diff --git a/.gitattributes b/.gitattributes
index 2a7ef002ffd5053ec66d959d2b5f46259e1b4133..92d62e093f1e6c02bd847a18ca192598821796c4 100644
--- a/.gitattributes
+++ b/.gitattributes
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diff --git a/Part2/Free/s2/cylinder_0050_20/width_04/insert/franka_data.csv b/Part2/Free/s2/cylinder_0050_20/width_04/insert/franka_data.csv
new file mode 100644
index 0000000000000000000000000000000000000000..16223c72d05bf293cd0a7288e120fbe6147100bf
--- /dev/null
+++ b/Part2/Free/s2/cylinder_0050_20/width_04/insert/franka_data.csv
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diff --git a/Part2/Free/s2/cylinder_0050_20/width_04/insert/simulation_data.csv b/Part2/Free/s2/cylinder_0050_20/width_04/insert/simulation_data.csv
new file mode 100644
index 0000000000000000000000000000000000000000..75d374e370a50230da82ce582738f4cffe40a399
--- /dev/null
+++ b/Part2/Free/s2/cylinder_0050_20/width_04/insert/simulation_data.csv
@@ -0,0 +1,916 @@
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diff --git a/Part2/Free/s2/cylinder_0050_20/width_04/pick/simulation_data.csv b/Part2/Free/s2/cylinder_0050_20/width_04/pick/simulation_data.csv
new file mode 100644
index 0000000000000000000000000000000000000000..aff108d6a48b329f54f46255940b7f40acaa1924
--- /dev/null
+++ b/Part2/Free/s2/cylinder_0050_20/width_04/pick/simulation_data.csv
@@ -0,0 +1,207 @@
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diff --git a/Part2/Free/s2/cylinder_0050_20/width_05/insert/simulation_data.csv b/Part2/Free/s2/cylinder_0050_20/width_05/insert/simulation_data.csv
new file mode 100644
index 0000000000000000000000000000000000000000..826567e82b6084fa2b32088e47cf2a6361dcd0b8
--- /dev/null
+++ b/Part2/Free/s2/cylinder_0050_20/width_05/insert/simulation_data.csv
@@ -0,0 +1,917 @@
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diff --git a/Part2/Free/s2/cylinder_0050_20/width_05/pick/simulation_data.csv b/Part2/Free/s2/cylinder_0050_20/width_05/pick/simulation_data.csv
new file mode 100644
index 0000000000000000000000000000000000000000..ac85204dc1fee220b55d8bfdbf3898dbca87896b
--- /dev/null
+++ b/Part2/Free/s2/cylinder_0050_20/width_05/pick/simulation_data.csv
@@ -0,0 +1,207 @@
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diff --git a/Part2/Free/s2/cylinder_0050_20/width_06/insert/simulation_data.csv b/Part2/Free/s2/cylinder_0050_20/width_06/insert/simulation_data.csv
new file mode 100644
index 0000000000000000000000000000000000000000..792b39e41c8aafbd00d6c60f5e9f5c14418fb953
--- /dev/null
+++ b/Part2/Free/s2/cylinder_0050_20/width_06/insert/simulation_data.csv
@@ -0,0 +1,918 @@
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diff --git a/Part2/Free/s2/cylinder_0050_20/width_06/pick/simulation_data.csv b/Part2/Free/s2/cylinder_0050_20/width_06/pick/simulation_data.csv
new file mode 100644
index 0000000000000000000000000000000000000000..fe5e2a4e96bf9085d140230648005fc26ddcb72e
--- /dev/null
+++ b/Part2/Free/s2/cylinder_0050_20/width_06/pick/simulation_data.csv
@@ -0,0 +1,207 @@
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diff --git a/Part2/Free/s2/cylinder_0050_20/width_07/insert/simulation_data.csv b/Part2/Free/s2/cylinder_0050_20/width_07/insert/simulation_data.csv
new file mode 100644
index 0000000000000000000000000000000000000000..d84791b123d9d7ba692e31a998cd51a7226a473e
--- /dev/null
+++ b/Part2/Free/s2/cylinder_0050_20/width_07/insert/simulation_data.csv
@@ -0,0 +1,919 @@
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diff --git a/Part2/Free/s2/cylinder_0050_20/width_07/pick/simulation_data.csv b/Part2/Free/s2/cylinder_0050_20/width_07/pick/simulation_data.csv
new file mode 100644
index 0000000000000000000000000000000000000000..9489b8120aafe2a65c3d918ab7626122e1aaf3df
--- /dev/null
+++ b/Part2/Free/s2/cylinder_0050_20/width_07/pick/simulation_data.csv
@@ -0,0 +1,207 @@
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diff --git a/Part2/Free/s2/cylinder_0050_20/width_08/insert/simulation_data.csv b/Part2/Free/s2/cylinder_0050_20/width_08/insert/simulation_data.csv
new file mode 100644
index 0000000000000000000000000000000000000000..be178ba8be2102a15afbc42c31a21b2e0546a047
--- /dev/null
+++ b/Part2/Free/s2/cylinder_0050_20/width_08/insert/simulation_data.csv
@@ -0,0 +1,916 @@
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diff --git a/Part2/Free/s2/cylinder_0050_20/width_08/pick/simulation_data.csv b/Part2/Free/s2/cylinder_0050_20/width_08/pick/simulation_data.csv
new file mode 100644
index 0000000000000000000000000000000000000000..1c0b38dbb294e7a7290fdfd18557a3a741ba5bdb
--- /dev/null
+++ b/Part2/Free/s2/cylinder_0050_20/width_08/pick/simulation_data.csv
@@ -0,0 +1,207 @@
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diff --git a/Part2/Free/s2/cylinder_0050_20/width_09/insert/simulation_data.csv b/Part2/Free/s2/cylinder_0050_20/width_09/insert/simulation_data.csv
new file mode 100644
index 0000000000000000000000000000000000000000..063b11491f879c033bebd98218bb44e11afbe5a1
--- /dev/null
+++ b/Part2/Free/s2/cylinder_0050_20/width_09/insert/simulation_data.csv
@@ -0,0 +1,916 @@
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diff --git a/Part2/Free/s2/cylinder_0050_20/width_09/pick/simulation_data.csv b/Part2/Free/s2/cylinder_0050_20/width_09/pick/simulation_data.csv
new file mode 100644
index 0000000000000000000000000000000000000000..556a0ab3671841aab269ebcf7bb76814300ad0ac
--- /dev/null
+++ b/Part2/Free/s2/cylinder_0050_20/width_09/pick/simulation_data.csv
@@ -0,0 +1,207 @@
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diff --git a/Part2/Free/s2/cylinder_0050_20/width_10/insert/simulation_data.csv b/Part2/Free/s2/cylinder_0050_20/width_10/insert/simulation_data.csv
new file mode 100644
index 0000000000000000000000000000000000000000..bbf431b6dbbd68eb7b9ad4e79e6ff1f4db0c40df
--- /dev/null
+++ b/Part2/Free/s2/cylinder_0050_20/width_10/insert/simulation_data.csv
@@ -0,0 +1,920 @@
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diff --git a/Part2/Free/s2/cylinder_0050_20/width_10/pick/simulation_data.csv b/Part2/Free/s2/cylinder_0050_20/width_10/pick/simulation_data.csv
new file mode 100644
index 0000000000000000000000000000000000000000..1cf8a67c104486858633df4e1b5d7b9ea29c916a
--- /dev/null
+++ b/Part2/Free/s2/cylinder_0050_20/width_10/pick/simulation_data.csv
@@ -0,0 +1,207 @@
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diff --git a/Part2/Free/s2/cylinder_15A_10/width_01/insert/simulation_data.csv b/Part2/Free/s2/cylinder_15A_10/width_01/insert/simulation_data.csv
new file mode 100644
index 0000000000000000000000000000000000000000..beb1b8d1f1b2d4a680082943d422cd3712677187
--- /dev/null
+++ b/Part2/Free/s2/cylinder_15A_10/width_01/insert/simulation_data.csv
@@ -0,0 +1,920 @@
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diff --git a/Part2/Free/s2/cylinder_15A_10/width_01/pick/simulation_data.csv b/Part2/Free/s2/cylinder_15A_10/width_01/pick/simulation_data.csv
new file mode 100644
index 0000000000000000000000000000000000000000..0919561772227e2ba1b75b913b1170063ef368a3
--- /dev/null
+++ b/Part2/Free/s2/cylinder_15A_10/width_01/pick/simulation_data.csv
@@ -0,0 +1,207 @@
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diff --git a/Part2/Free/s2/cylinder_15A_10/width_02/insert/simulation_data.csv b/Part2/Free/s2/cylinder_15A_10/width_02/insert/simulation_data.csv
new file mode 100644
index 0000000000000000000000000000000000000000..06d025ab7420096bb6078c69b48ab573b997cc1f
--- /dev/null
+++ b/Part2/Free/s2/cylinder_15A_10/width_02/insert/simulation_data.csv
@@ -0,0 +1,916 @@
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diff --git a/Part2/Free/s2/cylinder_15A_10/width_02/pick/simulation_data.csv b/Part2/Free/s2/cylinder_15A_10/width_02/pick/simulation_data.csv
new file mode 100644
index 0000000000000000000000000000000000000000..4a1e49ff828312ea1080ea0bfcfda52336c15153
--- /dev/null
+++ b/Part2/Free/s2/cylinder_15A_10/width_02/pick/simulation_data.csv
@@ -0,0 +1,207 @@
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diff --git a/Part2/Free/s2/cylinder_15A_10/width_03/insert/simulation_data.csv b/Part2/Free/s2/cylinder_15A_10/width_03/insert/simulation_data.csv
new file mode 100644
index 0000000000000000000000000000000000000000..1fa5009cb12c0a8ebf5496227d5cb6584a97417a
--- /dev/null
+++ b/Part2/Free/s2/cylinder_15A_10/width_03/insert/simulation_data.csv
@@ -0,0 +1,919 @@
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diff --git a/Part2/Free/s2/cylinder_15A_10/width_03/pick/franka_data.csv b/Part2/Free/s2/cylinder_15A_10/width_03/pick/franka_data.csv
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diff --git a/Part2/Free/s2/cylinder_15A_10/width_03/pick/simulation_data.csv b/Part2/Free/s2/cylinder_15A_10/width_03/pick/simulation_data.csv
new file mode 100644
index 0000000000000000000000000000000000000000..3f011bc53ac84006733778ab40320524a639a913
--- /dev/null
+++ b/Part2/Free/s2/cylinder_15A_10/width_03/pick/simulation_data.csv
@@ -0,0 +1,207 @@
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diff --git a/Part2/Free/s2/cylinder_15A_10/width_04/insert/simulation_data.csv b/Part2/Free/s2/cylinder_15A_10/width_04/insert/simulation_data.csv
new file mode 100644
index 0000000000000000000000000000000000000000..e400e786a2b8247fa23aa65402e7f55344012185
--- /dev/null
+++ b/Part2/Free/s2/cylinder_15A_10/width_04/insert/simulation_data.csv
@@ -0,0 +1,919 @@
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diff --git a/Part2/Free/s2/cylinder_15A_10/width_04/pick/simulation_data.csv b/Part2/Free/s2/cylinder_15A_10/width_04/pick/simulation_data.csv
new file mode 100644
index 0000000000000000000000000000000000000000..265fd784456be869c6fa4de2a95dfe6a1efdac59
--- /dev/null
+++ b/Part2/Free/s2/cylinder_15A_10/width_04/pick/simulation_data.csv
@@ -0,0 +1,208 @@
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diff --git a/Part2/Free/s2/cylinder_15A_10/width_05/insert/simulation_data.csv b/Part2/Free/s2/cylinder_15A_10/width_05/insert/simulation_data.csv
new file mode 100644
index 0000000000000000000000000000000000000000..5e59388de86ce8199948828caaa89d82fbcfb055
--- /dev/null
+++ b/Part2/Free/s2/cylinder_15A_10/width_05/insert/simulation_data.csv
@@ -0,0 +1,919 @@
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diff --git a/Part2/Free/s2/cylinder_15A_10/width_05/pick/simulation_data.csv b/Part2/Free/s2/cylinder_15A_10/width_05/pick/simulation_data.csv
new file mode 100644
index 0000000000000000000000000000000000000000..9e2206c0562b4654370474d785afeaf61947f20a
--- /dev/null
+++ b/Part2/Free/s2/cylinder_15A_10/width_05/pick/simulation_data.csv
@@ -0,0 +1,208 @@
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diff --git a/Part2/Free/s2/cylinder_15A_10/width_06/insert/simulation_data.csv b/Part2/Free/s2/cylinder_15A_10/width_06/insert/simulation_data.csv
new file mode 100644
index 0000000000000000000000000000000000000000..6aa9ac8bd637025fe8821fdb3bd76d73ff6bf9ed
--- /dev/null
+++ b/Part2/Free/s2/cylinder_15A_10/width_06/insert/simulation_data.csv
@@ -0,0 +1,917 @@
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diff --git a/Part2/Free/s2/cylinder_15A_10/width_06/pick/franka_data.csv b/Part2/Free/s2/cylinder_15A_10/width_06/pick/franka_data.csv
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diff --git a/Part2/Free/s2/cylinder_15A_10/width_06/pick/simulation_data.csv b/Part2/Free/s2/cylinder_15A_10/width_06/pick/simulation_data.csv
new file mode 100644
index 0000000000000000000000000000000000000000..044811bb3d251b1f71371d13eed1d8068add92dd
--- /dev/null
+++ b/Part2/Free/s2/cylinder_15A_10/width_06/pick/simulation_data.csv
@@ -0,0 +1,207 @@
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diff --git a/Part2/Free/s2/cylinder_15A_10/width_07/insert/simulation_data.csv b/Part2/Free/s2/cylinder_15A_10/width_07/insert/simulation_data.csv
new file mode 100644
index 0000000000000000000000000000000000000000..bd4d73be85a411d8728629d4c3aa840cc6815d8d
--- /dev/null
+++ b/Part2/Free/s2/cylinder_15A_10/width_07/insert/simulation_data.csv
@@ -0,0 +1,918 @@
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diff --git a/Part2/Free/s2/cylinder_15A_10/width_07/pick/simulation_data.csv b/Part2/Free/s2/cylinder_15A_10/width_07/pick/simulation_data.csv
new file mode 100644
index 0000000000000000000000000000000000000000..b7769640cb1bee8c84531d1f42b3ca69da16ceb8
--- /dev/null
+++ b/Part2/Free/s2/cylinder_15A_10/width_07/pick/simulation_data.csv
@@ -0,0 +1,209 @@
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diff --git a/Part2/Free/s2/cylinder_15A_10/width_08/insert/simulation_data.csv b/Part2/Free/s2/cylinder_15A_10/width_08/insert/simulation_data.csv
new file mode 100644
index 0000000000000000000000000000000000000000..fef76a3a74ccee8fec6f99f10471737a8576eadf
--- /dev/null
+++ b/Part2/Free/s2/cylinder_15A_10/width_08/insert/simulation_data.csv
@@ -0,0 +1,919 @@
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diff --git a/Part2/Free/s2/cylinder_15A_10/width_08/pick/simulation_data.csv b/Part2/Free/s2/cylinder_15A_10/width_08/pick/simulation_data.csv
new file mode 100644
index 0000000000000000000000000000000000000000..a08fb433c227b19f7276cc3782b7e94af2bc1026
--- /dev/null
+++ b/Part2/Free/s2/cylinder_15A_10/width_08/pick/simulation_data.csv
@@ -0,0 +1,207 @@
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diff --git a/Part2/Free/s2/cylinder_15A_10/width_09/insert/simulation_data.csv b/Part2/Free/s2/cylinder_15A_10/width_09/insert/simulation_data.csv
new file mode 100644
index 0000000000000000000000000000000000000000..b7ae46b63310d09e92f43fc84f19438b3ace6c12
--- /dev/null
+++ b/Part2/Free/s2/cylinder_15A_10/width_09/insert/simulation_data.csv
@@ -0,0 +1,920 @@
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diff --git a/Part2/Free/s2/cylinder_15A_10/width_09/pick/franka_data.csv b/Part2/Free/s2/cylinder_15A_10/width_09/pick/franka_data.csv
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