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
2020-02-06.19:26:27.10,0.193089,0.0862039,0.355969,-0.555448,-0.220817,0.641914,0.480274,-0.000210793,-0.000318628,1.16421e-05,-0.000537533,0.000478669,-0.000767351,-0.00270284,0.00472998,-0.0016714,-0.000374539,0.000102534,-2.5545e-05,0,-0.0394865,0.0284683,0.188308,-1.74375,0.0414489,0.598049,-0.337513,0,0.000667489,0.000503984,-0.00103988,0.000242055,0,0,0,0,-5.68415e-05,0.000306307,-0.00127557,-0.000603824,-0.000188923,-3.93291e-05,-3.96024e-05,0,-0.199938,-0.0107469,0.364906,0.241828,0.389703,0.570116,0.681629,-0.0129502,0.0250003,0.0120533,0.253514,-0.00718606,0.243389,0.0124361,0.000899475,-0.00117775,-0.00050457,0.000129867,-0.000185915,0,0.0485035,0.189894,-0.151866,1.21767,0.447056,-0.145071,0.698711,0,0.0364839,-0.0825619,0.100093,-0.0267244,0,-0.0820182,0.337318,0,0.00445132,-0.0135587,-0.00869229,0.000498549,0.00098491,0.000219551,5.85255e-05,0,-0.11898,-0.039635,0.0537197,0.242689,0.388337,0.567127,0.68459,-0.00263126,0.00712042,0.00550523,0.182664,-0.177771,0.222513,-0.370268,1.5845,0.489934,0.00787222,0.0283802,0.0197568,0.856868,-0.103431,0.112556,2.43073,-0.51266,0.16745,0.698711,-0.0158241,0.0733928,-0.00182398,0.319013,-0.0193018,0.00913483,0.337318,-0.116465,0.108646,0.372463,0.0163309,-0.0279066,-0.00787222,-8.08431e-05,0.0999818,0.00966614,0.0671276,-0.557062,-0.217076,0.641121,0.481169,-1.51889e-05,4.09333e-05,-1.0084e-05,0.000429603,0.000416573,-0.00121904,-1.98418,2.47386,1.24182,0.00634004,-0.00529926,0.00394629,-1.06286,0.339406,0.12774,-2.29002,-0.307979,0.185875,0.698711,-0.000295218,0.00021863,1.06756e-05,-0.000680606,-0.000167674,-0.000790214,0.337318,-0.0455683,-0.383534,1.33163,0.0100469,0.0213211,-0.00617937,-8.08431e-05,0
2020-02-06.19:26:27.25,0.193081,0.0862036,0.355968,-0.555447,-0.220808,0.641913,0.480282,-9.49663e-05,-0.000277276,1.56282e-05,-0.000481782,0.000245273,-0.000395997,-0.00316292,0.0120577,0.00263269,2.23614e-05,0.000122953,-6.29771e-05,0,-0.0394618,0.0284683,0.188308,-1.74375,0.0414489,0.598049,-0.337513,0,0.000313874,0.00042956,-0.000910398,0.000155342,0,0,0,0,0.0025919,-0.0123439,-0.00934623,1.19731e-05,-3.23829e-05,-3.93291e-05,1.40009e-05,0,-0.200403,-0.0101503,0.365242,0.244549,0.391897,0.574297,0.675866,-0.0162813,0.015804,0.0111958,0.277129,0.0397646,0.268369,0.0182182,-0.00339257,0.00307265,-9.9307e-05,1.65818e-05,-1.43443e-05,0,0.0497174,0.187689,-0.14932,1.21656,0.438174,-0.145071,0.710553,0,0.041957,-0.064797,0.0693029,-0.0352699,-0.0336045,-0.0590327,0.378452,0,0.00233232,-0.00332648,5.41078e-05,0.000146665,0.000296131,3.94597e-07,-2.72398e-05,0,-0.119129,-0.0393292,0.0539322,0.245919,0.384377,0.573326,0.680496,-0.00444127,0.00868081,0.00564193,0.559247,0.103223,0.336626,-0.462667,2.18153,-0.0214197,0.0179138,0.0309129,0.0243129,0.856513,-0.100473,0.112426,2.45232,-0.510611,0.157855,0.710553,-0.00632217,0.0739649,-0.00376568,0.781283,-0.0041446,-0.472631,0.378452,-0.172163,0.10723,-0.091531,0.01752,-0.0301402,-0.0179138,-2.72398e-05,0.0999821,0.00966698,0.0671279,-0.557063,-0.217072,0.641121,0.48117,-3.0402e-05,-2.58152e-05,-2.39392e-05,0.000685489,0.00025686,-0.000716128,-1.95374,2.5224,1.23378,0.00449239,-0.00634983,0.00247998,-1.06286,0.339414,0.12774,-2.29002,-0.307979,0.185875,0.710553,-0.000191989,-0.000350519,1.02143e-05,-0.000650382,-0.00016099,-0.000788306,0.378452,-0.0498164,-0.378342,1.30351,0.00954628,0.0235612,-0.00449239,-2.72398e-05,0
2020-02-06.19:26:27.45,0.193081,0.0861961,0.355964,-0.555444,-0.2208,0.641913,0.480289,-9.75294e-05,-0.000166819,7.46901e-05,-0.000456063,3.79964e-05,-0.000165476,-0.00444316,0.00769653,-0.00879896,0.000144606,0.000488591,-4.58218e-05,0,-0.0394618,0.0284998,0.188277,-1.74373,0.0414489,0.598049,-0.337513,0,0.000306692,0,-0.000457674,-0.000147847,0,0,0,0,-0.00111634,0.000810574,-0.00244679,0.00062777,-0.000376772,-3.93291e-05,-2.88818e-05,0,-0.200548,-0.0100239,0.365349,0.245894,0.393657,0.576373,0.67258,-0.0160541,0.0144811,0.0108464,0.177866,0.334284,0.449483,0.0153874,-0.00895721,-0.00070998,7.42745e-05,-0.000574505,-0.000441441,0,0.0500889,0.187122,-0.148753,1.21618,0.432253,-0.145071,0.716474,0,0.0412575,-0.0607484,0.0635516,-0.0338685,-0.391461,-0.0540377,0.386491,0,-0.00137592,0.00599527,0.00674912,0.00120232,0.00048398,-0.000156146,-0.000166608,0,-0.119165,-0.0392467,0.0539754,0.246954,0.384456,0.574654,0.678955,-0.00362921,0.00979996,0.00412052,0.174662,0.279601,0.301252,-0.783164,2.22323,-0.242556,0.0178335,0.0403336,0.017776,0.856436,-0.0998086,0.112394,2.45736,-0.511567,0.153735,0.716474,-0.0094281,0.0751361,-0.00356668,0.388228,-0.190264,-0.445446,0.386491,-0.195764,0.0845729,-0.122464,0.0108236,-0.0354531,-0.0178335,-0.000166608,0.0999818,0.00966614,0.0671276,-0.557062,-0.217076,0.641121,0.481169,-2.46619e-05,-1.21567e-05,-1.77135e-05,0.000616585,0.000327122,-0.000804959,-1.95086,2.50449,1.24636,0.00601871,-0.00659872,0.00364044,-1.06286,0.339406,0.12774,-2.29002,-0.307979,0.185875,0.716474,-0.000178415,-0.000217901,1.00109e-05,-0.000644178,-0.000159609,-0.000787912,0.386491,-0.0479284,-0.375038,1.31757,0.0101721,0.0235651,-0.00601871,-0.000166608,0
2020-02-06.19:26:27.65,0.193081,0.0861961,0.355964,-0.555444,-0.2208,0.641913,0.480289,-8.78293e-05,-0.000150147,6.72237e-05,-0.000410216,1.33984e-05,-0.000126213,-0.00860497,-0.0187442,0.00471255,0.000248818,-1.69611e-05,-3.73649e-05,0,-0.0394618,0.0284998,0.188277,-1.74373,0.0414489,0.598049,-0.337513,0,0.000276183,0,-0.000411929,-0.000164019,0,0,0,0,-0.00058659,-0.00627355,-0.00274136,0.000187915,6.15414e-05,0.000273752,-3.96024e-05,0,-0.200897,-0.00977699,0.365623,0.248561,0.395971,0.580316,0.666826,-0.0146205,0.0071557,0.0144318,0.209648,0.465265,0.56486,0.0177312,0.0142181,-0.000133309,0.000452477,-0.000440764,-0.000314558,0,0.0509807,0.185831,-0.147594,1.21556,0.423371,-0.145071,0.728317,0,0.0372714,-0.0561311,0.0393299,-0.0263392,-0.524249,-0.0449073,0.491367,0,0.00445132,-0.000584593,0.00481202,0.00129029,0.000108283,9.43189e-05,-7.01224e-05,0,-0.119232,-0.0390359,0.054071,0.248257,0.386618,0.577643,0.674703,-0.00386495,0.01006,0.00606424,0.409324,0.244376,0.602379,-1.83831,2.54609,-0.956273,0.032695,0.0636362,0.0366696,0.856196,-0.0983181,0.112339,2.467,-0.517989,0.143942,0.728317,-0.0152152,0.0680265,-0.00220163,0.787491,-0.336269,-0.547541,0.491367,-0.266095,8.13336e-05,-0.229323,0.0181458,-0.0515094,-0.032695,-7.01224e-05,0.0999804,0.0096666,0.0671276,-0.557065,-0.217077,0.641118,0.481169,-1.28753e-05,-2.12853e-05,-3.84913e-06,0.000606234,0.00048296,-0.000704595,-2.00438,2.51119,1.20627,0.00593837,-0.00524569,0.00340355,-1.06286,0.339406,0.127742,-2.29002,-0.307979,0.185875,0.728317,0,-0.000217901,7.21784e-06,-0.000629562,-0.000156341,-0.000786981,0.491367,-0.0436802,-0.379286,1.29507,0.00973403,0.0227662,-0.00593837,-7.01224e-05,0
2020-02-06.19:26:27.85,0.193081,0.0861961,0.355964,-0.555444,-0.2208,0.641913,0.480289,-8.02057e-05,-0.000137954,6.17825e-05,-0.000376772,-2.72768e-06,-9.90315e-05,-0.0118686,-0.0161926,-0.0104372,-2.4421e-05,0.000231185,-6.54255e-05,0,-0.0394618,0.0284998,0.188277,-1.74373,0.0414489,0.598049,-0.337513,0,0.000252273,0,-0.000378526,-0.000171896,0,0,0,0,-0.00482458,-0.00576929,-0.00491411,-7.59979e-05,-0.000220232,0.000179828,-7.17644e-05,0,-0.201149,-0.00968221,0.365927,0.250021,0.400327,0.582265,0.661963,-0.0120572,0.00343949,0.0167961,0.175685,0.552391,0.610483,0.00853502,-0.00309303,-0.0101825,-0.000441443,1.99579e-05,0.000129553,0,0.0516248,0.184761,-0.14697,1.21499,0.411529,-0.145071,0.734238,0,0.0308096,-0.0557269,0.0279323,-0.0221863,-0.623516,-0.0389521,0.493443,0,0.00233232,0.00499726,0.00439608,-0.000821016,0.000233515,6.30108e-05,-4.86811e-05,0,-0.119312,-0.0388326,0.0541958,0.250767,0.388802,0.582168,0.668603,-0.00386844,0.00898654,0.00572555,0.327862,0.535196,0.593722,-3.09094,2.66219,-1.65122,0.041371,0.086592,0.0406928,0.855802,-0.0969975,0.1123,2.48252,-0.526051,0.12977,0.734238,-0.0223234,0.0531636,-0.00151012,0.736402,-0.436555,-0.80637,0.493443,-0.339258,-0.106123,-0.161833,0.0155173,-0.063002,-0.041371,-4.86811e-05,0.099979,0.00966584,0.0671281,-0.557064,-0.21708,0.641118,0.481168,7.52142e-05,3.62508e-05,-2.72575e-05,0.000315707,0.00071818,-0.00112049,-1.98228,2.50563,1.26042,0.00569738,-0.00643293,0.00288842,-1.06286,0.339399,0.127743,-2.29002,-0.307979,0.185875,0.734238,0,0.00035782,-7.41205e-05,-0.000617128,-0.00015356,-0.000765888,0.493443,-0.0465123,-0.37787,1.34007,0.00954628,0.0238271,-0.00569738,-4.86811e-05,0
2020-02-06.19:26:27.105,0.193081,0.0862036,0.355968,-0.555447,-0.220808,0.641913,0.480282,-7.2257e-05,-0.000134766,5.12277e-05,-0.000344665,-1.21447e-06,-9.13066e-05,0.00319199,0.0100095,0.00344525,-0.000161762,-0.000168333,-0.000107735,0,-0.0394618,0.0284683,0.188308,-1.74375,0.0414489,0.598049,-0.337513,0,0.000228622,3.61906e-05,-0.00038243,-0.000153754,0,0,0,0,0.00206215,0.00280132,0.00139619,-0.000339911,3.02333e-05,-7.06372e-05,-0.000114647,0,-0.201372,-0.00965952,0.366301,0.253942,0.404486,0.587983,0.652825,-0.00925393,-0.00149845,0.0192662,0.233506,0.633063,0.691738,0.0130485,0.00510974,-0.0183237,-0.000230306,-0.000305753,-4.93588e-05,0,0.0521946,0.183627,-0.146546,1.21456,0.396726,-0.145071,0.752002,0,0.0236187,-0.0530601,0.0119987,-0.0121351,-0.692455,-0.0341996,0.598177,0,0.00762981,0.00507955,0.00554314,0.000146665,0.000390056,-6.22216e-05,-5.79846e-06,0,-0.11937,-0.0386547,0.0542974,0.252642,0.394446,0.584792,0.662271,-0.00352025,0.00846048,0.00677023,0.290949,0.628502,0.828444,-4.02013,2.8324,-2.0685,0.0458696,0.0982436,0.0497634,0.855246,-0.0961017,0.112295,2.49196,-0.537938,0.114143,0.752002,-0.0342712,0.0371271,0.000637898,0.816435,-0.683628,-0.898366,0.598177,-0.399676,-0.181646,0.00970402,0.0212749,-0.0660326,-0.0442629,-5.79846e-06,0.0999805,0.00966538,0.067128,-0.557062,-0.21708,0.641121,0.481167,-0.000107324,4.0921e-05,0.000115085,0.000309954,0.000819636,-0.00101157,-1.99682,2.54021,1.22919,0.00537604,-0.00585629,0.00327751,-1.06286,0.339399,0.127742,-2.29002,-0.307979,0.185875,0.752002,0.000149056,0.000344538,0.000156456,-0.000603071,-0.000150397,-0.000738077,0.598177,-0.0469843,-0.382118,1.30913,0.00998436,0.0233208,-0.00537604,-5.79846e-06,0
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2020-02-06.19:27:16.7,0.138236,0.0935753,0.333171,-0.469335,-0.0591099,0.779024,0.411525,-0.00367616,-4.51504e-05,0.000583226,-0.00240788,0.0184633,0.00321194,-0.00290169,0.00900696,-0.0163707,-0.000357693,0.000631573,0.000154603,0,0.123563,0.113306,0.172398,-1.73399,0.257576,0.689829,0,0,0.0108574,-0.000732788,-0.000909086,0.000608815,0.0179496,0,0,0,-0.00588407,-0.0103426,-0.0103755,-0.000779766,-0.000188923,0.000179828,-0.000125368,0,-0.105479,0.0308747,0.322696,0.280085,-0.00161028,0.369587,0.885977,-0.0179245,0.0172399,-0.00350673,-0.0614871,0.22377,0.404653,0.02655,-0.00494725,0.0254389,4.27456e-06,0.00016276,-6.89807e-05,0,-0.186087,0.265851,-0.0752677,1.3597,1.34413,-0.0947404,0.307906,0,0.0376811,-0.0270142,0.068426,-0.0109927,-0.423347,0.0223759,0.195221,0,-0.0119709,-0.00873322,-0.00493592,0.000146665,-0.000142182,-6.22216e-05,4.9222e-06,0,-0.0812417,-0.0226183,0.0372712,0.278902,-0.0104678,0.36223,0.889322,-0.00593384,0.00529752,-0.00180236,-0.0364246,0.193413,0.512579,-1.72197,-0.47893,0.525081,0.0518142,0.0994926,0.0386178,1.24295,0.0351462,0.135282,2.63056,0.747402,0.840342,0.307906,0.00753149,0.00618677,-0.00994929,-0.0906866,-0.493675,-0.268603,0.195221,-0.00789998,-0.147189,-0.679256,-0.00137997,-0.0792017,-0.0535815,4.9222e-06,0.0779984,0.0126168,0.0578727,-0.4716,-0.0533784,0.776071,0.415281,-0.00125034,-0.000208464,0.000386951,0.00475047,0.0118878,0.00129977,-0.863872,2.0103,1.04507,-0.0243471,-0.0322209,0.0217179,-1.22318,0.297534,0.142128,-1.85785,-0.042494,-0.27532,0.307906,-0.000838955,-0.00257133,0.00126656,-0.00200397,0.01097,-0.00896357,0.195221,0.0705486,-0.278746,1.58753,0.0138019,0.0447728,0.0243471,4.9222e-06,0
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Date:2020-02-06.19:27:30