diff --git a/.gitattributes b/.gitattributes
index 90430b2ac267fc68a8713e6f01f866b0339fd406..3d55ccc7c22cfb335a01f3372a55cd0ff1dd334f 100644
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diff --git a/digit/cylinder_PLA_12.5/pose_04_pose4/press_depth_07_0.0199m/real_sensor.csv b/digit/cylinder_PLA_12.5/pose_04_pose4/press_depth_07_0.0199m/real_sensor.csv
new file mode 100644
index 0000000000000000000000000000000000000000..b28e13748c9144e2bc2ae4da2495aa92bfbf93d6
--- /dev/null
+++ b/digit/cylinder_PLA_12.5/pose_04_pose4/press_depth_07_0.0199m/real_sensor.csv
@@ -0,0 +1,571 @@
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diff --git a/digit/cylinder_PLA_12.5/pose_04_pose4/press_depth_08_0.0189m/camera_frames.tar b/digit/cylinder_PLA_12.5/pose_04_pose4/press_depth_08_0.0189m/camera_frames.tar
new file mode 100644
index 0000000000000000000000000000000000000000..ece7138d93835edf887ac3f9bf75fb38b0b86412
--- /dev/null
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diff --git a/digit/cylinder_PLA_12.5/pose_04_pose4/press_depth_08_0.0189m/real_sensor.csv b/digit/cylinder_PLA_12.5/pose_04_pose4/press_depth_08_0.0189m/real_sensor.csv
new file mode 100644
index 0000000000000000000000000000000000000000..6b46edfc8e58d7b097348bdcb9c848803382a877
--- /dev/null
+++ b/digit/cylinder_PLA_12.5/pose_04_pose4/press_depth_08_0.0189m/real_sensor.csv
@@ -0,0 +1,660 @@
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diff --git a/digit/cylinder_PLA_12.5/pose_04_pose4/press_depth_09_0.0179m/real_sensor.csv b/digit/cylinder_PLA_12.5/pose_04_pose4/press_depth_09_0.0179m/real_sensor.csv
new file mode 100644
index 0000000000000000000000000000000000000000..23bf1592f19de14260889f45f11ad381ab165060
--- /dev/null
+++ b/digit/cylinder_PLA_12.5/pose_04_pose4/press_depth_09_0.0179m/real_sensor.csv
@@ -0,0 +1,718 @@
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diff --git a/digit/cylinder_PLA_12.5/pose_04_pose4/press_depth_10_0.0169m/real_sensor.csv b/digit/cylinder_PLA_12.5/pose_04_pose4/press_depth_10_0.0169m/real_sensor.csv
new file mode 100644
index 0000000000000000000000000000000000000000..b39c368693f3a60712f4fcf60e23fdd4af0d4b91
--- /dev/null
+++ b/digit/cylinder_PLA_12.5/pose_04_pose4/press_depth_10_0.0169m/real_sensor.csv
@@ -0,0 +1,777 @@
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diff --git a/digit/cylinder_PLA_12.5/pose_05_pose5/press_depth_01_0.0259m/real_sensor.csv b/digit/cylinder_PLA_12.5/pose_05_pose5/press_depth_01_0.0259m/real_sensor.csv
new file mode 100644
index 0000000000000000000000000000000000000000..32786d219105fbc66edf337e3f8befef274728a1
--- /dev/null
+++ b/digit/cylinder_PLA_12.5/pose_05_pose5/press_depth_01_0.0259m/real_sensor.csv
@@ -0,0 +1,151 @@
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diff --git a/digit/cylinder_PLA_12.5/pose_05_pose5/press_depth_02_0.0249m/real_sensor.csv b/digit/cylinder_PLA_12.5/pose_05_pose5/press_depth_02_0.0249m/real_sensor.csv
new file mode 100644
index 0000000000000000000000000000000000000000..9ec0ddcee577326b3feba7786109f77060197ebb
--- /dev/null
+++ b/digit/cylinder_PLA_12.5/pose_05_pose5/press_depth_02_0.0249m/real_sensor.csv
@@ -0,0 +1,220 @@
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diff --git a/digit/cylinder_PLA_12.5/pose_05_pose5/press_depth_03_0.0239m/real_sensor.csv b/digit/cylinder_PLA_12.5/pose_05_pose5/press_depth_03_0.0239m/real_sensor.csv
new file mode 100644
index 0000000000000000000000000000000000000000..b8be475c978cacafcadbdba77dfcabc424545265
--- /dev/null
+++ b/digit/cylinder_PLA_12.5/pose_05_pose5/press_depth_03_0.0239m/real_sensor.csv
@@ -0,0 +1,294 @@
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diff --git a/digit/cylinder_PLA_12.5/pose_05_pose5/press_depth_04_0.0229m/real_sensor.csv b/digit/cylinder_PLA_12.5/pose_05_pose5/press_depth_04_0.0229m/real_sensor.csv
new file mode 100644
index 0000000000000000000000000000000000000000..9bcd4b3a75ca5c8f997ac1d61d01de8871a2a50c
--- /dev/null
+++ b/digit/cylinder_PLA_12.5/pose_05_pose5/press_depth_04_0.0229m/real_sensor.csv
@@ -0,0 +1,333 @@
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diff --git a/digit/cylinder_PLA_12.5/pose_05_pose5/press_depth_05_0.0219m/real_sensor.csv b/digit/cylinder_PLA_12.5/pose_05_pose5/press_depth_05_0.0219m/real_sensor.csv
new file mode 100644
index 0000000000000000000000000000000000000000..963ae483356a6f8543d0135bf176cfcaed942dd3
--- /dev/null
+++ b/digit/cylinder_PLA_12.5/pose_05_pose5/press_depth_05_0.0219m/real_sensor.csv
@@ -0,0 +1,399 @@
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diff --git a/digit/cylinder_PLA_12.5/pose_05_pose5/press_depth_06_0.0209m/real_sensor.csv b/digit/cylinder_PLA_12.5/pose_05_pose5/press_depth_06_0.0209m/real_sensor.csv
new file mode 100644
index 0000000000000000000000000000000000000000..d10bb47964c1c3bb48e935266f5fd04018f0979e
--- /dev/null
+++ b/digit/cylinder_PLA_12.5/pose_05_pose5/press_depth_06_0.0209m/real_sensor.csv
@@ -0,0 +1,471 @@
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diff --git a/digit/cylinder_PLA_12.5/pose_05_pose5/press_depth_07_0.0199m/real_sensor.csv b/digit/cylinder_PLA_12.5/pose_05_pose5/press_depth_07_0.0199m/real_sensor.csv
new file mode 100644
index 0000000000000000000000000000000000000000..98ba5a6597b212351546e53c747db82f8028b40b
--- /dev/null
+++ b/digit/cylinder_PLA_12.5/pose_05_pose5/press_depth_07_0.0199m/real_sensor.csv
@@ -0,0 +1,530 @@
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diff --git a/digit/cylinder_PLA_12.5/pose_05_pose5/press_depth_08_0.0189m/real_sensor.csv b/digit/cylinder_PLA_12.5/pose_05_pose5/press_depth_08_0.0189m/real_sensor.csv
new file mode 100644
index 0000000000000000000000000000000000000000..3c8da81bea1164b4670d00061d4241f2ceaa3e24
--- /dev/null
+++ b/digit/cylinder_PLA_12.5/pose_05_pose5/press_depth_08_0.0189m/real_sensor.csv
@@ -0,0 +1,621 @@
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diff --git a/digit/cylinder_PLA_12.5/pose_05_pose5/press_depth_09_0.0179m/real_sensor.csv b/digit/cylinder_PLA_12.5/pose_05_pose5/press_depth_09_0.0179m/real_sensor.csv
new file mode 100644
index 0000000000000000000000000000000000000000..88fba36cf4e173df3d59cb31890dae472f8f4f40
--- /dev/null
+++ b/digit/cylinder_PLA_12.5/pose_05_pose5/press_depth_09_0.0179m/real_sensor.csv
@@ -0,0 +1,671 @@
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diff --git a/digit/cylinder_PLA_12.5/pose_05_pose5/press_depth_10_0.0169m/real_sensor.csv b/digit/cylinder_PLA_12.5/pose_05_pose5/press_depth_10_0.0169m/real_sensor.csv
new file mode 100644
index 0000000000000000000000000000000000000000..04f9a84d42f8cee550970ebb4a8ae263626ddddf
--- /dev/null
+++ b/digit/cylinder_PLA_12.5/pose_05_pose5/press_depth_10_0.0169m/real_sensor.csv
@@ -0,0 +1,751 @@
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diff --git a/digit/cylinder_PLA_15/pose_02_pose2/press_depth_01_0.0299m/real_sensor.csv b/digit/cylinder_PLA_15/pose_02_pose2/press_depth_01_0.0299m/real_sensor.csv
new file mode 100644
index 0000000000000000000000000000000000000000..c15981b439672a128c44d4d21394f995c600a2a4
--- /dev/null
+++ b/digit/cylinder_PLA_15/pose_02_pose2/press_depth_01_0.0299m/real_sensor.csv
@@ -0,0 +1,291 @@
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diff --git a/digit/cylinder_PLA_15/pose_02_pose2/press_depth_03_0.0279m/real_sensor.csv b/digit/cylinder_PLA_15/pose_02_pose2/press_depth_03_0.0279m/real_sensor.csv
new file mode 100644
index 0000000000000000000000000000000000000000..0cd5a1b766b13b7925675f26ced461268807d9b9
--- /dev/null
+++ b/digit/cylinder_PLA_15/pose_02_pose2/press_depth_03_0.0279m/real_sensor.csv
@@ -0,0 +1,405 @@
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diff --git a/digit/cylinder_PLA_15/pose_02_pose2/press_depth_04_0.0269m/real_sensor.csv b/digit/cylinder_PLA_15/pose_02_pose2/press_depth_04_0.0269m/real_sensor.csv
new file mode 100644
index 0000000000000000000000000000000000000000..073b57c77bd3f483b01e5f28928366fe139578c1
--- /dev/null
+++ b/digit/cylinder_PLA_15/pose_02_pose2/press_depth_04_0.0269m/real_sensor.csv
@@ -0,0 +1,466 @@
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diff --git a/digit/cylinder_PLA_15/pose_02_pose2/press_depth_05_0.0259m/real_sensor.csv b/digit/cylinder_PLA_15/pose_02_pose2/press_depth_05_0.0259m/real_sensor.csv
new file mode 100644
index 0000000000000000000000000000000000000000..988a7ba32dc5559bbb7653a23b69edf43eb77641
--- /dev/null
+++ b/digit/cylinder_PLA_15/pose_02_pose2/press_depth_05_0.0259m/real_sensor.csv
@@ -0,0 +1,538 @@
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diff --git a/digit/cylinder_PLA_15/pose_02_pose2/press_depth_07_0.0239m/real_sensor.csv b/digit/cylinder_PLA_15/pose_02_pose2/press_depth_07_0.0239m/real_sensor.csv
new file mode 100644
index 0000000000000000000000000000000000000000..70b3172d091a479d2ee303f4fd0968854bda9cca
--- /dev/null
+++ b/digit/cylinder_PLA_15/pose_02_pose2/press_depth_07_0.0239m/real_sensor.csv
@@ -0,0 +1,685 @@
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diff --git a/digit/cylinder_PLA_15/pose_02_pose2/press_depth_08_0.0229m/real_sensor.csv b/digit/cylinder_PLA_15/pose_02_pose2/press_depth_08_0.0229m/real_sensor.csv
new file mode 100644
index 0000000000000000000000000000000000000000..6f4068f8094665366dfc2c14c6ea7209a340cde3
--- /dev/null
+++ b/digit/cylinder_PLA_15/pose_02_pose2/press_depth_08_0.0229m/real_sensor.csv
@@ -0,0 +1,748 @@
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diff --git a/digit/cylinder_PLA_15/pose_02_pose2/press_depth_09_0.0219m/real_sensor.csv b/digit/cylinder_PLA_15/pose_02_pose2/press_depth_09_0.0219m/real_sensor.csv
new file mode 100644
index 0000000000000000000000000000000000000000..5bf209d2c1d897e01a47a8a142ad46e86aa89abf
--- /dev/null
+++ b/digit/cylinder_PLA_15/pose_02_pose2/press_depth_09_0.0219m/real_sensor.csv
@@ -0,0 +1,823 @@
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diff --git a/digit/cylinder_PLA_15/pose_02_pose2/press_depth_10_0.0209m/real_sensor.csv b/digit/cylinder_PLA_15/pose_02_pose2/press_depth_10_0.0209m/real_sensor.csv
new file mode 100644
index 0000000000000000000000000000000000000000..f8e966308d446b87270ee550c1a91010cb08ae4f
--- /dev/null
+++ b/digit/cylinder_PLA_15/pose_02_pose2/press_depth_10_0.0209m/real_sensor.csv
@@ -0,0 +1,882 @@
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diff --git a/digit/cylinder_PLA_15/pose_03_pose3/press_depth_01_0.0299m/real_sensor.csv b/digit/cylinder_PLA_15/pose_03_pose3/press_depth_01_0.0299m/real_sensor.csv
new file mode 100644
index 0000000000000000000000000000000000000000..5627439b01e8b506cb9bcd224f1dffdec8f3b621
--- /dev/null
+++ b/digit/cylinder_PLA_15/pose_03_pose3/press_depth_01_0.0299m/real_sensor.csv
@@ -0,0 +1,283 @@
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diff --git a/digit/cylinder_PLA_15/pose_03_pose3/press_depth_02_0.0289m/real_sensor.csv b/digit/cylinder_PLA_15/pose_03_pose3/press_depth_02_0.0289m/real_sensor.csv
new file mode 100644
index 0000000000000000000000000000000000000000..61559c0db05c835757a4d89563c170434118d17d
--- /dev/null
+++ b/digit/cylinder_PLA_15/pose_03_pose3/press_depth_02_0.0289m/real_sensor.csv
@@ -0,0 +1,332 @@
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diff --git a/digit/cylinder_PLA_15/pose_03_pose3/press_depth_03_0.0279m/real_sensor.csv b/digit/cylinder_PLA_15/pose_03_pose3/press_depth_03_0.0279m/real_sensor.csv
new file mode 100644
index 0000000000000000000000000000000000000000..4c0b2a7b7e15e68433a3dcbbbc4a4bbefda50b3b
--- /dev/null
+++ b/digit/cylinder_PLA_15/pose_03_pose3/press_depth_03_0.0279m/real_sensor.csv
@@ -0,0 +1,421 @@
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diff --git a/digit/cylinder_PLA_15/pose_03_pose3/press_depth_04_0.0269m/real_sensor.csv b/digit/cylinder_PLA_15/pose_03_pose3/press_depth_04_0.0269m/real_sensor.csv
new file mode 100644
index 0000000000000000000000000000000000000000..5180864bf079940b13e55d9f361f52fd6a8f731c
--- /dev/null
+++ b/digit/cylinder_PLA_15/pose_03_pose3/press_depth_04_0.0269m/real_sensor.csv
@@ -0,0 +1,465 @@
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diff --git a/digit/cylinder_PLA_15/pose_03_pose3/press_depth_05_0.0259m/real_sensor.csv b/digit/cylinder_PLA_15/pose_03_pose3/press_depth_05_0.0259m/real_sensor.csv
new file mode 100644
index 0000000000000000000000000000000000000000..f4030d1ffcfe122a3c57b4717cb461061607d89c
--- /dev/null
+++ b/digit/cylinder_PLA_15/pose_03_pose3/press_depth_05_0.0259m/real_sensor.csv
@@ -0,0 +1,542 @@
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diff --git a/digit/cylinder_PLA_15/pose_03_pose3/press_depth_06_0.0249m/real_sensor.csv b/digit/cylinder_PLA_15/pose_03_pose3/press_depth_06_0.0249m/real_sensor.csv
new file mode 100644
index 0000000000000000000000000000000000000000..56232dc0e74f17ffe9f0e9519746117468f28b79
--- /dev/null
+++ b/digit/cylinder_PLA_15/pose_03_pose3/press_depth_06_0.0249m/real_sensor.csv
@@ -0,0 +1,596 @@
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diff --git a/digit/cylinder_PLA_15/pose_03_pose3/press_depth_07_0.0239m/real_sensor.csv b/digit/cylinder_PLA_15/pose_03_pose3/press_depth_07_0.0239m/real_sensor.csv
new file mode 100644
index 0000000000000000000000000000000000000000..4d5d174af88d66e5ac36515e870a8bfd55f5f6d7
--- /dev/null
+++ b/digit/cylinder_PLA_15/pose_03_pose3/press_depth_07_0.0239m/real_sensor.csv
@@ -0,0 +1,669 @@
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diff --git a/digit/cylinder_PLA_15/pose_03_pose3/press_depth_08_0.0229m/real_sensor.csv b/digit/cylinder_PLA_15/pose_03_pose3/press_depth_08_0.0229m/real_sensor.csv
new file mode 100644
index 0000000000000000000000000000000000000000..ff30fbb1be91fa0823b9b25d8ebed9281d76aab0
--- /dev/null
+++ b/digit/cylinder_PLA_15/pose_03_pose3/press_depth_08_0.0229m/real_sensor.csv
@@ -0,0 +1,770 @@
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diff --git a/digit/cylinder_PLA_15/pose_03_pose3/press_depth_09_0.0219m/real_sensor.csv b/digit/cylinder_PLA_15/pose_03_pose3/press_depth_09_0.0219m/real_sensor.csv
new file mode 100644
index 0000000000000000000000000000000000000000..12b303ca2636db9240426943dfb4d887900c654e
--- /dev/null
+++ b/digit/cylinder_PLA_15/pose_03_pose3/press_depth_09_0.0219m/real_sensor.csv
@@ -0,0 +1,809 @@
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diff --git a/digit/cylinder_PLA_15/pose_03_pose3/press_depth_10_0.0209m/real_sensor.csv b/digit/cylinder_PLA_15/pose_03_pose3/press_depth_10_0.0209m/real_sensor.csv
new file mode 100644
index 0000000000000000000000000000000000000000..7feca8b4d72e0860aa0c16132f1d9b2ad502ca4e
--- /dev/null
+++ b/digit/cylinder_PLA_15/pose_03_pose3/press_depth_10_0.0209m/real_sensor.csv
@@ -0,0 +1,890 @@
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diff --git a/digit/cylinder_PLA_15/pose_05_pose5/press_depth_01_0.0299m/real_sensor.csv b/digit/cylinder_PLA_15/pose_05_pose5/press_depth_01_0.0299m/real_sensor.csv
new file mode 100644
index 0000000000000000000000000000000000000000..0337c6ed451ac62feda698a8cb547f0434f0178d
--- /dev/null
+++ b/digit/cylinder_PLA_15/pose_05_pose5/press_depth_01_0.0299m/real_sensor.csv
@@ -0,0 +1,219 @@
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diff --git a/digit/cylinder_PLA_15/pose_05_pose5/press_depth_02_0.0289m/real_sensor.csv b/digit/cylinder_PLA_15/pose_05_pose5/press_depth_02_0.0289m/real_sensor.csv
new file mode 100644
index 0000000000000000000000000000000000000000..3869f05782e5a81bc651e12743dcfbae35a5b164
--- /dev/null
+++ b/digit/cylinder_PLA_15/pose_05_pose5/press_depth_02_0.0289m/real_sensor.csv
@@ -0,0 +1,293 @@
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diff --git a/digit/cylinder_PLA_15/pose_05_pose5/press_depth_03_0.0279m/real_sensor.csv b/digit/cylinder_PLA_15/pose_05_pose5/press_depth_03_0.0279m/real_sensor.csv
new file mode 100644
index 0000000000000000000000000000000000000000..f3846cc2dafc330d209e47a47018b0778aea51c8
--- /dev/null
+++ b/digit/cylinder_PLA_15/pose_05_pose5/press_depth_03_0.0279m/real_sensor.csv
@@ -0,0 +1,339 @@
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diff --git a/digit/cylinder_PLA_15/pose_05_pose5/press_depth_04_0.0269m/real_sensor.csv b/digit/cylinder_PLA_15/pose_05_pose5/press_depth_04_0.0269m/real_sensor.csv
new file mode 100644
index 0000000000000000000000000000000000000000..615728e8e6afe00a3e6af26648189b57491241a4
--- /dev/null
+++ b/digit/cylinder_PLA_15/pose_05_pose5/press_depth_04_0.0269m/real_sensor.csv
@@ -0,0 +1,411 @@
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diff --git a/digit/cylinder_PLA_15/pose_05_pose5/press_depth_05_0.0259m/real_sensor.csv b/digit/cylinder_PLA_15/pose_05_pose5/press_depth_05_0.0259m/real_sensor.csv
new file mode 100644
index 0000000000000000000000000000000000000000..e3fef996a7d58e3b9b367b18a86a255237972389
--- /dev/null
+++ b/digit/cylinder_PLA_15/pose_05_pose5/press_depth_05_0.0259m/real_sensor.csv
@@ -0,0 +1,468 @@
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diff --git a/digit/cylinder_PLA_15/pose_05_pose5/press_depth_06_0.0249m/real_sensor.csv b/digit/cylinder_PLA_15/pose_05_pose5/press_depth_06_0.0249m/real_sensor.csv
new file mode 100644
index 0000000000000000000000000000000000000000..f2b367b069998371fa88bc97d024955cdd7cbb50
--- /dev/null
+++ b/digit/cylinder_PLA_15/pose_05_pose5/press_depth_06_0.0249m/real_sensor.csv
@@ -0,0 +1,514 @@
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diff --git a/digit/cylinder_PLA_15/pose_05_pose5/press_depth_07_0.0239m/real_sensor.csv b/digit/cylinder_PLA_15/pose_05_pose5/press_depth_07_0.0239m/real_sensor.csv
new file mode 100644
index 0000000000000000000000000000000000000000..8936e36679705d4cb417ca83651672bf0994ac32
--- /dev/null
+++ b/digit/cylinder_PLA_15/pose_05_pose5/press_depth_07_0.0239m/real_sensor.csv
@@ -0,0 +1,622 @@
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diff --git a/digit/cylinder_PLA_15/pose_05_pose5/press_depth_08_0.0229m/fem_sensor.csv b/digit/cylinder_PLA_15/pose_05_pose5/press_depth_08_0.0229m/fem_sensor.csv
new file mode 100644
index 0000000000000000000000000000000000000000..d822de60ccb615a9dea5be8c3c41e36be6f2e5d9
--- /dev/null
+++ b/digit/cylinder_PLA_15/pose_05_pose5/press_depth_08_0.0229m/fem_sensor.csv
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diff --git a/digit/cylinder_PLA_15/pose_05_pose5/press_depth_08_0.0229m/real_sensor.csv b/digit/cylinder_PLA_15/pose_05_pose5/press_depth_08_0.0229m/real_sensor.csv
new file mode 100644
index 0000000000000000000000000000000000000000..6a9dd5e749b8649fed3ef76681c70ffd6d476b5d
--- /dev/null
+++ b/digit/cylinder_PLA_15/pose_05_pose5/press_depth_08_0.0229m/real_sensor.csv
@@ -0,0 +1,670 @@
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diff --git a/digit/cylinder_PLA_15/pose_05_pose5/press_depth_09_0.0219m/real_sensor.csv b/digit/cylinder_PLA_15/pose_05_pose5/press_depth_09_0.0219m/real_sensor.csv
new file mode 100644
index 0000000000000000000000000000000000000000..495ef5fd78e81f5ed9f1cb4111b4748c60ce989f
--- /dev/null
+++ b/digit/cylinder_PLA_15/pose_05_pose5/press_depth_09_0.0219m/real_sensor.csv
@@ -0,0 +1,755 @@
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diff --git a/digit/cylinder_PLA_15/pose_05_pose5/press_depth_10_0.0209m/real_sensor.csv b/digit/cylinder_PLA_15/pose_05_pose5/press_depth_10_0.0209m/real_sensor.csv
new file mode 100644
index 0000000000000000000000000000000000000000..b3c7b2abf3d55f639a4c79fd0339c541c5a0331e
--- /dev/null
+++ b/digit/cylinder_PLA_15/pose_05_pose5/press_depth_10_0.0209m/real_sensor.csv
@@ -0,0 +1,832 @@
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