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
2020-02-05.17:04:58.935,0.14612,0.0107533,0.366892,-0.145786,-0.454507,0.62184,0.620874,-5.64063e-05,-0.00181741,0.00184541,0.0171659,-0.0147906,0.0215418,0.0123133,-0.0008583,0.00553809,-0.000110321,-3.1112e-05,0.000109114,0.0864047,0.141775,-0.0721369,-1.39539,0.754963,-0.207245,-1.12504,0,-0.00200146,-0.00487366,-0.000984857,0.00546019,-0.0343833,0,0.0025919,-0.00228153,0.000956099,-0.00025194,-0.000126307,2.32872e-05,1.40009e-05,-0.00281634,0.0920902,0.358429,0.159207,0.510748,0.489453,0.68864,-0.000648245,-0.000166143,-0.000126381,0.000147232,0.000744263,-0.00128366,0.00354786,8.05127e-05,-0.0132815,-0.000182857,-0.000225659,-0.000101574,-0.499205,0.160638,0.0479072,1.3254,0.23389,0.201323,0.148032,0.00180559,-0.00036055,0.000491117,-0.000328901,0,0,0,0.00445132,0.00208553,0.00225455,-0.00029319,0.000233515,3.17027e-05,-0.000145167,-0.0943779,-0.0107083,0.0268197,0.158827,0.509719,0.489245,0.689637,-0.000436563,-8.06424e-06,-0.000182891,-0.000318884,0.000612444,0.000120448,2.23432,-1.10276,-0.744178,0.00128494,-0.0220969,-0.000168198,1.28941,0.0286668,0.116229,2.06083,-0.235425,0.382938,0.000194424,-0.000796083,-0.000463868,-0.000451199,-0.000683652,0.000429959,0.255487,-0.0287119,-0.79174,0.00481571,0.000227015,-0.00128494,0.0747031,-0.00959749,0.0338434,-0.144494,-0.451421,0.623032,0.622231,-1.68398e-05,-0.000186691,0.000256328,0.00212535,0.000158177,0.000204194,-3.20466,0.552544,2.08916,-0.0180811,0.0509809,-0.0171959,-1.30771,0.0817065,0.136858,-2.97047,0.226817,-0.437668,0.00233806,-0.000314184,9.6651e-05,-0.00174012,0,0.00200651,0.100758,-0.400999,1.35132,0.00259961,-0.0243012,0.0180811
2020-02-05.17:04:58.944,0.146107,0.0106333,0.367023,-0.144578,-0.453985,0.622465,0.620913,-0.000119042,-0.0035172,0.0040574,0.0147436,0.00834344,0.035061,-0.000855036,-0.00639992,0.00661839,-0.000115172,-0.00011144,0.000333211,0.0864294,0.141617,-0.0724528,-1.39548,0.757923,-0.207245,-1.12504,7.84082e-05,-0.0053845,-0.00894103,-0.00155692,0.0319534,-0.0314737,0,-5.68415e-05,-0.00377327,-0.00338941,-0.000779766,-0.000188923,0.000179828,1.40009e-05,-0.00283244,0.0920826,0.358424,0.159224,0.510753,0.489437,0.688644,-0.000726773,-0.000205432,-0.00014686,0.000141694,0.000866141,-0.00149896,-0.00758414,-0.00189525,0.00225927,-0.000189772,-0.000330971,3.42832e-05,-0.499155,0.160638,0.0479072,1.3254,0.23389,0.201323,0.148032,0.00204914,-0.00036055,0.000485253,-0.000324974,0,0,0,-0.000316419,-0.00215337,-0.00317557,-0.000205219,0.000358747,-6.22216e-05,1.56429e-05,-0.0943854,-0.0107081,0.0268173,0.15883,0.50972,0.489243,0.689638,-9.56784e-05,-1.02476e-06,2.20767e-06,-0.000106783,-0.00032122,0.000683578,2.22088,-1.13748,-0.792814,0.00224893,-0.0200242,0.000201963,1.28941,0.0286591,0.116221,2.06083,-0.235425,0.382938,-0.000312942,0,-9.03335e-05,0,-0.000683652,0.00050222,0.258319,-0.0343761,-0.819861,0.00406472,-0.00171157,-0.00224893,0.0747052,-0.00961492,0.0338629,-0.144476,-0.451448,0.62292,0.622328,0.000127926,-0.000741574,0.000677086,-0.0019982,0.00566958,0.00820549,-3.21121,0.472374,2.17171,-0.0161531,0.0496494,-0.0159564,-1.30751,0.0816447,0.136862,-2.97068,0.226543,-0.437445,0.00731056,-0.00231186,0.000110708,0.00289135,0.0015198,-0.00123929,0.116807,-0.401943,1.39068,0.00378868,-0.0225118,0.0161531
2020-02-05.17:04:58.963,0.146107,0.0106333,0.367023,-0.144578,-0.453985,0.622465,0.620913,-0.000119042,-0.0035172,0.0040574,0.0147436,0.00834344,0.035061,-0.000855036,-0.00639992,0.00661839,-0.000115172,-0.00011144,0.000333211,0.0864294,0.141617,-0.0724528,-1.39548,0.757923,-0.207245,-1.12504,7.84082e-05,-0.0053845,-0.00894103,-0.00155692,0.0319534,-0.0314737,0,-5.68415e-05,-0.00377327,-0.00338941,-0.000779766,-0.000188923,0.000179828,1.40009e-05,-0.00283244,0.0920826,0.358424,0.159224,0.510753,0.489437,0.688644,-0.000726773,-0.000205432,-0.00014686,0.000141694,0.000866141,-0.00149896,-0.00758414,-0.00189525,0.00225927,-0.000189772,-0.000330971,3.42832e-05,-0.499155,0.160638,0.0479072,1.3254,0.23389,0.201323,0.148032,0.00204914,-0.00036055,0.000485253,-0.000324974,0,0,0,-0.000316419,-0.00215337,-0.00317557,-0.000205219,0.000358747,-6.22216e-05,1.56429e-05,-0.0943854,-0.0107081,0.0268173,0.15883,0.50972,0.489243,0.689638,-9.56784e-05,-1.02476e-06,2.20767e-06,-0.000106783,-0.00032122,0.000683578,2.22088,-1.13748,-0.792814,0.00224893,-0.0200242,0.000201963,1.28941,0.0286591,0.116221,2.06083,-0.235425,0.382938,-0.000312942,0,-9.03335e-05,0,-0.000683652,0.00050222,0.258319,-0.0343761,-0.819861,0.00406472,-0.00171157,-0.00224893,0.0747052,-0.00961492,0.0338629,-0.144476,-0.451448,0.62292,0.622328,0.000127926,-0.000741574,0.000677086,-0.0019982,0.00566958,0.00820549,-3.21121,0.472374,2.17171,-0.0161531,0.0496494,-0.0159564,-1.30751,0.0816447,0.136862,-2.97068,0.226543,-0.437445,0.00731056,-0.00231186,0.000110708,0.00289135,0.0015198,-0.00123929,0.116807,-0.401943,1.39068,0.00378868,-0.0225118,0.0161531
2020-02-05.17:04:58.983,0.146095,0.0105495,0.36712,-0.143334,-0.453485,0.623038,0.620992,-0.000273131,-0.00384239,0.00521086,0.0118622,0.0186942,0.025463,-0.0371904,0.0497359,-0.0818699,0.000191107,0.000779001,-0.000639396,0.0864542,0.141491,-0.0726687,-1.39548,0.760884,-0.207245,-1.12504,0.000534165,-0.00827144,-0.00901804,0.0107445,0.0348482,-0.0302391,0,-0.01436,0.0379277,0.0238272,0.00185936,9.28496e-05,0.000179828,-5.03231e-05,-0.00284049,0.0920788,0.358422,0.159233,0.510755,0.489428,0.688646,-0.000306328,-7.94977e-06,-3.18171e-05,0.000139114,0.000219702,-0.000381249,-0.00526084,0.0125015,-0.00714733,5.54595e-05,7.07852e-05,1.11548e-05,-0.499131,0.160638,0.0479072,1.3254,0.23389,0.201323,0.148032,0.000756165,-0.00036055,0.00048252,-0.000323144,0,0,0,0.00339182,-0.00340877,-0.000444895,0.000146665,-7.95662e-05,-6.22216e-05,3.70842e-05,-0.094388,-0.010709,0.0268169,0.158832,0.509717,0.48924,0.689641,-0.000140319,-1.15457e-05,8.94723e-06,-9.50376e-05,-0.000429186,0.000507679,2.19283,-1.16048,-0.778157,0.000401277,-0.0215302,0.000334361,1.2894,0.0286513,0.116219,2.06083,-0.235425,0.382938,-0.000523725,-4.19173e-05,-0.000130721,0,-0.000683652,0.000437152,0.255015,-0.0362642,-0.79174,0.00512862,-0.00010889,-0.000401277,0.0747044,-0.00963706,0.0338785,-0.14365,-0.450856,0.623656,0.622212,-0.000189918,-0.000821715,0.00109492,-0.0105646,0.088263,0.0198583,-3.22048,0.436467,2.26513,-0.0175188,0.0464195,-0.0175059,-1.30734,0.0815984,0.13687,-2.97047,0.227226,-0.439636,0.0100763,-0.00279226,0.000494012,-0.009114,-0.0181829,-0.0821545,0.126719,-0.405719,1.45255,0.00103505,-0.0201497,0.0175188
2020-02-05.17:04:58.3,0.146044,0.0104393,0.367258,-0.142135,-0.45284,0.623542,0.621231,-0.00418822,-0.00665687,0.007816,0.00603899,0.0380521,0.0317352,-0.00806177,0.00549127,-0.0141384,-0.000168604,0.000455571,-3.6996e-05,0.0865781,0.141302,-0.0729531,-1.39514,0.763845,-0.207245,-1.12504,0.00944958,-0.00942878,-0.0175355,0.0053083,0.0546706,-0.0290645,0,-0.00429483,0.00463276,0.00310116,0.000715741,9.28496e-05,0.00014852,5.68835e-05,-0.00284049,0.0920788,0.358422,0.159233,0.510755,0.489428,0.688646,-0.000256088,1.01468e-05,-2.13111e-05,0.000135359,0.000154602,-0.000265926,0.00358878,-0.0151024,-0.0143206,4.62304e-05,4.53552e-05,-5.91618e-05,-0.499131,0.160638,0.0479072,1.3254,0.23389,0.201323,0.148032,0.000609922,-0.000342138,0.000461426,-0.000309017,0,0,0,0.00445132,0.00517237,0.00122886,0.000410578,-7.95662e-05,-0.000312687,2.63635e-05,-0.0943892,-0.0107096,0.0268162,0.158836,0.509718,0.489238,0.689641,-8.51122e-05,1.09061e-05,2.79453e-05,-0.000164456,-0.000469558,0.000764018,2.24539,-1.15397,-0.79312,0.000401277,-0.021856,-0.000908064,1.2894,0.0286436,0.116218,2.06083,-0.235425,0.382938,-0.000429492,0.000208065,-7.50016e-05,0,-0.000683652,0.000439427,0.258791,-0.0339041,-0.819861,0.0041273,0.000179239,-0.000401277,0.0746962,-0.00965417,0.0339044,-0.142839,-0.450577,0.623718,0.622538,-0.000671556,-0.00117801,0.0013952,0.0706516,0.110888,0.0504629,-3.25077,0.375345,2.34043,-0.0149481,0.046291,-0.0183986,-1.3071,0.0815675,0.136886,-2.97152,0.22709,-0.441158,0.0130892,-0.00126199,0.00114503,-0.087868,0.0249648,-0.113922,0.141352,-0.408079,1.4863,0.00103505,-0.0201329,0.0149481
2020-02-05.17:04:59.23,0.145923,0.0102791,0.367456,-0.13966,-0.451714,0.624556,0.621595,-0.00779928,-0.00929597,0.0116254,0.0374521,0.183645,0.111936,-0.0159377,0.000200461,-0.023707,-0.000376043,7.11163e-05,0.000162785,0.0868753,0.14105,-0.073385,-1.39485,0.769766,-0.207245,-1.12504,0.0192883,-0.0147782,-0.0252108,0.0104484,0.225491,-0.0279849,0,-0.00853281,0.00679861,0.00283428,-0.000427882,-0.000439388,0.000117212,-5.03231e-05,-0.00284854,0.092075,0.35842,0.159241,0.510758,0.48942,0.688649,-0.000112519,7.28776e-05,1.49992e-05,0.000131907,-5.54034e-05,0.000100019,-0.000809094,0.0132516,0.0043854,-0.000222148,0.000175053,-1.45134e-05,-0.499106,0.160638,0.0479072,1.3254,0.23389,0.201323,0.148032,0.000175607,-0.000325724,0.000442511,-0.000296349,0,0,0,-0.00137592,-0.00324419,0.000317454,-0.000205219,-0.000142182,-0.000281378,-5.79846e-06,-0.0943905,-0.0107094,0.0268158,0.158836,0.509718,0.489238,0.689641,-4.6653e-05,6.78921e-06,3.01048e-05,-0.000155386,-0.00040099,0.000769568,2.24851,-1.13414,-0.793675,0.00136527,-0.0210029,0.000544054,1.2894,0.0286436,0.116216,2.06083,-0.235425,0.382938,-0.000366369,0.000175388,-3.69653e-05,0,-0.000683652,0.000441572,0.259735,-0.032488,-0.828297,0.00494087,-0.00118309,-0.00136527,0.0746707,-0.00968537,0.0339394,-0.141357,-0.449947,0.624423,0.622625,-0.00172669,-0.00187233,0.00212528,0.0237789,0.136105,0.108554,-3.25873,0.346797,2.41621,-0.0122168,0.0458985,-0.0192342,-1.30681,0.0815289,0.136923,-2.97235,0.22791,-0.444358,0.0171232,-0.00197771,0.00246119,-0.0379852,0.0551133,-0.152615,0.15268,-0.409023,1.5341,0.00103505,-0.0200551,0.0122168
2020-02-05.17:04:59.43,0.145723,0.0100493,0.367749,-0.137276,-0.450475,0.62563,0.621944,-0.0116209,-0.0124003,0.0164995,0.0570681,0.302442,0.172338,-0.00647538,0.0161444,-0.0396804,-0.00043797,9.32791e-05,8.86303e-05,0.0873708,0.140673,-0.0740064,-1.39474,0.775687,-0.207245,-1.12504,0.0289168,-0.0223623,-0.0330956,0.0157995,0.361655,-0.0269667,0,-0.00800307,0.0154462,0.0124332,-0.00025194,-0.000470697,2.32872e-05,-3.96024e-05,-0.00284854,0.092075,0.35842,0.159241,0.510758,0.48942,0.688649,-0.000118574,6.51861e-05,1.06967e-05,0.000128516,-3.57535e-05,6.79807e-05,0.0014556,-0.00550579,0.00172505,-0.000455711,0.000115882,8.69247e-05,-0.499106,0.160638,0.0479072,1.3254,0.23389,0.201323,0.148032,0.000201083,-0.0003108,0.000425187,-0.000284748,0,0,0,0.00127283,0.00350551,0.000875372,-0.000117248,-1.695e-05,-0.000124838,-7.01224e-05,-0.0943932,-0.0107095,0.0268159,0.158835,0.509715,0.489237,0.689644,-7.68268e-05,2.86159e-05,-1.55381e-05,-0.000148532,-7.35479e-05,0.000933312,2.19958,-1.10897,-0.808661,0.00160627,-0.0204896,0.000216315,1.2894,0.0286436,0.116214,2.06083,-0.235425,0.382938,0,0.000150673,-7.93929e-05,0,-0.000683652,0.000443622,0.254071,-0.0334321,-0.839545,0.00444021,-0.00109148,-0.00160627,0.0746204,-0.00973047,0.0339891,-0.139637,-0.449664,0.625028,0.622611,-0.00344776,-0.00282461,0.00289559,0.168487,0.155467,0.115337,-3.37514,0.264084,2.58388,-0.00506721,0.0493344,-0.0244637,-1.30642,0.0814748,0.136991,-2.97382,0.229276,-0.447351,0.0239942,-0.00378421,0.0044606,-0.181762,0.0909046,-0.1722,0.181473,-0.41752,1.61284,-2.88584e-05,-0.0243484,0.00506721
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