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diff --git a/session_20251213_173528/SLAM_Poses/slam_raw.txt b/session_20251213_173528/SLAM_Poses/slam_raw.txt
new file mode 100644
index 0000000000000000000000000000000000000000..bc9fd505326b12d75d198f7d3fde8d9d7bf2b8b7
--- /dev/null
+++ b/session_20251213_173528/SLAM_Poses/slam_raw.txt
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diff --git a/session_20251213_173528/SLAM_Poses/slam_raw_pose_baseframe.txt b/session_20251213_173528/SLAM_Poses/slam_raw_pose_baseframe.txt
new file mode 100644
index 0000000000000000000000000000000000000000..4ea727400beb33151db87edc18379da4272d389a
--- /dev/null
+++ b/session_20251213_173528/SLAM_Poses/slam_raw_pose_baseframe.txt
@@ -0,0 +1,6506 @@
+# 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_173528/SLAM_Poses/slam_raw_pose_collectorframe_recentered.txt b/session_20251213_173528/SLAM_Poses/slam_raw_pose_collectorframe_recentered.txt
new file mode 100644
index 0000000000000000000000000000000000000000..6574d0c152de776dc602de9eb5275e3597304b90
--- /dev/null
+++ b/session_20251213_173528/SLAM_Poses/slam_raw_pose_collectorframe_recentered.txt
@@ -0,0 +1,6506 @@
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diff --git a/session_20251213_173528/SLAM_Poses/slam_raw_vel_baseframe.txt b/session_20251213_173528/SLAM_Poses/slam_raw_vel_baseframe.txt
new file mode 100644
index 0000000000000000000000000000000000000000..e42f37d7eafa1e139da828dea8d22e7522ebb72f
--- /dev/null
+++ b/session_20251213_173528/SLAM_Poses/slam_raw_vel_baseframe.txt
@@ -0,0 +1,6505 @@
+# 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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diff --git a/session_20251213_173528/SLAM_Poses/slam_raw_vel_collectorframe.txt b/session_20251213_173528/SLAM_Poses/slam_raw_vel_collectorframe.txt
new file mode 100644
index 0000000000000000000000000000000000000000..6494015dd6f17d334d4dc04660b8cfc97a9549c9
--- /dev/null
+++ b/session_20251213_173528/SLAM_Poses/slam_raw_vel_collectorframe.txt
@@ -0,0 +1,6505 @@
+# 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)
+673986.317845000 0.002009000 0.043363 0.002434 -0.010238 -0.710439 0.143703 3.909331 0.983593
+673986.319836000 0.001991000 0.043562 0.001365 -0.005359 -0.809558 0.207931 4.124722 0.983593
+673986.321853000 0.002017000 0.043557 0.001222 -0.008117 -0.980160 -0.067224 3.743548 0.983593
+673986.323837000 0.001984000 0.044756 0.000612 -0.006015 -1.433277 -0.169843 3.954875 0.983593
+673986.325836000 0.001999000 0.044308 0.001158 -0.008937 -1.007857 -0.601633 3.390882 0.983593
+673986.327837000 0.002001000 0.044237 -0.000185 -0.008659 -1.553424 -0.563153 3.477051 0.983593
+673986.329837000 0.002000000 0.043784 0.001574 -0.011316 -1.078946 -0.502062 2.925886 0.983593
+673986.331838000 0.002001000 0.043743 -0.000284 -0.007567 -1.142065 -0.602318 3.060479 0.983593
+673986.333834000 0.001996000 0.043324 0.000437 -0.009705 -1.123739 -0.348121 2.816177 0.983593
+673986.335871000 0.002037000 0.043110 0.000937 -0.010136 -0.817486 -0.303291 2.615118 0.983593
+673986.337835000 0.001964000 0.043104 0.000799 -0.010461 -0.914904 -0.293149 2.512646 0.983593
+673986.339839000 0.002004000 0.043209 0.000750 -0.010823 -0.826381 -0.315504 2.599751 0.983593
+673986.341835000 0.001996000 0.043038 -0.000076 -0.008701 -0.860539 -0.315818 2.596873 0.983593
+673986.348012000 0.006177000 0.043016 0.002452 -0.011889 0.100999 -0.207844 2.262470 0.983593
+673986.348018000 0.000006000 0.043129 0.002428 -0.011121 0.326264 -0.310106 2.324370 0.983593
+673986.348019000 0.000001000 0.043129 0.002428 -0.011121 0.326264 -0.310106 2.324370 0.983593
+673986.350307000 0.002288000 0.043225 0.002218 -0.009664 0.645234 -0.328265 2.481961 0.983593
+673986.352113000 0.001806000 0.043502 0.003097 -0.014983 0.805623 -0.643807 2.580747 0.983593
+673986.353951000 0.001838000 0.043628 0.003257 -0.012172 0.740489 -0.524518 2.523525 0.983593
+673986.355958000 0.002007000 0.044146 0.003948 -0.014217 1.008072 -0.870540 2.704045 0.983593
+673986.357842000 0.001884000 0.044348 0.004547 -0.014822 1.273457 -0.992216 2.908190 0.983593
+673986.359948000 0.002106000 0.044403 0.005405 -0.015187 1.655253 -1.057185 2.973679 0.983593
+673986.361837000 0.001889000 0.044478 0.005904 -0.015569 1.681819 -1.176248 3.065599 0.983593
+673986.364657000 0.002820000 0.045047 0.005758 -0.015486 1.667053 -1.361280 3.468606 0.983593
+673986.368009000 0.003352000 0.045167 0.007067 -0.017502 2.302491 -1.459300 4.034839 0.983700
+673986.368012000 0.000003000 0.045147 0.006843 -0.014980 1.995505 -1.429443 3.729927 0.983700
+673986.371025000 0.003013000 0.044305 0.007164 -0.015337 2.054164 -1.464532 3.984828 0.983700
+673986.372068000 0.001043000 0.043405 0.007800 -0.016694 2.180190 -2.073216 4.401558 0.983700
+673986.374079000 0.002011000 0.044332 0.007880 -0.016130 2.250908 -1.991921 4.347081 0.983593
+673986.376020000 0.001941000 0.044208 0.007519 -0.015797 1.990833 -2.006049 4.634025 0.983593
+673986.377838000 0.001818000 0.044187 0.007902 -0.015887 1.960229 -2.216561 4.644271 0.983593
+673986.379844000 0.002006000 0.044426 0.007731 -0.015729 1.889278 -2.334312 4.875889 0.983593
+673986.381843000 0.001999000 0.044779 0.007636 -0.015824 1.739820 -2.652876 5.024541 0.983593
+673986.383843000 0.002000000 0.044966 0.007924 -0.016014 1.634970 -2.985988 4.877217 0.983593
+673986.385835000 0.001992000 0.044933 0.006658 -0.015653 1.313020 -3.469272 5.605847 0.983593
+673986.387836000 0.002001000 0.046399 0.007521 -0.015501 1.351928 -3.234267 5.058211 0.983593
+673986.389838000 0.002002000 0.043021 0.006610 -0.012773 0.571142 -4.032387 6.054082 0.983593
+673986.391838000 0.002000000 0.044597 0.006824 -0.013701 0.711103 -3.707699 5.676319 0.983593
+673986.393844000 0.002006000 0.044681 0.006461 -0.013630 0.384147 -3.908958 5.655097 0.983593
+673986.395835000 0.001991000 0.044970 0.006510 -0.013945 0.450319 -4.160683 5.706269 0.983593
+673986.397819000 0.001984000 0.044503 0.006149 -0.013503 0.231898 -4.039593 5.665153 0.983486
+673986.399837000 0.002018000 0.044592 0.006186 -0.013717 0.209017 -4.218085 5.549353 0.983486
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+673986.407841000 0.001988000 0.045829 0.002708 -0.012297 -0.175094 -4.105513 5.683417 0.983486
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+673986.413837000 0.001999000 0.044113 0.004141 -0.013707 0.623828 -4.520963 4.816933 0.983593
+673986.415836000 0.001999000 0.043847 0.003788 -0.013477 0.536869 -4.403144 4.689188 0.983593
+673986.417836000 0.002000000 0.043856 0.003697 -0.013774 0.736652 -4.473013 4.730432 0.983593
+673986.419836000 0.002000000 0.045977 0.004824 -0.015796 0.723478 -4.468866 4.728500 0.983593
+673986.421839000 0.002003000 0.041537 0.003067 -0.012460 1.105399 -4.784813 4.052177 0.983593
+673986.423838000 0.001999000 0.043858 0.003743 -0.014600 1.067102 -4.843711 4.389405 0.983593
+673986.425836000 0.001998000 0.043909 0.004151 -0.015033 1.277498 -5.074168 4.136339 0.983593
+673986.427835000 0.001999000 0.041952 0.002474 -0.013649 1.727657 -4.422386 4.463102 0.983593
+673986.429839000 0.002004000 0.043019 0.002305 -0.014829 1.593957 -5.277489 4.020452 0.983593
+673986.431837000 0.001998000 0.042924 0.002437 -0.015105 1.731089 -5.426484 3.874756 0.983593
+673986.433834000 0.001997000 0.042403 0.002829 -0.015219 1.931109 -5.409554 3.645994 0.983593
+673986.435834000 0.002000000 0.042409 0.002813 -0.015496 2.059044 -5.589301 3.622537 0.983593
+673986.437834000 0.002000000 0.045043 0.005643 -0.018106 2.064832 -5.597898 3.621780 0.983593
+673986.439837000 0.002003000 0.041712 0.003421 -0.015866 2.344079 -5.794145 3.198754 0.983593
+673986.441845000 0.002008000 0.038406 0.000562 -0.013636 2.692989 -5.920569 3.143392 0.983593
+673986.443842000 0.001997000 0.034315 -0.002366 -0.008896 3.068390 -5.292065 3.043966 0.983593
+673986.445841000 0.001999000 0.039531 0.002623 -0.014726 2.929745 -5.945079 2.718475 0.983593
+673986.447843000 0.002002000 0.038655 0.003046 -0.014864 3.086780 -5.948774 2.390520 0.983593
+673986.449838000 0.001995000 0.038530 0.003295 -0.015593 3.283856 -6.351249 2.220102 0.983593
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+673986.459834000 0.001998000 0.033560 0.003103 -0.015213 3.255297 -5.830547 1.209812 0.983486
+673986.461835000 0.002001000 0.032619 0.002605 -0.015119 3.123656 -5.689279 1.170755 0.983486
+673986.463835000 0.002000000 0.034699 0.005887 -0.019205 2.851928 -5.581235 1.090307 0.983486
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+673986.483837000 0.001997000 0.021023 -0.002500 -0.013127 1.024444 -1.794485 0.187004 0.983593
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+673986.489846000 0.002010000 0.016910 -0.003061 -0.012816 0.835632 -0.448408 -0.174586 0.983486
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