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diff --git a/s2/cylinder_0030_12.5/pose_02_pose2/press_depth_02_0.0388m/real_sensor.csv b/s2/cylinder_0030_12.5/pose_02_pose2/press_depth_02_0.0388m/real_sensor.csv
new file mode 100644
index 0000000000000000000000000000000000000000..090559ef969a2d3e53b90f04e1d5bb337bbfd5f9
--- /dev/null
+++ b/s2/cylinder_0030_12.5/pose_02_pose2/press_depth_02_0.0388m/real_sensor.csv
@@ -0,0 +1,294 @@
+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/s2/cylinder_0030_12.5/pose_02_pose2/press_depth_03_0.0368m/real_sensor.csv b/s2/cylinder_0030_12.5/pose_02_pose2/press_depth_03_0.0368m/real_sensor.csv
new file mode 100644
index 0000000000000000000000000000000000000000..abf9f0028c7fdca770ada5ed270b79fe14a7d6b7
--- /dev/null
+++ b/s2/cylinder_0030_12.5/pose_02_pose2/press_depth_03_0.0368m/real_sensor.csv
@@ -0,0 +1,419 @@
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diff --git a/s2/cylinder_0030_12.5/pose_02_pose2/press_depth_04_0.0348m/real_sensor.csv b/s2/cylinder_0030_12.5/pose_02_pose2/press_depth_04_0.0348m/real_sensor.csv
new file mode 100644
index 0000000000000000000000000000000000000000..644831b69c47f4dfa0558aecf39d2f7a813328e4
--- /dev/null
+++ b/s2/cylinder_0030_12.5/pose_02_pose2/press_depth_04_0.0348m/real_sensor.csv
@@ -0,0 +1,547 @@
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diff --git a/s2/cylinder_0030_12.5/pose_02_pose2/press_depth_05_0.0328m/real_sensor.csv b/s2/cylinder_0030_12.5/pose_02_pose2/press_depth_05_0.0328m/real_sensor.csv
new file mode 100644
index 0000000000000000000000000000000000000000..9157df237a5b6cc7bed7e2cc76471a9c7cb1688f
--- /dev/null
+++ b/s2/cylinder_0030_12.5/pose_02_pose2/press_depth_05_0.0328m/real_sensor.csv
@@ -0,0 +1,706 @@
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diff --git a/s2/cylinder_0030_12.5/pose_02_pose2/press_depth_06_0.0308m/real_sensor.csv b/s2/cylinder_0030_12.5/pose_02_pose2/press_depth_06_0.0308m/real_sensor.csv
new file mode 100644
index 0000000000000000000000000000000000000000..5fa2d949ebc4e11a9c38885a61692ffc922768b5
--- /dev/null
+++ b/s2/cylinder_0030_12.5/pose_02_pose2/press_depth_06_0.0308m/real_sensor.csv
@@ -0,0 +1,811 @@
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new file mode 100644
index 0000000000000000000000000000000000000000..3f5cfc10fc96096e6f56b6f597ae6784a49681ca
--- /dev/null
+++ b/s2/cylinder_0030_12.5/pose_02_pose2/press_depth_07_0.0288m/fem_sensor.csv
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diff --git a/s2/cylinder_0030_12.5/pose_02_pose2/press_depth_07_0.0288m/real_sensor.csv b/s2/cylinder_0030_12.5/pose_02_pose2/press_depth_07_0.0288m/real_sensor.csv
new file mode 100644
index 0000000000000000000000000000000000000000..f8c5edab669639d150603b9678d112fa46e4b116
--- /dev/null
+++ b/s2/cylinder_0030_12.5/pose_02_pose2/press_depth_07_0.0288m/real_sensor.csv
@@ -0,0 +1,991 @@
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