diff --git "a/main_250801DR48FP25002960/session_20251210_225722/SLAM_Poses/slam_raw_baseframe.txt" "b/main_250801DR48FP25002960/session_20251210_225722/SLAM_Poses/slam_raw_baseframe.txt"
new file mode 100644--- /dev/null
+++ "b/main_250801DR48FP25002960/session_20251210_225722/SLAM_Poses/slam_raw_baseframe.txt"
@@ -0,0 +1,3368 @@
+# 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])
+434101.105991000 0.424366 0.019089 0.126310 152.022 88.960 156.514 0.980812
+434101.108012000 0.424360 0.019072 0.126309 152.387 88.962 156.882 0.980812
+434101.109998000 0.424354 0.019054 0.126310 152.742 88.964 157.241 0.980812
+434101.111994000 0.424347 0.019036 0.126310 153.109 88.965 157.612 0.980812
+434101.113992000 0.424337 0.019019 0.126311 153.473 88.965 157.978 0.980812
+434101.115991000 0.424323 0.019002 0.126313 153.892 88.963 158.400 0.980812
+434101.117993000 0.424309 0.018984 0.126313 154.274 88.961 158.783 0.980812
+434101.119990000 0.424290 0.018970 0.126316 154.648 88.957 159.158 0.980812
+434101.121995000 0.424266 0.018961 0.126318 154.983 88.951 159.493 0.980812
+434101.123994000 0.424244 0.018946 0.126317 155.329 88.945 159.838 0.980812
+434101.125995000 0.424222 0.018932 0.126316 155.672 88.940 160.181 0.980812
+434101.127991000 0.424197 0.018918 0.126314 156.007 88.933 160.514 0.980812
+434101.129991000 0.424171 0.018907 0.126312 156.297 88.927 160.801 0.980812
+434101.131999000 0.424144 0.018897 0.126309 156.561 88.919 161.062 0.980812
+434101.133990000 0.424116 0.018888 0.126304 156.785 88.912 161.282 0.980812
+434101.135991000 0.424087 0.018881 0.126300 156.982 88.905 161.474 0.980812
+434101.137991000 0.424056 0.018875 0.126295 157.129 88.897 161.615 0.980812
+434101.139990000 0.424026 0.018871 0.126289 157.236 88.888 161.716 0.980812
+434101.141995000 0.423996 0.018865 0.126280 157.302 88.879 161.776 0.980812
+434101.144000000 0.423964 0.018863 0.126272 157.310 88.870 161.775 0.980812
+434101.146082000 0.423931 0.018863 0.126263 157.290 88.860 161.747 0.980812
+434101.147991000 0.423899 0.018866 0.126254 157.204 88.851 161.651 0.980812
+434101.149990000 0.423867 0.018869 0.126244 157.110 88.842 161.548 0.980812
+434101.151996000 0.423834 0.018875 0.126234 156.992 88.832 161.419 0.980812
+434101.153991000 0.423802 0.018881 0.126222 156.824 88.822 161.240 0.980812
+434101.155991000 0.423770 0.018890 0.126209 156.615 88.813 161.020 0.980919
+434101.157990000 0.423739 0.018899 0.126195 156.388 88.804 160.781 0.980919
+434101.159991000 0.423712 0.018905 0.126177 156.102 88.796 160.485 0.980919
+434101.161991000 0.423682 0.018915 0.126161 155.833 88.787 160.204 0.980919
+434101.163991000 0.423650 0.018929 0.126148 155.566 88.778 159.924 0.980919
+434101.165990000 0.423623 0.018938 0.126127 155.234 88.768 159.580 0.980919
+434101.167990000 0.423594 0.018952 0.126109 154.911 88.759 159.245 0.980919
+434101.169991000 0.423565 0.018966 0.126091 154.589 88.749 158.911 0.980919
+434101.171988000 0.423535 0.018984 0.126077 154.272 88.740 158.582 0.980812
+434101.173965000 0.423508 0.018997 0.126056 153.936 88.729 158.234 0.980812
+434101.175990000 0.423479 0.019013 0.126037 153.600 88.719 157.887 0.980812
+434101.178223000 0.423448 0.019032 0.126017 153.230 88.707 157.505 0.980812
+434101.179994000 0.423422 0.019051 0.126005 152.948 88.697 157.213 0.980812
+434101.181992000 0.423396 0.019066 0.125986 152.642 88.689 156.898 0.980812
+434101.183992000 0.423368 0.019082 0.125967 152.362 88.679 156.609 0.980812
+434101.185995000 0.423339 0.019103 0.125953 152.084 88.668 156.321 0.980812
+434101.188014000 0.423314 0.019115 0.125933 151.875 88.659 156.104 0.980812
+434101.189991000 0.423287 0.019130 0.125915 151.651 88.650 155.872 0.980812
+434101.191990000 0.423262 0.019139 0.125894 151.481 88.640 155.695 0.980704
+434101.194000000 0.423234 0.019151 0.125877 151.325 88.630 155.532 0.980704
+434101.195989000 0.423207 0.019166 0.125866 151.183 88.620 155.383 0.980812
+434101.197989000 0.423181 0.019177 0.125851 151.074 88.610 155.268 0.980812
+434101.199989000 0.423157 0.019180 0.125831 150.965 88.600 155.157 0.980812
+434101.201993000 0.423128 0.019187 0.125819 150.949 88.589 155.136 0.980812
+434101.203992000 0.423101 0.019193 0.125807 150.933 88.580 155.118 0.980812
+434101.205995000 0.423073 0.019197 0.125796 150.962 88.571 155.144 0.980812
+434101.207993000 0.423046 0.019201 0.125786 151.000 88.562 155.180 0.980812
+434101.209990000 0.423021 0.019201 0.125778 151.095 88.554 155.273 0.980812
+434101.211990000 0.422996 0.019201 0.125770 151.192 88.546 155.369 0.980812
+434101.213971000 0.422973 0.019198 0.125764 151.310 88.540 155.488 0.980812
+434101.215989000 0.422951 0.019195 0.125758 151.451 88.534 155.630 0.980812
+434101.217990000 0.422929 0.019191 0.125754 151.594 88.529 155.774 0.980812
+434101.219994000 0.422914 0.019186 0.125750 151.712 88.527 155.895 0.980812
+434101.221996000 0.422899 0.019178 0.125745 151.855 88.523 156.040 0.980812
+434101.223992000 0.422884 0.019170 0.125741 152.012 88.521 156.200 0.980812
+434101.225993000 0.422872 0.019163 0.125737 152.154 88.519 156.344 0.980812
+434101.227991000 0.422862 0.019154 0.125734 152.299 88.518 156.493 0.980812
+434101.229994000 0.422853 0.019146 0.125731 152.432 88.517 156.628 0.980812
+434101.231992000 0.422845 0.019136 0.125729 152.572 88.518 156.772 0.980812
+434101.233992000 0.422839 0.019127 0.125726 152.714 88.519 156.918 0.980812
+434101.235993000 0.422834 0.019117 0.125725 152.854 88.520 157.062 0.980812
+434101.237999000 0.422830 0.019108 0.125724 152.987 88.522 157.199 0.980812
+434101.240007000 0.422832 0.019099 0.125719 153.055 88.528 157.271 0.980812
+434101.242148000 0.422833 0.019088 0.125718 153.206 88.530 157.427 0.980812
+434101.243991000 0.422835 0.019079 0.125717 153.319 88.533 157.544 0.980812
+434101.245995000 0.422838 0.019070 0.125717 153.432 88.536 157.662 0.980812
+434101.247992000 0.422843 0.019060 0.125717 153.555 88.539 157.789 0.980812
+434101.249990000 0.422845 0.019053 0.125719 153.663 88.541 157.901 0.980812
+434101.251989000 0.422850 0.019042 0.125720 153.777 88.545 158.020 0.980812
+434101.253998000 0.422851 0.019037 0.125728 153.892 88.549 158.139 0.980812
+434101.255994000 0.422855 0.019031 0.125732 153.972 88.551 158.223 0.980812
+434101.257995000 0.422860 0.019025 0.125735 154.064 88.555 158.318 0.980812
+434101.259993000 0.422878 0.019010 0.125722 154.084 88.560 158.342 0.980812
+434101.262004000 0.422887 0.019005 0.125726 154.162 88.564 158.424 0.980812
+434101.263990000 0.422896 0.018999 0.125730 154.231 88.568 158.497 0.980812
+434101.265990000 0.422906 0.018994 0.125734 154.296 88.572 158.566 0.980812
+434101.267991000 0.422917 0.018990 0.125739 154.329 88.577 158.602 0.980812
+434101.269996000 0.422927 0.018987 0.125743 154.363 88.581 158.639 0.980812
+434101.271990000 0.422938 0.018982 0.125748 154.392 88.586 158.671 0.980812
+434101.273990000 0.422951 0.018980 0.125752 154.384 88.591 158.667 0.980812
+434101.275990000 0.422964 0.018979 0.125756 154.357 88.596 158.642 0.980812
+434101.277990000 0.422971 0.018981 0.125766 154.332 88.600 158.620 0.980812
+434101.279992000 0.422977 0.018994 0.125785 154.243 88.605 158.532 0.980812
+434101.281991000 0.422990 0.018997 0.125793 154.193 88.610 158.485 0.980812
+434101.284002000 0.423005 0.019000 0.125801 154.133 88.616 158.428 0.980812
+434101.285992000 0.423018 0.019005 0.125809 154.043 88.621 158.339 0.980812
+434101.287992000 0.423033 0.019011 0.125817 153.942 88.627 158.240 0.980812
+434101.289992000 0.423047 0.019018 0.125825 153.833 88.632 158.133 0.980812
+434101.291990000 0.423062 0.019025 0.125832 153.696 88.636 157.998 0.980812
+434101.293991000 0.423076 0.019033 0.125840 153.560 88.641 157.865 0.980812
+434101.295990000 0.423091 0.019041 0.125847 153.417 88.645 157.723 0.980812
+434101.297990000 0.423111 0.019051 0.125851 153.236 88.648 157.543 0.980812
+434101.299991000 0.423126 0.019061 0.125860 153.083 88.651 157.393 0.980812
+434101.301991000 0.423140 0.019071 0.125869 152.929 88.654 157.240 0.980812
+434101.303990000 0.423154 0.019082 0.125878 152.767 88.657 157.080 0.980812
+434101.305990000 0.423165 0.019093 0.125887 152.604 88.660 156.919 0.980812
+434101.307992000 0.423183 0.019103 0.125895 152.466 88.663 156.784 0.980812
+434101.309991000 0.423197 0.019112 0.125903 152.326 88.666 156.647 0.980812
+434101.311992000 0.423211 0.019123 0.125909 152.188 88.670 156.511 0.980812
+434101.313990000 0.423224 0.019132 0.125917 152.069 88.672 156.395 0.980812
+434101.315990000 0.423233 0.019141 0.125925 151.966 88.675 156.295 0.980812
+434101.317990000 0.423242 0.019150 0.125932 151.881 88.678 156.213 0.980812
+434101.319992000 0.423251 0.019158 0.125938 151.798 88.681 156.132 0.980812
+434101.322047000 0.423251 0.019168 0.125951 151.786 88.681 156.122 0.980704
+434101.323991000 0.423257 0.019175 0.125960 151.789 88.682 156.129 0.980704
+434101.326001000 0.423261 0.019180 0.125970 151.829 88.683 156.173 0.980704
+434101.327991000 0.423264 0.019185 0.125981 151.904 88.683 156.251 0.980704
+434101.329991000 0.423265 0.019189 0.125992 152.019 88.682 156.370 0.980704
+434101.331991000 0.423265 0.019192 0.126004 152.159 88.680 156.514 0.980704
+434101.333991000 0.423263 0.019194 0.126015 152.323 88.679 156.681 0.980704
+434101.335994000 0.423260 0.019196 0.126028 152.502 88.676 156.864 0.980812
+434101.337990000 0.423257 0.019198 0.126044 152.730 88.673 157.096 0.980812
+434101.339990000 0.423251 0.019198 0.126057 152.940 88.670 157.309 0.980812
+434101.342060000 0.423247 0.019197 0.126071 153.156 88.667 157.529 0.980812
+434101.344006000 0.423243 0.019198 0.126082 153.344 88.663 157.720 0.980812
+434101.345991000 0.423238 0.019198 0.126094 153.533 88.660 157.911 0.980812
+434101.347994000 0.423234 0.019199 0.126106 153.708 88.657 158.089 0.980812
+434101.349993000 0.423229 0.019202 0.126117 153.876 88.653 158.260 0.980812
+434101.351993000 0.423229 0.019203 0.126128 153.968 88.652 158.355 0.980812
+434101.353992000 0.423225 0.019209 0.126137 154.064 88.649 158.452 0.980812
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+434101.357994000 0.423223 0.019217 0.126152 154.196 88.647 158.586 0.980812
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+434101.363991000 0.423239 0.019242 0.126170 153.923 88.652 158.317 0.980812
+434101.365990000 0.423248 0.019254 0.126174 153.742 88.655 158.137 0.980812
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+434101.369991000 0.423274 0.019276 0.126181 153.306 88.664 157.702 0.980812
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+434101.375992000 0.423321 0.019308 0.126193 152.566 88.679 156.965 0.980919
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+434101.379993000 0.423359 0.019325 0.126203 152.171 88.691 156.571 0.980919
+434101.381991000 0.423374 0.019335 0.126212 151.975 88.697 156.376 0.980919
+434101.383990000 0.423392 0.019341 0.126221 151.819 88.705 156.222 0.980919
+434101.385993000 0.423409 0.019346 0.126231 151.682 88.712 156.089 0.980812
+434101.387991000 0.423426 0.019350 0.126242 151.574 88.720 155.983 0.980812
+434101.389993000 0.423445 0.019351 0.126253 151.481 88.727 155.894 0.980812
+434101.391994000 0.423462 0.019352 0.126264 151.420 88.735 155.836 0.980704
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+434101.395990000 0.423496 0.019349 0.126288 151.374 88.750 155.799 0.980704
+434101.397991000 0.423512 0.019343 0.126301 151.423 88.757 155.854 0.980704
+434101.399990000 0.423527 0.019338 0.126315 151.494 88.765 155.930 0.980704
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+434101.513991000 0.423103 0.019224 0.126404 155.160 88.653 159.542 0.980812
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