diff --git a/task6/session_101/Clamp_Data/clamp_data_tum.txt b/task6/session_101/Clamp_Data/clamp_data_tum.txt
new file mode 100644
index 0000000000000000000000000000000000000000..b000d7b61d71c8bf291ff21ac5b87a95b584d51e
--- /dev/null
+++ b/task6/session_101/Clamp_Data/clamp_data_tum.txt
@@ -0,0 +1,3092 @@
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diff --git a/task6/session_101/Merged_Trajectory/merged_trajectory.txt b/task6/session_101/Merged_Trajectory/merged_trajectory.txt
new file mode 100644
index 0000000000000000000000000000000000000000..a71df7825a7a3fa8971f033757459129bf4c88a7
--- /dev/null
+++ b/task6/session_101/Merged_Trajectory/merged_trajectory.txt
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diff --git a/task6/session_101/RGB_Images/timestamps.csv b/task6/session_101/RGB_Images/timestamps.csv
new file mode 100644
index 0000000000000000000000000000000000000000..688c34ef4610d592def27d700767bbd6dc226d23
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diff --git a/task6/session_102/Merged_Trajectory/merged_trajectory.txt b/task6/session_102/Merged_Trajectory/merged_trajectory.txt
new file mode 100644
index 0000000000000000000000000000000000000000..bdeb45401753a6130a72a8d5489d601c1dda542e
--- /dev/null
+++ b/task6/session_102/Merged_Trajectory/merged_trajectory.txt
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diff --git a/task6/session_102/RGB_Images/timestamps.csv b/task6/session_102/RGB_Images/timestamps.csv
new file mode 100644
index 0000000000000000000000000000000000000000..cbf5d9e095458860aefb67dd26d9a006c3931233
--- /dev/null
+++ b/task6/session_102/RGB_Images/timestamps.csv
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diff --git a/task6/session_103/Merged_Trajectory/merged_trajectory.txt b/task6/session_103/Merged_Trajectory/merged_trajectory.txt
new file mode 100644
index 0000000000000000000000000000000000000000..7bc3785528125ebff413e7e72be38bdcd3e68195
--- /dev/null
+++ b/task6/session_103/Merged_Trajectory/merged_trajectory.txt
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diff --git a/task6/session_103/RGB_Images/timestamps.csv b/task6/session_103/RGB_Images/timestamps.csv
new file mode 100644
index 0000000000000000000000000000000000000000..f7fab6cffb00daafefd54741bace676685711909
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diff --git a/task6/session_104/Merged_Trajectory/merged_trajectory.txt b/task6/session_104/Merged_Trajectory/merged_trajectory.txt
new file mode 100644
index 0000000000000000000000000000000000000000..7026e6296b4bfd287ffcfc102be77fce14aa41d5
--- /dev/null
+++ b/task6/session_104/Merged_Trajectory/merged_trajectory.txt
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diff --git a/task6/session_104/RGB_Images/timestamps.csv b/task6/session_104/RGB_Images/timestamps.csv
new file mode 100644
index 0000000000000000000000000000000000000000..56f5de9528314f613c8b9da04f9c90f7da0f29f6
--- /dev/null
+++ b/task6/session_104/RGB_Images/timestamps.csv
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diff --git a/task6/session_105/Merged_Trajectory/merged_trajectory.txt b/task6/session_105/Merged_Trajectory/merged_trajectory.txt
new file mode 100644
index 0000000000000000000000000000000000000000..e1b79e4b3f18864660b8e91df592128e63a2ef14
--- /dev/null
+++ b/task6/session_105/Merged_Trajectory/merged_trajectory.txt
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diff --git a/task6/session_105/RGB_Images/timestamps.csv b/task6/session_105/RGB_Images/timestamps.csv
new file mode 100644
index 0000000000000000000000000000000000000000..2babdcb78876b7423edbde24b3450ec74dbfd9fe
--- /dev/null
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diff --git a/task6/session_106/Merged_Trajectory/merged_trajectory.txt b/task6/session_106/Merged_Trajectory/merged_trajectory.txt
new file mode 100644
index 0000000000000000000000000000000000000000..0d767d85321fddb0d415aa95af746c117ef5e1c4
--- /dev/null
+++ b/task6/session_106/Merged_Trajectory/merged_trajectory.txt
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diff --git a/task6/session_106/RGB_Images/timestamps.csv b/task6/session_106/RGB_Images/timestamps.csv
new file mode 100644
index 0000000000000000000000000000000000000000..68c4a1616cac4c36b7d3a396ffad851291cfad4b
--- /dev/null
+++ b/task6/session_106/RGB_Images/timestamps.csv
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diff --git a/task6/session_107/Merged_Trajectory/merged_trajectory.txt b/task6/session_107/Merged_Trajectory/merged_trajectory.txt
new file mode 100644
index 0000000000000000000000000000000000000000..c0fdbba78c5f00c6d193b29357750e4aca9dc9f9
--- /dev/null
+++ b/task6/session_107/Merged_Trajectory/merged_trajectory.txt
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diff --git a/task6/session_107/RGB_Images/timestamps.csv b/task6/session_107/RGB_Images/timestamps.csv
new file mode 100644
index 0000000000000000000000000000000000000000..f7cb155fa24f27f4f05cc143d5da3345b5ea29c1
--- /dev/null
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diff --git a/task6/session_108/Merged_Trajectory/merged_trajectory.txt b/task6/session_108/Merged_Trajectory/merged_trajectory.txt
new file mode 100644
index 0000000000000000000000000000000000000000..5aa19ef057231b37ff69dd71ed747f2a30ac011c
--- /dev/null
+++ b/task6/session_108/Merged_Trajectory/merged_trajectory.txt
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diff --git a/task6/session_108/RGB_Images/timestamps.csv b/task6/session_108/RGB_Images/timestamps.csv
new file mode 100644
index 0000000000000000000000000000000000000000..24c4c952ee41fe3fdc54821780f2977012558944
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diff --git a/task6/session_109/Merged_Trajectory/merged_trajectory.txt b/task6/session_109/Merged_Trajectory/merged_trajectory.txt
new file mode 100644
index 0000000000000000000000000000000000000000..7603809126af10beb642e3388461f7f9f617d0b3
--- /dev/null
+++ b/task6/session_109/Merged_Trajectory/merged_trajectory.txt
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diff --git a/task6/session_109/RGB_Images/timestamps.csv b/task6/session_109/RGB_Images/timestamps.csv
new file mode 100644
index 0000000000000000000000000000000000000000..47a7e22a9ab1dc1662a5eb72e75c60c742f53b7f
--- /dev/null
+++ b/task6/session_109/RGB_Images/timestamps.csv
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diff --git a/task6/session_110/Merged_Trajectory/merged_trajectory.txt b/task6/session_110/Merged_Trajectory/merged_trajectory.txt
new file mode 100644
index 0000000000000000000000000000000000000000..07a891a3d525ba41384bb2401aff66167cb8fa5d
--- /dev/null
+++ b/task6/session_110/Merged_Trajectory/merged_trajectory.txt
@@ -0,0 +1,1548 @@
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diff --git a/task6/session_110/RGB_Images/timestamps.csv b/task6/session_110/RGB_Images/timestamps.csv
new file mode 100644
index 0000000000000000000000000000000000000000..cb572854053382ac1dbeaa1a80fa873e5f9f962c
--- /dev/null
+++ b/task6/session_110/RGB_Images/timestamps.csv
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diff --git a/task6/session_111/Merged_Trajectory/merged_trajectory.txt b/task6/session_111/Merged_Trajectory/merged_trajectory.txt
new file mode 100644
index 0000000000000000000000000000000000000000..b9bc0893abaa92b6fd82819cd3be26940f9aacd2
--- /dev/null
+++ b/task6/session_111/Merged_Trajectory/merged_trajectory.txt
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diff --git a/task6/session_111/RGB_Images/timestamps.csv b/task6/session_111/RGB_Images/timestamps.csv
new file mode 100644
index 0000000000000000000000000000000000000000..41550bca8ef0e883d80bc9a147f520b920da868b
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diff --git a/task6/session_112/Merged_Trajectory/merged_trajectory.txt b/task6/session_112/Merged_Trajectory/merged_trajectory.txt
new file mode 100644
index 0000000000000000000000000000000000000000..c18f726c90f3fa5dad6a244733b97c9f58911ea9
--- /dev/null
+++ b/task6/session_112/Merged_Trajectory/merged_trajectory.txt
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diff --git a/task6/session_112/RGB_Images/timestamps.csv b/task6/session_112/RGB_Images/timestamps.csv
new file mode 100644
index 0000000000000000000000000000000000000000..9170fc5195bbf5025fd1292f11d070a17e15b6eb
--- /dev/null
+++ b/task6/session_112/RGB_Images/timestamps.csv
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diff --git a/task6/session_113/Merged_Trajectory/merged_trajectory.txt b/task6/session_113/Merged_Trajectory/merged_trajectory.txt
new file mode 100644
index 0000000000000000000000000000000000000000..07802345e510ae93642c5295c924d830d5d03448
--- /dev/null
+++ b/task6/session_113/Merged_Trajectory/merged_trajectory.txt
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diff --git a/task6/session_113/RGB_Images/timestamps.csv b/task6/session_113/RGB_Images/timestamps.csv
new file mode 100644
index 0000000000000000000000000000000000000000..12c03088e255b1c3777de6d4909d6026f93c376c
--- /dev/null
+++ b/task6/session_113/RGB_Images/timestamps.csv
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diff --git a/task6/session_114/Merged_Trajectory/merged_trajectory.txt b/task6/session_114/Merged_Trajectory/merged_trajectory.txt
new file mode 100644
index 0000000000000000000000000000000000000000..e71071c7320d07f40ed8463be1ebd1d2428654a8
--- /dev/null
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diff --git a/task6/session_114/RGB_Images/timestamps.csv b/task6/session_114/RGB_Images/timestamps.csv
new file mode 100644
index 0000000000000000000000000000000000000000..1b890b39587dde5fbe62919d183227a027abbf83
--- /dev/null
+++ b/task6/session_114/RGB_Images/timestamps.csv
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diff --git a/task6/session_115/Merged_Trajectory/merged_trajectory.txt b/task6/session_115/Merged_Trajectory/merged_trajectory.txt
new file mode 100644
index 0000000000000000000000000000000000000000..e6e1b8295db6dcdd16621dc18c2c817fa9334f82
--- /dev/null
+++ b/task6/session_115/Merged_Trajectory/merged_trajectory.txt
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diff --git a/task6/session_115/RGB_Images/timestamps.csv b/task6/session_115/RGB_Images/timestamps.csv
new file mode 100644
index 0000000000000000000000000000000000000000..a61ca0af54e06113b3358de739b09cc2b003e3f3
--- /dev/null
+++ b/task6/session_115/RGB_Images/timestamps.csv
@@ -0,0 +1,930 @@
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diff --git a/task6/session_116/Merged_Trajectory/merged_trajectory.txt b/task6/session_116/Merged_Trajectory/merged_trajectory.txt
new file mode 100644
index 0000000000000000000000000000000000000000..c806f44bd46254381ecde00f92d7ee8678b1c17d
--- /dev/null
+++ b/task6/session_116/Merged_Trajectory/merged_trajectory.txt
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diff --git a/task6/session_116/RGB_Images/timestamps.csv b/task6/session_116/RGB_Images/timestamps.csv
new file mode 100644
index 0000000000000000000000000000000000000000..9bda77e6db5349c365d5c6e61928f3e8a6aeb7b8
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diff --git a/task6/session_117/Merged_Trajectory/merged_trajectory.txt b/task6/session_117/Merged_Trajectory/merged_trajectory.txt
new file mode 100644
index 0000000000000000000000000000000000000000..40c11de0fdc7fec54ce0090a3306e70da25d584f
--- /dev/null
+++ b/task6/session_117/Merged_Trajectory/merged_trajectory.txt
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diff --git a/task6/session_117/RGB_Images/timestamps.csv b/task6/session_117/RGB_Images/timestamps.csv
new file mode 100644
index 0000000000000000000000000000000000000000..a9f7ab3855f1e0449ab2d31f9dc9916b2469428a
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diff --git a/task6/session_118/Merged_Trajectory/merged_trajectory.txt b/task6/session_118/Merged_Trajectory/merged_trajectory.txt
new file mode 100644
index 0000000000000000000000000000000000000000..ea8d62e68717420ec26e7260715158d77a8f73b5
--- /dev/null
+++ b/task6/session_118/Merged_Trajectory/merged_trajectory.txt
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diff --git a/task6/session_118/RGB_Images/timestamps.csv b/task6/session_118/RGB_Images/timestamps.csv
new file mode 100644
index 0000000000000000000000000000000000000000..66731e3ed11d10d2d67feb7de7244b651f2ddfbb
--- /dev/null
+++ b/task6/session_118/RGB_Images/timestamps.csv
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diff --git a/task6/session_119/Merged_Trajectory/merged_trajectory.txt b/task6/session_119/Merged_Trajectory/merged_trajectory.txt
new file mode 100644
index 0000000000000000000000000000000000000000..e13dfab79172fda4e93bb7304508c21b91bc06b2
--- /dev/null
+++ b/task6/session_119/Merged_Trajectory/merged_trajectory.txt
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diff --git a/task6/session_119/RGB_Images/timestamps.csv b/task6/session_119/RGB_Images/timestamps.csv
new file mode 100644
index 0000000000000000000000000000000000000000..c39d112d60fcbf4c551d84efba2b4db083b3bd25
--- /dev/null
+++ b/task6/session_119/RGB_Images/timestamps.csv
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diff --git a/task6/session_120/Merged_Trajectory/merged_trajectory.txt b/task6/session_120/Merged_Trajectory/merged_trajectory.txt
new file mode 100644
index 0000000000000000000000000000000000000000..371c3781a7719173adf34034e2c23d006e5dcd4f
--- /dev/null
+++ b/task6/session_120/Merged_Trajectory/merged_trajectory.txt
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diff --git a/task6/session_120/RGB_Images/timestamps.csv b/task6/session_120/RGB_Images/timestamps.csv
new file mode 100644
index 0000000000000000000000000000000000000000..e9e69cec5f33c910627b917bbd3bfab30d6aa401
--- /dev/null
+++ b/task6/session_120/RGB_Images/timestamps.csv
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diff --git a/task6/session_121/Merged_Trajectory/merged_trajectory.txt b/task6/session_121/Merged_Trajectory/merged_trajectory.txt
new file mode 100644
index 0000000000000000000000000000000000000000..9dda4c2fbc9819e5c07ef129a6548051d385bae9
--- /dev/null
+++ b/task6/session_121/Merged_Trajectory/merged_trajectory.txt
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diff --git a/task6/session_121/RGB_Images/timestamps.csv b/task6/session_121/RGB_Images/timestamps.csv
new file mode 100644
index 0000000000000000000000000000000000000000..2fdb1fe687f5a35bbc6c18e93f790bd4bc8c7ad4
--- /dev/null
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diff --git a/task6/session_122/Merged_Trajectory/merged_trajectory.txt b/task6/session_122/Merged_Trajectory/merged_trajectory.txt
new file mode 100644
index 0000000000000000000000000000000000000000..e6ce19037de5494ffab47cb821713294e02239a1
--- /dev/null
+++ b/task6/session_122/Merged_Trajectory/merged_trajectory.txt
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diff --git a/task6/session_122/RGB_Images/timestamps.csv b/task6/session_122/RGB_Images/timestamps.csv
new file mode 100644
index 0000000000000000000000000000000000000000..90c0a6a82f5da7fb66984e301118d5a234744652
--- /dev/null
+++ b/task6/session_122/RGB_Images/timestamps.csv
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diff --git a/task6/session_123/Merged_Trajectory/merged_trajectory.txt b/task6/session_123/Merged_Trajectory/merged_trajectory.txt
new file mode 100644
index 0000000000000000000000000000000000000000..be4a87ced5b35efe7d52e3b8d5d80e91159bb638
--- /dev/null
+++ b/task6/session_123/Merged_Trajectory/merged_trajectory.txt
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diff --git a/task6/session_123/RGB_Images/timestamps.csv b/task6/session_123/RGB_Images/timestamps.csv
new file mode 100644
index 0000000000000000000000000000000000000000..8f5a4d2830fc45764a338fda1f659e23e7ea3ed6
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diff --git a/task6/session_124/Merged_Trajectory/merged_trajectory.txt b/task6/session_124/Merged_Trajectory/merged_trajectory.txt
new file mode 100644
index 0000000000000000000000000000000000000000..d47fe8e37f2fd274fefdf280cf3958ab9a60a7b3
--- /dev/null
+++ b/task6/session_124/Merged_Trajectory/merged_trajectory.txt
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diff --git a/task6/session_124/RGB_Images/timestamps.csv b/task6/session_124/RGB_Images/timestamps.csv
new file mode 100644
index 0000000000000000000000000000000000000000..014d3b39c3a46ce7027e530c14efa3522b27158c
--- /dev/null
+++ b/task6/session_124/RGB_Images/timestamps.csv
@@ -0,0 +1,929 @@
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diff --git a/task6/session_125/Merged_Trajectory/merged_trajectory.txt b/task6/session_125/Merged_Trajectory/merged_trajectory.txt
new file mode 100644
index 0000000000000000000000000000000000000000..660ba1ea8493eb044c870d72abfc9ca563b20e8e
--- /dev/null
+++ b/task6/session_125/Merged_Trajectory/merged_trajectory.txt
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diff --git a/task6/session_125/RGB_Images/timestamps.csv b/task6/session_125/RGB_Images/timestamps.csv
new file mode 100644
index 0000000000000000000000000000000000000000..06be2c3e078706f45c0ed81bf4f796509b329a69
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diff --git a/task6/session_126/Merged_Trajectory/merged_trajectory.txt b/task6/session_126/Merged_Trajectory/merged_trajectory.txt
new file mode 100644
index 0000000000000000000000000000000000000000..2b3de2afe15b9d5e29080f67f0e3fd3a6b1bfdc9
--- /dev/null
+++ b/task6/session_126/Merged_Trajectory/merged_trajectory.txt
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diff --git a/task6/session_126/RGB_Images/timestamps.csv b/task6/session_126/RGB_Images/timestamps.csv
new file mode 100644
index 0000000000000000000000000000000000000000..da680ed0c3552231909293837e3bb8d87ae6352c
--- /dev/null
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diff --git a/task6/session_127/Merged_Trajectory/merged_trajectory.txt b/task6/session_127/Merged_Trajectory/merged_trajectory.txt
new file mode 100644
index 0000000000000000000000000000000000000000..6d230a2530010f76cf72e943408f486ed71f67e7
--- /dev/null
+++ b/task6/session_127/Merged_Trajectory/merged_trajectory.txt
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diff --git a/task6/session_127/RGB_Images/timestamps.csv b/task6/session_127/RGB_Images/timestamps.csv
new file mode 100644
index 0000000000000000000000000000000000000000..2a46bd0a58d8e47254e6ecc72be35a92fc9a4da0
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diff --git a/task6/session_128/Merged_Trajectory/merged_trajectory.txt b/task6/session_128/Merged_Trajectory/merged_trajectory.txt
new file mode 100644
index 0000000000000000000000000000000000000000..f8c04c00205754f812a109ec5ad3a8f26a26da9c
--- /dev/null
+++ b/task6/session_128/Merged_Trajectory/merged_trajectory.txt
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diff --git a/task6/session_128/RGB_Images/timestamps.csv b/task6/session_128/RGB_Images/timestamps.csv
new file mode 100644
index 0000000000000000000000000000000000000000..9ec42ad2f114e70594a6b0ccb0ba2c123051bb74
--- /dev/null
+++ b/task6/session_128/RGB_Images/timestamps.csv
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diff --git a/task6/session_129/Clamp_Data/clamp_data_tum.txt b/task6/session_129/Clamp_Data/clamp_data_tum.txt
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diff --git a/task6/session_129/Merged_Trajectory/merged_trajectory.txt b/task6/session_129/Merged_Trajectory/merged_trajectory.txt
new file mode 100644
index 0000000000000000000000000000000000000000..43bf0dbb02c78b34c30d910ef2451b4265c08db8
--- /dev/null
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diff --git a/task6/session_129/RGB_Images/timestamps.csv b/task6/session_129/RGB_Images/timestamps.csv
new file mode 100644
index 0000000000000000000000000000000000000000..9bffd208ed85b8cf52bf568a5ce9e5847e7d3605
--- /dev/null
+++ b/task6/session_129/RGB_Images/timestamps.csv
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diff --git a/task6/session_130/Merged_Trajectory/merged_trajectory.txt b/task6/session_130/Merged_Trajectory/merged_trajectory.txt
new file mode 100644
index 0000000000000000000000000000000000000000..9b45a586eba6765491baf5a4a8fa2367ad5d0159
--- /dev/null
+++ b/task6/session_130/Merged_Trajectory/merged_trajectory.txt
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diff --git a/task6/session_130/RGB_Images/timestamps.csv b/task6/session_130/RGB_Images/timestamps.csv
new file mode 100644
index 0000000000000000000000000000000000000000..14e95746c88b0b3b98d669c708b5c9fa376d49db
--- /dev/null
+++ b/task6/session_130/RGB_Images/timestamps.csv
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diff --git a/task6/session_131/Merged_Trajectory/merged_trajectory.txt b/task6/session_131/Merged_Trajectory/merged_trajectory.txt
new file mode 100644
index 0000000000000000000000000000000000000000..c6148e7efaba87aaa76b336af248e8c662ba2d98
--- /dev/null
+++ b/task6/session_131/Merged_Trajectory/merged_trajectory.txt
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new file mode 100644
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diff --git a/task6/session_132/Merged_Trajectory/merged_trajectory.txt b/task6/session_132/Merged_Trajectory/merged_trajectory.txt
new file mode 100644
index 0000000000000000000000000000000000000000..e295554ce9e3a8ff855794f21a533ed108d159ab
--- /dev/null
+++ b/task6/session_132/Merged_Trajectory/merged_trajectory.txt
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diff --git a/task6/session_132/RGB_Images/timestamps.csv b/task6/session_132/RGB_Images/timestamps.csv
new file mode 100644
index 0000000000000000000000000000000000000000..a4ebf32cc8622d2c2d43312927c864d1953c9488
--- /dev/null
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diff --git a/task6/session_133/Merged_Trajectory/merged_trajectory.txt b/task6/session_133/Merged_Trajectory/merged_trajectory.txt
new file mode 100644
index 0000000000000000000000000000000000000000..5d663fa9f509944acc21fda12bb1ded5230dda1e
--- /dev/null
+++ b/task6/session_133/Merged_Trajectory/merged_trajectory.txt
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diff --git a/task6/session_133/RGB_Images/timestamps.csv b/task6/session_133/RGB_Images/timestamps.csv
new file mode 100644
index 0000000000000000000000000000000000000000..f7f240709eec56053d83a53ff1f526b2347b5829
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diff --git a/task6/session_134/Merged_Trajectory/merged_trajectory.txt b/task6/session_134/Merged_Trajectory/merged_trajectory.txt
new file mode 100644
index 0000000000000000000000000000000000000000..4b58e75a977112c5c61e0104fce8dc53af3ab4fc
--- /dev/null
+++ b/task6/session_134/Merged_Trajectory/merged_trajectory.txt
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diff --git a/task6/session_134/RGB_Images/timestamps.csv b/task6/session_134/RGB_Images/timestamps.csv
new file mode 100644
index 0000000000000000000000000000000000000000..e79e9ab85eebd91fd31d4d2fd164b1a0bc28cbd2
--- /dev/null
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diff --git a/task6/session_135/Merged_Trajectory/merged_trajectory.txt b/task6/session_135/Merged_Trajectory/merged_trajectory.txt
new file mode 100644
index 0000000000000000000000000000000000000000..6b181f643ece623669503de34964e2e9f56cad38
--- /dev/null
+++ b/task6/session_135/Merged_Trajectory/merged_trajectory.txt
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diff --git a/task6/session_135/RGB_Images/timestamps.csv b/task6/session_135/RGB_Images/timestamps.csv
new file mode 100644
index 0000000000000000000000000000000000000000..708df52b609cc4b169873a98b6576a2e38d8a2ea
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diff --git a/task6/session_136/Merged_Trajectory/merged_trajectory.txt b/task6/session_136/Merged_Trajectory/merged_trajectory.txt
new file mode 100644
index 0000000000000000000000000000000000000000..834eba82e154c932d8243d93619e10903ea659e9
--- /dev/null
+++ b/task6/session_136/Merged_Trajectory/merged_trajectory.txt
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diff --git a/task6/session_136/RGB_Images/timestamps.csv b/task6/session_136/RGB_Images/timestamps.csv
new file mode 100644
index 0000000000000000000000000000000000000000..13c1e1a574de1005043c73104694afa3cbd2b7a2
--- /dev/null
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diff --git a/task6/session_137/Merged_Trajectory/merged_trajectory.txt b/task6/session_137/Merged_Trajectory/merged_trajectory.txt
new file mode 100644
index 0000000000000000000000000000000000000000..cf117ca6926f5964347c35c4dc30e5a682b64746
--- /dev/null
+++ b/task6/session_137/Merged_Trajectory/merged_trajectory.txt
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diff --git a/task6/session_137/RGB_Images/timestamps.csv b/task6/session_137/RGB_Images/timestamps.csv
new file mode 100644
index 0000000000000000000000000000000000000000..0ee2d505bdfa4b2e9206c8cd1d17ad2d8cb4a833
--- /dev/null
+++ b/task6/session_137/RGB_Images/timestamps.csv
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diff --git a/task6/session_138/Merged_Trajectory/merged_trajectory.txt b/task6/session_138/Merged_Trajectory/merged_trajectory.txt
new file mode 100644
index 0000000000000000000000000000000000000000..460dc59635b10213050ab44870be3166eb363a25
--- /dev/null
+++ b/task6/session_138/Merged_Trajectory/merged_trajectory.txt
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diff --git a/task6/session_138/RGB_Images/timestamps.csv b/task6/session_138/RGB_Images/timestamps.csv
new file mode 100644
index 0000000000000000000000000000000000000000..c2d250b053c1bcde2844d40b93faf1cf0e097bed
--- /dev/null
+++ b/task6/session_138/RGB_Images/timestamps.csv
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diff --git a/task6/session_139/Merged_Trajectory/merged_trajectory.txt b/task6/session_139/Merged_Trajectory/merged_trajectory.txt
new file mode 100644
index 0000000000000000000000000000000000000000..9b1764b0735020c86bb27c8ae14feac670ce5523
--- /dev/null
+++ b/task6/session_139/Merged_Trajectory/merged_trajectory.txt
@@ -0,0 +1,1539 @@
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diff --git a/task6/session_139/RGB_Images/timestamps.csv b/task6/session_139/RGB_Images/timestamps.csv
new file mode 100644
index 0000000000000000000000000000000000000000..65892953824e2e34aad8e5b4bbafb7bff5f6f7ea
--- /dev/null
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diff --git a/task6/session_140/Merged_Trajectory/merged_trajectory.txt b/task6/session_140/Merged_Trajectory/merged_trajectory.txt
new file mode 100644
index 0000000000000000000000000000000000000000..07d9871c824217ab8ead88520019a005ac8d4897
--- /dev/null
+++ b/task6/session_140/Merged_Trajectory/merged_trajectory.txt
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diff --git a/task6/session_140/RGB_Images/timestamps.csv b/task6/session_140/RGB_Images/timestamps.csv
new file mode 100644
index 0000000000000000000000000000000000000000..777b960e02b806634b858354ef616466628cfa5f
--- /dev/null
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diff --git a/task6/session_141/Merged_Trajectory/merged_trajectory.txt b/task6/session_141/Merged_Trajectory/merged_trajectory.txt
new file mode 100644
index 0000000000000000000000000000000000000000..2c39d0560d9c2a35e42ab258021a034cf868ec7e
--- /dev/null
+++ b/task6/session_141/Merged_Trajectory/merged_trajectory.txt
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diff --git a/task6/session_141/RGB_Images/timestamps.csv b/task6/session_141/RGB_Images/timestamps.csv
new file mode 100644
index 0000000000000000000000000000000000000000..cca3522fd587c1667e9ec5d7096b9bb6100d93f9
--- /dev/null
+++ b/task6/session_141/RGB_Images/timestamps.csv
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diff --git a/task6/session_142/Merged_Trajectory/merged_trajectory.txt b/task6/session_142/Merged_Trajectory/merged_trajectory.txt
new file mode 100644
index 0000000000000000000000000000000000000000..5028a90d33b3cd00f8a4b403c5d95b1b22a982e7
--- /dev/null
+++ b/task6/session_142/Merged_Trajectory/merged_trajectory.txt
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diff --git a/task6/session_142/RGB_Images/timestamps.csv b/task6/session_142/RGB_Images/timestamps.csv
new file mode 100644
index 0000000000000000000000000000000000000000..a47cd3a5927ecbc64be3fddf49fc03bd1a9f1c76
--- /dev/null
+++ b/task6/session_142/RGB_Images/timestamps.csv
@@ -0,0 +1,930 @@
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diff --git a/task6/session_143/Merged_Trajectory/merged_trajectory.txt b/task6/session_143/Merged_Trajectory/merged_trajectory.txt
new file mode 100644
index 0000000000000000000000000000000000000000..0c2b5738ad8cb04f31615a2f053f36c35044e1ae
--- /dev/null
+++ b/task6/session_143/Merged_Trajectory/merged_trajectory.txt
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diff --git a/task6/session_143/RGB_Images/timestamps.csv b/task6/session_143/RGB_Images/timestamps.csv
new file mode 100644
index 0000000000000000000000000000000000000000..8f667ba1ad4ab49f95b1e919ce58a276f14d58d2
--- /dev/null
+++ b/task6/session_143/RGB_Images/timestamps.csv
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diff --git a/task6/session_143/RGB_Images/video.mp4 b/task6/session_143/RGB_Images/video.mp4
new file mode 100644
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diff --git a/task6/session_144/Merged_Trajectory/merged_trajectory.txt b/task6/session_144/Merged_Trajectory/merged_trajectory.txt
new file mode 100644
index 0000000000000000000000000000000000000000..f6269ffe80506a32a0e22ae32b809d4ae63ad305
--- /dev/null
+++ b/task6/session_144/Merged_Trajectory/merged_trajectory.txt
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diff --git a/task6/session_144/RGB_Images/timestamps.csv b/task6/session_144/RGB_Images/timestamps.csv
new file mode 100644
index 0000000000000000000000000000000000000000..cda2b18c5f0925b55c7331e31b2aa6824a8036bf
--- /dev/null
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diff --git a/task6/session_145/Merged_Trajectory/merged_trajectory.txt b/task6/session_145/Merged_Trajectory/merged_trajectory.txt
new file mode 100644
index 0000000000000000000000000000000000000000..34ef52afb66321bf5324a23021e2d1dd8cdd2c4c
--- /dev/null
+++ b/task6/session_145/Merged_Trajectory/merged_trajectory.txt
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diff --git a/task6/session_145/RGB_Images/timestamps.csv b/task6/session_145/RGB_Images/timestamps.csv
new file mode 100644
index 0000000000000000000000000000000000000000..9390f54b70d1c76784973b1279bb40328379c14a
--- /dev/null
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diff --git a/task6/session_146/Clamp_Data/clamp_data_tum.txt b/task6/session_146/Clamp_Data/clamp_data_tum.txt
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diff --git a/task6/session_146/Merged_Trajectory/merged_trajectory.txt b/task6/session_146/Merged_Trajectory/merged_trajectory.txt
new file mode 100644
index 0000000000000000000000000000000000000000..bb1732a93e76f2f52deb36fec01e2d448018c8b8
--- /dev/null
+++ b/task6/session_146/Merged_Trajectory/merged_trajectory.txt
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diff --git a/task6/session_146/RGB_Images/timestamps.csv b/task6/session_146/RGB_Images/timestamps.csv
new file mode 100644
index 0000000000000000000000000000000000000000..af32ef8be4d0005ca29f6dd496ad108da1dc7d8b
--- /dev/null
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diff --git a/task6/session_147/Merged_Trajectory/merged_trajectory.txt b/task6/session_147/Merged_Trajectory/merged_trajectory.txt
new file mode 100644
index 0000000000000000000000000000000000000000..c77a6eb5b1337c0f135d08808f50577b69e1cd5c
--- /dev/null
+++ b/task6/session_147/Merged_Trajectory/merged_trajectory.txt
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diff --git a/task6/session_147/RGB_Images/timestamps.csv b/task6/session_147/RGB_Images/timestamps.csv
new file mode 100644
index 0000000000000000000000000000000000000000..850159f37b5b84d8d63ee46ef0bac2f5a8bf2635
--- /dev/null
+++ b/task6/session_147/RGB_Images/timestamps.csv
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diff --git a/task6/session_148/Merged_Trajectory/merged_trajectory.txt b/task6/session_148/Merged_Trajectory/merged_trajectory.txt
new file mode 100644
index 0000000000000000000000000000000000000000..b8af7beab39aed41a01815095212d6060921dd28
--- /dev/null
+++ b/task6/session_148/Merged_Trajectory/merged_trajectory.txt
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diff --git a/task6/session_148/RGB_Images/timestamps.csv b/task6/session_148/RGB_Images/timestamps.csv
new file mode 100644
index 0000000000000000000000000000000000000000..64a0d282abddb1797fa4cd77f5ceb180086711f0
--- /dev/null
+++ b/task6/session_148/RGB_Images/timestamps.csv
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diff --git a/task6/session_149/Merged_Trajectory/merged_trajectory.txt b/task6/session_149/Merged_Trajectory/merged_trajectory.txt
new file mode 100644
index 0000000000000000000000000000000000000000..90d42359faf0b5d5d66b721655d287534a452da2
--- /dev/null
+++ b/task6/session_149/Merged_Trajectory/merged_trajectory.txt
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diff --git a/task6/session_149/RGB_Images/timestamps.csv b/task6/session_149/RGB_Images/timestamps.csv
new file mode 100644
index 0000000000000000000000000000000000000000..cfe752547cdcd48c46142a9d7238dac2dcce6234
--- /dev/null
+++ b/task6/session_149/RGB_Images/timestamps.csv
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diff --git a/task6/session_150/Merged_Trajectory/merged_trajectory.txt b/task6/session_150/Merged_Trajectory/merged_trajectory.txt
new file mode 100644
index 0000000000000000000000000000000000000000..d9717467c34cc6f0aa2b96bdada41add79471158
--- /dev/null
+++ b/task6/session_150/Merged_Trajectory/merged_trajectory.txt
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diff --git a/task6/session_150/RGB_Images/timestamps.csv b/task6/session_150/RGB_Images/timestamps.csv
new file mode 100644
index 0000000000000000000000000000000000000000..bc67ecd79d5adbca588d56f5a9245223eb011248
--- /dev/null
+++ b/task6/session_150/RGB_Images/timestamps.csv
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diff --git a/task6/session_151/Merged_Trajectory/merged_trajectory.txt b/task6/session_151/Merged_Trajectory/merged_trajectory.txt
new file mode 100644
index 0000000000000000000000000000000000000000..62d437a6001e46a69c0627c2073ce2d92975a7f9
--- /dev/null
+++ b/task6/session_151/Merged_Trajectory/merged_trajectory.txt
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diff --git a/task6/session_151/RGB_Images/timestamps.csv b/task6/session_151/RGB_Images/timestamps.csv
new file mode 100644
index 0000000000000000000000000000000000000000..8a8e01548f90d4a5193c4d6161f039722af4927b
--- /dev/null
+++ b/task6/session_151/RGB_Images/timestamps.csv
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diff --git a/task6/session_152/Merged_Trajectory/merged_trajectory.txt b/task6/session_152/Merged_Trajectory/merged_trajectory.txt
new file mode 100644
index 0000000000000000000000000000000000000000..01b66e485250b40adb830fdd8a60801f7a835d2b
--- /dev/null
+++ b/task6/session_152/Merged_Trajectory/merged_trajectory.txt
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diff --git a/task6/session_152/RGB_Images/timestamps.csv b/task6/session_152/RGB_Images/timestamps.csv
new file mode 100644
index 0000000000000000000000000000000000000000..0f01c362156bed6814b6f89cc01c6d652b43360c
--- /dev/null
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diff --git a/task6/session_153/Merged_Trajectory/merged_trajectory.txt b/task6/session_153/Merged_Trajectory/merged_trajectory.txt
new file mode 100644
index 0000000000000000000000000000000000000000..dc03617f0feb2ff0e503a7da2fa8d6380992239c
--- /dev/null
+++ b/task6/session_153/Merged_Trajectory/merged_trajectory.txt
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diff --git a/task6/session_153/RGB_Images/timestamps.csv b/task6/session_153/RGB_Images/timestamps.csv
new file mode 100644
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--- /dev/null
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diff --git a/task6/session_154/Merged_Trajectory/merged_trajectory.txt b/task6/session_154/Merged_Trajectory/merged_trajectory.txt
new file mode 100644
index 0000000000000000000000000000000000000000..b19d596110a9faa29ea3aca9077c9d5bbdfe6e2f
--- /dev/null
+++ b/task6/session_154/Merged_Trajectory/merged_trajectory.txt
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diff --git a/task6/session_154/RGB_Images/timestamps.csv b/task6/session_154/RGB_Images/timestamps.csv
new file mode 100644
index 0000000000000000000000000000000000000000..0d9da316a8d76f44ea15389449ea90bacdda2fd4
--- /dev/null
+++ b/task6/session_154/RGB_Images/timestamps.csv
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diff --git a/task6/session_155/Merged_Trajectory/merged_trajectory.txt b/task6/session_155/Merged_Trajectory/merged_trajectory.txt
new file mode 100644
index 0000000000000000000000000000000000000000..5ac9ec4d458890850c66ab70c0e4a52c8278b67b
--- /dev/null
+++ b/task6/session_155/Merged_Trajectory/merged_trajectory.txt
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diff --git a/task6/session_155/RGB_Images/timestamps.csv b/task6/session_155/RGB_Images/timestamps.csv
new file mode 100644
index 0000000000000000000000000000000000000000..276046d22fdd49d909527efc016d64d59a7330e6
--- /dev/null
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diff --git a/task6/session_156/Merged_Trajectory/merged_trajectory.txt b/task6/session_156/Merged_Trajectory/merged_trajectory.txt
new file mode 100644
index 0000000000000000000000000000000000000000..e28de3df29df956f59cb391d5e59670b13d99aab
--- /dev/null
+++ b/task6/session_156/Merged_Trajectory/merged_trajectory.txt
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diff --git a/task6/session_156/RGB_Images/timestamps.csv b/task6/session_156/RGB_Images/timestamps.csv
new file mode 100644
index 0000000000000000000000000000000000000000..947ca81217c34a809a515f0edee689926beabe37
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diff --git a/task6/session_157/Clamp_Data/clamp_data_tum.txt b/task6/session_157/Clamp_Data/clamp_data_tum.txt
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diff --git a/task6/session_157/Merged_Trajectory/merged_trajectory.txt b/task6/session_157/Merged_Trajectory/merged_trajectory.txt
new file mode 100644
index 0000000000000000000000000000000000000000..5b99505794135b073f60369d5a7cd3d10d0ecb07
--- /dev/null
+++ b/task6/session_157/Merged_Trajectory/merged_trajectory.txt
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diff --git a/task6/session_157/RGB_Images/timestamps.csv b/task6/session_157/RGB_Images/timestamps.csv
new file mode 100644
index 0000000000000000000000000000000000000000..d27a26a2e5772b691767af84f086130287930e46
--- /dev/null
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diff --git a/task6/session_158/Merged_Trajectory/merged_trajectory.txt b/task6/session_158/Merged_Trajectory/merged_trajectory.txt
new file mode 100644
index 0000000000000000000000000000000000000000..ce88549cd00ac5b860efd8257d7c9738bdf27e7f
--- /dev/null
+++ b/task6/session_158/Merged_Trajectory/merged_trajectory.txt
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diff --git a/task6/session_158/RGB_Images/timestamps.csv b/task6/session_158/RGB_Images/timestamps.csv
new file mode 100644
index 0000000000000000000000000000000000000000..fffd2edfb8ecfd93b5ff849d68aa9b509e77f964
--- /dev/null
+++ b/task6/session_158/RGB_Images/timestamps.csv
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diff --git a/task6/session_159/Merged_Trajectory/merged_trajectory.txt b/task6/session_159/Merged_Trajectory/merged_trajectory.txt
new file mode 100644
index 0000000000000000000000000000000000000000..387ffe0813bd297b796d425797385c9d1a53e5cb
--- /dev/null
+++ b/task6/session_159/Merged_Trajectory/merged_trajectory.txt
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diff --git a/task6/session_159/RGB_Images/timestamps.csv b/task6/session_159/RGB_Images/timestamps.csv
new file mode 100644
index 0000000000000000000000000000000000000000..092d58ac4f57b220da0f0baaf09d9a9e87eb6422
--- /dev/null
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diff --git a/task6/session_160/Merged_Trajectory/merged_trajectory.txt b/task6/session_160/Merged_Trajectory/merged_trajectory.txt
new file mode 100644
index 0000000000000000000000000000000000000000..de66df8c57f1224b4d5572cb1b734756b0633b0c
--- /dev/null
+++ b/task6/session_160/Merged_Trajectory/merged_trajectory.txt
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diff --git a/task6/session_160/RGB_Images/timestamps.csv b/task6/session_160/RGB_Images/timestamps.csv
new file mode 100644
index 0000000000000000000000000000000000000000..f07cdf3077492abdebe836fc8572cef57bb53b1a
--- /dev/null
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diff --git a/task6/session_161/Merged_Trajectory/merged_trajectory.txt b/task6/session_161/Merged_Trajectory/merged_trajectory.txt
new file mode 100644
index 0000000000000000000000000000000000000000..0b68b3301cf64ed509123a5ca9af36c13253910e
--- /dev/null
+++ b/task6/session_161/Merged_Trajectory/merged_trajectory.txt
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diff --git a/task6/session_161/RGB_Images/timestamps.csv b/task6/session_161/RGB_Images/timestamps.csv
new file mode 100644
index 0000000000000000000000000000000000000000..a55dd3751786a6708dbd683b92ddca580bdedcbb
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diff --git a/task6/session_162/Merged_Trajectory/merged_trajectory.txt b/task6/session_162/Merged_Trajectory/merged_trajectory.txt
new file mode 100644
index 0000000000000000000000000000000000000000..199bdcfade1c5991faab10d8c030f45514775fca
--- /dev/null
+++ b/task6/session_162/Merged_Trajectory/merged_trajectory.txt
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diff --git a/task6/session_162/RGB_Images/timestamps.csv b/task6/session_162/RGB_Images/timestamps.csv
new file mode 100644
index 0000000000000000000000000000000000000000..58b13b1de63a0ccbe23bea7a79f92a7b2bbc2fb1
--- /dev/null
+++ b/task6/session_162/RGB_Images/timestamps.csv
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diff --git a/task6/session_163/Merged_Trajectory/merged_trajectory.txt b/task6/session_163/Merged_Trajectory/merged_trajectory.txt
new file mode 100644
index 0000000000000000000000000000000000000000..2fcc611d64372bb326ed09106a8db7f98845f476
--- /dev/null
+++ b/task6/session_163/Merged_Trajectory/merged_trajectory.txt
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diff --git a/task6/session_163/RGB_Images/timestamps.csv b/task6/session_163/RGB_Images/timestamps.csv
new file mode 100644
index 0000000000000000000000000000000000000000..198f842d6ff66464a9fb430625d81687bbc6710b
--- /dev/null
+++ b/task6/session_163/RGB_Images/timestamps.csv
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diff --git a/task6/session_164/Merged_Trajectory/merged_trajectory.txt b/task6/session_164/Merged_Trajectory/merged_trajectory.txt
new file mode 100644
index 0000000000000000000000000000000000000000..1b232dc5676fc3171a81ef34ff106d3a4fb8607a
--- /dev/null
+++ b/task6/session_164/Merged_Trajectory/merged_trajectory.txt
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diff --git a/task6/session_164/RGB_Images/timestamps.csv b/task6/session_164/RGB_Images/timestamps.csv
new file mode 100644
index 0000000000000000000000000000000000000000..915a664fdef5ace9a448ec72bbc3c19904a13aa2
--- /dev/null
+++ b/task6/session_164/RGB_Images/timestamps.csv
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diff --git a/task6/session_165/Merged_Trajectory/merged_trajectory.txt b/task6/session_165/Merged_Trajectory/merged_trajectory.txt
new file mode 100644
index 0000000000000000000000000000000000000000..722f995176911d29504ab0700fb8fefd7b706c16
--- /dev/null
+++ b/task6/session_165/Merged_Trajectory/merged_trajectory.txt
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diff --git a/task6/session_165/RGB_Images/timestamps.csv b/task6/session_165/RGB_Images/timestamps.csv
new file mode 100644
index 0000000000000000000000000000000000000000..70a580faf0aedf54b91ceef8c1b574fd65003b3b
--- /dev/null
+++ b/task6/session_165/RGB_Images/timestamps.csv
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diff --git a/task6/session_166/Merged_Trajectory/merged_trajectory.txt b/task6/session_166/Merged_Trajectory/merged_trajectory.txt
new file mode 100644
index 0000000000000000000000000000000000000000..b7737a625c1a6f180ae6907ac914f4c800763fdb
--- /dev/null
+++ b/task6/session_166/Merged_Trajectory/merged_trajectory.txt
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new file mode 100644
index 0000000000000000000000000000000000000000..babda7e7282634e632507f589ecafe32e4c82b04
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diff --git a/task6/session_167/Merged_Trajectory/merged_trajectory.txt b/task6/session_167/Merged_Trajectory/merged_trajectory.txt
new file mode 100644
index 0000000000000000000000000000000000000000..9feac657f2b0900209c412bea8af5b046a58501a
--- /dev/null
+++ b/task6/session_167/Merged_Trajectory/merged_trajectory.txt
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diff --git a/task6/session_167/RGB_Images/timestamps.csv b/task6/session_167/RGB_Images/timestamps.csv
new file mode 100644
index 0000000000000000000000000000000000000000..6942f645e11ad630a7a7131bc4899e1612ee0b8e
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diff --git a/task6/session_167/RGB_Images/video.mp4 b/task6/session_167/RGB_Images/video.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..f7b68e23d0de292f524a2f714e59b8a2ec923a85
--- /dev/null
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diff --git a/task6/session_168/Merged_Trajectory/merged_trajectory.txt b/task6/session_168/Merged_Trajectory/merged_trajectory.txt
new file mode 100644
index 0000000000000000000000000000000000000000..e60a6f8aebb807d536e553e635431e923df2da26
--- /dev/null
+++ b/task6/session_168/Merged_Trajectory/merged_trajectory.txt
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diff --git a/task6/session_168/RGB_Images/timestamps.csv b/task6/session_168/RGB_Images/timestamps.csv
new file mode 100644
index 0000000000000000000000000000000000000000..3f291d8a28a92b05074d1a40067c3caad80db12b
--- /dev/null
+++ b/task6/session_168/RGB_Images/timestamps.csv
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diff --git a/task6/session_169/Merged_Trajectory/merged_trajectory.txt b/task6/session_169/Merged_Trajectory/merged_trajectory.txt
new file mode 100644
index 0000000000000000000000000000000000000000..5481a5ac4582c183215da1f134565223fb0b7448
--- /dev/null
+++ b/task6/session_169/Merged_Trajectory/merged_trajectory.txt
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diff --git a/task6/session_169/RGB_Images/timestamps.csv b/task6/session_169/RGB_Images/timestamps.csv
new file mode 100644
index 0000000000000000000000000000000000000000..9bb4879c2837f72a1d2fd5bc81fe4d3048bddba9
--- /dev/null
+++ b/task6/session_169/RGB_Images/timestamps.csv
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diff --git a/task6/session_170/Merged_Trajectory/merged_trajectory.txt b/task6/session_170/Merged_Trajectory/merged_trajectory.txt
new file mode 100644
index 0000000000000000000000000000000000000000..058d198afd64adb7ca7a24b3dbf05175eb8332f5
--- /dev/null
+++ b/task6/session_170/Merged_Trajectory/merged_trajectory.txt
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diff --git a/task6/session_170/RGB_Images/timestamps.csv b/task6/session_170/RGB_Images/timestamps.csv
new file mode 100644
index 0000000000000000000000000000000000000000..90f42b5d39924827f8fc9734a6ac6e2729efbc2e
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diff --git a/task6/session_171/Merged_Trajectory/merged_trajectory.txt b/task6/session_171/Merged_Trajectory/merged_trajectory.txt
new file mode 100644
index 0000000000000000000000000000000000000000..ddb5cfa387653930ecf02db2964f9370ea31a501
--- /dev/null
+++ b/task6/session_171/Merged_Trajectory/merged_trajectory.txt
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diff --git a/task6/session_171/RGB_Images/timestamps.csv b/task6/session_171/RGB_Images/timestamps.csv
new file mode 100644
index 0000000000000000000000000000000000000000..c7d5220b316997999f4cb146af986a650a6e1ddc
--- /dev/null
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diff --git a/task6/session_172/Merged_Trajectory/merged_trajectory.txt b/task6/session_172/Merged_Trajectory/merged_trajectory.txt
new file mode 100644
index 0000000000000000000000000000000000000000..b1aa701ce7df2c46bad0b0e307244d0d45020dd9
--- /dev/null
+++ b/task6/session_172/Merged_Trajectory/merged_trajectory.txt
@@ -0,0 +1,1546 @@
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diff --git a/task6/session_172/RGB_Images/timestamps.csv b/task6/session_172/RGB_Images/timestamps.csv
new file mode 100644
index 0000000000000000000000000000000000000000..ad7f58a2a1d46e745e198f36a225f3d60bbda5fd
--- /dev/null
+++ b/task6/session_172/RGB_Images/timestamps.csv
@@ -0,0 +1,929 @@
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diff --git a/task6/session_173/Merged_Trajectory/merged_trajectory.txt b/task6/session_173/Merged_Trajectory/merged_trajectory.txt
new file mode 100644
index 0000000000000000000000000000000000000000..84b8b00269bc75784982f960832bf7583ce45a6b
--- /dev/null
+++ b/task6/session_173/Merged_Trajectory/merged_trajectory.txt
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diff --git a/task6/session_173/RGB_Images/timestamps.csv b/task6/session_173/RGB_Images/timestamps.csv
new file mode 100644
index 0000000000000000000000000000000000000000..4fd66895edd229d555cb5c5bc0f83b4cd7afcc94
--- /dev/null
+++ b/task6/session_173/RGB_Images/timestamps.csv
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diff --git a/task6/session_174/Merged_Trajectory/merged_trajectory.txt b/task6/session_174/Merged_Trajectory/merged_trajectory.txt
new file mode 100644
index 0000000000000000000000000000000000000000..4c38386b0bc5f7cbb9b7344c0aea083823c644c4
--- /dev/null
+++ b/task6/session_174/Merged_Trajectory/merged_trajectory.txt
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diff --git a/task6/session_174/RGB_Images/timestamps.csv b/task6/session_174/RGB_Images/timestamps.csv
new file mode 100644
index 0000000000000000000000000000000000000000..2df735f1ae0d2a7b5017fc5e140ddd71072d5477
--- /dev/null
+++ b/task6/session_174/RGB_Images/timestamps.csv
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diff --git a/task6/session_175/Merged_Trajectory/merged_trajectory.txt b/task6/session_175/Merged_Trajectory/merged_trajectory.txt
new file mode 100644
index 0000000000000000000000000000000000000000..00bbfd98bc9744f53fb866cf5f5aa7f9f940c49f
--- /dev/null
+++ b/task6/session_175/Merged_Trajectory/merged_trajectory.txt
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diff --git a/task6/session_175/RGB_Images/timestamps.csv b/task6/session_175/RGB_Images/timestamps.csv
new file mode 100644
index 0000000000000000000000000000000000000000..a1c9c7e53bc45bab51201bbe6f31386df31f33e6
--- /dev/null
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diff --git a/task6/session_176/Merged_Trajectory/merged_trajectory.txt b/task6/session_176/Merged_Trajectory/merged_trajectory.txt
new file mode 100644
index 0000000000000000000000000000000000000000..e3808b526faf1e10e36f5828ae963021ff8a2784
--- /dev/null
+++ b/task6/session_176/Merged_Trajectory/merged_trajectory.txt
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diff --git a/task6/session_176/RGB_Images/timestamps.csv b/task6/session_176/RGB_Images/timestamps.csv
new file mode 100644
index 0000000000000000000000000000000000000000..24feb47e2b078a16d46dd0c31fbb6b0252e94bee
--- /dev/null
+++ b/task6/session_176/RGB_Images/timestamps.csv
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diff --git a/task6/session_177/Merged_Trajectory/merged_trajectory.txt b/task6/session_177/Merged_Trajectory/merged_trajectory.txt
new file mode 100644
index 0000000000000000000000000000000000000000..1d942462dc3d8752e80b5266155b0196c64f7783
--- /dev/null
+++ b/task6/session_177/Merged_Trajectory/merged_trajectory.txt
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diff --git a/task6/session_177/RGB_Images/timestamps.csv b/task6/session_177/RGB_Images/timestamps.csv
new file mode 100644
index 0000000000000000000000000000000000000000..2b440b19b9f05deb8a1569d2f90e26c0dd7595c8
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diff --git a/task6/session_178/Merged_Trajectory/merged_trajectory.txt b/task6/session_178/Merged_Trajectory/merged_trajectory.txt
new file mode 100644
index 0000000000000000000000000000000000000000..18fc5d381bf3a0b2be519c849564f70d6b867ad5
--- /dev/null
+++ b/task6/session_178/Merged_Trajectory/merged_trajectory.txt
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diff --git a/task6/session_178/RGB_Images/timestamps.csv b/task6/session_178/RGB_Images/timestamps.csv
new file mode 100644
index 0000000000000000000000000000000000000000..b1136d717586845b01b81a94e1c955b5a2fcb3a9
--- /dev/null
+++ b/task6/session_178/RGB_Images/timestamps.csv
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diff --git a/task6/session_179/Clamp_Data/clamp_data_tum.txt b/task6/session_179/Clamp_Data/clamp_data_tum.txt
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diff --git a/task6/session_179/Merged_Trajectory/merged_trajectory.txt b/task6/session_179/Merged_Trajectory/merged_trajectory.txt
new file mode 100644
index 0000000000000000000000000000000000000000..a738b7f488c0c808e4e0cf50103ad351f215474d
--- /dev/null
+++ b/task6/session_179/Merged_Trajectory/merged_trajectory.txt
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diff --git a/task6/session_179/RGB_Images/timestamps.csv b/task6/session_179/RGB_Images/timestamps.csv
new file mode 100644
index 0000000000000000000000000000000000000000..cadd01f5c1567ac643643f129bfc75c681f7c966
--- /dev/null
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diff --git a/task6/session_180/Merged_Trajectory/merged_trajectory.txt b/task6/session_180/Merged_Trajectory/merged_trajectory.txt
new file mode 100644
index 0000000000000000000000000000000000000000..766bd24814ab0792e92f5d9a0f8891fdcd6e4477
--- /dev/null
+++ b/task6/session_180/Merged_Trajectory/merged_trajectory.txt
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diff --git a/task6/session_180/RGB_Images/timestamps.csv b/task6/session_180/RGB_Images/timestamps.csv
new file mode 100644
index 0000000000000000000000000000000000000000..ac3131cfdbfc4ddf3cd943a3a1f42b9af05a576b
--- /dev/null
+++ b/task6/session_180/RGB_Images/timestamps.csv
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diff --git a/task6/session_181/Merged_Trajectory/merged_trajectory.txt b/task6/session_181/Merged_Trajectory/merged_trajectory.txt
new file mode 100644
index 0000000000000000000000000000000000000000..086d9bfcd3902d49769d2248837bda0c1b673773
--- /dev/null
+++ b/task6/session_181/Merged_Trajectory/merged_trajectory.txt
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diff --git a/task6/session_181/RGB_Images/timestamps.csv b/task6/session_181/RGB_Images/timestamps.csv
new file mode 100644
index 0000000000000000000000000000000000000000..ba519bd39f2ec1a4fb6939d5d04ae2151d537a34
--- /dev/null
+++ b/task6/session_181/RGB_Images/timestamps.csv
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diff --git a/task6/session_182/Merged_Trajectory/merged_trajectory.txt b/task6/session_182/Merged_Trajectory/merged_trajectory.txt
new file mode 100644
index 0000000000000000000000000000000000000000..19584ab9307d1e6aab792b1321b1d5f0157cb4bb
--- /dev/null
+++ b/task6/session_182/Merged_Trajectory/merged_trajectory.txt
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diff --git a/task6/session_182/RGB_Images/timestamps.csv b/task6/session_182/RGB_Images/timestamps.csv
new file mode 100644
index 0000000000000000000000000000000000000000..db533962cfddfa9770bfb9f5c10d4e5c17636410
--- /dev/null
+++ b/task6/session_182/RGB_Images/timestamps.csv
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diff --git a/task6/session_183/Merged_Trajectory/merged_trajectory.txt b/task6/session_183/Merged_Trajectory/merged_trajectory.txt
new file mode 100644
index 0000000000000000000000000000000000000000..a74d83f0cecbe1f7e512c96a6e9562bd1cd88376
--- /dev/null
+++ b/task6/session_183/Merged_Trajectory/merged_trajectory.txt
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diff --git a/task6/session_183/RGB_Images/timestamps.csv b/task6/session_183/RGB_Images/timestamps.csv
new file mode 100644
index 0000000000000000000000000000000000000000..0c96d5bdb6bf66e9e6679f5b67a161a7c532b22c
--- /dev/null
+++ b/task6/session_183/RGB_Images/timestamps.csv
@@ -0,0 +1,929 @@
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diff --git a/task6/session_184/Merged_Trajectory/merged_trajectory.txt b/task6/session_184/Merged_Trajectory/merged_trajectory.txt
new file mode 100644
index 0000000000000000000000000000000000000000..34969fd1f54e13e5b565ebbe68326f8b9108cc63
--- /dev/null
+++ b/task6/session_184/Merged_Trajectory/merged_trajectory.txt
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diff --git a/task6/session_184/RGB_Images/timestamps.csv b/task6/session_184/RGB_Images/timestamps.csv
new file mode 100644
index 0000000000000000000000000000000000000000..2c018730a01b5c7dc5b41b61cbab677477e3d440
--- /dev/null
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diff --git a/task6/session_185/Merged_Trajectory/merged_trajectory.txt b/task6/session_185/Merged_Trajectory/merged_trajectory.txt
new file mode 100644
index 0000000000000000000000000000000000000000..4341c01c6738102b0f009e4d6078bae8f32241d6
--- /dev/null
+++ b/task6/session_185/Merged_Trajectory/merged_trajectory.txt
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diff --git a/task6/session_185/RGB_Images/timestamps.csv b/task6/session_185/RGB_Images/timestamps.csv
new file mode 100644
index 0000000000000000000000000000000000000000..aada4b22fc0f1236c32d973a932c6e92bf52a619
--- /dev/null
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diff --git a/task6/session_186/Merged_Trajectory/merged_trajectory.txt b/task6/session_186/Merged_Trajectory/merged_trajectory.txt
new file mode 100644
index 0000000000000000000000000000000000000000..0e2decef886b358eb313b32e7a85de2a89534168
--- /dev/null
+++ b/task6/session_186/Merged_Trajectory/merged_trajectory.txt
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diff --git a/task6/session_186/RGB_Images/timestamps.csv b/task6/session_186/RGB_Images/timestamps.csv
new file mode 100644
index 0000000000000000000000000000000000000000..ad777e1188fcb7b1716d6ee815d59e4b4c14d259
--- /dev/null
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diff --git a/task6/session_187/Merged_Trajectory/merged_trajectory.txt b/task6/session_187/Merged_Trajectory/merged_trajectory.txt
new file mode 100644
index 0000000000000000000000000000000000000000..3a65e5c4e391102522a7135aa7183df745ece7ac
--- /dev/null
+++ b/task6/session_187/Merged_Trajectory/merged_trajectory.txt
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diff --git a/task6/session_187/RGB_Images/timestamps.csv b/task6/session_187/RGB_Images/timestamps.csv
new file mode 100644
index 0000000000000000000000000000000000000000..009c7f2968ec45fdb97b4060b87f312d3a2da169
--- /dev/null
+++ b/task6/session_187/RGB_Images/timestamps.csv
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diff --git a/task6/session_188/Merged_Trajectory/merged_trajectory.txt b/task6/session_188/Merged_Trajectory/merged_trajectory.txt
new file mode 100644
index 0000000000000000000000000000000000000000..bd1fc8d6730d1a6cc2d0bfda7346a50c8e8995d0
--- /dev/null
+++ b/task6/session_188/Merged_Trajectory/merged_trajectory.txt
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diff --git a/task6/session_188/RGB_Images/timestamps.csv b/task6/session_188/RGB_Images/timestamps.csv
new file mode 100644
index 0000000000000000000000000000000000000000..24b0c16594934c4213f8631102e492320a6ff1c8
--- /dev/null
+++ b/task6/session_188/RGB_Images/timestamps.csv
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diff --git a/task6/session_189/Merged_Trajectory/merged_trajectory.txt b/task6/session_189/Merged_Trajectory/merged_trajectory.txt
new file mode 100644
index 0000000000000000000000000000000000000000..8717f0c8da48a49cd09d1f7154a4888acef509ee
--- /dev/null
+++ b/task6/session_189/Merged_Trajectory/merged_trajectory.txt
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diff --git a/task6/session_189/RGB_Images/timestamps.csv b/task6/session_189/RGB_Images/timestamps.csv
new file mode 100644
index 0000000000000000000000000000000000000000..0bf2246b161a200bcfa07481c12246b76439d08c
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diff --git a/task6/session_190/Merged_Trajectory/merged_trajectory.txt b/task6/session_190/Merged_Trajectory/merged_trajectory.txt
new file mode 100644
index 0000000000000000000000000000000000000000..33701f60c16b8e8fca18ff147b198fb9864eef9e
--- /dev/null
+++ b/task6/session_190/Merged_Trajectory/merged_trajectory.txt
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diff --git a/task6/session_190/RGB_Images/timestamps.csv b/task6/session_190/RGB_Images/timestamps.csv
new file mode 100644
index 0000000000000000000000000000000000000000..136c3fabc40d82c9a69880f85b5c83d77907140c
--- /dev/null
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diff --git a/task6/session_191/Merged_Trajectory/merged_trajectory.txt b/task6/session_191/Merged_Trajectory/merged_trajectory.txt
new file mode 100644
index 0000000000000000000000000000000000000000..723415f1f4517e28e9b02ee4b7989131c5a75ea7
--- /dev/null
+++ b/task6/session_191/Merged_Trajectory/merged_trajectory.txt
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diff --git a/task6/session_191/RGB_Images/timestamps.csv b/task6/session_191/RGB_Images/timestamps.csv
new file mode 100644
index 0000000000000000000000000000000000000000..4b3762220a57d4233de7fce378a1eb24ca46f003
--- /dev/null
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diff --git a/task6/session_192/Merged_Trajectory/merged_trajectory.txt b/task6/session_192/Merged_Trajectory/merged_trajectory.txt
new file mode 100644
index 0000000000000000000000000000000000000000..52f9c5d2539433e259d6b823fc54e4379a261b61
--- /dev/null
+++ b/task6/session_192/Merged_Trajectory/merged_trajectory.txt
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diff --git a/task6/session_192/RGB_Images/timestamps.csv b/task6/session_192/RGB_Images/timestamps.csv
new file mode 100644
index 0000000000000000000000000000000000000000..0b049ba83907a40b9f6fd2a5876e3045275123d0
--- /dev/null
+++ b/task6/session_192/RGB_Images/timestamps.csv
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diff --git a/task6/session_193/Clamp_Data/clamp_data_tum.txt b/task6/session_193/Clamp_Data/clamp_data_tum.txt
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diff --git a/task6/session_193/Merged_Trajectory/merged_trajectory.txt b/task6/session_193/Merged_Trajectory/merged_trajectory.txt
new file mode 100644
index 0000000000000000000000000000000000000000..689d6b09cc0df5ab1605bf6b0bdb750e192c971f
--- /dev/null
+++ b/task6/session_193/Merged_Trajectory/merged_trajectory.txt
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diff --git a/task6/session_193/RGB_Images/timestamps.csv b/task6/session_193/RGB_Images/timestamps.csv
new file mode 100644
index 0000000000000000000000000000000000000000..c8592ee2f12a836f8718459b88d75339d36238fc
--- /dev/null
+++ b/task6/session_193/RGB_Images/timestamps.csv
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diff --git a/task6/session_194/Merged_Trajectory/merged_trajectory.txt b/task6/session_194/Merged_Trajectory/merged_trajectory.txt
new file mode 100644
index 0000000000000000000000000000000000000000..e9a3a1f54b440a2450860197fc2211c6db769599
--- /dev/null
+++ b/task6/session_194/Merged_Trajectory/merged_trajectory.txt
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diff --git a/task6/session_194/RGB_Images/timestamps.csv b/task6/session_194/RGB_Images/timestamps.csv
new file mode 100644
index 0000000000000000000000000000000000000000..e424877be87d9f278fe9dbedf67aea90cc00d1b4
--- /dev/null
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diff --git a/task6/session_195/Merged_Trajectory/merged_trajectory.txt b/task6/session_195/Merged_Trajectory/merged_trajectory.txt
new file mode 100644
index 0000000000000000000000000000000000000000..7c604eba2915efd8b62833834677ccfba0d0f168
--- /dev/null
+++ b/task6/session_195/Merged_Trajectory/merged_trajectory.txt
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diff --git a/task6/session_195/RGB_Images/timestamps.csv b/task6/session_195/RGB_Images/timestamps.csv
new file mode 100644
index 0000000000000000000000000000000000000000..d0defeb6c50d6825b298a0aed2f588da587b19bb
--- /dev/null
+++ b/task6/session_195/RGB_Images/timestamps.csv
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diff --git a/task6/session_196/Merged_Trajectory/merged_trajectory.txt b/task6/session_196/Merged_Trajectory/merged_trajectory.txt
new file mode 100644
index 0000000000000000000000000000000000000000..1071662c9a6268020efafe5dde014c7aa9e86f99
--- /dev/null
+++ b/task6/session_196/Merged_Trajectory/merged_trajectory.txt
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diff --git a/task6/session_196/RGB_Images/timestamps.csv b/task6/session_196/RGB_Images/timestamps.csv
new file mode 100644
index 0000000000000000000000000000000000000000..667817503afff69d784e417338546863f7ff778a
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diff --git a/task6/session_197/Merged_Trajectory/merged_trajectory.txt b/task6/session_197/Merged_Trajectory/merged_trajectory.txt
new file mode 100644
index 0000000000000000000000000000000000000000..de58ecb2e24e68095fcb87dc03b55b13e8ed12a8
--- /dev/null
+++ b/task6/session_197/Merged_Trajectory/merged_trajectory.txt
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diff --git a/task6/session_197/RGB_Images/timestamps.csv b/task6/session_197/RGB_Images/timestamps.csv
new file mode 100644
index 0000000000000000000000000000000000000000..5af519881cfeb6b8c759c1075dba6f16580a729a
--- /dev/null
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diff --git a/task6/session_198/Clamp_Data/clamp_data_tum.txt b/task6/session_198/Clamp_Data/clamp_data_tum.txt
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diff --git a/task6/session_198/Merged_Trajectory/merged_trajectory.txt b/task6/session_198/Merged_Trajectory/merged_trajectory.txt
new file mode 100644
index 0000000000000000000000000000000000000000..5634d292d5da69c1f24a16c69301fce0ad286558
--- /dev/null
+++ b/task6/session_198/Merged_Trajectory/merged_trajectory.txt
@@ -0,0 +1,1546 @@
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diff --git a/task6/session_198/RGB_Images/timestamps.csv b/task6/session_198/RGB_Images/timestamps.csv
new file mode 100644
index 0000000000000000000000000000000000000000..b538956a051ef561bc1852f6c3830a0d80168b96
--- /dev/null
+++ b/task6/session_198/RGB_Images/timestamps.csv
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diff --git a/task6/session_199/Merged_Trajectory/merged_trajectory.txt b/task6/session_199/Merged_Trajectory/merged_trajectory.txt
new file mode 100644
index 0000000000000000000000000000000000000000..d29495b3b77c2b69f5f6be1ebd5f700eedc83737
--- /dev/null
+++ b/task6/session_199/Merged_Trajectory/merged_trajectory.txt
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diff --git a/task6/session_199/RGB_Images/timestamps.csv b/task6/session_199/RGB_Images/timestamps.csv
new file mode 100644
index 0000000000000000000000000000000000000000..caa8f5ffb9f31439b3cb459daacf0ae7cfbfc49a
--- /dev/null
+++ b/task6/session_199/RGB_Images/timestamps.csv
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diff --git a/task6/session_200/Merged_Trajectory/merged_trajectory.txt b/task6/session_200/Merged_Trajectory/merged_trajectory.txt
new file mode 100644
index 0000000000000000000000000000000000000000..a9c446edcc21126ed671b87b2837d297ebc938a2
--- /dev/null
+++ b/task6/session_200/Merged_Trajectory/merged_trajectory.txt
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diff --git a/task6/session_200/RGB_Images/timestamps.csv b/task6/session_200/RGB_Images/timestamps.csv
new file mode 100644
index 0000000000000000000000000000000000000000..6f695ceda93fe7f1e8c49e9077b865c04826d91e
--- /dev/null
+++ b/task6/session_200/RGB_Images/timestamps.csv
@@ -0,0 +1,928 @@
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