diff --git a/test/joint_states_cart_logs/cartesian.csv b/test/joint_states_cart_logs/cartesian.csv
new file mode 100644
index 0000000..a1eda51
--- /dev/null
+++ b/test/joint_states_cart_logs/cartesian.csv
@@ -0,0 +1,16771 @@
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diff --git a/test/joint_states_logs/elbow_joint.csv b/test/joint_states_logs/elbow_joint.csv
new file mode 100644
index 0000000..6b1f187
--- /dev/null
+++ b/test/joint_states_logs/elbow_joint.csv
@@ -0,0 +1,16771 @@
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diff --git a/test/joint_states_logs/shoulder_lift_joint.csv b/test/joint_states_logs/shoulder_lift_joint.csv
new file mode 100644
index 0000000..c59a684
--- /dev/null
+++ b/test/joint_states_logs/shoulder_lift_joint.csv
@@ -0,0 +1,16771 @@
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diff --git a/test/joint_states_logs/shoulder_pan_joint.csv b/test/joint_states_logs/shoulder_pan_joint.csv
new file mode 100644
index 0000000..8487af5
--- /dev/null
+++ b/test/joint_states_logs/shoulder_pan_joint.csv
@@ -0,0 +1,16771 @@
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diff --git a/test/joint_states_logs/wrist_1_joint.csv b/test/joint_states_logs/wrist_1_joint.csv
new file mode 100644
index 0000000..2a98fd8
--- /dev/null
+++ b/test/joint_states_logs/wrist_1_joint.csv
@@ -0,0 +1,16771 @@
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diff --git a/test/joint_states_logs/wrist_2_joint.csv b/test/joint_states_logs/wrist_2_joint.csv
new file mode 100644
index 0000000..11160e9
--- /dev/null
+++ b/test/joint_states_logs/wrist_2_joint.csv
@@ -0,0 +1,16771 @@
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diff --git a/test/joint_states_logs/wrist_3_joint.csv b/test/joint_states_logs/wrist_3_joint.csv
new file mode 100644
index 0000000..304a427
--- /dev/null
+++ b/test/joint_states_logs/wrist_3_joint.csv
@@ -0,0 +1,16771 @@
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diff --git a/test/joint_trajectories/trajectory_0001.csv b/test/joint_trajectories/trajectory_0001.csv
new file mode 100644
index 0000000..27442ae
--- /dev/null
+++ b/test/joint_trajectories/trajectory_0001.csv
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diff --git a/test/joint_trajectories/trajectory_0002.csv b/test/joint_trajectories/trajectory_0002.csv
new file mode 100644
index 0000000..dfcfb56
--- /dev/null
+++ b/test/joint_trajectories/trajectory_0002.csv
@@ -0,0 +1,50 @@
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diff --git a/test/joint_trajectories/trajectory_0003.csv b/test/joint_trajectories/trajectory_0003.csv
new file mode 100644
index 0000000..9c041f7
--- /dev/null
+++ b/test/joint_trajectories/trajectory_0003.csv
@@ -0,0 +1,49 @@
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diff --git a/test/joint_trajectories/trajectory_0004.csv b/test/joint_trajectories/trajectory_0004.csv
new file mode 100644
index 0000000..ec88083
--- /dev/null
+++ b/test/joint_trajectories/trajectory_0004.csv
@@ -0,0 +1,50 @@
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diff --git a/test/joint_trajectories/trajectory_0005.csv b/test/joint_trajectories/trajectory_0005.csv
new file mode 100644
index 0000000..b21d62d
--- /dev/null
+++ b/test/joint_trajectories/trajectory_0005.csv
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diff --git a/test/joint_trajectories/trajectory_0006.csv b/test/joint_trajectories/trajectory_0006.csv
new file mode 100644
index 0000000..c5c78fd
--- /dev/null
+++ b/test/joint_trajectories/trajectory_0006.csv
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diff --git a/test/joint_trajectories/trajectory_0007.csv b/test/joint_trajectories/trajectory_0007.csv
new file mode 100644
index 0000000..563d335
--- /dev/null
+++ b/test/joint_trajectories/trajectory_0007.csv
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diff --git a/test/joint_trajectories/trajectory_0008.csv b/test/joint_trajectories/trajectory_0008.csv
new file mode 100644
index 0000000..7934d72
--- /dev/null
+++ b/test/joint_trajectories/trajectory_0008.csv
@@ -0,0 +1,49 @@
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diff --git a/test/joint_trajectories/trajectory_0009.csv b/test/joint_trajectories/trajectory_0009.csv
new file mode 100644
index 0000000..b735732
--- /dev/null
+++ b/test/joint_trajectories/trajectory_0009.csv
@@ -0,0 +1,42 @@
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diff --git a/test/joint_trajectories/trajectory_0010.csv b/test/joint_trajectories/trajectory_0010.csv
new file mode 100644
index 0000000..b3c1855
--- /dev/null
+++ b/test/joint_trajectories/trajectory_0010.csv
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diff --git a/test/joint_trajectories/trajectory_0011.csv b/test/joint_trajectories/trajectory_0011.csv
new file mode 100644
index 0000000..cbd18a7
--- /dev/null
+++ b/test/joint_trajectories/trajectory_0011.csv
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diff --git a/test/joint_trajectories/trajectory_0012.csv b/test/joint_trajectories/trajectory_0012.csv
new file mode 100644
index 0000000..99d9153
--- /dev/null
+++ b/test/joint_trajectories/trajectory_0012.csv
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diff --git a/test/joint_trajectories/trajectory_0013.csv b/test/joint_trajectories/trajectory_0013.csv
new file mode 100644
index 0000000..32c2b21
--- /dev/null
+++ b/test/joint_trajectories/trajectory_0013.csv
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diff --git a/test/joint_trajectories/trajectory_0014.csv b/test/joint_trajectories/trajectory_0014.csv
new file mode 100644
index 0000000..946ba4b
--- /dev/null
+++ b/test/joint_trajectories/trajectory_0014.csv
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diff --git a/test/joint_trajectories/trajectory_0015.csv b/test/joint_trajectories/trajectory_0015.csv
new file mode 100644
index 0000000..cb3cfb4
--- /dev/null
+++ b/test/joint_trajectories/trajectory_0015.csv
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diff --git a/test/joint_trajectories/trajectory_0016.csv b/test/joint_trajectories/trajectory_0016.csv
new file mode 100644
index 0000000..6454ba2
--- /dev/null
+++ b/test/joint_trajectories/trajectory_0016.csv
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diff --git a/test/joint_trajectories/trajectory_0017.csv b/test/joint_trajectories/trajectory_0017.csv
new file mode 100644
index 0000000..3529631
--- /dev/null
+++ b/test/joint_trajectories/trajectory_0017.csv
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diff --git a/test/joint_trajectories/trajectory_0018.csv b/test/joint_trajectories/trajectory_0018.csv
new file mode 100644
index 0000000..c40b805
--- /dev/null
+++ b/test/joint_trajectories/trajectory_0018.csv
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diff --git a/test/joint_trajectories/trajectory_0019.csv b/test/joint_trajectories/trajectory_0019.csv
new file mode 100644
index 0000000..21dbea7
--- /dev/null
+++ b/test/joint_trajectories/trajectory_0019.csv
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new file mode 100644
index 0000000..0739743
--- /dev/null
+++ b/test/joint_trajectories/trajectory_0020.csv
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new file mode 100644
index 0000000..13aa288
--- /dev/null
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new file mode 100644
index 0000000..c5ea269
--- /dev/null
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diff --git a/test/joint_trajectories_cart/trajectory_0001_cart.csv b/test/joint_trajectories_cart/trajectory_0001_cart.csv
new file mode 100644
index 0000000..baa6c3f
--- /dev/null
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diff --git a/test/joint_trajectories_cart/trajectory_0002_cart.csv b/test/joint_trajectories_cart/trajectory_0002_cart.csv
new file mode 100644
index 0000000..73110bb
--- /dev/null
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diff --git a/test/joint_trajectories_cart/trajectory_0003_cart.csv b/test/joint_trajectories_cart/trajectory_0003_cart.csv
new file mode 100644
index 0000000..570f36d
--- /dev/null
+++ b/test/joint_trajectories_cart/trajectory_0003_cart.csv
@@ -0,0 +1,49 @@
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diff --git a/test/joint_trajectories_cart/trajectory_0004_cart.csv b/test/joint_trajectories_cart/trajectory_0004_cart.csv
new file mode 100644
index 0000000..b5d3574
--- /dev/null
+++ b/test/joint_trajectories_cart/trajectory_0004_cart.csv
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diff --git a/test/joint_trajectories_cart/trajectory_0005_cart.csv b/test/joint_trajectories_cart/trajectory_0005_cart.csv
new file mode 100644
index 0000000..9f1925d
--- /dev/null
+++ b/test/joint_trajectories_cart/trajectory_0005_cart.csv
@@ -0,0 +1,49 @@
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diff --git a/test/joint_trajectories_cart/trajectory_0006_cart.csv b/test/joint_trajectories_cart/trajectory_0006_cart.csv
new file mode 100644
index 0000000..e5efed7
--- /dev/null
+++ b/test/joint_trajectories_cart/trajectory_0006_cart.csv
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diff --git a/test/joint_trajectories_cart/trajectory_0007_cart.csv b/test/joint_trajectories_cart/trajectory_0007_cart.csv
new file mode 100644
index 0000000..fff9406
--- /dev/null
+++ b/test/joint_trajectories_cart/trajectory_0007_cart.csv
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diff --git a/test/joint_trajectories_cart/trajectory_0008_cart.csv b/test/joint_trajectories_cart/trajectory_0008_cart.csv
new file mode 100644
index 0000000..fd149ee
--- /dev/null
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diff --git a/test/joint_trajectories_cart/trajectory_0009_cart.csv b/test/joint_trajectories_cart/trajectory_0009_cart.csv
new file mode 100644
index 0000000..f00e850
--- /dev/null
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diff --git a/test/joint_trajectories_cart/trajectory_0010_cart.csv b/test/joint_trajectories_cart/trajectory_0010_cart.csv
new file mode 100644
index 0000000..4c9b848
--- /dev/null
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diff --git a/test/joint_trajectories_cart/trajectory_0011_cart.csv b/test/joint_trajectories_cart/trajectory_0011_cart.csv
new file mode 100644
index 0000000..fc795a0
--- /dev/null
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diff --git a/test/joint_trajectories_cart/trajectory_0012_cart.csv b/test/joint_trajectories_cart/trajectory_0012_cart.csv
new file mode 100644
index 0000000..1a60145
--- /dev/null
+++ b/test/joint_trajectories_cart/trajectory_0012_cart.csv
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diff --git a/test/joint_trajectories_cart/trajectory_0013_cart.csv b/test/joint_trajectories_cart/trajectory_0013_cart.csv
new file mode 100644
index 0000000..d775d21
--- /dev/null
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diff --git a/test/joint_trajectories_cart/trajectory_0014_cart.csv b/test/joint_trajectories_cart/trajectory_0014_cart.csv
new file mode 100644
index 0000000..52457be
--- /dev/null
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diff --git a/test/joint_trajectories_cart/trajectory_0015_cart.csv b/test/joint_trajectories_cart/trajectory_0015_cart.csv
new file mode 100644
index 0000000..c963005
--- /dev/null
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diff --git a/test/joint_trajectories_cart/trajectory_0016_cart.csv b/test/joint_trajectories_cart/trajectory_0016_cart.csv
new file mode 100644
index 0000000..3e739ed
--- /dev/null
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diff --git a/test/joint_trajectories_cart/trajectory_0017_cart.csv b/test/joint_trajectories_cart/trajectory_0017_cart.csv
new file mode 100644
index 0000000..6409564
--- /dev/null
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diff --git a/test/joint_trajectories_cart/trajectory_0018_cart.csv b/test/joint_trajectories_cart/trajectory_0018_cart.csv
new file mode 100644
index 0000000..f9f23f9
--- /dev/null
+++ b/test/joint_trajectories_cart/trajectory_0018_cart.csv
@@ -0,0 +1,4 @@
+timestamp,x,y,z,roll,pitch,yaw
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diff --git a/test/joint_trajectories_cart/trajectory_0019_cart.csv b/test/joint_trajectories_cart/trajectory_0019_cart.csv
new file mode 100644
index 0000000..4735ef1
--- /dev/null
+++ b/test/joint_trajectories_cart/trajectory_0019_cart.csv
@@ -0,0 +1,7 @@
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diff --git a/test/joint_trajectories_cart/trajectory_0020_cart.csv b/test/joint_trajectories_cart/trajectory_0020_cart.csv
new file mode 100644
index 0000000..a09dfad
--- /dev/null
+++ b/test/joint_trajectories_cart/trajectory_0020_cart.csv
@@ -0,0 +1,4 @@
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diff --git a/test/joint_trajectories_cart/trajectory_0021_cart.csv b/test/joint_trajectories_cart/trajectory_0021_cart.csv
new file mode 100644
index 0000000..ae53670
--- /dev/null
+++ b/test/joint_trajectories_cart/trajectory_0021_cart.csv
@@ -0,0 +1,7 @@
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diff --git a/test/joint_trajectories_cart/trajectory_0022_cart.csv b/test/joint_trajectories_cart/trajectory_0022_cart.csv
new file mode 100644
index 0000000..822cea7
--- /dev/null
+++ b/test/joint_trajectories_cart/trajectory_0022_cart.csv
@@ -0,0 +1,4 @@
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diff --git a/workspace/src/joint_control/joint_control/__pycache__/plugdata_cart_fix.cpython-310.pyc b/workspace/src/joint_control/joint_control/__pycache__/plugdata_cart_fix.cpython-310.pyc
index 18a329e..1ba1ad8 100644
Binary files a/workspace/src/joint_control/joint_control/__pycache__/plugdata_cart_fix.cpython-310.pyc and b/workspace/src/joint_control/joint_control/__pycache__/plugdata_cart_fix.cpython-310.pyc differ