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index d4b5e7ee690b4c5736dec49b8c625579e0700b3d..8accadd1fd117560966be0363aeb6cb0be16656c 100644
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diff --git a/s1/cylinder_0050_17.5/pose_02_pose2/press_depth_09_0.0536m/real_sensor.csv b/s1/cylinder_0050_17.5/pose_02_pose2/press_depth_09_0.0536m/real_sensor.csv
new file mode 100644
index 0000000000000000000000000000000000000000..e6a818750d7d43940245f1c0adf7fef6107937b2
--- /dev/null
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diff --git a/s1/cylinder_0050_17.5/pose_02_pose2/press_depth_10_0.0526m/real_sensor.csv b/s1/cylinder_0050_17.5/pose_02_pose2/press_depth_10_0.0526m/real_sensor.csv
new file mode 100644
index 0000000000000000000000000000000000000000..4673187422a34c6ed5dde9e96a03e7f81d1ca6f6
--- /dev/null
+++ b/s1/cylinder_0050_17.5/pose_02_pose2/press_depth_10_0.0526m/real_sensor.csv
@@ -0,0 +1,852 @@
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diff --git a/s1/cylinder_0050_17.5/pose_03_pose3/press_depth_01_0.0616m/camera_frames.tar b/s1/cylinder_0050_17.5/pose_03_pose3/press_depth_01_0.0616m/camera_frames.tar
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diff --git a/s1/cylinder_0050_17.5/pose_03_pose3/press_depth_01_0.0616m/fem_sensor.csv b/s1/cylinder_0050_17.5/pose_03_pose3/press_depth_01_0.0616m/fem_sensor.csv
new file mode 100644
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--- /dev/null
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diff --git a/s1/cylinder_0050_17.5/pose_03_pose3/press_depth_01_0.0616m/real_sensor.csv b/s1/cylinder_0050_17.5/pose_03_pose3/press_depth_01_0.0616m/real_sensor.csv
new file mode 100644
index 0000000000000000000000000000000000000000..8963392069745a7da79c85431cb385314e5f8450
--- /dev/null
+++ b/s1/cylinder_0050_17.5/pose_03_pose3/press_depth_01_0.0616m/real_sensor.csv
@@ -0,0 +1,207 @@
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diff --git a/s1/cylinder_0050_17.5/pose_03_pose3/press_depth_02_0.0606m/real_sensor.csv b/s1/cylinder_0050_17.5/pose_03_pose3/press_depth_02_0.0606m/real_sensor.csv
new file mode 100644
index 0000000000000000000000000000000000000000..e3b2a346abacb9d8bd11d6e20ea1275b0c697089
--- /dev/null
+++ b/s1/cylinder_0050_17.5/pose_03_pose3/press_depth_02_0.0606m/real_sensor.csv
@@ -0,0 +1,274 @@
+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_0050_17.5/pose_03_pose3/press_depth_03_0.0596m/real_sensor.csv b/s1/cylinder_0050_17.5/pose_03_pose3/press_depth_03_0.0596m/real_sensor.csv
new file mode 100644
index 0000000000000000000000000000000000000000..05a00e46c99d8d8e825be36b0d35343fc74566cb
--- /dev/null
+++ b/s1/cylinder_0050_17.5/pose_03_pose3/press_depth_03_0.0596m/real_sensor.csv
@@ -0,0 +1,366 @@
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diff --git a/s1/cylinder_0050_17.5/pose_03_pose3/press_depth_04_0.0586m/fem_sensor.csv b/s1/cylinder_0050_17.5/pose_03_pose3/press_depth_04_0.0586m/fem_sensor.csv
new file mode 100644
index 0000000000000000000000000000000000000000..0cc1e581f23a61b274a17df097321b973bfb2c47
--- /dev/null
+++ b/s1/cylinder_0050_17.5/pose_03_pose3/press_depth_04_0.0586m/fem_sensor.csv
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diff --git a/s1/cylinder_0050_17.5/pose_03_pose3/press_depth_04_0.0586m/real_sensor.csv b/s1/cylinder_0050_17.5/pose_03_pose3/press_depth_04_0.0586m/real_sensor.csv
new file mode 100644
index 0000000000000000000000000000000000000000..28477ecc742f755c92b1a4ee496df689fb71ec57
--- /dev/null
+++ b/s1/cylinder_0050_17.5/pose_03_pose3/press_depth_04_0.0586m/real_sensor.csv
@@ -0,0 +1,423 @@
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diff --git a/s1/cylinder_0050_17.5/pose_03_pose3/press_depth_05_0.0576m/real_sensor.csv b/s1/cylinder_0050_17.5/pose_03_pose3/press_depth_05_0.0576m/real_sensor.csv
new file mode 100644
index 0000000000000000000000000000000000000000..198cea07138d6bfac66f4db3bd91881de79b0bc6
--- /dev/null
+++ b/s1/cylinder_0050_17.5/pose_03_pose3/press_depth_05_0.0576m/real_sensor.csv
@@ -0,0 +1,498 @@
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--- /dev/null
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diff --git a/s1/cylinder_0050_17.5/pose_03_pose3/press_depth_06_0.0566m/real_sensor.csv b/s1/cylinder_0050_17.5/pose_03_pose3/press_depth_06_0.0566m/real_sensor.csv
new file mode 100644
index 0000000000000000000000000000000000000000..7f503e9f0ab592cd611efb266a6786decd82ab77
--- /dev/null
+++ b/s1/cylinder_0050_17.5/pose_03_pose3/press_depth_06_0.0566m/real_sensor.csv
@@ -0,0 +1,578 @@
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diff --git a/s1/cylinder_0050_17.5/pose_03_pose3/press_depth_07_0.0556m/real_sensor.csv b/s1/cylinder_0050_17.5/pose_03_pose3/press_depth_07_0.0556m/real_sensor.csv
new file mode 100644
index 0000000000000000000000000000000000000000..e6e842422354fb4ea77e0b7d62294aaf06191350
--- /dev/null
+++ b/s1/cylinder_0050_17.5/pose_03_pose3/press_depth_07_0.0556m/real_sensor.csv
@@ -0,0 +1,642 @@
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diff --git a/s1/cylinder_0050_17.5/pose_03_pose3/press_depth_08_0.0546m/real_sensor.csv b/s1/cylinder_0050_17.5/pose_03_pose3/press_depth_08_0.0546m/real_sensor.csv
new file mode 100644
index 0000000000000000000000000000000000000000..8e6c938fe068e253b936ee6b95da009d648287d7
--- /dev/null
+++ b/s1/cylinder_0050_17.5/pose_03_pose3/press_depth_08_0.0546m/real_sensor.csv
@@ -0,0 +1,700 @@
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diff --git a/s1/cylinder_0050_17.5/pose_03_pose3/press_depth_09_0.0536m/real_sensor.csv b/s1/cylinder_0050_17.5/pose_03_pose3/press_depth_09_0.0536m/real_sensor.csv
new file mode 100644
index 0000000000000000000000000000000000000000..7315cc609d2a52bb76800bc52e5de1af2d5edd07
--- /dev/null
+++ b/s1/cylinder_0050_17.5/pose_03_pose3/press_depth_09_0.0536m/real_sensor.csv
@@ -0,0 +1,774 @@
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diff --git a/s1/cylinder_0050_17.5/pose_03_pose3/press_depth_10_0.0526m/real_sensor.csv b/s1/cylinder_0050_17.5/pose_03_pose3/press_depth_10_0.0526m/real_sensor.csv
new file mode 100644
index 0000000000000000000000000000000000000000..ac2baf3ea0fd8f6657306216d9b7e3201e5b5c8b
--- /dev/null
+++ b/s1/cylinder_0050_17.5/pose_03_pose3/press_depth_10_0.0526m/real_sensor.csv
@@ -0,0 +1,835 @@
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diff --git a/s1/cylinder_0050_17.5/pose_04_pose4/press_depth_01_0.0616m/real_sensor.csv b/s1/cylinder_0050_17.5/pose_04_pose4/press_depth_01_0.0616m/real_sensor.csv
new file mode 100644
index 0000000000000000000000000000000000000000..990a3de1cd14f85ed42f9d53fcfb812b841cec3e
--- /dev/null
+++ b/s1/cylinder_0050_17.5/pose_04_pose4/press_depth_01_0.0616m/real_sensor.csv
@@ -0,0 +1,219 @@
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diff --git a/s1/cylinder_0050_17.5/pose_04_pose4/press_depth_02_0.0606m/real_sensor.csv b/s1/cylinder_0050_17.5/pose_04_pose4/press_depth_02_0.0606m/real_sensor.csv
new file mode 100644
index 0000000000000000000000000000000000000000..e910a38fb928841df0e664c726c59ae9854d5952
--- /dev/null
+++ b/s1/cylinder_0050_17.5/pose_04_pose4/press_depth_02_0.0606m/real_sensor.csv
@@ -0,0 +1,277 @@
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diff --git a/s1/cylinder_0050_17.5/pose_04_pose4/press_depth_03_0.0596m/real_sensor.csv b/s1/cylinder_0050_17.5/pose_04_pose4/press_depth_03_0.0596m/real_sensor.csv
new file mode 100644
index 0000000000000000000000000000000000000000..b52c0e4299e0025204a204485f9d58d9c28c38e8
--- /dev/null
+++ b/s1/cylinder_0050_17.5/pose_04_pose4/press_depth_03_0.0596m/real_sensor.csv
@@ -0,0 +1,357 @@
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diff --git a/s1/cylinder_0050_17.5/pose_04_pose4/press_depth_04_0.0586m/real_sensor.csv b/s1/cylinder_0050_17.5/pose_04_pose4/press_depth_04_0.0586m/real_sensor.csv
new file mode 100644
index 0000000000000000000000000000000000000000..8c0f763a718cc9616278006f9041ee2a311cd127
--- /dev/null
+++ b/s1/cylinder_0050_17.5/pose_04_pose4/press_depth_04_0.0586m/real_sensor.csv
@@ -0,0 +1,421 @@
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diff --git a/s1/cylinder_0050_17.5/pose_04_pose4/press_depth_05_0.0576m/real_sensor.csv b/s1/cylinder_0050_17.5/pose_04_pose4/press_depth_05_0.0576m/real_sensor.csv
new file mode 100644
index 0000000000000000000000000000000000000000..a0f6e5e0a708a5164d5f95b9543e081fc251215e
--- /dev/null
+++ b/s1/cylinder_0050_17.5/pose_04_pose4/press_depth_05_0.0576m/real_sensor.csv
@@ -0,0 +1,505 @@
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diff --git a/s1/cylinder_0050_17.5/pose_04_pose4/press_depth_06_0.0566m/real_sensor.csv b/s1/cylinder_0050_17.5/pose_04_pose4/press_depth_06_0.0566m/real_sensor.csv
new file mode 100644
index 0000000000000000000000000000000000000000..50703b4cd3f3f075896a4f91c513675145730ae9
--- /dev/null
+++ b/s1/cylinder_0050_17.5/pose_04_pose4/press_depth_06_0.0566m/real_sensor.csv
@@ -0,0 +1,550 @@
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diff --git a/s1/cylinder_0050_17.5/pose_04_pose4/press_depth_07_0.0556m/real_sensor.csv b/s1/cylinder_0050_17.5/pose_04_pose4/press_depth_07_0.0556m/real_sensor.csv
new file mode 100644
index 0000000000000000000000000000000000000000..391784c3f1df33822f37e48e0e206d2ed07e3c1c
--- /dev/null
+++ b/s1/cylinder_0050_17.5/pose_04_pose4/press_depth_07_0.0556m/real_sensor.csv
@@ -0,0 +1,637 @@
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diff --git a/s1/cylinder_0050_17.5/pose_04_pose4/press_depth_08_0.0546m/real_sensor.csv b/s1/cylinder_0050_17.5/pose_04_pose4/press_depth_08_0.0546m/real_sensor.csv
new file mode 100644
index 0000000000000000000000000000000000000000..94ec7af681bc60b1c6848907f3abcf2a2144965c
--- /dev/null
+++ b/s1/cylinder_0050_17.5/pose_04_pose4/press_depth_08_0.0546m/real_sensor.csv
@@ -0,0 +1,698 @@
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diff --git a/s1/cylinder_0050_17.5/pose_04_pose4/press_depth_09_0.0536m/real_sensor.csv b/s1/cylinder_0050_17.5/pose_04_pose4/press_depth_09_0.0536m/real_sensor.csv
new file mode 100644
index 0000000000000000000000000000000000000000..e338df049f7319e7b466a3c2557b2973aacc836a
--- /dev/null
+++ b/s1/cylinder_0050_17.5/pose_04_pose4/press_depth_09_0.0536m/real_sensor.csv
@@ -0,0 +1,783 @@
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diff --git a/s1/cylinder_0050_17.5/pose_04_pose4/press_depth_10_0.0526m/real_sensor.csv b/s1/cylinder_0050_17.5/pose_04_pose4/press_depth_10_0.0526m/real_sensor.csv
new file mode 100644
index 0000000000000000000000000000000000000000..f162480612b22e33fd139e463b199f0f206503b7
--- /dev/null
+++ b/s1/cylinder_0050_17.5/pose_04_pose4/press_depth_10_0.0526m/real_sensor.csv
@@ -0,0 +1,858 @@
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diff --git a/s1/cylinder_0050_17.5/pose_05_pose5/press_depth_01_0.0616m/real_sensor.csv b/s1/cylinder_0050_17.5/pose_05_pose5/press_depth_01_0.0616m/real_sensor.csv
new file mode 100644
index 0000000000000000000000000000000000000000..a2a46315655f72df00c167b0f33a73ae4bb5a1ca
--- /dev/null
+++ b/s1/cylinder_0050_17.5/pose_05_pose5/press_depth_01_0.0616m/real_sensor.csv
@@ -0,0 +1,173 @@
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diff --git a/s1/cylinder_0050_17.5/pose_05_pose5/press_depth_02_0.0606m/real_sensor.csv b/s1/cylinder_0050_17.5/pose_05_pose5/press_depth_02_0.0606m/real_sensor.csv
new file mode 100644
index 0000000000000000000000000000000000000000..4db90ddac16bcda4afac4ba491722cb5296f7ad2
--- /dev/null
+++ b/s1/cylinder_0050_17.5/pose_05_pose5/press_depth_02_0.0606m/real_sensor.csv
@@ -0,0 +1,221 @@
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diff --git a/s1/cylinder_0050_17.5/pose_05_pose5/press_depth_03_0.0596m/real_sensor.csv b/s1/cylinder_0050_17.5/pose_05_pose5/press_depth_03_0.0596m/real_sensor.csv
new file mode 100644
index 0000000000000000000000000000000000000000..362c2c948c1d2eace5149c6f2db2e7b8504e1352
--- /dev/null
+++ b/s1/cylinder_0050_17.5/pose_05_pose5/press_depth_03_0.0596m/real_sensor.csv
@@ -0,0 +1,296 @@
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diff --git a/s1/cylinder_0050_17.5/pose_05_pose5/press_depth_04_0.0586m/real_sensor.csv b/s1/cylinder_0050_17.5/pose_05_pose5/press_depth_04_0.0586m/real_sensor.csv
new file mode 100644
index 0000000000000000000000000000000000000000..6ea749aa71e2aeb43ea861b9b5c9ee4121ae6697
--- /dev/null
+++ b/s1/cylinder_0050_17.5/pose_05_pose5/press_depth_04_0.0586m/real_sensor.csv
@@ -0,0 +1,359 @@
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diff --git a/s1/cylinder_0050_17.5/pose_05_pose5/press_depth_05_0.0576m/real_sensor.csv b/s1/cylinder_0050_17.5/pose_05_pose5/press_depth_05_0.0576m/real_sensor.csv
new file mode 100644
index 0000000000000000000000000000000000000000..f59617188463d9802aedecb9ec71810920baf04b
--- /dev/null
+++ b/s1/cylinder_0050_17.5/pose_05_pose5/press_depth_05_0.0576m/real_sensor.csv
@@ -0,0 +1,444 @@
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diff --git a/s1/cylinder_0050_17.5/pose_05_pose5/press_depth_06_0.0566m/real_sensor.csv b/s1/cylinder_0050_17.5/pose_05_pose5/press_depth_06_0.0566m/real_sensor.csv
new file mode 100644
index 0000000000000000000000000000000000000000..7ec63ce075d962c5de007e008d1001b1bdc7ed13
--- /dev/null
+++ b/s1/cylinder_0050_17.5/pose_05_pose5/press_depth_06_0.0566m/real_sensor.csv
@@ -0,0 +1,510 @@
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diff --git a/s1/cylinder_0050_17.5/pose_05_pose5/press_depth_07_0.0556m/real_sensor.csv b/s1/cylinder_0050_17.5/pose_05_pose5/press_depth_07_0.0556m/real_sensor.csv
new file mode 100644
index 0000000000000000000000000000000000000000..e7324740b2bd896de57f728ad14469d071f1dc10
--- /dev/null
+++ b/s1/cylinder_0050_17.5/pose_05_pose5/press_depth_07_0.0556m/real_sensor.csv
@@ -0,0 +1,597 @@
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diff --git a/s1/cylinder_0050_17.5/pose_05_pose5/press_depth_08_0.0546m/real_sensor.csv b/s1/cylinder_0050_17.5/pose_05_pose5/press_depth_08_0.0546m/real_sensor.csv
new file mode 100644
index 0000000000000000000000000000000000000000..81a543ee35e01c5f90632dc83a40d74cb1387903
--- /dev/null
+++ b/s1/cylinder_0050_17.5/pose_05_pose5/press_depth_08_0.0546m/real_sensor.csv
@@ -0,0 +1,670 @@
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diff --git a/s1/cylinder_0050_17.5/pose_05_pose5/press_depth_09_0.0536m/real_sensor.csv b/s1/cylinder_0050_17.5/pose_05_pose5/press_depth_09_0.0536m/real_sensor.csv
new file mode 100644
index 0000000000000000000000000000000000000000..66ffd9bfee62cbf034eb5bca41e3dc615ca3c93c
--- /dev/null
+++ b/s1/cylinder_0050_17.5/pose_05_pose5/press_depth_09_0.0536m/real_sensor.csv
@@ -0,0 +1,730 @@
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diff --git a/s1/cylinder_0050_17.5/pose_05_pose5/press_depth_10_0.0526m/real_sensor.csv b/s1/cylinder_0050_17.5/pose_05_pose5/press_depth_10_0.0526m/real_sensor.csv
new file mode 100644
index 0000000000000000000000000000000000000000..788df8f02be5ae689d03f0139d8b427ffbf9b113
--- /dev/null
+++ b/s1/cylinder_0050_17.5/pose_05_pose5/press_depth_10_0.0526m/real_sensor.csv
@@ -0,0 +1,783 @@
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diff --git a/s1/cylinder_0050_20/pose_01_pose1/press_depth_01_0.0666m/real_sensor.csv b/s1/cylinder_0050_20/pose_01_pose1/press_depth_01_0.0666m/real_sensor.csv
new file mode 100644
index 0000000000000000000000000000000000000000..7585e8b3c297708aa838d5f6db81a6cb68d8c70d
--- /dev/null
+++ b/s1/cylinder_0050_20/pose_01_pose1/press_depth_01_0.0666m/real_sensor.csv
@@ -0,0 +1,247 @@
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diff --git a/s1/cylinder_0050_20/pose_01_pose1/press_depth_02_0.0656m/real_sensor.csv b/s1/cylinder_0050_20/pose_01_pose1/press_depth_02_0.0656m/real_sensor.csv
new file mode 100644
index 0000000000000000000000000000000000000000..138b7d58d1025077279e1b2ae7874b8da721d768
--- /dev/null
+++ b/s1/cylinder_0050_20/pose_01_pose1/press_depth_02_0.0656m/real_sensor.csv
@@ -0,0 +1,312 @@
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diff --git a/s1/cylinder_0050_20/pose_01_pose1/press_depth_03_0.0646m/real_sensor.csv b/s1/cylinder_0050_20/pose_01_pose1/press_depth_03_0.0646m/real_sensor.csv
new file mode 100644
index 0000000000000000000000000000000000000000..fcb720be9b9027dbb4ff897a6dbf10058def1fd6
--- /dev/null
+++ b/s1/cylinder_0050_20/pose_01_pose1/press_depth_03_0.0646m/real_sensor.csv
@@ -0,0 +1,380 @@
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diff --git a/s1/cylinder_0050_20/pose_01_pose1/press_depth_04_0.0636m/real_sensor.csv b/s1/cylinder_0050_20/pose_01_pose1/press_depth_04_0.0636m/real_sensor.csv
new file mode 100644
index 0000000000000000000000000000000000000000..202ca178590011ccdee3984f5855aed2661f4d3b
--- /dev/null
+++ b/s1/cylinder_0050_20/pose_01_pose1/press_depth_04_0.0636m/real_sensor.csv
@@ -0,0 +1,445 @@
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diff --git a/s1/cylinder_0050_20/pose_01_pose1/press_depth_05_0.0626m/real_sensor.csv b/s1/cylinder_0050_20/pose_01_pose1/press_depth_05_0.0626m/real_sensor.csv
new file mode 100644
index 0000000000000000000000000000000000000000..93409c65f12e8b5526e7e151436ed127ce7e3e61
--- /dev/null
+++ b/s1/cylinder_0050_20/pose_01_pose1/press_depth_05_0.0626m/real_sensor.csv
@@ -0,0 +1,516 @@
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diff --git a/s1/cylinder_0050_20/pose_01_pose1/press_depth_06_0.0616m/real_sensor.csv b/s1/cylinder_0050_20/pose_01_pose1/press_depth_06_0.0616m/real_sensor.csv
new file mode 100644
index 0000000000000000000000000000000000000000..e6ad766049a5429faa5d955332b417597e4f821b
--- /dev/null
+++ b/s1/cylinder_0050_20/pose_01_pose1/press_depth_06_0.0616m/real_sensor.csv
@@ -0,0 +1,575 @@
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diff --git a/s1/cylinder_0050_20/pose_01_pose1/press_depth_07_0.0606m/real_sensor.csv b/s1/cylinder_0050_20/pose_01_pose1/press_depth_07_0.0606m/real_sensor.csv
new file mode 100644
index 0000000000000000000000000000000000000000..66855167c48ae2dfad35ee2851d51aea29f829c6
--- /dev/null
+++ b/s1/cylinder_0050_20/pose_01_pose1/press_depth_07_0.0606m/real_sensor.csv
@@ -0,0 +1,616 @@
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diff --git a/s1/cylinder_0050_20/pose_01_pose1/press_depth_08_0.0596m/real_sensor.csv b/s1/cylinder_0050_20/pose_01_pose1/press_depth_08_0.0596m/real_sensor.csv
new file mode 100644
index 0000000000000000000000000000000000000000..5cdb9f0410de3dcf33a66bd2967debdce91278e9
--- /dev/null
+++ b/s1/cylinder_0050_20/pose_01_pose1/press_depth_08_0.0596m/real_sensor.csv
@@ -0,0 +1,691 @@
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diff --git a/s1/cylinder_0050_20/pose_01_pose1/press_depth_09_0.0586m/real_sensor.csv b/s1/cylinder_0050_20/pose_01_pose1/press_depth_09_0.0586m/real_sensor.csv
new file mode 100644
index 0000000000000000000000000000000000000000..cc9a3269dade687b0295d1dbf2803d33aeb546d0
--- /dev/null
+++ b/s1/cylinder_0050_20/pose_01_pose1/press_depth_09_0.0586m/real_sensor.csv
@@ -0,0 +1,730 @@
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diff --git a/s1/cylinder_0050_20/pose_01_pose1/press_depth_10_0.0576m/camera_frames.tar b/s1/cylinder_0050_20/pose_01_pose1/press_depth_10_0.0576m/camera_frames.tar
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diff --git a/s1/cylinder_0050_20/pose_01_pose1/press_depth_10_0.0576m/fem_node.csv b/s1/cylinder_0050_20/pose_01_pose1/press_depth_10_0.0576m/fem_node.csv
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index 0000000000000000000000000000000000000000..58d244ca99cd567a65506031ae8808952150af4d
--- /dev/null
+++ b/s1/cylinder_0050_20/pose_01_pose1/press_depth_10_0.0576m/fem_node.csv
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diff --git a/s1/cylinder_0050_20/pose_01_pose1/press_depth_10_0.0576m/fem_sensor.csv b/s1/cylinder_0050_20/pose_01_pose1/press_depth_10_0.0576m/fem_sensor.csv
new file mode 100644
index 0000000000000000000000000000000000000000..447edfab519c2c722c23a93cd5e5de8b6fed07a5
--- /dev/null
+++ b/s1/cylinder_0050_20/pose_01_pose1/press_depth_10_0.0576m/fem_sensor.csv
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diff --git a/s1/cylinder_0050_20/pose_01_pose1/press_depth_10_0.0576m/real_sensor.csv b/s1/cylinder_0050_20/pose_01_pose1/press_depth_10_0.0576m/real_sensor.csv
new file mode 100644
index 0000000000000000000000000000000000000000..ccb978979770e34866d62d6aceafe369814d2d7c
--- /dev/null
+++ b/s1/cylinder_0050_20/pose_01_pose1/press_depth_10_0.0576m/real_sensor.csv
@@ -0,0 +1,801 @@
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diff --git a/s1/cylinder_0050_20/pose_02_pose2/press_depth_01_0.0666m/real_sensor.csv b/s1/cylinder_0050_20/pose_02_pose2/press_depth_01_0.0666m/real_sensor.csv
new file mode 100644
index 0000000000000000000000000000000000000000..d6b7d1e46aaf9f6509a09f6f4e6418294cf0c4aa
--- /dev/null
+++ b/s1/cylinder_0050_20/pose_02_pose2/press_depth_01_0.0666m/real_sensor.csv
@@ -0,0 +1,187 @@
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diff --git a/s1/cylinder_0050_20/pose_02_pose2/press_depth_02_0.0656m/real_sensor.csv b/s1/cylinder_0050_20/pose_02_pose2/press_depth_02_0.0656m/real_sensor.csv
new file mode 100644
index 0000000000000000000000000000000000000000..0d65151c963affa2390879eb8ea0b78ca8eae033
--- /dev/null
+++ b/s1/cylinder_0050_20/pose_02_pose2/press_depth_02_0.0656m/real_sensor.csv
@@ -0,0 +1,282 @@
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diff --git a/s1/cylinder_0050_20/pose_02_pose2/press_depth_03_0.0646m/real_sensor.csv b/s1/cylinder_0050_20/pose_02_pose2/press_depth_03_0.0646m/real_sensor.csv
new file mode 100644
index 0000000000000000000000000000000000000000..37318ad21f7a06953872634c5070066bbb1fb107
--- /dev/null
+++ b/s1/cylinder_0050_20/pose_02_pose2/press_depth_03_0.0646m/real_sensor.csv
@@ -0,0 +1,352 @@
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diff --git a/s1/cylinder_0050_20/pose_02_pose2/press_depth_04_0.0636m/real_sensor.csv b/s1/cylinder_0050_20/pose_02_pose2/press_depth_04_0.0636m/real_sensor.csv
new file mode 100644
index 0000000000000000000000000000000000000000..d1901545050a46f71208adae4f1e7ae16eb49bf1
--- /dev/null
+++ b/s1/cylinder_0050_20/pose_02_pose2/press_depth_04_0.0636m/real_sensor.csv
@@ -0,0 +1,407 @@
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diff --git a/s1/cylinder_0050_20/pose_02_pose2/press_depth_05_0.0626m/real_sensor.csv b/s1/cylinder_0050_20/pose_02_pose2/press_depth_05_0.0626m/real_sensor.csv
new file mode 100644
index 0000000000000000000000000000000000000000..a811641db5c8d99e620265db9263d764750cbab7
--- /dev/null
+++ b/s1/cylinder_0050_20/pose_02_pose2/press_depth_05_0.0626m/real_sensor.csv
@@ -0,0 +1,464 @@
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diff --git a/s1/cylinder_0050_20/pose_02_pose2/press_depth_06_0.0616m/real_sensor.csv b/s1/cylinder_0050_20/pose_02_pose2/press_depth_06_0.0616m/real_sensor.csv
new file mode 100644
index 0000000000000000000000000000000000000000..d850855e47df618004f036fff3f144d412bf2e61
--- /dev/null
+++ b/s1/cylinder_0050_20/pose_02_pose2/press_depth_06_0.0616m/real_sensor.csv
@@ -0,0 +1,539 @@
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diff --git a/s1/cylinder_0050_20/pose_02_pose2/press_depth_07_0.0606m/real_sensor.csv b/s1/cylinder_0050_20/pose_02_pose2/press_depth_07_0.0606m/real_sensor.csv
new file mode 100644
index 0000000000000000000000000000000000000000..ff0561eaa050a175cc6fd9b74ee5c14b3169c4ca
--- /dev/null
+++ b/s1/cylinder_0050_20/pose_02_pose2/press_depth_07_0.0606m/real_sensor.csv
@@ -0,0 +1,578 @@
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diff --git a/s1/cylinder_0050_20/pose_02_pose2/press_depth_08_0.0596m/real_sensor.csv b/s1/cylinder_0050_20/pose_02_pose2/press_depth_08_0.0596m/real_sensor.csv
new file mode 100644
index 0000000000000000000000000000000000000000..d1159bc1e82e7f86cdf9244073e62dcf0834e0c6
--- /dev/null
+++ b/s1/cylinder_0050_20/pose_02_pose2/press_depth_08_0.0596m/real_sensor.csv
@@ -0,0 +1,673 @@
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diff --git a/s1/cylinder_0050_20/pose_02_pose2/press_depth_09_0.0586m/real_sensor.csv b/s1/cylinder_0050_20/pose_02_pose2/press_depth_09_0.0586m/real_sensor.csv
new file mode 100644
index 0000000000000000000000000000000000000000..56b1536ae8fdc988a24f61b11e86b243f9ef5ac0
--- /dev/null
+++ b/s1/cylinder_0050_20/pose_02_pose2/press_depth_09_0.0586m/real_sensor.csv
@@ -0,0 +1,716 @@
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diff --git a/s1/cylinder_0050_20/pose_02_pose2/press_depth_10_0.0576m/real_sensor.csv b/s1/cylinder_0050_20/pose_02_pose2/press_depth_10_0.0576m/real_sensor.csv
new file mode 100644
index 0000000000000000000000000000000000000000..316be390b6a40cf26437d535e2a0356a2f854b14
--- /dev/null
+++ b/s1/cylinder_0050_20/pose_02_pose2/press_depth_10_0.0576m/real_sensor.csv
@@ -0,0 +1,815 @@
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diff --git a/s1/cylinder_0050_20/pose_03_pose3/press_depth_01_0.0666m/real_sensor.csv b/s1/cylinder_0050_20/pose_03_pose3/press_depth_01_0.0666m/real_sensor.csv
new file mode 100644
index 0000000000000000000000000000000000000000..12d48f27cffe82eeace04bde1bc9b3eac26d5abb
--- /dev/null
+++ b/s1/cylinder_0050_20/pose_03_pose3/press_depth_01_0.0666m/real_sensor.csv
@@ -0,0 +1,202 @@
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diff --git a/s1/cylinder_0050_20/pose_03_pose3/press_depth_02_0.0656m/real_sensor.csv b/s1/cylinder_0050_20/pose_03_pose3/press_depth_02_0.0656m/real_sensor.csv
new file mode 100644
index 0000000000000000000000000000000000000000..db57e8c2de10440438a703d73e18ab141fc41f81
--- /dev/null
+++ b/s1/cylinder_0050_20/pose_03_pose3/press_depth_02_0.0656m/real_sensor.csv
@@ -0,0 +1,263 @@
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diff --git a/s1/cylinder_0050_20/pose_03_pose3/press_depth_03_0.0646m/real_sensor.csv b/s1/cylinder_0050_20/pose_03_pose3/press_depth_03_0.0646m/real_sensor.csv
new file mode 100644
index 0000000000000000000000000000000000000000..1ecb7eb55d256ac15e587ceae7a7b8255831a08a
--- /dev/null
+++ b/s1/cylinder_0050_20/pose_03_pose3/press_depth_03_0.0646m/real_sensor.csv
@@ -0,0 +1,337 @@
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diff --git a/s1/cylinder_0050_20/pose_03_pose3/press_depth_04_0.0636m/real_sensor.csv b/s1/cylinder_0050_20/pose_03_pose3/press_depth_04_0.0636m/real_sensor.csv
new file mode 100644
index 0000000000000000000000000000000000000000..f1e6086bb47403c234ee8cca52184b28bc059429
--- /dev/null
+++ b/s1/cylinder_0050_20/pose_03_pose3/press_depth_04_0.0636m/real_sensor.csv
@@ -0,0 +1,411 @@
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diff --git a/s1/cylinder_0050_20/pose_03_pose3/press_depth_05_0.0626m/real_sensor.csv b/s1/cylinder_0050_20/pose_03_pose3/press_depth_05_0.0626m/real_sensor.csv
new file mode 100644
index 0000000000000000000000000000000000000000..a4172c2e64788717110fe5e1297746a748132b0d
--- /dev/null
+++ b/s1/cylinder_0050_20/pose_03_pose3/press_depth_05_0.0626m/real_sensor.csv
@@ -0,0 +1,489 @@
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diff --git a/s1/cylinder_0050_20/pose_03_pose3/press_depth_06_0.0616m/real_sensor.csv b/s1/cylinder_0050_20/pose_03_pose3/press_depth_06_0.0616m/real_sensor.csv
new file mode 100644
index 0000000000000000000000000000000000000000..91ebc2a4da8f55900cfc44ef5664d9d60b567790
--- /dev/null
+++ b/s1/cylinder_0050_20/pose_03_pose3/press_depth_06_0.0616m/real_sensor.csv
@@ -0,0 +1,542 @@
+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_0050_20/pose_03_pose3/press_depth_07_0.0606m/real_sensor.csv b/s1/cylinder_0050_20/pose_03_pose3/press_depth_07_0.0606m/real_sensor.csv
new file mode 100644
index 0000000000000000000000000000000000000000..f75d697deeef570f118764192b28fcdbe677b42a
--- /dev/null
+++ b/s1/cylinder_0050_20/pose_03_pose3/press_depth_07_0.0606m/real_sensor.csv
@@ -0,0 +1,606 @@
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diff --git a/s1/cylinder_0050_20/pose_03_pose3/press_depth_08_0.0596m/real_sensor.csv b/s1/cylinder_0050_20/pose_03_pose3/press_depth_08_0.0596m/real_sensor.csv
new file mode 100644
index 0000000000000000000000000000000000000000..736768c3397a62e1725aefae851351d3ffcdc806
--- /dev/null
+++ b/s1/cylinder_0050_20/pose_03_pose3/press_depth_08_0.0596m/real_sensor.csv
@@ -0,0 +1,664 @@
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diff --git a/s1/cylinder_0050_20/pose_03_pose3/press_depth_09_0.0586m/real_sensor.csv b/s1/cylinder_0050_20/pose_03_pose3/press_depth_09_0.0586m/real_sensor.csv
new file mode 100644
index 0000000000000000000000000000000000000000..e22a227d6df5fef29172f6b51faf56b83be912a6
--- /dev/null
+++ b/s1/cylinder_0050_20/pose_03_pose3/press_depth_09_0.0586m/real_sensor.csv
@@ -0,0 +1,736 @@
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diff --git a/s1/cylinder_0050_20/pose_03_pose3/press_depth_10_0.0576m/real_sensor.csv b/s1/cylinder_0050_20/pose_03_pose3/press_depth_10_0.0576m/real_sensor.csv
new file mode 100644
index 0000000000000000000000000000000000000000..943b5f64deab4d87879a90b0fca6d5d39caf097d
--- /dev/null
+++ b/s1/cylinder_0050_20/pose_03_pose3/press_depth_10_0.0576m/real_sensor.csv
@@ -0,0 +1,785 @@
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diff --git a/s1/cylinder_0050_20/pose_04_pose4/press_depth_01_0.0666m/real_sensor.csv b/s1/cylinder_0050_20/pose_04_pose4/press_depth_01_0.0666m/real_sensor.csv
new file mode 100644
index 0000000000000000000000000000000000000000..09685ef50520ff6e75db9ce9e4f61e7fb0ad75f6
--- /dev/null
+++ b/s1/cylinder_0050_20/pose_04_pose4/press_depth_01_0.0666m/real_sensor.csv
@@ -0,0 +1,178 @@
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