diff --git a/session_20251213_172938/Clamp_Data/clamp_data_tum.txt b/session_20251213_172938/Clamp_Data/clamp_data_tum.txt
new file mode 100644
index 0000000000000000000000000000000000000000..1e5a7d5c0fb752482d65535c890e68bf6b60647e
--- /dev/null
+++ b/session_20251213_172938/Clamp_Data/clamp_data_tum.txt
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diff --git a/session_20251213_172938/SLAM_Poses/slam_raw.txt b/session_20251213_172938/SLAM_Poses/slam_raw.txt
new file mode 100644
index 0000000000000000000000000000000000000000..85c2da7eda26a4837d0722e85238a03b080bdd95
--- /dev/null
+++ b/session_20251213_172938/SLAM_Poses/slam_raw.txt
@@ -0,0 +1,6450 @@
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+673650.631836 -0.36905008931184563 -0.29633741786247497 0.15574230713070408 -0.07468470333504888 0.7218334609277655 -0.14007929930889657 0.6736144592256972
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diff --git a/session_20251213_172938/SLAM_Poses/slam_raw_pose_baseframe.txt b/session_20251213_172938/SLAM_Poses/slam_raw_pose_baseframe.txt
new file mode 100644
index 0000000000000000000000000000000000000000..f7f50803c97d5da997bf0fcb23dd3b5cbd07a8a5
--- /dev/null
+++ b/session_20251213_172938/SLAM_Poses/slam_raw_pose_baseframe.txt
@@ -0,0 +1,6451 @@
+# time x_base y_base z_base roll_base_deg pitch_base_deg yaw_base_deg clamp_open  (x_base,y_base,z_base in robot base frame s, meters; clamp_open in [0,1])
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+673637.741836000 0.430544 -0.012097 0.391991 -98.57584 80.22307 -99.32609 0.934448
+673637.743836000 0.430482 -0.012096 0.391973 -98.58148 80.22277 -99.33728 0.934448
+673637.745835000 0.430419 -0.012094 0.391955 -98.58712 80.22248 -99.34847 0.934448
+673637.747846000 0.430357 -0.012093 0.391937 -98.59278 80.22218 -99.35973 0.934448
+673637.749837000 0.430300 -0.012101 0.391932 -98.62831 80.21143 -99.39786 0.934337
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+673637.789836000 0.429283 -0.012208 0.391816 -98.96765 79.99681 -99.79121 0.934002
+673637.791953000 0.429238 -0.012206 0.391806 -98.98069 79.98889 -99.80804 0.934002
+673637.793845000 0.429201 -0.012197 0.391799 -98.98961 79.98363 -99.82127 0.934002
+673637.795841000 0.429161 -0.012186 0.391791 -99.00204 79.97940 -99.83789 0.934002
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diff --git a/session_20251213_172938/SLAM_Poses/slam_raw_pose_collectorframe_recentered.txt b/session_20251213_172938/SLAM_Poses/slam_raw_pose_collectorframe_recentered.txt
new file mode 100644
index 0000000000000000000000000000000000000000..0aa9bc5dd3e457bd658fcdba2f4a1068438c41c6
--- /dev/null
+++ b/session_20251213_172938/SLAM_Poses/slam_raw_pose_collectorframe_recentered.txt
@@ -0,0 +1,6451 @@
+# time x y z roll_deg pitch_deg yaw_deg clamp_open  (x,y,z in meters, origin at first pose in collector frame; clamp_open in [0,1])
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+673650.635837000 -0.149909 -0.284285 -0.151080 -99.96429 72.03686 -105.31707 0.977593
diff --git a/session_20251213_172938/SLAM_Poses/slam_raw_vel_baseframe.txt b/session_20251213_172938/SLAM_Poses/slam_raw_vel_baseframe.txt
new file mode 100644
index 0000000000000000000000000000000000000000..1ff437f970a3dcbe7825b46f4dd072d06011329f
--- /dev/null
+++ b/session_20251213_172938/SLAM_Poses/slam_raw_vel_baseframe.txt
@@ -0,0 +1,6450 @@
+# time dt vx vy vz wx_deg wy_deg wz_deg clamp_open  (time, dt in seconds; v in m/s; w in deg/s; clamp_open in [0,1]; robot base frame)
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+673637.735847000 0.002003000 -0.031327 0.001594 -0.009675 0.353902 0.010003 -3.049209 0.934448
+673637.737835000 0.001988000 -0.031278 0.000972 -0.009339 0.124751 0.287068 -2.863897 0.934448
+673637.739839000 0.002004000 -0.031112 0.000697 -0.009072 -0.053819 0.481825 -2.822563 0.934448
+673637.741836000 0.001997000 -0.031089 0.000686 -0.009042 -0.067058 0.496139 -2.820134 0.934448
+673637.743836000 0.002000000 -0.031088 0.000686 -0.009042 -0.067058 0.496139 -2.820134 0.934448
+673637.745835000 0.001999000 -0.031088 0.000686 -0.009042 -0.067058 0.496139 -2.820134 0.934448
+673637.747846000 0.002011000 -0.031087 0.000687 -0.009042 -0.067058 0.496139 -2.820134 0.934448
+673637.749837000 0.001991000 -0.028652 -0.004112 -0.002434 -4.836684 3.871549 -1.570986 0.934337
+673637.751836000 0.001999000 -0.029750 0.000600 -0.007499 -2.063341 1.126511 -2.245378 0.934337
+673637.753836000 0.002000000 -0.029417 -0.000126 -0.006943 -2.573720 1.302303 -2.115125 0.934225
+673637.755834000 0.001998000 -0.029033 -0.000586 -0.006516 -2.958908 1.459548 -1.999651 0.934225
+673637.757835000 0.002001000 -0.028599 -0.001827 -0.005774 -3.711265 1.638338 -1.734892 0.934225
+673637.759838000 0.002003000 -0.027609 -0.004766 -0.005571 -3.866069 1.672730 -1.679669 0.934225
+673637.761834000 0.001996000 -0.028067 -0.001010 -0.004503 -5.313697 1.915139 -1.519783 0.934225
+673637.763839000 0.002005000 -0.027408 -0.003706 -0.003997 -5.355510 2.163933 -1.502849 0.934114
+673637.765836000 0.001997000 -0.027084 -0.004491 -0.003288 -5.820193 2.454926 -1.275398 0.934114
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+673637.781835000 0.001999000 -0.023547 -0.005112 -0.002331 -6.099823 2.746379 -1.371200 0.934114
+673637.783835000 0.002000000 -0.022194 -0.001712 -0.002473 -5.508006 2.204966 -1.496484 0.934002
+673637.785837000 0.002002000 -0.017882 -0.003299 0.002138 -4.453482 2.601985 -0.858134 0.934002
+673637.787839000 0.002002000 -0.020505 -0.000175 -0.002352 -4.270907 1.818256 -1.711640 0.934002
+673637.789836000 0.001997000 -0.020321 0.001296 -0.002673 -3.699776 1.719631 -1.879047 0.934002
+673637.791953000 0.002117000 -0.021430 0.001202 -0.004794 -3.505787 1.692334 -1.880004 0.934002
+673637.793845000 0.001892000 -0.019631 0.004488 -0.003664 -2.599238 1.281176 -2.356473 0.934002
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+673637.799836000 0.002001000 -0.019158 0.008855 -0.004517 -0.758959 1.153306 -2.610953 0.933890
+673637.801833000 0.001997000 -0.015904 0.008162 0.000250 0.341652 1.448655 -2.606009 0.933890
+673637.803838000 0.002005000 -0.018887 0.011425 -0.005372 0.528408 0.924170 -2.921883 0.933779
+673637.805836000 0.001998000 -0.018130 0.012887 -0.006210 1.093325 0.468557 -2.980307 0.933779
+673637.807838000 0.002002000 -0.018172 0.014339 -0.006124 1.601232 0.502440 -3.124573 0.933779
+673637.809844000 0.002006000 -0.017780 0.015777 -0.006470 2.138202 0.322221 -3.231243 0.933779
+673637.811833000 0.001989000 -0.016862 0.016619 -0.007080 2.497068 -0.149101 -3.096393 0.933779
+673637.813833000 0.002000000 -0.016549 0.017948 -0.007301 2.907250 -0.365620 -3.251400 0.933667
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+673637.821825000 0.001992000 -0.015386 0.022875 -0.007514 4.458882 -0.734664 -3.547780 0.933667
+673637.823836000 0.002011000 -0.014828 0.022989 -0.007436 4.457735 -0.881444 -3.262492 0.933556
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+673637.827837000 0.002001000 -0.019085 0.021550 -0.014672 4.807708 -0.588808 -2.372741 0.933556
+673637.829843000 0.002006000 -0.014461 0.025034 -0.008197 5.009029 -1.164127 -2.867210 0.933444
+673637.831836000 0.001993000 -0.013657 0.025792 -0.008525 5.292925 -1.458324 -2.739476 0.933444
+673637.833836000 0.002000000 -0.013474 0.026117 -0.007953 5.378672 -1.256141 -2.552194 0.933332
+673637.835836000 0.002000000 -0.012850 0.026634 -0.007949 5.583738 -1.327581 -2.361890 0.933332
+673637.837839000 0.002003000 -0.012375 0.026480 -0.007482 5.538176 -1.233285 -1.948852 0.933332
+673637.839841000 0.002002000 -0.011990 0.027010 -0.007256 5.535964 -1.317426 -1.969083 0.933221
+673637.841834000 0.001993000 -0.011263 0.027539 -0.007331 5.691869 -1.524396 -1.875636 0.933221
+673637.843834000 0.002000000 -0.010951 0.027537 -0.006719 5.747473 -1.331550 -1.534088 0.933109
+673637.845835000 0.002001000 -0.010224 0.025929 -0.003762 4.947245 -1.498127 -0.941779 0.933109
+673637.847838000 0.002003000 -0.010158 0.027603 -0.007816 5.667595 -1.629570 -1.377925 0.933109
+673637.849845000 0.002007000 -0.008303 0.027322 -0.004348 5.150851 -1.821715 -0.680339 0.932997
+673637.851838000 0.001993000 -0.008402 0.026919 -0.004179 5.233410 -1.732465 -0.517898 0.932997
+673637.853840000 0.002002000 -0.007638 0.026860 -0.004023 5.190465 -1.899232 -0.271372 0.932886
+673637.855838000 0.001998000 -0.006956 0.026247 -0.003598 4.768921 -2.027006 0.009047 0.932886
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diff --git a/session_20251213_172938/SLAM_Poses/slam_raw_vel_collectorframe.txt b/session_20251213_172938/SLAM_Poses/slam_raw_vel_collectorframe.txt
new file mode 100644
index 0000000000000000000000000000000000000000..d52ddaa104d22a51d2e86f8398d19ffb95ceb590
--- /dev/null
+++ b/session_20251213_172938/SLAM_Poses/slam_raw_vel_collectorframe.txt
@@ -0,0 +1,6450 @@
+# time dt vx vy vz wx_deg wy_deg wz_deg clamp_open  (time, dt in seconds; v in m/s; w in deg/s; clamp_open in [0,1]; collector frame)
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+673637.735847000 0.002003000 -0.031327 0.001594 -0.009675 0.353902 0.010003 -3.049209 0.934448
+673637.737835000 0.001988000 -0.031278 0.000972 -0.009339 0.124751 0.287068 -2.863897 0.934448
+673637.739839000 0.002004000 -0.031112 0.000697 -0.009072 -0.053819 0.481825 -2.822563 0.934448
+673637.741836000 0.001997000 -0.031089 0.000686 -0.009042 -0.067058 0.496139 -2.820134 0.934448
+673637.743836000 0.002000000 -0.031088 0.000686 -0.009042 -0.067058 0.496139 -2.820134 0.934448
+673637.745835000 0.001999000 -0.031088 0.000686 -0.009042 -0.067058 0.496139 -2.820134 0.934448
+673637.747846000 0.002011000 -0.031087 0.000687 -0.009042 -0.067058 0.496139 -2.820134 0.934448
+673637.749837000 0.001991000 -0.028652 -0.004112 -0.002434 -4.836684 3.871549 -1.570986 0.934337
+673637.751836000 0.001999000 -0.029750 0.000600 -0.007499 -2.063341 1.126511 -2.245378 0.934337
+673637.753836000 0.002000000 -0.029417 -0.000126 -0.006943 -2.573720 1.302303 -2.115125 0.934225
+673637.755834000 0.001998000 -0.029033 -0.000586 -0.006516 -2.958908 1.459548 -1.999651 0.934225
+673637.757835000 0.002001000 -0.028599 -0.001827 -0.005774 -3.711265 1.638338 -1.734892 0.934225
+673637.759838000 0.002003000 -0.027609 -0.004766 -0.005571 -3.866069 1.672730 -1.679669 0.934225
+673637.761834000 0.001996000 -0.028067 -0.001010 -0.004503 -5.313697 1.915139 -1.519783 0.934225
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+673637.785837000 0.002002000 -0.017882 -0.003299 0.002138 -4.453482 2.601985 -0.858134 0.934002
+673637.787839000 0.002002000 -0.020505 -0.000175 -0.002352 -4.270907 1.818256 -1.711640 0.934002
+673637.789836000 0.001997000 -0.020321 0.001296 -0.002673 -3.699776 1.719631 -1.879047 0.934002
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+673637.805836000 0.001998000 -0.018130 0.012887 -0.006210 1.093325 0.468557 -2.980307 0.933779
+673637.807838000 0.002002000 -0.018172 0.014339 -0.006124 1.601232 0.502440 -3.124573 0.933779
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diff --git a/session_20251213_173039/Clamp_Data/clamp_data_tum.txt b/session_20251213_173039/Clamp_Data/clamp_data_tum.txt
new file mode 100644
index 0000000000000000000000000000000000000000..0f50e4c3c0116dab17f9366057a416a1c2ad8e43
--- /dev/null
+++ b/session_20251213_173039/Clamp_Data/clamp_data_tum.txt
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diff --git a/session_20251213_173039/RGB_Images/timestamps.csv b/session_20251213_173039/RGB_Images/timestamps.csv
new file mode 100644
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diff --git a/session_20251213_173039/SLAM_Poses/slam_raw.txt b/session_20251213_173039/SLAM_Poses/slam_raw.txt
new file mode 100644
index 0000000000000000000000000000000000000000..b359135bde92908c6325df321728e58271331b02
--- /dev/null
+++ b/session_20251213_173039/SLAM_Poses/slam_raw.txt
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diff --git a/session_20251213_173039/SLAM_Poses/slam_raw_pose_baseframe.txt b/session_20251213_173039/SLAM_Poses/slam_raw_pose_baseframe.txt
new file mode 100644
index 0000000000000000000000000000000000000000..c9ce1faeab219e9f2d05cd6c7cc1132f8f20e513
--- /dev/null
+++ b/session_20251213_173039/SLAM_Poses/slam_raw_pose_baseframe.txt
@@ -0,0 +1,7742 @@
+# time x_base y_base z_base roll_base_deg pitch_base_deg yaw_base_deg clamp_open  (x_base,y_base,z_base in robot base frame s, meters; clamp_open in [0,1])
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+673698.265834000 0.430482 0.009531 0.385460 -50.05069 73.30047 -42.14662 0.985408
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+673698.269835000 0.430301 0.009554 0.385359 -50.01110 73.36191 -42.12835 0.985408
+673698.271834000 0.430199 0.009579 0.385295 -49.98675 73.40034 -42.11579 0.985408
+673698.273833000 0.430088 0.009611 0.385223 -49.95755 73.44439 -42.09918 0.985408
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+673698.311806000 0.427328 0.010637 0.383209 -49.51437 74.54102 -41.82405 0.985408
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+673698.317788000 0.426888 0.010833 0.382823 -49.30641 74.70631 -41.64029 0.985302
+673698.319788000 0.426740 0.010892 0.382698 -49.24481 74.75881 -41.58632 0.985195
+673698.321834000 0.426584 0.010942 0.382581 -49.20470 74.81018 -41.55382 0.985195
+673698.323834000 0.426416 0.010979 0.382480 -49.19972 74.86007 -41.55705 0.985195
+673698.325834000 0.426243 0.011010 0.382383 -49.20769 74.91033 -41.57213 0.985088
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+673698.333833000 0.425537 0.011094 0.381945 -49.42583 75.08017 -41.82140 0.984875
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+673698.339834000 0.425002 0.011060 0.381713 -49.66280 75.18193 -42.08459 0.984981
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+673698.345835000 0.424497 0.010982 0.381486 -49.91432 75.25416 -42.35776 0.984981
+673698.347807000 0.424333 0.010959 0.381406 -49.98242 75.27667 -42.43245 0.984981
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+673698.373836000 0.422378 0.010701 0.380141 -51.05904 75.68425 -43.44880 0.985088
+673698.375833000 0.422214 0.010675 0.380042 -51.24209 75.72995 -43.61461 0.985088
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+673698.379834000 0.421887 0.010620 0.379846 -51.64565 75.82398 -43.98035 0.985088
+673698.381834000 0.421728 0.010590 0.379747 -51.85752 75.87160 -44.17109 0.985088
+673698.383838000 0.421568 0.010552 0.379657 -52.06981 75.91901 -44.36263 0.984981
+673698.385837000 0.421414 0.010508 0.379561 -52.29301 75.96530 -44.56198 0.984981
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diff --git a/session_20251213_173039/SLAM_Poses/slam_raw_pose_collectorframe_recentered.txt b/session_20251213_173039/SLAM_Poses/slam_raw_pose_collectorframe_recentered.txt
new file mode 100644
index 0000000000000000000000000000000000000000..15ec4664cd25fd12a38b753b1de2f0a08872aae9
--- /dev/null
+++ b/session_20251213_173039/SLAM_Poses/slam_raw_pose_collectorframe_recentered.txt
@@ -0,0 +1,7742 @@
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diff --git a/session_20251213_173039/SLAM_Poses/slam_raw_vel_baseframe.txt b/session_20251213_173039/SLAM_Poses/slam_raw_vel_baseframe.txt
new file mode 100644
index 0000000000000000000000000000000000000000..fb232540eab158b0981a622a708ae28f11d7ac4b
--- /dev/null
+++ b/session_20251213_173039/SLAM_Poses/slam_raw_vel_baseframe.txt
@@ -0,0 +1,7741 @@
+# time dt vx vy vz wx_deg wy_deg wz_deg clamp_open  (time, dt in seconds; v in m/s; w in deg/s; clamp_open in [0,1]; robot base frame)
+673698.261839000 0.002002000 -0.038740 0.003594 -0.014652 9.304379 7.852012 -6.800209 0.985408
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diff --git a/session_20251213_173039/SLAM_Poses/slam_raw_vel_collectorframe.txt b/session_20251213_173039/SLAM_Poses/slam_raw_vel_collectorframe.txt
new file mode 100644
index 0000000000000000000000000000000000000000..e90dcfccc8cd310924586689529f639b218c7c8e
--- /dev/null
+++ b/session_20251213_173039/SLAM_Poses/slam_raw_vel_collectorframe.txt
@@ -0,0 +1,7741 @@
+# time dt vx vy vz wx_deg wy_deg wz_deg clamp_open  (time, dt in seconds; v in m/s; w in deg/s; clamp_open in [0,1]; collector frame)
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+673698.265834000 0.001993000 -0.043822 0.003088 -0.017447 10.880331 9.161715 -5.631398 0.985408
+673698.267834000 0.002000000 -0.045322 0.004219 -0.021097 11.786499 9.385791 -5.369033 0.985408
+673698.269835000 0.002001000 -0.044984 0.007286 -0.029271 13.029157 9.581510 -4.452743 0.985408
+673698.271834000 0.001999000 -0.051279 0.012423 -0.032348 15.477990 11.922096 -5.390451 0.985408
+673698.273833000 0.001999000 -0.055353 0.016279 -0.035702 17.866767 13.553107 -5.691266 0.985408
+673698.275835000 0.002002000 -0.059502 0.019179 -0.038059 19.104461 14.885699 -6.502594 0.985408
+673698.277834000 0.001999000 -0.063225 0.020730 -0.039490 19.269827 16.024960 -7.098874 0.985408
+673698.279835000 0.002001000 -0.064956 0.020890 -0.041148 19.198172 16.827849 -6.404047 0.985408
+673698.281838000 0.002003000 -0.066295 0.020646 -0.042709 19.094831 17.648156 -5.236548 0.985408
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+673698.289046000 0.005211000 -0.069408 0.020352 -0.045281 18.624524 18.649335 -4.003244 0.985408
+673698.289051000 0.000005000 -0.071115 0.018902 -0.041916 18.714695 19.060188 -4.287645 0.985408
+673698.289878000 0.000827000 -0.071115 0.018903 -0.041907 18.715131 19.060632 -4.287745 0.985408
+673698.291835000 0.001957000 -0.079806 0.035006 -0.066274 21.737045 25.375914 -2.491232 0.985408
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+673698.307837000 0.002003000 -0.079042 0.024603 -0.047977 21.010221 22.632370 -2.728763 0.985408
+673698.309834000 0.001997000 -0.086227 0.046332 -0.071363 27.280040 18.748997 -8.028198 0.985408
+673698.311806000 0.001972000 -0.054080 0.067635 -0.137340 44.588490 1.729544 -0.378773 0.985408
+673698.313834000 0.002028000 -0.074122 0.034790 -0.065385 26.374475 15.024906 -2.963249 0.985302
+673698.315835000 0.002001000 -0.073287 0.033006 -0.064946 25.406877 14.227886 -2.721508 0.985302
+673698.317788000 0.001953000 -0.073502 0.030527 -0.063154 23.985384 14.182350 -2.713141 0.985302
+673698.319788000 0.002000000 -0.073713 0.029622 -0.062403 23.495715 14.239567 -2.726607 0.985195
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diff --git a/session_20251213_173929/SLAM_Poses/slam_raw.txt b/session_20251213_173929/SLAM_Poses/slam_raw.txt
new file mode 100644
index 0000000000000000000000000000000000000000..c338acd46f6bfb78c3bcba1faa76f2f7aec49318
--- /dev/null
+++ b/session_20251213_173929/SLAM_Poses/slam_raw.txt
@@ -0,0 +1,7368 @@
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diff --git a/session_20251213_173929/SLAM_Poses/slam_raw_pose_baseframe.txt b/session_20251213_173929/SLAM_Poses/slam_raw_pose_baseframe.txt
new file mode 100644
index 0000000000000000000000000000000000000000..dd57d9cfb44108912f5043815644e792c6bb4566
--- /dev/null
+++ b/session_20251213_173929/SLAM_Poses/slam_raw_pose_baseframe.txt
@@ -0,0 +1,7369 @@
+# time x_base y_base z_base roll_base_deg pitch_base_deg yaw_base_deg clamp_open  (x_base,y_base,z_base in robot base frame s, meters; clamp_open in [0,1])
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diff --git a/session_20251213_173929/SLAM_Poses/slam_raw_pose_collectorframe_recentered.txt b/session_20251213_173929/SLAM_Poses/slam_raw_pose_collectorframe_recentered.txt
new file mode 100644
index 0000000000000000000000000000000000000000..3495577859773570f2ba75383db2ced4cfa0e629
--- /dev/null
+++ b/session_20251213_173929/SLAM_Poses/slam_raw_pose_collectorframe_recentered.txt
@@ -0,0 +1,7369 @@
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diff --git a/session_20251213_173929/SLAM_Poses/slam_raw_vel_baseframe.txt b/session_20251213_173929/SLAM_Poses/slam_raw_vel_baseframe.txt
new file mode 100644
index 0000000000000000000000000000000000000000..f0f285ff3934cefebc04259ba493adba137e0b6a
--- /dev/null
+++ b/session_20251213_173929/SLAM_Poses/slam_raw_vel_baseframe.txt
@@ -0,0 +1,7368 @@
+# time dt vx vy vz wx_deg wy_deg wz_deg clamp_open  (time, dt in seconds; v in m/s; w in deg/s; clamp_open in [0,1]; robot base frame)
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+674226.109836000 0.001998000 0.004466 -0.001740 0.016933 1.686784 -3.486588 -3.435763 0.996444
+674226.111837000 0.002001000 -0.002390 0.000133 0.008737 1.428140 -3.475684 -3.301633 0.996444
+674226.120014000 0.008177000 0.000602 0.001183 0.013192 2.639574 -2.752457 -3.135855 0.996338
+674226.120021000 0.000007000 -0.004166 0.003693 0.007859 2.971097 -2.529544 -3.200924 0.996338
+674226.120023000 0.000002000 -0.004166 0.003693 0.007859 2.971147 -2.529586 -3.200977 0.996338
+674226.120024000 0.000001000 -0.004166 0.003693 0.007860 2.971493 -2.529881 -3.201350 0.996338
+674226.121837000 0.001813000 -0.000469 0.001851 0.012775 2.872285 -2.425532 -3.038939 0.996338
+674226.124573000 0.002736000 -0.009604 0.005597 0.005673 2.502346 -2.192495 -2.601032 0.996444
+674226.126337000 0.001764000 -0.001159 0.002325 0.012728 2.556875 -2.781800 -2.659355 0.996444
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+674226.161833000 0.002024000 0.003204 -0.014610 0.017741 -3.819993 -3.943246 1.207786 0.996338
+674226.163902000 0.002069000 0.003008 -0.015384 0.018343 -4.088211 -3.562291 1.473294 0.996338
+674226.165825000 0.001923000 0.001394 -0.014227 0.013891 -3.965901 -3.690825 1.397527 0.996338
+674226.167834000 0.002009000 0.002894 -0.018229 0.020280 -5.823993 -2.894738 1.403081 0.996338
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+674240.861842000 0.002004000 -0.007269 0.012394 -0.025697 3.709330 2.213621 -3.459570 1.000000
diff --git a/session_20251213_173929/SLAM_Poses/slam_raw_vel_collectorframe.txt b/session_20251213_173929/SLAM_Poses/slam_raw_vel_collectorframe.txt
new file mode 100644
index 0000000000000000000000000000000000000000..65c5fc1f47c26b92507798cb4e359c26164981b2
--- /dev/null
+++ b/session_20251213_173929/SLAM_Poses/slam_raw_vel_collectorframe.txt
@@ -0,0 +1,7368 @@
+# time dt vx vy vz wx_deg wy_deg wz_deg clamp_open  (time, dt in seconds; v in m/s; w in deg/s; clamp_open in [0,1]; collector frame)
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+674226.120014000 0.008177000 0.000602 0.001183 0.013192 2.639574 -2.752457 -3.135855 0.996338
+674226.120021000 0.000007000 -0.004166 0.003693 0.007859 2.971097 -2.529544 -3.200924 0.996338
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