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_gripper_angle, 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_position_8, 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_velocity_8, 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, MTML_joint_effort_8, 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_gripper_angle, 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_position_8, 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_velocity_8, 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, MTMR_joint_effort_8, 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_position_7, 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_velocity_7, PSM1_joint_effort_1, PSM1_joint_effort_2, PSM1_joint_effort_3, PSM1_joint_effort_4, PSM1_joint_effort_5,PSM1_joint_effort_6, PSM1_joint_effort_7, 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_position_7, 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_velocity_7, PSM2_joint_effort_1, PSM2_joint_effort_2, PSM2_joint_effort_3, PSM2_joint_effort_4, PSM2_joint_effort_5,PSM2_joint_effort_6, PSM2_joint_effort_7, Coag pedal
2020-02-06.19:28:36.429,0.256771,-0.00999022,0.333543,0.677204,0.266407,-0.571665,-0.378974,-0.0272816,-0.0751885,0.0545556,-0.858968,0.00685188,0.831369,-0.0487956,-0.033049,0.0216216,-0.00291228,-0.000374968,5.4043e-06,0,-0.178383,0.304775,-0.2111,-1.71569,-0.207245,0.452978,-0.260536,0,0.0775734,-0.0397923,-0.193869,0.0541286,0.580167,-0.865094,0.296566,0,0.00841913,-0.0256682,-0.0162215,-0.0028031,-0.000345464,-0.00291968,3.28019e-06,0,-0.191102,0.0773744,0.336411,0.249916,0.611144,0.383079,0.645984,-0.00249215,-0.000219069,-0.000149576,-5.88624e-05,0.00372084,-0.00632656,0.00724319,-0.00276359,0.000337143,-0.000107434,8.45202e-05,-0.000166513,0,0.031832,0.118408,0.131767,1.45182,-0.0177638,-0.106583,0.159874,0,0.00711569,0.00118706,-0.00124778,0.000230886,0,0,0,0,-0.000316419,0.00250224,0.00237238,-0.000117248,-4.82581e-05,-0.000124838,-0.000166608,0,-0.115402,-0.00399848,0.0425911,0.251156,0.609368,0.38332,0.647037,-0.000509066,8.17182e-05,-0.000146576,-0.00452395,0.000272164,-0.00381053,-1.47673,1.44039,-1.59049,0.0014456,0.0458286,-0.00662216,1.10889,0.171653,0.101875,2.09585,-0.376024,-0.172669,0.159874,-0.000833875,0.00112728,-0.000526908,-0.00486897,0.000983955,-0.00210475,0,-0.185851,0.0732444,-0.684881,0.00638027,-0.0328467,-0.0014456,-0.000166608,0.124507,-0.0277824,0.0568117,0.682506,0.257346,-0.563367,-0.388041,0.00314045,-0.0233231,0.0344963,-0.536149,-0.274895,0.796718,-7.10479,1.17402,-6.92195,0.0143733,0.0769596,0.0918702,-0.81888,-0.0011198,0.108094,-2.25312,-0.889094,0.369612,0.159874,0.356755,0.00235218,0.0241346,0.57515,0,0.491729,0,0.794627,-0.398167,1.18259,0.0153665,-0.0402969,-0.0143733,-0.000166608,0
2020-02-06.19:28:36.447,0.255985,-0.0123101,0.335147,0.675916,0.263901,-0.5812,-0.368377,-0.0251881,-0.0816862,0.0534645,-0.492011,0.510314,0.384059,0.0224303,-0.00149173,-0.00225738,-0.000622185,0.000635665,0.000280251,0,-0.176104,0.303861,-0.217261,-1.71454,-0.18652,0.441135,-0.254615,0,0.0749564,-0.0202475,-0.223826,0.0402484,0.73197,-0.132947,0,0,-0.00376508,0.00712251,0.00773771,0.000187915,-0.000533313,-0.000947264,0.000174811,0,-0.191172,0.0773693,0.336407,0.249995,0.611158,0.383004,0.645985,-0.00211737,0.000143616,0.000122272,-6.53671e-05,0.00242622,-0.00463551,7.44144e-05,-0.00887262,-0.00320717,-0.000264043,-8.96631e-05,-8.63714e-05,0,0.0320302,0.11844,0.131736,1.45184,-0.0177638,-0.106583,0.159874,0,0.00608293,-0.000473634,0.000415235,-0.000882832,0,0,0,0,0.000213329,0.00159179,-0.000916209,-0.000557103,0.000139591,6.30108e-05,-8.08431e-05,0,-0.115421,-0.00400079,0.0425879,0.251329,0.609385,0.383174,0.64704,-0.000644498,-0.000140531,0.000146581,-0.00398629,0.00557919,-0.0134844,-1.52175,1.6039,-1.69898,0.00248993,0.0466977,-0.00730511,1.10883,0.171653,0.101857,2.09585,-0.375887,-0.173107,0.159874,-0.00491676,0.000622023,-0.000509334,-0.00440317,0.00186944,-0.0134916,0,-0.198596,0.0845729,-0.741122,0.00612994,-0.0334101,-0.00248993,-8.08431e-05,0.124576,-0.0286816,0.0579021,0.679307,0.263092,-0.574885,-0.372602,0.00161186,-0.030292,0.0369149,-0.572261,0.330467,0.947066,-5.58066,4.91585,-2.02398,-0.00715586,0.0669099,-0.00553916,-0.80762,-0.00105029,0.108814,-2.21999,-0.874884,0.367254,0.159874,0.384198,-0.00588153,0.0265923,1.08766,0.360608,-0.256099,0,0.233867,-0.671466,1.93623,0.0133638,-0.0126268,0.0053082,-8.08431e-05,0
2020-02-06.19:28:36.467,0.255738,-0.0131446,0.33568,0.674253,0.264468,-0.58268,-0.368679,-0.0236228,-0.0836514,0.052659,-0.279996,0.506032,0.401819,0.0153315,-0.0166883,0.000236305,-0.000209098,0.000302253,0.00031738,0,-0.175361,0.303704,-0.219576,-1.71419,-0.180599,0.441135,-0.260536,0,0.0721152,-0.0122062,-0.234287,0.0473161,0.767917,-0.121934,-0.227006,0,-0.00323533,0.000959363,0.0057417,0.000187915,-0.000157615,-0.00035241,0.000271297,0,-0.191197,0.0773771,0.336413,0.250014,0.611159,0.382986,0.645988,-0.00211429,0.000233255,0.000188919,-6.6689e-05,0.00223999,-0.00444543,0.0102041,-0.00381476,-0.0322931,-0.000128036,-0.000127849,5.83018e-05,0,0.0321045,0.118408,0.131767,1.45182,-0.0177638,-0.106583,0.159874,0,0.00608449,-0.000872427,0.000814849,-0.00115045,0,0,0,0,0.0108083,0.00458581,0.00237238,-0.000117248,0.000139591,-9.35298e-05,5.85255e-05,0,-0.115426,-0.00400207,0.0425888,0.251421,0.609365,0.383106,0.647064,-0.000655498,-6.70938e-05,-0.000106469,-0.00493936,0.00866381,-0.00902145,-1.54002,1.5471,-1.73019,0.0014456,0.048453,-0.00778632,1.1088,0.171661,0.101852,2.09585,-0.37575,-0.1733,0.159874,-0.00281502,0,-0.000624074,-0.00427508,-0.00205903,-0.0120533,0,-0.197652,0.0807967,-0.772055,0.00619253,-0.0350556,-0.0014456,5.85255e-05,0.124581,-0.028974,0.0582388,0.678542,0.263536,-0.578429,-0.36817,-0.000865256,-0.0335916,0.0362108,-0.87514,0.345796,1.01441,-4.99888,6.23239,-0.52461,0.00907135,0.0653881,0.00262532,-0.803705,-0.00114296,0.109098,-2.2072,-0.872151,0.363392,0.159874,0.393763,-0.0150798,0.0299414,1.52196,0.265076,-0.525867,0,0.0620522,-0.739909,2.07402,0.0200602,-0.0134729,-0.00762536,5.85255e-05,0
2020-02-06.19:28:36.487,0.25514,-0.0153522,0.336989,0.66801,0.270189,-0.586932,-0.369149,-0.0219698,-0.0828685,0.0475237,0.472631,0.420532,0.348246,-0.0171533,-0.0370804,-0.00483893,0.000654738,0.000328679,-9.1682e-05,0,-0.173503,0.303673,-0.225909,-1.71278,-0.159874,0.435214,-0.284221,0,0.0687595,0.00511942,-0.24117,0.0430698,0.745967,-0.0301101,-0.956606,0,-0.00323533,-0.0156829,-0.0063799,0.000715741,-0.000157615,0.000712066,-9.32057e-05,0,-0.191257,0.0773928,0.336424,0.250062,0.611162,0.38294,0.645993,-0.0019729,0.000397834,0.000311465,-6.82388e-05,0.00169623,-0.00375221,0.000830378,0.0164109,-0.0116174,0.000310023,-3.6304e-05,2.96908e-05,0,0.0322779,0.118345,0.13183,1.45178,-0.0177638,-0.106583,0.159874,0,0.00569869,-0.00161959,0.00156452,-0.00165251,0,0,0,0,0.00551081,-0.00232847,0.00128777,0.000498549,-1.695e-05,0.000125627,2.63635e-05,0,-0.115444,-0.00399812,0.0425813,0.251455,0.609439,0.382948,0.647075,-0.000845661,0.000194141,-0.00038976,-0.000101655,0.00852909,-0.00263552,-1.64493,1.67678,-1.8445,0.00160627,0.049083,-0.00770039,1.10879,0.1717,0.101833,2.09564,-0.37575,-0.173545,0.159874,0,0.0012904,-0.000932284,0.00178133,-0.00205903,-0.0101083,0,-0.214173,0.086933,-0.817049,0.00681835,-0.0347064,-0.00160627,2.63635e-05,0.124583,-0.0299273,0.0594846,0.671993,0.263144,-0.585526,-0.369242,0.00133225,-0.0296156,0.039188,0.500841,0.612425,-0.0409002,-2.46771,9.61216,2.68354,0.0225672,0.0652983,-0.0463702,-0.792607,-0.00274157,0.11008,-2.203,-0.867095,0.353144,0.159874,0.327231,-0.0815266,0.0299978,-0.496373,0.161873,-0.131997,0,-0.460946,-0.944294,1.35975,0.00904562,-0.0227758,-0.0225672,2.63635e-05,0
2020-02-06.19:28:36.507,0.254643,-0.0173933,0.338051,0.664058,0.278843,-0.590599,-0.363958,-0.0202839,-0.0865645,0.0423331,0.0167732,-0.180891,1.10908,-0.0153564,-0.0314702,0.00931563,0.000812146,8.04287e-05,-0.00010711,0,-0.171893,0.304176,-0.23204,-1.71285,-0.142111,0.41745,-0.301985,0,0.066886,0.0309183,-0.264918,-0.0225258,0.653331,-0.999545,-0.578289,0,0.00312165,-0.0132701,-0.00450171,0.000539799,9.28496e-05,0.00102515,-7.17644e-05,0,-0.1913,0.077394,0.336425,0.250106,0.611169,0.382897,0.645995,-0.00219042,0.00040475,0.000314857,-6.66496e-05,0.00200744,-0.00429188,0.00333232,-0.00742133,0.00373328,-0.000180468,-8.15832e-05,4.20143e-06,0,0.0324018,0.118345,0.13183,1.45178,-0.0177638,-0.106583,0.159874,0,0.00632273,-0.00161959,0.00156617,-0.00165361,0,0,0,0,-0.00190566,0.00225537,0.000816457,-0.000205219,0.000108283,-0.000124838,4.9222e-06,0,-0.115458,-0.0039985,0.0425804,0.2515,0.609449,0.382897,0.647077,-0.000510194,-5.5959e-05,0.000149904,0.00052489,-0.00562106,0.0029759,-1.55185,1.76746,-1.77435,0.0021686,0.0491142,-0.0074979,1.10873,0.171715,0.10182,2.09564,-0.37575,-0.173708,0.159874,-0.00409546,0.000849555,-0.000379502,0.00171748,-0.00205903,0.00336321,0,-0.208036,0.0982614,-0.772055,0.00706868,-0.0355492,-0.0021686,4.9222e-06,0.124607,-0.0305535,0.0601149,0.667627,0.265164,-0.589693,-0.369086,0.00084476,-0.0323041,0.0268538,0.0561743,0.307446,0.607151,-1.49089,10.4897,3.94519,0.00786636,0.0540053,-0.0762731,-0.786599,-0.00467225,0.110584,-2.20132,-0.860947,0.350336,0.159874,0.275863,-0.117157,0.0228862,0.249277,0.347905,-0.0364343,0,-0.644561,-1.00802,1.19946,0.0126128,-0.0109803,-0.00786636,4.9222e-06,0
2020-02-06.19:28:36.527,0.254255,-0.0191607,0.338873,0.661702,0.285342,-0.593055,-0.359189,-0.0173668,-0.0846737,0.0374796,-0.0219083,-0.102094,0.947844,-0.0188721,-0.0179045,0.0132054,-0.00073405,-0.000547803,-0.000105705,0,-0.17058,0.304964,-0.237535,-1.7132,-0.130268,0.402647,-0.313828,0,0.0603127,0.045012,-0.267263,-0.00482066,0.590998,-0.849378,-0.479022,0,0.00471089,-0.0111866,-0.00597457,-0.00165948,0.000186774,-0.000101945,3.28019e-06,0,-0.191343,0.0774023,0.336431,0.250143,0.611173,0.382861,0.645998,-0.00216276,-0.000284497,-0.000200955,-4.84e-05,0.00336787,-0.00562856,-0.0133562,0.0113591,0.00344073,0.000311271,0.000124168,1.34089e-05,0,0.0325256,0.118314,0.131862,1.45176,-0.0177638,-0.106583,0.159874,0,0.00616412,0.00145898,-0.00151072,0.000406982,0,0,0,0,-0.00508415,-0.00181894,-0.00396914,-0.000645074,-1.695e-05,-6.22216e-05,-1.65191e-05,0,-0.115471,-0.00400447,0.0425881,0.251498,0.609396,0.382889,0.647133,-0.000698086,-0.000318118,0.000295634,0.000602093,0.00347859,-0.00834667,-1.3335,1.71608,-1.76382,0.00409658,0.0477461,-0.00622623,1.10858,0.171715,0.101812,2.09564,-0.37575,-0.173708,0.159874,-0.00747521,-0.00063819,-0.000470559,0.00163053,-0.00205903,-0.0107932,0,-0.189156,0.101094,-0.850794,0.00713126,-0.0359688,-0.00409658,-1.65191e-05,0.124588,-0.031207,0.0605698,0.665092,0.269489,-0.593368,-0.364613,-0.00311888,-0.0325471,0.0181404,-0.131564,-0.000825941,0.836412,-1.49698,10.1769,4.28558,-0.0160728,0.0436231,-0.103076,-0.781726,-0.0073366,0.111025,-2.19378,-0.854115,0.352361,0.159874,0.204079,-0.147815,0.0210143,0.500227,0.334127,0.139584,0,-0.654946,-1.02359,1.4638,0.0143651,0.00825239,0.0160728,-1.65191e-05,0
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2020-02-06.19:29:01.507,0.220003,0.0443823,0.29699,-0.549869,-0.0866015,0.693248,0.457767,0.00617615,-0.0709838,0.0900053,-0.119486,-0.418044,0.329728,-0.0321663,-0.026813,0.035373,0.000843816,-0.000946614,9.71587e-06,0,-0.100426,0.318064,-0.0500848,-1.6912,-0.0384883,0.78753,-0.0236851,0,-0.0112625,-0.213088,-0.0911995,-0.0976425,0.105964,-0.410786,-0.247175,0,0.0025919,-0.0221752,-0.0104898,0.000539799,0.00075032,0.00108776,-5.03231e-05,0,-0.220451,0.0814163,0.363559,0.155311,0.545654,0.459217,0.683564,-0.0144056,0.00274537,0.0021725,-0.00420383,-0.478674,-0.404757,0.00153831,0.0170325,-0.0101757,-0.000434033,0.000224909,9.82136e-05,0,0.121383,0.0160607,0.173497,1.44804,0.0680947,-0.46482,0.236851,0,0.0440582,-0.00718493,0.00573916,0.00649146,0.618752,-0.0561733,0,0,0.00551081,-0.00149505,0.000757543,-0.00029319,-0.000142182,-0.000657076,0.000112129,0,-0.127161,-0.00262697,0.0533543,0.156825,0.552088,0.459803,0.677633,-0.00450993,0.00581951,0.00291527,-0.0552377,-0.475925,0.0130787,1.35437,1.46918,0.599609,-0.0155849,-0.0238656,-0.00973725,0.954422,0.247915,0.0976949,2.1814,-0.463198,-0.0516784,0.236851,-0.0114025,0.100102,-0.00303117,-0.172466,0.255476,0.384364,0,0.00814869,0.186529,-0.00154432,0.00300081,0.0110059,0.0155849,0.000112129,0.110382,-0.00690957,0.0422477,-0.545637,-0.0799296,0.689847,0.469044,-0.00644429,-0.0229293,0.0218012,-0.488999,-0.391986,0.482705,-0.639246,-4.44684,3.16116,-0.069976,0.0101503,-0.00325625,-1.11597,0.138623,0.106532,-1.9715,-0.417698,-0.304821,0.236851,0.283274,-0.109834,0.0178775,0.474438,-0.349498,0.431635,0,0.163064,0.420787,1.79562,0.00917079,-0.00484254,0.069976,0.000112129,0
2020-02-06.19:29:01.527,0.220227,0.0429618,0.29875,-0.55507,-0.091474,0.693649,0.449867,0.0141075,-0.0679516,0.0824119,-0.147061,-0.740526,0.6617,-0.07122,-0.0320809,0.0409607,-0.000197757,0.00104453,-0.000152128,0,-0.100896,0.314002,-0.0520447,-1.69287,-0.0355277,0.769766,-0.0236851,0,-0.0306959,-0.186042,-0.099177,-0.0633376,0.0681887,-0.890148,-0.184835,0,0.00682989,-0.0339096,-0.0192986,-0.000691795,-0.000877702,0.000367676,-0.000125368,0,-0.220769,0.0814652,0.363587,0.155695,0.542064,0.456961,0.687832,-0.0176001,0.00136268,0.00133698,-0.00539345,-0.472415,-0.413536,-0.0179856,0.00995519,0.0269747,-0.000126487,0.000165217,0.00016192,0,0.122349,0.0159977,0.17356,1.448,0.0799372,-0.46482,0.236851,0,0.0529664,0,-0.00144578,0.00841132,0.618083,-0.0561733,0,0,-0.00614365,-0.00914994,-0.00487701,0.000234636,-0.000173491,-0.000563151,0.000197894,0,-0.127272,-0.00255263,0.0534175,0.157495,0.54912,0.45669,0.68198,-0.00680181,0.00205675,0.00237536,-0.0766743,-0.325295,-0.732507,1.53169,0.851365,0.42467,-0.0281168,-0.0417445,-0.0151655,0.95419,0.249993,0.0976003,2.17448,-0.45213,-0.0504935,0.236851,-0.0134778,0.0974301,-0.0066177,-0.4534,0.686422,-0.0651898,0,0.0227813,0.146879,-0.249008,5.94282e-05,0.0269874,0.0281168,0.000197894,0.110251,-0.00730067,0.0427164,-0.551679,-0.082415,0.688494,0.463502,-0.00658495,-0.0172396,0.0258309,-0.341443,-0.706326,0.362477,-4.18932,-5.28789,1.50754,-0.077447,0.0330908,-0.0113347,-1.11013,0.136932,0.106915,-1.96563,-0.428629,-0.291578,0.236851,0.30126,-0.0578993,0.0203433,0.191415,-0.595809,0.734951,0,0.506695,0.303726,1.67189,0.0101721,0.00317037,0.077447,0.000197894,0
Date:2020-02-06.19:29:01