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diff --git a/session_20251213_173627/SLAM_Poses/slam_raw.txt b/session_20251213_173627/SLAM_Poses/slam_raw.txt
new file mode 100644
index 0000000000000000000000000000000000000000..8d66426fd9483ca3213436d647cd9dd8e29f8d3f
--- /dev/null
+++ b/session_20251213_173627/SLAM_Poses/slam_raw.txt
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diff --git a/session_20251213_173627/SLAM_Poses/slam_raw_pose_baseframe.txt b/session_20251213_173627/SLAM_Poses/slam_raw_pose_baseframe.txt
new file mode 100644
index 0000000000000000000000000000000000000000..f26a487b7e14fb0a92241fe4cf1ab7f20a1f7b19
--- /dev/null
+++ b/session_20251213_173627/SLAM_Poses/slam_raw_pose_baseframe.txt
@@ -0,0 +1,7096 @@
+# 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])
+674045.127833000 0.399382 0.059481 0.400186 5.94821 82.43187 5.15841 0.990410
+674045.129834000 0.399473 0.059444 0.400205 5.91884 82.43293 5.13479 0.990410
+674045.131840000 0.399565 0.059405 0.400223 5.88521 82.43388 5.10696 0.990410
+674045.133834000 0.399653 0.059358 0.400240 5.84702 82.43566 5.07472 0.990410
+674045.135833000 0.399744 0.059315 0.400260 5.80633 82.43714 5.04034 0.990410
+674045.139578000 0.399919 0.059242 0.400306 5.72737 82.43980 4.97336 0.990410
+674045.139834000 0.399931 0.059237 0.400309 5.72197 82.43998 4.96878 0.990410
+674045.141834000 0.400022 0.059178 0.400328 5.65851 82.44135 4.91133 0.990410
+674045.143950000 0.400120 0.059117 0.400347 5.59298 82.44159 4.85177 0.990410
+674045.145837000 0.400210 0.059072 0.400372 5.53556 82.44210 4.79977 0.990410
+674045.147835000 0.400309 0.059025 0.400402 5.46619 82.44176 4.73744 0.990410
+674045.149835000 0.400402 0.058967 0.400428 5.39449 82.44192 4.67050 0.990410
+674045.151835000 0.400494 0.058908 0.400456 5.32109 82.44243 4.60116 0.990410
+674045.153827000 0.400587 0.058847 0.400483 5.24290 82.44235 4.52656 0.990516
+674045.155834000 0.400681 0.058783 0.400511 5.16350 82.44190 4.45086 0.990516
+674045.157835000 0.400774 0.058718 0.400540 5.08334 82.44165 4.37369 0.990516
+674045.159838000 0.400868 0.058653 0.400568 5.00322 82.44065 4.29552 0.990516
+674045.161834000 0.400962 0.058587 0.400597 4.92164 82.43973 4.21539 0.990516
+674045.163833000 0.401058 0.058526 0.400628 4.84061 82.43884 4.13612 0.990516
+674045.165839000 0.401153 0.058461 0.400658 4.76828 82.43694 4.06289 0.990516
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+674045.171837000 0.401439 0.058247 0.400751 4.53193 82.42962 3.82585 0.990410
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+674045.181814000 0.401930 0.057911 0.400910 4.20226 82.41235 3.48698 0.990410
+674045.183834000 0.402031 0.057833 0.400940 4.14885 82.40440 3.43022 0.990410
+674045.185788000 0.402130 0.057765 0.400969 4.09172 82.39953 3.37065 0.990410
+674045.187834000 0.402233 0.057696 0.401000 4.03625 82.39479 3.31258 0.990410
+674045.189803000 0.402334 0.057627 0.401030 3.98200 82.39001 3.25582 0.990410
+674045.191834000 0.402439 0.057557 0.401061 3.92884 82.38508 3.19977 0.990410
+674045.193836000 0.402544 0.057486 0.401091 3.87426 82.37992 3.14272 0.990410
+674045.195833000 0.402649 0.057416 0.401122 3.82089 82.37514 3.08634 0.990410
+674045.197788000 0.402754 0.057351 0.401152 3.76858 82.37039 3.03118 0.990410
+674045.199833000 0.402861 0.057272 0.401184 3.70964 82.36560 2.96948 0.990410
+674045.201834000 0.402975 0.057207 0.401210 3.65394 82.35902 2.91160 0.990410
+674045.203834000 0.403082 0.057136 0.401237 3.59691 82.35401 2.85145 0.990516
+674045.205834000 0.403190 0.057065 0.401265 3.53667 82.34906 2.78826 0.990516
+674045.207837000 0.403298 0.056993 0.401291 3.47740 82.34393 2.72558 0.990410
+674045.209837000 0.403406 0.056923 0.401319 3.41765 82.33928 2.66220 0.990410
+674045.211835000 0.403515 0.056852 0.401346 3.35499 82.33471 2.59592 0.990410
+674045.213840000 0.403624 0.056782 0.401372 3.29583 82.33007 2.53318 0.990410
+674045.215835000 0.403735 0.056712 0.401398 3.23448 82.32533 2.46823 0.990410
+674045.217836000 0.403846 0.056642 0.401424 3.17082 82.32059 2.40136 0.990410
+674045.219835000 0.403957 0.056574 0.401449 3.10892 82.31625 2.33609 0.990410
+674045.221798000 0.404067 0.056507 0.401474 3.04831 82.31207 2.27298 0.990410
+674045.223835000 0.404187 0.056440 0.401504 2.98780 82.30809 2.21064 0.990410
+674045.225835000 0.404304 0.056374 0.401534 2.92787 82.30482 2.14950 0.990410
+674045.227800000 0.404420 0.056312 0.401563 2.87052 82.30165 2.09144 0.990410
+674045.229844000 0.404542 0.056249 0.401593 2.81169 82.29847 2.03198 0.990410
+674045.231836000 0.404662 0.056189 0.401617 2.75660 82.29488 1.97832 0.990410
+674045.233836000 0.404778 0.056128 0.401641 2.69870 82.29225 1.92128 0.990410
+674045.235836000 0.404896 0.056067 0.401664 2.63943 82.28948 1.86423 0.990410
+674045.237837000 0.405014 0.056007 0.401688 2.57738 82.28672 1.80536 0.990410
+674045.239840000 0.405134 0.055949 0.401712 2.51538 82.28383 1.74737 0.990410
+674045.241835000 0.405255 0.055892 0.401735 2.45242 82.28047 1.68951 0.990410
+674045.243839000 0.405379 0.055835 0.401758 2.38635 82.27661 1.62950 0.990410
+674045.245839000 0.405494 0.055775 0.401769 2.32805 82.27295 1.57894 0.990410
+674045.247836000 0.405620 0.055716 0.401791 2.24998 82.26846 1.51017 0.990410
+674045.249835000 0.405750 0.055661 0.401815 2.17612 82.26354 1.44559 0.990410
+674045.251835000 0.405882 0.055607 0.401840 2.10457 82.25813 1.38351 0.990410
+674045.253836000 0.406016 0.055554 0.401863 2.03280 82.25211 1.32235 0.990410
+674045.255835000 0.406152 0.055501 0.401887 1.95858 82.24561 1.25970 0.990410
+674045.257829000 0.406290 0.055448 0.401911 1.88281 82.23864 1.19621 0.990410
+674045.259835000 0.406431 0.055397 0.401939 1.80651 82.23156 1.13235 0.990410
+674045.261836000 0.406571 0.055345 0.401959 1.73148 82.22280 1.07087 0.990410
+674045.263837000 0.406716 0.055296 0.401986 1.65633 82.21462 1.00900 0.990410
+674045.265835000 0.406862 0.055246 0.402010 1.58005 82.20449 0.94752 0.990410
+674045.267833000 0.407026 0.055202 0.402055 1.51132 82.19391 0.89442 0.990410
+674045.269833000 0.407177 0.055154 0.402083 1.43525 82.18291 0.83307 0.990410
+674045.271833000 0.407329 0.055106 0.402111 1.36041 82.17110 0.77332 0.990410
+674045.273833000 0.407482 0.055058 0.402138 1.28627 82.15908 0.71433 0.990410
+674045.275833000 0.407641 0.055009 0.402166 1.21226 82.14459 0.65605 0.990410
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diff --git a/session_20251213_173627/SLAM_Poses/slam_raw_pose_collectorframe_recentered.txt b/session_20251213_173627/SLAM_Poses/slam_raw_pose_collectorframe_recentered.txt
new file mode 100644
index 0000000000000000000000000000000000000000..153e17433c7e25c61c50fdce8d4a5470cc977dd9
--- /dev/null
+++ b/session_20251213_173627/SLAM_Poses/slam_raw_pose_collectorframe_recentered.txt
@@ -0,0 +1,7096 @@
+# 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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+674059.231836000 0.203349 -0.397528 -0.205755 -52.92003 76.84663 -31.83679 0.991047
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+674059.241836000 0.203506 -0.397398 -0.205682 -52.87946 76.83428 -31.78191 0.991047
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+674059.245835000 0.203562 -0.397339 -0.205655 -52.85064 76.83210 -31.74361 0.991047
+674059.247839000 0.203588 -0.397304 -0.205643 -52.82937 76.82972 -31.71757 0.991047
+674059.249837000 0.203612 -0.397267 -0.205632 -52.80734 76.82858 -31.69085 0.991047
+674059.251835000 0.203635 -0.397229 -0.205621 -52.78271 76.82761 -31.66134 0.991047
+674059.253836000 0.203657 -0.397189 -0.205612 -52.75535 76.82675 -31.62921 0.991047
+674059.255834000 0.203678 -0.397147 -0.205605 -52.72541 76.82684 -31.59456 0.991047
+674059.257834000 0.203698 -0.397106 -0.205597 -52.69625 76.82704 -31.56036 0.991047
+674059.259833000 0.203717 -0.397063 -0.205592 -52.66539 76.82775 -31.52511 0.991047
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+674059.263835000 0.203749 -0.396977 -0.205581 -52.60586 76.83146 -31.45649 0.991153
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+674059.273837000 0.203806 -0.396761 -0.205566 -52.48337 76.84867 -31.31288 0.991153
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+674059.279837000 0.203835 -0.396636 -0.205567 -52.40889 76.86305 -31.23175 0.991047
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+674059.295836000 0.203896 -0.396336 -0.205627 -52.18380 76.92088 -31.00387 0.991047
+674059.297837000 0.203904 -0.396302 -0.205638 -52.15443 76.92971 -30.97534 0.991047
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+674059.303838000 0.203944 -0.396199 -0.205668 -52.07589 76.95758 -30.90110 0.991047
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+674059.309837000 0.204012 -0.396101 -0.205702 -52.00998 76.98589 -30.83874 0.991047
+674059.311836000 0.204020 -0.396077 -0.205713 -51.99664 76.99602 -30.82683 0.991047
+674059.313835000 0.204032 -0.396054 -0.205722 -51.98279 77.00505 -30.81390 0.991153
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+674059.317835000 0.204058 -0.396011 -0.205738 -51.96130 77.02220 -30.79353 0.991047
+674059.319839000 0.204071 -0.395994 -0.205745 -51.95483 77.02997 -30.78699 0.991047
+674059.321840000 0.204085 -0.395979 -0.205750 -51.95202 77.03719 -30.78358 0.991047
+674059.323837000 0.204099 -0.395967 -0.205754 -51.95257 77.04381 -30.78298 0.991047
+674059.325836000 0.204112 -0.395956 -0.205757 -51.95508 77.05072 -30.78345 0.991047
+674059.327836000 0.204129 -0.395945 -0.205761 -51.95956 77.05589 -30.78680 0.991047
+674059.329835000 0.204142 -0.395938 -0.205765 -51.97467 77.06076 -30.80051 0.991047
diff --git a/session_20251213_173627/SLAM_Poses/slam_raw_vel_baseframe.txt b/session_20251213_173627/SLAM_Poses/slam_raw_vel_baseframe.txt
new file mode 100644
index 0000000000000000000000000000000000000000..ac4d7a2a805b199b705542a9e5281589a96e2e4c
--- /dev/null
+++ b/session_20251213_173627/SLAM_Poses/slam_raw_vel_baseframe.txt
@@ -0,0 +1,7095 @@
+# 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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+674045.131840000 0.002006000 0.045701 -0.019375 0.009380 -2.240864 0.273677 2.742798 0.990410
+674045.133834000 0.001994000 0.044295 -0.023493 0.008124 -2.590836 0.664681 2.818573 0.990410
+674045.135833000 0.001999000 0.045679 -0.021611 0.010134 -2.734676 0.504765 2.983171 0.990410
+674045.139578000 0.003745000 0.046758 -0.019366 0.012182 -2.825682 0.463025 3.014075 0.990410
+674045.139834000 0.000256000 0.046759 -0.019366 0.012183 -2.825681 0.463025 3.014074 0.990410
+674045.141834000 0.002000000 0.045231 -0.029421 0.009542 -4.217693 0.324295 2.730534 0.990410
+674045.143950000 0.002116000 0.046203 -0.028890 0.009106 -4.068364 -0.231867 2.552099 0.990410
+674045.145837000 0.001887000 0.047761 -0.023758 0.013050 -4.011415 -0.067120 2.608519 0.990410
+674045.147835000 0.001998000 0.049626 -0.023991 0.015343 -4.536666 -0.549049 3.220038 0.990410
+674045.149835000 0.002000000 0.046510 -0.028867 0.013028 -4.706222 -0.306371 2.069248 0.990410
+674045.151835000 0.002000000 0.046059 -0.029482 0.013681 -4.831642 -0.138663 1.713658 0.990410
+674045.153827000 0.001992000 0.046457 -0.030713 0.013740 -5.143024 -0.450628 1.460338 0.990516
+674045.155834000 0.002007000 0.046812 -0.031744 0.013824 -5.169568 -0.630032 1.497232 0.990516
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+674045.159838000 0.002003000 0.047027 -0.032437 0.014232 -5.209189 -0.895476 0.627652 0.990516
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+674045.237837000 0.002001000 0.059226 -0.029981 0.011880 -4.114511 -1.510235 1.302149 0.990410
+674045.239840000 0.002003000 0.059852 -0.029155 0.011864 -4.108902 -1.571655 1.727372 0.990410
+674045.241835000 0.001995000 0.060828 -0.028656 0.011589 -4.185510 -1.812811 2.266329 0.990410
+674045.243839000 0.002004000 0.061799 -0.028265 0.011475 -4.372205 -2.051051 2.728350 0.990410
+674045.245839000 0.002000000 0.057257 -0.030213 0.005765 -3.865794 -1.938832 3.605965 0.990410
+674045.247836000 0.001997000 0.063310 -0.029186 0.010786 -5.195213 -2.388435 4.302856 0.990410
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+674059.317835000 0.001998000 0.006267 0.010154 -0.003783 3.095016 3.077564 -0.137302 0.991047
+674059.319839000 0.002004000 0.006703 0.008777 -0.003273 2.607626 2.960657 0.118210 0.991047
+674059.321840000 0.002001000 0.006893 0.007423 -0.002630 2.116496 2.937715 0.339888 0.991047
+674059.323837000 0.001997000 0.007180 0.006130 -0.002089 1.645379 2.881168 0.563120 0.991047
+674059.325836000 0.001999000 0.006575 0.005232 -0.001586 1.525556 3.112324 0.994272 0.991047
+674059.327836000 0.002000000 0.008255 0.005493 -0.002099 0.892561 2.477412 0.506211 0.991047
+674059.329835000 0.001999000 0.006768 0.003593 -0.001917 -0.205917 2.962486 0.507860 0.991047
diff --git a/session_20251213_173627/SLAM_Poses/slam_raw_vel_collectorframe.txt b/session_20251213_173627/SLAM_Poses/slam_raw_vel_collectorframe.txt
new file mode 100644
index 0000000000000000000000000000000000000000..33732e781bc88c204cf1ec8e614b9761c31908f6
--- /dev/null
+++ b/session_20251213_173627/SLAM_Poses/slam_raw_vel_collectorframe.txt
@@ -0,0 +1,7095 @@
+# 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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+674045.133834000 0.001994000 0.044295 -0.023493 0.008124 -2.590836 0.664681 2.818573 0.990410
+674045.135833000 0.001999000 0.045679 -0.021611 0.010134 -2.734676 0.504765 2.983171 0.990410
+674045.139578000 0.003745000 0.046758 -0.019366 0.012182 -2.825682 0.463025 3.014075 0.990410
+674045.139834000 0.000256000 0.046759 -0.019366 0.012183 -2.825681 0.463025 3.014074 0.990410
+674045.141834000 0.002000000 0.045231 -0.029421 0.009542 -4.217693 0.324295 2.730534 0.990410
+674045.143950000 0.002116000 0.046203 -0.028890 0.009106 -4.068364 -0.231867 2.552099 0.990410
+674045.145837000 0.001887000 0.047761 -0.023758 0.013050 -4.011415 -0.067120 2.608519 0.990410
+674045.147835000 0.001998000 0.049626 -0.023991 0.015343 -4.536666 -0.549049 3.220038 0.990410
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diff --git a/session_20251213_173705/Clamp_Data/clamp_data_tum.txt b/session_20251213_173705/Clamp_Data/clamp_data_tum.txt
new file mode 100644
index 0000000000000000000000000000000000000000..4811639a8c65ef18d098e995926218b170d0037c
--- /dev/null
+++ b/session_20251213_173705/Clamp_Data/clamp_data_tum.txt
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diff --git a/session_20251213_173705/SLAM_Poses/slam_raw.txt b/session_20251213_173705/SLAM_Poses/slam_raw.txt
new file mode 100644
index 0000000000000000000000000000000000000000..60fffc22ebc0373fc90877e906e1fe9f178c727b
--- /dev/null
+++ b/session_20251213_173705/SLAM_Poses/slam_raw.txt
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diff --git a/session_20251213_173705/SLAM_Poses/slam_raw_pose_baseframe.txt b/session_20251213_173705/SLAM_Poses/slam_raw_pose_baseframe.txt
new file mode 100644
index 0000000000000000000000000000000000000000..08ab41c4e6e8b9a233f2fbf09994df97eb432b9f
--- /dev/null
+++ b/session_20251213_173705/SLAM_Poses/slam_raw_pose_baseframe.txt
@@ -0,0 +1,8068 @@
+# 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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+674084.025834000 0.330782 0.067404 0.390563 -22.91968 85.63581 -26.51687 0.989454
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+674084.141936000 0.328842 0.064399 0.389673 -30.73741 85.38753 -34.65284 0.989773
+674084.143837000 0.328856 0.064358 0.389683 -30.68498 85.37745 -34.60873 0.989773
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diff --git a/session_20251213_173705/SLAM_Poses/slam_raw_pose_collectorframe_recentered.txt b/session_20251213_173705/SLAM_Poses/slam_raw_pose_collectorframe_recentered.txt
new file mode 100644
index 0000000000000000000000000000000000000000..bf1bf4e0c9b9e0976d644ec2b2922cb4f8874b0f
--- /dev/null
+++ b/session_20251213_173705/SLAM_Poses/slam_raw_pose_collectorframe_recentered.txt
@@ -0,0 +1,8068 @@
+# 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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+674100.075835000 0.157142 -0.404824 -0.198111 -74.97193 81.57601 -66.76677 0.994648
+674100.077837000 0.157157 -0.404782 -0.198095 -74.94883 81.58461 -66.74050 0.994648
+674100.079835000 0.157173 -0.404740 -0.198078 -74.92597 81.59291 -66.71444 0.994542
+674100.081835000 0.157189 -0.404700 -0.198061 -74.90639 81.60061 -66.69122 0.994542
+674100.083836000 0.157205 -0.404662 -0.198043 -74.89091 81.60769 -66.67172 0.994648
+674100.085835000 0.157222 -0.404624 -0.198025 -74.87552 81.61418 -66.65203 0.994648
+674100.087840000 0.157240 -0.404592 -0.198001 -74.87378 81.61981 -66.64379 0.994648
+674100.089837000 0.157259 -0.404556 -0.197984 -74.86242 81.62524 -66.62833 0.994542
+674100.091834000 0.157288 -0.404524 -0.197953 -74.85244 81.62968 -66.61350 0.994542
+674100.093835000 0.157310 -0.404491 -0.197937 -74.84124 81.63400 -66.59766 0.994542
+674100.095835000 0.157333 -0.404459 -0.197920 -74.82941 81.63778 -66.58109 0.994542
+674100.097834000 0.157356 -0.404426 -0.197904 -74.81593 81.64131 -66.56327 0.994542
+674100.099834000 0.157373 -0.404392 -0.197902 -74.80162 81.64481 -66.54486 0.994542
+674100.101835000 0.157398 -0.404360 -0.197887 -74.78466 81.64821 -66.52376 0.994542
+674100.103820000 0.157424 -0.404330 -0.197872 -74.76736 81.65114 -66.50195 0.994542
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+674100.109833000 0.157512 -0.404239 -0.197853 -74.70805 81.66036 -66.43189 0.994542
+674100.111833000 0.157543 -0.404207 -0.197850 -74.68072 81.66457 -66.40173 0.994542
+674100.113833000 0.157575 -0.404174 -0.197850 -74.64857 81.66854 -66.36798 0.994542
+674100.115834000 0.157606 -0.404140 -0.197851 -74.61398 81.67375 -66.33243 0.994542
+674100.117834000 0.157637 -0.404106 -0.197852 -74.57684 81.67914 -66.29427 0.994648
+674100.119836000 0.157668 -0.404071 -0.197856 -74.53741 81.68575 -66.25461 0.994648
+674100.121835000 0.157698 -0.404035 -0.197859 -74.49883 81.69225 -66.21642 0.994648
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+674100.125837000 0.157758 -0.403968 -0.197878 -74.43872 81.70548 -66.15617 0.994648
+674100.127836000 0.157786 -0.403932 -0.197888 -74.40479 81.71281 -66.12316 0.994648
+674100.129834000 0.157813 -0.403896 -0.197897 -74.37199 81.72028 -66.09197 0.994648
+674100.131845000 0.157838 -0.403860 -0.197907 -74.34050 81.72780 -66.06224 0.994648
+674100.133836000 0.157863 -0.403826 -0.197917 -74.30851 81.73539 -66.03169 0.994648
+674100.135834000 0.157887 -0.403791 -0.197927 -74.27719 81.74299 -66.00224 0.994648
+674100.137835000 0.157911 -0.403755 -0.197936 -74.24384 81.75054 -65.97116 0.994648
+674100.139834000 0.157933 -0.403718 -0.197945 -74.21360 81.75861 -65.94426 0.994542
+674100.141834000 0.157955 -0.403682 -0.197956 -74.17545 81.76626 -65.90939 0.994542
+674100.143836000 0.157967 -0.403643 -0.197970 -74.13738 81.77596 -65.87355 0.994542
+674100.145836000 0.157981 -0.403606 -0.197983 -74.09849 81.78464 -65.83878 0.994542
+674100.147840000 0.157994 -0.403567 -0.197998 -74.05237 81.79344 -65.79728 0.994542
+674100.149836000 0.158006 -0.403528 -0.198012 -74.00459 81.80215 -65.75392 0.994542
+674100.151836000 0.158017 -0.403488 -0.198026 -73.95493 81.81110 -65.70850 0.994542
+674100.153834000 0.158028 -0.403447 -0.198039 -73.90451 81.82024 -65.66203 0.994542
+674100.155836000 0.158038 -0.403403 -0.198054 -73.84742 81.82971 -65.60922 0.994542
diff --git a/session_20251213_173705/SLAM_Poses/slam_raw_vel_baseframe.txt b/session_20251213_173705/SLAM_Poses/slam_raw_vel_baseframe.txt
new file mode 100644
index 0000000000000000000000000000000000000000..75d587ad5df6fa760d6b7126aafc3719e444eff6
--- /dev/null
+++ b/session_20251213_173705/SLAM_Poses/slam_raw_vel_baseframe.txt
@@ -0,0 +1,8067 @@
+# 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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+674084.017838000 0.001998000 -0.042025 -0.005259 -0.029808 0.245103 6.428167 -6.387966 0.989454
+674084.019837000 0.001999000 -0.041545 -0.003110 -0.028796 0.394984 6.611342 -6.423826 0.989454
+674084.021837000 0.002000000 -0.037588 -0.011751 -0.030123 -1.385954 3.956535 -6.219576 0.989454
+674084.023834000 0.001997000 -0.038360 -0.006004 -0.028259 -0.561950 5.146934 -6.308248 0.989454
+674084.025834000 0.002000000 -0.029702 -0.013379 -0.030789 -1.889922 1.279001 -3.657569 0.989454
+674084.027834000 0.002000000 -0.034637 -0.012582 -0.031313 -1.260975 2.862373 -5.146712 0.989454
+674084.029835000 0.002001000 -0.034542 -0.013525 -0.030364 -1.660089 3.056616 -5.120964 0.989454
+674084.031834000 0.001999000 -0.034300 -0.015036 -0.029339 -2.193931 3.335804 -4.582620 0.989454
+674084.033837000 0.002003000 -0.034797 -0.016813 -0.027175 -2.750776 4.328075 -3.729427 0.989454
+674084.035844000 0.002007000 -0.035334 -0.018345 -0.025063 -3.428420 5.331290 -3.041891 0.989454
+674084.037836000 0.001992000 -0.035887 -0.019812 -0.023283 -4.082384 6.156754 -2.478110 0.989454
+674084.039835000 0.001999000 -0.037355 -0.020205 -0.021105 -4.464573 7.326540 -2.321817 0.989454
+674084.041839000 0.002004000 -0.038268 -0.020111 -0.019582 -4.624569 8.071879 -2.203285 0.989454
+674084.043835000 0.001996000 -0.041858 -0.026066 -0.025272 -3.896166 7.761485 -0.832317 0.989454
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+674084.047835000 0.002000000 -0.038198 -0.020920 -0.017800 -4.304562 8.695204 -1.043044 0.989454
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+674084.067834000 0.001999000 -0.023538 -0.021449 -0.014097 -4.140884 2.814352 -1.060222 0.989560
+674084.069842000 0.002008000 -0.023255 -0.022416 -0.012825 -4.491800 2.894529 -1.146117 0.989560
+674084.071837000 0.001995000 -0.023399 -0.022563 -0.011310 -4.629424 3.124090 -1.643175 0.989560
+674084.073835000 0.001998000 -0.022684 -0.023673 -0.010296 -4.939252 2.915421 -1.666121 0.989560
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+674084.109835000 0.001991000 -0.006964 -0.035448 0.003729 -9.201118 -2.349577 -3.921204 0.989666
+674084.111838000 0.002003000 -0.008429 -0.035974 0.005968 -8.923547 -1.927947 -4.119449 0.989666
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+674084.121834000 0.001999000 -0.002520 -0.032871 0.004682 -7.430358 -2.782769 -4.097939 0.989666
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+674084.125836000 0.002002000 -0.000304 -0.031767 0.003600 -7.309013 -2.853755 -4.065213 0.989666
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+674084.129835000 0.002001000 0.002581 -0.028929 0.003941 -5.498797 -3.972554 -4.272882 0.989773
+674084.131835000 0.002000000 0.002932 -0.027097 0.004599 -4.389983 -4.382835 -4.644656 0.989773
+674084.133834000 0.001999000 0.004982 -0.026069 0.002796 -4.547425 -4.296281 -4.609682 0.989773
+674084.135835000 0.002001000 0.005997 -0.025379 0.003254 -3.722452 -4.931805 -4.425713 0.989773
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+674084.139836000 0.002001000 0.008788 -0.023664 0.002656 -2.892589 -5.778180 -4.294823 0.989773
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+674084.149837000 0.002000000 0.015869 -0.016615 0.001649 -0.453441 -7.646787 -4.535349 0.989773
+674084.151836000 0.001999000 0.017177 -0.015655 0.001348 -0.118315 -8.033450 -4.522486 0.989773
+674084.153842000 0.002006000 0.018345 -0.014312 0.001131 0.374463 -8.340648 -4.533750 0.989773
+674084.155835000 0.001993000 0.019607 -0.012965 0.000774 0.839239 -8.678791 -4.545672 0.989773
+674084.157836000 0.002001000 0.021173 -0.011613 0.000059 1.368044 -9.190984 -4.454519 0.989773
+674084.159843000 0.002007000 0.021713 -0.011042 0.000597 1.465458 -8.992619 -4.195318 0.989773
+674084.161834000 0.001991000 0.024087 -0.009199 0.000242 1.759466 -8.829316 -3.853348 0.989773
+674084.163835000 0.002001000 0.024120 -0.008254 0.000075 2.325631 -9.511870 -3.719852 0.989773
+674084.165834000 0.001999000 0.025043 -0.007421 0.000138 2.551308 -9.547472 -3.373726 0.989773
+674084.167834000 0.002000000 0.025713 -0.005709 0.000255 3.025370 -9.468489 -3.298060 0.989773
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+674084.171835000 0.002000000 0.027959 -0.004211 0.000167 3.427168 -9.728122 -2.347220 0.989773
+674084.173835000 0.002000000 0.028681 -0.001890 0.000103 4.198647 -9.710474 -2.186266 0.989773
+674084.175835000 0.002000000 0.029591 -0.001368 0.000151 4.340343 -9.771814 -1.524614 0.989773
+674084.177837000 0.002002000 0.030134 0.000410 0.000392 4.644928 -9.689253 -1.446228 0.989773
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+674084.181834000 0.002000000 0.032608 0.000863 0.000273 4.551112 -10.121645 -0.038498 0.989773
+674084.183834000 0.002000000 0.033723 0.001412 -0.000262 4.587616 -9.969563 0.421710 0.989773
+674084.185838000 0.002004000 0.034629 0.002440 -0.000230 4.843084 -10.064409 0.850065 0.989773
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+674100.155836000 0.002002000 0.005103 0.021992 -0.007381 5.982760 -1.742065 -1.846717 0.994542
diff --git a/session_20251213_173705/SLAM_Poses/slam_raw_vel_collectorframe.txt b/session_20251213_173705/SLAM_Poses/slam_raw_vel_collectorframe.txt
new file mode 100644
index 0000000000000000000000000000000000000000..ce0473b142b3f642c3a385210494b7e37e7d25d7
--- /dev/null
+++ b/session_20251213_173705/SLAM_Poses/slam_raw_vel_collectorframe.txt
@@ -0,0 +1,8067 @@
+# 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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+674084.019837000 0.001999000 -0.041545 -0.003110 -0.028796 0.394984 6.611342 -6.423826 0.989454
+674084.021837000 0.002000000 -0.037588 -0.011751 -0.030123 -1.385954 3.956535 -6.219576 0.989454
+674084.023834000 0.001997000 -0.038360 -0.006004 -0.028259 -0.561950 5.146934 -6.308248 0.989454
+674084.025834000 0.002000000 -0.029702 -0.013379 -0.030789 -1.889922 1.279001 -3.657569 0.989454
+674084.027834000 0.002000000 -0.034637 -0.012582 -0.031313 -1.260975 2.862373 -5.146712 0.989454
+674084.029835000 0.002001000 -0.034542 -0.013525 -0.030364 -1.660089 3.056616 -5.120964 0.989454
+674084.031834000 0.001999000 -0.034300 -0.015036 -0.029339 -2.193931 3.335804 -4.582620 0.989454
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diff --git a/session_20251213_173807/Clamp_Data/clamp_data_tum.txt b/session_20251213_173807/Clamp_Data/clamp_data_tum.txt
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index 0000000000000000000000000000000000000000..4d8eddbc951abbf8da431566c7badaf6db7f604b
--- /dev/null
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diff --git a/session_20251213_173807/SLAM_Poses/slam_raw.txt b/session_20251213_173807/SLAM_Poses/slam_raw.txt
new file mode 100644
index 0000000000000000000000000000000000000000..b6e67488bfe44d0b0de306fedbfbb55c27f5f026
--- /dev/null
+++ b/session_20251213_173807/SLAM_Poses/slam_raw.txt
@@ -0,0 +1,8620 @@
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diff --git a/session_20251213_173807/SLAM_Poses/slam_raw_pose_baseframe.txt b/session_20251213_173807/SLAM_Poses/slam_raw_pose_baseframe.txt
new file mode 100644
index 0000000000000000000000000000000000000000..095e17af3fbf211b38e6e3fc32850b521019387e
--- /dev/null
+++ b/session_20251213_173807/SLAM_Poses/slam_raw_pose_baseframe.txt
@@ -0,0 +1,8621 @@
+# 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_173807/SLAM_Poses/slam_raw_pose_collectorframe_recentered.txt b/session_20251213_173807/SLAM_Poses/slam_raw_pose_collectorframe_recentered.txt
new file mode 100644
index 0000000000000000000000000000000000000000..eee966cbe81d0435d92354d92185bd18f364f088
--- /dev/null
+++ b/session_20251213_173807/SLAM_Poses/slam_raw_pose_collectorframe_recentered.txt
@@ -0,0 +1,8621 @@
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diff --git a/session_20251213_173807/SLAM_Poses/slam_raw_vel_baseframe.txt b/session_20251213_173807/SLAM_Poses/slam_raw_vel_baseframe.txt
new file mode 100644
index 0000000000000000000000000000000000000000..8e5ae4401995cb376a53da26fe4170b5585666e7
--- /dev/null
+++ b/session_20251213_173807/SLAM_Poses/slam_raw_vel_baseframe.txt
@@ -0,0 +1,8620 @@
+# 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_173807/SLAM_Poses/slam_raw_vel_collectorframe.txt b/session_20251213_173807/SLAM_Poses/slam_raw_vel_collectorframe.txt
new file mode 100644
index 0000000000000000000000000000000000000000..4c1611574a701f00a766051d280678d085a62fa9
--- /dev/null
+++ b/session_20251213_173807/SLAM_Poses/slam_raw_vel_collectorframe.txt
@@ -0,0 +1,8620 @@
+# 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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+674150.883834000 0.002000000 -0.003662 0.006337 -0.003362 1.493502 -2.488166 -6.710481 0.977271
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