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
2020-02-06.18:53:40.428,0.128565,0.0702296,0.376829,-0.522995,-0.275826,0.67002,0.448853,-0.000535814,-0.00249777,0.00094782,0.00384772,0.0244215,0.00172306,-0.0147635,-0.0141601,0.00877173,-0.000355865,-5.03776e-05,3.71148e-05,0.152496,-0.00566847,0.144313,-1.13564,0.207245,-0.307906,-0.337513,0.000806249,0.00196734,-0.00804238,-0.000500967,0.0216275,0.0137336,0,0.0015324,0.00263674,4.46959e-05,-0.000867737,6.15414e-05,0.00014852,0.000131928,-0.14619,0.0828439,0.375528,0.24945,0.596818,0.529975,0.54837,-0.000516525,-0.00278511,-0.00122216,-0.0686095,-0.00647649,-0.0831417,0.00409756,-0.0203836,-0.000394736,0.000604515,-0.000280484,9.71137e-05,-0.103844,-0.0345777,0.194734,1.12891,-0.0858585,0.150993,0.538836,0.00253593,0.0100535,-0.0107593,0.00569732,0.0265643,0.0605809,-0.0828421,-0.000316419,0.00617037,0.00269818,0.00111435,-4.82581e-05,0.000219551,5.85255e-05,-0.122975,0.0284008,0.0228793,0.25065,0.597265,0.52953,0.547766,-5.54309e-05,-5.38628e-05,1.69543e-05,0.000643669,-0.000484854,-0.00231552,4.34569,0.984299,0.494827,-0.00257103,-0.0454925,-0.000707394,1.49216,0.43194,0.091741,2.28709,-0.0662687,-0.0946176,-0.000402841,0,-6.46568e-05,0,0.00215071,-0.00052598,0.173356,0.277157,0.296537,-0.00425877,0.00567633,0.00257103,0.078422,0.0339335,0.0216153,-0.52036,-0.271934,0.671654,0.451838,-5.63197e-05,-0.000372086,0.000298773,0.000605669,0.00569799,0.00404468,3.25365,2.50735,-0.196931,-0.0235437,-0.0308361,0.026832,-1.57068,0.32739,0.134774,-2.10822,0.22422,-0.0500271,0.00349337,-0.00134165,1.0261e-05,0,0.00263247,-0.00243026,-0.472274,-0.107875,0.653919,0.0143026,0.00253118,0.0235437
2020-02-06.18:53:40.445,0.128553,0.0701858,0.376855,-0.523007,-0.275743,0.670042,0.448858,-3.34589e-05,-0.00304675,0.00134767,0.00352396,0.0141521,0.0117005,-0.0129818,0.0146448,0.0162319,-0.000546973,2.62041e-06,3.23364e-06,0.152521,-0.00566847,0.144181,-1.13555,0.207245,-0.307906,-0.337513,-0.000783815,0.00132669,-0.00922872,0.000293521,0.0204781,0,0,0.00524064,-0.000851016,-0.00582551,-0.000691795,-0.000188923,-0.000321102,-3.96024e-05,-0.146185,0.0828052,0.375507,0.249491,0.596827,0.529944,0.548372,-0.00033513,-0.00172234,-0.000699364,-0.0640499,-0.00769074,-0.0756746,0.00212565,-0.0055024,-0.0148052,1.16076e-05,-8.18225e-05,7.39167e-05,-0.103844,-0.0344202,0.194577,1.12901,-0.0858585,0.150993,0.538836,0.00160696,0.00599778,-0.00658686,0.00294937,0.0249277,0.057144,-0.0774637,0.00445132,0.00209079,0.000113022,0.000234636,7.69744e-05,-0.000124838,5.85255e-05,-0.122974,0.0283955,0.022879,0.250669,0.597256,0.529514,0.547782,-1.02336e-05,-0.000351798,-4.09487e-05,0.000830165,7.53495e-05,-0.00552528,4.39721,0.816268,0.446267,-0.00192837,-0.0452085,-0.00134883,1.49212,0.431886,0.0917397,2.28709,-0.0662687,-0.0946176,-0.00165797,-0.00333502,-0.000138467,0,0.00186346,-0.000417861,0.184684,0.269133,0.229047,-0.00500976,0.00486415,0.00192837,0.0784192,0.0339279,0.0216164,-0.520351,-0.271945,0.671667,0.451823,8.38254e-05,-0.000325931,-9.96797e-05,0.000533411,0.00236916,0.00309016,3.07219,2.53307,-0.087474,-0.0215354,-0.026421,0.0261943,-1.57065,0.327351,0.134775,-2.10822,0.22422,-0.0500271,0.000484116,-0.00216472,-0.000178383,0,0.00233464,-0.00223065,-0.455281,-0.119203,0.721409,0.0143026,-0.000258984,0.0215354
2020-02-06.18:53:40.465,0.128553,0.0701055,0.376892,-0.523057,-0.275726,0.670085,0.448745,-5.12261e-05,-0.00348581,0.00196667,0.00104911,0.0226034,-4.54937e-05,0.0303358,0.0666487,-0.0387499,0.00113545,0.000584181,-0.000314973,0.152496,-0.00563698,0.14394,-1.13569,0.207245,-0.307906,-0.337513,-0.000763433,0,-0.0101279,0.0146752,0.0194415,0,0,-0.00588407,0.0262808,0.0142006,0.00238719,-1.0748e-06,0.000211136,-8.24851e-05,-0.146184,0.0827898,0.375499,0.249508,0.59683,0.529931,0.548373,0.000415977,-0.000803425,-0.000239425,-0.0598861,-0.00948334,-0.0675326,-0.00344981,0.000141275,-0.00982821,-0.000152592,-0.000249598,-0.00015363,-0.103844,-0.0343572,0.194514,1.12906,-0.0858585,0.150993,0.538836,-0.00100914,0.00268741,-0.00318938,0.000771698,0.0234138,0.0539586,-0.0725225,0.00286207,-0.000738646,-0.00211865,-0.000117248,0.000264823,9.43189e-05,-0.000145167,-0.122973,0.0283872,0.0228757,0.25071,0.597252,0.529486,0.547795,0.000104906,-0.000400961,-0.000111913,0.000880131,0.00126285,-0.00621932,4.41685,0.82533,0.390097,-0.00241037,-0.0457036,-0.00153167,1.49211,0.431786,0.0917371,2.28709,-0.0662687,-0.0946176,-0.0010844,-0.00473344,-6.96686e-05,0,0.00164213,-0.000340724,0.184212,0.271021,0.172805,-0.00519751,0.00516114,0.00241037,0.0784175,0.0339196,0.0216182,-0.520251,-0.271923,0.671746,0.451834,9.07163e-05,-0.000427963,1.57931e-05,-6.16804e-07,0.000409387,0.00305951,2.88341,2.48921,-0.0603751,-0.0233027,-0.0249211,0.0274694,-1.57061,0.327305,0.134775,-2.10822,0.224357,-0.0502202,0.0018726,-0.00246292,-0.000196837,0,0,-2.14968e-05,-0.434513,-0.1277,0.704536,0.0153039,2.96328e-05,0.0233027
2020-02-06.18:53:40.485,0.128548,0.0700324,0.376942,-0.523067,-0.275549,0.670124,0.448784,-3.5942e-05,-0.00351638,0.00221812,-0.000535218,0.0108952,0.0138996,-0.00350628,-0.00534014,-0.0164325,-2.43143e-05,0.000106393,1.80871e-05,0.152496,-0.00566847,0.143761,-1.13542,0.207245,-0.307906,-0.337513,-0.000763433,-0.000855069,-0.0105901,-0.00313679,0.0185255,0,0,0.00100266,0.00330559,-0.000364169,1.19731e-05,-0.000439388,0.000273752,-0.000136088,-0.146183,0.0827807,0.375504,0.249507,0.596838,0.529918,0.548377,0.000309937,-0.000378321,-0.000200261,-0.0559567,-0.0092054,-0.063384,-0.00537645,-0.0296783,-0.00226215,-0.000128229,0.000215835,3.18185e-05,-0.103844,-0.0343572,0.194487,1.12907,-0.0858585,0.150993,0.538836,-0.000809026,0.00163873,-0.00163873,-0.000180644,0.0221266,0.051243,-0.0683467,-0.00190566,0.00659235,-0.000562724,-2.92769e-05,-0.000110874,-0.000406611,1.56429e-05,-0.122972,0.0283789,0.0228724,0.250772,0.59727,0.529433,0.547798,2.93221e-05,-0.000282438,-0.000107276,0.000712377,0.00105309,-0.00443449,4.40194,0.867129,0.370914,-0.00233003,-0.0455655,-0.00118402,1.49209,0.431685,0.0917346,2.28709,-0.0662687,-0.0946993,-0.000464226,-0.00323766,-9.71352e-05,0,0.00146127,-0.000282074,0.18138,0.272909,0.158744,-0.00482202,0.00519168,0.00233003,0.0784162,0.0339124,0.0216219,-0.520236,-0.271834,0.671828,0.451784,4.22344e-05,-0.00035764,0.000147555,6.66366e-06,0.0012486,0.00274613,2.74375,2.45653,-0.0443496,-0.0222584,-0.0225525,0.02653,-1.57056,0.327266,0.134775,-2.10801,0.224357,-0.0503019,0.00252184,-0.00165004,-0.000109905,0,0,0.000124023,-0.419408,-0.131004,0.687664,0.0148032,-0.00111007,0.0222584
2020-02-06.18:53:40.505,0.12855,0.0699596,0.376983,-0.523105,-0.275488,0.670165,0.448716,-0.000540117,-0.00377794,0.00240098,-0.00178956,0.01237,0.0107734,0.00124447,-0.0128035,-0.00747294,-0.000456214,-0.000258876,0.000149944,0.152472,-0.00566847,0.143524,-1.13541,0.207245,-0.307906,-0.337513,0.000647259,-0.000696612,-0.0109662,-0.00160695,0.0176613,0,0,-0.00376508,-0.00219924,0.000807046,-0.00121962,-1.0748e-06,0.00014852,3.28019e-06,-0.146174,0.0827737,0.3755,0.249506,0.596839,0.529919,0.548376,-3.72996e-05,-3.36745e-06,-1.9442e-06,-0.0528592,-0.00873141,-0.0601649,-0.00823972,-0.000120075,0.00370944,-0.000172246,5.68929e-05,6.17941e-05,-0.103869,-0.0343257,0.194456,1.1291,-0.0858585,0.150993,0.538836,0.000114953,0,0,-0.00119892,0.0209588,0.0487718,-0.0645782,-0.00190566,-0.00165436,-0.00279439,-0.000381161,4.56663e-05,3.17027e-05,7.99668e-05,-0.12297,0.0283731,0.0228706,0.250799,0.597266,0.529414,0.547809,0.000186858,-0.000148624,1.84124e-07,0.000593262,0.000383396,-0.00351175,4.4225,0.869698,0.386195,-0.0029727,-0.044658,-0.00137674,1.49208,0.431616,0.0917333,2.28709,-0.0662687,-0.0946993,-0.000653688,-0.00222019,0.000118764,0,0.00132306,-0.000240119,0.182796,0.275269,0.172805,-0.0048846,0.004083,0.0029727,0.0784148,0.0339054,0.0216267,-0.520304,-0.27178,0.671852,0.451703,-6.74519e-06,-0.000477965,0.000287176,-0.00143211,0.00178578,0.00375342,2.59042,2.47786,-0.0530817,-0.0237044,-0.0212885,0.0263824,-1.57049,0.327228,0.134775,-2.1078,0.22422,-0.0501905,0.0040474,-0.00207931,-7.30857e-05,0.00133334,-0.000761395,0.000796689,-0.407135,-0.143748,0.645482,0.0143651,-0.000987436,0.0237044
2020-02-06.18:53:40.525,0.128526,0.0698811,0.377031,-0.523141,-0.275388,0.670206,0.448674,-0.000875261,-0.00338801,0.00220448,-0.00123822,0.0094475,0.0130176,-0.0165226,-0.0142417,0.0111854,-0.000535818,-0.00015521,-6.33195e-05,0.152521,-0.00566847,0.143287,-1.1354,0.207245,-0.307906,-0.337513,0.00173192,-0.000591754,-0.00999621,-0.00623735,0.0169102,0,0,0.0015324,-0.00809972,-0.00694135,-0.000867737,-3.23829e-05,-0.000227178,-0.000136088,-0.146183,0.0827807,0.375504,0.249507,0.596838,0.529918,0.548377,-0.000231968,0.000125931,6.61407e-05,-0.0501493,-0.00809603,-0.0575325,-0.00804634,0.0218808,-0.0184543,-0.000334217,-0.000272942,-7.73039e-05,-0.103844,-0.0343572,0.194487,1.12907,-0.0858585,0.150993,0.538836,0.000662071,-0.000592368,0.000592368,-0.00152569,0.0199284,0.0465839,-0.0612688,0.00657031,-0.00714866,-0.00561167,-0.000117248,0.000390056,-0.000187454,-8.08431e-05,-0.12297,0.0283718,0.0228705,0.250805,0.597263,0.529409,0.547813,0.000116935,-4.95282e-05,1.92674e-05,0.000834082,-0.0012199,-0.00150378,4.29652,0.810559,0.40323,-0.00385636,-0.0442895,-0.00200098,1.49207,0.4316,0.0917333,2.28709,-0.0662687,-0.0946993,-0.000309075,-0.000857761,9.37374e-05,0,0.00120536,0.00118708,0.178076,0.265356,0.192489,-0.00544784,0.00480357,0.00385636,0.0784143,0.0338974,0.0216382,-0.520348,-0.271812,0.671831,0.451662,3.47697e-05,-0.000468865,0.000643156,-0.00188275,0.00199378,0.00270545,2.42509,2.52581,-0.0400254,-0.0241061,-0.0196133,0.0267982,-1.57036,0.327212,0.134775,-2.1078,0.224084,-0.0499974,0.0066951,-0.000694934,-5.43406e-05,0.00121844,-0.00312935,0.00268718,-0.394391,-0.159325,0.622986,0.0146781,-0.00114012,0.0241061
2020-02-06.18:53:40.545,0.128503,0.0698117,0.377073,-0.523174,-0.275302,0.670243,0.448633,-0.00139979,-0.00314082,0.00212366,-0.000912129,0.0143003,0.00529582,-0.0282977,-0.0177122,0.0034872,-0.000523142,9.11029e-05,6.61342e-05,0.152571,-0.00566847,0.143077,-1.13541,0.207245,-0.307906,-0.337513,0.00333931,-0.000511558,-0.00950611,0.001248,0.0161977,0,0,-0.00164609,-0.0113406,-0.0113146,-0.000691795,-0.000282848,-0.000227178,1.40009e-05,-0.1462,0.082787,0.375507,0.249519,0.596837,0.529909,0.548381,-0.000502719,6.6845e-05,3.35728e-05,-0.0476602,-0.00705494,-0.0557432,0.00462669,0.011363,0.00106833,-3.26783e-05,-1.5709e-05,6.02054e-05,-0.103795,-0.0343887,0.194519,1.12905,-0.0858585,0.150993,0.538836,0.00150905,-0.000452529,0.000452529,-0.00136751,0.0189744,0.0445509,-0.058218,0.000743077,-0.00191176,0.00128777,0.000498549,4.56663e-05,-0.000531843,1.56429e-05,-0.122969,0.0283735,0.0228721,0.250742,0.597285,0.529352,0.547874,-8.41174e-05,0.000161162,4.96746e-05,0.000560595,-0.00206914,0.00168453,4.29462,0.812688,0.371761,-0.00168737,-0.0433766,-0.0021352,1.49206,0.431624,0.0917346,2.28688,-0.0662687,-0.0946993,0.000497365,0.00225491,-9.64079e-06,0,0.00110721,0.00121359,0.179492,0.264412,0.161557,-0.00563559,0.00389929,0.00168737,0.0784134,0.0338861,0.0216524,-0.520385,-0.27175,0.671883,0.45158,1.29473e-06,-0.000601361,0.000712712,-0.000838177,0.00383574,0.00423392,2.26256,2.59474,-0.026006,-0.0225797,-0.0168907,0.0267674,-1.57021,0.327181,0.134775,-2.10759,0.223947,-0.049886,0.00765967,-0.00131801,-4.32754e-05,0.000441562,-0.00181897,0.00162372,-0.383062,-0.174902,0.603301,0.014991,-0.00238473,0.0225797
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