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diff --git a/session_20251213_173222/SLAM_Poses/slam_raw.txt b/session_20251213_173222/SLAM_Poses/slam_raw.txt
new file mode 100644
index 0000000000000000000000000000000000000000..32d2c08784dba792d50fb54c45d20f33834b0fca
--- /dev/null
+++ b/session_20251213_173222/SLAM_Poses/slam_raw.txt
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diff --git a/session_20251213_173222/SLAM_Poses/slam_raw_pose_baseframe.txt b/session_20251213_173222/SLAM_Poses/slam_raw_pose_baseframe.txt
new file mode 100644
index 0000000000000000000000000000000000000000..278851af6783edfdb090a421a21f80cd40ab8eac
--- /dev/null
+++ b/session_20251213_173222/SLAM_Poses/slam_raw_pose_baseframe.txt
@@ -0,0 +1,7606 @@
+# 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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+673800.545836000 0.446249 0.020547 0.346313 -21.59972 78.12467 -26.33155 0.945108
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diff --git a/session_20251213_173222/SLAM_Poses/slam_raw_pose_collectorframe_recentered.txt b/session_20251213_173222/SLAM_Poses/slam_raw_pose_collectorframe_recentered.txt
new file mode 100644
index 0000000000000000000000000000000000000000..ddf6018fa1d53b78891e2150b9431e289abb78d9
--- /dev/null
+++ b/session_20251213_173222/SLAM_Poses/slam_raw_pose_collectorframe_recentered.txt
@@ -0,0 +1,7606 @@
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diff --git a/session_20251213_173222/SLAM_Poses/slam_raw_vel_baseframe.txt b/session_20251213_173222/SLAM_Poses/slam_raw_vel_baseframe.txt
new file mode 100644
index 0000000000000000000000000000000000000000..e92945c1775279bfbb2e05d95c7a59c22554a5f0
--- /dev/null
+++ b/session_20251213_173222/SLAM_Poses/slam_raw_vel_baseframe.txt
@@ -0,0 +1,7605 @@
+# 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)
+673800.535836000 0.001997000 -0.027081 -0.001045 -0.002420 -0.144510 11.241574 2.144973 0.944997
+673800.539016000 0.003180000 -0.026804 -0.001397 -0.000960 -0.215130 10.877858 2.299009 0.944997
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+673815.581836000 0.002001000 -0.019913 0.013923 0.003062 5.666926 5.369720 -1.025899 0.989029
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+673815.589836000 0.002000000 -0.021994 0.014499 0.003161 5.427163 5.777707 -1.627188 0.989029
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+673815.595836000 0.002000000 -0.022137 0.013952 0.004102 4.842747 6.223806 -1.835180 0.989135
+673815.597840000 0.002004000 -0.022377 0.014191 0.004151 4.807557 6.443030 -2.015292 0.989135
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+673815.631834000 0.002000000 -0.010565 0.004865 0.012650 -1.500382 7.682655 1.862034 0.989135
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+673815.639834000 0.001996000 -0.005553 0.001729 0.014599 -3.183196 6.603787 3.865003 0.989135
+673815.641833000 0.001999000 0.000805 0.004162 0.012684 -3.583342 6.346251 4.512786 0.989135
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+673815.677848000 0.001999000 0.000329 0.002892 0.017621 -0.323545 2.781958 3.412717 0.989135
+673815.679856000 0.002008000 0.000106 0.003692 0.017386 0.174198 2.387176 2.593724 0.989135
+673815.681840000 0.001984000 -0.001036 0.003482 0.018270 0.022942 2.419967 1.678540 0.989135
+673815.683850000 0.002010000 -0.007027 0.005619 0.018403 1.109974 2.415912 0.069741 0.989135
+673815.685850000 0.002000000 -0.001483 0.004817 0.017316 0.815681 1.882689 0.672217 0.989135
+673815.687854000 0.002004000 -0.002678 0.005521 0.017598 1.215448 2.128836 0.017106 0.989135
+673815.689843000 0.001989000 -0.002803 0.005161 0.017673 1.344023 2.155206 -0.074615 0.989135
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+673815.733840000 0.002000000 0.001477 0.002929 0.020333 -1.997081 4.182822 1.497316 0.989241
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+673815.757836000 0.001994000 0.007760 0.004635 0.020320 -1.194760 1.995515 2.739371 0.989241
diff --git a/session_20251213_173222/SLAM_Poses/slam_raw_vel_collectorframe.txt b/session_20251213_173222/SLAM_Poses/slam_raw_vel_collectorframe.txt
new file mode 100644
index 0000000000000000000000000000000000000000..4659bf581bb90e9399977cd7a9c22a364dea737f
--- /dev/null
+++ b/session_20251213_173222/SLAM_Poses/slam_raw_vel_collectorframe.txt
@@ -0,0 +1,7605 @@
+# 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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+673800.539016000 0.003180000 -0.026804 -0.001397 -0.000960 -0.215130 10.877858 2.299009 0.944997
+673800.539835000 0.000819000 -0.022060 0.002107 -0.003118 -0.230701 10.747802 2.327739 0.944997
+673800.541834000 0.001999000 -0.032228 -0.005669 0.003906 0.344129 10.641750 3.020105 0.944997
+673800.543790000 0.001956000 -0.023529 0.000136 0.001279 0.201163 9.928750 2.902047 0.945108
+673800.545836000 0.002046000 -0.022366 0.000545 0.001578 0.189358 9.481345 2.907822 0.945108
+673800.547834000 0.001998000 -0.021543 0.000987 0.002179 0.296019 9.102927 2.895649 0.944997
+673800.549833000 0.001999000 -0.020971 0.001312 0.003046 0.385751 8.943541 3.004810 0.944997
+673800.553834000 0.004001000 -0.019802 0.002641 0.003743 0.895766 8.425337 2.977418 0.944997
+673800.555835000 0.002001000 -0.018655 0.003203 0.004584 1.156773 7.900439 3.132480 0.944997
+673800.557836000 0.002001000 -0.017914 0.004066 0.005082 1.517849 7.558849 3.090965 0.944997
+673800.559835000 0.001999000 -0.017209 0.004795 0.005633 1.703428 7.222648 2.905493 0.944997
+673800.561839000 0.002004000 -0.016358 0.005568 0.006069 2.051910 6.824096 2.892163 0.944997
+673800.563950000 0.002111000 -0.011953 0.009038 0.003353 2.219816 6.371477 2.781036 0.944997
+673800.565835000 0.001885000 -0.011159 0.009503 0.003920 2.321046 5.975161 2.775558 0.944997
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+673800.569843000 0.002010000 -0.009627 0.009990 0.004858 2.309913 5.280771 2.851152 0.944997
+673800.571839000 0.001996000 -0.003934 0.015828 0.005087 3.121976 5.688263 2.959585 0.944997
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+673800.589834000 0.001999000 -0.007805 0.009032 0.012302 0.490232 5.854839 3.746759 0.944997
+673800.591834000 0.002000000 -0.007167 0.007470 0.016302 -0.097126 6.841522 4.168170 0.944997
+673800.593841000 0.002007000 -0.009393 0.008440 0.013500 -0.194087 7.043287 4.309790 0.944997
+673800.595834000 0.001993000 -0.010023 0.008062 0.014211 -0.623667 7.606563 4.517345 0.944997
+673800.597837000 0.002003000 -0.010707 0.007853 0.014934 -0.952366 8.239010 4.753241 0.944997
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+673800.601835000 0.002001000 -0.011940 0.007694 0.016449 -1.730160 9.630337 5.188982 0.944997
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+673800.613838000 0.002009000 -0.013731 0.009933 0.014363 -1.940291 10.419432 5.556295 0.944997
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+673800.637859000 0.002024000 -0.007611 0.011896 0.020223 -1.550275 8.431611 4.190077 0.944997
+673800.639836000 0.001977000 -0.006210 0.010691 0.020527 -1.858171 7.609745 4.159522 0.944997
+673800.641835000 0.001999000 -0.001712 0.017151 0.022232 -1.141190 7.996631 3.238043 0.944997
+673800.643833000 0.001998000 -0.002347 0.010346 0.020906 -1.674657 6.650144 3.540225 0.945108
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+673800.647832000 0.001999000 -0.001298 0.008617 0.022301 -2.104899 5.828445 3.023311 0.945108
+673800.649819000 0.001987000 -0.000375 0.008301 0.022377 -2.026030 5.216945 2.696982 0.945108
+673800.651843000 0.002024000 -0.000582 0.007913 0.023238 -2.127414 5.156150 2.231056 0.945108
+673800.653837000 0.001994000 0.000393 0.007561 0.023364 -2.074530 4.588698 2.039035 0.944997
+673800.655836000 0.001999000 0.000247 0.007358 0.024190 -2.006636 4.574237 1.656869 0.944997
+673800.657820000 0.001984000 0.001323 0.006911 0.024211 -1.934954 3.994369 1.535761 0.944997
+673800.659834000 0.002014000 0.001236 0.007166 0.024810 -1.706275 3.951498 1.073265 0.944997
+673800.661834000 0.002000000 0.001483 0.006993 0.025199 -1.638419 3.804030 0.841256 0.944997
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