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
2020-02-05.11:06:21.768,0.137432,0.0742614,0.360268,-0.490768,-0.254947,0.675918,0.487118,-8.20394e-05,-0.000400276,-0.000359248,0.00028662,0.000800705,-0.000995715,0.545849,0.593844,-0.599003,0.00410892,0.032896,-0.00278295,0.124752,0.0426395,0.144052,-1.33327,0.23093,0.0118426,-0.378962,4.65344e-05,0.00210811,-0.00184805,0.00123764,0,0,0,-0.0874653,0.321479,0.232571,0.0326492,-0.0291176,-0.000101945,0.0010003,-0.101703,0.0754898,0.348119,0.569036,-0.394021,0.503799,-0.516848,-0.000820995,-0.000283927,-0.000233188,9.78977e-05,0.00153664,-0.0024414,0.000209882,0.287111,0.235596,0.00496019,-0.00414052,-0.000179925,-0.223493,0.106378,0.110319,1.63013,-0.0503309,-0.0118426,-2.46917,0.00249367,0.000714572,-0.000594713,0.000398279,0,0,0,-0.0824274,0.0935907,0.0341554,-0.0152483,-0.000142182,0.0023172,0.000262218,-0.0651989,-0.00871872,0.029769,0.566873,-0.399721,0.499818,-0.51871,-1.11295e-06,-2.48883e-06,4.31078e-06,-4.23516e-21,-3.19788e-05,-1.8463e-05,-0.528107,0.186599,0.248871,-0.00281203,-0.0387827,-0.0222004,1.33972,0.037656,0.145186,-0.624247,0.292539,0.145834,-3.6926e-05,0,0,0,0,0,0.0926402,0.0807967,0.0575094,-0.0170256,0.0464029,0.00281203,0.0921821,0.00594655,0.0327939,-0.499496,-0.252577,0.672203,0.484614,-5.05635e-07,-2.64488e-06,-1.1828e-06,0.000612422,-4.47476e-05,-0.000161743,0.200129,2.58052,0.647559,-0.0735107,-0.0832639,0.0150638,-1.33585,0.189709,0.119362,-2.20216,-0.0505555,-0.121234,0,-2.81039e-05,0,-0.000634377,0,0,-0.157909,-0.318868,0.943563,0.00973403,0.0826534,0.0735107
2020-02-05.11:06:21.783,0.137432,0.0742706,0.360263,-0.490765,-0.254962,0.675914,0.487119,-6.35127e-05,-0.000262791,-0.00029464,0.000334389,0.000551519,-0.000716163,0.511765,0.543381,-0.545667,0.00319453,0.032605,-0.00255452,0.124752,0.0426395,0.144078,-1.33329,0.23093,0.0118426,-0.378962,4.78544e-05,0.00160573,-0.00128882,0.000863122,0,0,0,-0.0779298,0.296174,0.216804,0.0307139,-0.0291802,-0.000133253,0.00101102,-0.101725,0.0754709,0.348106,0.569034,-0.394065,0.503806,-0.51681,-0.000830874,-0.000434139,-0.000340353,7.41401e-05,0.0018932,-0.00288147,-0.0246774,0.270038,0.235339,0.00521664,-0.00430577,-0.00023211,-0.223419,0.106441,0.110256,1.63017,-0.0503309,-0.0118426,-2.46917,0.00263597,0.00134877,-0.00123242,0.00082535,0,0,0,-0.0829572,0.0928238,0.0416682,-0.015952,-0.000110874,0.00241112,0.000230056,-0.0651989,-0.00871872,0.029769,0.566873,-0.399721,0.499818,-0.51871,-1.07341e-06,-2.40041e-06,4.15763e-06,-3.38813e-21,-3.08427e-05,-1.78071e-05,-0.556032,0.195192,0.255666,-0.00233003,-0.0384577,-0.0219428,1.33972,0.037656,0.145186,-0.624247,0.292539,0.145834,-3.56141e-05,0,0,0,0,0,0.0954724,0.0831568,0.0546974,-0.0167127,0.046298,0.00233003,0.0921823,0.00594613,0.0327946,-0.499494,-0.252577,0.672206,0.484614,-2.21981e-06,1.10312e-06,-7.49802e-06,0.000612236,-0.000103308,-0.000196453,0.171879,2.56611,0.659221,-0.0735107,-0.0825842,0.0145464,-1.33584,0.189709,0.119362,-2.20216,-0.0505555,-0.121234,-6.807e-05,-2.73072e-05,0,-0.000634377,0,0,-0.155077,-0.318868,0.954812,0.00929595,0.0821732,0.0735107
2020-02-05.11:06:21.803,0.137432,0.0742706,0.360263,-0.490765,-0.254962,0.675914,0.487119,-5.9195e-05,-0.000233056,-0.000275725,0.000332423,0.000496274,-0.000651826,0.512516,0.571652,-0.563426,0.00327728,0.032536,-0.00259204,0.124752,0.0426395,0.144078,-1.33329,0.23093,0.0118426,-0.378962,4.81369e-05,0.00147866,-0.00116175,0.000778021,0,0,0,-0.0805786,0.304672,0.21792,0.0308898,-0.0290863,-0.00019587,0.0010003,-0.101733,0.0754716,0.348096,0.569028,-0.394082,0.503801,-0.516808,-0.000845979,-0.000468187,-0.000314921,-4.1515e-05,0.00192785,-0.00297368,-0.0235433,0.232279,0.222328,0.0049356,-0.0044819,-0.000226241,-0.223394,0.106473,0.110251,1.63017,-0.0503309,-0.0118426,-2.46917,0.00268814,0.00130126,-0.00130126,0.000871452,0,0,0,-0.0792489,0.0807496,0.0369727,-0.0155122,-0.000423955,0.00219196,0.000219335,-0.0651989,-0.00871872,0.029769,0.566873,-0.399721,0.499818,-0.51871,-1.05949e-06,-2.36927e-06,4.10369e-06,-3.38813e-21,-3.04426e-05,-1.7576e-05,-0.53007,0.173057,0.238575,-0.00337436,-0.0391234,-0.021592,1.33972,0.037656,0.145186,-0.624247,0.292539,0.145834,-3.5152e-05,0,0,0,0,0,0.0916962,0.0817408,0.0490732,-0.016525,0.0466693,0.00337436,0.0921823,0.00594613,0.0327946,-0.499494,-0.252577,0.672206,0.484614,-2.21382e-06,1.13129e-06,-7.48342e-06,0.000612169,-0.000103169,-0.000196694,0.184636,2.57072,0.673492,-0.0743943,-0.0840833,0.0139252,-1.33584,0.189709,0.119362,-2.20216,-0.0505555,-0.121234,-6.807e-05,-2.70417e-05,0,-0.000634377,0,0,-0.156493,-0.316508,0.952,0.00992178,0.0821732,0.0735107
2020-02-05.11:06:21.823,0.137425,0.0742807,0.360259,-0.49078,-0.255019,0.675912,0.487076,4.95581e-06,-8.06258e-05,-0.00031066,0.000650962,0.000166083,-0.000287754,0.533527,0.579831,-0.619338,0.00417461,0.0329203,-0.00286503,0.124776,0.0426395,0.144105,-1.33345,0.23093,0.0118426,-0.378962,-9.62774e-05,0.0012971,-0.000651192,0.000436103,0,0,0,-0.0959413,0.317487,0.228815,0.0330011,-0.0291176,-0.000289794,0.00097886,-0.10175,0.0754682,0.348094,0.569026,-0.394101,0.503805,-0.516793,-0.000910589,-0.000480854,-0.000322234,-4.1506e-05,0.00202159,-0.00313602,-0.0356014,0.239675,0.254833,0.00539745,-0.0046496,-0.000202411,-0.223344,0.106473,0.110251,1.63017,-0.0503309,-0.0118426,-2.46917,0.0028756,0.00130126,-0.00130126,0.000871452,0,0,0,-0.0909034,0.0859865,0.0427528,-0.0165678,-0.000267415,0.0023172,0.000272939,-0.0651989,-0.00871872,0.029769,0.566873,-0.399721,0.499818,-0.51871,-1.03465e-06,-2.31373e-06,4.00751e-06,-3.38813e-21,-2.9729e-05,-1.71641e-05,-0.512579,0.122831,0.270399,-0.00233003,-0.0387832,-0.0217866,1.33972,0.037656,0.145186,-0.624247,0.292539,0.145834,-3.43281e-05,0,0,0,0,0,0.0850879,0.0850449,0.0912544,-0.0163372,0.0462019,0.00233003,0.0921823,0.00594613,0.0327946,-0.499494,-0.252577,0.672206,0.484614,-2.20337e-06,1.18037e-06,-7.45797e-06,0.000612053,-0.000102927,-0.000197114,0.191667,2.6207,0.693289,-0.074073,-0.083739,0.0143196,-1.33584,0.189709,0.119362,-2.20216,-0.0505555,-0.121234,-6.807e-05,-2.65226e-05,0,-0.000634377,0,0,-0.159797,-0.323116,0.994181,0.00898304,0.0831119,0.074073
2020-02-05.11:06:21.843,0.137423,0.0742734,0.360254,-0.490777,-0.255012,0.675911,0.487084,4.97336e-05,0.00021908,-0.000115759,0.000775037,0.00395767,-0.00470662,0.529686,0.600304,-0.606111,0.00368865,0.0328657,-0.00269586,0.124776,0.042671,0.144073,-1.33343,0.23093,0.0118426,-0.378962,-9.62774e-05,0,0.000635337,0.00626,0,0,0,-0.0901141,0.319741,0.226552,0.0318575,-0.0292429,-0.000133253,0.0010003,-0.101777,0.0754725,0.348086,0.569017,-0.394129,0.503803,-0.516782,-0.000845667,-0.000358272,-0.000315564,0.000153613,0.00176874,-0.00271805,-0.0283878,0.237469,0.242062,0.00522402,-0.00435033,-0.00014488,-0.22327,0.106473,0.110278,1.63016,-0.0503309,-0.0118426,-2.46917,0.00262774,0.00112154,-0.000933494,0.000625161,0,0,0,-0.0861356,0.0837436,0.0396721,-0.015952,-0.000142182,0.0023485,0.000315821,-0.0651989,-0.00871872,0.029769,0.566873,-0.399721,0.499818,-0.51871,-1.01181e-06,-2.26265e-06,3.91903e-06,-3.38813e-21,-2.90727e-05,-1.67851e-05,-0.531501,0.17225,0.268575,-0.00361536,-0.0400581,-0.0217782,1.33972,0.037656,0.145186,-0.624247,0.292539,0.145834,-3.35702e-05,0,0,0,0,0,0.0935843,0.0831568,0.077194,-0.0166501,0.0476342,0.00361536,0.0921823,0.00594613,0.0327946,-0.499494,-0.252577,0.672206,0.484614,-2.19318e-06,1.22826e-06,-7.43314e-06,0.00061194,-0.00010269,-0.000197524,0.210457,2.56359,0.675677,-0.0735107,-0.0837103,0.0145594,-1.33584,0.189709,0.119362,-2.20216,-0.0505555,-0.121234,-6.807e-05,-2.6036e-05,0,-0.000634377,0,0,-0.157437,-0.316508,0.968872,0.00917079,0.0829415,0.0735107
2020-02-05.11:06:21.863,0.137433,0.0742817,0.360249,-0.490757,-0.254985,0.675906,0.487127,-0.000118635,0.00011652,-4.45608e-05,-0.00024299,-0.0148893,0.0171988,0.518094,0.598296,-0.592151,0.00373724,0.0324801,-0.0027379,0.124752,0.042671,0.144099,-1.3333,0.23093,0.0118426,-0.378962,0.000372672,0,0.000293313,-0.0231139,0,0,0,-0.0864058,0.315167,0.221503,0.0317695,-0.0288672,-0.000227178,0.000957419,-0.101785,0.0754708,0.348085,0.569016,-0.394138,0.503805,-0.516774,-0.000774509,-0.000312577,-0.000284497,0.000157974,0.00159194,-0.00245022,-0.033042,0.242325,0.269464,0.0052056,-0.00437636,-0.000193842,-0.223245,0.106473,0.110278,1.63016,-0.0503309,-0.0118426,-2.46917,0.00242754,0.000987888,-0.000799837,0.000535651,0,0,0,-0.0914331,0.0887337,0.0455459,-0.0146325,0.000327439,0.00259897,0.00013357,-0.0651989,-0.00871872,0.029769,0.566873,-0.399721,0.499818,-0.51871,-9.88328e-07,-2.21014e-06,3.82807e-06,-3.38813e-21,-2.83979e-05,-1.63956e-05,-0.543909,0.150618,0.236523,-0.00289236,-0.0398151,-0.0219026,1.33972,0.037656,0.145186,-0.624247,0.292539,0.145834,-3.27911e-05,0,0,0,0,0,0.0902801,0.0859889,0.0462611,-0.016525,0.0475249,0.00289236,0.0921823,0.00594613,0.0327946,-0.499494,-0.252577,0.672206,0.484614,-2.07837e-06,1.05382e-06,-7.02405e-06,0.000611828,-9.88897e-05,-0.000195872,0.20164,2.55966,0.655851,-0.0748763,-0.0849243,0.0155222,-1.33584,0.189709,0.119362,-2.20216,-0.0505555,-0.121234,-6.39526e-05,-2.55533e-05,0,-0.000634377,0,0,-0.156021,-0.318868,0.949188,0.0100469,0.0843433,0.0748763
2020-02-05.11:06:21.883,0.137434,0.0743001,0.36024,-0.49077,-0.255065,0.675902,0.487076,-8.12804e-05,0.000604237,-0.000293609,0.00186987,0.00557802,-0.00692475,0.509158,0.577821,-0.599456,0.00419654,0.0329617,-0.00293775,0.124752,0.042671,0.144152,-1.33348,0.23093,0.0118426,-0.378962,0.000372672,0,0.00168509,0.00856234,0,0,0,-0.0906438,0.309092,0.218395,0.0330891,-0.0291489,-0.000289794,0.000914536,-0.101802,0.0754674,0.348084,0.569014,-0.394157,0.503809,-0.516758,-0.000345532,-0.00020328,-0.000217707,0.00016141,0.000911473,-0.00130184,-0.0299269,0.236492,0.285162,0.00514612,-0.00392814,-0.000162301,-0.223196,0.106473,0.110278,1.63016,-0.0503309,-0.0118426,-2.46917,0.00113233,0.000877363,-0.000689313,0.000461633,0,0,0,-0.100969,0.0846593,0.0405835,-0.0153362,0.000139591,0.00237981,0.000283659,-0.0651989,-0.00871872,0.029769,0.566873,-0.399721,0.499818,-0.51871,-9.67079e-07,-2.16262e-06,3.74577e-06,-3.38813e-21,-2.77874e-05,-1.60431e-05,-0.537644,0.158529,0.265462,-0.00233003,-0.0387899,-0.0214935,1.33972,0.037656,0.145186,-0.624247,0.292539,0.145834,-3.20861e-05,0,0,0,0,0,0.0907522,0.0845729,0.0743819,-0.0161495,0.046394,0.00233003,0.0921823,0.00594613,0.0327946,-0.499494,-0.252577,0.672206,0.484614,-1.96179e-06,8.69696e-07,-6.60739e-06,0.000611725,-9.50195e-05,-0.000194133,0.177761,2.56039,0.674401,-0.073109,-0.0818402,0.0144166,-1.33584,0.189709,0.119362,-2.20216,-0.0505555,-0.121234,-5.97315e-05,-2.51121e-05,0,-0.000634377,0,0,-0.155549,-0.31698,0.968872,0.00923337,0.0813654,0.073109
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