.122569,-0.663669,0.416605,-1.02679,-0.00732826,-0.000671157,0.000731711,0,0.0476604,0.0141471,-0.185851,-0.0187995,0.833645,-0.00425877,-0.0146168,0.011488,0.0989833,0.0120279,0.0302355,-0.510588,-0.171711,0.663568,0.519127,-4.40311e-07,-6.36225e-06,-2.26295e-05,8.43494e-06,-0.000519175,0.000226566,-0.819415,4.61221,0.138388,-0.0162335,-0.0113374,0.00618946,-1.36546,0.237806,0.11268,-2.14555,-0.111495,-0.230571,-0.000156897,-0.000147899,-6.74931e-06,0,0,0.000359715,-0.185758,-0.45717,1.27258,0.00973403,0.0199085,0.0162335
2020-02-05.11:05:38.543,0.154999,0.092428,0.349984,-0.511622,-0.176907,0.663942,0.515877,-1.12774e-05,0.000272357,-0.000547828,0.00185,-0.000185266,-1.31819e-05,-0.00889562,-0.0123301,0.000680883,-0.000108587,-9.10769e-06,-8.21747e-05,0.0758766,0.0432378,0.198943,-1.73386,0.136189,0.609892,-0.343434,2.53504e-05,0.00169343,0.000163911,-0.000109771,0,0,0,-0.00164609,-0.0046067,-0.00297701,-0.000163969,-6.3691e-05,-3.93291e-05,-9.32057e-05,-0.168303,0.0137035,0.333106,-0.185651,0.075503,-0.681818,0.703531,6.09916e-05,-0.0037729,0.00230612,-0.00188863,0.00511227,-0.00751414,0.00193457,0.0058504,-0.00345283,0.000292193,0.000119569,8.90255e-05,-0.0288346,0.239997,-0.0966448,1.63179,1.08063,-0.781609,-1.84744,0,-0.000602442,-0.0107274,0.00401616,0,0.010744,0,-0.00190566,0.00175637,0.00025854,-0.00029319,0.000108283,6.30108e-05,1.56429e-05,-0.0921383,-0.0332735,0.0238118,-0.187313,0.0753168,-0.679893,0.704973,0.000399167,-0.000918597,0.000917874,0.0010102,0.0202276,-0.0239948,1.32715,-0.375841,1.30539,-0.00947964,0.000486267,-0.0104296,1.21838,-0.172333,0.122581,-0.661362,0.416605,-1.02598,-0.00843451,-0.000845016,0.000776561,0,-0.0150694,0.0295672,-0.193876,-0.0183274,0.861765,-0.00357036,-0.0212487,0.00947964,0.098983,0.0120287,0.0302342,-0.510593,-0.171713,0.663563,0.519128,-9.03909e-07,-3.76993e-06,-2.43929e-05,6.54607e-06,-0.00052686,0.000196068,-0.754956,4.6858,0.116901,-0.0156711,-0.0116453,0.0058582,-1.36548,0.237806,0.11268,-2.14555,-0.111495,-0.230571,-0.000184648,-0.000135444,-6.52072e-06,0,0,0.000348206,-0.187646,-0.453393,1.2557,0.00898304,0.0196115,0.0157515
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