diff --git a/session_20251213_172754/Clamp_Data/clamp_data_tum.txt b/session_20251213_172754/Clamp_Data/clamp_data_tum.txt
new file mode 100644
index 0000000000000000000000000000000000000000..0b75cc05f352e9e53a0d9dd4cb8bad75a83ade77
--- /dev/null
+++ b/session_20251213_172754/Clamp_Data/clamp_data_tum.txt
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diff --git a/session_20251213_172754/SLAM_Poses/slam_raw.txt b/session_20251213_172754/SLAM_Poses/slam_raw.txt
new file mode 100644
index 0000000000000000000000000000000000000000..5f60fbdc6e792fc8e0726c95afe8ca65f2508a7c
--- /dev/null
+++ b/session_20251213_172754/SLAM_Poses/slam_raw.txt
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diff --git a/session_20251213_172754/SLAM_Poses/slam_raw_pose_baseframe.txt b/session_20251213_172754/SLAM_Poses/slam_raw_pose_baseframe.txt
new file mode 100644
index 0000000000000000000000000000000000000000..01a84b366c45b34cdecacfb77e23fba69e90555f
--- /dev/null
+++ b/session_20251213_172754/SLAM_Poses/slam_raw_pose_baseframe.txt
@@ -0,0 +1,6738 @@
+# 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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+673532.957835000 0.411272 -0.085597 0.356347 -73.28038 77.72700 -74.62191 0.993378
+673532.959834000 0.411281 -0.085666 0.356334 -73.35777 77.72864 -74.69005 0.993272
+673532.961835000 0.411292 -0.085736 0.356322 -73.43089 77.73043 -74.75414 0.993272
+673532.963834000 0.411306 -0.085801 0.356307 -73.50320 77.73224 -74.81749 0.993272
+673532.965990000 0.411320 -0.085876 0.356294 -73.57442 77.73494 -74.87911 0.993166
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+673533.007834000 0.411776 -0.087443 0.356231 -74.28624 77.81889 -75.55160 0.989135
+673533.009912000 0.411804 -0.087523 0.356230 -74.30238 77.82346 -75.57367 0.987646
+673533.011834000 0.411833 -0.087599 0.356228 -74.30676 77.82591 -75.58359 0.987646
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+673533.023833000 0.412027 -0.088064 0.356228 -74.30509 77.84563 -75.62406 0.983807
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diff --git a/session_20251213_172754/SLAM_Poses/slam_raw_pose_collectorframe_recentered.txt b/session_20251213_172754/SLAM_Poses/slam_raw_pose_collectorframe_recentered.txt
new file mode 100644
index 0000000000000000000000000000000000000000..60a586a3033712ee9cb2ef954455f98ce7f42f76
--- /dev/null
+++ b/session_20251213_172754/SLAM_Poses/slam_raw_pose_collectorframe_recentered.txt
@@ -0,0 +1,6738 @@
+# 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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+673546.383839000 0.148255 -0.251697 -0.025453 -88.87729 63.90649 -71.01651 1.000000
+673546.385836000 0.148222 -0.251644 -0.025380 -88.86050 63.90708 -71.00505 1.000000
+673546.387836000 0.148189 -0.251590 -0.025336 -88.84015 63.90922 -70.98840 1.000000
+673546.389836000 0.148157 -0.251537 -0.025292 -88.82070 63.91084 -70.97126 1.000000
+673546.391836000 0.148127 -0.251484 -0.025248 -88.80211 63.91234 -70.95387 1.000000
+673546.393837000 0.148098 -0.251432 -0.025205 -88.78362 63.91347 -70.93512 1.000000
+673546.395836000 0.148069 -0.251378 -0.025162 -88.76857 63.91523 -70.91913 1.000000
+673546.397837000 0.148041 -0.251325 -0.025119 -88.75378 63.91651 -70.90210 1.000000
+673546.399836000 0.148014 -0.251273 -0.025076 -88.74116 63.91790 -70.88614 1.000000
+673546.401836000 0.147988 -0.251221 -0.025033 -88.73053 63.91884 -70.87105 1.000000
+673546.403836000 0.147961 -0.251169 -0.024990 -88.72174 63.91976 -70.85706 1.000000
+673546.405841000 0.147949 -0.251115 -0.024929 -88.71455 63.92035 -70.84364 1.000000
+673546.407836000 0.147937 -0.251062 -0.024868 -88.71014 63.92082 -70.83213 1.000000
+673546.409836000 0.147923 -0.251010 -0.024803 -88.70895 63.92160 -70.82539 1.000000
+673546.411836000 0.147900 -0.250964 -0.024758 -88.70984 63.92153 -70.81778 1.000000
+673546.413837000 0.147877 -0.250920 -0.024712 -88.71310 63.92090 -70.81184 1.000000
+673546.415836000 0.147855 -0.250876 -0.024666 -88.71794 63.92000 -70.80686 1.000000
+673546.417836000 0.147834 -0.250834 -0.024621 -88.72331 63.91865 -70.80202 1.000000
+673546.419836000 0.147813 -0.250792 -0.024577 -88.72814 63.91691 -70.79627 1.000000
+673546.421836000 0.147795 -0.250752 -0.024533 -88.73257 63.91429 -70.78970 1.000000
+673546.423839000 0.147786 -0.250707 -0.024472 -88.73695 63.91150 -70.78298 1.000000
+673546.426259000 0.147760 -0.250668 -0.024434 -88.74144 63.90637 -70.77299 1.000000
+673546.427834000 0.147747 -0.250642 -0.024404 -88.74376 63.90291 -70.76581 1.000000
+673546.429833000 0.147743 -0.250601 -0.024345 -88.74672 63.89852 -70.75671 1.000000
diff --git a/session_20251213_172754/SLAM_Poses/slam_raw_vel_baseframe.txt b/session_20251213_172754/SLAM_Poses/slam_raw_vel_baseframe.txt
new file mode 100644
index 0000000000000000000000000000000000000000..1f29d4f76228f157b9491e1f5ec1a556107eb4e5
--- /dev/null
+++ b/session_20251213_172754/SLAM_Poses/slam_raw_vel_baseframe.txt
@@ -0,0 +1,6737 @@
+# 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)
+673532.949836000 0.002000000 0.000748 -0.031977 -0.007466 -1.292197 10.334967 3.785144 0.993484
+673532.951837000 0.002001000 0.002618 -0.031126 -0.007968 -2.138109 10.307574 3.653423 0.993484
+673532.953839000 0.002002000 0.001360 -0.037592 -0.004748 -2.363108 9.143120 4.081858 0.993378
+673532.955838000 0.001999000 0.003242 -0.034756 -0.006280 -1.978667 9.008138 3.943168 0.993378
+673532.957835000 0.001997000 0.003716 -0.034681 -0.006100 -1.723706 8.671460 3.766444 0.993378
+673532.959834000 0.001999000 0.004508 -0.034699 -0.006306 -1.389804 8.152407 3.745643 0.993272
+673532.961835000 0.002001000 0.005160 -0.034805 -0.006287 -1.179817 7.727563 3.674477 0.993272
+673532.963834000 0.001999000 0.007087 -0.032628 -0.007473 -1.146713 7.654844 3.657947 0.993272
+673532.965990000 0.002156000 0.006473 -0.034969 -0.006114 -0.623824 7.101166 3.697915 0.993166
+673532.967836000 0.001846000 0.005507 -0.038827 -0.004078 -0.602542 6.362025 3.610239 0.993166
+673532.969837000 0.002001000 0.007818 -0.033888 -0.004557 1.267138 6.704267 3.319434 0.993061
+673532.971834000 0.001997000 0.008304 -0.036507 -0.002935 -0.096432 6.587240 3.196882 0.993061
+673532.973834000 0.002000000 0.008278 -0.036746 -0.002287 0.064689 6.543341 3.014529 0.992849
+673532.975835000 0.002001000 0.008323 -0.036561 -0.001959 0.337300 6.367179 2.654963 0.992849
+673532.977834000 0.001999000 0.008439 -0.036452 -0.001635 0.528618 6.102107 2.228838 0.992849
+673532.979835000 0.002001000 0.008841 -0.036696 -0.001267 0.578044 5.706485 1.867223 0.992637
+673532.981835000 0.002000000 0.009598 -0.033977 -0.004077 0.581759 5.573373 1.766138 0.992637
+673532.983990000 0.002155000 0.010607 -0.040525 0.001205 0.388973 3.846070 1.151892 0.992319
+673532.985835000 0.001845000 0.011544 -0.042969 0.003567 1.952683 2.735994 1.095447 0.992319
+673532.987834000 0.001999000 0.012241 -0.035896 -0.004164 0.341941 3.436361 1.089144 0.992319
+673532.989834000 0.002000000 0.014645 -0.042130 0.000983 0.822104 1.054855 0.068614 0.991895
+673532.991835000 0.002001000 0.015034 -0.035607 -0.006338 0.781709 1.382331 0.306082 0.991895
+673532.993835000 0.002000000 0.018247 -0.042924 -0.001483 1.764560 -0.156762 0.600388 0.991259
+673532.995833000 0.001998000 0.016771 -0.035631 -0.007130 1.633865 0.839636 0.219586 0.991259
+673532.997837000 0.002004000 0.014451 -0.039188 -0.000570 1.500601 2.195589 -0.481382 0.991259
+673532.999834000 0.001997000 0.010542 -0.038550 0.002918 1.474897 4.176356 -1.552949 0.990304
+673533.001834000 0.002000000 0.009048 -0.037984 0.003414 1.505982 4.322172 -2.463221 0.990304
+673533.003834000 0.002000000 0.008447 -0.037390 0.003499 1.951546 4.288591 -2.983493 0.989135
+673533.005838000 0.002004000 0.010659 -0.029407 -0.004633 2.948845 3.091806 -3.700321 0.989135
+673533.007834000 0.001996000 0.011520 -0.038473 -0.000012 1.672941 2.832444 -3.152455 0.989135
+673533.009912000 0.002078000 0.013030 -0.038498 -0.000251 1.720196 2.134905 -3.026134 0.987646
+673533.011834000 0.001922000 0.015451 -0.039964 -0.000992 1.114045 0.782539 -2.932596 0.987646
+673533.013833000 0.001999000 0.015361 -0.039348 -0.000735 1.160766 0.492740 -3.358869 0.986155
+673533.015834000 0.002001000 0.015838 -0.040386 -0.000464 1.104512 0.307069 -2.948210 0.986155
+673533.017843000 0.002009000 0.015609 -0.038129 -0.000678 1.723917 0.182435 -3.868157 0.986155
+673533.019834000 0.001991000 0.016072 -0.038280 0.000003 2.070950 0.477400 -3.435490 0.984661
+673533.021834000 0.002000000 0.016902 -0.038228 0.000428 1.989107 0.410803 -3.484214 0.984661
+673533.023833000 0.001999000 0.016939 -0.037997 0.001425 1.548491 0.412715 -3.958027 0.983807
+673533.025833000 0.002000000 0.018278 -0.039788 0.001659 1.018201 0.039772 -3.143481 0.983807
+673533.027834000 0.002001000 0.018351 -0.036229 0.000227 1.013293 -0.485011 -3.041518 0.983807
+673533.029834000 0.002000000 0.019603 -0.036338 -0.000297 2.026009 -1.016902 -2.482766 0.982952
+673533.031833000 0.001999000 0.020371 -0.038951 0.000952 1.665513 -0.723114 -2.584100 0.982952
+673533.033833000 0.002000000 0.020424 -0.037816 0.001351 1.958664 -0.586332 -2.817923 0.982417
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+673533.053807000 0.001970000 0.031929 -0.035536 0.002640 3.294976 -4.896523 0.380994 0.982417
+673533.055837000 0.002030000 0.032974 -0.036212 0.002618 2.922306 -5.354602 0.656348 0.982417
+673533.057843000 0.002006000 0.033879 -0.035528 0.002243 3.253441 -5.851876 0.662308 0.982417
+673533.059837000 0.001994000 0.034205 -0.035494 0.002300 3.336061 -6.017310 0.792399 0.982417
+673533.061836000 0.001999000 0.035064 -0.034963 0.001266 3.942831 -6.435731 1.126325 0.982417
+673533.063836000 0.002000000 0.034918 -0.034379 0.001148 4.341026 -6.351960 1.167007 0.982417
+673533.065837000 0.002001000 0.034594 -0.031739 -0.002948 4.260725 -6.352864 1.150953 0.982310
+673533.067950000 0.002113000 0.032770 -0.026615 -0.002065 4.795578 -6.441729 1.118083 0.982310
+673533.069842000 0.001892000 0.034005 -0.031653 0.001941 4.645739 -5.821573 0.858297 0.982310
+673533.071838000 0.001996000 0.033692 -0.030963 0.001429 5.153566 -5.590849 0.850677 0.982310
+673533.073837000 0.001999000 0.033251 -0.029854 0.000879 5.726748 -5.429639 0.567275 0.982310
+673533.075841000 0.002004000 0.032825 -0.029580 0.000534 6.201881 -5.182453 0.641935 0.982310
+673533.077838000 0.001997000 0.031967 -0.029388 0.000634 6.368113 -4.846690 0.435537 0.982310
+673533.079836000 0.001998000 0.031653 -0.029113 0.000017 6.877602 -4.746239 0.523395 0.982310
+673533.081835000 0.001999000 0.031277 -0.028435 -0.004153 6.835617 -4.756830 0.517905 0.982310
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+673533.091833000 0.001999000 0.029899 -0.028524 -0.001595 8.334377 -3.721940 0.324279 0.982310
+673533.093836000 0.002003000 0.029029 -0.028225 -0.001679 8.719553 -3.335977 0.137868 0.982310
+673533.095835000 0.001999000 0.028844 -0.029031 -0.001873 8.539444 -3.332231 0.126635 0.982310
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+673533.099837000 0.002000000 0.027227 -0.029777 -0.005954 8.360400 -3.017629 0.112922 0.982310
+673533.101836000 0.001999000 0.028034 -0.033375 0.003711 7.301436 -2.128448 0.401793 0.982310
+673533.103836000 0.002000000 0.024747 -0.029126 -0.017093 7.142994 -2.146218 -0.353794 0.982310
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+673546.335834000 0.001999000 -0.025186 0.036018 0.005679 13.628361 -7.421966 -10.840567 1.000000
+673546.337835000 0.002001000 -0.024502 0.036549 0.004549 13.996584 -7.778911 -10.865546 1.000000
+673546.339835000 0.002000000 -0.024794 0.036948 0.004702 13.913497 -7.669622 -11.225852 1.000000
+673546.341838000 0.002003000 -0.024748 0.038055 0.003214 14.373361 -8.018734 -11.528658 1.000000
+673546.343835000 0.001997000 -0.023746 0.037568 0.003229 14.461257 -7.517468 -10.774454 1.000000
+673546.345834000 0.001999000 -0.023633 0.037841 0.003253 14.319847 -7.345928 -10.721001 1.000000
+673546.347836000 0.002002000 -0.021366 0.036996 0.018473 14.341825 -7.412241 -10.773165 1.000000
+673546.349836000 0.002000000 -0.020448 0.033264 0.029987 11.922985 -6.574447 -10.409103 1.000000
+673546.351837000 0.002001000 -0.023754 0.035903 0.007079 13.050197 -7.171558 -10.236891 1.000000
+673546.353835000 0.001998000 -0.023054 0.035106 0.008053 12.344960 -6.851409 -9.674112 1.000000
+673546.355834000 0.001999000 -0.022723 0.035538 0.007821 12.181652 -6.919652 -9.593411 1.000000
+673546.357834000 0.002000000 -0.021491 0.034379 0.008695 11.365333 -6.922428 -8.925476 1.000000
+673546.359838000 0.002004000 -0.020890 0.033958 0.009373 10.749229 -6.932454 -8.598612 1.000000
+673546.361837000 0.001999000 -0.020081 0.032786 0.010878 9.607520 -6.826557 -8.027281 1.000000
+673546.363836000 0.001999000 -0.019724 0.032638 0.011532 9.223838 -6.389749 -7.556541 1.000000
+673546.365836000 0.002000000 -0.019788 0.032884 0.012457 8.760420 -5.901104 -7.365796 1.000000
+673546.367836000 0.002000000 -0.029563 0.030712 -0.012212 7.565320 -5.487400 -6.788904 1.000000
+673546.369839000 0.002003000 -0.020172 0.030422 0.014714 6.808169 -5.896479 -5.840834 1.000000
+673546.371836000 0.001997000 -0.018987 0.029399 0.015775 5.858194 -5.980026 -5.101934 1.000000
+673546.373836000 0.002000000 -0.018675 0.029430 0.016424 5.159655 -6.083076 -4.913058 1.000000
+673546.375852000 0.002016000 -0.018026 0.028790 0.017582 4.533798 -5.627048 -4.121213 1.000000
+673546.377853000 0.002001000 -0.017536 0.028280 0.018293 3.938322 -5.382527 -3.543740 1.000000
+673546.379846000 0.001993000 -0.011340 0.029206 0.029797 4.014298 -5.415558 -3.618989 1.000000
+673546.381836000 0.001990000 -0.022994 0.026504 0.008784 2.433973 -4.369488 -1.972145 1.000000
+673546.383839000 0.002003000 -0.016723 0.027643 0.020105 2.729917 -4.309476 -1.967267 1.000000
+673546.385836000 0.001997000 -0.016623 0.026392 0.036448 1.479130 -3.401895 -1.814520 1.000000
+673546.387836000 0.002000000 -0.016479 0.026847 0.022022 2.468754 -3.882403 -0.813593 1.000000
+673546.389836000 0.002000000 -0.015707 0.026525 0.022070 2.159544 -3.778502 -0.161237 1.000000
+673546.391836000 0.002000000 -0.015223 0.026562 0.021844 2.046961 -3.618513 0.344016 1.000000
+673546.393837000 0.002001000 -0.014090 0.026242 0.021542 1.859229 -3.656502 1.074844 1.000000
+673546.395836000 0.001999000 -0.014753 0.026804 0.021806 1.914229 -2.841870 1.235288 1.000000
+673546.397837000 0.002001000 -0.013743 0.026455 0.021444 1.666403 -2.861940 1.873061 1.000000
+673546.399836000 0.001999000 -0.013624 0.026348 0.021408 1.566072 -2.393704 2.314265 1.000000
+673546.401836000 0.002000000 -0.013320 0.025807 0.021517 1.207190 -2.054506 2.771927 1.000000
+673546.403836000 0.002000000 -0.013255 0.025735 0.021323 1.070659 -1.673836 3.049710 1.000000
+673546.405841000 0.002005000 -0.006094 0.026940 0.030411 0.795613 -1.392844 3.471041 1.000000
+673546.407836000 0.001995000 -0.006126 0.026651 0.030519 0.541658 -0.841930 3.778219 1.000000
+673546.409836000 0.002000000 -0.006916 0.026083 0.032795 0.452924 -0.118548 2.839958 1.000000
+673546.411836000 0.002000000 -0.011398 0.022946 0.022464 -0.097820 0.172476 4.204027 1.000000
+673546.413837000 0.002001000 -0.011343 0.022291 0.022855 -0.532369 0.572745 4.428311 1.000000
+673546.415836000 0.001999000 -0.011113 0.021744 0.022864 -0.777024 0.856912 4.667155 1.000000
+673546.417836000 0.002000000 -0.010760 0.021286 0.022691 -1.025845 0.894126 4.836662 1.000000
+673546.419836000 0.002000000 -0.010150 0.020789 0.022134 -1.169415 0.716296 5.041210 1.000000
+673546.421836000 0.002000000 -0.009392 0.019876 0.021930 -1.557144 0.489274 5.277268 1.000000
+673546.423839000 0.002003000 -0.004361 0.022548 0.030229 -1.631350 0.450517 5.317755 1.000000
+673546.426259000 0.002420000 -0.010716 0.016098 0.016006 -2.269928 0.072323 5.793358 1.000000
+673546.427834000 0.001575000 -0.008273 0.016811 0.018928 -2.290415 -0.112659 5.883556 1.000000
+673546.429833000 0.001999000 -0.002084 0.020396 0.029430 -2.289214 -0.109718 5.882372 1.000000
diff --git a/session_20251213_172754/SLAM_Poses/slam_raw_vel_collectorframe.txt b/session_20251213_172754/SLAM_Poses/slam_raw_vel_collectorframe.txt
new file mode 100644
index 0000000000000000000000000000000000000000..0231e72d7d676763e6c95658dad5a10bf5f95fbe
--- /dev/null
+++ b/session_20251213_172754/SLAM_Poses/slam_raw_vel_collectorframe.txt
@@ -0,0 +1,6737 @@
+# 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)
+673532.949836000 0.002000000 0.000748 -0.031977 -0.007466 -1.292197 10.334967 3.785144 0.993484
+673532.951837000 0.002001000 0.002618 -0.031126 -0.007968 -2.138109 10.307574 3.653423 0.993484
+673532.953839000 0.002002000 0.001360 -0.037592 -0.004748 -2.363108 9.143120 4.081858 0.993378
+673532.955838000 0.001999000 0.003242 -0.034756 -0.006280 -1.978667 9.008138 3.943168 0.993378
+673532.957835000 0.001997000 0.003716 -0.034681 -0.006100 -1.723706 8.671460 3.766444 0.993378
+673532.959834000 0.001999000 0.004508 -0.034699 -0.006306 -1.389804 8.152407 3.745643 0.993272
+673532.961835000 0.002001000 0.005160 -0.034805 -0.006287 -1.179817 7.727563 3.674477 0.993272
+673532.963834000 0.001999000 0.007087 -0.032628 -0.007473 -1.146713 7.654844 3.657947 0.993272
+673532.965990000 0.002156000 0.006473 -0.034969 -0.006114 -0.623824 7.101166 3.697915 0.993166
+673532.967836000 0.001846000 0.005507 -0.038827 -0.004078 -0.602542 6.362025 3.610239 0.993166
+673532.969837000 0.002001000 0.007818 -0.033888 -0.004557 1.267138 6.704267 3.319434 0.993061
+673532.971834000 0.001997000 0.008304 -0.036507 -0.002935 -0.096432 6.587240 3.196882 0.993061
+673532.973834000 0.002000000 0.008278 -0.036746 -0.002287 0.064689 6.543341 3.014529 0.992849
+673532.975835000 0.002001000 0.008323 -0.036561 -0.001959 0.337300 6.367179 2.654963 0.992849
+673532.977834000 0.001999000 0.008439 -0.036452 -0.001635 0.528618 6.102107 2.228838 0.992849
+673532.979835000 0.002001000 0.008841 -0.036696 -0.001267 0.578044 5.706485 1.867223 0.992637
+673532.981835000 0.002000000 0.009598 -0.033977 -0.004077 0.581759 5.573373 1.766138 0.992637
+673532.983990000 0.002155000 0.010607 -0.040525 0.001205 0.388973 3.846070 1.151892 0.992319
+673532.985835000 0.001845000 0.011544 -0.042969 0.003567 1.952683 2.735994 1.095447 0.992319
+673532.987834000 0.001999000 0.012241 -0.035896 -0.004164 0.341941 3.436361 1.089144 0.992319
+673532.989834000 0.002000000 0.014645 -0.042130 0.000983 0.822104 1.054855 0.068614 0.991895
+673532.991835000 0.002001000 0.015034 -0.035607 -0.006338 0.781709 1.382331 0.306082 0.991895
+673532.993835000 0.002000000 0.018247 -0.042924 -0.001483 1.764560 -0.156762 0.600388 0.991259
+673532.995833000 0.001998000 0.016771 -0.035631 -0.007130 1.633865 0.839636 0.219586 0.991259
+673532.997837000 0.002004000 0.014451 -0.039188 -0.000570 1.500601 2.195589 -0.481382 0.991259
+673532.999834000 0.001997000 0.010542 -0.038550 0.002918 1.474897 4.176356 -1.552949 0.990304
+673533.001834000 0.002000000 0.009048 -0.037984 0.003414 1.505982 4.322172 -2.463221 0.990304
+673533.003834000 0.002000000 0.008447 -0.037390 0.003499 1.951546 4.288591 -2.983493 0.989135
+673533.005838000 0.002004000 0.010659 -0.029407 -0.004633 2.948845 3.091806 -3.700321 0.989135
+673533.007834000 0.001996000 0.011520 -0.038473 -0.000012 1.672941 2.832444 -3.152455 0.989135
+673533.009912000 0.002078000 0.013030 -0.038498 -0.000251 1.720196 2.134905 -3.026134 0.987646
+673533.011834000 0.001922000 0.015451 -0.039964 -0.000992 1.114045 0.782539 -2.932596 0.987646
+673533.013833000 0.001999000 0.015361 -0.039348 -0.000735 1.160766 0.492740 -3.358869 0.986155
+673533.015834000 0.002001000 0.015838 -0.040386 -0.000464 1.104512 0.307069 -2.948210 0.986155
+673533.017843000 0.002009000 0.015609 -0.038129 -0.000678 1.723917 0.182435 -3.868157 0.986155
+673533.019834000 0.001991000 0.016072 -0.038280 0.000003 2.070950 0.477400 -3.435490 0.984661
+673533.021834000 0.002000000 0.016902 -0.038228 0.000428 1.989107 0.410803 -3.484214 0.984661
+673533.023833000 0.001999000 0.016939 -0.037997 0.001425 1.548491 0.412715 -3.958027 0.983807
+673533.025833000 0.002000000 0.018278 -0.039788 0.001659 1.018201 0.039772 -3.143481 0.983807
+673533.027834000 0.002001000 0.018351 -0.036229 0.000227 1.013293 -0.485011 -3.041518 0.983807
+673533.029834000 0.002000000 0.019603 -0.036338 -0.000297 2.026009 -1.016902 -2.482766 0.982952
+673533.031833000 0.001999000 0.020371 -0.038951 0.000952 1.665513 -0.723114 -2.584100 0.982952
+673533.033833000 0.002000000 0.020424 -0.037816 0.001351 1.958664 -0.586332 -2.817923 0.982417
+673533.035834000 0.002001000 0.021141 -0.039626 0.002824 1.229128 -0.290338 -2.110398 0.982417
+673533.037834000 0.002000000 0.021140 -0.038685 0.003852 1.316029 0.044518 -2.294065 0.982417
+673533.039834000 0.002000000 0.022757 -0.038546 0.003421 1.546416 -0.382816 -1.793581 0.982310
+673533.041834000 0.002000000 0.024176 -0.038096 0.002979 1.934251 -0.762161 -1.301452 0.982310
+673533.043833000 0.001999000 0.026006 -0.037923 0.002022 2.177301 -1.605227 -0.901522 0.982310
+673533.045833000 0.002000000 0.029364 -0.045076 0.004185 2.268274 -2.220873 -0.348911 0.982310
+673533.047833000 0.002000000 0.027831 -0.036921 0.004357 2.137659 -3.091544 -0.679070 0.982310
+673533.049836000 0.002003000 0.029403 -0.037330 0.003848 2.358114 -3.742388 0.039767 0.982310
+673533.051837000 0.002001000 0.030490 -0.036210 0.003214 2.819289 -4.323260 0.076033 0.982310
+673533.053807000 0.001970000 0.031929 -0.035536 0.002640 3.294976 -4.896523 0.380994 0.982417
+673533.055837000 0.002030000 0.032974 -0.036212 0.002618 2.922306 -5.354602 0.656348 0.982417
+673533.057843000 0.002006000 0.033879 -0.035528 0.002243 3.253441 -5.851876 0.662308 0.982417
+673533.059837000 0.001994000 0.034205 -0.035494 0.002300 3.336061 -6.017310 0.792399 0.982417
+673533.061836000 0.001999000 0.035064 -0.034963 0.001266 3.942831 -6.435731 1.126325 0.982417
+673533.063836000 0.002000000 0.034918 -0.034379 0.001148 4.341026 -6.351960 1.167007 0.982417
+673533.065837000 0.002001000 0.034594 -0.031739 -0.002948 4.260725 -6.352864 1.150953 0.982310
+673533.067950000 0.002113000 0.032770 -0.026615 -0.002065 4.795578 -6.441729 1.118083 0.982310
+673533.069842000 0.001892000 0.034005 -0.031653 0.001941 4.645739 -5.821573 0.858297 0.982310
+673533.071838000 0.001996000 0.033692 -0.030963 0.001429 5.153566 -5.590849 0.850677 0.982310
+673533.073837000 0.001999000 0.033251 -0.029854 0.000879 5.726748 -5.429639 0.567275 0.982310
+673533.075841000 0.002004000 0.032825 -0.029580 0.000534 6.201881 -5.182453 0.641935 0.982310
+673533.077838000 0.001997000 0.031967 -0.029388 0.000634 6.368113 -4.846690 0.435537 0.982310
+673533.079836000 0.001998000 0.031653 -0.029113 0.000017 6.877602 -4.746239 0.523395 0.982310
+673533.081835000 0.001999000 0.031277 -0.028435 -0.004153 6.835617 -4.756830 0.517905 0.982310
+673533.083835000 0.002000000 0.031728 -0.029371 0.016172 8.474939 -3.737577 -0.007805 0.982310
+673533.085842000 0.002007000 0.030760 -0.027438 -0.000897 7.981570 -4.107242 0.189955 0.982310
+673533.087834000 0.001992000 0.030426 -0.028050 -0.000918 8.026664 -3.886620 0.346304 0.982310
+673533.089834000 0.002000000 0.029839 -0.027592 -0.001208 8.357210 -3.708269 0.064702 0.982310
+673533.091833000 0.001999000 0.029899 -0.028524 -0.001595 8.334377 -3.721940 0.324279 0.982310
+673533.093836000 0.002003000 0.029029 -0.028225 -0.001679 8.719553 -3.335977 0.137868 0.982310
+673533.095835000 0.001999000 0.028844 -0.029031 -0.001873 8.539444 -3.332231 0.126635 0.982310
+673533.097837000 0.002002000 0.028268 -0.029801 -0.001624 8.364992 -3.025799 0.113264 0.982310
+673533.099837000 0.002000000 0.027227 -0.029777 -0.005954 8.360400 -3.017629 0.112922 0.982310
+673533.101836000 0.001999000 0.028034 -0.033375 0.003711 7.301436 -2.128448 0.401793 0.982310
+673533.103836000 0.002000000 0.024747 -0.029126 -0.017093 7.142994 -2.146218 -0.353794 0.982310
+673533.105836000 0.002000000 0.026341 -0.033168 -0.003011 6.869050 -1.828897 0.325797 0.982310
+673533.107837000 0.002001000 0.026116 -0.034583 -0.002947 6.393712 -1.662303 0.392011 0.982310
+673533.109836000 0.001999000 0.025657 -0.036010 -0.002554 5.965085 -1.275400 0.521943 0.982310
+673533.111835000 0.001999000 0.025404 -0.036538 -0.002799 5.825970 -1.157928 0.350124 0.982310
+673533.113835000 0.002000000 0.025352 -0.038294 -0.002620 5.368398 -0.834977 0.723505 0.982310
+673533.115836000 0.002001000 0.025166 -0.039503 -0.002633 5.041454 -0.557316 0.826857 0.982310
+673533.117835000 0.001999000 0.024891 -0.040462 -0.002588 4.797563 -0.193858 0.859893 0.982310
+673533.119836000 0.002001000 0.024780 -0.042072 -0.002362 4.393778 0.252312 1.176012 0.982310
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+673533.123835000 0.001999000 0.023883 -0.045983 -0.003788 3.557814 0.984776 1.364018 0.982310
+673533.125836000 0.002001000 0.023730 -0.047417 -0.003495 3.076329 1.400800 1.460910 0.982310
+673533.127838000 0.002002000 0.023489 -0.046674 0.000149 2.234597 1.647854 1.060879 0.982310
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+673533.149836000 0.002000000 0.028700 -0.062931 0.000251 -5.042506 1.162721 1.947999 0.982310
+673533.151842000 0.002006000 0.029735 -0.065744 -0.002451 -5.128700 1.133763 1.903932 0.982310
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+673533.155836000 0.002000000 0.030321 -0.066606 -0.003164 -5.481937 1.294754 1.725446 0.982310
+673533.157835000 0.001999000 0.029189 -0.061310 0.000625 -5.329231 1.410146 1.461663 0.982310
+673533.159837000 0.002002000 0.030689 -0.066356 -0.004262 -5.337620 1.410016 1.397657 0.982417
+673533.161836000 0.001999000 0.029342 -0.060745 -0.000591 -5.209063 1.497600 1.020019 0.982417
+673533.163836000 0.002000000 0.030917 -0.065864 -0.005440 -5.132428 1.524142 1.073512 0.982417
+673533.165835000 0.001999000 0.030767 -0.063175 -0.007083 -4.048979 1.294409 0.377147 0.982417
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diff --git a/session_20251213_173345/SLAM_Poses/slam_raw_pose_baseframe.txt b/session_20251213_173345/SLAM_Poses/slam_raw_pose_baseframe.txt
new file mode 100644
index 0000000000000000000000000000000000000000..38f79e18f4f8fb9856ace283632f95a78f364387
--- /dev/null
+++ b/session_20251213_173345/SLAM_Poses/slam_raw_pose_baseframe.txt
@@ -0,0 +1,7336 @@
+# 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_173345/SLAM_Poses/slam_raw_pose_collectorframe_recentered.txt b/session_20251213_173345/SLAM_Poses/slam_raw_pose_collectorframe_recentered.txt
new file mode 100644
index 0000000000000000000000000000000000000000..8200fa5e913ca7b4399ff5c9316effe0fed49a85
--- /dev/null
+++ b/session_20251213_173345/SLAM_Poses/slam_raw_pose_collectorframe_recentered.txt
@@ -0,0 +1,7336 @@
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+673899.825840000 0.058198 -0.330506 -0.150240 -87.14074 64.30229 -79.46183 0.981668
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+673899.859836000 0.059265 -0.330191 -0.149789 -86.70967 64.24025 -78.98722 0.981668
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+673899.869837000 0.059582 -0.330097 -0.149657 -86.67376 64.21418 -78.90394 0.981668
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+673899.877838000 0.059807 -0.330008 -0.149565 -86.66311 64.20069 -78.85739 0.981668
diff --git a/session_20251213_173345/SLAM_Poses/slam_raw_vel_baseframe.txt b/session_20251213_173345/SLAM_Poses/slam_raw_vel_baseframe.txt
new file mode 100644
index 0000000000000000000000000000000000000000..6cdae247a3d4790c61eb76b9afdd0bade0ab379a
--- /dev/null
+++ b/session_20251213_173345/SLAM_Poses/slam_raw_vel_baseframe.txt
@@ -0,0 +1,7335 @@
+# 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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+673885.189835000 0.002000000 -0.002618 0.000175 -0.003120 1.217588 -0.838970 -0.982091 0.992743
+673885.191835000 0.002000000 -0.002618 0.000175 -0.003120 1.217588 -0.838970 -0.982091 0.992743
+673885.193836000 0.002001000 -0.003869 0.002946 -0.004938 2.002533 -0.879380 -1.112049 0.992743
+673885.195835000 0.001999000 -0.007418 0.003351 -0.006274 1.389482 -0.509652 0.469014 0.992743
+673885.197842000 0.002007000 -0.004446 0.002742 -0.004180 1.586311 -0.634228 -0.514436 0.992743
+673885.199836000 0.001994000 -0.003966 0.002364 -0.004417 1.462269 -0.740771 -0.190350 0.992743
+673885.201836000 0.002000000 -0.013155 0.006643 -0.006398 1.272431 -0.976703 -0.102123 0.992743
+673885.203834000 0.001998000 -0.005190 0.003326 -0.005362 1.341041 -0.640991 0.206407 0.992849
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+673899.799834000 0.002001000 0.026060 0.010564 0.014621 3.004423 -11.617935 -3.244207 0.981668
+673899.801834000 0.002000000 0.024718 0.011365 0.013830 3.626788 -11.233226 -3.694678 0.981668
+673899.803834000 0.002000000 0.023267 0.012546 0.012809 4.329893 -10.863354 -4.231472 0.981668
+673899.805834000 0.002000000 0.028524 0.013604 0.015340 4.532281 -10.767660 -4.386638 0.981668
+673899.807836000 0.002002000 0.013333 0.015483 0.006832 6.671001 -8.731213 -4.831559 0.981668
+673899.809852000 0.002016000 0.020584 0.015039 0.009061 5.815636 -9.573383 -4.637798 0.981668
+673899.811853000 0.002001000 0.026223 0.015358 0.013126 5.891157 -9.444524 -4.567723 0.981668
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+673899.815842000 0.002002000 0.021011 0.015251 0.008497 5.622446 -8.743914 -4.138498 0.981668
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+673899.861836000 0.002000000 0.033038 0.009230 0.013249 -2.101019 -2.713316 4.978606 0.981668
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+673899.877838000 0.002001000 0.026891 0.011492 0.010747 -1.080877 -0.340349 4.519284 0.981668
diff --git a/session_20251213_173345/SLAM_Poses/slam_raw_vel_collectorframe.txt b/session_20251213_173345/SLAM_Poses/slam_raw_vel_collectorframe.txt
new file mode 100644
index 0000000000000000000000000000000000000000..6eb2f0b27aef4e5cd5a402cedca53dffc8e3dc33
--- /dev/null
+++ b/session_20251213_173345/SLAM_Poses/slam_raw_vel_collectorframe.txt
@@ -0,0 +1,7335 @@
+# 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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+673885.189835000 0.002000000 -0.002618 0.000175 -0.003120 1.217588 -0.838970 -0.982091 0.992743
+673885.191835000 0.002000000 -0.002618 0.000175 -0.003120 1.217588 -0.838970 -0.982091 0.992743
+673885.193836000 0.002001000 -0.003869 0.002946 -0.004938 2.002533 -0.879380 -1.112049 0.992743
+673885.195835000 0.001999000 -0.007418 0.003351 -0.006274 1.389482 -0.509652 0.469014 0.992743
+673885.197842000 0.002007000 -0.004446 0.002742 -0.004180 1.586311 -0.634228 -0.514436 0.992743
+673885.199836000 0.001994000 -0.003966 0.002364 -0.004417 1.462269 -0.740771 -0.190350 0.992743
+673885.201836000 0.002000000 -0.013155 0.006643 -0.006398 1.272431 -0.976703 -0.102123 0.992743
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