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diff --git a/scans/20260511_220017/trajectory_data/waypoint_00004/joint_positions.csv b/scans/20260511_220017/trajectory_data/waypoint_00004/joint_positions.csv
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diff --git a/scans/20260511_220017/trajectory_data/waypoint_00004/joint_velocities.csv b/scans/20260511_220017/trajectory_data/waypoint_00004/joint_velocities.csv
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diff --git a/scans/20260511_220017/trajectory_data/waypoint_00014/joint_velocities.csv b/scans/20260511_220017/trajectory_data/waypoint_00014/joint_velocities.csv
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diff --git a/scans/20260511_220017/trajectory_data/waypoint_00015/joint_velocities.csv b/scans/20260511_220017/trajectory_data/waypoint_00015/joint_velocities.csv
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diff --git a/scans/20260511_220017/trajectory_data/waypoint_00017/joint_velocities.csv b/scans/20260511_220017/trajectory_data/waypoint_00017/joint_velocities.csv
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diff --git a/scans/20260511_220017/trajectory_data/waypoint_00018/joint_velocities.csv b/scans/20260511_220017/trajectory_data/waypoint_00018/joint_velocities.csv
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diff --git a/scans/20260511_222615/trajectory_data/waypoint_00003/joint_velocities.csv b/scans/20260511_222615/trajectory_data/waypoint_00003/joint_velocities.csv
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index 0000000000000000000000000000000000000000..d6e7a74e92d15b476a6f176c7383993488d60d7e
--- /dev/null
+++ b/scans/20260511_222615/trajectory_data/waypoint_00004/joint_velocities.csv
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diff --git a/scans/20260511_222615/trajectory_data/waypoint_00004/joint_velocities.png b/scans/20260511_222615/trajectory_data/waypoint_00004/joint_velocities.png
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diff --git a/scans/20260511_222615/trajectory_data/waypoint_00005/joint_velocities.csv b/scans/20260511_222615/trajectory_data/waypoint_00005/joint_velocities.csv
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diff --git a/scans/20260511_222615/trajectory_data/waypoint_00006/joint_velocities.csv b/scans/20260511_222615/trajectory_data/waypoint_00006/joint_velocities.csv
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diff --git a/scans/20260511_222615/trajectory_data/waypoint_00007/joint_positions.csv b/scans/20260511_222615/trajectory_data/waypoint_00007/joint_positions.csv
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diff --git a/scans/20260511_222615/trajectory_data/waypoint_00007/joint_velocities.csv b/scans/20260511_222615/trajectory_data/waypoint_00007/joint_velocities.csv
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diff --git a/scans/20260511_222615/trajectory_data/waypoint_00016/joint_positions.csv b/scans/20260511_222615/trajectory_data/waypoint_00016/joint_positions.csv
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diff --git a/scans/20260511_222615/trajectory_data/waypoint_00016/joint_positions.png b/scans/20260511_222615/trajectory_data/waypoint_00016/joint_positions.png
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index 0000000000000000000000000000000000000000..419f10b43e8821e398af8c9893f723620b57355c
--- /dev/null
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diff --git a/scans/20260511_222615/trajectory_data/waypoint_00016/joint_velocities.csv b/scans/20260511_222615/trajectory_data/waypoint_00016/joint_velocities.csv
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index 0000000000000000000000000000000000000000..6c72c974600adf0758e402accd4cfde0ab95ad9e
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diff --git a/scans/20260511_222615/trajectory_data/waypoint_00021/joint_velocities.csv b/scans/20260511_222615/trajectory_data/waypoint_00021/joint_velocities.csv
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diff --git a/scans/20260511_222615/trajectory_data/waypoint_00022/joint_velocities.csv b/scans/20260511_222615/trajectory_data/waypoint_00022/joint_velocities.csv
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diff --git a/scans/20260511_222615/trajectory_data/waypoint_00036/joint_velocities.csv b/scans/20260511_222615/trajectory_data/waypoint_00036/joint_velocities.csv
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index 0000000000000000000000000000000000000000..4599232497b6a33719b37cb2e292003cd28db66f
--- /dev/null
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diff --git a/scans/20260511_222615/trajectory_data/waypoint_00037/joint_velocities.csv b/scans/20260511_222615/trajectory_data/waypoint_00037/joint_velocities.csv
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--- /dev/null
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diff --git a/scans/20260511_222615/trajectory_data/waypoint_00040/joint_velocities.csv b/scans/20260511_222615/trajectory_data/waypoint_00040/joint_velocities.csv
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index 0000000000000000000000000000000000000000..f9f9480d4af6aee326ce621218c42c7783f38fbf
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diff --git a/scans/20260511_222615/trajectory_data/waypoint_00045/joint_positions.png b/scans/20260511_222615/trajectory_data/waypoint_00045/joint_positions.png
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index 0000000000000000000000000000000000000000..08b07364739b176bdae47733cf3d82dc7be33da8
--- /dev/null
+++ b/scans/20260511_222615/trajectory_data/waypoint_00045/joint_positions.png
@@ -0,0 +1,3 @@
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diff --git a/scans/20260511_222615/trajectory_data/waypoint_00045/joint_velocities.csv b/scans/20260511_222615/trajectory_data/waypoint_00045/joint_velocities.csv
new file mode 100644
index 0000000000000000000000000000000000000000..91645f6077007520494f192ad83d85c80aa2ced3
--- /dev/null
+++ b/scans/20260511_222615/trajectory_data/waypoint_00045/joint_velocities.csv
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diff --git a/scans/20260511_224715/trajectory_data/waypoint_00003/joint_velocities.csv b/scans/20260511_224715/trajectory_data/waypoint_00003/joint_velocities.csv
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index 0000000000000000000000000000000000000000..d75854c10f424a405b29b745941de3cdcdc46c1b
--- /dev/null
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diff --git a/scans/20260511_224715/trajectory_data/waypoint_00005/joint_positions.png b/scans/20260511_224715/trajectory_data/waypoint_00005/joint_positions.png
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diff --git a/scans/20260511_224715/trajectory_data/waypoint_00005/joint_velocities.csv b/scans/20260511_224715/trajectory_data/waypoint_00005/joint_velocities.csv
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diff --git a/scans/20260511_225343/trajectory_data/waypoint_00040/joint_velocities.csv b/scans/20260511_225343/trajectory_data/waypoint_00040/joint_velocities.csv
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diff --git a/scans/20260511_225343/trajectory_data/waypoint_00045/joint_velocities.csv b/scans/20260511_225343/trajectory_data/waypoint_00045/joint_velocities.csv
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diff --git a/scans/20260511_225448/trajectory_data/waypoint_00044/joint_velocities.csv b/scans/20260511_225448/trajectory_data/waypoint_00044/joint_velocities.csv
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diff --git a/scans/20260511_225544/trajectory_data/waypoint_00044/joint_velocities.csv b/scans/20260511_225544/trajectory_data/waypoint_00044/joint_velocities.csv
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diff --git a/scans/20260511_225544/trajectory_data/waypoint_00046/joint_positions.png b/scans/20260511_225544/trajectory_data/waypoint_00046/joint_positions.png
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index 0000000000000000000000000000000000000000..51753bf826044ba1ce321d84b4c073a61dc6d319
--- /dev/null
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diff --git a/scans/20260511_225544/trajectory_data/waypoint_00046/joint_velocities.csv b/scans/20260511_225544/trajectory_data/waypoint_00046/joint_velocities.csv
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index 0000000000000000000000000000000000000000..62e8bc7bac239e2b501a98ffd45967796f7c1123
--- /dev/null
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diff --git a/scans/20260511_225544/trajectory_data/waypoint_00049/joint_velocities.csv b/scans/20260511_225544/trajectory_data/waypoint_00049/joint_velocities.csv
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diff --git a/scans/20260511_225544/trajectory_data/waypoint_00051/joint_velocities.csv b/scans/20260511_225544/trajectory_data/waypoint_00051/joint_velocities.csv
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diff --git a/scans/20260511_225544/trajectory_data/waypoint_00053/joint_velocities.csv b/scans/20260511_225544/trajectory_data/waypoint_00053/joint_velocities.csv
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diff --git a/scans/20260511_225544/trajectory_data/waypoint_00054/joint_velocities.csv b/scans/20260511_225544/trajectory_data/waypoint_00054/joint_velocities.csv
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diff --git a/scans/20260511_225544/trajectory_data/waypoint_00055/joint_positions.csv b/scans/20260511_225544/trajectory_data/waypoint_00055/joint_positions.csv
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diff --git a/scans/20260511_225544/trajectory_data/waypoint_00055/joint_velocities.csv b/scans/20260511_225544/trajectory_data/waypoint_00055/joint_velocities.csv
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diff --git a/scans/20260511_230650/trajectory_data/waypoint_00044/joint_velocities.csv b/scans/20260511_230650/trajectory_data/waypoint_00044/joint_velocities.csv
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diff --git a/scans/20260511_230650/trajectory_data/waypoint_00045/joint_positions.csv b/scans/20260511_230650/trajectory_data/waypoint_00045/joint_positions.csv
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diff --git a/scans/20260511_230822/scan45/scan_45.png b/scans/20260511_230822/scan45/scan_45.png
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diff --git a/scans/20260511_230822/scan_params.txt b/scans/20260511_230822/scan_params.txt
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index 0000000000000000000000000000000000000000..62687b7f40c46cd7f9f44bffebd473a3ae826fd6
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+++ b/scans/20260511_230822/scan_params.txt
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+date: 20260511_230822
+hemisphere_pos: [0.7549615172369357, -0.013845114818650316, 0.40098974165549933]
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+num_pictures: 2
+elbow_angle_deg: 135.00
+use_hardware: False
+skip_opt: False
+wait: False
+start_idx: 44
diff --git a/scans/20260511_230822/trajectory_data/waypoint_00044/joint_positions.csv b/scans/20260511_230822/trajectory_data/waypoint_00044/joint_positions.csv
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--- /dev/null
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diff --git a/scans/20260511_230822/trajectory_data/waypoint_00044/joint_velocities.csv b/scans/20260511_230822/trajectory_data/waypoint_00044/joint_velocities.csv
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index 0000000000000000000000000000000000000000..9841a056e3ef56985eff8241a3e6dfd09a88f1b4
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diff --git a/scans/20260511_230931/trajectory_data/waypoint_00044/joint_velocities.csv b/scans/20260511_230931/trajectory_data/waypoint_00044/joint_velocities.csv
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diff --git a/scans/20260511_230931/trajectory_data/waypoint_00046/joint_positions.png b/scans/20260511_230931/trajectory_data/waypoint_00046/joint_positions.png
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--- /dev/null
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diff --git a/scans/20260511_230931/trajectory_data/waypoint_00046/joint_velocities.csv b/scans/20260511_230931/trajectory_data/waypoint_00046/joint_velocities.csv
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index 0000000000000000000000000000000000000000..30e3d85b3c5f314119c0a6017a7e3d3afe92303c
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diff --git a/scans/20260511_230931/trajectory_data/waypoint_00049/joint_positions.csv b/scans/20260511_230931/trajectory_data/waypoint_00049/joint_positions.csv
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diff --git a/scans/20260511_230931/trajectory_data/waypoint_00049/joint_velocities.csv b/scans/20260511_230931/trajectory_data/waypoint_00049/joint_velocities.csv
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