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diff --git a/scans/20260420_180223/trajectory_data/waypoint_00001/joint_velocities.csv b/scans/20260420_180223/trajectory_data/waypoint_00001/joint_velocities.csv
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diff --git a/scans/20260420_180223/trajectory_data/waypoint_00002/joint_velocities.csv b/scans/20260420_180223/trajectory_data/waypoint_00002/joint_velocities.csv
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diff --git a/scans/20260420_180223/trajectory_data/waypoint_00003/joint_positions.csv b/scans/20260420_180223/trajectory_data/waypoint_00003/joint_positions.csv
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diff --git a/scans/20260420_180223/trajectory_data/waypoint_00003/joint_positions.png b/scans/20260420_180223/trajectory_data/waypoint_00003/joint_positions.png
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--- /dev/null
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diff --git a/scans/20260420_180223/trajectory_data/waypoint_00003/joint_velocities.csv b/scans/20260420_180223/trajectory_data/waypoint_00003/joint_velocities.csv
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index 0000000000000000000000000000000000000000..be31a362c9ec5e80392d6d95d462a1bd6e20a63a
--- /dev/null
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diff --git a/scans/20260420_180223/trajectory_data/waypoint_00004/joint_velocities.csv b/scans/20260420_180223/trajectory_data/waypoint_00004/joint_velocities.csv
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diff --git a/scans/20260420_180223/trajectory_data/waypoint_00005/joint_positions.png b/scans/20260420_180223/trajectory_data/waypoint_00005/joint_positions.png
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diff --git a/scans/20260420_180223/trajectory_data/waypoint_00005/joint_velocities.csv b/scans/20260420_180223/trajectory_data/waypoint_00005/joint_velocities.csv
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diff --git a/scans/20260420_180223/trajectory_data/waypoint_00006/joint_positions.csv b/scans/20260420_180223/trajectory_data/waypoint_00006/joint_positions.csv
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diff --git a/scans/20260420_180223/trajectory_data/waypoint_00006/joint_velocities.csv b/scans/20260420_180223/trajectory_data/waypoint_00006/joint_velocities.csv
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diff --git a/scans/20260420_180223/trajectory_data/waypoint_00007/joint_velocities.csv b/scans/20260420_180223/trajectory_data/waypoint_00007/joint_velocities.csv
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diff --git a/scans/20260420_180223/trajectory_data/waypoint_00008/joint_velocities.csv b/scans/20260420_180223/trajectory_data/waypoint_00008/joint_velocities.csv
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diff --git a/scans/20260420_180223/trajectory_data/waypoint_00009/joint_velocities.csv b/scans/20260420_180223/trajectory_data/waypoint_00009/joint_velocities.csv
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diff --git a/scans/20260420_180223/trajectory_data/waypoint_00009/joint_velocities.png b/scans/20260420_180223/trajectory_data/waypoint_00009/joint_velocities.png
new file mode 100644
index 0000000000000000000000000000000000000000..f57d7271f1315809bd0d9b5c6e05779b44342faf
--- /dev/null
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diff --git a/scans/20260420_180223/trajectory_data/waypoint_00010/joint_velocities.csv b/scans/20260420_180223/trajectory_data/waypoint_00010/joint_velocities.csv
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diff --git a/scans/20260420_180223/trajectory_data/waypoint_00011/joint_positions.csv b/scans/20260420_180223/trajectory_data/waypoint_00011/joint_positions.csv
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diff --git a/scans/20260420_180223/trajectory_data/waypoint_00011/joint_velocities.csv b/scans/20260420_180223/trajectory_data/waypoint_00011/joint_velocities.csv
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diff --git a/scans/20260420_180223/trajectory_data/waypoint_00012/joint_velocities.csv b/scans/20260420_180223/trajectory_data/waypoint_00012/joint_velocities.csv
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diff --git a/scans/20260420_180223/trajectory_data/waypoint_00013/joint_positions.png b/scans/20260420_180223/trajectory_data/waypoint_00013/joint_positions.png
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diff --git a/scans/20260420_180223/trajectory_data/waypoint_00013/joint_velocities.csv b/scans/20260420_180223/trajectory_data/waypoint_00013/joint_velocities.csv
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diff --git a/scans/20260420_180223/trajectory_data/waypoint_00014/joint_velocities.csv b/scans/20260420_180223/trajectory_data/waypoint_00014/joint_velocities.csv
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diff --git a/scans/20260420_180223/trajectory_data/waypoint_00015/joint_positions.csv b/scans/20260420_180223/trajectory_data/waypoint_00015/joint_positions.csv
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diff --git a/scans/20260420_180223/trajectory_data/waypoint_00015/joint_velocities.csv b/scans/20260420_180223/trajectory_data/waypoint_00015/joint_velocities.csv
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diff --git a/scans/20260420_180223/trajectory_data/waypoint_00016/joint_velocities.csv b/scans/20260420_180223/trajectory_data/waypoint_00016/joint_velocities.csv
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diff --git a/scans/20260420_180223/trajectory_data/waypoint_00017/joint_velocities.csv b/scans/20260420_180223/trajectory_data/waypoint_00017/joint_velocities.csv
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diff --git a/scans/20260420_180223/trajectory_data/waypoint_00018/joint_velocities.csv b/scans/20260420_180223/trajectory_data/waypoint_00018/joint_velocities.csv
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diff --git a/scans/20260420_180223/trajectory_data/waypoint_00019/joint_positions.csv b/scans/20260420_180223/trajectory_data/waypoint_00019/joint_positions.csv
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diff --git a/scans/20260420_180223/trajectory_data/waypoint_00020/joint_velocities.csv b/scans/20260420_180223/trajectory_data/waypoint_00020/joint_velocities.csv
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diff --git a/scans/20260420_180223/trajectory_data/waypoint_00021/joint_velocities.csv b/scans/20260420_180223/trajectory_data/waypoint_00021/joint_velocities.csv
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diff --git a/scans/20260420_180223/trajectory_data/waypoint_00022/joint_positions.csv b/scans/20260420_180223/trajectory_data/waypoint_00022/joint_positions.csv
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diff --git a/scans/20260420_180223/trajectory_data/waypoint_00022/joint_velocities.csv b/scans/20260420_180223/trajectory_data/waypoint_00022/joint_velocities.csv
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diff --git a/scans/20260420_180223/trajectory_data/waypoint_00023/joint_velocities.csv b/scans/20260420_180223/trajectory_data/waypoint_00023/joint_velocities.csv
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diff --git a/scans/20260420_180223/trajectory_data/waypoint_00024/joint_positions.png b/scans/20260420_180223/trajectory_data/waypoint_00024/joint_positions.png
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--- /dev/null
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diff --git a/scans/20260420_180223/trajectory_data/waypoint_00024/joint_velocities.csv b/scans/20260420_180223/trajectory_data/waypoint_00024/joint_velocities.csv
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index 0000000000000000000000000000000000000000..50300d097ca5a49831e33e189504e17885fb356e
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diff --git a/scans/20260420_180223/trajectory_data/waypoint_00025/joint_velocities.csv b/scans/20260420_180223/trajectory_data/waypoint_00025/joint_velocities.csv
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--- /dev/null
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diff --git a/scans/20260420_180223/trajectory_data/waypoint_00026/joint_velocities.csv b/scans/20260420_180223/trajectory_data/waypoint_00026/joint_velocities.csv
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index 0000000000000000000000000000000000000000..fdaa638f33526ada12791728451eaab3f571aa53
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diff --git a/scans/20260420_180223/trajectory_data/waypoint_00027/joint_velocities.csv b/scans/20260420_180223/trajectory_data/waypoint_00027/joint_velocities.csv
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diff --git a/scans/20260420_180223/trajectory_data/waypoint_00028/joint_velocities.csv b/scans/20260420_180223/trajectory_data/waypoint_00028/joint_velocities.csv
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--- /dev/null
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diff --git a/scans/20260420_180223/trajectory_data/waypoint_00029/joint_velocities.csv b/scans/20260420_180223/trajectory_data/waypoint_00029/joint_velocities.csv
new file mode 100644
index 0000000000000000000000000000000000000000..320caab69c12aaddfbde6400e1f9ec7920e0e191
--- /dev/null
+++ b/scans/20260420_180223/trajectory_data/waypoint_00029/joint_velocities.csv
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diff --git a/scans/20260420_180223/trajectory_data/waypoint_00032/joint_velocities.csv b/scans/20260420_180223/trajectory_data/waypoint_00032/joint_velocities.csv
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diff --git a/scans/20260420_180223/trajectory_data/waypoint_00033/joint_positions.png b/scans/20260420_180223/trajectory_data/waypoint_00033/joint_positions.png
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--- /dev/null
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diff --git a/scans/20260420_180223/trajectory_data/waypoint_00033/joint_velocities.csv b/scans/20260420_180223/trajectory_data/waypoint_00033/joint_velocities.csv
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index 0000000000000000000000000000000000000000..2913937bce67b1e09ed672eb78fbd9561ffb292e
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diff --git a/scans/20260420_180223/trajectory_data/waypoint_00034/joint_velocities.csv b/scans/20260420_180223/trajectory_data/waypoint_00034/joint_velocities.csv
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diff --git a/scans/20260420_180223/trajectory_data/waypoint_00035/joint_velocities.csv b/scans/20260420_180223/trajectory_data/waypoint_00035/joint_velocities.csv
new file mode 100644
index 0000000000000000000000000000000000000000..8a092cfe27ca023c8c16493f755ceb5947151b9c
--- /dev/null
+++ b/scans/20260420_180223/trajectory_data/waypoint_00035/joint_velocities.csv
@@ -0,0 +1,790 @@
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