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
2020-02-05.16:48:12.892,0.0674108,0.032749,0.336674,-0.303842,-0.386877,0.611854,0.619387,-0.000819888,-0.00223427,-0.0020216,-2.3875e-05,0.00420742,-0.00504727,-0.00810369,0.00152883,0.00130176,-2.30394e-05,0.000385988,0.000122601,0.28297,0.244752,-0.0832805,-1.57976,0.524033,0.0177638,-0.911877,-8.72526e-05,0.0110226,-0.0113583,0.00664851,0,0,0,-5.68415e-05,-0.000856279,-0.00280027,9.99441e-05,-0.00025154,0.000367676,7.83248e-05,-0.0186579,-0.00248029,0.347497,0.14469,0.0889122,0.563779,0.808277,-0.00706055,-0.0557398,0.00516442,0.00123881,-0.645563,-0.307575,0.0167659,0.00804664,0.00938652,-0.000539051,0.000123373,-0.000263138,-0.372992,0.32367,-0.258345,1.18053,1.05695,-0.0977011,0.331591,0.0524553,0.0779862,-0.188959,-0.00389447,0.544339,-0.40897,-0.0610529,-0.00402466,-0.00299732,0.00210903,0.000234636,0.000108283,-0.000688384,-1.65191e-05,-0.0670881,0.00665215,0.0466926,0.149536,0.0999092,0.572557,0.799897,-0.00120094,-0.017088,0.00107576,-0.0225317,-0.472154,-0.602534,-2.54324,-1.65141,1.32665,-0.0473967,-0.0545567,-0.0150182,1.31274,0.227836,0.148161,2.5318,0.386271,0.852047,-0.0489664,-0.0765298,8.00263e-05,-0.0791694,0.51566,0.431152,-0.304328,-0.375646,1.00237,0.0113243,0.0703692,0.0473967,0.0901154,0.0213564,0.0351569,-0.303795,-0.386857,0.612125,0.619155,-7.08987e-05,5.73046e-05,-0.000190689,0.00150222,-0.00208114,-0.000965704,-1.2772,1.58308,0.872852,0.0234509,0.034589,-0.0140785,-1.40243,0.332162,0.124166,-2.70479,0.283111,-0.25871,-0.00178613,-0.000453088,1.96962e-05,-0.00153041,0,0,-0.0531206,-0.186702,0.842328,-0.00134309,-0.0254172,-0.0234509
2020-02-05.16:48:12.908,0.0673893,0.0326947,0.33662,-0.30384,-0.386865,0.611848,0.619402,-0.00111595,-0.00297548,-0.00276518,7.31724e-05,0.00526948,-0.00637426,0.00202335,-0.0165573,0.00118621,1.94819e-05,-0.000171051,8.87055e-05,0.28297,0.245035,-0.083564,-1.57972,0.524033,0.0177638,-0.911877,-8.41007e-05,0.014936,-0.01525,0.0083477,0,0,0,-0.00217583,-0.00569226,-0.00215575,-0.000427882,0.000124158,0.000117212,-5.03231e-05,-0.0188322,-0.0036199,0.347588,0.143373,0.085249,0.560079,0.811473,-0.0109791,-0.0597672,0.0044044,-0.052198,-0.465903,-0.694223,0.0300019,0.00859465,0.00110583,-0.000435171,0.000321964,-0.000196674,-0.371852,0.325276,-0.262186,1.18057,1.06583,-0.100662,0.32567,0.063655,0.0833263,-0.199443,-0.000905967,0.522205,-0.271802,-0.451913,-0.00614365,0.00215729,0.00792033,-2.92769e-05,-0.000142182,-0.000531843,-0.000166608,-0.0671036,0.00632898,0.0467107,0.144612,0.0938254,0.570362,0.803101,-0.00131973,-0.0177019,0.00122198,-0.163913,-0.787052,-0.504512,-2.87734,-1.66125,1.30237,-0.0423357,-0.0501585,-0.0143957,1.31169,0.22623,0.148158,2.53201,0.392693,0.867476,-0.0566549,-0.0854158,-0.000332092,-0.064338,0.397582,0.777841,-0.323681,-0.41152,0.847705,0.0108236,0.0696038,0.0423357,0.0901135,0.0213572,0.0351547,-0.303802,-0.386864,0.61212,0.619152,2.12112e-05,-8.66186e-05,0.000118925,0.00144731,0.000800954,0.000325234,-1.45892,1.71885,0.846163,0.0242542,0.0375807,-0.0148013,-1.40246,0.332155,0.124168,-2.70479,0.283111,-0.25871,0.00135529,-0.00012536,0,-0.00153041,0,0,-0.0592568,-0.209359,0.800147,-0.00140568,-0.0268406,-0.0242542
2020-02-05.16:48:12.928,0.0673679,0.0326404,0.336567,-0.303838,-0.386853,0.611842,0.619417,-0.00127516,-0.00337113,-0.00316688,7.07543e-05,0.00498819,-0.00603423,-0.00158347,-0.00675044,-0.0140638,0.000150997,0.000297021,-3.83869e-05,0.28297,0.245319,-0.0838474,-1.57968,0.524033,0.0177638,-0.911877,-8.12917e-05,0.0170405,-0.0173363,0.007904,0,0,0,-0.00588407,0.000136464,0.000869495,0.000363857,-6.3691e-05,0.000273752,-7.44046e-06,-0.0190906,-0.00482479,0.347667,0.142656,0.0797899,0.558457,0.81327,-0.0140241,-0.0615619,0.00318359,0.079995,-0.392683,-0.618258,0.00641248,-0.00730867,0.00396703,-0.000396095,0.000396211,-0.000365133,-0.37049,0.326945,-0.266169,1.1804,1.07767,-0.103622,0.32567,0.0715557,0.0870372,-0.203615,-0.0121825,0.547425,-0.139448,-0.350079,-0.00455441,-0.000574066,-0.000708242,0.000498549,-0.000173491,-0.000688384,-1.65191e-05,-0.0671466,0.00591742,0.0467329,0.142935,0.088157,0.566038,0.807093,-0.00255268,-0.022457,0.00118079,0.177014,-0.490626,-0.61385,-3.22117,-1.50729,1.37285,-0.042657,-0.0491471,-0.0035101,1.31042,0.224384,0.148145,2.53284,0.404171,0.877229,-0.0738498,-0.102702,-0.00107551,0.127494,0.55929,0.455157,-0.362859,-0.42332,0.605866,0.0155799,0.0634309,0.042657,0.0901118,0.0213526,0.0351524,-0.303774,-0.386855,0.612143,0.619149,-0.000131009,-0.000206806,-0.000283921,0.00190582,-0.00295404,0.00127232,-1.53357,1.83861,0.818627,0.0249772,0.0379832,-0.0148601,-1.40246,0.332108,0.124168,-2.70479,0.283111,-0.258792,-0.00142316,-0.00286174,0,-0.00153041,0,0,-0.0677532,-0.222576,0.783275,-0.00146826,-0.0265657,-0.0249772
2020-02-05.16:48:12.948,0.0673489,0.0325656,0.336494,-0.30384,-0.386873,0.611854,0.619391,-0.00132752,-0.00341194,-0.00322228,-0.000261603,0.000142943,-5.50449e-05,-0.00733989,-0.0184042,0.00789456,-0.000153339,7.77701e-06,-8.26358e-05,0.282946,0.245697,-0.0842253,-1.57973,0.524033,0.0177638,-0.911877,0,0.017333,-0.0176111,0.000120712,0,0,0,-0.00111634,-0.00851643,-0.00647004,-0.000163969,-0.000126307,2.32872e-05,-0.000146809,-0.0194045,-0.00609236,0.347702,0.142911,0.0760794,0.556974,0.814597,-0.0164599,-0.0593498,-0.000274735,0.0802589,-0.333376,-0.509276,-0.00746458,0.00302716,0.0276398,0.000141355,-3.73899e-05,0.000231484,-0.368954,0.328803,-0.270368,1.17993,1.08655,-0.103622,0.32567,0.0762139,0.0905823,-0.196499,-0.037731,0.469837,-0.10157,-0.285743,-0.00190566,-0.0127252,-0.00922252,-0.00029319,-4.82581e-05,0.000219551,9.06875e-05,-0.0671934,0.00544699,0.0467577,0.142143,0.0822124,0.563588,0.809571,-0.00208845,-0.0224071,0.00117666,0.138582,-0.411564,-0.264935,-3.4198,-1.1968,1.28506,-0.0366321,-0.0484245,0.00348536,1.30868,0.222044,0.148115,2.53788,0.411549,0.887303,-0.0873821,-0.120275,-0.0018023,0.202238,0.187669,0.415163,-0.376075,-0.419072,0.226234,0.0208994,0.0589982,0.0366321,0.0901086,0.0213445,0.0351473,-0.303721,-0.386834,0.612186,0.619146,-0.000102845,-0.000446776,-5.00156e-05,0.00202015,-0.000555852,0.00342003,-1.7336,2.02817,0.828346,0.0252182,0.0416579,-0.0163625,-1.40246,0.332023,0.124168,-2.70479,0.283111,-0.258955,0.0014682,-0.00367758,0,-0.00153041,-2.75624e-05,-0.000295867,-0.0776656,-0.249953,0.783275,-0.00234442,-0.0286831,-0.0252182
2020-02-05.16:48:12.968,0.0673227,0.0324994,0.336429,-0.303835,-0.386849,0.611841,0.619422,-0.00129212,-0.00331865,-0.00314039,-0.000356983,-0.00139523,0.00184533,-0.0095049,-0.0139685,-0.0193609,0.00018324,0.000478637,-0.000280917,0.282946,0.246043,-0.0845717,-1.57965,0.524033,0.0177638,-0.911877,0,0.0168782,-0.0171416,-0.00232573,0,0,0,-0.00270558,-0.0043493,-0.00605764,0.000451828,-9.49992e-05,-7.06372e-05,-6.10438e-05,-0.019754,-0.00723096,0.34762,0.143296,0.0722478,0.55567,0.815768,-0.0172091,-0.0539652,-0.00752369,0.0717944,-0.276724,-0.416676,-0.00557345,-0.00800022,0.0249631,9.82257e-06,-9.96106e-05,9.0453e-05,-0.367393,0.330724,-0.274182,1.17905,1.09544,-0.103622,0.32567,0.0766553,0.10101,-0.184382,-0.0583643,0.387985,-0.080031,-0.243689,-0.00508415,-0.010225,-0.00910469,-0.000117248,7.69744e-05,6.30108e-05,4.78048e-05,-0.0672455,0.00503195,0.0467773,0.142807,0.078995,0.562722,0.810377,-0.00365663,-0.0232253,0.000786575,0.321018,-0.0823748,-0.153264,-3.32078,-0.978917,0.944602,-0.0382387,-0.0508244,0.00359305,1.30698,0.219781,0.148065,2.5427,0.413735,0.891647,-0.0959524,-0.127208,-0.00366939,0.297737,0.100841,0.0744187,-0.34445,-0.402552,-0.0943431,0.022464,0.0593479,0.0382387,0.0901065,0.0213362,0.0351424,-0.303732,-0.386814,0.61218,0.619159,-0.000174097,-0.000480391,-0.000387987,0.00218729,-0.00166447,0.00379998,-1.87694,2.15424,0.798283,0.0257002,0.0442263,-0.016295,-1.40246,0.331931,0.124166,-2.70479,0.282974,-0.259007,-0.00107622,-0.0053317,-4.05136e-05,-0.00150434,0,-0.00221654,-0.0847459,-0.268834,0.746718,-0.00184375,-0.0298445,-0.0257002
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