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
2020-02-05.15:17:23.865,0.0918102,0.0066554,0.328525,-0.406293,-0.218938,0.880198,0.110652,-0.00221759,-0.0198941,0.00478391,0.120524,0.0482737,0.188101,-0.0058684,0.0210416,-0.00898308,-0.000475926,0.000263846,-0.000140646,0.209943,0.296839,-0.164559,-1.50549,0.719435,-0.0917798,0.290143,-0.00218135,0.02172,-0.0681834,0.033275,0.183487,-0.193129,0.00389923,-0.00641382,0.00206071,-0.00297701,-0.000163969,-9.49992e-05,-0.000634183,-5.03231e-05,0.00823078,-0.0515323,0.386682,0.213091,0.344599,-0.0901698,0.909787,0.00153328,-0.0504458,0.0126479,0.471951,0.294446,-0.349741,0.0167391,0.00407554,-0.0269579,-0.000606847,-0.00106069,-0.00029752,-0.408217,0.351918,-0.45314,1.53594,0.991814,0.390804,-0.669104,0.0283135,0.0827384,-0.199569,0.00400098,0.107611,0.718347,-0.0440297,0.000743077,0.0139023,0.0109144,-2.92769e-05,0.000233515,-0.00125193,-0.000102284,-0.076236,-0.0234392,0.0341782,0.203962,0.342154,-0.0855955,0.913238,0.000327787,-0.00986852,-0.00345198,0.23551,-0.0291217,-0.119796,1.23143,-3.84671,0.661063,0.03149,-0.0233182,-0.0422519,1.28551,-0.0403744,0.138572,1.16651,0.613635,-0.241375,-0.0098402,-0.0739073,0.00128174,0.0964161,0.0320386,-0.120412,-0.0853112,-0.570119,0.470886,0.000372341,0.00169431,-0.0311687,0.0758667,0.0106338,0.0542847,-0.402923,-0.216607,0.882016,0.113058,-0.00106556,-0.00559881,-0.000950008,0.0763131,-0.0584282,0.0293289,0.213202,2.86439,0.294642,0.0125257,0.053763,0.0259077,-1.27312,0.26777,0.143047,-1.44917,0.392147,0.254677,0.0142531,-0.0393111,3.3862e-05,-0.0553765,-0.0373705,0.0335231,-0.0564247,-0.389671,-0.321874,0.005541,-0.060496,-0.0125257
2020-02-05.15:17:23.878,0.0916655,0.00599974,0.328806,-0.402256,-0.222812,0.881391,0.108143,-0.00614171,-0.0136536,0.00881941,0.0521035,0.107042,0.181447,0.00174185,0.00356146,-0.00776802,0.000535863,-0.0006527,-0.000328656,0.210066,0.297217,-0.166698,-1.50495,0.731278,-0.0977011,0.290143,0.0105295,0.000656194,-0.0433674,-0.0338558,0.207204,-0.0683258,0.00532985,-0.00588407,-0.00601616,-0.00588089,0.000715741,0.00024939,0.000649449,2.47215e-05,0.00834163,-0.0537266,0.387358,0.230108,0.352107,-0.0948439,0.902261,0.00380812,-0.0585142,0.0206034,0.939822,0.585634,-0.555309,0.01295,0.00247416,-0.0249637,-0.000977219,-0.000441384,6.95427e-06,-0.407128,0.355287,-0.461821,1.53608,0.997735,0.435214,-0.669104,0.0262594,0.0852727,-0.231628,0.0117812,0.135096,1.32746,-0.0378727,0.00127283,0.0121531,0.00994403,-0.000733045,-0.000204799,-0.00100147,-5.94017e-05,-0.0761822,-0.0240131,0.0340608,0.215418,0.343758,-0.0877901,0.90979,0.0028308,-0.0184946,-0.00210395,0.944959,0.289452,-0.522679,-0.815387,-3.66596,2.6759,0.0497256,0.0239767,-0.067124,1.28411,-0.0442204,0.138672,1.17447,0.608306,-0.257122,-0.0630126,-0.110345,0.00377281,0.288378,-0.360066,-0.780529,-0.394484,-0.513476,0.892698,0.00212465,-0.0328382,-0.0497256,0.0758488,0.0103919,0.0542743,-0.401077,-0.217641,0.8827,0.112293,-0.0009351,-0.00636418,-0.000700196,0.0979281,-0.0141639,0.133898,0.230937,2.63423,0.689238,-0.0055492,0.0243346,0.0309836,-1.27259,0.26611,0.143053,-1.44896,0.396109,0.254958,0.0140546,-0.0452321,0.000225075,0,0.0416112,0.115981,-0.0101668,-0.388727,0.091502,0.0102973,-0.0334636,0.0055492
2020-02-05.15:17:23.891,0.0915951,0.00586137,0.328889,-0.40225,-0.222637,0.88145,0.108042,-0.00576654,-0.0124049,0.00922775,0.0539695,0.122138,0.16135,0.00957083,0.0162615,-0.00119232,-0.000392039,-0.000262317,0.00012308,0.21019,0.297248,-0.167151,-1.5051,0.731278,-0.0977011,0.290143,0.0102919,-0.00307268,-0.0377089,-0.00887757,0.207204,-0.0678532,0.00557547,0.000472907,0.00455573,-0.00065874,-0.000427882,0.000343314,-0.000227178,5.68835e-05,0.00838953,-0.054333,0.38759,0.236137,0.354213,-0.096282,0.899723,0.00544087,-0.0605288,0.0236172,1.04714,0.615156,-0.619435,0.000818296,0.00516171,-0.0280199,-0.00057895,-0.000321387,-4.48422e-05,-0.40688,0.356137,-0.464223,1.5362,1.0007,0.450017,-0.669104,0.0232653,0.0849545,-0.240766,0.0295686,0.177372,1.44757,-0.0365826,0.00445132,0.00873715,0.0097396,-0.00029319,-0.000142182,-0.000688384,1.56429e-05,-0.0761456,-0.0242141,0.0340416,0.220896,0.345331,-0.08913,0.907748,0.00375245,-0.0210222,-0.00144045,1.10252,0.424502,-0.653583,-1.28466,-3.39409,2.9805,0.0494846,0.0369536,-0.0699318,1.28336,-0.0454019,0.138716,1.1772,0.60366,-0.265913,-0.0826628,-0.121197,0.0046037,0.275738,-0.508631,-0.97674,-0.44027,-0.470522,0.903947,0.00149883,-0.042342,-0.0494846,0.0758397,0.0103231,0.0542716,-0.400649,-0.218033,0.882856,0.11184,-0.000862834,-0.0066481,-0.000260753,0.0565895,0.0422583,0.128966,0.219065,2.46015,0.804817,-0.0117348,0.0189132,0.0325301,-1.27244,0.265623,0.143059,-1.44854,0.397066,0.255567,0.0155263,-0.0465181,0.000450575,0.0241311,0.0821821,0.0728672,0.00210574,-0.375038,0.229294,0.0109857,-0.0285157,0.0117348
2020-02-05.15:17:23.911,0.0915545,0.00576034,0.328985,-0.402221,-0.222461,0.881512,0.108007,-0.00442617,-0.00976572,0.00903942,0.0452594,0.0960659,0.135446,-0.0025189,0.00620728,0.0210933,-0.000178607,-3.37797e-05,0.000138778,0.210265,0.297154,-0.167424,-1.50507,0.731278,-0.0977011,0.290143,0.0082755,-0.00805055,-0.0271957,-0.00669527,0.169112,-0.0618483,0.00578389,0.00524064,-0.00609845,-0.00708687,-0.000339911,6.15414e-05,-7.06372e-05,5.68835e-05,0.00844558,-0.054937,0.38784,0.242196,0.356311,-0.0978196,0.897115,0.00663772,-0.0610324,0.026373,1.00558,0.540495,-0.610826,-0.00157725,0.000123704,-0.0354564,-0.000111663,-0.000346479,-8.9397e-05,-0.406657,0.356956,-0.46662,1.53661,1.00366,0.46482,-0.669104,0.0201387,0.0813299,-0.243149,0.035721,0.216654,1.37595,-0.0353944,0.0086893,0.0106509,0.0114723,5.86941e-05,0.000108283,-0.000343995,-1.65191e-05,-0.0760993,-0.0244202,0.0340267,0.226561,0.347581,-0.0906776,0.905337,0.00596449,-0.0219726,-0.00175279,1.10559,0.726134,-0.618021,-1.6861,-3.18275,3.26957,0.0470746,0.0451095,-0.0692117,1.28251,-0.0465681,0.138764,1.17972,0.597375,-0.275326,-0.0963421,-0.12229,0.00531137,0.245723,-0.77731,-0.994637,-0.482752,-0.431817,0.903947,0.00156141,-0.0473397,-0.0461909,0.0758239,0.0102642,0.0542652,-0.40063,-0.218583,0.882798,0.111283,-0.00161034,-0.00608892,-0.00071706,0.0196768,-0.0183361,0.141479,0.15765,2.26975,0.885527,-0.0163941,0.0157137,0.0329647,-1.2723,0.265183,0.143066,-1.44812,0.397202,0.256762,0.0127161,-0.046359,0.000807162,0.0676031,0.0247455,0.0965069,0.0162663,-0.355685,0.319281,0.0108605,-0.0250045,0.0163941
2020-02-05.15:17:23.931,0.0915204,0.00559209,0.329158,-0.401489,-0.223977,0.881579,0.107048,-0.00142271,-0.00611546,0.00773203,0.0444262,0.040637,0.0935641,-0.00574271,0.0115674,0.0323546,-0.000338781,-0.000246207,8.08217e-05,0.210314,0.296933,-0.167835,-1.50509,0.734238,-0.100662,0.290143,0.00257843,-0.0124198,-0.0131257,0.00815292,0.100659,-0.0745199,0.00612178,0.00735964,-0.00975605,-0.0116368,-0.000427882,0.000312006,-0.000133253,-2.88818e-05,0.00864547,-0.0561751,0.388458,0.252165,0.360814,-0.100662,0.892241,0.0121948,-0.0613611,0.0343662,0.938734,0.449916,-0.581488,-0.000170977,-0.0133527,-0.0270453,0.000154242,0.00012969,9.60399e-05,-0.406409,0.358499,-0.471608,1.53742,1.00662,0.491466,-0.669104,0.00631397,0.0709511,-0.248703,0.0362945,0.248523,1.28705,-0.0332007,0.0108083,0.00965813,0.00786142,-0.000117248,0.000108283,0.000282168,-4.86811e-05,-0.0759615,-0.0248982,0.034001,0.238965,0.355405,-0.0941295,0.898734,0.00735721,-0.0248781,0.000141116,1.35808,0.937026,-0.692738,-2.4305,-2.68598,3.72903,0.0460302,0.0499796,-0.0672281,1.28021,-0.0490934,0.138881,1.18559,0.576879,-0.295777,-0.129287,-0.123886,0.00669278,0.344521,-1.07974,-1.13699,-0.568187,-0.356766,1.00799,0.00156141,-0.0452878,-0.0460302,0.0757957,0.0101455,0.0542572,-0.400373,-0.219098,0.882866,0.11066,-0.00126497,-0.00600844,-0.000356876,0.0536265,0.00268551,0.0563166,0.0826866,1.87509,1.20071,-0.0223387,0.00978162,0.0334016,-1.27202,0.264326,0.143082,-1.4477,0.397749,0.25746,0.0153555,-0.041768,0.000637231,-0.0227204,0.0217857,0.0240664,0.0460036,-0.31698,0.662355,0.0113612,-0.0187164,0.0223387
2020-02-05.15:17:23.951,0.0915307,0.00552162,0.329276,-0.401992,-0.225033,0.881146,0.106512,0.00118468,-0.0011198,0.00493441,0.0702158,-0.00493303,0.108055,-0.020451,0.00733498,0.0209204,-2.81142e-06,0.000139356,-5.81096e-05,0.210289,0.296681,-0.167925,-1.50503,0.734238,-0.103622,0.290143,-0.00199612,-0.014275,0.00355667,-0.00485596,0.0798996,-0.102434,0.00636723,0.000472907,-0.0118396,-0.0113422,1.19731e-05,-0.000126307,-3.93291e-05,-6.10438e-05,0.00893811,-0.0574089,0.389235,0.261684,0.363262,-0.102996,0.888231,0.0155259,-0.0606767,0.0410997,0.642653,0.276889,-0.427481,-0.000694136,-0.0106151,-0.0310951,0.000819242,0.000636384,8.37477e-05,-0.406409,0.35979,-0.476634,1.53795,1.01254,0.515151,-0.669104,-0.00337286,0.058525,-0.247393,0.0139745,0.210098,0.940734,-0.0312592,0.011338,0.0112374,0.0102698,0.000498549,4.56663e-05,0.00103356,9.06875e-05,-0.0758309,-0.0254171,0.0340648,0.253163,0.361498,-0.0989144,0.891877,0.0055188,-0.0257337,0.00575386,1.15069,0.637356,-0.798943,-2.82003,-2.11412,3.99682,0.0339803,0.0583944,-0.058864,1.27728,-0.0516265,0.139037,1.19041,0.558843,-0.321256,-0.157375,-0.120275,0.0082362,0.188417,-0.764219,-1.13845,-0.595565,-0.275578,1.15422,0.00206207,-0.0483316,-0.0339803,0.0757728,0.0100279,0.0542604,-0.40067,-0.220559,0.88248,0.109756,-0.00125224,-0.00482634,0.000334789,0.167832,-0.158843,0.17191,-0.0230031,1.51241,1.29177,-0.0233831,0.0168826,0.0337109,-1.27159,0.263538,0.143094,-1.4477,0.397202,0.260274,0.0216166,-0.0315692,0.000674338,-0.0130565,-0.0750823,0.247866,0.054972,-0.271666,0.783275,0.0106728,-0.0247799,0.0233831
2020-02-05.15:17:23.971,0.0915645,0.00554076,0.329358,-0.402569,-0.226255,0.880646,0.105869,0.00315827,0.00377762,0.00222936,0.086544,-0.0305231,0.112916,-0.0247906,0.0184459,0.0233184,-0.000627442,-4.88322e-05,0.000355309,0.21024,0.296367,-0.167715,-1.50532,0.734238,-0.106583,0.290143,-0.00512875,-0.0158372,0.0194916,-0.0130535,0.0663316,-0.112532,0.00653537,-0.00323533,-0.0130022,-0.0137507,-0.000603824,0.000186774,0.00014852,-3.96024e-05,0.00936376,-0.0585831,0.390131,0.267667,0.363492,-0.104421,0.886185,0.0222591,-0.058467,0.0476747,0.465491,0.121012,-0.336872,0.00919699,-0.0207155,0.00193263,0.000499708,0.000761756,0.000328176,-0.406756,0.360861,-0.48157,1.53812,1.01846,0.529954,-0.669104,-0.0205608,0.0478576,-0.245747,0.0039517,0.230409,0.728822,-0.0295595,0.0086893,0.00791425,0.00463174,-0.000469132,0.000108283,0.000970946,-7.01224e-05,-0.0757093,-0.0259549,0.0342349,0.261861,0.366312,-0.101563,0.88709,0.00757675,-0.0279302,0.0126785,0.606617,0.407833,-0.285845,-2.76372,-1.53329,4.14592,0.0316507,0.0569862,-0.0537665,1.27376,-0.0539433,0.139236,1.19502,0.544087,-0.334707,-0.193667,-0.108702,0.0134081,0.238711,-0.581367,-0.360826,-0.58282,-0.213744,1.48886,0.00218724,-0.0463359,-0.0316507,0.075765,0.00993574,0.0542811,-0.400586,-0.221697,0.882316,0.109086,2.81559e-05,-0.0040799,0.00112204,0.0351836,0.00759704,0.0472242,0.0187778,1.183,1.19225,-0.0222584,0.0133695,0.0319712,-1.27115,0.26299,0.143103,-1.4477,0.397339,0.262368,0.021244,-0.0227625,0.000162435,-0.00920279,0.0115892,0.0267637,0.0474196,-0.224464,0.786087,0.0115489,-0.0213751,0.0222584
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