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+710,165467.081554
+711,165467.098423
+712,165467.116488
+713,165467.132296
+714,165467.149332
+715,165467.165244
+716,165467.18395
+717,165467.198932
+718,165467.216511
+719,165467.23204
+720,165467.249309
+721,165467.265205
diff --git a/p5-0/SLAM_Poses/slam_raw_pose_baseframe.txt b/p5-0/SLAM_Poses/slam_raw_pose_baseframe.txt
new file mode 100644
index 0000000000000000000000000000000000000000..3970a36cbc200fca4f5f73a96d09bd545b5e7d38
--- /dev/null
+++ b/p5-0/SLAM_Poses/slam_raw_pose_baseframe.txt
@@ -0,0 +1,6015 @@
+# 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])
+165455.265436000 0.463796 0.019741 0.481249 8.62009 73.13802 9.36424 1.000000
+165455.267437000 0.463787 0.019741 0.481242 8.61544 73.14003 9.35909 1.000000
+165455.269435000 0.463777 0.019742 0.481230 8.61073 73.14125 9.35299 1.000000
+165455.271433000 0.463768 0.019742 0.481219 8.60515 73.14333 9.34674 1.000000
+165455.273436000 0.463758 0.019742 0.481209 8.59907 73.14566 9.33989 1.000000
+165455.275436000 0.463749 0.019742 0.481202 8.59282 73.14807 9.33282 1.000000
+165455.277431000 0.463736 0.019740 0.481187 8.58572 73.15069 9.32545 1.000000
+165455.279431000 0.463725 0.019740 0.481175 8.57966 73.15344 9.31883 1.000000
+165455.281429000 0.463715 0.019739 0.481168 8.57393 73.15632 9.31243 1.000000
+165455.283430000 0.463695 0.019742 0.481147 8.57325 73.16027 9.31063 1.000000
+165455.285432000 0.463682 0.019742 0.481133 8.56896 73.16358 9.30562 1.000000
+165455.287429000 0.463670 0.019742 0.481119 8.56566 73.16663 9.30170 1.000000
+165455.289432000 0.463656 0.019742 0.481100 8.56156 73.16958 9.29720 1.000000
+165455.292404000 0.463641 0.019743 0.481087 8.55540 73.17374 9.29015 1.000000
+165455.293433000 0.463636 0.019743 0.481082 8.55327 73.17518 9.28770 1.000000
+165455.300017000 0.463599 0.019744 0.481025 8.54266 73.18248 9.27607 1.000000
+165455.300031000 0.463599 0.019744 0.481025 8.54263 73.18250 9.27604 1.000000
+165455.300034000 0.463599 0.019744 0.481025 8.54262 73.18250 9.27603 1.000000
+165455.302168000 0.463588 0.019743 0.481011 8.53737 73.18474 9.27073 1.000000
+165455.303432000 0.463583 0.019742 0.481006 8.53413 73.18605 9.26749 1.000000
+165455.305434000 0.463575 0.019743 0.480997 8.53032 73.18774 9.26278 1.000000
+165455.307633000 0.463567 0.019741 0.480989 8.52353 73.18999 9.25624 1.000000
+165455.309433000 0.463561 0.019740 0.480982 8.51832 73.19106 9.25082 1.000000
+165455.311430000 0.463559 0.019738 0.480987 8.51135 73.19323 9.24348 1.000000
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+165455.315430000 0.463546 0.019731 0.480968 8.49653 73.19578 9.22920 1.000000
+165455.317429000 0.463539 0.019727 0.480960 8.48867 73.19709 9.22195 1.000000
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+165455.321432000 0.463527 0.019716 0.480944 8.46709 73.19962 9.20151 1.000000
+165455.324278000 0.463519 0.019708 0.480931 8.45321 73.20105 9.18782 1.000000
+165455.325431000 0.463515 0.019705 0.480929 8.44762 73.20165 9.18232 1.000000
+165455.328962000 0.463503 0.019697 0.480913 8.43475 73.20358 9.16885 1.000000
+165455.329429000 0.463502 0.019696 0.480912 8.43315 73.20377 9.16720 1.000000
+165455.331435000 0.463495 0.019692 0.480906 8.42795 73.20452 9.16119 1.000000
+165455.333429000 0.463489 0.019687 0.480900 8.42233 73.20510 9.15542 1.000000
+165455.335429000 0.463482 0.019685 0.480894 8.42008 73.20561 9.15222 1.000000
+165455.337429000 0.463476 0.019682 0.480888 8.41833 73.20594 9.14940 1.000000
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+165455.341429000 0.463462 0.019679 0.480876 8.41912 73.20661 9.14814 1.000000
+165455.343429000 0.463455 0.019677 0.480870 8.42004 73.20686 9.14771 1.000000
+165455.345430000 0.463447 0.019675 0.480865 8.42169 73.20724 9.14828 1.000000
+165455.347444000 0.463441 0.019675 0.480861 8.42317 73.20759 9.14865 1.000000
+165455.349432000 0.463433 0.019674 0.480856 8.42730 73.20782 9.14929 1.000000
+165455.351431000 0.463426 0.019673 0.480852 8.43120 73.20834 9.15102 1.000000
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+165455.355436000 0.463416 0.019669 0.480843 8.43490 73.20796 9.15053 1.000000
+165455.357438000 0.463412 0.019668 0.480838 8.43791 73.20724 9.15134 1.000000
+165455.359432000 0.463407 0.019667 0.480834 8.44099 73.20672 9.15211 1.000000
+165455.361432000 0.463403 0.019666 0.480830 8.44347 73.20620 9.15239 1.000000
+165455.363434000 0.463398 0.019664 0.480826 8.44594 73.20555 9.15267 1.000000
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diff --git a/p5-0/SLAM_Poses/slam_raw_pose_collectorframe_recentered.txt b/p5-0/SLAM_Poses/slam_raw_pose_collectorframe_recentered.txt
new file mode 100644
index 0000000000000000000000000000000000000000..2997a4d86bfcf5e647a7894e0669d44527acb665
--- /dev/null
+++ b/p5-0/SLAM_Poses/slam_raw_pose_collectorframe_recentered.txt
@@ -0,0 +1,6015 @@
+# 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])
+165455.265436000 0.000000 0.000000 0.000000 8.62009 73.13802 9.36424 1.000000
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diff --git a/p9-1/Clamp_Data/clamp_data_tum.txt b/p9-1/Clamp_Data/clamp_data_tum.txt
new file mode 100644
index 0000000000000000000000000000000000000000..f2180bce3afd66520a2c9e2d56e31f65a72e99cb
--- /dev/null
+++ b/p9-1/Clamp_Data/clamp_data_tum.txt
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diff --git a/p9-1/SLAM_Poses/slam_raw.txt b/p9-1/SLAM_Poses/slam_raw.txt
new file mode 100644
index 0000000000000000000000000000000000000000..701a41b32b0e7cfb835ba22f5d090618cc92aa67
--- /dev/null
+++ b/p9-1/SLAM_Poses/slam_raw.txt
@@ -0,0 +1,17486 @@
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+166470.57136 0.18274513946688645 -0.6560069207445843 0.03486643137517248 0.0021287296713753167 0.6496977801564533 -0.11913366887644086 0.7507965316314411
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diff --git a/p9-1/SLAM_Poses/slam_raw_pose_baseframe.txt b/p9-1/SLAM_Poses/slam_raw_pose_baseframe.txt
new file mode 100644
index 0000000000000000000000000000000000000000..0f69fee26103f7cdcd7657cb998451cff236ae48
--- /dev/null
+++ b/p9-1/SLAM_Poses/slam_raw_pose_baseframe.txt
@@ -0,0 +1,17487 @@
+# 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])
+166435.617365000 0.483330 -0.018085 0.502252 9.41610 70.78007 13.72649 0.962773
+166435.619373000 0.483321 -0.018081 0.502244 9.41654 70.78327 13.72211 0.962773
+166435.621672000 0.483312 -0.018076 0.502236 9.41772 70.78680 13.71808 0.962773
+166435.625362000 0.483310 -0.018062 0.502228 9.41836 70.79068 13.71172 0.962773
+166435.627362000 0.483305 -0.018057 0.502224 9.41869 70.79195 13.70808 0.962773
+166435.629362000 0.483299 -0.018052 0.502223 9.41996 70.79356 13.70535 0.962773
+166435.631363000 0.483294 -0.018046 0.502221 9.42229 70.79482 13.70434 0.962773
+166435.633361000 0.483290 -0.018040 0.502221 9.42351 70.79568 13.70177 0.962773
+166435.635363000 0.483289 -0.018035 0.502221 9.42518 70.79574 13.70011 0.962665
+166435.637362000 0.483287 -0.018027 0.502221 9.42822 70.79550 13.69961 0.962665
+166435.639362000 0.483286 -0.018020 0.502223 9.43172 70.79523 13.69964 0.962665
+166435.641362000 0.483286 -0.018013 0.502225 9.43481 70.79448 13.69963 0.962665
+166435.643369000 0.483288 -0.018006 0.502228 9.43853 70.79332 13.70033 0.962665
+166435.645367000 0.483280 -0.018001 0.502234 9.44632 70.79300 13.70478 0.962665
+166435.647361000 0.483281 -0.017994 0.502240 9.44984 70.79101 13.70509 0.962665
+166435.649361000 0.483284 -0.017987 0.502245 9.45533 70.78838 13.70719 0.962773
+166435.651362000 0.483287 -0.017980 0.502252 9.45997 70.78530 13.70846 0.962773
+166435.653370000 0.483291 -0.017974 0.502258 9.46329 70.78213 13.70866 0.962773
+166435.655366000 0.483297 -0.017967 0.502265 9.46838 70.77831 13.71032 0.962773
+166435.657362000 0.483301 -0.017959 0.502272 9.47500 70.77461 13.71316 0.962773
+166435.659362000 0.483308 -0.017951 0.502279 9.48104 70.76976 13.71553 0.962773
+166435.661361000 0.483312 -0.017943 0.502286 9.48948 70.76590 13.72026 0.962773
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+166435.665361000 0.483328 -0.017919 0.502300 9.50887 70.76012 13.73117 0.962882
+166435.667361000 0.483330 -0.017911 0.502310 9.51593 70.75610 13.73409 0.962882
+166435.669365000 0.483332 -0.017902 0.502319 9.52464 70.75240 13.73825 0.962882
+166435.671362000 0.483334 -0.017894 0.502328 9.53253 70.74896 13.74184 0.962773
+166435.677362000 0.483332 -0.017868 0.502355 9.56516 70.74053 13.75868 0.962773
+166435.679362000 0.483330 -0.017860 0.502363 9.57562 70.73823 13.76362 0.962773
+166435.681365000 0.483327 -0.017854 0.502371 9.58443 70.73644 13.76620 0.962773
+166435.683361000 0.483324 -0.017848 0.502379 9.59349 70.73486 13.76932 0.962773
+166435.685361000 0.483321 -0.017843 0.502386 9.60156 70.73314 13.77106 0.962773
+166435.687360000 0.483321 -0.017835 0.502391 9.61353 70.73411 13.77670 0.962773
+166435.689361000 0.483306 -0.017834 0.502408 9.61739 70.73376 13.77400 0.962773
+166435.691369000 0.483300 -0.017831 0.502418 9.62219 70.73330 13.77229 0.962773
+166435.693363000 0.483293 -0.017828 0.502428 9.62693 70.73297 13.76998 0.962773
+166435.695360000 0.483286 -0.017829 0.502438 9.62816 70.73323 13.76429 0.962773
+166435.697361000 0.483278 -0.017830 0.502448 9.62742 70.73343 13.75647 0.962773
+166435.699366000 0.483271 -0.017832 0.502457 9.62590 70.73369 13.74767 0.962665
+166435.701368000 0.483264 -0.017836 0.502466 9.62252 70.73391 13.73734 0.962665
+166435.703363000 0.483256 -0.017841 0.502475 9.61765 70.73437 13.72528 0.962665
+166435.705367000 0.483230 -0.017847 0.502494 9.61524 70.73752 13.71517 0.962665
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+166435.709361000 0.483208 -0.017862 0.502511 9.60149 70.73931 13.68644 0.962665
+166435.711367000 0.483196 -0.017870 0.502519 9.59422 70.74068 13.67115 0.962665
+166435.713361000 0.483184 -0.017878 0.502526 9.58669 70.74218 13.65565 0.962665
+166435.715362000 0.483171 -0.017887 0.502532 9.57874 70.74383 13.63979 0.962773
+166435.717361000 0.483158 -0.017897 0.502537 9.57069 70.74573 13.62371 0.962773
+166435.719362000 0.483155 -0.017906 0.502534 9.56263 70.74763 13.60761 0.962773
+166435.721361000 0.483128 -0.017917 0.502545 9.55494 70.75142 13.59215 0.962773
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+166435.729365000 0.483071 -0.017954 0.502538 9.53743 70.77080 13.54193 0.962773
+166435.731364000 0.483041 -0.017964 0.502541 9.53358 70.77638 13.53025 0.962773
+166435.733362000 0.483021 -0.017974 0.502539 9.52890 70.78199 13.51769 0.962773
+166435.735361000 0.483001 -0.017984 0.502536 9.52416 70.78800 13.50452 0.962773
+166435.737372000 0.482990 -0.017994 0.502527 9.51939 70.79411 13.49120 0.962773
+166435.739363000 0.482960 -0.018007 0.502529 9.51171 70.80071 13.47596 0.962773
+166435.741361000 0.482939 -0.018020 0.502524 9.50352 70.80739 13.46022 0.962773
+166435.743362000 0.482919 -0.018032 0.502519 9.49540 70.81391 13.44416 0.962773
+166435.745361000 0.482910 -0.018045 0.502507 9.48644 70.82042 13.42750 0.962773
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+166435.749361000 0.482875 -0.018073 0.502488 9.46761 70.83518 13.39323 0.962773
+166435.751362000 0.482864 -0.018087 0.502474 9.45676 70.84204 13.37467 0.962773
+166435.753369000 0.482854 -0.018101 0.502460 9.44586 70.84892 13.35604 0.962773
+166435.755364000 0.482822 -0.018118 0.502450 9.43232 70.85718 13.33513 0.962773
+166435.757362000 0.482799 -0.018133 0.502438 9.42118 70.86575 13.31637 0.962773
+166435.759370000 0.482774 -0.018148 0.502424 9.41044 70.87505 13.29790 0.962773
+166435.761364000 0.482748 -0.018162 0.502410 9.40098 70.88509 13.28064 0.962773
+166435.763362000 0.482721 -0.018176 0.502394 9.39284 70.89579 13.26478 0.962773
+166435.765382000 0.482703 -0.018190 0.502374 9.38498 70.90678 13.24917 0.962773
+166435.767361000 0.482671 -0.018202 0.502358 9.38067 70.92004 13.23766 0.962773
+166435.769367000 0.482614 -0.018212 0.502350 9.38180 70.93463 13.23119 0.962773
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+166435.803361000 0.482116 -0.018300 0.501981 9.44593 71.12580 13.15917 0.962773
+166435.805362000 0.482097 -0.018301 0.501957 9.44716 71.13128 13.15192 0.962773
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+166435.809365000 0.482057 -0.018311 0.501912 9.44327 71.14349 13.13242 0.962773
+166435.811363000 0.482036 -0.018316 0.501890 9.43998 71.14984 13.12130 0.962773
+166435.813362000 0.482016 -0.018323 0.501869 9.43286 71.15633 13.10698 0.962773
+166435.815361000 0.481994 -0.018331 0.501848 9.42424 71.16339 13.09135 0.962773
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+166435.823370000 0.481903 -0.018364 0.501761 9.37515 71.19445 13.01885 0.962773
+166435.825364000 0.481885 -0.018376 0.501738 9.35531 71.20325 12.99409 0.962773
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+166435.831368000 0.481804 -0.018403 0.501662 9.30352 71.23358 12.93017 0.962773
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diff --git a/p9-1/SLAM_Poses/slam_raw_pose_collectorframe_recentered.txt b/p9-1/SLAM_Poses/slam_raw_pose_collectorframe_recentered.txt
new file mode 100644
index 0000000000000000000000000000000000000000..9fadeb0d9c30d4b200ce15298d2eeb83ec7f7285
--- /dev/null
+++ b/p9-1/SLAM_Poses/slam_raw_pose_collectorframe_recentered.txt
@@ -0,0 +1,17487 @@
+# 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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+166470.593360000 -0.014801 -0.448302 -0.345263 -44.46799 77.47449 -54.46094 0.821753
+166470.595360000 -0.014781 -0.448331 -0.345297 -44.47856 77.47907 -54.47830 0.821632
+166470.597366000 -0.014758 -0.448356 -0.345333 -44.49107 77.48367 -54.49768 0.821632
+166470.599363000 -0.014730 -0.448375 -0.345369 -44.50344 77.48834 -54.51680 0.821632
+166470.601365000 -0.014713 -0.448395 -0.345403 -44.51544 77.49580 -54.53378 0.821753
+166470.603364000 -0.014701 -0.448424 -0.345434 -44.53410 77.50242 -54.55515 0.821753
+166470.605364000 -0.014681 -0.448439 -0.345470 -44.54635 77.51055 -54.57107 0.821753
+166470.607364000 -0.014662 -0.448452 -0.345504 -44.56045 77.51954 -54.58763 0.821753
+166470.609364000 -0.014643 -0.448463 -0.345539 -44.57656 77.52885 -54.60500 0.821753
+166470.611397000 -0.014622 -0.448472 -0.345574 -44.59289 77.53823 -54.62166 0.821753
+166470.613363000 -0.014596 -0.448474 -0.345609 -44.60856 77.54726 -54.63743 0.821753
+166470.615362000 -0.014579 -0.448485 -0.345643 -44.62232 77.55635 -54.64858 0.821753
+166470.617364000 -0.014555 -0.448490 -0.345678 -44.63565 77.56561 -54.65870 0.821753
+166470.619357000 -0.014530 -0.448492 -0.345714 -44.64943 77.57486 -54.66803 0.821632
+166470.621360000 -0.014504 -0.448493 -0.345749 -44.66425 77.58445 -54.67717 0.821632
+166470.623366000 -0.014472 -0.448487 -0.345785 -44.67936 77.59419 -54.68622 0.821632
+166470.625366000 -0.014438 -0.448477 -0.345821 -44.69380 77.60336 -54.69194 0.821753
+166470.627362000 -0.014394 -0.448463 -0.345859 -44.71174 77.61189 -54.69936 0.821753
+166470.629528000 -0.014366 -0.448460 -0.345896 -44.72977 77.62153 -54.70651 0.821753
+166470.631361000 -0.014343 -0.448458 -0.345927 -44.74743 77.62988 -54.71305 0.821753
+166470.633360000 -0.014327 -0.448461 -0.345959 -44.76840 77.63914 -54.72071 0.821753
+166470.635361000 -0.014300 -0.448455 -0.345992 -44.78820 77.64828 -54.72686 0.821753
+166470.637361000 -0.014272 -0.448448 -0.346026 -44.80743 77.65734 -54.73161 0.821753
+166470.639361000 -0.014235 -0.448432 -0.346062 -44.82638 77.66648 -54.73573 0.821753
+166470.641365000 -0.014207 -0.448424 -0.346096 -44.84903 77.67578 -54.74182 0.821753
diff --git a/p9-1/SLAM_Poses/slam_raw_vel_baseframe.txt b/p9-1/SLAM_Poses/slam_raw_vel_baseframe.txt
new file mode 100644
index 0000000000000000000000000000000000000000..abd743a3294c03274590625f5b366fc2f6536167
--- /dev/null
+++ b/p9-1/SLAM_Poses/slam_raw_vel_baseframe.txt
@@ -0,0 +1,17486 @@
+# 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)
+166435.619373000 0.002008000 -0.004361 0.001964 -0.003843 -0.307785 1.566693 -2.387654 0.962773
+166435.621672000 0.002299000 -0.004009 0.002187 -0.003334 -0.200166 1.529347 -2.238773 0.962773
+166435.625362000 0.003690000 -0.000568 0.003762 -0.002343 -0.194265 1.036451 -1.886382 0.962773
+166435.627362000 0.002000000 -0.002559 0.002387 -0.001622 -0.096760 0.628816 -1.978620 0.962773
+166435.629362000 0.002000000 -0.002849 0.002628 -0.000898 0.012023 0.831063 -1.961585 0.962773
+166435.631363000 0.002001000 -0.002346 0.002739 -0.000560 0.221913 0.705047 -1.605629 0.962773
+166435.633361000 0.001998000 -0.001875 0.002848 -0.000232 0.095019 0.461886 -1.865145 0.962773
+166435.635363000 0.002002000 -0.000968 0.002982 -0.000095 0.257654 0.097771 -1.611776 0.962665
+166435.637362000 0.001999000 -0.000662 0.003575 0.000320 0.515467 0.001181 -1.691783 0.962665
+166435.639362000 0.002000000 -0.000527 0.003652 0.000820 0.591109 0.003920 -1.634592 0.962665
+166435.641362000 0.002000000 0.000136 0.003432 0.001074 0.583493 -0.243385 -1.468268 0.962665
+166435.643369000 0.002007000 0.000609 0.003568 0.001361 0.727842 -0.417286 -1.397872 0.962665
+166435.645367000 0.001998000 -0.003962 0.002772 0.003190 1.285161 0.148156 -1.459038 0.962665
+166435.647361000 0.001994000 0.000744 0.003076 0.002727 0.799786 -0.831443 -1.508025 0.962665
+166435.649361000 0.002000000 0.001256 0.003793 0.002811 1.189375 -1.065290 -1.539561 0.962773
+166435.651362000 0.002001000 0.001770 0.003474 0.003040 1.107133 -1.313001 -1.560016 0.962773
+166435.653370000 0.002008000 0.002104 0.002897 0.003444 0.901955 -1.405498 -1.459993 0.962773
+166435.655366000 0.001996000 0.002579 0.003613 0.003382 1.269169 -1.658010 -1.577542 0.962773
+166435.657362000 0.001996000 0.002272 0.004034 0.003655 1.500730 -1.545386 -1.707490 0.962773
+166435.659362000 0.002000000 0.003431 0.003895 0.003211 1.541350 -2.120388 -1.668210 0.962773
+166435.661361000 0.001999000 0.002214 0.004230 0.003798 1.809487 -1.546698 -1.619390 0.962773
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+166435.667361000 0.002000000 0.001323 0.004239 0.004725 1.606279 -1.676058 -1.870949 0.962882
+166435.669365000 0.002004000 0.000868 0.004488 0.004667 1.829556 -1.451645 -2.025683 0.962882
+166435.671362000 0.001997000 0.000750 0.003787 0.004668 1.675177 -1.364062 -1.935668 0.962773
+166435.677362000 0.006000000 -0.000261 0.004412 0.004370 2.075893 -0.938123 -2.327421 0.962773
+166435.679362000 0.002000000 -0.000861 0.003787 0.004047 1.950231 -0.708514 -2.469816 0.962773
+166435.681365000 0.002003000 -0.001407 0.003279 0.004125 1.621222 -0.520603 -2.864290 0.962773
+166435.683361000 0.001996000 -0.001614 0.002943 0.003975 1.643803 -0.417038 -2.718647 0.962773
+166435.685361000 0.002000000 -0.001511 0.002595 0.003628 1.497209 -0.514055 -2.941316 0.962773
+166435.687360000 0.001999000 0.000128 0.003832 0.002396 1.804251 0.938147 -2.829150 0.962773
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+166435.737372000 0.002011000 -0.005358 -0.004781 -0.004455 -1.466559 2.769419 -4.386248 0.962773
+166435.739363000 0.001991000 -0.015195 -0.006627 0.000861 -2.006850 2.926405 -4.011811 0.962773
+166435.741361000 0.001998000 -0.010204 -0.006539 -0.002215 -2.090288 2.937900 -4.006388 0.962773
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+166435.745361000 0.001999000 -0.004819 -0.006446 -0.006082 -2.189496 2.822967 -4.097317 0.962773
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+166435.751362000 0.002001000 -0.005060 -0.007007 -0.006906 -2.525479 2.923191 -4.151978 0.962773
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+166470.527366000 0.002002000 0.019444 -0.052754 -0.004127 -22.215427 4.127169 8.949145 0.821391
+166470.529364000 0.001998000 0.019034 -0.057121 -0.000407 -24.232433 6.037410 9.415685 0.821391
+166470.531365000 0.002001000 0.019328 -0.057344 0.000102 -24.204118 6.271368 9.440998 0.821391
+166470.533363000 0.001998000 0.020268 -0.054828 -0.001370 -22.091848 6.094145 9.701284 0.821391
+166470.535363000 0.002000000 0.021388 -0.052124 -0.003377 -20.426019 5.409964 9.116541 0.821391
+166470.537366000 0.002003000 0.020990 -0.050421 -0.003966 -19.760082 5.149513 7.972238 0.821391
+166470.539369000 0.002003000 0.021789 -0.050585 -0.004920 -19.682952 4.384357 7.552043 0.821511
+166470.541364000 0.001995000 0.021502 -0.050620 -0.004760 -19.279532 4.517691 7.650404 0.821511
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+166470.549364000 0.002000000 0.025377 -0.040753 -0.011556 -13.325311 2.441778 3.444752 0.821632
+166470.551360000 0.001996000 0.023423 -0.039815 -0.012238 -12.359677 1.789260 4.048705 0.821632
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+166470.563361000 0.001998000 0.022459 -0.024125 -0.020006 -3.392467 -0.164646 -1.728183 0.821753
+166470.565324000 0.001963000 0.019127 -0.021542 -0.019694 -2.281563 -0.375310 -2.862077 0.821632
+166470.567361000 0.002037000 0.011495 -0.019402 -0.017919 -1.058094 -0.115983 -4.061118 0.821632
+166470.569360000 0.001999000 0.017381 -0.020365 -0.020085 -1.176805 0.260789 -3.855769 0.821632
+166470.571360000 0.002000000 0.016443 -0.019724 -0.019429 -0.784151 0.967459 -4.056889 0.821632
+166470.573362000 0.002002000 0.015367 -0.019228 -0.018666 -0.680497 1.636485 -4.416406 0.821632
+166470.575363000 0.002001000 0.014085 -0.018752 -0.017850 -0.696361 2.255072 -4.842922 0.821632
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+166470.579363000 0.001998000 0.013719 -0.018034 -0.017145 -0.707899 2.583893 -4.849163 0.821632
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+166470.585364000 0.002001000 0.012599 -0.016709 -0.016737 -0.429417 3.176359 -4.750420 0.821753
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+166470.589362000 0.001997000 0.011511 -0.017098 -0.016527 -0.146802 2.654435 -4.316085 0.821753
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+166470.593360000 0.001999000 0.013932 -0.013161 -0.017548 0.309109 2.486614 -4.261979 0.821753
+166470.595360000 0.002000000 0.009709 -0.014611 -0.017175 1.200700 2.265613 -3.520541 0.821632
+166470.597366000 0.002006000 0.011743 -0.012103 -0.017579 1.080655 2.431163 -3.576824 0.821632
+166470.599363000 0.001997000 0.013980 -0.009650 -0.018153 1.125511 2.451040 -3.525054 0.821632
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+166470.607364000 0.002000000 0.009626 -0.006342 -0.017372 2.779695 3.846761 -1.395258 0.821753
+166470.609364000 0.002000000 0.009640 -0.005507 -0.017122 2.788850 4.116620 -0.825777 0.821753
+166470.611397000 0.002033000 0.010122 -0.004566 -0.017218 2.755939 4.085457 -0.347203 0.821753
+166470.613363000 0.001966000 0.013375 -0.000949 -0.017838 2.749467 4.059345 -0.239000 0.821753
+166470.615362000 0.001999000 0.008600 -0.005596 -0.017104 2.851490 3.843207 1.143309 0.821753
+166470.617364000 0.002002000 0.011994 -0.002088 -0.017798 2.942297 3.845175 1.447984 0.821753
+166470.619357000 0.001993000 0.012471 -0.001444 -0.017653 2.922937 3.896975 2.069650 0.821632
+166470.621360000 0.002003000 0.012703 -0.000503 -0.017451 2.987856 4.067291 2.661577 0.821632
+166470.623366000 0.002006000 0.015921 0.003244 -0.017963 3.026863 4.129071 2.848646 0.821632
+166470.625366000 0.002000000 0.017351 0.004943 -0.018162 2.844351 3.915107 4.192127 0.821753
+166470.627362000 0.001996000 0.021952 0.007032 -0.018864 2.373580 4.044006 5.055879 0.821753
+166470.629528000 0.002166000 0.012915 0.001585 -0.017249 2.599238 4.027557 4.830283 0.821753
+166470.631361000 0.001833000 0.012334 0.001060 -0.016774 2.526482 4.317591 5.844418 0.821753
+166470.633360000 0.001999000 0.008312 -0.001571 -0.015944 2.483370 4.508337 6.409894 0.821753
+166470.635361000 0.002001000 0.013421 0.002806 -0.016891 2.504843 4.366415 6.594752 0.821753
+166470.637361000 0.002000000 0.013788 0.003469 -0.017075 2.514585 4.296250 7.016661 0.821753
+166470.639361000 0.002000000 0.018753 0.007905 -0.017867 2.561377 4.291618 7.201103 0.821753
+166470.641365000 0.002004000 0.013964 0.004204 -0.016820 2.396864 4.650208 8.002317 0.821753
diff --git a/p9-1/SLAM_Poses/slam_raw_vel_collectorframe.txt b/p9-1/SLAM_Poses/slam_raw_vel_collectorframe.txt
new file mode 100644
index 0000000000000000000000000000000000000000..562876ddbc1d533eb1eaad0c8a6b93594fefb02e
--- /dev/null
+++ b/p9-1/SLAM_Poses/slam_raw_vel_collectorframe.txt
@@ -0,0 +1,17486 @@
+# 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)
+166435.619373000 0.002008000 -0.004361 0.001964 -0.003843 -0.307785 1.566693 -2.387654 0.962773
+166435.621672000 0.002299000 -0.004009 0.002187 -0.003334 -0.200166 1.529347 -2.238773 0.962773
+166435.625362000 0.003690000 -0.000568 0.003762 -0.002343 -0.194265 1.036451 -1.886382 0.962773
+166435.627362000 0.002000000 -0.002559 0.002387 -0.001622 -0.096760 0.628816 -1.978620 0.962773
+166435.629362000 0.002000000 -0.002849 0.002628 -0.000898 0.012023 0.831063 -1.961585 0.962773
+166435.631363000 0.002001000 -0.002346 0.002739 -0.000560 0.221913 0.705047 -1.605629 0.962773
+166435.633361000 0.001998000 -0.001875 0.002848 -0.000232 0.095019 0.461886 -1.865145 0.962773
+166435.635363000 0.002002000 -0.000968 0.002982 -0.000095 0.257654 0.097771 -1.611776 0.962665
+166435.637362000 0.001999000 -0.000662 0.003575 0.000320 0.515467 0.001181 -1.691783 0.962665
+166435.639362000 0.002000000 -0.000527 0.003652 0.000820 0.591109 0.003920 -1.634592 0.962665
+166435.641362000 0.002000000 0.000136 0.003432 0.001074 0.583493 -0.243385 -1.468268 0.962665
+166435.643369000 0.002007000 0.000609 0.003568 0.001361 0.727842 -0.417286 -1.397872 0.962665
+166435.645367000 0.001998000 -0.003962 0.002772 0.003190 1.285161 0.148156 -1.459038 0.962665
+166435.647361000 0.001994000 0.000744 0.003076 0.002727 0.799786 -0.831443 -1.508025 0.962665
+166435.649361000 0.002000000 0.001256 0.003793 0.002811 1.189375 -1.065290 -1.539561 0.962773
+166435.651362000 0.002001000 0.001770 0.003474 0.003040 1.107133 -1.313001 -1.560016 0.962773
+166435.653370000 0.002008000 0.002104 0.002897 0.003444 0.901955 -1.405498 -1.459993 0.962773
+166435.655366000 0.001996000 0.002579 0.003613 0.003382 1.269169 -1.658010 -1.577542 0.962773
+166435.657362000 0.001996000 0.002272 0.004034 0.003655 1.500730 -1.545386 -1.707490 0.962773
+166435.659362000 0.002000000 0.003431 0.003895 0.003211 1.541350 -2.120388 -1.668210 0.962773
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+166435.667361000 0.002000000 0.001323 0.004239 0.004725 1.606279 -1.676058 -1.870949 0.962882
+166435.669365000 0.002004000 0.000868 0.004488 0.004667 1.829556 -1.451645 -2.025683 0.962882
+166435.671362000 0.001997000 0.000750 0.003787 0.004668 1.675177 -1.364062 -1.935668 0.962773
+166435.677362000 0.006000000 -0.000261 0.004412 0.004370 2.075893 -0.938123 -2.327421 0.962773
+166435.679362000 0.002000000 -0.000861 0.003787 0.004047 1.950231 -0.708514 -2.469816 0.962773
+166435.681365000 0.002003000 -0.001407 0.003279 0.004125 1.621222 -0.520603 -2.864290 0.962773
+166435.683361000 0.001996000 -0.001614 0.002943 0.003975 1.643803 -0.417038 -2.718647 0.962773
+166435.685361000 0.002000000 -0.001511 0.002595 0.003628 1.497209 -0.514055 -2.941316 0.962773
+166435.687360000 0.001999000 0.000128 0.003832 0.002396 1.804251 0.938147 -2.829150 0.962773
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+166435.745361000 0.001999000 -0.004819 -0.006446 -0.006082 -2.189496 2.822967 -4.097317 0.962773
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