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
2020-02-06.19:03:11.199,0.17462,0.0596101,0.394119,-0.299728,-0.431637,0.80093,0.28699,-9.79499e-07,0.000269253,-0.000132362,0.0335124,0.0188203,-0.0121361,-0.00350464,-0.0193472,0.000865107,0.000494058,0.000454878,-0.000244598,0.0160522,-0.0582593,0.136917,-2.00082,0.734238,0.133229,-0.763845,1.04838e-05,-0.000148522,0.000856792,-0.000927643,0,-0.0063983,-0.0397503,-0.00588407,0.00513176,0.0024808,-0.000955708,3.02333e-05,-0.000101945,3.54422e-05,-0.0854023,0.0132337,0.397005,0.3867,0.327985,0.0108741,0.861842,0.0180275,-0.00677992,-0.0238991,0.664833,0.514879,0.0599413,-0.0201547,-0.00593266,-0.00132366,-1.81035e-05,7.23003e-05,-2.55792e-06,-0.247769,0.0791696,-0.0734366,1.13337,1.26419,0.660222,-0.74016,-0.0339778,0.100511,-0.0590333,-0.00888602,0.0371154,0.816216,-0.00163037,0.00604056,-0.0129721,-0.0101304,0.00058652,-0.000142182,-0.000563151,-7.01224e-05,-0.0741635,0.00351196,0.0221209,0.37931,0.318428,0.0131654,0.868651,0.00318689,-0.00680884,-0.00602751,0.670888,0.37474,0.00585369,1.83402,-1.66451,-1.32456,0.0415316,-0.0167127,-0.0471927,1.48521,0.101631,0.137062,1.39654,0.824601,-0.511092,0.00762221,-0.0426311,0.000115652,0.520014,-0.282183,-0.22051,0.316378,-0.225544,0.00970402,0.00237499,-0.0251962,-0.0415316,0.0846469,0.02874,0.0452593,-0.305009,-0.419459,0.803405,0.292514,7.50287e-05,-0.000173698,0.000174152,0.00286296,0.0025137,0.00431516,1.26748,0.902904,0.233777,-0.0715827,-0.113421,0.0596837,-1.40906,0.400995,0.136116,-1.93355,0.770493,0.292806,0.00189086,-0.000311167,-2.18649e-05,-2.36881e-05,0.00391058,0.00180365,-0.100795,-0.205583,0.856389,0.00873271,0.0798327,0.0715827
2020-02-06.19:03:11.207,0.174603,0.0596261,0.394127,-0.299729,-0.431636,0.800929,0.286994,-8.4081e-05,0.000431792,1.83247e-05,0.0320287,0.0172315,-0.0115875,-0.00990038,0.00472385,-0.00837137,-0.000195946,1.48615e-05,0.000393284,0.0161018,-0.0583223,0.13698,-2.00086,0.734238,0.133229,-0.763845,0.000269642,-0.0010345,0.00155699,-0.00137206,-0.000639058,-0.00619741,-0.0377456,0.00735964,-0.00818728,-0.00465077,-0.000427882,-6.3691e-05,-0.000101945,4.61628e-05,-0.0847089,0.0129525,0.395994,0.396474,0.336811,0.0120541,0.853945,0.0141651,-0.00847051,-0.024973,0.469505,0.357271,0.0293865,0.0261412,0.00186892,0.00660867,0.000356412,-8.29276e-05,-1.92438e-05,-0.249033,0.083358,-0.075863,1.13336,1.26419,0.689829,-0.74016,-0.0228711,0.10422,-0.0630274,0.00726976,0.0324195,0.557341,-0.00278962,-0.00349491,0.00117508,-0.00150535,-0.00143681,0.000233515,0.000563941,-5.79846e-06,-0.0739744,0.00328811,0.0218361,0.390369,0.326948,0.0140052,0.860535,0.00604682,-0.00446598,-0.00771269,0.566484,0.53681,0.0286905,2.64858,-1.61927,-1.55054,0.040648,-0.0108597,-0.0449368,1.48579,0.0999785,0.137094,1.41562,0.808888,-0.521149,0.0207834,-0.0411165,0.00180371,0.393385,-0.435649,-0.267332,0.419278,-0.208551,0.431517,0.00293823,-0.0370572,-0.040648,0.0846464,0.0287354,0.0452587,-0.304928,-0.419447,0.803445,0.292506,-2.84263e-05,-8.96232e-05,-6.69609e-05,0.00279604,-0.00356893,0.00169625,1.30024,0.893517,0.271122,-0.069735,-0.111649,0.0570287,-1.40905,0.400964,0.136116,-1.93355,0.77063,0.292694,-0.00014941,-0.000882542,-1.83152e-05,1.03321e-05,0,0.00414253,-0.100795,-0.202279,0.907006,0.00779397,0.0786142,0.069735
2020-02-06.19:03:11.227,0.174603,0.0596261,0.394127,-0.299729,-0.431636,0.800929,0.286994,-8.4081e-05,0.000431792,1.83247e-05,0.0320287,0.0172315,-0.0115875,-0.00990038,0.00472385,-0.00837137,-0.000195946,1.48615e-05,0.000393284,0.0161018,-0.0583223,0.13698,-2.00086,0.734238,0.133229,-0.763845,0.000269642,-0.0010345,0.00155699,-0.00137206,-0.000639058,-0.00619741,-0.0377456,0.00735964,-0.00818728,-0.00465077,-0.000427882,-6.3691e-05,-0.000101945,4.61628e-05,-0.0847089,0.0129525,0.395994,0.396474,0.336811,0.0120541,0.853945,0.0141651,-0.00847051,-0.024973,0.469505,0.357271,0.0293865,0.0261412,0.00186892,0.00660867,0.000356412,-8.29276e-05,-1.92438e-05,-0.249033,0.083358,-0.075863,1.13336,1.26419,0.689829,-0.74016,-0.0228711,0.10422,-0.0630274,0.00726976,0.0324195,0.557341,-0.00278962,-0.00349491,0.00117508,-0.00150535,-0.00143681,0.000233515,0.000563941,-5.79846e-06,-0.0739744,0.00328811,0.0218361,0.390369,0.326948,0.0140052,0.860535,0.00604682,-0.00446598,-0.00771269,0.566484,0.53681,0.0286905,2.64858,-1.61927,-1.55054,0.040648,-0.0108597,-0.0449368,1.48579,0.0999785,0.137094,1.41562,0.808888,-0.521149,0.0207834,-0.0411165,0.00180371,0.393385,-0.435649,-0.267332,0.419278,-0.208551,0.431517,0.00293823,-0.0370572,-0.040648,0.0846464,0.0287354,0.0452587,-0.304928,-0.419447,0.803445,0.292506,-2.84263e-05,-8.96232e-05,-6.69609e-05,0.00279604,-0.00356893,0.00169625,1.30024,0.893517,0.271122,-0.069735,-0.111649,0.0570287,-1.40905,0.400964,0.136116,-1.93355,0.77063,0.292694,-0.00014941,-0.000882542,-1.83152e-05,1.03321e-05,0,0.00414253,-0.100795,-0.202279,0.907006,0.00779397,0.0786142,0.069735
2020-02-06.19:03:11.247,0.174603,0.0596261,0.394127,-0.299729,-0.431636,0.800929,0.286994,-7.73884e-05,0.000412531,3.07383e-05,0.0312258,0.0168775,-0.011246,-0.00660051,-0.00551286,0.0038909,-1.9141e-05,3.38713e-05,0.00039003,0.0161018,-0.0583223,0.13698,-2.00086,0.734238,0.133229,-0.763845,0.000248699,-0.0010345,0.00149759,-0.00132138,-0.000547528,-0.00609151,-0.0368377,-0.00111634,-0.00335656,-0.00338941,-0.000779766,6.15414e-05,0.000398985,3.54422e-05,-0.0844444,0.0127446,0.395519,0.397556,0.339788,0.00981556,0.852289,0.0132536,-0.0108898,-0.0226027,0.343871,0.252912,0.0207013,0.00171348,-0.00994581,-0.0170279,0.000688521,0.000327977,-0.000134797,-0.249429,0.0854364,-0.0772314,1.13353,1.26419,0.69575,-0.746081,-0.0199581,0.1017,-0.069477,0.00554727,0.0304969,0.401357,-0.00399476,0.000743077,0.00790899,0.0073035,-0.000205219,-1.695e-05,0.000657865,7.99668e-05,-0.0738468,0.00321364,0.0216822,0.394087,0.331497,0.0138024,0.857097,0.0058639,-0.00371856,-0.00772784,0.425291,0.438845,0.0262981,2.84795,-1.74774,-1.5872,0.039925,-0.0100598,-0.0385674,1.48626,0.0991599,0.137138,1.4217,0.80028,-0.525564,0.0268374,-0.0416215,0.00221572,0.297251,-0.348917,-0.20094,0.445239,-0.215632,0.47651,0.00656802,-0.0365637,-0.039925,0.0846465,0.0287343,0.045256,-0.304971,-0.41955,0.80339,0.292462,-4.56311e-05,7.6381e-06,-0.000121159,0.00390073,-0.00540686,0.00137645,1.30793,0.86478,0.242614,-0.0690924,-0.111099,0.056372,-1.40907,0.400949,0.136114,-1.93355,0.77063,0.292939,-0.000973518,-0.000458959,0,2.22711e-05,0,0.00598376,-0.101267,-0.196143,0.89857,0.00791913,0.0781862,0.0690924
2020-02-06.19:03:11.267,0.174603,0.0596339,0.394131,-0.29973,-0.43164,0.80093,0.286984,-8.05585e-05,-0.000114672,-0.00021548,0.0304289,0.0172942,-0.0120374,-0.01614,0.0108452,-0.000208881,-7.71e-05,-0.000340968,8.67401e-05,0.0161018,-0.0583537,0.137012,-2.00088,0.734238,0.133229,-0.763845,0.000230325,0.00101265,-0.000597971,9.25573e-05,-0.000462926,-0.00598009,-0.0359476,-0.00323533,0.000645994,-0.00415176,-0.000427882,0.000218082,-0.000164562,-2.88818e-05,-0.0841792,0.0125012,0.395103,0.399546,0.341567,0.0101153,0.850642,0.013419,-0.0140178,-0.0185122,0.154144,0.0900418,0.0101393,0.0167383,-0.0268207,-0.0114331,-0.000268889,0.000621608,0.000297167,-0.249825,0.0874204,-0.0786894,1.13361,1.26419,0.701671,-0.746081,-0.0199,0.0965488,-0.0781883,0.00423469,0.0288057,0.163554,-0.00399476,0.00180257,0.00874242,0.00683219,-0.000908987,4.56663e-05,0.000282168,-5.79846e-06,-0.0737567,0.00316305,0.0215513,0.395713,0.33392,0.0124006,0.855427,0.00376949,-0.00124297,-0.00620461,-0.0370548,0.263785,-0.126074,2.89225,-1.97591,-1.42857,0.039684,-0.0127989,-0.0456892,1.48678,0.0982718,0.137176,1.42149,0.795771,-0.530219,0.0297576,-0.0445735,0.0016077,-0.216606,-0.16768,-0.242213,0.443351,-0.255281,0.504631,0.00262532,-0.0383841,-0.039684,0.0846465,0.0287343,0.045256,-0.305007,-0.419649,0.803339,0.292425,1.75985e-05,0.000130614,-3.80738e-05,0.0107002,-0.0125485,0.00306044,1.2845,0.853835,0.255111,-0.0698957,-0.111668,0.0566551,-1.40907,0.400949,0.136114,-1.93355,0.77063,0.293184,-0.000799649,0.000796843,0,3.18588e-05,0,0.0168878,-0.0979625,-0.197559,0.892946,0.00773139,0.0788412,0.0698957
2020-02-06.19:03:11.287,0.174595,0.0596183,0.394123,-0.299728,-0.431627,0.800927,0.287014,4.19845e-06,-0.000325222,-0.000306742,0.0296992,0.0171314,-0.0119515,-0.018357,-0.00786243,-0.0139712,0.000329973,0.000387863,-0.00017317,0.0161266,-0.0582908,0.136949,-2.00084,0.734238,0.133229,-0.763845,-3.34408e-05,0.00180048,-0.00142401,0.000655388,-0.000389368,-0.00587153,-0.0351278,-0.00747332,-0.00202413,-0.00188887,0.000715741,-9.49992e-05,0.000336368,-1.81611e-05,-0.0839286,0.0121463,0.394764,0.400425,0.344505,0.00769968,0.849068,0.010243,-0.0187508,-0.014928,0.106408,0.170691,-0.042604,0.0329181,-0.0177355,-0.0142403,-0.000348742,-0.000327764,6.37956e-05,-0.250147,0.0894044,-0.0804893,1.13392,1.26419,0.707593,-0.752002,-0.0104527,0.093493,-0.0901322,0.0122309,0.0272136,0.188168,-0.0890594,-0.00349491,0.0154869,0.0103564,-0.000117248,-1.695e-05,-0.000500535,0.000155011,-0.0736675,0.00309896,0.0214085,0.396718,0.336083,0.0117205,0.854123,0.00436671,-0.00343533,-0.00696719,0.0250323,0.217552,0.00355775,2.88847,-2.1697,-1.20608,0.038961,-0.0150374,-0.0480394,1.48738,0.0973064,0.137215,1.42254,0.791945,-0.532081,0.0284038,-0.0518846,0.00204037,0,-0.165901,-0.0446514,0.429662,-0.290211,0.552436,0.00143625,-0.0376985,-0.038961,0.0846478,0.0287355,0.0452563,-0.304921,-0.419592,0.803392,0.29245,3.81136e-05,0.000111963,2.60556e-05,0.00678932,-0.00760138,0.00175507,1.34986,0.886741,0.292542,-0.0691727,-0.112225,0.0555479,-1.40907,0.400964,0.136114,-1.93355,0.770766,0.292991,-0.000228546,0.000931513,0,3.97345e-05,0,0.0108484,-0.102211,-0.200391,0.957624,0.00729331,0.0791161,0.0691727
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