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 2020-02-05.12:47:47.397,0.168797,0.0924034,0.35443,-0.44134,-0.206028,0.816296,0.310535,-0.00423838,-0.0149851,0.000237467,-0.0245235,0.00803769,-0.011235,0.0104038,0.00495373,-0.011983,0.000113074,0.000654206,-0.000201231,0.0342844,0.0230833,0.207579,-1.24469,0.447056,-0.00296064,0.0592128,0.0116109,0.0263138,-0.0508689,0.00219593,0,0,0,-0.00111634,0.00521405,0.00404026,0.00062777,-0.000658545,-0.00035241,3.28019e-06,-0.143082,0.0548089,0.346297,0.342442,0.455008,0.38398,0.726815,9.87292e-05,-0.000218674,-0.000344965,0.006048,0.00954595,-0.011554,-0.00172429,0.00683082,-0.00505168,0.000441873,-0.000248807,-0.000180475,-0.101268,0.126375,0.0615258,1.73277,0.396726,-0.174678,0.438174,-0.000168799,0.00164543,-0.00124698,0.000835103,0,0.0153938,0,0.00286207,-0.0013252,0.000203161,0.00111435,0.000108283,-3.09135e-05,4.78048e-05,-0.081549,-0.0044235,0.0331509,0.339997,0.455859,0.385904,0.726411,4.69804e-05,-0.000109121,1.29263e-05,-0.00103098,-0.00067761,-0.00423466,1.84557,-3.13113,0.397812,-0.00610567,-0.051155,-0.00502159,1.32463,0.109709,0.129674,2.14974,0.148114,0.0306554,-0.000219306,-0.000659086,5.65644e-05,-0.00217621,0.00316964,-0.000704949,0.343283,-0.226016,0.76053,-0.00012832,0.0344901,0.00610567,0.0800622,-0.00237995,0.0299239,-0.443502,-0.19584,0.815032,0.317296,0.000601833,-0.00193456,0.0010323,-0.0332984,0.29314,0.060181,2.02901,2.48103,-0.767101,-0.0611394,-0.0584196,0.0373807,-1.36651,0.10981,0.130412,-1.8568,0.255784,-0.209064,-0.000717751,-0.0042538,0.000218234,-0.00217402,0.240853,-0.184717,-0.284882,-0.31698,0.285536,0.00222412,0.0464419,0.0611394 2020-02-05.12:47:47.404,0.168662,0.0918865,0.354516,-0.435146,-0.204095,0.819947,0.310934,-0.0056326,-0.0205813,0.00578976,0.104157,0.344801,0.27394,0.0299947,0.0180948,-0.0544014,-6.87783e-05,0.000351088,0.000101858,0.034656,0.0236816,0.205929,-1.24478,0.458899,0.00592128,0.0592128,0.01562,0.0146318,-0.0626629,-0.00462777,0.466127,0.0292003,0,-0.00906256,0.0189445,0.0134312,-0.00025194,-0.000345464,2.32872e-05,4.61628e-05,-0.143074,0.0548305,0.346278,0.342455,0.454992,0.384021,0.726798,-8.21474e-05,0.000455713,-0.000236461,0.00698836,0.00866774,-0.0104823,0.00615951,-0.0186105,0.00131957,-0.000145083,-4.32942e-05,6.64835e-05,-0.101293,0.126407,0.0615732,1.73274,0.396726,-0.174678,0.438174,0.000147259,0,0.00131128,-0.000878163,0,0.0153938,0,-0.00243541,0.00575366,0.00175555,-0.00029319,7.69744e-05,3.17027e-05,4.9222e-06,-0.0815483,-0.00442425,0.0331484,0.340003,0.455865,0.3859,0.726407,8.94079e-05,-8.79053e-05,-9.22362e-05,-0.000955915,0.000344609,-0.00359863,1.91723,-3.12758,0.373001,-0.00755166,-0.0546473,-0.00414937,1.32464,0.109694,0.129674,2.14974,0.148114,0.0306554,0.000641861,-0.000966081,6.77445e-05,-0.00204286,0.00271357,-0.000611155,0.347059,-0.221296,0.74647,0.000622672,0.037302,0.00755166,0.0800804,-0.00247778,0.0299706,-0.437812,-0.194079,0.818409,0.317585,0.000545905,-0.00389902,0.00178062,-0.0448061,0.512356,0.105095,1.92029,3.0883,-0.544252,-0.0617018,-0.0575662,0.0391452,-1.36651,0.109562,0.130431,-1.85827,0.266714,-0.217733,5.13766e-05,-0.0112895,0.000916677,-0.0212754,0.420273,-0.325677,-0.281578,-0.389199,0.637046,0.00109763,0.0471885,0.0617018 2020-02-05.12:47:47.424,0.16859,0.0916318,0.354602,-0.432863,-0.20486,0.821261,0.310148,-0.00632603,-0.0227692,0.00885273,0.101091,0.364522,0.285852,0.0371294,0.0111907,-0.0325874,0.000242073,0.000329445,-0.000190647,0.0348542,0.0238076,0.205171,-1.24487,0.46482,0.00592128,0.0592128,0.01768,0.00661777,-0.0661413,-0.00207733,0.490253,0.0292003,0,-0.00217583,0.0165265,0.0145782,0.000715741,-0.000345464,-0.000164562,3.28019e-06,-0.143075,0.0548397,0.346273,0.342459,0.454986,0.384034,0.726793,-0.00011861,0.00104223,-0.000534178,0.00867125,0.00808475,-0.00954981,-0.0044699,0.001988,0.00709286,0.000396988,6.082e-05,-0.000153106,-0.101293,0.126407,0.0615995,1.73272,0.396726,-0.174678,0.438174,0.000147165,0,0.00298162,-0.00199679,0,0.0153938,0,-0.00137592,-0.00257008,-0.00258643,0.000674491,-0.000173491,6.30108e-05,-3.79604e-05,-0.081548,-0.00442462,0.0331472,0.340007,0.455868,0.385897,0.726404,0.000221175,8.271e-05,-7.07561e-05,-0.00123797,0.000487692,-0.00208611,1.9477,-3.12933,0.382622,-0.00602534,-0.0531148,-0.00376245,1.32465,0.109686,0.129674,2.14974,0.148114,0.0306554,0.0014244,0.000210785,0.000194054,-0.00200019,0.00258413,-0.000584538,0.352251,-0.21988,0.76053,0.00118592,0.0354811,0.00602534,0.0800872,-0.0025196,0.0299873,-0.43558,-0.193521,0.819671,0.317739,0.000613599,-0.00432726,0.00176419,-0.0166671,0.53104,0.101591,1.82201,3.29249,-0.362531,-0.0633887,-0.0583361,0.0397195,-1.3665,0.109439,0.130439,-1.85911,0.27095,-0.221023,0.00108206,-0.013396,0.000901888,-0.0548684,0.433511,-0.339798,-0.268834,-0.41516,0.842328,3.37242e-05,0.0490444,0.0633887 2020-02-05.12:47:47.444,0.168457,0.0911071,0.354845,-0.428421,-0.203368,0.82396,0.310141,-0.00645744,-0.0288758,0.0143383,-0.0174978,0.562103,0.170145,0.0449186,0.0332698,-0.0451567,0.000364264,4.14447e-05,4.4349e-05,0.0352258,0.0238076,0.203699,-1.24493,0.473702,0.0118426,0.0592128,0.0177713,-0.00383706,-0.0797082,-0.0044333,0.516844,0.276599,0,-0.00217583,0.0228595,0.0149594,0.000539799,-6.3691e-05,0.00014852,0.000153369,-0.143084,0.0548504,0.346258,0.342438,0.454961,0.3841,0.726783,-0.000245667,0.00142038,-0.000499473,0.00925414,0.00777304,-0.00917001,-0.0103147,-0.00721311,0.00026496,-0.000542338,9.21833e-05,0.000275803,-0.101268,0.126438,0.0616206,1.73255,0.396726,-0.174678,0.438174,0.000397909,-0.000838278,0.00439152,-0.00274525,0,0.0153938,0,0.000213329,-0.000903226,-0.00394145,-0.00134884,4.56663e-05,0.000156935,-1.65191e-05,-0.0815468,-0.00442383,0.0331479,0.340004,0.455868,0.3859,0.726404,-0.000324646,8.96201e-05,-0.000151855,-0.00127379,2.13908e-06,-0.00196102,1.99572,-3.14064,0.340972,-0.00771233,-0.0556077,-0.00354085,1.32465,0.109694,0.129676,2.14974,0.148114,0.0306554,0.000908467,0.000410241,-0.000353616,-0.00192606,0.00237537,-0.000541559,0.355555,-0.21752,0.726785,0.0012485,0.037529,0.00771233,0.0800762,-0.0026054,0.0300172,-0.431731,-0.192839,0.821753,0.318032,-0.00181416,-0.00373046,0.00108397,0.00977992,0.268135,0.088626,1.4626,3.55725,-0.055155,-0.0647544,-0.0605244,0.0422363,-1.36645,0.109122,0.130475,-1.861,0.278192,-0.226438,0.00302648,-0.0181413,0.00266368,-0.0334824,0.242034,-0.153618,-0.22116,-0.455281,1.11791,3.37242e-05,0.0551522,0.0647544 2020-02-05.12:47:47.464,0.16834,0.0905234,0.355203,-0.423366,-0.203411,0.826965,0.309053,-0.00525018,-0.0286316,0.0196044,0.0222854,0.555285,0.252124,0.0349377,0.0365688,-0.0364288,-0.000614966,1.30892e-05,0.000245734,0.0355478,0.0234612,0.202178,-1.24495,0.485545,0.0148032,0.0592128,0.0143668,-0.0248255,-0.0719849,0.00173613,0.582508,0.201193,0,-0.00164609,0.0193665,0.010347,-0.00113165,3.02333e-05,-0.00019587,2.47215e-05,-0.143096,0.054882,0.346259,0.342442,0.454945,0.384132,0.726774,0.000219425,0.000943335,-9.44971e-05,0.00750647,0.00758889,-0.00887489,0.00302902,0.00863707,0.0117924,-0.000217477,-9.04078e-06,1.73869e-05,-0.101243,0.126375,0.0617362,1.73248,0.396726,-0.174678,0.438174,-0.000810958,-0.00126902,0.00308224,-0.00186842,0,0.0153938,0,-0.00402466,-0.00290977,-0.000358292,-0.000469132,7.69744e-05,6.30108e-05,-9.15637e-05,-0.0815469,-0.004423,0.0331484,0.340001,0.455868,0.385903,0.726404,-0.000263316,6.37234e-05,-0.000114942,-0.00123187,-0.000110258,-0.00197714,2.09653,-3.16524,0.356459,-0.00747133,-0.054988,-0.00340066,1.32465,0.109701,0.129676,2.14974,0.148114,0.0306554,0.000662911,0.000308582,-0.000283946,-0.00185447,0.00219097,-0.000503489,0.367828,-0.213272,0.757718,0.00143625,0.0359879,0.00747133,0.0800238,-0.00269594,0.0300463,-0.428714,-0.191865,0.823477,0.318242,-0.00315465,-0.00572342,0.00205514,-0.0298769,0.489949,0.051425,0.922142,3.7937,0.233659,-0.0611394,-0.0662008,0.0448061,-1.36634,0.108682,0.130548,-1.86205,0.283657,-0.231467,0.00786939,-0.026634,0.0045278,-0.0642488,0.356473,-0.36029,-0.147525,-0.494931,1.31195,0.000909881,0.0663227,0.0611394 2020-02-05.12:47:47.484,0.168224,0.0899289,0.355657,-0.418314,-0.203302,0.829977,0.307928,-0.00546284,-0.0289585,0.0240038,-0.0178079,0.436199,0.194248,0.0271196,0.0455368,-0.0231701,-0.000378062,-0.000253349,0.000166151,0.0358698,0.0227684,0.200741,-1.24488,0.497387,0.0177638,0.0592128,0.0151956,-0.0410981,-0.0675978,-0.000243049,0.454191,0.15829,0,0.00206215,0.0158788,0.00465355,-0.000691795,0.000280698,-0.000101945,2.47215e-05,-0.143098,0.0549029,0.346275,0.342424,0.454938,0.384157,0.726774,0.000134832,0.00152267,0.000566956,0.00705061,0.00627475,-0.00742318,0.00528209,0.00193308,0.0125334,0.00014919,-0.000151035,-9.55599e-05,-0.101243,0.126281,0.0618306,1.73241,0.396726,-0.174678,0.438174,-0.000810958,-0.00467393,0.00599189,-0.00381702,0,0.0153938,0,-0.00455441,-0.000826199,0.000289765,0.000498549,0.000108283,-6.22216e-05,1.56429e-05,-0.081547,-0.00442217,0.0331489,0.339998,0.455868,0.385905,0.726404,-0.000138496,4.46356e-05,-7.10838e-05,-0.00119283,-0.000147902,-0.00194883,2.13843,-3.06923,0.296259,-0.00715,-0.0560812,-0.00297446,1.32465,0.109709,0.129676,2.14974,0.148114,0.0306554,0.000524782,0.000228398,-0.000151511,-0.00178845,0.00203415,-0.000470995,0.36594,-0.200999,0.701477,0.00181174,0.0366863,0.00715,0.0799525,-0.00282821,0.0300899,-0.425042,-0.190975,0.825675,0.318007,-0.00365743,-0.006886,0.00217047,-0.00631243,0.364806,0.145573,0.255163,3.59622,0.556303,-0.0607378,-0.0685887,0.0463173,-1.36611,0.108018,0.130648,-1.86289,0.290762,-0.236689,0.0140131,-0.0360962,0.00503439,-0.0235099,0.33064,-0.204639,-0.0498164,-0.489267,1.39912,0.00153571,0.0752153,0.0607378 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