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 2020-02-06.14:47:21.820,0.21617,0.0312752,0.349687,-0.348733,-0.102371,0.898459,0.246325,-0.000107737,3.29219e-05,9.33524e-05,-0.0229782,-0.000402068,0.024736,0.00712575,0.000134122,0.00937843,0.000125136,8.5076e-05,-0.000124254,-0.094406,0.157552,-0.0172244,-1.3619,0.669104,0.37008,0.0236851,0.000261067,-0.000407349,0.000270444,-0.000181116,0,0,0.0337395,0.00418115,-0.000696963,0.000810581,0.000275886,-0.000157615,2.32872e-05,-3.96024e-05,-0.209081,-0.00489017,0.352332,0.321671,-0.1469,0.794509,-0.493663,0.00175457,0.0260751,-0.0124519,0.138996,-0.0382239,0.0172409,0.00773709,-0.00178629,-0.0126956,0.000268826,5.50331e-05,2.08617e-05,0.0704763,0.217764,-0.145312,1.21269,0.636537,-0.287182,-2.69418,-0.00144923,-0.0148826,0.0849809,-0.0262752,0.0519868,0.0307097,0.0561124,0.00445132,0.0015095,-0.00123847,-0.00029319,0.000139591,-0.000156146,-2.72398e-05,-0.115308,-0.0416073,0.0395632,0.325027,-0.147506,0.791598,-0.495956,-0.00105355,0.00629587,-0.00482434,0.135342,-0.0117671,0.0383409,-4.61855,2.28925,-0.0164396,0.0200828,0.0918862,-0.0597334,0.973481,-0.17346,0.109149,-0.975058,0.282701,-0.59816,0.0604824,0.0207834,-0.00543645,0.151797,-0.0591013,0.0395279,0.407005,0.0680522,-0.0634102,0.00306339,-0.0675407,-0.0200828,0.110951,0.00540581,0.0463054,-0.346091,-0.0999689,0.899411,0.247564,0.000159086,6.69209e-05,6.44472e-05,-0.000779542,0.00174999,-0.00129175,2.0356,3.45525,-0.114714,-0.00305889,0.00984138,0.0266824,-1.20698,0.282876,0.107569,-1.63642,0.367552,-0.13309,0.000803549,0.00125555,-0.000107707,-0.000304747,0,-0.000950413,-0.198975,-0.345301,1.05323,0.0135516,-0.0247375,0.00305889 2020-02-06.14:47:21.834,0.21617,0.0312752,0.349687,-0.348733,-0.102371,0.898459,0.246325,-0.000102079,3.33858e-05,9.36202e-05,-0.0223254,-0.00039776,0.0240394,-0.00875535,-0.00206458,0.00203464,0.000173179,-4.00147e-05,-0.000241079,-0.094406,0.157552,-0.0172244,-1.3619,0.669104,0.37008,0.0236851,0.000246257,-0.000407349,0.000270444,-0.000181116,0,0,0.0327754,-0.00164609,-0.00293985,-0.00238787,0.000715741,-0.000157615,-0.000164562,4.61628e-05,-0.208975,-0.00411372,0.351967,0.31969,-0.147446,0.794988,-0.494017,0.00355756,0.0245919,-0.0110233,0.112907,0.000447721,0.044063,-0.00594232,0.00178993,-0.0127072,-0.000151408,0.000116383,-0.000214728,0.0703029,0.217291,-0.142762,1.21187,0.639498,-0.287182,-2.69418,-0.00591497,-0.0164994,0.0813245,-0.0222528,0,0.0267071,0.0504114,0.00233232,0.00558382,0.00378279,0.000498549,0.000139591,3.94597e-07,-7.01224e-05,-0.115258,-0.0413613,0.0393687,0.324822,-0.148715,0.791132,-0.496472,0.00275232,0.00908282,-0.00707991,0.16803,0.0238947,-0.0317107,-4.27198,1.19106,0.303078,0.0241798,0.092236,-0.0633054,0.97637,-0.172472,0.109009,-0.972332,0.280105,-0.596778,0.117302,0.0408335,-0.00451241,0.159833,-0.169343,0.0909089,0.304577,0.138855,-0.296813,0.0041273,-0.0729945,-0.0241798,0.11095,0.00540645,0.0463046,-0.346154,-0.0999687,0.899383,0.247574,6.06167e-05,8.47021e-05,-6.54311e-05,0.000108255,-0.000412362,-0.00095846,2.05004,3.49624,-0.125442,-0.00378188,0.00869414,0.0264475,-1.20698,0.282876,0.107569,-1.63642,0.367416,-0.13306,-0.000734512,0.000659935,-7.93311e-05,-0.000294231,0,0.000123945,-0.199919,-0.350021,1.05323,0.0128006,-0.0237638,0.00378188 2020-02-06.14:47:21.854,0.21617,0.0312752,0.349687,-0.348733,-0.102371,0.898459,0.246325,-9.85648e-05,3.3674e-05,9.37866e-05,-0.0221122,-0.000398534,0.0238157,0.00165827,0.0136773,0.00385753,6.15567e-06,2.0124e-05,0.000134672,-0.094406,0.157552,-0.0172244,-1.3619,0.669104,0.37008,0.0236851,0.000237056,-0.000407349,0.000270444,-0.000181116,0,0,0.0324605,0.0036514,-0.000439566,-0.00309484,-0.000339911,9.28496e-05,0.000211136,-3.96024e-05,-0.208943,-0.00385955,0.35186,0.31946,-0.147614,0.794914,-0.494233,0.003094,0.0241812,-0.0100968,0.108599,-0.00197528,0.0459656,0.00254811,0.0181577,-0.00636442,-0.000122305,-0.000162427,-0.000107146,0.0702533,0.217102,-0.141916,1.2116,0.639498,-0.287182,-2.69418,-0.00477955,-0.0183599,0.0806605,-0.0263732,0,0.0255677,0.0487279,-0.00349491,0.00400978,-0.000767156,0.000410578,-0.000110874,-0.000187454,6.92461e-05,-0.115231,-0.0412647,0.0392959,0.324268,-0.149083,0.791053,-0.49685,0.00282146,0.00998965,-0.00745281,0.138484,-0.0985861,0.0536237,-3.99235,0.836197,0.410905,0.0224928,0.0883052,-0.0627984,0.977513,-0.172055,0.108964,-0.970655,0.278738,-0.59697,0.122448,0.0446784,-0.00491478,0.182761,-0.141304,-0.0568549,0.264927,0.1516,-0.327746,0.00306339,-0.0728984,-0.0241798,0.11095,0.00540748,0.0463044,-0.346156,-0.0999661,0.899382,0.247578,9.24695e-05,-3.86799e-05,2.45795e-05,0.000339978,0.000552017,0.000311845,2.13004,3.48243,-0.148579,-0.00321955,0.00911936,0.0258641,-1.20699,0.282884,0.107569,-1.63642,0.367416,-0.13306,0.000734852,0,-7.27185e-05,-0.000290762,0,0.000123945,-0.208415,-0.347661,1.05886,0.0125502,-0.0249907,0.00321955 2020-02-06.14:47:21.874,0.21617,0.0312752,0.349687,-0.348733,-0.102371,0.898459,0.246325,-9.32219e-05,3.34456e-05,9.35e-05,-0.0217696,-0.000398015,0.0234537,-0.00386512,0.0184296,0.0107133,-0.000509262,0.000371155,0.00051643,-0.094406,0.157552,-0.0172244,-1.3619,0.669104,0.37008,0.0236851,0.000223277,-0.000404293,0.000267388,-0.00017907,0,0,0.0319544,0.00418115,-0.0038503,-0.00679583,-0.00139556,-1.0748e-06,-3.93291e-05,0.000110487,-0.208873,-0.00346206,0.351707,0.319097,-0.147844,0.794791,-0.494598,0.00373979,0.0240134,-0.00804743,0.101708,-0.00694583,0.0512307,-0.00946206,0.0318578,-0.00918698,-0.000158118,-4.03923e-05,9.39502e-07,0.0701295,0.216756,-0.14057,1.21115,0.639498,-0.287182,-2.69418,-0.00620136,-0.0244104,0.0824897,-0.0322174,0,0.0238839,0.0461854,-0.00826264,0.01025,0.00386939,-0.000117248,-0.000142182,0.000313476,-0.000145167,-0.115187,-0.0410946,0.0391711,0.323446,-0.149415,0.791316,-0.496867,0.00283018,0.0103044,-0.00728563,0.0314664,-0.0491649,-0.0861198,-3.4332,0.45072,0.467411,0.0249831,0.083822,-0.0610477,0.979675,-0.17119,0.108873,-0.969187,0.275049,-0.597393,0.12755,0.0557234,-0.00513336,0.0277103,-0.238391,-0.0253927,0.196485,0.15396,-0.316498,0.00331372,-0.072401,-0.0249831,0.11095,0.00540679,0.0463041,-0.346157,-0.0999688,0.899382,0.247575,7.54829e-05,-3.6008e-05,1.0971e-05,0.000360717,0.000354274,0.000278168,2.07333,3.42766,-0.140506,-0.00289822,0.00994367,0.0254333,-1.20699,0.282876,0.107569,-1.63642,0.367416,-0.13306,0.000545184,-7.25235e-05,-6.379e-05,-0.000285113,0,0.000123945,-0.203695,-0.341997,1.03917,0.0125502,-0.0253488,0.00289822 2020-02-06.14:47:21.894,0.21617,0.0312752,0.349687,-0.348733,-0.102371,0.898459,0.246325,-8.63321e-05,2.92531e-05,8.99754e-05,-0.0213161,-0.000389157,0.0229634,-0.00536009,-0.0015013,0.00488474,-9.1498e-05,0.000613495,0.000171175,-0.094406,0.157552,-0.0172244,-1.3619,0.669104,0.37008,0.0236851,0.000206725,-0.000382482,0.000245577,-0.000164463,0,0,0.0312844,-0.00058659,-0.00319198,-0.00227358,-0.000603824,-0.000439388,0.000117212,-1.81611e-05,-0.208781,-0.00288525,0.351569,0.317316,-0.148064,0.7953,-0.49486,0.00436546,0.0253074,-0.00392293,0.0939944,-0.0186573,0.0586278,-0.00406373,-0.000235826,-0.00355737,-0.000158808,-7.92468e-05,-0.000183442,0.0699808,0.216,-0.138525,1.21023,0.642459,-0.287182,-2.69418,-0.00718967,-0.0398089,0.0922178,-0.0439964,0.00426623,0.0218958,0.043094,0.000743077,0.00192095,0.00184569,0.00058652,-1.695e-05,-0.000187454,4.78048e-05,-0.115095,-0.0408431,0.039023,0.322304,-0.1496,0.791503,-0.497255,0.00407845,0.0112877,-0.00545707,0.205081,-0.0896499,-0.00113757,-2.39149,-0.0358263,0.415947,0.0260274,0.0772199,-0.0569429,0.982625,-0.16973,0.108782,-0.96688,0.270677,-0.598483,0.127378,0.0709775,-0.00371214,0.233998,-0.223895,0.0266629,0.0902801,0.127999,-0.327746,0.00418988,-0.0741169,-0.0260274,0.11095,0.00540679,0.0463041,-0.346157,-0.0999688,0.899382,0.247575,6.19636e-05,-2.8591e-05,3.67855e-06,0.000353342,0.000228712,0.000205892,2.07148,3.46692,-0.135921,-0.00289822,0.00953511,0.0251498,-1.20699,0.282876,0.107569,-1.63642,0.367416,-0.13306,0.00040204,-7.02667e-05,-5.50382e-05,-0.000278111,0,0.000123945,-0.201807,-0.342469,1.05886,0.0135516,-0.0245366,0.00354088 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