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
2020-02-06.19:27:41.753,0.254109,-0.00793476,0.336277,-0.541576,-0.230986,0.788158,0.179298,-0.00628375,-0.0128027,0.0188946,-0.0696088,-0.0235385,-0.119121,-0.00429236,-0.00543509,0.00334542,0.000182192,-6.03246e-05,-0.000198329,-0.173577,0.291013,-0.197943,-1.6341,0.352316,0.260536,-0.0710553,0.0150844,-0.0369899,-0.0197534,0.0130011,-0.0740967,0.0637191,0.00908479,0.000472907,-0.00269298,-0.000831947,0.000803712,-3.23829e-05,-0.00035241,3.28019e-06,-0.194728,0.0958042,0.323544,0.0144556,0.61767,0.714535,0.328198,0.000251908,0.000425406,0.000443436,0.00473493,-0.00420032,0.00561434,0.00653773,-0.00127316,0.00559267,-0.000323189,-0.000706201,0.000363031,0.0434005,0.140861,0.172745,1.30847,-0.710553,-0.707593,0.284221,-0.00066591,-0.00240746,0.00215138,-0.000138256,0,-0.00797311,0,0.000213329,-0.00673721,-0.00252751,0.000762462,0.000233515,3.94597e-07,7.99668e-05,-0.117094,0.00323557,0.0375298,0.0179445,0.614676,0.715272,0.33202,-1.78072e-05,8.33169e-05,9.14573e-05,-0.00238593,-0.00223624,0.00328979,-0.0297623,0.492308,1.3842,0.0193598,0.0466123,0.051331,1.16773,0.162239,0.102201,2.61127,-1.10361,0.0869739,-0.000770279,0.00129916,4.87865e-05,-0.00286394,-0.00312564,0.00258831,0.0737594,0.134135,0.628362,0.00888358,-0.0506239,-0.0193598,0.124018,-0.0278878,0.0586324,-0.543411,-0.228015,0.787359,0.18105,0.000683003,-0.00557169,0.0102963,-0.026554,0.0759262,0.0367811,-2.53722,1.20295,0.617463,-0.0125381,-0.000628262,0.00959234,-0.83146,0.0483289,0.107041,-1.67123,-0.381762,0.0702677,0.0923122,0.00050977,0.00711425,0.0234796,-0.0110577,-0.0225143,0.20649,-0.153661,1.43849,0.0178072,0.023042,0.0125381
2020-02-06.19:27:41.767,0.253886,-0.00835734,0.336839,-0.541756,-0.230039,0.788333,0.179203,-0.00756039,-0.0137275,0.0164649,-0.0642254,-0.0249209,-0.11607,-0.00600388,-0.00790882,0.00652268,-2.68535e-05,0.000161115,4.53817e-05,-0.173032,0.289974,-0.198666,-1.63376,0.352316,0.260536,-0.0710553,0.0188214,-0.0283582,-0.0256356,0.012708,-0.0740967,0.056529,0.00887324,0.00100266,-0.00435983,-0.00153892,-0.00025194,-0.000126307,0.000179828,-2.88818e-05,-0.194727,0.0958181,0.323554,0.0144355,0.617665,0.71454,0.328197,0.000156656,-0.000389116,-0.000209104,0.00468846,-0.00220934,0.00372088,0.0156401,-0.00633618,-0.00579648,0.000146293,0.000131769,-0.000109217,0.0434005,0.140798,0.172808,1.30843,-0.710553,-0.707593,0.284221,-0.000517462,0.00136394,-0.0015869,0.00233005,0,-0.00779338,0,0.00392157,0.0041691,0.00237238,-0.000117248,-1.695e-05,0.000156935,-4.86811e-05,-0.117092,0.00323666,0.0375293,0.0179364,0.614746,0.7152,0.332047,1.97439e-05,-1.88503e-05,8.26536e-06,0.000806856,-0.000958408,0.00274538,-0.0549391,0.50598,1.3917,0.0196008,0.0468137,0.0517092,1.16773,0.162255,0.102202,2.61106,-1.10361,0.0869739,-0.000141661,-0.000269703,3.95355e-05,0,-0.00241574,0.00218271,0.0728154,0.134135,0.653671,0.00894616,-0.0506283,-0.0196008,0.124022,-0.0281145,0.0590466,-0.543557,-0.227121,0.787545,0.180927,-6.6357e-05,-0.00526198,0.00936118,-0.0844445,0.173172,-0.143457,-1.64897,1.62742,1.17944,-0.00908384,-0.00126979,0.00536822,-0.827591,0.0482902,0.107359,-1.67018,-0.385998,0.0688209,0.0802172,-0.00210671,0.00710473,0.00632821,-0.0193773,-0.230573,0.101702,-0.188118,1.60722,0.0143026,0.0159033,0.00908384
2020-02-06.19:27:41.787,0.253805,-0.00848191,0.336995,-0.541796,-0.229744,0.788389,0.179213,-0.00801485,-0.0135552,0.015602,-0.0617625,-0.0245138,-0.115234,-0.017351,-0.0122036,0.01088,-0.000277832,6.43663e-05,0.000112273,-0.172834,0.28969,-0.198882,-1.63362,0.352316,0.260536,-0.0710553,0.0199759,-0.0262594,-0.02582,0.0128315,-0.073625,0.0546683,0.00881124,0.000472907,-0.00993642,-0.00520868,-0.000515853,-3.23829e-05,-7.06372e-05,3.54422e-05,-0.194727,0.0958181,0.323554,0.0144355,0.617665,0.71454,0.328197,0.000145311,-0.000336736,-0.000172739,0.00465495,-0.00228603,0.00375932,-0.0118439,-0.00966239,-0.00266372,-2.79965e-05,0.000139805,-0.000216292,0.0434005,0.140798,0.172808,1.30843,-0.710553,-0.707593,0.284221,-0.000475952,0.00114619,-0.00135837,0.00215665,0,-0.00772638,0,-0.00455441,9.4781e-05,-0.00229539,-0.000381161,0.000139591,6.30108e-05,-7.01224e-05,-0.117091,0.00323659,0.0375299,0.0179364,0.614746,0.7152,0.332047,4.69029e-05,1.17231e-05,-4.35224e-05,0.000796759,-0.000282752,0.00299991,-0.0459252,0.55557,1.49544,0.0186368,0.0465883,0.0498293,1.16773,0.162255,0.102203,2.61106,-1.10361,0.0869739,0.000607267,-0.000267203,4.32045e-05,0,-0.00231014,0.00211494,0.0704553,0.144519,0.690228,0.00944682,-0.0503225,-0.0186368,0.124015,-0.0281652,0.0591358,-0.543227,-0.226375,0.787903,0.181293,-0.00106165,-0.00533395,0.00970927,-0.0691624,0.159353,-0.123525,-1.4923,1.71456,1.28511,-0.0131808,-0.00218327,0.00532276,-0.826858,0.0482671,0.107431,-1.66997,-0.386271,0.0669201,0.0753749,-0.00163286,0.0080734,0,-0.0139108,-0.200085,0.0832931,-0.199447,1.64377,0.01618,0.0154024,0.0131808
2020-02-06.19:27:41.807,0.253717,-0.00864278,0.337172,-0.541841,-0.229381,0.78846,0.179233,-0.00878067,-0.0135955,0.0146875,-0.0602064,-0.0212159,-0.113711,-0.00179864,0.00954286,0.00725435,0.000153562,0.000316953,-9.99627e-05,-0.172611,0.289407,-0.199204,-1.6334,0.352316,0.260536,-0.0710553,0.0219278,-0.0237632,-0.0266665,0.0133983,-0.070202,0.05268,0.00874114,0.0036514,-0.000856279,-0.00280027,9.99441e-05,-0.000314156,0.000242444,-0.000125368,-0.194728,0.0958083,0.323558,0.0144398,0.617677,0.71453,0.328197,0.000137974,-0.00022392,-0.000174253,2.53365e-05,0.0011848,-0.000885197,-0.000450891,0.0155887,-0.000118649,1.86749e-05,-9.38379e-06,-0.000274009,0.0434005,0.140798,0.172782,1.30845,-0.710553,-0.707593,0.284221,-0.000441963,0.000993354,-0.000993354,0.00189329,0,0,0,0.00233232,-0.00448907,-0.00229539,-0.000381161,0.000327439,0.000219551,-4.86811e-05,-0.11709,0.00323622,0.0375296,0.0179413,0.614746,0.7152,0.332045,-3.55375e-05,3.10546e-05,-8.90237e-05,0.000733148,-0.000153408,0.00295429,-0.0389203,0.510616,1.48039,0.0187975,0.0467588,0.050859,1.16774,0.162247,0.102205,2.61106,-1.10361,0.0869739,0.000756288,-0.000157419,-5.1667e-05,0,-0.00213257,0.00199425,0.0747035,0.141687,0.67898,0.00938424,-0.0506456,-0.0187975,0.123996,-0.0282203,0.0592313,-0.543461,-0.225925,0.787883,0.181239,-0.00182107,-0.00472789,0.00808603,-0.0474505,-0.0635254,-0.0372372,-1.33285,1.91435,1.36083,-0.0122971,-0.00279949,0.00654354,-0.826062,0.0482362,0.107522,-1.66934,-0.387638,0.0661556,0.0688158,-0.00405275,0.00794454,0.0367282,-0.146849,-0.0240124,0.0648844,-0.216911,1.64377,0.0177446,0.0144898,0.0122971
2020-02-06.19:27:41.827,0.253487,-0.00894919,0.337487,-0.54298,-0.228742,0.78772,0.179853,-0.0113769,-0.0133053,0.0139123,-0.0637958,0.00571492,-0.0986689,-0.00694396,0.00418426,-0.00678741,-0.000473701,0.000161978,0.000106492,-0.172041,0.288903,-0.199804,-1.63315,0.349355,0.260536,-0.0710553,0.0279337,-0.023294,-0.0248875,0.0139725,-0.0388042,0.0490501,0.00860174,-0.00376508,-0.00110841,-0.00245032,-0.000867737,-0.000126307,-0.000101945,-2.88818e-05,-0.194728,0.0957985,0.323561,0.014444,0.617688,0.71452,0.328197,0.000119561,-0.000271036,-0.000105922,-0.000223472,0.00121773,-0.000923275,-0.000340569,0.0309071,-0.00665121,-0.000164123,-0.000449683,0.000324238,0.0434005,0.140798,0.172756,1.30846,-0.710553,-0.707593,0.284221,-0.000388614,0.000790083,-0.00103907,0.00188917,0,0,0,0.00604056,-0.00848109,-0.00563936,0.00058652,1.43582e-05,-0.000218762,0.000112129,-0.117091,0.00323599,0.0375282,0.0179461,0.614747,0.715201,0.332043,2.38416e-05,-4.40527e-05,3.54129e-05,0.000779401,-0.0010601,0.00188593,-0.0484931,0.532982,1.46956,0.0186368,0.0463573,0.0505363,1.16775,0.162239,0.102203,2.61106,-1.10361,0.0869739,-0.000487203,-0.000368731,4.96024e-05,0,-0.00189856,0.00182295,0.0718714,0.141215,0.681792,0.00957199,-0.0501304,-0.0186368,0.123936,-0.0283396,0.0594415,-0.543365,-0.225156,0.788166,0.181258,-0.00300405,-0.005393,0.00933264,-0.0477899,0.081005,-0.00886601,-1.25491,2.3536,1.38933,-0.0111725,0.000324258,0.00329888,-0.824579,0.0481744,0.107729,-1.6685,-0.389004,0.0644927,0.0586145,-0.00341022,0.00930965,0.0320582,0,-0.077351,0.0502518,-0.260337,1.61846,0.0156794,0.0108835,0.0111725
2020-02-06.19:27:41.847,0.253178,-0.00923371,0.337816,-0.543037,-0.22802,0.787858,0.179994,-0.0140532,-0.0113461,0.0138857,-0.0584974,0.00400725,-0.0954337,-0.00479557,0.0246519,-0.0132732,2.40616e-07,-0.000103099,1.03963e-05,-0.171298,0.288273,-0.200253,-1.63285,0.349355,0.260536,-0.0710553,0.0334023,-0.0283458,-0.0158068,0.00789113,-0.0388042,0.0457667,0.00846103,-0.00376508,0.00306398,-0.00429728,9.99441e-05,9.28496e-05,-0.000101945,4.61628e-05,-0.194728,0.0957985,0.323561,0.014444,0.617688,0.71452,0.328197,0.000105828,-0.000238427,-8.04964e-05,-0.000225261,0.00114132,-0.000873293,0.00919783,0.0283593,-0.0191378,6.80903e-05,-0.000194684,0.000183182,0.0434005,0.140798,0.172756,1.30846,-0.710553,-0.707593,0.284221,-0.000342966,0.000644337,-0.000893323,0.00175551,0,0,0,0.0097488,-0.00706111,-0.0072542,0.000410578,-7.95662e-05,3.94597e-07,4.78048e-05,-0.117091,0.00323504,0.0375285,0.0179486,0.614745,0.7152,0.332047,4.23537e-05,3.98149e-05,-9.57675e-06,0.000524888,-0.000462845,0.00260398,-0.0630402,0.558218,1.42401,0.0201631,0.0473917,0.0534197,1.16774,0.162231,0.102203,2.61106,-1.10361,0.0869739,0.000441055,0.000202581,4.96024e-05,2.31655e-06,-0.00173114,0.00169232,0.0713993,0.137911,0.673356,0.00963457,-0.051279,-0.0201631,0.123873,-0.0284286,0.0595957,-0.544041,-0.225152,0.787729,0.181135,-0.00304063,-0.00422713,0.0070201,-0.0355555,0.0723635,-0.0786273,-1.30928,2.76434,1.44462,-0.00699519,0.00337379,0.00317651,-0.82349,0.0480817,0.107902,-1.66829,-0.3916,0.0649761,0.0413675,-0.00545112,0.00772868,-0.00263635,-0.0260923,-0.112582,0.0474196,-0.298571,1.66627,0.0153039,0.00834155,0.00699519
2020-02-06.19:27:41.867,0.252893,-0.00943216,0.338086,-0.543099,-0.22751,0.787949,0.180055,-0.0148573,-0.00831207,0.0134232,-0.0515032,0.00173132,-0.0862345,-0.0166651,0.00653443,-0.00184453,-0.000181783,0.000234103,0.000147146,-0.170629,0.287675,-0.20047,-1.63285,0.349355,0.260536,-0.0710553,0.0343006,-0.0331264,-0.00445931,0.000314945,-0.0365639,0.0433432,0.00834683,-0.00270558,-0.00559944,-0.00682352,-0.000691795,-0.000157615,0.000273752,-1.81611e-05,-0.19472,0.0957982,0.323561,0.0144329,0.617687,0.714524,0.328193,-9.45161e-06,-0.000215051,-6.30858e-05,-0.000226431,0.00124857,-0.00111238,-0.000582714,0.00104139,-0.00483367,3.67185e-05,0.000477368,-0.000341339,0.0433757,0.140798,0.172756,1.30846,-0.710553,-0.707593,0.284221,0,0.000557868,-0.000806854,0.00166901,0,0,0,0.000213329,-0.00107307,-0.00209096,-0.000821016,7.69744e-05,0.000188243,-1.65191e-05,-0.117091,0.00323599,0.0375282,0.0179461,0.614747,0.715201,0.332043,9.24942e-06,2.72361e-05,5.30741e-05,0.00044641,-0.00119451,0.00226392,-0.096389,0.560077,1.3202,0.0200828,0.0474391,0.0545096,1.16775,0.162239,0.102203,2.61106,-1.10361,0.0869739,-0.000328595,0.000445518,4.37316e-05,5.49499e-05,-0.00159138,0.00157833,0.0680952,0.128943,0.656483,0.0101352,-0.0511174,-0.0200828,0.123785,-0.0285155,0.0597351,-0.543555,-0.223918,0.788274,0.181751,-0.00550513,-0.00434343,0.00686836,-0.0730997,0.0931755,-0.0914251,-1.33472,2.84635,1.45117,-0.0097265,0.00230492,0.00384547,-0.822888,0.0479582,0.108076,-1.66787,-0.3916,0.061709,0.022023,-0.0067055,0.0094533,0.0303749,0,-0.161553,0.0497797,-0.309427,1.68595,0.0173065,0.00960833,0.0097265
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