This file contains a 720 by 8 data matrix.  
Column 1 gives the subject number (it goes from 1 to 8)
Column 2 gives the joint (1=wrist, 2=elbow 3=shoulder)
Column 3 gives the drilling position (it goes from 1 to 6)
Column 4 gives the repetition number (it goes from 1 to 5)
Columns 5 to 8 give the quaternion vector for the orientation of the joint
defined by column 1 to 4.  Missing values are coded as NA.



1 1 1 1 0.944424089938854 -0.192022006751695 -0.15577573502727 0.216620884595494
1 1 1 2 0.973823038924457 -0.119557205257138 -0.11105005786549 0.158248690923843
1 1 1 3 0.964946925066069 -0.13320081607734 -0.140626177325774 0.17708543884975
1 1 1 4 0.956408096797529 -0.133881378582364 -0.115182457658694 0.232577579092906
1 1 1 5 0.952554108363279 -0.198981037850687 -0.0611154396271608 0.222063324876666
1 1 2 1 0.962873727592291 -0.15889738915607 -0.127004288574636 0.177470321788073
1 1 2 2 0.970052721520077 -0.140745902701668 -0.14647351233991 0.133168384111979
1 1 2 3 0.975667330965463 -0.0779755971613112 -0.134129069590693 0.154927267531583
1 1 2 4 0.958023957506527 -0.141689849811934 -0.151912097485977 0.197577321424335
1 1 2 5 0.972012755098353 -0.134281674529918 -0.0930026442248258 0.168849471360562
1 1 3 1 0.97804976158991 -0.0892137923794635 -0.179824002865089 0.0558828336501617
1 1 3 2 0.985106417472401 -0.0516019406356429 -0.16273140500998 -0.0205201315981347
1 1 3 3 0.987920114927731 -0.0217190476191262 -0.153434401566431 -0.000117930692949901
1 1 3 4 0.981007807856875 -0.0474329919743875 -0.184571202977181 -0.0361560953058219
1 1 3 5 0.98193695054769 -0.00705833351332875 -0.188921380436355 -0.00766270782036514
1 1 4 1 0.950463991950861 -0.0117907273845491 -0.187524064494848 -0.247616445309898
1 1 4 2 0.955776874042687 -0.0046299837783069 -0.182407255036578 -0.230644149298054
1 1 4 3 0.961594816819659 -0.0143729404693883 -0.176032156300671 -0.210098802461997
1 1 4 4 0.966432415666406 -4.81385004875105e-05 -0.141403535285166 -0.214507398102574
1 1 4 5 0.964744877859322 0.00340727602712455 -0.160406571699378 -0.208627521841986
1 1 5 1 0.979462086793397 -0.0729462330447646 -0.135815681821745 0.129949867988381
1 1 5 2 0.975587594323605 -0.109395404599677 -0.10886020775718 0.156240028230343
1 1 5 3 0.983803314690849 -0.0767170949004832 -0.0937738993601856 0.132105946694744
1 1 5 4 0.986631008415517 -0.0332625110662304 -0.114292105731956 0.111311154687677
1 1 5 5 0.978756533130052 -0.0489962742501629 -0.117937773586173 0.160392317541647
1 1 6 1 0.994262231894322 -0.0245901438535078 -0.0994972531729751 -0.0306306327851408
1 1 6 2 0.995341268485617 -0.0181933128661129 -0.0934924055335592 0.0149643818431467
1 1 6 3 0.996980387540469 0.0337831192058767 -0.0678363962422954 0.0169419910646975
1 1 6 4 0.994855017228311 -0.0324552054594284 -0.0958687415355475 0.00439758236247193
1 1 6 5 0.995380934640051 -0.00606877285689183 -0.0958108086065955 0.000503890128002808
1 2 1 1 0.766996238902093 0.0723606309570953 0.251197556310975 -0.58598677143851
1 2 1 2 0.87039048066686 0.0659593610665868 0.150693869216821 -0.464070179641683
1 2 1 3 0.827647684529149 0.0568767676887163 0.185934997696566 -0.526490759864217
1 2 1 4 0.743753081925917 0.0899951841271886 0.260577604219292 -0.60895938463821
1 2 1 5 0.780003789352418 0.0856869572478332 0.229867779788696 -0.575684494987048
1 2 2 1 0.818933655845131 0.102755454834825 0.209914436159628 -0.524142073599899
1 2 2 2 0.832732621851509 0.0803825561051486 0.189114314854445 -0.514131112747953
1 2 2 3 0.773326530663637 0.100742101043031 0.210306697552004 -0.589566110808575
1 2 2 4 0.824146384335641 0.104528719398133 0.191187019225893 -0.522784857935839
1 2 2 5 0.849484907563535 0.104112318275729 0.187426558383223 -0.482086405344152
1 2 3 1 0.849008594260897 0.162695313829356 0.194642895530746 -0.463496262065306
1 2 3 2 0.803381709612989 0.152968057458482 0.222139237929439 -0.530879233940091
1 2 3 3 0.814315638946797 0.148059912540427 0.199115066519906 -0.524710865858488
1 2 3 4 0.813543765497111 0.148168908673529 0.218637619963295 -0.51806380616683
1 2 3 5 0.839899720199787 0.126970410066612 0.168323790520421 -0.500114063510189
1 2 4 1 0.896259490567385 0.177870929332063 0.184357215430952 -0.362068053251023
1 2 4 2 0.884380701329321 0.1666842701147 0.175976440787739 -0.398897758204113
1 2 4 3 0.900175632820814 0.099724683542443 0.136615886889545 -0.401341397089049
1 2 4 4 0.869942095382601 0.161389424617334 0.202793737438021 -0.41955798688493
1 2 4 5 0.877930145278666 0.186987099357773 0.186684021122937 -0.399278801017683
1 2 5 1 0.913259921792749 0.000762881824516275 0.0746186822270857 -0.40048443855051
1 2 5 2 0.895104999768118 0.0181559677302314 0.107301637280085 -0.432369932884919
1 2 5 3 0.944867244953739 0.00975423366659429 0.0321076945689404 -0.325729704338698
1 2 5 4 0.908594414401233 0.0124706506998169 0.0527728462209109 -0.414144539613585
1 2 5 5 0.856254468382787 0.0141877256939591 0.0905015876087487 -0.508366458821233
1 2 6 1 0.863508099267586 0.0748858646762707 0.158664979487167 -0.472833262424827
1 2 6 2 0.880282958537754 0.0574258289939356 0.110620984959964 -0.457785085775919
1 2 6 3 0.804630413942669 0.0938290445029085 0.133964241299768 -0.570806087405432
1 2 6 4 0.867616638915844 0.104004688968491 0.137950019067782 -0.466255493038034
1 2 6 5 0.868016882831902 0.0351477528826463 0.108163295714953 -0.48333428188591
1 3 1 1 NA NA NA NA
1 3 1 2 NA NA NA NA
1 3 1 3 NA NA NA NA
1 3 1 4 NA NA NA NA
1 3 1 5 NA NA NA NA
1 3 2 1 NA NA NA NA
1 3 2 2 NA NA NA NA
1 3 2 3 NA NA NA NA
1 3 2 4 NA NA NA NA
1 3 2 5 NA NA NA NA
1 3 3 1 NA NA NA NA
1 3 3 2 NA NA NA NA
1 3 3 3 NA NA NA NA
1 3 3 4 NA NA NA NA
1 3 3 5 NA NA NA NA
1 3 4 1 NA NA NA NA
1 3 4 2 NA NA NA NA
1 3 4 3 NA NA NA NA
1 3 4 4 NA NA NA NA
1 3 4 5 NA NA NA NA
1 3 5 1 NA NA NA NA
1 3 5 2 NA NA NA NA
1 3 5 3 NA NA NA NA
1 3 5 4 NA NA NA NA
1 3 5 5 NA NA NA NA
1 3 6 1 NA NA NA NA
1 3 6 2 NA NA NA NA
1 3 6 3 NA NA NA NA
1 3 6 4 NA NA NA NA
1 3 6 5 NA NA NA NA
2 1 1 1 -0.97363057197329 0.00896769197917867 0.155966193622953 -0.166245710519997
2 1 1 2 0.979419003617441 0.0249338544474698 -0.133733239020095 0.14910445679659
2 1 1 3 0.984081283919882 0.0310881380573553 -0.150267134362119 0.0896512277736393
2 1 1 4 0.983782529805793 0.0227944935909226 -0.106801190983571 0.142287914860462
2 1 1 5 0.97960897912738 0.0118958108051647 -0.187187347874768 0.072011349757604
2 1 2 1 -0.98242598362962 -0.0276052314386212 0.072722538289985 -0.169671949099597
2 1 2 2 0.980503564861785 0.0827411383580409 0.00157903882421916 0.178225054223412
2 1 2 3 -0.982265772224465 -0.0509869472334159 0.0699072041010104 -0.166334803161789
2 1 2 4 0.991221275263564 0.0741341770531127 0.00695506374010841 0.109252617112373
2 1 2 5 -0.990065870027134 -0.0863711663818035 0.0807751009169595 -0.0760590408637694
2 1 3 1 -0.985831304689932 -0.101674007727371 0.00656441876712269 -0.13325142870623
2 1 3 2 0.993386863625898 0.083640126266487 0.0246587486143061 0.0746914625001013
2 1 3 3 0.990438413868215 0.102142289741266 0.058065248977381 0.07229887856544
2 1 3 4 -0.988322146104436 -0.0708628625019644 -0.0132343053307116 -0.134248439096933
2 1 3 5 -0.984193308684943 -0.0674496439225871 0.00681359002557928 -0.16360822615463
2 1 4 1 -0.990170618969448 -0.119373522866024 -0.0496678954046016 -0.0533404868209164
2 1 4 2 -0.993796202182571 -0.0719703077912069 0.00598293821110144 -0.0845788849199297
2 1 4 3 -0.98813744167342 -0.134609730684674 -0.0609255044627898 -0.0418652561686159
2 1 4 4 -0.993537928228562 -0.0958669148420502 -0.0412645233873909 -0.0445999878876105
2 1 4 5 -0.988031664270194 -0.127379505575173 -0.0639092295784115 -0.0590212024071788
2 1 5 1 -0.982275248548512 -0.0326067408278672 -0.00360379024375966 -0.184551210338547
2 1 5 2 0.988754769629821 -0.0059797236723677 -0.00244233219932709 0.14940643711872
2 1 5 3 0.989694757626618 -0.0202922254857174 -0.00816673954870372 0.141512602535502
2 1 5 4 -0.984139891256591 -0.0200229755998446 -0.0115326662642176 -0.175882780551227
2 1 5 5 -0.997247717473081 0.0340662892764571 0.0269060344083222 -0.0601044361264725
2 1 6 1 -0.994684717116861 -0.0170801374094567 -0.0148740640831086 -0.1004457299136
2 1 6 2 0.994620686632013 0.0158343665748938 0.0236951543540764 0.099586656831982
2 1 6 3 -0.988189256713574 -0.0143020999217875 -0.00557120171610988 -0.152467716468567
2 1 6 4 -0.989380287723176 -0.0063936756224143 -0.0407357094720165 -0.139378510361724
2 1 6 5 -0.984796469445303 -0.0151370715509071 -0.0360530503669293 -0.169254129616291
2 2 1 1 -0.943406483257109 -0.0906314866013626 0.221753507561605 0.229337138006489
2 2 1 2 0.963104553283979 0.0933950758099228 -0.201153811687461 -0.152460235149141
2 2 1 3 0.972939502854501 0.0735104738956416 -0.199365272009981 -0.0907657552673969
2 2 1 4 0.972237113022274 0.0829260668428133 -0.180313976345758 -0.123956175459221
2 2 1 5 0.95809130667821 0.0798403547107134 -0.266184850104122 -0.0695139655202745
2 2 2 1 -0.88291443913889 -0.104380496403337 0.187884531510898 0.417452042694226
2 2 2 2 -0.852541756368298 -0.103815339248059 0.189763995262658 0.475798859905341
2 2 2 3 -0.915756270465259 -0.0991539183787075 0.173438691376503 0.348536904656186
2 2 2 4 -0.903304743587894 -0.0904146665146969 0.170283640926644 0.383235188785439
2 2 2 5 -0.945768406402487 -0.0739141084928427 0.197490632858559 0.247095681770715
2 2 3 1 -0.823386618675886 -0.083156512301328 0.177420183941305 0.532580086914262
2 2 3 2 -0.865407347177215 -0.0832259989650217 0.161653057557037 0.466917386194208
2 2 3 3 -0.856756259952579 -0.0762303125488802 0.157991294161929 0.484970516062376
2 2 3 4 -0.892714380140149 -0.0967756717757097 0.1738346413332 0.404322918365888
2 2 3 5 -0.85185643242406 -0.0864798962680283 0.178575518273698 0.484739755283702
2 2 4 1 -0.760925286424537 -0.0252006359454547 0.142885749822811 0.632409123056628
2 2 4 2 -0.84405640042624 -0.0652818296231952 0.160743320876507 0.507413697503465
2 2 4 3 -0.799624994138442 -0.0538339467971942 0.15171614115635 0.57851878745116
2 2 4 4 -0.791430454703439 -0.0539965992148428 0.152640889657736 0.58942595925666
2 2 4 5 -0.790396954950933 -0.0402575890611478 0.132075128760406 0.596831752246978
2 2 5 1 -0.863606330814967 -0.110559193801737 0.192106592933855 0.452830903311122
2 2 5 2 -0.908533039693423 -0.117196243490966 0.162405811018477 0.366683935896389
2 2 5 3 -0.916362153005178 -0.111991001874155 0.170373591821237 0.344545003227255
2 2 5 4 -0.892459947817168 -0.107351111684119 0.163461545150087 0.406535734738667
2 2 5 5 -0.960702360921588 -0.10278069744564 0.20358379702518 0.158242660307155
2 2 6 1 -0.836434899675991 -0.0910834080645126 0.186920997669774 0.507090733507826
2 2 6 2 -0.870348023501483 -0.089862767246438 0.173570945790773 0.451986866874659
2 2 6 3 -0.863641662844676 -0.099271434392511 0.183967346513955 0.458720258904217
2 2 6 4 -0.781474220729579 -0.0869366317079612 0.191107529402198 0.58755253093503
2 2 6 5 -0.813826845712379 -0.0889446608183717 0.176917718945246 0.546328503039111
2 3 1 1 0.578528459996377 0.297852039411694 0.383843563340873 -0.655174100887922
2 3 1 2 -0.578141168626872 -0.339381865780742 -0.298096463394934 0.679493367759663
2 3 1 3 -0.544069412438093 -0.354016896942122 -0.327527858976984 0.686575569564409
2 3 1 4 -0.547236372701292 -0.369060300502968 -0.316497499616792 0.681290084854984
2 3 1 5 -0.51541098766663 -0.382562716536274 -0.371119480944042 0.671019830238064
2 3 2 1 0.702759305578516 0.26300835976787 0.285826823324856 -0.596036062820898
2 3 2 2 0.758879608238368 0.259613041761274 0.261578115211706 -0.536916844948761
2 3 2 3 0.716146673596999 0.302674298102146 0.242781565355333 -0.580154567928186
2 3 2 4 0.744642997742302 0.268730201110565 0.215203814468543 -0.571820079362925
2 3 2 5 0.6724279387085 0.293090013805563 0.273566321696082 -0.622173913536536
2 3 3 1 0.826483085248647 0.266623795075524 0.178758079621964 -0.462474875714639
2 3 3 2 0.810154613062641 0.258946762178867 0.174928052460737 -0.495980094109327
2 3 3 3 0.825449198713385 0.22758856822461 0.167250086781009 -0.488737631484059
2 3 3 4 0.776659438515815 0.255810680843752 0.187805030035202 -0.544141785589044
2 3 3 5 0.800834018223078 0.255850896860808 0.202918987848296 -0.502024977668265
2 3 4 1 0.903276398538067 0.240500132443821 0.0978097545447366 -0.341591402196399
2 3 4 2 0.852321942625571 0.252657289125238 0.157161966929775 -0.430129883316218
2 3 4 3 0.874480683433923 0.247879470272807 0.14377169748667 -0.391368115103942
2 3 4 4 0.862254226147076 0.24890082837635 0.116055081762977 -0.425555219827066
2 3 4 5 0.886558790106109 0.224243076064097 0.0798965254619684 -0.396667492671141
2 3 5 1 0.755296594460397 0.25759568322549 0.250972280679861 -0.547890894896483
2 3 5 2 0.721824753382847 0.263899514580762 0.22355124941823 -0.599458848038278
2 3 5 3 0.71459723087993 0.249620255292731 0.249562750702576 -0.603952778972075
2 3 5 4 0.735526893989104 0.240810166552038 0.206843896924458 -0.598520053305673
2 3 5 5 0.63376888751931 0.281498180962157 0.295597932096084 -0.657052230700157
2 3 6 1 0.807735645656981 0.230791774304546 0.250209671584464 -0.481345410172419
2 3 6 2 0.799340332997831 0.264322654481646 0.212364855900716 -0.496074323412289
2 3 6 3 0.790116788568355 0.257695575429802 0.217901297776253 -0.511690800438857
2 3 6 4 0.828561337934768 0.215188505590905 0.244794342076765 -0.455253496887728
2 3 6 5 0.817085100504897 0.248985898689934 0.177530838670765 -0.48873383564812
3 1 1 1 0.938166179409026 -0.0515220046344405 -0.15614962356302 0.304642409904872
3 1 1 2 0.930591734714152 -0.0567068894521024 -0.153791553866342 0.327309501740703
3 1 1 3 0.940042462701464 -0.0154158265182672 -0.162444460956675 0.299490096189208
3 1 1 4 0.927055058258391 -0.0774893834531524 -0.128595187878692 0.343551440200773
3 1 1 5 0.928148619755347 -0.0162269884481897 -0.163251041735964 0.334104657052652
3 1 2 1 0.937277695785235 0.0934101610987667 -0.19095148843778 0.276265437306983
3 1 2 2 0.93695594243654 0.0677849977655713 -0.190520262741583 0.284992606036813
3 1 2 3 0.921327090022667 0.0924936694455232 -0.203205738167692 0.318290342735355
3 1 2 4 0.948601725133613 0.00148276072296767 -0.152355526823519 0.27738125737061
3 1 2 5 0.930393065972731 0.0598239490060734 -0.190506798839268 0.307403639391591
3 1 3 1 0.959886455411312 0.0842452321098507 -0.20482907915961 0.17194703229568
3 1 3 2 0.960085587976229 0.0610364385503779 -0.197445430439775 0.188482144851646
3 1 3 3 0.944121133120263 0.125882888420946 -0.263805203539986 0.152301014388404
3 1 3 4 0.952947887095317 0.137615243439216 -0.216433329664152 0.161582743708061
3 1 3 5 0.953475108713467 0.134254339236698 -0.214663193626559 0.163648106502966
3 1 4 1 0.945300788999219 0.204079393554754 -0.252949547532355 0.0278306637893271
3 1 4 2 0.955273458584712 0.204991099739888 -0.211981221293773 0.0222537675424732
3 1 4 3 0.956945349646424 0.202077889524705 -0.208336605101397 0.00399791572564438
3 1 4 4 0.964157222100306 0.182610883046079 -0.190357977841042 -0.0285999429583748
3 1 4 5 0.960668877573036 0.16752516163851 -0.221446966513236 -0.00344512737655605
3 1 5 1 0.932432162572165 0.0903028093461944 -0.168385516429432 0.306695260286126
3 1 5 2 0.937063662307039 0.0804894419986492 -0.16398558607031 0.297559859644481
3 1 5 3 NA NA NA NA
3 1 5 4 NA NA NA NA
3 1 5 5 NA NA NA NA
3 1 6 1 NA NA NA NA
3 1 6 2 NA NA NA NA
3 1 6 3 NA NA NA NA
3 1 6 4 NA NA NA NA
3 1 6 5 NA NA NA NA
3 2 1 1 0.657138144301093 -0.179847562129134 0.30049941842735 -0.667476151802855
3 2 1 2 0.650733857247773 -0.193832764043649 0.311967742739631 -0.664567855154441
3 2 1 3 0.674556782637863 -0.165342959448804 0.29592071090344 -0.655794011574037
3 2 1 4 0.679164178940494 -0.198949324592222 0.31915559123389 -0.630313329124912
3 2 1 5 0.683163803530174 -0.168445413095069 0.299703225443821 -0.644275823705956
3 2 2 1 0.668111849526184 -0.129293885584741 0.278200551980118 -0.677874693841759
3 2 2 2 0.646007515287388 -0.122341076870862 0.293765188178337 -0.69383641106304
3 2 2 3 0.651864176484171 -0.126097579390395 0.297334604315456 -0.686122896400541
3 2 2 4 0.611713152475074 -0.130155454853528 0.312893651666692 -0.714817556728681
3 2 2 5 0.561759333630289 -0.107394121702987 0.326743874377697 -0.752417034801545
3 2 3 1 0.627688448635784 -0.0790718961927396 0.334464872850129 -0.698489867865694
3 2 3 2 0.589112189739411 -0.0587672295510404 0.349211772463221 -0.726322503165383
3 2 3 3 0.642651088055938 -0.0632599267450343 0.320790258463193 -0.69288626105866
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8 2 1 3 NA NA NA NA
8 2 1 4 NA NA NA NA
8 2 1 5 NA NA NA NA
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8 3 1 2 NA NA NA NA
8 3 1 3 NA NA NA NA
8 3 1 4 NA NA NA NA
8 3 1 5 NA NA NA NA
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8 3 2 4 NA NA NA NA
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