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diff --git a/scans/20260511_205513/trajectory_data/waypoint_00010/joint_velocities.csv b/scans/20260511_205513/trajectory_data/waypoint_00010/joint_velocities.csv
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diff --git a/scans/20260511_205513/trajectory_data/waypoint_00012/joint_positions.png b/scans/20260511_205513/trajectory_data/waypoint_00012/joint_positions.png
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--- /dev/null
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diff --git a/scans/20260511_205513/trajectory_data/waypoint_00012/joint_velocities.csv b/scans/20260511_205513/trajectory_data/waypoint_00012/joint_velocities.csv
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index 0000000000000000000000000000000000000000..a942d99c67d731374fec13dd1d807fa64dee6ee6
--- /dev/null
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diff --git a/scans/20260511_205513/trajectory_data/waypoint_00013/joint_velocities.csv b/scans/20260511_205513/trajectory_data/waypoint_00013/joint_velocities.csv
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index 0000000000000000000000000000000000000000..ef5586b9b04a87b333123b718b395e616d7c6cde
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diff --git a/scans/20260511_205513/trajectory_data/waypoint_00019/joint_velocities.csv b/scans/20260511_205513/trajectory_data/waypoint_00019/joint_velocities.csv
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diff --git a/scans/20260511_205513/trajectory_data/waypoint_00021/joint_positions.csv b/scans/20260511_205513/trajectory_data/waypoint_00021/joint_positions.csv
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diff --git a/scans/20260511_205513/trajectory_data/waypoint_00021/joint_velocities.csv b/scans/20260511_205513/trajectory_data/waypoint_00021/joint_velocities.csv
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diff --git a/scans/20260511_205513/trajectory_data/waypoint_00027/joint_positions.png b/scans/20260511_205513/trajectory_data/waypoint_00027/joint_positions.png
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diff --git a/scans/20260511_205513/trajectory_data/waypoint_00027/joint_velocities.csv b/scans/20260511_205513/trajectory_data/waypoint_00027/joint_velocities.csv
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index 0000000000000000000000000000000000000000..3926d496a28a02ad7dc4f7a08e63f950bc17c8cb
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diff --git a/scans/20260511_205513/trajectory_data/waypoint_00035/joint_velocities.csv b/scans/20260511_205513/trajectory_data/waypoint_00035/joint_velocities.csv
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diff --git a/scans/20260511_205513/trajectory_data/waypoint_00042/joint_velocities.csv b/scans/20260511_205513/trajectory_data/waypoint_00042/joint_velocities.csv
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diff --git a/scans/20260511_205513/trajectory_data/waypoint_00046/joint_velocities.csv b/scans/20260511_205513/trajectory_data/waypoint_00046/joint_velocities.csv
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diff --git a/scans/20260511_205513/trajectory_data/waypoint_00047/joint_velocities.csv b/scans/20260511_205513/trajectory_data/waypoint_00047/joint_velocities.csv
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diff --git a/scans/20260511_205513/trajectory_data/waypoint_00049/joint_velocities.csv b/scans/20260511_205513/trajectory_data/waypoint_00049/joint_velocities.csv
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diff --git a/scans/20260511_205513/trajectory_data/waypoint_00050/joint_velocities.csv b/scans/20260511_205513/trajectory_data/waypoint_00050/joint_velocities.csv
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diff --git a/scans/20260511_205513/trajectory_data/waypoint_00052/joint_velocities.csv b/scans/20260511_205513/trajectory_data/waypoint_00052/joint_velocities.csv
new file mode 100644
index 0000000000000000000000000000000000000000..8cc54d109c82b81bb8840d3e8aee77fcefb6813d
--- /dev/null
+++ b/scans/20260511_205513/trajectory_data/waypoint_00052/joint_velocities.csv
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diff --git a/scans/20260511_205513/trajectory_data/waypoint_00053/joint_positions.csv b/scans/20260511_205513/trajectory_data/waypoint_00053/joint_positions.csv
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index 0000000000000000000000000000000000000000..281354434a3e708cf653e62e12004f0150c7c1ad
--- /dev/null
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diff --git a/scans/20260511_205513/trajectory_data/waypoint_00053/joint_velocities.csv b/scans/20260511_205513/trajectory_data/waypoint_00053/joint_velocities.csv
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index 0000000000000000000000000000000000000000..4f3ff207ec14da76a0943541d74be6e3720e1687
--- /dev/null
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diff --git a/scans/20260511_205513/trajectory_data/waypoint_00054/joint_positions.png b/scans/20260511_205513/trajectory_data/waypoint_00054/joint_positions.png
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--- /dev/null
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diff --git a/scans/20260511_205513/trajectory_data/waypoint_00054/joint_velocities.csv b/scans/20260511_205513/trajectory_data/waypoint_00054/joint_velocities.csv
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index 0000000000000000000000000000000000000000..c1622ea7c151a4bd5dd3a7a08dd9e4dc5232322a
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diff --git a/scans/20260511_205513/trajectory_data/waypoint_00060/joint_velocities.csv b/scans/20260511_205513/trajectory_data/waypoint_00060/joint_velocities.csv
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diff --git a/scans/20260511_205513/trajectory_data/waypoint_00061/joint_velocities.csv b/scans/20260511_205513/trajectory_data/waypoint_00061/joint_velocities.csv
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diff --git a/scans/20260511_205513/trajectory_data/waypoint_00062/joint_velocities.csv b/scans/20260511_205513/trajectory_data/waypoint_00062/joint_velocities.csv
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