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
2020-02-05.17:15:07.590,0.154454,0.0184128,0.30729,-0.189871,-0.494331,0.489592,0.692738,7.83601e-05,-0.00217305,0.0011319,-0.00620887,0.00153757,-0.00106,0.00193005,9.35205e-05,0.0131688,-9.63611e-05,-0.000594947,0.000211682,0.0615831,0.318977,-0.119768,-1.67467,0.515151,0.162835,-1.43295,-0.000383509,-0.000241343,-0.00600509,0.00211205,0,0,0,0.00418115,-0.00261069,-0.00162906,-0.00113165,6.15414e-05,-0.000164562,-3.96024e-05,-0.0413265,0.0985658,0.314969,0.270464,0.432225,0.740718,0.437455,7.05111e-05,0.000115049,9.99929e-05,3.31102e-05,-0.000367357,0.000473414,-0.00919267,-0.00544913,-0.00611562,-0.000111668,0.000273999,2.92834e-05,-0.38617,0.253853,0.0685112,1.39886,0.124347,-0.142111,0.828979,-0.000330483,-0.000414331,0.000414331,-0.000277478,0,0,0,0.000743077,0.000928208,-0.00241322,-0.000557103,-0.000110874,3.94597e-07,-5.79846e-06,-0.130012,-0.0144122,0.0441974,0.272426,0.429452,0.740552,0.439246,-8.36244e-06,-1.0842e-05,8.91108e-06,-0.000918318,5.87693e-05,-0.000736207,-3.44484,-2.07954,-1.12296,0.0165481,0.0812484,0.00949158,0.98729,0.0524837,0.0920301,3.02666,-0.616367,-0.183904,-0.00025765,-5.06996e-05,-4.18924e-07,-0.0011354,0,0,0.155891,-0.259058,0.768967,0.000497507,-0.0473491,-0.0171105,0.118075,-0.0073552,0.0486702,-0.188193,-0.478752,0.492412,0.702076,4.80424e-06,-0.000303851,-6.23238e-06,0.0112641,-0.0306514,0.00497033,-1.62935,-2.19607,0.73105,-0.0921478,-0.087293,0.0160388,-1.06056,0.203007,0.102163,-3.15709,0.146611,-0.0296231,0.00144493,-0.000776777,4.28707e-05,-0.00174821,0.022238,0.0248571,0.11303,-0.252313,0.420516,0.00278736,0.102557,0.0921478
2020-02-05.17:15:07.606,0.154463,0.0183622,0.307323,-0.189922,-0.494271,0.489622,0.692745,0.000115168,-0.00345227,0.00168439,-0.00964967,0.00326306,-0.00263861,0.00919276,-0.00784852,0.0145244,-0.000136396,-0.000102646,5.00856e-05,0.0615584,0.318946,-0.119894,-1.67458,0.515151,0.162835,-1.43295,-0.000595131,0,-0.00972407,0.00460265,0,0,0,0.0036514,-0.00619126,-0.00259584,-0.000339911,-9.49992e-05,5.45953e-05,-5.03231e-05,-0.0413181,0.0985688,0.314971,0.270455,0.432225,0.740725,0.43745,-0.000285379,-1.02725e-05,2.76387e-05,3.31122e-05,0.000154377,-0.000430255,0.00537778,-0.0153566,-0.00489361,-4.686e-05,8.77149e-05,-4.55134e-05,-0.386195,0.253853,0.0685112,1.39886,0.124347,-0.142111,0.828979,0.000712985,-0.000414331,0.000414331,-0.000277478,0,0,0,0.000213329,0.00616511,0.00442731,-2.92769e-05,-1.695e-05,-0.000156146,-3.79604e-05,-0.130012,-0.0144122,0.0441974,0.272426,0.429452,0.740552,0.439246,-8.38773e-06,-1.07186e-05,8.96302e-06,-0.0009192,5.81015e-05,-0.00073505,-3.48756,-2.03256,-1.18,0.0171105,0.0825456,0.00920626,0.98729,0.0524837,0.0920301,3.02666,-0.616367,-0.183904,-0.00025765,-4.90536e-05,-4.34289e-07,-0.0011354,0,0,0.148811,-0.256225,0.766154,0.000434924,-0.0477333,-0.0171105,0.118075,-0.00735829,0.0486721,-0.188338,-0.478927,0.492305,0.701992,7.32923e-05,-6.58177e-05,0.000114237,0.000389739,-0.0147662,-0.00915629,-1.72889,-2.30403,0.79629,-0.0923085,-0.0868424,0.015042,-1.06053,0.203,0.102165,-3.15709,0.146748,-0.0290811,0.00163087,0,4.18651e-07,-0.00169195,0,0.0186875,0.122943,-0.262225,0.468321,0.00197379,0.102976,0.0923085
2020-02-05.17:15:07.626,0.154459,0.0182658,0.30738,-0.190013,-0.494233,0.489724,0.692676,0.000114843,-0.00358562,0.00190375,-0.0103488,0.000316637,0.000764198,0.0153522,-0.0134178,0.0179456,-0.000510224,-0.000249068,0.000155526,0.0615584,0.318914,-0.120152,-1.67471,0.515151,0.162835,-1.43295,-0.000595131,-0.00050889,-0.00986067,9.34748e-05,0,0,0,0.0036514,-0.00919054,-0.00338941,-0.000779766,-0.00040808,2.32872e-05,-3.96024e-05,-0.0413181,0.0985688,0.314971,0.270455,0.432225,0.740725,0.43745,-0.000280642,-8.6045e-06,2.86017e-05,3.31122e-05,0.000147433,-0.000418227,0.0058727,0.000540494,0.00524408,4.4317e-05,-8.30972e-05,8.20358e-05,-0.386195,0.253853,0.0685112,1.39886,0.124347,-0.142111,0.828979,0.000699096,-0.000414331,0.000414331,-0.000277478,0,0,0,-0.00137592,0.000336387,0.00210903,0.000234636,1.43582e-05,-6.22216e-05,0.000101408,-0.130012,-0.0144122,0.0441974,0.272426,0.429452,0.740552,0.439246,-6.42186e-06,-9.01486e-06,6.3712e-06,-0.000906553,9.23993e-05,-0.00070278,-3.52394,-2.05419,-1.17766,0.0158252,0.0822662,0.00847428,0.98729,0.0524837,0.0920301,3.02666,-0.616367,-0.183904,-0.000212678,-4.70101e-05,-4.52413e-07,-0.00111887,0,0,0.148811,-0.259058,0.785839,0.000434924,-0.0472614,-0.0158252,0.118075,-0.00736454,0.0486787,-0.18829,-0.478965,0.492232,0.702031,6.41983e-05,-0.000316603,0.000284051,-0.000271824,-0.00423271,-0.000246356,-2.00572,-2.59999,0.90534,-0.0921478,-0.0824514,0.0154308,-1.06045,0.202969,0.102168,-3.1573,0.146748,-0.0289994,0.00408158,-0.00165253,0.000114046,0.000730678,0,0.00803132,0.150792,-0.285826,0.527375,0.00291252,0.101116,0.0921478
2020-02-05.17:15:07.646,0.154467,0.0181908,0.307417,-0.190082,-0.494143,0.489757,0.692698,-0.000368255,-0.00382066,0.00203474,-0.0110561,0.00126006,-0.000582784,0.00370383,-0.00509272,-0.00827949,0.000336113,0.00016017,-0.000164637,0.0615336,0.318914,-0.120362,-1.67457,0.515151,0.162835,-1.43295,0.000545853,-0.000466345,-0.010618,0.000600685,0,0,0,-0.00376508,-0.00028025,0.000810581,0.000275886,0.000280698,0.000211136,-0.00016825,-0.0413181,0.0985688,0.314971,0.270455,0.432225,0.740725,0.43745,-0.000259061,-1.0047e-06,3.29895e-05,3.31122e-05,0.000115794,-0.000363427,0.000975637,-0.0158938,-0.0133302,-4.18647e-05,9.31016e-05,-0.000108623,-0.386195,0.253853,0.0685112,1.39886,0.124347,-0.142111,0.828979,0.000635819,-0.000414331,0.000414331,-0.000277478,0,0,0,0.00286207,0.00633495,0.00287138,-0.000117248,-1.695e-05,-6.22216e-05,-0.000113005,-0.130012,-0.0144125,0.0441979,0.272424,0.42945,0.740552,0.439249,5.82659e-06,5.46416e-07,-9.92946e-06,-0.000892562,0.000322344,-0.00055738,-3.5093,-2.06663,-1.1683,0.0161465,0.0828081,0.00963255,0.987282,0.0524837,0.0920301,3.02666,-0.616367,-0.183904,5.82294e-05,-4.55732e-05,-4.64463e-07,-0.00110114,0,0,0.151171,-0.257641,0.783027,0.00118592,-0.0477155,-0.0161465,0.118078,-0.00737342,0.0486864,-0.188505,-0.47885,0.492621,0.701779,0.000122841,-0.000537367,0.000487849,-0.0544557,-0.00614893,0.035155,-2.22701,-2.68827,0.965775,-0.0921478,-0.07918,0.0157716,-1.06035,0.202923,0.102171,-3.15625,0.146748,-0.0288361,0.0061443,-0.00274209,0.00018468,0.0648296,0,0.00696872,0.159288,-0.304235,0.552684,0.00347577,0.0998677,0.0921478
2020-02-05.17:15:07.666,0.154454,0.018117,0.307454,-0.189578,-0.495155,0.489955,0.691972,-0.000405204,-0.0026959,0.00147169,-0.00789452,-0.000205775,0.000734937,-0.00513438,0.00409401,-0.0102841,-0.000254064,-0.000199456,0.000218018,0.0615584,0.318914,-0.120573,-1.67443,0.515151,0.159874,-1.43295,0.000737046,-0.000418787,-0.00747243,-0.00150593,0,0,0,-0.00323533,0.00371704,0.00165953,-0.000691795,-0.000157615,8.59034e-05,3.54422e-05,-0.0413181,0.0985688,0.314971,0.270455,0.432225,0.740725,0.43745,-0.000241446,5.1983e-06,3.65708e-05,3.31122e-05,8.99701e-05,-0.000318699,0.000296381,-0.0244495,-0.00517606,0.000244396,-0.000480786,-0.000122142,-0.386195,0.253853,0.0685112,1.39886,0.124347,-0.142111,0.828979,0.000584171,-0.000414331,0.000414331,-0.000277478,0,0,0,-0.000316419,0.00850081,0.00419519,0.00111435,0.000170899,-6.22216e-05,-4.86811e-05,-0.130012,-0.0144125,0.0441979,0.272424,0.42945,0.740552,0.439249,5.75357e-06,6.25332e-07,-9.80946e-06,-0.000878346,0.000317621,-0.000547311,-3.50889,-2.02669,-1.16492,0.0175925,0.0835071,0.009589,0.987282,0.0524837,0.0920301,3.02666,-0.616367,-0.183904,5.82294e-05,-4.42546e-05,-4.74971e-07,-0.00108439,0,0,0.153531,-0.252921,0.81396,0.000998168,-0.0477377,-0.0173515,0.11808,-0.00738521,0.0486958,-0.1885,-0.478884,0.492724,0.701684,0.000186697,-0.000391508,0.000573403,0.0262014,0.0047072,-0.0084629,-2.17798,-2.80213,1.06413,-0.0931922,-0.0820479,0.0147112,-1.06021,0.202868,0.102175,-3.15604,0.146884,-0.0287025,0.00781235,-0.000550283,0.000167007,-0.0283069,0.00383854,0.00221345,0.172977,-0.300459,0.622986,0.00147312,0.102443,0.0911839
2020-02-05.17:15:07.686,0.154421,0.0180722,0.307478,-0.189626,-0.49512,0.489983,0.691964,-0.00124871,-0.00218855,0.00126099,-0.00656254,0.0014171,-0.0018477,-0.0170689,-0.0133447,-0.00440359,2.3027e-05,-0.000284703,7.97911e-05,0.0616327,0.318914,-0.120704,-1.67449,0.515151,0.159874,-1.43295,0.00281342,-0.000384498,-0.00618427,-0.000514787,0,0,0,-0.00588407,0.00779662,0.00418577,9.99441e-05,0.000468547,-0.00019587,-1.81611e-05,-0.0413213,0.0985745,0.314977,0.270447,0.432223,0.74073,0.437448,-0.000119195,-0.000178118,-0.000153485,-4.99649e-05,0.000573101,-0.000746882,-0.00820073,-0.00524407,-0.0111587,-0.000133944,0.000512942,0.000112659,-0.386195,0.253821,0.0685427,1.39884,0.124347,-0.142111,0.828979,0.000536234,0.000625209,-0.000625209,0.000418702,0,0,0,0.00233232,0.00142721,-0.00209096,-0.000821016,-0.000267415,-0.000124838,6.92461e-05,-0.130012,-0.0144122,0.0441974,0.272426,0.429452,0.740552,0.439246,1.1076e-05,4.83727e-06,-1.68819e-05,-0.000865668,0.000415991,-0.000479145,-3.47284,-1.99215,-1.11732,0.0166285,0.0819215,0.00925774,0.98729,0.0524837,0.0920301,3.02666,-0.616367,-0.183904,0.000176662,-4.2933e-05,-4.84936e-07,-0.00106711,0,0,0.14645,-0.252449,0.81396,0.00081042,-0.0472442,-0.0166285,0.118076,-0.00740496,0.0487078,-0.188294,-0.479129,0.492824,0.701502,-0.000156307,-0.000804155,0.000703581,0.0248329,-0.0204519,0.00351213,-2.22031,-2.75525,1.09599,-0.0935135,-0.0837566,0.0145298,-1.06004,0.202791,0.102187,-3.15604,0.147567,-0.0286061,0.00885068,-0.00287252,0.000580406,-0.0167505,0.0211458,0.021168,0.164481,-0.309899,0.679227,0.00197379,0.104343,0.0935135
2020-02-05.17:15:07.706,0.1544,0.0180419,0.307503,-0.189666,-0.495065,0.489989,0.691989,-0.00136013,-0.000900882,0.000527401,-0.00278274,0.000302263,-0.00104052,-0.01372,0.00823745,-0.0407326,-3.78608e-05,-5.99175e-05,1.74862e-05,0.0616822,0.318883,-0.120778,-1.67444,0.515151,0.159874,-1.43295,0.003192,-2.45467e-05,-0.00273697,-0.00218243,0,0,0,-0.0133005,0.0118762,0.00612287,1.19731e-05,-3.23829e-05,-0.000133253,5.68835e-05,-0.0413213,0.0985745,0.314977,0.270447,0.432223,0.74073,0.437448,-0.000106907,-0.000173723,-0.000150922,-4.99399e-05,0.000554887,-0.000715457,0.00237397,-0.0175643,-0.00438294,-0.000162431,-3.20023e-05,-1.23592e-05,-0.386195,0.253821,0.0685427,1.39884,0.124347,-0.142111,0.828979,0.000500112,0.000624896,-0.000624896,0.000418493,0,0,0,-0.000316419,0.00649953,0.00381048,-0.000205219,0.000139591,3.17027e-05,-2.72398e-05,-0.130012,-0.0144126,0.0441967,0.272431,0.429453,0.740552,0.439244,-8.35009e-06,-6.60877e-06,1.01302e-05,-0.00087476,3.18464e-05,-0.000648447,-3.47111,-1.97213,-1.13733,0.0177531,0.0830623,0.00993689,0.987297,0.052476,0.0920301,3.02666,-0.616367,-0.183904,-0.000241592,0,-4.94144e-07,-0.00104964,0,0,0.145978,-0.251977,0.799899,0.000998168,-0.0482573,-0.0177531,0.118078,-0.00742063,0.0487235,-0.188435,-0.479263,0.492729,0.701439,0.000277423,-0.000865143,0.000785167,0.016619,-0.00848712,0.00377273,-2.2721,-2.56101,1.12204,-0.0931922,-0.0824563,0.0144634,-1.05983,0.202714,0.102194,-3.15604,0.147567,-0.0279527,0.0119647,-0.00319086,0.000243784,-0.0119216,0.0117017,0.0148868,0.146544,-0.313675,0.704536,0.00178604,0.103504,0.0931922
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