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diff --git a/s1/ball_PLA_17.5/pose_05_pose5/press_depth_09_0.0536m/real_sensor.csv b/s1/ball_PLA_17.5/pose_05_pose5/press_depth_09_0.0536m/real_sensor.csv
new file mode 100644
index 0000000000000000000000000000000000000000..c0c08cfec6eb70cd2583f8d8c610c4d1637a91f7
--- /dev/null
+++ b/s1/ball_PLA_17.5/pose_05_pose5/press_depth_09_0.0536m/real_sensor.csv
@@ -0,0 +1,738 @@
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diff --git a/s1/ball_PLA_17.5/pose_05_pose5/press_depth_10_0.0526m/real_sensor.csv b/s1/ball_PLA_17.5/pose_05_pose5/press_depth_10_0.0526m/real_sensor.csv
new file mode 100644
index 0000000000000000000000000000000000000000..d583c789a6d41e25bf06695fb941a291637a2048
--- /dev/null
+++ b/s1/ball_PLA_17.5/pose_05_pose5/press_depth_10_0.0526m/real_sensor.csv
@@ -0,0 +1,811 @@
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diff --git a/s1/ball_PLA_20/pose_01_pose1/press_depth_01_0.0666m/fy_difference_window500_points.png b/s1/ball_PLA_20/pose_01_pose1/press_depth_01_0.0666m/fy_difference_window500_points.png
new file mode 100644
index 0000000000000000000000000000000000000000..2e554f0e8e80862e39ac0d7c5acf44e48a8c5c4b
--- /dev/null
+++ b/s1/ball_PLA_20/pose_01_pose1/press_depth_01_0.0666m/fy_difference_window500_points.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:591c14dd2b85f487f7dfdc1f1647084834802d4527858882c7a3d1acf6598476
+size 138218
diff --git a/s1/ball_PLA_20/pose_01_pose1/press_depth_01_0.0666m/motion_config.json b/s1/ball_PLA_20/pose_01_pose1/press_depth_01_0.0666m/motion_config.json
new file mode 100644
index 0000000000000000000000000000000000000000..cbb35235af546c8719a6c964030052205ab858b2
--- /dev/null
+++ b/s1/ball_PLA_20/pose_01_pose1/press_depth_01_0.0666m/motion_config.json
@@ -0,0 +1,19 @@
+{
+    "start_position": [
+        0.03140478832373492,
+        0.03139897173363517
+    ],
+    "end_position": [
+        0.02961435727775097,
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+    "material": 300000.0,
+    "ball_youngs_modulus": 3000000000.0,
+    "grasp_offset": 0.0,
+    "hold_duration": 1.8630003840000002,
+    "open_hold_duration": 8.329077292181815,
+    "ball_diameter": 40.0,
+    "close_duration": 2.498999896,
+    "release_duration": 0.5709224278181866,
+    "grasp_offset_z": 0.012
+}
\ No newline at end of file
diff --git a/s1/ball_PLA_20/pose_01_pose1/press_depth_01_0.0666m/real_sensor.csv b/s1/ball_PLA_20/pose_01_pose1/press_depth_01_0.0666m/real_sensor.csv
new file mode 100644
index 0000000000000000000000000000000000000000..a35b0717fb7bba11ab54319d1988bb33a633f393
--- /dev/null
+++ b/s1/ball_PLA_20/pose_01_pose1/press_depth_01_0.0666m/real_sensor.csv
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diff --git a/s1/ball_PLA_20/pose_01_pose1/press_depth_01_0.0666m/sensor_outer_surface_displacement.csv b/s1/ball_PLA_20/pose_01_pose1/press_depth_01_0.0666m/sensor_outer_surface_displacement.csv
new file mode 100644
index 0000000000000000000000000000000000000000..aa6271a87fcf32cd7416396c3d34d0c98d5fae32
--- /dev/null
+++ b/s1/ball_PLA_20/pose_01_pose1/press_depth_01_0.0666m/sensor_outer_surface_displacement.csv
@@ -0,0 +1,2085 @@
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