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diff --git a/single_pika_sense/episode8/localization/pose/pika/1782998582.482718.json b/single_pika_sense/episode8/localization/pose/pika/1782998582.482718.json
new file mode 100644
index 0000000000000000000000000000000000000000..c1e9ad278ddf069fb7dc60b9acaf866c11ee01d8
--- /dev/null
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+{
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new file mode 100644
index 0000000000000000000000000000000000000000..cea159624825237c98558c9d5aac58ce0b692173
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+{
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diff --git a/single_pika_sense/episode8/localization/pose/pika/1782998582.490688.json b/single_pika_sense/episode8/localization/pose/pika/1782998582.490688.json
new file mode 100644
index 0000000000000000000000000000000000000000..4a3af8c92d4b854a4ab4fcb30c56d5d87c28f3a7
--- /dev/null
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+{
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diff --git a/single_pika_sense/episode8/localization/pose/pika/1782998582.494650.json b/single_pika_sense/episode8/localization/pose/pika/1782998582.494650.json
new file mode 100644
index 0000000000000000000000000000000000000000..e4cd487c9f559f464e2221790ae7837267bd54c4
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+{
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new file mode 100644
index 0000000000000000000000000000000000000000..991f83649049880cd8a7930d66fd511b0f79fd27
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+{
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diff --git a/single_pika_sense/episode8/localization/pose/pika/1782998582.502631.json b/single_pika_sense/episode8/localization/pose/pika/1782998582.502631.json
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index 0000000000000000000000000000000000000000..27836162171eb877042d4af03241b26aeaa8da44
--- /dev/null
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diff --git a/single_pika_sense/episode8/localization/pose/pika/1782998582.506615.json b/single_pika_sense/episode8/localization/pose/pika/1782998582.506615.json
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index 0000000000000000000000000000000000000000..bc3dc8e53f126b8fb3ae2b10354b3f5e66b28f77
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+{
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diff --git a/single_pika_sense/episode8/localization/pose/pika/1782998582.510591.json b/single_pika_sense/episode8/localization/pose/pika/1782998582.510591.json
new file mode 100644
index 0000000000000000000000000000000000000000..6c9b26607439427ce20ced07266e8453fc6d59da
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new file mode 100644
index 0000000000000000000000000000000000000000..063f89bdc884253d7853be694ecab9124325f96b
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+{
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diff --git a/single_pika_sense/episode8/localization/pose/pika/1782998582.518572.json b/single_pika_sense/episode8/localization/pose/pika/1782998582.518572.json
new file mode 100644
index 0000000000000000000000000000000000000000..70f7775103ea05df679acb48f3d65de2026259ef
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diff --git a/single_pika_sense/episode8/localization/pose/pika/1782998582.522558.json b/single_pika_sense/episode8/localization/pose/pika/1782998582.522558.json
new file mode 100644
index 0000000000000000000000000000000000000000..20a1176021108863cea9979a23ad8e04a1587e3b
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diff --git a/single_pika_sense/episode8/localization/pose/pika/1782998582.526561.json b/single_pika_sense/episode8/localization/pose/pika/1782998582.526561.json
new file mode 100644
index 0000000000000000000000000000000000000000..f6b908f8da22e5e4b94d8661572f494637ad1075
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new file mode 100644
index 0000000000000000000000000000000000000000..d0a5d554c722134e58b775dbdccec837f3d5626f
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diff --git a/single_pika_sense/episode8/localization/pose/pika/1782998582.534659.json b/single_pika_sense/episode8/localization/pose/pika/1782998582.534659.json
new file mode 100644
index 0000000000000000000000000000000000000000..ebd8418396287b3724e425f938c549e154e09176
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+{
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diff --git a/single_pika_sense/episode8/localization/pose/pika/1782998582.538636.json b/single_pika_sense/episode8/localization/pose/pika/1782998582.538636.json
new file mode 100644
index 0000000000000000000000000000000000000000..8143cd1b1408798752e8acb1821f04d03cf56e36
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diff --git a/single_pika_sense/episode8/localization/pose/pika/1782998582.542616.json b/single_pika_sense/episode8/localization/pose/pika/1782998582.542616.json
new file mode 100644
index 0000000000000000000000000000000000000000..04336ece596b838d8f777c32e3a900d617abdeb0
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diff --git a/single_pika_sense/episode8/localization/pose/pika/1782998582.546620.json b/single_pika_sense/episode8/localization/pose/pika/1782998582.546620.json
new file mode 100644
index 0000000000000000000000000000000000000000..b1d8b3357932b0efe54c57e893d92750c11cd31c
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+{
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new file mode 100644
index 0000000000000000000000000000000000000000..93ce32a47afec1248e9a0848ad0c137ff5d26682
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new file mode 100644
index 0000000000000000000000000000000000000000..e2bf45055542733fe3c892e76463271dadb896fb
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+{
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diff --git a/single_pika_sense/episode8/localization/pose/pika/1782998582.558585.json b/single_pika_sense/episode8/localization/pose/pika/1782998582.558585.json
new file mode 100644
index 0000000000000000000000000000000000000000..34ebb1144d647b06e7d643aa2c5a0cf79da23c94
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diff --git a/single_pika_sense/episode8/localization/pose/pika/1782998582.562588.json b/single_pika_sense/episode8/localization/pose/pika/1782998582.562588.json
new file mode 100644
index 0000000000000000000000000000000000000000..f8fd363b3d2dc73af3ba938f56b14cb283c22693
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+{
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diff --git a/single_pika_sense/episode8/localization/pose/pika/1782998582.566673.json b/single_pika_sense/episode8/localization/pose/pika/1782998582.566673.json
new file mode 100644
index 0000000000000000000000000000000000000000..868ac07c5633ff93d5c9c1e019480be6b61ee171
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new file mode 100644
index 0000000000000000000000000000000000000000..bae82a0a219d34b7442d9f9889b4912f302c5f74
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new file mode 100644
index 0000000000000000000000000000000000000000..080ad1838090c3c2a5095861e40e4a0594443a29
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diff --git a/single_pika_sense/episode8/localization/pose/pika/1782998582.578649.json b/single_pika_sense/episode8/localization/pose/pika/1782998582.578649.json
new file mode 100644
index 0000000000000000000000000000000000000000..a48972247bee82f34f3da8b698be6daa4442d390
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diff --git a/single_pika_sense/episode8/localization/pose/pika/1782998582.582631.json b/single_pika_sense/episode8/localization/pose/pika/1782998582.582631.json
new file mode 100644
index 0000000000000000000000000000000000000000..d40052518f2fea322485004644e1a65857f7adfd
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diff --git a/single_pika_sense/episode8/localization/pose/pika/1782998582.586614.json b/single_pika_sense/episode8/localization/pose/pika/1782998582.586614.json
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index 0000000000000000000000000000000000000000..4957f34906eef11d7d692d68a249d6767e8de8c5
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diff --git a/single_pika_sense/episode8/localization/pose/pika/1782998582.590595.json b/single_pika_sense/episode8/localization/pose/pika/1782998582.590595.json
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index 0000000000000000000000000000000000000000..fe25d336df65bd5a73d7e155bf9503ee0fb4a8a9
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diff --git a/single_pika_sense/episode8/localization/pose/pika/1782998582.594586.json b/single_pika_sense/episode8/localization/pose/pika/1782998582.594586.json
new file mode 100644
index 0000000000000000000000000000000000000000..bf14766f3798ee8a10ec60816fc55fcf959ed4de
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new file mode 100644
index 0000000000000000000000000000000000000000..b15c9703144bf31499c297df6601994887057331
--- /dev/null
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+{
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index 0000000000000000000000000000000000000000..56548eedfee688c0ec5867f613965954c90d83cb
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new file mode 100644
index 0000000000000000000000000000000000000000..ba0a0e7f3c15c2ba1d4030fad822be62dc6fff57
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+{
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index 0000000000000000000000000000000000000000..1fde1cd45d1bb180413766df914fb38b50abcf44
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index 0000000000000000000000000000000000000000..7226251b109682b4a685dce6eda495a21ee7de82
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new file mode 100644
index 0000000000000000000000000000000000000000..b9a1137944f862bfb65d34bb07114bf0f00570a1
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new file mode 100644
index 0000000000000000000000000000000000000000..c83c462962496074bcbd22be8d9554977e33fa20
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index 0000000000000000000000000000000000000000..6e321bd0e2fb113abafceffa8646f82ca5ac1206
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new file mode 100644
index 0000000000000000000000000000000000000000..6f480da9573392d058435414ad60704264ced23e
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new file mode 100644
index 0000000000000000000000000000000000000000..36a5a87bb3fe7c5f60ef6a396f08f935d857dad5
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new file mode 100644
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new file mode 100644
index 0000000000000000000000000000000000000000..06af02ad1016184e4ee6617198086261d08c912e
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index 0000000000000000000000000000000000000000..eafd24980730914c5f190599470e600adbd6b17a
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new file mode 100644
index 0000000000000000000000000000000000000000..e783aaa8f068be892575c2a66d25aa6d4df26334
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new file mode 100644
index 0000000000000000000000000000000000000000..d70fbfc9a390123000c851295bc9dedb2ca64c8d
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new file mode 100644
index 0000000000000000000000000000000000000000..0a93b62a64353754b47a2f0d02233f3f83be4bb5
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new file mode 100644
index 0000000000000000000000000000000000000000..af2254b1543a78907d9be302b437ee4aecfbeb19
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index 0000000000000000000000000000000000000000..172a2045ec6e7870af48c208f6db1c6c830ee670
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new file mode 100644
index 0000000000000000000000000000000000000000..f44f4aaa4b6e691f9c9b30a73c6e47482758ded8
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new file mode 100644
index 0000000000000000000000000000000000000000..35cc7428f95d7b951e165e18dd872d1aa9dc560f
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index 0000000000000000000000000000000000000000..9281b4524678d9d85dd2d88c26095fcf483418f3
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index 0000000000000000000000000000000000000000..fb8f1cefd8ce8105f9aefa092f26cf20cd0edf20
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index 0000000000000000000000000000000000000000..fa75820179a7e7db6b1427ce6cff08210c862b74
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diff --git a/single_pika_sense/episode8/localization/pose/pika/1782998582.706694.json b/single_pika_sense/episode8/localization/pose/pika/1782998582.706694.json
new file mode 100644
index 0000000000000000000000000000000000000000..2fc4c25dce069a27a46c2805ae2a1c1463612c04
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diff --git a/single_pika_sense/episode8/localization/pose/pika/1782998582.710697.json b/single_pika_sense/episode8/localization/pose/pika/1782998582.710697.json
new file mode 100644
index 0000000000000000000000000000000000000000..8122fd46edcbaff209a493844a35afb1e7e2c487
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new file mode 100644
index 0000000000000000000000000000000000000000..339695343c8c251054505455810e9df5f026d354
--- /dev/null
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@@ -0,0 +1,8 @@
+{
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diff --git a/single_pika_sense/episode8/localization/pose/pika/1782998582.718637.json b/single_pika_sense/episode8/localization/pose/pika/1782998582.718637.json
new file mode 100644
index 0000000000000000000000000000000000000000..bf7044b8df3b56643b007593def1f03a22cf77ec
--- /dev/null
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+{
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diff --git a/single_pika_sense/episode8/localization/pose/pika/1782998582.722624.json b/single_pika_sense/episode8/localization/pose/pika/1782998582.722624.json
new file mode 100644
index 0000000000000000000000000000000000000000..f28bd54b8e9bc6d3032d81d9aea31315bd4d8f6f
--- /dev/null
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+{
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diff --git a/single_pika_sense/episode8/localization/pose/pika/1782998582.726703.json b/single_pika_sense/episode8/localization/pose/pika/1782998582.726703.json
new file mode 100644
index 0000000000000000000000000000000000000000..d10f5a2e0ef5608084fbac8de70d2038f84a5a00
--- /dev/null
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+{
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diff --git a/single_pika_sense/episode8/localization/pose/pika/1782998582.730695.json b/single_pika_sense/episode8/localization/pose/pika/1782998582.730695.json
new file mode 100644
index 0000000000000000000000000000000000000000..ab4730f8fdf7d9591d867d5029cb2aa7506fc9e9
--- /dev/null
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diff --git a/single_pika_sense/episode8/localization/pose/pika/1782998582.734698.json b/single_pika_sense/episode8/localization/pose/pika/1782998582.734698.json
new file mode 100644
index 0000000000000000000000000000000000000000..97befabdd89865aea3bdbc64d6eb8a5d5a4612a3
--- /dev/null
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diff --git a/single_pika_sense/episode8/localization/pose/pika/1782998582.738675.json b/single_pika_sense/episode8/localization/pose/pika/1782998582.738675.json
new file mode 100644
index 0000000000000000000000000000000000000000..be4ecb8ca1b5466e364d2fa0b9ff6994240f83a6
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new file mode 100644
index 0000000000000000000000000000000000000000..ee42b25154a6987b0f1249e152b70bf2de09cf3d
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diff --git a/single_pika_sense/episode8/localization/pose/pika/1782998582.746656.json b/single_pika_sense/episode8/localization/pose/pika/1782998582.746656.json
new file mode 100644
index 0000000000000000000000000000000000000000..62ac4e8c1d0ea76ad05b33bd2cbd0390f4de7b4a
--- /dev/null
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diff --git a/single_pika_sense/episode8/localization/pose/pika/1782998582.750633.json b/single_pika_sense/episode8/localization/pose/pika/1782998582.750633.json
new file mode 100644
index 0000000000000000000000000000000000000000..68fd8283b29d76a1d7ec1f3e1852443959c33820
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index 0000000000000000000000000000000000000000..44fe33567bd4bf836b9a43593a87a4b7b8b82bad
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new file mode 100644
index 0000000000000000000000000000000000000000..b325182fbd57ab7d21fc9608a64546038005574b
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diff --git a/single_pika_sense/episode8/localization/pose/pika/1782998582.762691.json b/single_pika_sense/episode8/localization/pose/pika/1782998582.762691.json
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index 0000000000000000000000000000000000000000..aa8bdc16fbd6588ea98ef8daa2b6cfda32c06a7f
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new file mode 100644
index 0000000000000000000000000000000000000000..d16873e7652dde5f187f74babc94dc005ebcc74c
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new file mode 100644
index 0000000000000000000000000000000000000000..90ebcfbb2e625aaa819a65bd52712f56cb3862d5
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new file mode 100644
index 0000000000000000000000000000000000000000..7c32ad8fcae8a119458ecd3ac568a2be28b6ce04
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new file mode 100644
index 0000000000000000000000000000000000000000..e62fe53b6266a9e87a90890651e4ed305a3de911
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new file mode 100644
index 0000000000000000000000000000000000000000..4b7d71250f1bad1d3d948252b84db316f27ff9d4
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new file mode 100644
index 0000000000000000000000000000000000000000..f155e8edf90bdf7a2068fdb380c83276aac17199
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new file mode 100644
index 0000000000000000000000000000000000000000..c0c7d7a9088cb3e20513c59ffebcc2f286dc34fc
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new file mode 100644
index 0000000000000000000000000000000000000000..0ed341704f64af14097dafd0431a02db18ac7886
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new file mode 100644
index 0000000000000000000000000000000000000000..e037d38e4c9a84e302e137931ff47181fc104fde
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new file mode 100644
index 0000000000000000000000000000000000000000..3294f5dd19b8103eb99885517d5282489367420e
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new file mode 100644
index 0000000000000000000000000000000000000000..b6962e67904c48e5c7f1ca6983be0cc0ad8676fc
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new file mode 100644
index 0000000000000000000000000000000000000000..cd38743a2f55d8aa06d060484d40fdeceb2208a7
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new file mode 100644
index 0000000000000000000000000000000000000000..761787abb52f5ef5d6867e8e9c0beea3850f9b2c
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diff --git a/single_pika_sense/episode8/localization/pose/pika/1782998582.818581.json b/single_pika_sense/episode8/localization/pose/pika/1782998582.818581.json
new file mode 100644
index 0000000000000000000000000000000000000000..b12edc1740436a67bb2ac9b66620a4fcb00dc072
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diff --git a/single_pika_sense/episode8/localization/pose/pika/1782998582.822681.json b/single_pika_sense/episode8/localization/pose/pika/1782998582.822681.json
new file mode 100644
index 0000000000000000000000000000000000000000..1907c936507bfff2a6237e7e129c2d4bcf597bb3
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diff --git a/single_pika_sense/episode8/localization/pose/pika/1782998582.826685.json b/single_pika_sense/episode8/localization/pose/pika/1782998582.826685.json
new file mode 100644
index 0000000000000000000000000000000000000000..a728eb78e3277be9365b1642ce678a6cedca164d
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diff --git a/single_pika_sense/episode9/localization/pose/pika/1782999347.311226.json b/single_pika_sense/episode9/localization/pose/pika/1782999347.311226.json
new file mode 100644
index 0000000000000000000000000000000000000000..8e0fdf05619734fb012911eb7f15bd929324d23c
--- /dev/null
+++ b/single_pika_sense/episode9/localization/pose/pika/1782999347.311226.json
@@ -0,0 +1,8 @@
+{
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diff --git a/single_pika_sense/episode9/localization/pose/pika/1782999347.315178.json b/single_pika_sense/episode9/localization/pose/pika/1782999347.315178.json
new file mode 100644
index 0000000000000000000000000000000000000000..14908f3c39f721fdcf493a0735eb5f43d425ae50
--- /dev/null
+++ b/single_pika_sense/episode9/localization/pose/pika/1782999347.315178.json
@@ -0,0 +1,8 @@
+{
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diff --git a/single_pika_sense/episode9/localization/pose/pika/1782999347.319182.json b/single_pika_sense/episode9/localization/pose/pika/1782999347.319182.json
new file mode 100644
index 0000000000000000000000000000000000000000..50ee9707929135fed613eb5ad9960aa686fe1986
--- /dev/null
+++ b/single_pika_sense/episode9/localization/pose/pika/1782999347.319182.json
@@ -0,0 +1,8 @@
+{
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diff --git a/single_pika_sense/episode9/localization/pose/pika/1782999347.323094.json b/single_pika_sense/episode9/localization/pose/pika/1782999347.323094.json
new file mode 100644
index 0000000000000000000000000000000000000000..f7268d33a1481fe337f11fbf11bb42f2f3a225d6
--- /dev/null
+++ b/single_pika_sense/episode9/localization/pose/pika/1782999347.323094.json
@@ -0,0 +1,8 @@
+{
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diff --git a/single_pika_sense/episode9/localization/pose/pika/1782999347.327098.json b/single_pika_sense/episode9/localization/pose/pika/1782999347.327098.json
new file mode 100644
index 0000000000000000000000000000000000000000..5c65c0c73a0ae409dfffd86057f95266c433437b
--- /dev/null
+++ b/single_pika_sense/episode9/localization/pose/pika/1782999347.327098.json
@@ -0,0 +1,8 @@
+{
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diff --git a/single_pika_sense/episode9/localization/pose/pika/1782999347.331078.json b/single_pika_sense/episode9/localization/pose/pika/1782999347.331078.json
new file mode 100644
index 0000000000000000000000000000000000000000..8dc2f6466f627df0896ba66e0fcb6147f0a203e6
--- /dev/null
+++ b/single_pika_sense/episode9/localization/pose/pika/1782999347.331078.json
@@ -0,0 +1,8 @@
+{
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diff --git a/single_pika_sense/episode9/localization/pose/pika/1782999347.335383.json b/single_pika_sense/episode9/localization/pose/pika/1782999347.335383.json
new file mode 100644
index 0000000000000000000000000000000000000000..2cd3e727e0df46a26bcfc0266dec506c228ecded
--- /dev/null
+++ b/single_pika_sense/episode9/localization/pose/pika/1782999347.335383.json
@@ -0,0 +1,8 @@
+{
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diff --git a/single_pika_sense/episode9/localization/pose/pika/1782999347.339428.json b/single_pika_sense/episode9/localization/pose/pika/1782999347.339428.json
new file mode 100644
index 0000000000000000000000000000000000000000..e2d95167ec0df267037102039c301c9a9c85ba69
--- /dev/null
+++ b/single_pika_sense/episode9/localization/pose/pika/1782999347.339428.json
@@ -0,0 +1,8 @@
+{
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diff --git a/single_pika_sense/episode9/localization/pose/pika/1782999347.343431.json b/single_pika_sense/episode9/localization/pose/pika/1782999347.343431.json
new file mode 100644
index 0000000000000000000000000000000000000000..4b0147a111e3d589f565527fe420ccbc6fdd5fe5
--- /dev/null
+++ b/single_pika_sense/episode9/localization/pose/pika/1782999347.343431.json
@@ -0,0 +1,8 @@
+{
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diff --git a/single_pika_sense/episode9/localization/pose/pika/1782999347.347364.json b/single_pika_sense/episode9/localization/pose/pika/1782999347.347364.json
new file mode 100644
index 0000000000000000000000000000000000000000..8d53a9143ae290e47cb6f3ecd98ce6226afd8128
--- /dev/null
+++ b/single_pika_sense/episode9/localization/pose/pika/1782999347.347364.json
@@ -0,0 +1,8 @@
+{
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diff --git a/single_pika_sense/episode9/localization/pose/pika/1782999347.351325.json b/single_pika_sense/episode9/localization/pose/pika/1782999347.351325.json
new file mode 100644
index 0000000000000000000000000000000000000000..ca88735b54a7b0567cff65385ec043d3898314e0
--- /dev/null
+++ b/single_pika_sense/episode9/localization/pose/pika/1782999347.351325.json
@@ -0,0 +1,8 @@
+{
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+}
diff --git a/single_pika_sense/episode9/localization/pose/pika/1782999347.355269.json b/single_pika_sense/episode9/localization/pose/pika/1782999347.355269.json
new file mode 100644
index 0000000000000000000000000000000000000000..377861475b83c06dbf65b49ea8c9c869d1ed5800
--- /dev/null
+++ b/single_pika_sense/episode9/localization/pose/pika/1782999347.355269.json
@@ -0,0 +1,8 @@
+{
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