diff --git a/.gitattributes b/.gitattributes
index 97c875ef6a2a8aaca840b1c97c8fba3345e591d4..bb82a93c1e14ac874fef79c2cca7bf001b6cabb7 100644
--- a/.gitattributes
+++ b/.gitattributes
@@ -14375,3 +14375,13 @@ Part2/Free/digiy/cylinder_15A_10/width_01/pick/fem_node.csv filter=lfs diff=lfs
 Part2/Free/digiy/cylinder_15A_10/width_02/insert/fem_node.csv filter=lfs diff=lfs merge=lfs -text
 Part2/Free/digiy/cylinder_15A_10/width_02/pick/fem_node.csv filter=lfs diff=lfs merge=lfs -text
 Part2/Free/digiy/cylinder_15A_10/width_03/insert/fem_node.csv filter=lfs diff=lfs merge=lfs -text
+Part2/Free/digiy/cylinder_15A_10/width_03/pick/fem_node.csv filter=lfs diff=lfs merge=lfs -text
+Part2/Free/digiy/cylinder_15A_10/width_04/insert/fem_node.csv filter=lfs diff=lfs merge=lfs -text
+Part2/Free/digiy/cylinder_15A_10/width_04/pick/fem_node.csv filter=lfs diff=lfs merge=lfs -text
+Part2/Free/digiy/cylinder_15A_10/width_05/insert/fem_node.csv filter=lfs diff=lfs merge=lfs -text
+Part2/Free/digiy/cylinder_15A_10/width_05/pick/fem_node.csv filter=lfs diff=lfs merge=lfs -text
+Part2/Free/digiy/cylinder_15A_10/width_06/insert/fem_node.csv filter=lfs diff=lfs merge=lfs -text
+Part2/Free/digiy/cylinder_15A_10/width_06/pick/fem_node.csv filter=lfs diff=lfs merge=lfs -text
+Part2/Free/digiy/cylinder_15A_10/width_07/insert/fem_node.csv filter=lfs diff=lfs merge=lfs -text
+Part2/Free/digiy/cylinder_15A_10/width_07/pick/fem_node.csv filter=lfs diff=lfs merge=lfs -text
+Part2/Free/digiy/cylinder_15A_10/width_08/insert/fem_node.csv filter=lfs diff=lfs merge=lfs -text
diff --git a/Part2/Free/digiy/cylinder_15A_10/width_03/pick/fem_node.csv b/Part2/Free/digiy/cylinder_15A_10/width_03/pick/fem_node.csv
new file mode 100644
index 0000000000000000000000000000000000000000..bf05240fb58eed9e7ff6f559e7a7cce926cd02e0
--- /dev/null
+++ b/Part2/Free/digiy/cylinder_15A_10/width_03/pick/fem_node.csv
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diff --git a/Part2/Free/digiy/cylinder_15A_10/width_03/pick/franka_data.csv b/Part2/Free/digiy/cylinder_15A_10/width_03/pick/franka_data.csv
new file mode 100644
index 0000000000000000000000000000000000000000..b6560b9da464ef2c3afb68ea49da370457f6d195
--- /dev/null
+++ b/Part2/Free/digiy/cylinder_15A_10/width_03/pick/franka_data.csv
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diff --git a/Part2/Free/digiy/cylinder_15A_10/width_03/pick/simulation_data.csv b/Part2/Free/digiy/cylinder_15A_10/width_03/pick/simulation_data.csv
new file mode 100644
index 0000000000000000000000000000000000000000..4b1e8d0e05ad286aa05258eddbe7600e402764a7
--- /dev/null
+++ b/Part2/Free/digiy/cylinder_15A_10/width_03/pick/simulation_data.csv
@@ -0,0 +1,207 @@
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diff --git a/Part2/Free/digiy/cylinder_15A_10/width_04/insert/camera_frames_60hz.tar b/Part2/Free/digiy/cylinder_15A_10/width_04/insert/camera_frames_60hz.tar
new file mode 100644
index 0000000000000000000000000000000000000000..371b9092bc75af08f5fb3e623d374633170cedbb
--- /dev/null
+++ b/Part2/Free/digiy/cylinder_15A_10/width_04/insert/camera_frames_60hz.tar
@@ -0,0 +1,3 @@
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+size 9093120
diff --git a/Part2/Free/digiy/cylinder_15A_10/width_04/insert/camera_franka_gripper_aligned_60hz.csv.bak b/Part2/Free/digiy/cylinder_15A_10/width_04/insert/camera_franka_gripper_aligned_60hz.csv.bak
new file mode 100644
index 0000000000000000000000000000000000000000..cb0e8c61b835db65199026cfd0a7e19cee49e757
--- /dev/null
+++ b/Part2/Free/digiy/cylinder_15A_10/width_04/insert/camera_franka_gripper_aligned_60hz.csv.bak
@@ -0,0 +1,903 @@
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diff --git a/Part2/Free/digiy/cylinder_15A_10/width_04/insert/fem_node.csv b/Part2/Free/digiy/cylinder_15A_10/width_04/insert/fem_node.csv
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--- /dev/null
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diff --git a/Part2/Free/digiy/cylinder_15A_10/width_04/insert/franka_data.csv b/Part2/Free/digiy/cylinder_15A_10/width_04/insert/franka_data.csv
new file mode 100644
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diff --git a/Part2/Free/digiy/cylinder_15A_10/width_04/insert/simulation_data.csv b/Part2/Free/digiy/cylinder_15A_10/width_04/insert/simulation_data.csv
new file mode 100644
index 0000000000000000000000000000000000000000..fc823fcadd850a8e60ef9fe8beb804024a60bd14
--- /dev/null
+++ b/Part2/Free/digiy/cylinder_15A_10/width_04/insert/simulation_data.csv
@@ -0,0 +1,903 @@
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+++ b/Part2/Free/digiy/cylinder_15A_10/width_04/pick/camera_franka_gripper_aligned_60hz.csv.bak
@@ -0,0 +1,365 @@
+camera_output_sequence,camera_time_ns,camera_frame_kind,camera_source_a_sequence,camera_source_a_time_ns,camera_source_b_sequence,camera_source_b_time_ns,camera_interpolation_alpha,camera_image_path,camera_width_px,camera_height_px,task_alignment_valid,robot_alignment_valid,gripper_alignment_valid,task_ros_time_ns,camera_minus_task_time_ns,task_sequence,task_robot_time_ns,task_state,task_phase,task_failure_reason,task_attempt_reason,task_franka_control_command_success_rate,task_franka_robot_mode,task_franka_current_errors,cycle_index,attempt_index,insertion_success,commanded_gripper_width_m,task_measured_gripper_width_m,task_gripper_velocity_mps,task_gripper_acceleration_mps2,task_gripper_force_valid,task_gripper_force_raw_N,task_gripper_force_f0_N,task_gripper_force_zeroed_N,task_grasp_force_f1_N,task_actual_x_m,task_actual_y_m,task_actual_z_m,task_actual_qx,task_actual_qy,task_actual_qz,task_actual_qw,task_command_x_m,task_command_y_m,task_command_z_m,task_command_qx,task_command_qy,task_command_qz,task_command_qw,task_actual_vx_mps,task_actual_vy_mps,task_actual_vz_mps,task_actual_wx_radps,task_actual_wy_radps,task_actual_wz_radps,task_command_vx_mps,task_command_vy_mps,task_command_vz_mps,task_command_wx_radps,task_command_wy_radps,task_command_wz_radps,task_actual_ax_mps2,task_actual_ay_mps2,task_actual_az_mps2,task_actual_alpha_x_radps2,task_actual_alpha_y_radps2,task_actual_alpha_z_radps2,task_command_ax_mps2,task_command_ay_mps2,task_command_az_mps2,task_command_alpha_x_radps2,task_command_alpha_y_radps2,task_command_alpha_z_radps2,task_pose_position_error_m,task_pose_orientation_error_rad,robot_ros_time_ns,camera_minus_robot_time_ns,robot_mode,robot_control_command_success_rate,robot_time_sec,robot_current_errors,robot_ee_x_m,robot_ee_y_m,robot_ee_z_m,robot_ee_qx,robot_ee_qy,robot_ee_qz,robot_ee_qw,franka_base_fx_N,franka_base_fy_N,franka_base_fz_N,franka_base_mx_Nm,franka_base_my_Nm,franka_base_mz_Nm,franka_stiffness_fx_N,franka_stiffness_fy_N,franka_stiffness_fz_N,franka_stiffness_mx_Nm,franka_stiffness_my_Nm,franka_stiffness_mz_Nm,arm_joint_1_name,arm_joint_2_name,arm_joint_3_name,arm_joint_4_name,arm_joint_5_name,arm_joint_6_name,arm_joint_7_name,arm_joint_1_position_rad,arm_joint_2_position_rad,arm_joint_3_position_rad,arm_joint_4_position_rad,arm_joint_5_position_rad,arm_joint_6_position_rad,arm_joint_7_position_rad,arm_joint_1_velocity_radps,arm_joint_2_velocity_radps,arm_joint_3_velocity_radps,arm_joint_4_velocity_radps,arm_joint_5_velocity_radps,arm_joint_6_velocity_radps,arm_joint_7_velocity_radps,arm_joint_1_measured_effort_Nm,arm_joint_2_measured_effort_Nm,arm_joint_3_measured_effort_Nm,arm_joint_4_measured_effort_Nm,arm_joint_5_measured_effort_Nm,arm_joint_6_measured_effort_Nm,arm_joint_7_measured_effort_Nm,arm_joint_1_external_torque_Nm,arm_joint_2_external_torque_Nm,arm_joint_3_external_torque_Nm,arm_joint_4_external_torque_Nm,arm_joint_5_external_torque_Nm,arm_joint_6_external_torque_Nm,arm_joint_7_external_torque_Nm,arm_joint_1_measured_acceleration_radps2,arm_joint_2_measured_acceleration_radps2,arm_joint_3_measured_acceleration_radps2,arm_joint_4_measured_acceleration_radps2,arm_joint_5_measured_acceleration_radps2,arm_joint_6_measured_acceleration_radps2,arm_joint_7_measured_acceleration_radps2,arm_joint_1_desired_position_rad,arm_joint_2_desired_position_rad,arm_joint_3_desired_position_rad,arm_joint_4_desired_position_rad,arm_joint_5_desired_position_rad,arm_joint_6_desired_position_rad,arm_joint_7_desired_position_rad,arm_joint_1_desired_velocity_radps,arm_joint_2_desired_velocity_radps,arm_joint_3_desired_velocity_radps,arm_joint_4_desired_velocity_radps,arm_joint_5_desired_velocity_radps,arm_joint_6_desired_velocity_radps,arm_joint_7_desired_velocity_radps,arm_joint_1_desired_effort_Nm,arm_joint_2_desired_effort_Nm,arm_joint_3_desired_effort_Nm,arm_joint_4_desired_effort_Nm,arm_joint_5_desired_effort_Nm,arm_joint_6_desired_effort_Nm,arm_joint_7_desired_effort_Nm,arm_joint_1_desired_acceleration_radps2,arm_joint_2_desired_acceleration_radps2,arm_joint_3_desired_acceleration_radps2,arm_joint_4_desired_acceleration_radps2,arm_joint_5_desired_acceleration_radps2,arm_joint_6_desired_acceleration_radps2,arm_joint_7_desired_acceleration_radps2,robot_desired_ee_x_m,robot_desired_ee_y_m,robot_desired_ee_z_m,robot_desired_ee_qx,robot_desired_ee_qy,robot_desired_ee_qz,robot_desired_ee_qw,robot_commanded_ee_x_m,robot_commanded_ee_y_m,robot_commanded_ee_z_m,robot_commanded_ee_qx,robot_commanded_ee_qy,robot_commanded_ee_qz,robot_commanded_ee_qw,robot_desired_ee_vx_mps,robot_desired_ee_vy_mps,robot_desired_ee_vz_mps,robot_desired_ee_wx_radps,robot_desired_ee_wy_radps,robot_desired_ee_wz_radps,robot_commanded_ee_vx_mps,robot_commanded_ee_vy_mps,robot_commanded_ee_vz_mps,robot_commanded_ee_wx_radps,robot_commanded_ee_wy_radps,robot_commanded_ee_wz_radps,robot_commanded_ee_ax_mps2,robot_commanded_ee_ay_mps2,robot_commanded_ee_az_mps2,robot_commanded_ee_alpha_x_radps2,robot_commanded_ee_alpha_y_radps2,robot_commanded_ee_alpha_z_radps2,gripper_ros_time_ns,camera_minus_gripper_time_ns,finger_joint_1_name,finger_joint_1_position_m,finger_joint_1_velocity_mps,finger_joint_1_effort,finger_joint_2_name,finger_joint_2_position_m,finger_joint_2_velocity_mps,finger_joint_2_effort,gripper_measured_total_width_m,gripper_position_count
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diff --git a/Part2/Free/digiy/cylinder_15A_10/width_04/pick/fem_node.csv b/Part2/Free/digiy/cylinder_15A_10/width_04/pick/fem_node.csv
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--- /dev/null
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diff --git a/Part2/Free/digiy/cylinder_15A_10/width_04/pick/franka_data.csv b/Part2/Free/digiy/cylinder_15A_10/width_04/pick/franka_data.csv
new file mode 100644
index 0000000000000000000000000000000000000000..c12e66318ebc25e1bf9c6241244459c052373034
--- /dev/null
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diff --git a/Part2/Free/digiy/cylinder_15A_10/width_04/pick/simulation_data.csv b/Part2/Free/digiy/cylinder_15A_10/width_04/pick/simulation_data.csv
new file mode 100644
index 0000000000000000000000000000000000000000..4aa0c9a5241b31c94a28b2248a6fb1ee06a50581
--- /dev/null
+++ b/Part2/Free/digiy/cylinder_15A_10/width_04/pick/simulation_data.csv
@@ -0,0 +1,207 @@
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diff --git a/Part2/Free/digiy/cylinder_15A_10/width_05/insert/camera_frames_60hz.tar b/Part2/Free/digiy/cylinder_15A_10/width_05/insert/camera_frames_60hz.tar
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--- /dev/null
+++ b/Part2/Free/digiy/cylinder_15A_10/width_05/insert/camera_frames_60hz.tar
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+size 9072640
diff --git a/Part2/Free/digiy/cylinder_15A_10/width_05/insert/camera_franka_gripper_aligned_60hz.csv.bak b/Part2/Free/digiy/cylinder_15A_10/width_05/insert/camera_franka_gripper_aligned_60hz.csv.bak
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index 0000000000000000000000000000000000000000..35c6154107def38050866f609a352ad0d1acb7bc
--- /dev/null
+++ b/Part2/Free/digiy/cylinder_15A_10/width_05/insert/camera_franka_gripper_aligned_60hz.csv.bak
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diff --git a/Part2/Free/digiy/cylinder_15A_10/width_05/insert/fem_node.csv b/Part2/Free/digiy/cylinder_15A_10/width_05/insert/fem_node.csv
new file mode 100644
index 0000000000000000000000000000000000000000..0a3051f0e6be03d6eaf132fe29851370b40e5fd3
--- /dev/null
+++ b/Part2/Free/digiy/cylinder_15A_10/width_05/insert/fem_node.csv
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diff --git a/Part2/Free/digiy/cylinder_15A_10/width_05/insert/franka_data.csv b/Part2/Free/digiy/cylinder_15A_10/width_05/insert/franka_data.csv
new file mode 100644
index 0000000000000000000000000000000000000000..89eb337f951393b6eafdf2b97ec965660555bf86
--- /dev/null
+++ b/Part2/Free/digiy/cylinder_15A_10/width_05/insert/franka_data.csv
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diff --git a/Part2/Free/digiy/cylinder_15A_10/width_05/insert/simulation_data.csv b/Part2/Free/digiy/cylinder_15A_10/width_05/insert/simulation_data.csv
new file mode 100644
index 0000000000000000000000000000000000000000..6c168b8018772537710af2b42049301e13e92573
--- /dev/null
+++ b/Part2/Free/digiy/cylinder_15A_10/width_05/insert/simulation_data.csv
@@ -0,0 +1,904 @@
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+++ b/Part2/Free/digiy/cylinder_15A_10/width_05/pick/camera_franka_gripper_aligned_60hz.csv.bak
@@ -0,0 +1,370 @@
+camera_output_sequence,camera_time_ns,camera_frame_kind,camera_source_a_sequence,camera_source_a_time_ns,camera_source_b_sequence,camera_source_b_time_ns,camera_interpolation_alpha,camera_image_path,camera_width_px,camera_height_px,task_alignment_valid,robot_alignment_valid,gripper_alignment_valid,task_ros_time_ns,camera_minus_task_time_ns,task_sequence,task_robot_time_ns,task_state,task_phase,task_failure_reason,task_attempt_reason,task_franka_control_command_success_rate,task_franka_robot_mode,task_franka_current_errors,cycle_index,attempt_index,insertion_success,commanded_gripper_width_m,task_measured_gripper_width_m,task_gripper_velocity_mps,task_gripper_acceleration_mps2,task_gripper_force_valid,task_gripper_force_raw_N,task_gripper_force_f0_N,task_gripper_force_zeroed_N,task_grasp_force_f1_N,task_actual_x_m,task_actual_y_m,task_actual_z_m,task_actual_qx,task_actual_qy,task_actual_qz,task_actual_qw,task_command_x_m,task_command_y_m,task_command_z_m,task_command_qx,task_command_qy,task_command_qz,task_command_qw,task_actual_vx_mps,task_actual_vy_mps,task_actual_vz_mps,task_actual_wx_radps,task_actual_wy_radps,task_actual_wz_radps,task_command_vx_mps,task_command_vy_mps,task_command_vz_mps,task_command_wx_radps,task_command_wy_radps,task_command_wz_radps,task_actual_ax_mps2,task_actual_ay_mps2,task_actual_az_mps2,task_actual_alpha_x_radps2,task_actual_alpha_y_radps2,task_actual_alpha_z_radps2,task_command_ax_mps2,task_command_ay_mps2,task_command_az_mps2,task_command_alpha_x_radps2,task_command_alpha_y_radps2,task_command_alpha_z_radps2,task_pose_position_error_m,task_pose_orientation_error_rad,robot_ros_time_ns,camera_minus_robot_time_ns,robot_mode,robot_control_command_success_rate,robot_time_sec,robot_current_errors,robot_ee_x_m,robot_ee_y_m,robot_ee_z_m,robot_ee_qx,robot_ee_qy,robot_ee_qz,robot_ee_qw,franka_base_fx_N,franka_base_fy_N,franka_base_fz_N,franka_base_mx_Nm,franka_base_my_Nm,franka_base_mz_Nm,franka_stiffness_fx_N,franka_stiffness_fy_N,franka_stiffness_fz_N,franka_stiffness_mx_Nm,franka_stiffness_my_Nm,franka_stiffness_mz_Nm,arm_joint_1_name,arm_joint_2_name,arm_joint_3_name,arm_joint_4_name,arm_joint_5_name,arm_joint_6_name,arm_joint_7_name,arm_joint_1_position_rad,arm_joint_2_position_rad,arm_joint_3_position_rad,arm_joint_4_position_rad,arm_joint_5_position_rad,arm_joint_6_position_rad,arm_joint_7_position_rad,arm_joint_1_velocity_radps,arm_joint_2_velocity_radps,arm_joint_3_velocity_radps,arm_joint_4_velocity_radps,arm_joint_5_velocity_radps,arm_joint_6_velocity_radps,arm_joint_7_velocity_radps,arm_joint_1_measured_effort_Nm,arm_joint_2_measured_effort_Nm,arm_joint_3_measured_effort_Nm,arm_joint_4_measured_effort_Nm,arm_joint_5_measured_effort_Nm,arm_joint_6_measured_effort_Nm,arm_joint_7_measured_effort_Nm,arm_joint_1_external_torque_Nm,arm_joint_2_external_torque_Nm,arm_joint_3_external_torque_Nm,arm_joint_4_external_torque_Nm,arm_joint_5_external_torque_Nm,arm_joint_6_external_torque_Nm,arm_joint_7_external_torque_Nm,arm_joint_1_measured_acceleration_radps2,arm_joint_2_measured_acceleration_radps2,arm_joint_3_measured_acceleration_radps2,arm_joint_4_measured_acceleration_radps2,arm_joint_5_measured_acceleration_radps2,arm_joint_6_measured_acceleration_radps2,arm_joint_7_measured_acceleration_radps2,arm_joint_1_desired_position_rad,arm_joint_2_desired_position_rad,arm_joint_3_desired_position_rad,arm_joint_4_desired_position_rad,arm_joint_5_desired_position_rad,arm_joint_6_desired_position_rad,arm_joint_7_desired_position_rad,arm_joint_1_desired_velocity_radps,arm_joint_2_desired_velocity_radps,arm_joint_3_desired_velocity_radps,arm_joint_4_desired_velocity_radps,arm_joint_5_desired_velocity_radps,arm_joint_6_desired_velocity_radps,arm_joint_7_desired_velocity_radps,arm_joint_1_desired_effort_Nm,arm_joint_2_desired_effort_Nm,arm_joint_3_desired_effort_Nm,arm_joint_4_desired_effort_Nm,arm_joint_5_desired_effort_Nm,arm_joint_6_desired_effort_Nm,arm_joint_7_desired_effort_Nm,arm_joint_1_desired_acceleration_radps2,arm_joint_2_desired_acceleration_radps2,arm_joint_3_desired_acceleration_radps2,arm_joint_4_desired_acceleration_radps2,arm_joint_5_desired_acceleration_radps2,arm_joint_6_desired_acceleration_radps2,arm_joint_7_desired_acceleration_radps2,robot_desired_ee_x_m,robot_desired_ee_y_m,robot_desired_ee_z_m,robot_desired_ee_qx,robot_desired_ee_qy,robot_desired_ee_qz,robot_desired_ee_qw,robot_commanded_ee_x_m,robot_commanded_ee_y_m,robot_commanded_ee_z_m,robot_commanded_ee_qx,robot_commanded_ee_qy,robot_commanded_ee_qz,robot_commanded_ee_qw,robot_desired_ee_vx_mps,robot_desired_ee_vy_mps,robot_desired_ee_vz_mps,robot_desired_ee_wx_radps,robot_desired_ee_wy_radps,robot_desired_ee_wz_radps,robot_commanded_ee_vx_mps,robot_commanded_ee_vy_mps,robot_commanded_ee_vz_mps,robot_commanded_ee_wx_radps,robot_commanded_ee_wy_radps,robot_commanded_ee_wz_radps,robot_commanded_ee_ax_mps2,robot_commanded_ee_ay_mps2,robot_commanded_ee_az_mps2,robot_commanded_ee_alpha_x_radps2,robot_commanded_ee_alpha_y_radps2,robot_commanded_ee_alpha_z_radps2,gripper_ros_time_ns,camera_minus_gripper_time_ns,finger_joint_1_name,finger_joint_1_position_m,finger_joint_1_velocity_mps,finger_joint_1_effort,finger_joint_2_name,finger_joint_2_position_m,finger_joint_2_velocity_mps,finger_joint_2_effort,gripper_measured_total_width_m,gripper_position_count
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diff --git a/Part2/Free/digiy/cylinder_15A_10/width_05/pick/fem_node.csv b/Part2/Free/digiy/cylinder_15A_10/width_05/pick/fem_node.csv
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--- /dev/null
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diff --git a/Part2/Free/digiy/cylinder_15A_10/width_05/pick/franka_data.csv b/Part2/Free/digiy/cylinder_15A_10/width_05/pick/franka_data.csv
new file mode 100644
index 0000000000000000000000000000000000000000..3b80ac899f2340e0830bbc5c1ef88b12984d8476
--- /dev/null
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diff --git a/Part2/Free/digiy/cylinder_15A_10/width_05/pick/simulation_data.csv b/Part2/Free/digiy/cylinder_15A_10/width_05/pick/simulation_data.csv
new file mode 100644
index 0000000000000000000000000000000000000000..99e3c15401eecb6291e1763ca8dbb63764f65a2a
--- /dev/null
+++ b/Part2/Free/digiy/cylinder_15A_10/width_05/pick/simulation_data.csv
@@ -0,0 +1,208 @@
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+++ b/Part2/Free/digiy/cylinder_15A_10/width_06/insert/camera_franka_gripper_aligned_60hz.csv.bak
@@ -0,0 +1,905 @@
+camera_output_sequence,camera_time_ns,camera_frame_kind,camera_source_a_sequence,camera_source_a_time_ns,camera_source_b_sequence,camera_source_b_time_ns,camera_interpolation_alpha,camera_image_path,camera_width_px,camera_height_px,task_alignment_valid,robot_alignment_valid,gripper_alignment_valid,task_ros_time_ns,camera_minus_task_time_ns,task_sequence,task_robot_time_ns,task_state,task_phase,task_failure_reason,task_attempt_reason,task_franka_control_command_success_rate,task_franka_robot_mode,task_franka_current_errors,cycle_index,attempt_index,insertion_success,commanded_gripper_width_m,task_measured_gripper_width_m,task_gripper_velocity_mps,task_gripper_acceleration_mps2,task_gripper_force_valid,task_gripper_force_raw_N,task_gripper_force_f0_N,task_gripper_force_zeroed_N,task_grasp_force_f1_N,task_actual_x_m,task_actual_y_m,task_actual_z_m,task_actual_qx,task_actual_qy,task_actual_qz,task_actual_qw,task_command_x_m,task_command_y_m,task_command_z_m,task_command_qx,task_command_qy,task_command_qz,task_command_qw,task_actual_vx_mps,task_actual_vy_mps,task_actual_vz_mps,task_actual_wx_radps,task_actual_wy_radps,task_actual_wz_radps,task_command_vx_mps,task_command_vy_mps,task_command_vz_mps,task_command_wx_radps,task_command_wy_radps,task_command_wz_radps,task_actual_ax_mps2,task_actual_ay_mps2,task_actual_az_mps2,task_actual_alpha_x_radps2,task_actual_alpha_y_radps2,task_actual_alpha_z_radps2,task_command_ax_mps2,task_command_ay_mps2,task_command_az_mps2,task_command_alpha_x_radps2,task_command_alpha_y_radps2,task_command_alpha_z_radps2,task_pose_position_error_m,task_pose_orientation_error_rad,robot_ros_time_ns,camera_minus_robot_time_ns,robot_mode,robot_control_command_success_rate,robot_time_sec,robot_current_errors,robot_ee_x_m,robot_ee_y_m,robot_ee_z_m,robot_ee_qx,robot_ee_qy,robot_ee_qz,robot_ee_qw,franka_base_fx_N,franka_base_fy_N,franka_base_fz_N,franka_base_mx_Nm,franka_base_my_Nm,franka_base_mz_Nm,franka_stiffness_fx_N,franka_stiffness_fy_N,franka_stiffness_fz_N,franka_stiffness_mx_Nm,franka_stiffness_my_Nm,franka_stiffness_mz_Nm,arm_joint_1_name,arm_joint_2_name,arm_joint_3_name,arm_joint_4_name,arm_joint_5_name,arm_joint_6_name,arm_joint_7_name,arm_joint_1_position_rad,arm_joint_2_position_rad,arm_joint_3_position_rad,arm_joint_4_position_rad,arm_joint_5_position_rad,arm_joint_6_position_rad,arm_joint_7_position_rad,arm_joint_1_velocity_radps,arm_joint_2_velocity_radps,arm_joint_3_velocity_radps,arm_joint_4_velocity_radps,arm_joint_5_velocity_radps,arm_joint_6_velocity_radps,arm_joint_7_velocity_radps,arm_joint_1_measured_effort_Nm,arm_joint_2_measured_effort_Nm,arm_joint_3_measured_effort_Nm,arm_joint_4_measured_effort_Nm,arm_joint_5_measured_effort_Nm,arm_joint_6_measured_effort_Nm,arm_joint_7_measured_effort_Nm,arm_joint_1_external_torque_Nm,arm_joint_2_external_torque_Nm,arm_joint_3_external_torque_Nm,arm_joint_4_external_torque_Nm,arm_joint_5_external_torque_Nm,arm_joint_6_external_torque_Nm,arm_joint_7_external_torque_Nm,arm_joint_1_measured_acceleration_radps2,arm_joint_2_measured_acceleration_radps2,arm_joint_3_measured_acceleration_radps2,arm_joint_4_measured_acceleration_radps2,arm_joint_5_measured_acceleration_radps2,arm_joint_6_measured_acceleration_radps2,arm_joint_7_measured_acceleration_radps2,arm_joint_1_desired_position_rad,arm_joint_2_desired_position_rad,arm_joint_3_desired_position_rad,arm_joint_4_desired_position_rad,arm_joint_5_desired_position_rad,arm_joint_6_desired_position_rad,arm_joint_7_desired_position_rad,arm_joint_1_desired_velocity_radps,arm_joint_2_desired_velocity_radps,arm_joint_3_desired_velocity_radps,arm_joint_4_desired_velocity_radps,arm_joint_5_desired_velocity_radps,arm_joint_6_desired_velocity_radps,arm_joint_7_desired_velocity_radps,arm_joint_1_desired_effort_Nm,arm_joint_2_desired_effort_Nm,arm_joint_3_desired_effort_Nm,arm_joint_4_desired_effort_Nm,arm_joint_5_desired_effort_Nm,arm_joint_6_desired_effort_Nm,arm_joint_7_desired_effort_Nm,arm_joint_1_desired_acceleration_radps2,arm_joint_2_desired_acceleration_radps2,arm_joint_3_desired_acceleration_radps2,arm_joint_4_desired_acceleration_radps2,arm_joint_5_desired_acceleration_radps2,arm_joint_6_desired_acceleration_radps2,arm_joint_7_desired_acceleration_radps2,robot_desired_ee_x_m,robot_desired_ee_y_m,robot_desired_ee_z_m,robot_desired_ee_qx,robot_desired_ee_qy,robot_desired_ee_qz,robot_desired_ee_qw,robot_commanded_ee_x_m,robot_commanded_ee_y_m,robot_commanded_ee_z_m,robot_commanded_ee_qx,robot_commanded_ee_qy,robot_commanded_ee_qz,robot_commanded_ee_qw,robot_desired_ee_vx_mps,robot_desired_ee_vy_mps,robot_desired_ee_vz_mps,robot_desired_ee_wx_radps,robot_desired_ee_wy_radps,robot_desired_ee_wz_radps,robot_commanded_ee_vx_mps,robot_commanded_ee_vy_mps,robot_commanded_ee_vz_mps,robot_commanded_ee_wx_radps,robot_commanded_ee_wy_radps,robot_commanded_ee_wz_radps,robot_commanded_ee_ax_mps2,robot_commanded_ee_ay_mps2,robot_commanded_ee_az_mps2,robot_commanded_ee_alpha_x_radps2,robot_commanded_ee_alpha_y_radps2,robot_commanded_ee_alpha_z_radps2,gripper_ros_time_ns,camera_minus_gripper_time_ns,finger_joint_1_name,finger_joint_1_position_m,finger_joint_1_velocity_mps,finger_joint_1_effort,finger_joint_2_name,finger_joint_2_position_m,finger_joint_2_velocity_mps,finger_joint_2_effort,gripper_measured_total_width_m,gripper_position_count
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diff --git a/Part2/Free/digiy/cylinder_15A_10/width_06/insert/fem_node.csv b/Part2/Free/digiy/cylinder_15A_10/width_06/insert/fem_node.csv
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index 0000000000000000000000000000000000000000..0ee696118e15c1bffb1889609b9053331ddd1c70
--- /dev/null
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diff --git a/Part2/Free/digiy/cylinder_15A_10/width_06/insert/franka_data.csv b/Part2/Free/digiy/cylinder_15A_10/width_06/insert/franka_data.csv
new file mode 100644
index 0000000000000000000000000000000000000000..a0b5bf16cc92e9dc40fc5cdaa461fa07086d025f
--- /dev/null
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diff --git a/Part2/Free/digiy/cylinder_15A_10/width_06/insert/simulation_data.csv b/Part2/Free/digiy/cylinder_15A_10/width_06/insert/simulation_data.csv
new file mode 100644
index 0000000000000000000000000000000000000000..69e5853dbd4faf70f864450d36d12467660ccf02
--- /dev/null
+++ b/Part2/Free/digiy/cylinder_15A_10/width_06/insert/simulation_data.csv
@@ -0,0 +1,904 @@
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+++ b/Part2/Free/digiy/cylinder_15A_10/width_06/pick/camera_franka_gripper_aligned_60hz.csv.bak
@@ -0,0 +1,381 @@
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a_y_radps2,robot_commanded_ee_alpha_z_radps2,gripper_ros_time_ns,camera_minus_gripper_time_ns,finger_joint_1_name,finger_joint_1_position_m,finger_joint_1_velocity_mps,finger_joint_1_effort,finger_joint_2_name,finger_joint_2_position_m,finger_joint_2_velocity_mps,finger_joint_2_effort,gripper_measured_total_width_m,gripper_position_count
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diff --git a/Part2/Free/digiy/cylinder_15A_10/width_06/pick/fem_node.csv b/Part2/Free/digiy/cylinder_15A_10/width_06/pick/fem_node.csv
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--- /dev/null
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diff --git a/Part2/Free/digiy/cylinder_15A_10/width_06/pick/franka_data.csv b/Part2/Free/digiy/cylinder_15A_10/width_06/pick/franka_data.csv
new file mode 100644
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--- /dev/null
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diff --git a/Part2/Free/digiy/cylinder_15A_10/width_06/pick/simulation_data.csv b/Part2/Free/digiy/cylinder_15A_10/width_06/pick/simulation_data.csv
new file mode 100644
index 0000000000000000000000000000000000000000..2819b38a8076ce012666cbca0b3909669d4f85d7
--- /dev/null
+++ b/Part2/Free/digiy/cylinder_15A_10/width_06/pick/simulation_data.csv
@@ -0,0 +1,208 @@
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diff --git a/Part2/Free/digiy/cylinder_15A_10/width_07/insert/camera_frames_60hz.tar b/Part2/Free/digiy/cylinder_15A_10/width_07/insert/camera_frames_60hz.tar
new file mode 100644
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--- /dev/null
+++ b/Part2/Free/digiy/cylinder_15A_10/width_07/insert/camera_frames_60hz.tar
@@ -0,0 +1,3 @@
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+oid sha256:bee92431e4baf92cb0e68e5115e5ede86253812262b3dd84993c65db05806c35
+size 8734720
diff --git a/Part2/Free/digiy/cylinder_15A_10/width_07/insert/camera_franka_gripper_aligned_60hz.csv.bak b/Part2/Free/digiy/cylinder_15A_10/width_07/insert/camera_franka_gripper_aligned_60hz.csv.bak
new file mode 100644
index 0000000000000000000000000000000000000000..6eb5733dec464b896225b29aabeb9c45652dd251
--- /dev/null
+++ b/Part2/Free/digiy/cylinder_15A_10/width_07/insert/camera_franka_gripper_aligned_60hz.csv.bak
@@ -0,0 +1,872 @@
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diff --git a/Part2/Free/digiy/cylinder_15A_10/width_07/insert/fem_node.csv b/Part2/Free/digiy/cylinder_15A_10/width_07/insert/fem_node.csv
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index 0000000000000000000000000000000000000000..0aa1754f540ab21d5b1d382bf682d9d7a21b0a74
--- /dev/null
+++ b/Part2/Free/digiy/cylinder_15A_10/width_07/insert/fem_node.csv
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diff --git a/Part2/Free/digiy/cylinder_15A_10/width_07/insert/franka_data.csv b/Part2/Free/digiy/cylinder_15A_10/width_07/insert/franka_data.csv
new file mode 100644
index 0000000000000000000000000000000000000000..e04687630ea16ff87ccb917f478cd1f0d5bfc10c
--- /dev/null
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diff --git a/Part2/Free/digiy/cylinder_15A_10/width_07/insert/simulation_data.csv b/Part2/Free/digiy/cylinder_15A_10/width_07/insert/simulation_data.csv
new file mode 100644
index 0000000000000000000000000000000000000000..8ec323fa86b42e3ee0e3a2fcf07213e1e4645fd8
--- /dev/null
+++ b/Part2/Free/digiy/cylinder_15A_10/width_07/insert/simulation_data.csv
@@ -0,0 +1,897 @@
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+++ b/Part2/Free/digiy/cylinder_15A_10/width_07/pick/camera_franka_gripper_aligned_60hz.csv.bak
@@ -0,0 +1,375 @@
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a_y_radps2,robot_commanded_ee_alpha_z_radps2,gripper_ros_time_ns,camera_minus_gripper_time_ns,finger_joint_1_name,finger_joint_1_position_m,finger_joint_1_velocity_mps,finger_joint_1_effort,finger_joint_2_name,finger_joint_2_position_m,finger_joint_2_velocity_mps,finger_joint_2_effort,gripper_measured_total_width_m,gripper_position_count
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diff --git a/Part2/Free/digiy/cylinder_15A_10/width_07/pick/fem_node.csv b/Part2/Free/digiy/cylinder_15A_10/width_07/pick/fem_node.csv
new file mode 100644
index 0000000000000000000000000000000000000000..a4004ecc830ae75cf0ccfdb484663f55050320d4
--- /dev/null
+++ b/Part2/Free/digiy/cylinder_15A_10/width_07/pick/fem_node.csv
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diff --git a/Part2/Free/digiy/cylinder_15A_10/width_07/pick/franka_data.csv b/Part2/Free/digiy/cylinder_15A_10/width_07/pick/franka_data.csv
new file mode 100644
index 0000000000000000000000000000000000000000..206c2ba0dbca94d8b48f4d86a4107937fa883fce
--- /dev/null
+++ b/Part2/Free/digiy/cylinder_15A_10/width_07/pick/franka_data.csv
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diff --git a/Part2/Free/digiy/cylinder_15A_10/width_07/pick/simulation_data.csv b/Part2/Free/digiy/cylinder_15A_10/width_07/pick/simulation_data.csv
new file mode 100644
index 0000000000000000000000000000000000000000..4ca758a5745a9eb556749ae3aafa122e281d26d9
--- /dev/null
+++ b/Part2/Free/digiy/cylinder_15A_10/width_07/pick/simulation_data.csv
@@ -0,0 +1,208 @@
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diff --git a/Part2/Free/digiy/cylinder_15A_10/width_08/insert/camera_frames_60hz.tar b/Part2/Free/digiy/cylinder_15A_10/width_08/insert/camera_frames_60hz.tar
new file mode 100644
index 0000000000000000000000000000000000000000..cb7d82f2057ba99326731eb70a8890b892047c14
--- /dev/null
+++ b/Part2/Free/digiy/cylinder_15A_10/width_08/insert/camera_frames_60hz.tar
@@ -0,0 +1,3 @@
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+oid sha256:301f2537a63195709cede9dd9c47abbd41d119079480aecdb483642ab0744f79
+size 8785920
diff --git a/Part2/Free/digiy/cylinder_15A_10/width_08/insert/camera_franka_gripper_aligned_60hz.csv.bak b/Part2/Free/digiy/cylinder_15A_10/width_08/insert/camera_franka_gripper_aligned_60hz.csv.bak
new file mode 100644
index 0000000000000000000000000000000000000000..18a24db1fef66a9afa9c4e6f4130101c4d6a5159
--- /dev/null
+++ b/Part2/Free/digiy/cylinder_15A_10/width_08/insert/camera_franka_gripper_aligned_60hz.csv.bak
@@ -0,0 +1,877 @@
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diff --git a/Part2/Free/digiy/cylinder_15A_10/width_08/insert/fem_node.csv b/Part2/Free/digiy/cylinder_15A_10/width_08/insert/fem_node.csv
new file mode 100644
index 0000000000000000000000000000000000000000..2e9eab03972246124f858b599a02a4b374a449c3
--- /dev/null
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diff --git a/Part2/Free/digiy/cylinder_15A_10/width_08/insert/franka_data.csv b/Part2/Free/digiy/cylinder_15A_10/width_08/insert/franka_data.csv
new file mode 100644
index 0000000000000000000000000000000000000000..e3fed117e39cc3eb3a5ac7599029ff8d42c8b58e
--- /dev/null
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diff --git a/Part2/Free/digiy/cylinder_15A_10/width_08/insert/simulation_data.csv b/Part2/Free/digiy/cylinder_15A_10/width_08/insert/simulation_data.csv
new file mode 100644
index 0000000000000000000000000000000000000000..3407ed95eab24b45b4b89069dc9bebce584603b1
--- /dev/null
+++ b/Part2/Free/digiy/cylinder_15A_10/width_08/insert/simulation_data.csv
@@ -0,0 +1,904 @@
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diff --git a/Part2/Free/digiy/cylinder_15A_10/width_08/pick/camera_frames_60hz.tar b/Part2/Free/digiy/cylinder_15A_10/width_08/pick/camera_frames_60hz.tar
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--- /dev/null
+++ b/Part2/Free/digiy/cylinder_15A_10/width_08/pick/camera_frames_60hz.tar
@@ -0,0 +1,3 @@
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diff --git a/Part2/Free/digiy/cylinder_15A_10/width_08/pick/camera_franka_gripper_aligned_60hz.csv.bak b/Part2/Free/digiy/cylinder_15A_10/width_08/pick/camera_franka_gripper_aligned_60hz.csv.bak
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--- /dev/null
+++ b/Part2/Free/digiy/cylinder_15A_10/width_08/pick/camera_franka_gripper_aligned_60hz.csv.bak
@@ -0,0 +1,375 @@
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a_y_radps2,robot_commanded_ee_alpha_z_radps2,gripper_ros_time_ns,camera_minus_gripper_time_ns,finger_joint_1_name,finger_joint_1_position_m,finger_joint_1_velocity_mps,finger_joint_1_effort,finger_joint_2_name,finger_joint_2_position_m,finger_joint_2_velocity_mps,finger_joint_2_effort,gripper_measured_total_width_m,gripper_position_count
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