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
2020-02-05.13:33:37.109,0.0979088,0.116562,0.275685,-0.452254,-0.10774,0.885031,0.0240515,0.0074779,-0.00865797,-0.0302866,-0.197116,1.10061,0.514316,-0.0107703,-0.00351189,0.0207008,7.76381e-05,-0.000916784,1.61638e-05,0.233525,0.337368,0.11412,-1.65856,0.598049,0.2783,0.74016,-0.0352762,0.122149,-0.0817193,-0.00566629,0.998456,0.757108,0.00014349,0.00471089,-0.00685485,-0.00338588,0.000715741,0.000593779,0.000618141,5.68835e-05,-0.1341,0.117524,0.271482,-0.0387461,0.615263,0.366305,0.696972,0.00301756,0.000813197,-0.00021984,0.00930304,-0.0132691,-0.00512384,0.00172637,0.000334851,0.00553438,-0.000238469,-1.70589e-05,-0.00014454,-0.131737,0.335668,0.132284,1.24681,-0.242772,-0.0710553,-0.467781,-0.00878455,0.00134977,0.00048702,-0.000955956,0.0174011,0,0,-0.000316419,0.0020085,-0.000562724,-2.92769e-05,0.000233515,-0.000124838,-7.01224e-05,-0.12054,0.0214615,0.0338959,-0.0374356,0.613645,0.364828,0.699242,0.000140216,0.000227472,-0.000467202,0.000520827,0.00473349,0.00351536,4.91315,2.65639,1.18827,0.00530157,-0.024587,-0.00698844,1.31064,0.408749,0.0958153,1.64586,-0.272453,0.175774,0.00668448,-0.000453039,0,0,0.000952702,0.00108846,0.363108,0.277157,-0.642699,0.00300081,-0.0192795,-0.00530157,0.0813641,0.0359704,0.0474591,-0.461456,-0.0954361,0.881548,0.0286923,-0.00217437,-0.00774944,-0.0117647,-0.458293,1.16174,0.883884,6.28382,-1.88595,-2.32286,-0.0873279,-0.151365,-0.0195471,-1.39708,0.417653,0.139579,-1.1015,0.282428,0.391846,-0.115027,-0.143349,-0.00171543,1.22699,1.11784,0.542646,-0.673355,-0.0932423,0.381147,0.0204982,0.0901747,0.0873279
2020-02-05.13:33:37.124,0.0980703,0.11642,0.275084,-0.443087,-0.107945,0.889803,0.0164844,0.0084163,-0.0065955,-0.0311153,-0.229395,0.922745,0.659939,-0.00592058,0.0210287,-0.0099044,0.000335912,-0.00014351,0.000226551,0.232807,0.339762,0.112595,-1.65858,0.618773,0.290143,0.746081,-0.0368778,0.123199,-0.076722,0.0052395,0.97442,0.571244,0.142874,-0.00588407,-0.00268245,-0.00647004,-0.000163969,-1.0748e-06,0.000586833,4.61628e-05,-0.134041,0.117545,0.271476,-0.0388391,0.615172,0.366404,0.696996,0.00247625,0.00121327,-0.000163165,0.00996009,-0.0117765,-0.00636161,0.00676728,-0.0010091,0.00124453,0.000159426,-3.9256e-05,-3.04424e-05,-0.131911,0.335699,0.132305,1.24665,-0.242772,-0.0710553,-0.467781,-0.00739019,0.00062974,0.00205114,-0.000316792,0.0170574,0,0,-0.000316419,0.00233766,0.00155112,0.000146665,0.000108283,9.43189e-05,-3.79604e-05,-0.120536,0.0214649,0.0338896,-0.0374285,0.613677,0.364844,0.699206,0.000138307,0.000155986,-0.000333503,0.000539916,0.00335118,0.00228401,5.05908,2.57678,1.33416,0.00329325,-0.026373,-0.00839897,1.31074,0.408733,0.0958179,1.64586,-0.272453,0.175774,0.00488322,-0.000548455,3.20208e-05,0,0.000952702,0.000805202,0.375852,0.275741,-0.530216,0.00237499,-0.0186023,-0.00329325,0.0813297,0.0358321,0.0471927,-0.451302,-0.0961913,0.886905,0.0217688,-0.00128084,-0.00524938,-0.0145754,-0.291309,0.980169,0.770436,5.61551,-1.91569,-2.60121,-0.0869262,-0.145668,-0.016648,-1.39964,0.414896,0.139531,-1.08158,0.304289,0.402117,-0.135761,-0.128239,-0.00292325,1.00769,0.995252,0.551435,-0.622376,-0.0573688,0.113999,0.0213118,0.089463,0.0869262
2020-02-05.13:33:37.144,0.098244,0.116319,0.274433,-0.435378,-0.111388,0.893265,0.0107879,0.0082008,-0.0032475,-0.0322808,-0.114671,0.689252,0.709482,-0.01243,-0.000780779,0.0148193,0.000790161,-0.000742878,0.000129553,0.232064,0.342313,0.111096,-1.65847,0.639498,0.296064,0.746081,-0.0347124,0.125354,-0.0696571,0.00193216,0.900461,0.32704,0.142874,0.0025919,-0.00693714,-0.00388488,0.000715741,6.15414e-05,0.00115038,7.83248e-05,-0.13399,0.117556,0.271471,-0.0388821,0.615141,0.366456,0.696994,0.00241506,0.00128875,-3.1897e-05,0.00976976,-0.0118761,-0.00602314,0.0204069,0.00246275,0.00480243,5.30161e-05,4.83498e-05,1.3403e-05,-0.132059,0.335731,0.132299,1.24665,-0.242772,-0.0710553,-0.467781,-0.00726621,2.09308e-05,0.00258269,-0.000686039,0.0167353,0,0,-0.000846168,0.0073277,0.00636441,-0.000117248,-1.695e-05,0.00025086,5.85255e-05,-0.120532,0.0214683,0.0338845,-0.0374533,0.613688,0.364884,0.699174,0.000219339,0.000267516,-0.000222524,0.000201228,0.00346691,0.0014844,5.01077,2.45565,1.38516,0.00152593,-0.0273629,-0.00800196,1.31083,0.408726,0.0958205,1.64586,-0.272453,0.175855,0.00466042,0.000626018,0.000173585,0,0.000952702,-0.00108202,0.373492,0.267245,-0.448666,0.00312598,-0.0172572,-0.00152593,0.0813289,0.0357445,0.0468787,-0.443029,-0.0970963,0.891109,0.0149229,0.00036253,-0.00411871,-0.0160357,-0.0238522,0.70535,0.590384,4.9397,-1.85385,-2.64582,-0.0872476,-0.139857,-0.0185739,-1.40229,0.41261,0.139448,-1.06334,0.321369,0.412857,-0.139145,-0.109328,-0.00500277,0.659332,0.798378,0.521951,-0.559126,-0.0323517,-0.0266055,0.0170562,0.0901221,0.0862032
2020-02-05.13:33:37.164,0.0984053,0.116291,0.273777,-0.430393,-0.114463,0.895331,0.00651028,0.00788898,-0.000640384,-0.0333214,-0.0303947,0.55492,0.730767,-0.0285848,0.0146647,0.0175527,0.000334861,-0.000117318,0.000319869,0.231395,0.344832,0.109786,-1.65864,0.654301,0.299024,0.746081,-0.0326784,0.12767,-0.0646157,-0.00145653,0.85908,0.182613,0.128734,-0.00217583,-0.0133419,-0.0104621,-0.000163969,-1.0748e-06,0.000492909,0.000185531,-0.133936,0.11755,0.271461,-0.0389226,0.615125,0.366491,0.696986,0.00262929,0.000621724,-0.000375572,0.00869363,-0.0104621,-0.00656341,-0.00952468,0.00665893,0.00434403,0.000112502,-6.6544e-05,-1.86979e-05,-0.132208,0.335794,0.132236,1.24669,-0.242772,-0.0710553,-0.467781,-0.00759117,0.00198993,-0.000230109,0.00114278,0.0164257,0,0,-0.000316419,-0.00290977,0.000113022,0.000234636,0.000108283,-9.35298e-05,-5.94017e-05,-0.120526,0.0214765,0.033876,-0.0374593,0.613731,0.364916,0.699119,0.000396919,0.000559699,-0.000687113,0.00016137,0.00955937,0.00500806,4.78355,2.37253,1.40673,0.0016866,-0.0235686,-0.00800453,1.31098,0.408741,0.0958243,1.64586,-0.272453,0.175855,0.0117157,0.000626659,0.000225887,-4.50368e-05,0.000952702,-0.00106664,0.359803,0.25922,-0.353055,0.00224982,-0.0189249,-0.0016866,0.0813283,0.0356795,0.0465416,-0.437219,-0.100001,0.893715,0.0106316,6.06461e-05,-0.00147247,-0.0172767,0.0261112,0.473033,0.658944,4.43437,-1.85708,-2.71919,-0.0883722,-0.13599,-0.0141162,-1.40527,0.410463,0.139346,-1.05222,0.335989,0.424213,-0.14422,-0.090378,-0.00492086,0.591386,0.572643,0.64311,-0.513812,-0.00875072,-0.155961,0.0199976,0.0893936,0.0883722
2020-02-05.13:33:37.184,0.098563,0.11632,0.273143,-0.425339,-0.117527,0.897368,0.00229895,0.00919854,0.00390356,-0.0346321,0.0792944,0.385374,0.759377,-0.0223466,0.0171118,0.0187741,-0.000281608,0.000252741,0.000358402,0.230776,0.347225,0.108682,-1.65865,0.669104,0.301985,0.746081,-0.0341032,0.128646,-0.0531077,-0.00339053,0.805536,0,0.117671,-0.00164609,-0.0120095,-0.01067,-0.00121962,0.00024939,0.000179828,-0.000103926,-0.133901,0.117553,0.271448,-0.0371203,0.615223,0.368586,0.695893,0.00144548,-0.000506944,-0.000681019,0.00668667,-0.00675667,-0.0109547,-0.00731041,-0.0116255,0.00175719,6.84694e-06,-0.000188222,1.47363e-05,-0.132307,0.335857,0.1322,1.24672,-0.242772,-0.0710553,-0.46186,-0.00380613,0.00365221,-0.00365221,0.00338413,0.0161215,0,0,-0.00243541,-0.00281695,-0.00461366,-0.000117248,0.000170899,-3.09135e-05,2.63635e-05,-0.120519,0.0214919,0.0338633,-0.0370829,0.61365,0.365666,0.698818,-7.15759e-05,0.000994445,4.39713e-05,0.330534,0.0895102,0.151348,4.54669,2.124,1.39322,0.00257026,-0.0218826,-0.00160239,1.31123,0.408757,0.0958295,1.64753,-0.272453,0.175855,0.00617235,-0.000329351,0.000190861,0.37219,0.000952702,-0.00104976,0.347531,0.234203,-0.260256,0.00719385,-0.0195494,-0.00257026,0.0813248,0.0356798,0.0461762,-0.433043,-0.103764,0.895369,0.00460511,0.000905976,0.00127786,-0.0174551,0.00467712,0.425295,0.693026,3.87661,-1.52622,-2.58201,-0.0886132,-0.137323,-0.0147069,-1.40831,0.408811,0.139249,-1.04006,0.34569,0.439418,-0.150391,-0.0707131,-0.00510375,0.634804,0.506635,0.701134,-0.435929,-0.0181911,-0.274069,0.0200602,0.0952566,0.0886132
2020-02-05.13:33:37.204,0.0988196,0.116485,0.272341,-0.420374,-0.122525,0.899035,-0.00312885,0.0135738,0.010456,-0.036877,0.0800527,0.31213,0.630346,-0.0359984,0.00923633,0.0503176,-7.40047e-05,-2.61314e-05,0.000140855,0.229909,0.350122,0.107704,-1.65859,0.686868,0.301985,0.746081,-0.0431037,0.130073,-0.0352234,-5.36844e-05,0.659799,0.0177169,0.106745,0.00524064,-0.021501,-0.0145719,-0.000339911,0.000155466,0.00014852,-1.81611e-05,-0.133881,0.117539,0.271444,-0.0370905,0.615276,0.368555,0.695864,0.00049693,2.24334e-05,0.000391507,0.00607197,-0.00929294,-0.0103235,-0.00391599,-0.00341284,-0.000710699,4.32518e-05,-9.06653e-05,-0.00011352,-0.132357,0.335888,0.132142,1.24691,-0.242772,-0.0710553,-0.46186,-0.00149085,-0.00142532,0.00066149,-0.00110594,0.0158478,0,0,0.00498106,0.00442123,0.00243483,0.00146623,0.000202207,-3.09135e-05,4.9222e-06,-0.120518,0.0215034,0.033867,-0.0358559,0.613157,0.367966,0.698107,0.000419335,-0.000156146,-8.09369e-05,-0.0421311,-0.00912063,-0.0222162,4.67796,2.08588,1.43872,0.00698856,-0.0190241,-0.00392393,1.31127,0.408726,0.0958347,1.65299,-0.272453,0.175937,0.00120668,-0.0023039,0.000303866,-0.0485777,0.000952702,-0.00103586,0.358859,0.231371,-0.246196,0.00325114,-0.0231522,-0.00698856,0.0813607,0.0357235,0.0458494,-0.428286,-0.107385,0.89724,0.000200721,0.00237078,0.00300529,-0.0159876,0.23624,0.38979,0.565796,3.49115,-1.16785,-2.49164,-0.0881312,-0.130694,-0.0124709,-1.41131,0.407637,0.139148,-1.03,0.357031,0.452713,-0.149209,-0.0470486,-0.00530783,0.374027,0.524029,0.686727,-0.384478,-0.0417921,-0.400613,0.0190588,0.091214,0.0881312
2020-02-05.13:33:37.224,0.0991098,0.11673,0.271607,-0.417156,-0.126189,0.900007,-0.00670349,0.0156047,0.0151118,-0.0379958,0.0871407,0.196964,0.48188,-0.0205382,0.0141066,0.0186482,-0.000811515,0.000235353,-0.000496329,0.229017,0.352673,0.107126,-1.6585,0.698711,0.301985,0.746081,-0.0465939,0.130073,-0.0229979,0.00290194,0.47645,0.0215786,0.0988104,0.0015324,-0.0120865,-0.013016,-0.00025194,0.000312006,-0.00135427,0.000121207,-0.133863,0.117531,0.271447,-0.037112,0.615276,0.368557,0.695862,0.000489327,3.046e-05,0.000333694,0.00607736,-0.00906943,-0.0101668,0.00691852,-0.0125971,0.0159238,0.000180162,-0.000115998,0.000113784,-0.132406,0.335888,0.132116,1.24692,-0.242772,-0.0710553,-0.46186,-0.00146098,-0.00119983,0.000565474,-0.00103243,0.0155556,0,0,-0.0066734,0.0025898,0.000729854,0.000410578,0.000170899,-0.000156146,4.78048e-05,-0.120513,0.0214977,0.0338634,-0.0360904,0.613299,0.367409,0.698264,0.000244588,-0.000128387,-3.17892e-05,-0.0333966,-0.00776781,-0.0182646,4.65216,2.11118,1.45646,0.00578357,-0.0190688,-0.00520229,1.31129,0.408672,0.095836,1.65173,-0.272453,0.175855,0.000343644,-0.00134983,0.000173233,-0.0384382,0.000952702,-0.00160184,0.356499,0.234675,-0.226511,0.00243757,-0.0226499,-0.00578357,0.0814296,0.0358043,0.0455207,-0.424713,-0.112226,0.898336,-0.00414105,0.00467364,0.00465509,-0.0160099,0.205808,0.304802,0.618894,3.29851,-0.875523,-2.48503,-0.0868459,-0.129454,-0.0129614,-1.41431,0.406895,0.139021,-1.02182,0.365913,0.468096,-0.145547,-0.0277395,-0.00720761,0.421369,0.411719,0.750788,-0.357573,-0.0583128,-0.527156,0.0193092,0.0910125,0.0858819
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