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
2020-02-05.15:20:19.459,0.11255,0.052234,0.292913,-0.416471,-0.242515,0.867697,0.121819,-0.0857326,-0.0731539,0.0609541,0.897306,-0.201181,1.18979,-0.0296293,-0.00958949,-0.0122998,-0.000495963,-0.000636369,-0.000325152,0.170307,0.332645,-0.0447575,-1.58214,0.692789,0.0503309,0.296064,0.198305,-0.0748631,-0.194207,-0.200516,0.921382,-1.40041,-0.257723,-0.0106518,-0.00602668,-0.00100869,0.000539799,0.000719012,-0.0006968,1.40009e-05,-0.0413039,0.110923,0.31887,0.0717264,0.403279,0.080968,0.908661,0.0157947,0.0319206,0.0253917,-0.661021,-0.428866,-0.182302,-0.00806613,-0.010402,-0.0199284,8.3434e-05,-9.3424e-05,0.000181862,-0.399597,0.22592,0.112171,1.51179,0.630616,-0.121386,-0.746081,-0.0848378,-0.110911,0.114013,-7.65432e-05,0.0449893,-0.495703,-0.634001,0.00815955,0.00125737,-0.000358292,-0.000469132,7.69744e-05,0.000282168,-2.72398e-05,-0.0732965,0.00818882,0.0249974,0.0765998,0.409775,0.0817498,0.905281,0.00398042,0.00773565,0.00981701,-0.577577,-0.225502,-0.191718,0.950165,2.52686,0.540627,0.00650656,-0.049468,0.000499418,1.4698,0.140253,0.137264,1.25562,0.572917,-0.0208826,-0.0324656,0.0566211,0.00698632,-0.677002,0.150509,-0.12273,0.112937,0.298398,1.01362,-0.00932797,0.0408211,-0.00650656,0.0855267,0.0308338,0.0387804,-0.426606,-0.223071,0.866424,0.1325,-0.0324578,-0.0273981,0.0263685,0.963473,-0.117948,1.61756,2.23718,-0.686618,0.45797,-0.0871672,-0.129547,0.015918,-1.45005,0.372437,0.13225,-1.38794,0.494487,0.380976,0.250388,-0.201908,0.0330473,0.231241,0.449288,1.66953,-0.0757775,-0.0653931,1.66064,0.0160549,0.0939815,0.0871672
2020-02-05.15:20:19.470,0.108887,0.0489515,0.295415,-0.411005,-0.25211,0.869004,0.11112,-0.0946024,-0.0904425,0.062266,0.225279,0.219443,0.409161,-0.0173728,-0.0417199,-0.0237564,-0.000778877,0.000509766,0.000223453,0.178656,0.330157,-0.0538935,-1.58781,0.719435,0.0236851,0.296064,0.211682,-0.0446256,-0.262554,-0.0629373,0.533001,-0.503247,-0.181112,-0.00906256,-0.000388857,0.0119029,-0.00104368,-0.00025154,-0.000728108,7.83248e-05,-0.0407339,0.112402,0.319761,0.0626499,0.397865,0.0800947,0.911791,0.0137763,0.0413418,0.019724,-0.445738,-0.339974,0.0779364,-0.0193093,-0.0161732,0.00708746,0.0017697,-0.00136363,-0.000500722,-0.402966,0.221669,0.117211,1.51154,0.627655,-0.13915,-0.757923,-0.0861098,-0.101914,0.13545,-0.0116973,-0.074907,-0.441263,-0.354356,0.00445132,-0.0081414,-0.00839772,0.000938404,0.00229985,-9.35298e-05,-0.000177329,-0.0730083,0.00855857,0.025412,0.0687034,0.404925,0.0758949,0.908601,0.0074482,0.0103447,0.0103385,-0.262069,-0.398722,-0.0388829,1.21866,3.08431,0.206322,-0.00578434,-0.0655739,0.0131726,1.46891,0.142986,0.137693,1.23382,0.581935,-0.0239889,-0.00840079,0.0820198,0.0115846,-0.293347,0.336269,-0.0021828,0.180436,0.370617,0.903947,-0.00888989,0.0547813,0.00578434,0.0842127,0.0297722,0.039844,-0.419014,-0.239995,0.867653,0.118352,-0.0342516,-0.0254693,0.0258266,0.0769734,0.211924,0.355738,2.04437,0.848891,1.3857,-0.0815439,-0.123018,0.0196645,-1.43988,0.364675,0.133585,-1.37829,0.506921,0.417966,0.25105,-0.182144,0.0341088,0.0209751,0.113255,0.0582211,-0.0125269,-0.281578,1.79844,0.0138645,0.0858425,0.0815439
2020-02-05.15:20:19.490,0.108887,0.0489515,0.295415,-0.411005,-0.25211,0.869004,0.11112,-0.0946024,-0.0904425,0.062266,0.225279,0.219443,0.409161,-0.0173728,-0.0417199,-0.0237564,-0.000778877,0.000509766,0.000223453,0.178656,0.330157,-0.0538935,-1.58781,0.719435,0.0236851,0.296064,0.211682,-0.0446256,-0.262554,-0.0629373,0.533001,-0.503247,-0.181112,-0.00906256,-0.000388857,0.0119029,-0.00104368,-0.00025154,-0.000728108,7.83248e-05,-0.0407339,0.112402,0.319761,0.0626499,0.397865,0.0800947,0.911791,0.0137763,0.0413418,0.019724,-0.445738,-0.339974,0.0779364,-0.0193093,-0.0161732,0.00708746,0.0017697,-0.00136363,-0.000500722,-0.402966,0.221669,0.117211,1.51154,0.627655,-0.13915,-0.757923,-0.0861098,-0.101914,0.13545,-0.0116973,-0.074907,-0.441263,-0.354356,0.00445132,-0.0081414,-0.00839772,0.000938404,0.00229985,-9.35298e-05,-0.000177329,-0.0730083,0.00855857,0.025412,0.0687034,0.404925,0.0758949,0.908601,0.0074482,0.0103447,0.0103385,-0.262069,-0.398722,-0.0388829,1.21866,3.08431,0.206322,-0.00578434,-0.0655739,0.0131726,1.46891,0.142986,0.137693,1.23382,0.581935,-0.0239889,-0.00840079,0.0820198,0.0115846,-0.293347,0.336269,-0.0021828,0.180436,0.370617,0.903947,-0.00888989,0.0547813,0.00578434,0.0842127,0.0297722,0.039844,-0.419014,-0.239995,0.867653,0.118352,-0.0342516,-0.0254693,0.0258266,0.0769734,0.211924,0.355738,2.04437,0.848891,1.3857,-0.0815439,-0.123018,0.0196645,-1.43988,0.364675,0.133585,-1.37829,0.506921,0.417966,0.25105,-0.182144,0.0341088,0.0209751,0.113255,0.0582211,-0.0125269,-0.281578,1.79844,0.0138645,0.0858425,0.0815439
2020-02-05.15:20:19.510,0.106947,0.0469287,0.296688,-0.40543,-0.256325,0.87099,0.106305,-0.0948505,-0.103484,0.0613675,0.165999,0.701548,0.592582,0.0125962,-0.024327,-0.0116315,-0.000669749,0.00120052,0.000475819,0.182916,0.329527,-0.0598909,-1.58782,0.737199,0.0118426,0.296064,0.205536,-0.0192419,-0.312197,0.0382989,0.979874,-0.342927,-0.15729,0.00100266,0.00627856,0.0113138,-0.00192339,-0.000940318,-0.00035241,-0.000103926,-0.0404637,0.113255,0.320148,0.0543648,0.399725,0.0861255,0.910959,0.0132359,0.0414008,0.0179798,-0.664102,0.091481,0.653398,-0.0207126,0.00244432,0.0238844,0.000129377,-0.000642506,-0.000354368,-0.4047,0.219622,0.119994,1.51132,0.609892,-0.148032,-0.757923,-0.0841576,-0.0959503,0.133325,-0.0135319,-0.809542,-0.406269,-0.25931,-0.00296516,-0.0105647,-0.0058161,0.000322607,0.00064052,-0.000719692,-9.15637e-05,-0.0728614,0.0087688,0.0255652,0.0634821,0.403781,0.0786095,0.909259,0.00747896,0.0111257,0.00554838,-0.532957,-0.0063988,0.891543,0.950077,3.20201,0.221082,-0.0179146,-0.0576659,0.0285505,1.46886,0.14477,0.137885,1.23361,0.582755,-0.0135491,0.00123407,0.0973302,0.00807749,0.178596,-0.230472,1.02093,0.173356,0.410739,0.743658,-0.00269421,0.0494019,0.0179146,0.0834943,0.029266,0.0403389,-0.417441,-0.240665,0.868627,0.115376,-0.0361008,-0.0243604,0.02441,-0.291076,0.175933,0.35028,1.80485,1.95097,2.13304,-0.075278,-0.119031,0.0292163,-1.43488,0.360876,0.134281,-1.37599,0.506102,0.418716,0.242084,-0.191324,0.0352407,0.314381,-0.0282455,-0.0266098,0.0483637,-0.437345,1.88561,0.0174943,0.0804449,0.075278
2020-02-05.15:20:19.530,0.104152,0.0434587,0.298467,-0.394298,-0.2665,0.874176,0.096561,-0.0888379,-0.125899,0.0562843,0.557869,0.320719,1.46111,0.0117339,-0.07219,0.0108332,0.00141589,0.000265047,-0.000401422,0.188763,0.329747,-0.0706569,-1.58762,0.772727,-0.0118426,0.296064,0.178323,0.0331711,-0.398729,-0.00878272,1.37646,-1.20289,0.128737,0.0142464,-0.00314127,0.0146684,0.00159545,-0.000658545,0.000993839,-0.000125368,-0.0400849,0.114517,0.32064,0.0412777,0.404967,0.0926349,0.908689,0.0102027,0.0399997,0.013995,-0.587912,0.39401,1.04867,-0.0174593,0.0029354,0.0252165,0.000715685,-0.000596435,0.000114901,-0.407177,0.216882,0.123996,1.51103,0.580285,-0.156914,-0.763845,-0.0731902,-0.0828979,0.126775,0.00146807,-1.19406,-0.309925,0,-0.00402466,-0.00906765,-0.00461366,-0.000117248,0.000890985,0.000156935,7.99668e-05,-0.07275,0.00918677,0.0257385,0.0515564,0.404976,0.087224,0.908696,0.00300769,0.0149852,0.00464262,-0.409255,0.175022,0.853204,0.716727,3.16834,0.695477,-0.0330171,-0.0475956,0.0395501,1.4691,0.148369,0.138026,1.23843,0.576196,0.0145873,0.00981258,0.128936,0.0030715,0.220937,-0.396081,0.870327,0.139842,0.440948,0.934879,-3.15443e-06,0.0404915,0.0330171,0.0823449,0.0284234,0.0411416,-0.411153,-0.240602,0.872132,0.111578,-0.0371623,-0.0327801,0.0258444,0.370171,0.32951,0.46985,1.81897,3.91865,2.69005,-0.0929512,-0.14461,0.0355337,-1.42734,0.354551,0.135434,-1.37095,0.512933,0.415759,0.253059,-0.230893,0.0367023,-0.143392,0.346255,0.15273,0.105006,-0.715364,1.65783,0.012738,0.101387,0.0929512
2020-02-05.15:20:19.550,0.102327,0.040756,0.299591,-0.388497,-0.27461,0.875644,0.0831116,-0.0899432,-0.137844,0.05494,0.479947,0.508802,1.50776,-0.00712754,-0.0433071,-0.024652,0.000639246,0.000605565,-0.000185458,0.192354,0.330755,-0.0793437,-1.58777,0.799372,-0.0355277,0.307906,0.174041,0.0604354,-0.446982,-0.0119217,1.52412,-1.06956,0.160224,-0.00376508,0.002276,0.0141971,0.000891683,-0.00075247,0.000117212,0.000131928,-0.0399281,0.11528,0.320885,0.0301083,0.410492,0.0974851,0.906138,0.00600126,0.0369939,0.0111257,-0.778668,0.49281,1.02718,0.0059847,0.0121317,0.0286414,0.000418216,0.000196356,-0.000309348,-0.408465,0.215339,0.126433,1.51104,0.553639,-0.162835,-0.769766,-0.0579696,-0.0738629,0.119167,0.00177873,-1.35059,-0.298235,-0.180153,-0.00985189,-0.00257534,0.000320989,0.00129029,0.000264823,-0.000218762,0.000101408,-0.0726745,0.00954579,0.0258282,0.0413244,0.408295,0.0913074,0.907332,0.00391962,0.0189463,0.00450215,-0.847047,0.316715,0.825437,0.310687,2.68067,1.04953,-0.0339008,-0.0278432,0.0308036,1.46934,0.15108,0.138098,1.23528,0.566222,0.0318688,0.0109222,0.141637,0.00345677,-0.212204,-0.578962,0.863875,0.0775356,0.39469,0.979873,-0.00469685,0.0240204,0.0339008,0.0816059,0.0278094,0.0416404,-0.407986,-0.245602,0.873648,0.0998315,-0.0343194,-0.0316182,0.0249432,-0.274883,-0.0297513,1.89678,1.69279,5.22401,3.02064,-0.104198,-0.162246,0.0488269,-1.42216,0.349546,0.136151,-1.35376,0.515256,0.436898,0.26807,-0.270362,0.0334639,1.49806,0.141524,1.59888,0.160232,-0.904644,1.29226,0.019935,0.110942,0.104198
2020-02-05.15:20:19.570,0.100494,0.0377414,0.300713,-0.378211,-0.282417,0.878619,0.0722909,-0.0879268,-0.153059,0.0543987,0.0639377,0.528331,1.61067,-0.00460693,-0.0642049,-0.00837811,0.000159866,0.000237671,-0.000485837,0.195798,0.33233,-0.0892023,-1.58773,0.831939,-0.0532915,0.313828,0.160887,0.0886321,-0.503463,0.0101902,1.54989,-0.838725,0.538835,0.00418115,-0.00222555,0.0148728,0.0011556,-0.000220232,-0.000415026,5.68835e-05,-0.0398454,0.115974,0.321101,0.0198258,0.416981,0.101822,0.902976,0.00256275,0.0304402,0.00935656,-0.698462,0.551672,0.937265,0.0121533,0.0278322,0.0367418,5.95331e-05,0.000325925,-0.000486391,-0.409481,0.21389,0.128724,1.51114,0.526994,-0.165796,-0.775687,-0.0417842,-0.0643873,0.101746,0.000994112,-1.28726,-0.184156,-0.157034,-0.0146196,-0.000502303,0.00525211,0.00120232,-4.82581e-05,-0.000343995,-0.000123726,-0.0725887,0.00995194,0.0259141,0.028858,0.414218,0.0956766,0.904675,0.00333457,0.0197417,0.00323458,-1.01641,0.661939,0.97898,0.173495,2.07662,0.982971,-0.0317318,-0.0207517,0.0217374,1.46941,0.15413,0.138155,1.23004,0.549825,0.0515282,-0.00134741,0.148975,0.00105852,-0.268266,-0.973327,0.987284,0.0511025,0.316335,0.836457,-0.00726274,0.0180259,0.0317318,0.081015,0.0269763,0.0421674,-0.398886,-0.256251,0.876028,0.0883204,-0.0275275,-0.0494638,0.0278999,1.1073,1.00359,1.36413,1.85035,6.08689,3.87896,-0.0968071,-0.164697,0.0411417,-1.41665,0.343523,0.136759,-1.33908,0.531379,0.4641,0.277476,-0.32388,0.0301112,0,1.37284,0.992669,0.202242,-1.04531,1.57909,0.0131135,0.112023,0.0968071
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