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diff --git a/s1/cylinder_0030_20/pose_01_pose1/press_depth_07_0.0606m/real_sensor.csv b/s1/cylinder_0030_20/pose_01_pose1/press_depth_07_0.0606m/real_sensor.csv
new file mode 100644
index 0000000000000000000000000000000000000000..86c21e6f75e09044ea09c29f56562d3794699eb5
--- /dev/null
+++ b/s1/cylinder_0030_20/pose_01_pose1/press_depth_07_0.0606m/real_sensor.csv
@@ -0,0 +1,597 @@
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diff --git a/s1/cylinder_0030_20/pose_01_pose1/press_depth_08_0.0596m/camera_frames.tar b/s1/cylinder_0030_20/pose_01_pose1/press_depth_08_0.0596m/camera_frames.tar
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diff --git a/s1/cylinder_0030_20/pose_01_pose1/press_depth_08_0.0596m/real_sensor.csv b/s1/cylinder_0030_20/pose_01_pose1/press_depth_08_0.0596m/real_sensor.csv
new file mode 100644
index 0000000000000000000000000000000000000000..c4e8504fb1c33c998c0e65ff5f40bddeccab873d
--- /dev/null
+++ b/s1/cylinder_0030_20/pose_01_pose1/press_depth_08_0.0596m/real_sensor.csv
@@ -0,0 +1,667 @@
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diff --git a/s1/cylinder_0030_20/pose_01_pose1/press_depth_09_0.0586m/real_sensor.csv b/s1/cylinder_0030_20/pose_01_pose1/press_depth_09_0.0586m/real_sensor.csv
new file mode 100644
index 0000000000000000000000000000000000000000..e069763ceb2e028d3cbd785b513ed20866f5f8fa
--- /dev/null
+++ b/s1/cylinder_0030_20/pose_01_pose1/press_depth_09_0.0586m/real_sensor.csv
@@ -0,0 +1,735 @@
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diff --git a/s1/cylinder_0030_20/pose_01_pose1/press_depth_10_0.0576m/real_sensor.csv b/s1/cylinder_0030_20/pose_01_pose1/press_depth_10_0.0576m/real_sensor.csv
new file mode 100644
index 0000000000000000000000000000000000000000..c540434f877525ace7a372ac8b5c319f382c4d75
--- /dev/null
+++ b/s1/cylinder_0030_20/pose_01_pose1/press_depth_10_0.0576m/real_sensor.csv
@@ -0,0 +1,785 @@
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diff --git a/s1/cylinder_0030_20/pose_02_pose2/press_depth_01_0.0666m/real_sensor.csv b/s1/cylinder_0030_20/pose_02_pose2/press_depth_01_0.0666m/real_sensor.csv
new file mode 100644
index 0000000000000000000000000000000000000000..f6b71e2ee4aafded68d01b73b3698d267831f628
--- /dev/null
+++ b/s1/cylinder_0030_20/pose_02_pose2/press_depth_01_0.0666m/real_sensor.csv
@@ -0,0 +1,196 @@
+sensor_ros_time_ns,phase,device_raw_fx,device_raw_fy,device_raw_fz,device_raw_mx,device_raw_my,device_raw_mz,corrected_fx_N,corrected_fy_N,corrected_fz_N,corrected_mx_Nm,corrected_my_Nm,corrected_mz_Nm,camera_image_path
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diff --git a/s1/cylinder_0030_20/pose_02_pose2/press_depth_02_0.0656m/real_sensor.csv b/s1/cylinder_0030_20/pose_02_pose2/press_depth_02_0.0656m/real_sensor.csv
new file mode 100644
index 0000000000000000000000000000000000000000..1416bd64e5c193eb8af196ae038553be9a21febc
--- /dev/null
+++ b/s1/cylinder_0030_20/pose_02_pose2/press_depth_02_0.0656m/real_sensor.csv
@@ -0,0 +1,255 @@
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diff --git a/s1/cylinder_0030_20/pose_02_pose2/press_depth_03_0.0646m/real_sensor.csv b/s1/cylinder_0030_20/pose_02_pose2/press_depth_03_0.0646m/real_sensor.csv
new file mode 100644
index 0000000000000000000000000000000000000000..b161907a82a883d9ab625c41fd5a59cc4ffb8a27
--- /dev/null
+++ b/s1/cylinder_0030_20/pose_02_pose2/press_depth_03_0.0646m/real_sensor.csv
@@ -0,0 +1,309 @@
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diff --git a/s1/cylinder_0030_20/pose_02_pose2/press_depth_04_0.0636m/real_sensor.csv b/s1/cylinder_0030_20/pose_02_pose2/press_depth_04_0.0636m/real_sensor.csv
new file mode 100644
index 0000000000000000000000000000000000000000..3467de566915549d782be31dbe26d2c928905e33
--- /dev/null
+++ b/s1/cylinder_0030_20/pose_02_pose2/press_depth_04_0.0636m/real_sensor.csv
@@ -0,0 +1,357 @@
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diff --git a/s1/cylinder_0030_20/pose_02_pose2/press_depth_05_0.0626m/real_sensor.csv b/s1/cylinder_0030_20/pose_02_pose2/press_depth_05_0.0626m/real_sensor.csv
new file mode 100644
index 0000000000000000000000000000000000000000..30ca02c7d35a77d5ac09f96c77012d3a4e4ca2f4
--- /dev/null
+++ b/s1/cylinder_0030_20/pose_02_pose2/press_depth_05_0.0626m/real_sensor.csv
@@ -0,0 +1,451 @@
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diff --git a/s1/cylinder_0030_20/pose_02_pose2/press_depth_06_0.0616m/real_sensor.csv b/s1/cylinder_0030_20/pose_02_pose2/press_depth_06_0.0616m/real_sensor.csv
new file mode 100644
index 0000000000000000000000000000000000000000..09f7dd111d5e163b834694d39b5eb9cd5e051aef
--- /dev/null
+++ b/s1/cylinder_0030_20/pose_02_pose2/press_depth_06_0.0616m/real_sensor.csv
@@ -0,0 +1,481 @@
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diff --git a/s1/cylinder_0030_20/pose_02_pose2/press_depth_07_0.0606m/real_sensor.csv b/s1/cylinder_0030_20/pose_02_pose2/press_depth_07_0.0606m/real_sensor.csv
new file mode 100644
index 0000000000000000000000000000000000000000..b828cf9874f7a3cdd3be86d8ef278601d04989cb
--- /dev/null
+++ b/s1/cylinder_0030_20/pose_02_pose2/press_depth_07_0.0606m/real_sensor.csv
@@ -0,0 +1,546 @@
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diff --git a/s1/cylinder_0030_20/pose_02_pose2/press_depth_08_0.0596m/real_sensor.csv b/s1/cylinder_0030_20/pose_02_pose2/press_depth_08_0.0596m/real_sensor.csv
new file mode 100644
index 0000000000000000000000000000000000000000..033bcf28577a916ad80ab0b25fa05d3ff1cea42e
--- /dev/null
+++ b/s1/cylinder_0030_20/pose_02_pose2/press_depth_08_0.0596m/real_sensor.csv
@@ -0,0 +1,668 @@
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diff --git a/s1/cylinder_0030_20/pose_02_pose2/press_depth_09_0.0586m/real_sensor.csv b/s1/cylinder_0030_20/pose_02_pose2/press_depth_09_0.0586m/real_sensor.csv
new file mode 100644
index 0000000000000000000000000000000000000000..12cfa387702be8d3dc8177aadf3797b6e76fd374
--- /dev/null
+++ b/s1/cylinder_0030_20/pose_02_pose2/press_depth_09_0.0586m/real_sensor.csv
@@ -0,0 +1,680 @@
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diff --git a/s1/cylinder_0030_20/pose_02_pose2/press_depth_10_0.0576m/real_sensor.csv b/s1/cylinder_0030_20/pose_02_pose2/press_depth_10_0.0576m/real_sensor.csv
new file mode 100644
index 0000000000000000000000000000000000000000..6dd593928130f1d5502693968519c227b2ed0f78
--- /dev/null
+++ b/s1/cylinder_0030_20/pose_02_pose2/press_depth_10_0.0576m/real_sensor.csv
@@ -0,0 +1,757 @@
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diff --git a/s1/cylinder_0030_20/pose_03_pose3/press_depth_01_0.0666m/real_sensor.csv b/s1/cylinder_0030_20/pose_03_pose3/press_depth_01_0.0666m/real_sensor.csv
new file mode 100644
index 0000000000000000000000000000000000000000..fbb18be48d4009ecdf7d0716aa2900b8b5af812f
--- /dev/null
+++ b/s1/cylinder_0030_20/pose_03_pose3/press_depth_01_0.0666m/real_sensor.csv
@@ -0,0 +1,175 @@
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diff --git a/s1/cylinder_0030_20/pose_03_pose3/press_depth_02_0.0656m/real_sensor.csv b/s1/cylinder_0030_20/pose_03_pose3/press_depth_02_0.0656m/real_sensor.csv
new file mode 100644
index 0000000000000000000000000000000000000000..41a6abdf8a6b66f243ef0d503d103f110b3ad1ef
--- /dev/null
+++ b/s1/cylinder_0030_20/pose_03_pose3/press_depth_02_0.0656m/real_sensor.csv
@@ -0,0 +1,245 @@
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diff --git a/s1/cylinder_0030_20/pose_03_pose3/press_depth_03_0.0646m/fem_sensor.csv b/s1/cylinder_0030_20/pose_03_pose3/press_depth_03_0.0646m/fem_sensor.csv
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diff --git a/s1/cylinder_0030_20/pose_03_pose3/press_depth_03_0.0646m/real_sensor.csv b/s1/cylinder_0030_20/pose_03_pose3/press_depth_03_0.0646m/real_sensor.csv
new file mode 100644
index 0000000000000000000000000000000000000000..51cc9e7dd2ede446fa0af77266949564b338976b
--- /dev/null
+++ b/s1/cylinder_0030_20/pose_03_pose3/press_depth_03_0.0646m/real_sensor.csv
@@ -0,0 +1,308 @@
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diff --git a/s1/cylinder_0030_20/pose_03_pose3/press_depth_04_0.0636m/real_sensor.csv b/s1/cylinder_0030_20/pose_03_pose3/press_depth_04_0.0636m/real_sensor.csv
new file mode 100644
index 0000000000000000000000000000000000000000..5c65fecff8472c82181c4282a8fc7fa0d00a5fb4
--- /dev/null
+++ b/s1/cylinder_0030_20/pose_03_pose3/press_depth_04_0.0636m/real_sensor.csv
@@ -0,0 +1,364 @@
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diff --git a/s1/cylinder_0030_20/pose_03_pose3/press_depth_05_0.0626m/real_sensor.csv b/s1/cylinder_0030_20/pose_03_pose3/press_depth_05_0.0626m/real_sensor.csv
new file mode 100644
index 0000000000000000000000000000000000000000..b7999ad3ca2ad485227f53b8162ae78d73182c45
--- /dev/null
+++ b/s1/cylinder_0030_20/pose_03_pose3/press_depth_05_0.0626m/real_sensor.csv
@@ -0,0 +1,431 @@
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diff --git a/s1/cylinder_0030_20/pose_03_pose3/press_depth_06_0.0616m/real_sensor.csv b/s1/cylinder_0030_20/pose_03_pose3/press_depth_06_0.0616m/real_sensor.csv
new file mode 100644
index 0000000000000000000000000000000000000000..9509ce24b276753b0f51d72026d36a3d83f313f7
--- /dev/null
+++ b/s1/cylinder_0030_20/pose_03_pose3/press_depth_06_0.0616m/real_sensor.csv
@@ -0,0 +1,497 @@
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diff --git a/s1/cylinder_0030_20/pose_03_pose3/press_depth_07_0.0606m/real_sensor.csv b/s1/cylinder_0030_20/pose_03_pose3/press_depth_07_0.0606m/real_sensor.csv
new file mode 100644
index 0000000000000000000000000000000000000000..51f3d1af727d618df313b66e0ccb94c510e5447a
--- /dev/null
+++ b/s1/cylinder_0030_20/pose_03_pose3/press_depth_07_0.0606m/real_sensor.csv
@@ -0,0 +1,575 @@
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diff --git a/s1/cylinder_0030_20/pose_03_pose3/press_depth_08_0.0596m/real_sensor.csv b/s1/cylinder_0030_20/pose_03_pose3/press_depth_08_0.0596m/real_sensor.csv
new file mode 100644
index 0000000000000000000000000000000000000000..ce3eab9ac16771e2d137486bca1709f050c80720
--- /dev/null
+++ b/s1/cylinder_0030_20/pose_03_pose3/press_depth_08_0.0596m/real_sensor.csv
@@ -0,0 +1,623 @@
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diff --git a/s1/cylinder_0030_20/pose_03_pose3/press_depth_09_0.0586m/real_sensor.csv b/s1/cylinder_0030_20/pose_03_pose3/press_depth_09_0.0586m/real_sensor.csv
new file mode 100644
index 0000000000000000000000000000000000000000..5a10aa0ef2c1f549a313a5bb35d6ebb44ef65758
--- /dev/null
+++ b/s1/cylinder_0030_20/pose_03_pose3/press_depth_09_0.0586m/real_sensor.csv
@@ -0,0 +1,685 @@
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diff --git a/s1/cylinder_0030_20/pose_03_pose3/press_depth_10_0.0576m/real_sensor.csv b/s1/cylinder_0030_20/pose_03_pose3/press_depth_10_0.0576m/real_sensor.csv
new file mode 100644
index 0000000000000000000000000000000000000000..ea9950bcbcad27f7b37994d28c653b55f0271cc7
--- /dev/null
+++ b/s1/cylinder_0030_20/pose_03_pose3/press_depth_10_0.0576m/real_sensor.csv
@@ -0,0 +1,762 @@
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diff --git a/s1/cylinder_0030_20/pose_04_pose4/press_depth_01_0.0666m/camera_frames.tar b/s1/cylinder_0030_20/pose_04_pose4/press_depth_01_0.0666m/camera_frames.tar
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diff --git a/s1/cylinder_0030_20/pose_04_pose4/press_depth_01_0.0666m/fem_node.csv b/s1/cylinder_0030_20/pose_04_pose4/press_depth_01_0.0666m/fem_node.csv
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diff --git a/s1/cylinder_0030_20/pose_04_pose4/press_depth_01_0.0666m/fem_sensor.csv b/s1/cylinder_0030_20/pose_04_pose4/press_depth_01_0.0666m/fem_sensor.csv
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index 0000000000000000000000000000000000000000..9e07cacb005c30a1ea96cc86adaa181b6555acb0
--- /dev/null
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diff --git a/s1/cylinder_0030_20/pose_04_pose4/press_depth_01_0.0666m/real_sensor.csv b/s1/cylinder_0030_20/pose_04_pose4/press_depth_01_0.0666m/real_sensor.csv
new file mode 100644
index 0000000000000000000000000000000000000000..5d1855e69f6f660a6c3fb4e21b900de36a541f06
--- /dev/null
+++ b/s1/cylinder_0030_20/pose_04_pose4/press_depth_01_0.0666m/real_sensor.csv
@@ -0,0 +1,160 @@
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diff --git a/s1/cylinder_0030_20/pose_04_pose4/press_depth_02_0.0656m/fem_sensor.csv b/s1/cylinder_0030_20/pose_04_pose4/press_depth_02_0.0656m/fem_sensor.csv
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index 0000000000000000000000000000000000000000..739420fb62ea4289ccc635b26df9b6dff1851e72
--- /dev/null
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diff --git a/s1/cylinder_0030_20/pose_04_pose4/press_depth_02_0.0656m/real_sensor.csv b/s1/cylinder_0030_20/pose_04_pose4/press_depth_02_0.0656m/real_sensor.csv
new file mode 100644
index 0000000000000000000000000000000000000000..ce8afd2bb23ce1baaec6285d464c8be5304a4ed3
--- /dev/null
+++ b/s1/cylinder_0030_20/pose_04_pose4/press_depth_02_0.0656m/real_sensor.csv
@@ -0,0 +1,227 @@
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diff --git a/s1/cylinder_0030_20/pose_04_pose4/press_depth_03_0.0646m/real_sensor.csv b/s1/cylinder_0030_20/pose_04_pose4/press_depth_03_0.0646m/real_sensor.csv
new file mode 100644
index 0000000000000000000000000000000000000000..97d623212e19494b98ec013b9208ccd361a5cd72
--- /dev/null
+++ b/s1/cylinder_0030_20/pose_04_pose4/press_depth_03_0.0646m/real_sensor.csv
@@ -0,0 +1,343 @@
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diff --git a/s1/cylinder_0030_20/pose_04_pose4/press_depth_04_0.0636m/real_sensor.csv b/s1/cylinder_0030_20/pose_04_pose4/press_depth_04_0.0636m/real_sensor.csv
new file mode 100644
index 0000000000000000000000000000000000000000..27f294aeb3954e4a259eae95295bc51cdd16d592
--- /dev/null
+++ b/s1/cylinder_0030_20/pose_04_pose4/press_depth_04_0.0636m/real_sensor.csv
@@ -0,0 +1,365 @@
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diff --git a/s1/cylinder_0030_20/pose_04_pose4/press_depth_05_0.0626m/real_sensor.csv b/s1/cylinder_0030_20/pose_04_pose4/press_depth_05_0.0626m/real_sensor.csv
new file mode 100644
index 0000000000000000000000000000000000000000..8e8b2afe8e9f81e45f3316ee05474a7684061aca
--- /dev/null
+++ b/s1/cylinder_0030_20/pose_04_pose4/press_depth_05_0.0626m/real_sensor.csv
@@ -0,0 +1,472 @@
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diff --git a/s1/cylinder_0030_20/pose_04_pose4/press_depth_06_0.0616m/real_sensor.csv b/s1/cylinder_0030_20/pose_04_pose4/press_depth_06_0.0616m/real_sensor.csv
new file mode 100644
index 0000000000000000000000000000000000000000..8daa835f86fbdc009aadae85aa3a59cbd5e0ba1f
--- /dev/null
+++ b/s1/cylinder_0030_20/pose_04_pose4/press_depth_06_0.0616m/real_sensor.csv
@@ -0,0 +1,502 @@
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diff --git a/s1/cylinder_0030_20/pose_04_pose4/press_depth_07_0.0606m/real_sensor.csv b/s1/cylinder_0030_20/pose_04_pose4/press_depth_07_0.0606m/real_sensor.csv
new file mode 100644
index 0000000000000000000000000000000000000000..2f07e6da1098791ee1fa54eee44a5835f94a5ae5
--- /dev/null
+++ b/s1/cylinder_0030_20/pose_04_pose4/press_depth_07_0.0606m/real_sensor.csv
@@ -0,0 +1,578 @@
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