diff --git a/.gitattributes b/.gitattributes
index cfd781e0d1e14dcbfe2e60a11af393af0ff5f8aa..58ca1096f60629f9ada46474e700d66cc08a2011 100644
--- a/.gitattributes
+++ b/.gitattributes
@@ -14263,3 +14263,18 @@ Part2/Free/digiy/cylinder_0030_20/width_05/pick/fem_node.csv filter=lfs diff=lfs
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 Part2/Free/digiy/cylinder_0030_20/width_06/pick/fem_node.csv filter=lfs diff=lfs merge=lfs -text
 Part2/Free/digiy/cylinder_0030_20/width_07/insert/fem_node.csv filter=lfs diff=lfs merge=lfs -text
+Part2/Free/digiy/cylinder_0030_20/width_07/pick/fem_node.csv filter=lfs diff=lfs merge=lfs -text
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+Part2/Free/digiy/cylinder_0030_20/width_09/pick/fem_node.csv filter=lfs diff=lfs merge=lfs -text
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diff --git a/Part2/Free/digiy/cylinder_0030_20/width_07/pick/fem_node.csv b/Part2/Free/digiy/cylinder_0030_20/width_07/pick/fem_node.csv
new file mode 100644
index 0000000000000000000000000000000000000000..5d1fc54bced1e0e3b0aa5bd4d678255917fe8254
--- /dev/null
+++ b/Part2/Free/digiy/cylinder_0030_20/width_07/pick/fem_node.csv
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diff --git a/Part2/Free/digiy/cylinder_0030_20/width_07/pick/franka_data.csv b/Part2/Free/digiy/cylinder_0030_20/width_07/pick/franka_data.csv
new file mode 100644
index 0000000000000000000000000000000000000000..9bff6860f8f5bd9003e71e41bb61d2b265ef850d
--- /dev/null
+++ b/Part2/Free/digiy/cylinder_0030_20/width_07/pick/franka_data.csv
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diff --git a/Part2/Free/digiy/cylinder_0030_20/width_07/pick/simulation_data.csv b/Part2/Free/digiy/cylinder_0030_20/width_07/pick/simulation_data.csv
new file mode 100644
index 0000000000000000000000000000000000000000..1093f2742fe7bcc55e8cada2d6ec96b7d1696589
--- /dev/null
+++ b/Part2/Free/digiy/cylinder_0030_20/width_07/pick/simulation_data.csv
@@ -0,0 +1,196 @@
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+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_0030_20/width_08/insert/fem_node.csv b/Part2/Free/digiy/cylinder_0030_20/width_08/insert/fem_node.csv
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index 0000000000000000000000000000000000000000..c958207201a90bfbb7be4aaf72c629ca39d4a0d0
--- /dev/null
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diff --git a/Part2/Free/digiy/cylinder_0030_20/width_08/insert/franka_data.csv b/Part2/Free/digiy/cylinder_0030_20/width_08/insert/franka_data.csv
new file mode 100644
index 0000000000000000000000000000000000000000..66247fe8177bf05737f135f68501841186f1442e
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diff --git a/Part2/Free/digiy/cylinder_0030_20/width_08/insert/simulation_data.csv b/Part2/Free/digiy/cylinder_0030_20/width_08/insert/simulation_data.csv
new file mode 100644
index 0000000000000000000000000000000000000000..83f1e97bed7374df8ce4f95a5e5dbddca0600443
--- /dev/null
+++ b/Part2/Free/digiy/cylinder_0030_20/width_08/insert/simulation_data.csv
@@ -0,0 +1,823 @@
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+++ b/Part2/Free/digiy/cylinder_0030_20/width_08/pick/camera_franka_gripper_aligned_60hz.csv.bak
@@ -0,0 +1,343 @@
+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_0030_20/width_08/pick/fem_node.csv b/Part2/Free/digiy/cylinder_0030_20/width_08/pick/fem_node.csv
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--- /dev/null
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diff --git a/Part2/Free/digiy/cylinder_0030_20/width_08/pick/franka_data.csv b/Part2/Free/digiy/cylinder_0030_20/width_08/pick/franka_data.csv
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diff --git a/Part2/Free/digiy/cylinder_0030_20/width_08/pick/simulation_data.csv b/Part2/Free/digiy/cylinder_0030_20/width_08/pick/simulation_data.csv
new file mode 100644
index 0000000000000000000000000000000000000000..949fc21bbcaa8959c7cff190dc2298a5310c4758
--- /dev/null
+++ b/Part2/Free/digiy/cylinder_0030_20/width_08/pick/simulation_data.csv
@@ -0,0 +1,197 @@
+aligned_frame,aligned_time_s,alignment_phase,gripper_y_m,gripper_z_m,ipc_midpoint_y_m,ipc_midpoint_z_m
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diff --git a/Part2/Free/digiy/cylinder_0030_20/width_09/insert/camera_frames_60hz.tar b/Part2/Free/digiy/cylinder_0030_20/width_09/insert/camera_frames_60hz.tar
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--- /dev/null
+++ b/Part2/Free/digiy/cylinder_0030_20/width_09/insert/camera_frames_60hz.tar
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diff --git a/Part2/Free/digiy/cylinder_0030_20/width_09/insert/camera_franka_gripper_aligned_60hz.csv.bak b/Part2/Free/digiy/cylinder_0030_20/width_09/insert/camera_franka_gripper_aligned_60hz.csv.bak
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--- /dev/null
+++ b/Part2/Free/digiy/cylinder_0030_20/width_09/insert/camera_franka_gripper_aligned_60hz.csv.bak
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diff --git a/Part2/Free/digiy/cylinder_0030_20/width_09/insert/fem_node.csv b/Part2/Free/digiy/cylinder_0030_20/width_09/insert/fem_node.csv
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index 0000000000000000000000000000000000000000..cd8c285f0fb7c1108721d364ec29f021c6e7793b
--- /dev/null
+++ b/Part2/Free/digiy/cylinder_0030_20/width_09/insert/fem_node.csv
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+size 83026709
diff --git a/Part2/Free/digiy/cylinder_0030_20/width_09/insert/franka_data.csv b/Part2/Free/digiy/cylinder_0030_20/width_09/insert/franka_data.csv
new file mode 100644
index 0000000000000000000000000000000000000000..be18f7abfc0fae4db4a7736e44bdf47ea1ffcaf3
--- /dev/null
+++ b/Part2/Free/digiy/cylinder_0030_20/width_09/insert/franka_data.csv
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diff --git a/Part2/Free/digiy/cylinder_0030_20/width_09/insert/simulation_data.csv b/Part2/Free/digiy/cylinder_0030_20/width_09/insert/simulation_data.csv
new file mode 100644
index 0000000000000000000000000000000000000000..b2cd4934127d46a234542054faa7e153b62cf5d1
--- /dev/null
+++ b/Part2/Free/digiy/cylinder_0030_20/width_09/insert/simulation_data.csv
@@ -0,0 +1,823 @@
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+++ b/Part2/Free/digiy/cylinder_0030_20/width_09/pick/camera_franka_gripper_aligned_60hz.csv.bak
@@ -0,0 +1,337 @@
+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_0030_20/width_09/pick/fem_node.csv b/Part2/Free/digiy/cylinder_0030_20/width_09/pick/fem_node.csv
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--- /dev/null
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diff --git a/Part2/Free/digiy/cylinder_0030_20/width_09/pick/franka_data.csv b/Part2/Free/digiy/cylinder_0030_20/width_09/pick/franka_data.csv
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index 0000000000000000000000000000000000000000..36705c915f7f88793b566dc015179557934bfa87
--- /dev/null
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diff --git a/Part2/Free/digiy/cylinder_0030_20/width_09/pick/simulation_data.csv b/Part2/Free/digiy/cylinder_0030_20/width_09/pick/simulation_data.csv
new file mode 100644
index 0000000000000000000000000000000000000000..7e5a7c038c945c0d9666940c52ec02c7c9f0a166
--- /dev/null
+++ b/Part2/Free/digiy/cylinder_0030_20/width_09/pick/simulation_data.csv
@@ -0,0 +1,197 @@
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diff --git a/Part2/Free/digiy/cylinder_0030_20/width_10/insert/camera_frames_60hz.tar b/Part2/Free/digiy/cylinder_0030_20/width_10/insert/camera_frames_60hz.tar
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--- /dev/null
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diff --git a/Part2/Free/digiy/cylinder_0030_20/width_10/insert/camera_franka_gripper_aligned_60hz.csv.bak b/Part2/Free/digiy/cylinder_0030_20/width_10/insert/camera_franka_gripper_aligned_60hz.csv.bak
new file mode 100644
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--- /dev/null
+++ b/Part2/Free/digiy/cylinder_0030_20/width_10/insert/camera_franka_gripper_aligned_60hz.csv.bak
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diff --git a/Part2/Free/digiy/cylinder_0030_20/width_10/insert/fem_node.csv b/Part2/Free/digiy/cylinder_0030_20/width_10/insert/fem_node.csv
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index 0000000000000000000000000000000000000000..1bc8b0f96403ee8eb3a4dbd91ecb41cd3fa81a31
--- /dev/null
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diff --git a/Part2/Free/digiy/cylinder_0030_20/width_10/insert/franka_data.csv b/Part2/Free/digiy/cylinder_0030_20/width_10/insert/franka_data.csv
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index 0000000000000000000000000000000000000000..66d1e6bf3a9e105c018db821d8da13872ccd07a4
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diff --git a/Part2/Free/digiy/cylinder_0030_20/width_10/insert/simulation_data.csv b/Part2/Free/digiy/cylinder_0030_20/width_10/insert/simulation_data.csv
new file mode 100644
index 0000000000000000000000000000000000000000..4430dce9feb65390c602236a149e03eb8ed45a93
--- /dev/null
+++ b/Part2/Free/digiy/cylinder_0030_20/width_10/insert/simulation_data.csv
@@ -0,0 +1,823 @@
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diff --git a/Part2/Free/digiy/cylinder_0030_20/width_10/pick/camera_frames_60hz.tar b/Part2/Free/digiy/cylinder_0030_20/width_10/pick/camera_frames_60hz.tar
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--- /dev/null
+++ b/Part2/Free/digiy/cylinder_0030_20/width_10/pick/camera_frames_60hz.tar
@@ -0,0 +1,3 @@
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+size 1904640
diff --git a/Part2/Free/digiy/cylinder_0030_20/width_10/pick/camera_franka_gripper_aligned_60hz.csv.bak b/Part2/Free/digiy/cylinder_0030_20/width_10/pick/camera_franka_gripper_aligned_60hz.csv.bak
new file mode 100644
index 0000000000000000000000000000000000000000..f9fb2cc7c8cd17bfde7c9594170948180dc275cc
--- /dev/null
+++ b/Part2/Free/digiy/cylinder_0030_20/width_10/pick/camera_franka_gripper_aligned_60hz.csv.bak
@@ -0,0 +1,325 @@
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--- /dev/null
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diff --git a/Part2/Free/digiy/cylinder_0030_20/width_10/pick/franka_data.csv b/Part2/Free/digiy/cylinder_0030_20/width_10/pick/franka_data.csv
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index 0000000000000000000000000000000000000000..d7fec299cfee17479a9f0da39231942b91870412
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diff --git a/Part2/Free/digiy/cylinder_0030_20/width_10/pick/simulation_data.csv b/Part2/Free/digiy/cylinder_0030_20/width_10/pick/simulation_data.csv
new file mode 100644
index 0000000000000000000000000000000000000000..e8bb33a16147a72dd3fea9df38956e8cfd1f774a
--- /dev/null
+++ b/Part2/Free/digiy/cylinder_0030_20/width_10/pick/simulation_data.csv
@@ -0,0 +1,196 @@
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diff --git a/Part2/Free/digiy/cylinder_0050_10/width_01/insert/camera_frames_60hz.tar b/Part2/Free/digiy/cylinder_0050_10/width_01/insert/camera_frames_60hz.tar
new file mode 100644
index 0000000000000000000000000000000000000000..8999dc98f852315b69560b43e8c823dcf65a9cc2
--- /dev/null
+++ b/Part2/Free/digiy/cylinder_0050_10/width_01/insert/camera_frames_60hz.tar
@@ -0,0 +1,3 @@
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+oid sha256:8cbaebe878ab6caa482757b5d5c59384c4257ab8ddcc3d7f15e50a686beca3a3
+size 9154560
diff --git a/Part2/Free/digiy/cylinder_0050_10/width_01/insert/camera_franka_gripper_aligned_60hz.csv.bak b/Part2/Free/digiy/cylinder_0050_10/width_01/insert/camera_franka_gripper_aligned_60hz.csv.bak
new file mode 100644
index 0000000000000000000000000000000000000000..247dfffe8f8cbe320f703a101f13919f06627844
--- /dev/null
+++ b/Part2/Free/digiy/cylinder_0050_10/width_01/insert/camera_franka_gripper_aligned_60hz.csv.bak
@@ -0,0 +1,912 @@
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diff --git a/Part2/Free/digiy/cylinder_0050_10/width_01/insert/fem_node.csv b/Part2/Free/digiy/cylinder_0050_10/width_01/insert/fem_node.csv
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--- /dev/null
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diff --git a/Part2/Free/digiy/cylinder_0050_10/width_01/insert/franka_data.csv b/Part2/Free/digiy/cylinder_0050_10/width_01/insert/franka_data.csv
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diff --git a/Part2/Free/digiy/cylinder_0050_10/width_01/insert/simulation_data.csv b/Part2/Free/digiy/cylinder_0050_10/width_01/insert/simulation_data.csv
new file mode 100644
index 0000000000000000000000000000000000000000..e8ba04c74be504f6b3e5038441320bd69ddd9947
--- /dev/null
+++ b/Part2/Free/digiy/cylinder_0050_10/width_01/insert/simulation_data.csv
@@ -0,0 +1,904 @@
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diff --git a/Part2/Free/digiy/cylinder_0050_10/width_01/pick/camera_frames_60hz.tar b/Part2/Free/digiy/cylinder_0050_10/width_01/pick/camera_frames_60hz.tar
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+++ b/Part2/Free/digiy/cylinder_0050_10/width_01/pick/camera_frames_60hz.tar
@@ -0,0 +1,3 @@
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diff --git a/Part2/Free/digiy/cylinder_0050_10/width_01/pick/camera_franka_gripper_aligned_60hz.csv.bak b/Part2/Free/digiy/cylinder_0050_10/width_01/pick/camera_franka_gripper_aligned_60hz.csv.bak
new file mode 100644
index 0000000000000000000000000000000000000000..263b19a53fdb542b065512b7f78b6b4ed553f071
--- /dev/null
+++ b/Part2/Free/digiy/cylinder_0050_10/width_01/pick/camera_franka_gripper_aligned_60hz.csv.bak
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diff --git a/Part2/Free/digiy/cylinder_0050_10/width_01/pick/fem_node.csv b/Part2/Free/digiy/cylinder_0050_10/width_01/pick/fem_node.csv
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index 0000000000000000000000000000000000000000..44ec8dbc64dc1deea7004b5898c66b4999903ffd
--- /dev/null
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diff --git a/Part2/Free/digiy/cylinder_0050_10/width_01/pick/franka_data.csv b/Part2/Free/digiy/cylinder_0050_10/width_01/pick/franka_data.csv
new file mode 100644
index 0000000000000000000000000000000000000000..119cc30c7763c0726aeaa22f2f6b349e59df63d6
--- /dev/null
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diff --git a/Part2/Free/digiy/cylinder_0050_10/width_01/pick/simulation_data.csv b/Part2/Free/digiy/cylinder_0050_10/width_01/pick/simulation_data.csv
new file mode 100644
index 0000000000000000000000000000000000000000..c0742f12d5cb020a5b9e2ba80ccdfe95746d2d10
--- /dev/null
+++ b/Part2/Free/digiy/cylinder_0050_10/width_01/pick/simulation_data.csv
@@ -0,0 +1,208 @@
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diff --git a/Part2/Free/digiy/cylinder_0050_10/width_02/insert/camera_frames_60hz.tar b/Part2/Free/digiy/cylinder_0050_10/width_02/insert/camera_frames_60hz.tar
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--- /dev/null
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diff --git a/Part2/Free/digiy/cylinder_0050_10/width_02/insert/camera_franka_gripper_aligned_60hz.csv.bak b/Part2/Free/digiy/cylinder_0050_10/width_02/insert/camera_franka_gripper_aligned_60hz.csv.bak
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--- /dev/null
+++ b/Part2/Free/digiy/cylinder_0050_10/width_02/insert/camera_franka_gripper_aligned_60hz.csv.bak
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diff --git a/Part2/Free/digiy/cylinder_0050_10/width_02/insert/fem_node.csv b/Part2/Free/digiy/cylinder_0050_10/width_02/insert/fem_node.csv
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index 0000000000000000000000000000000000000000..4d3de6e7dfdf70dfa55aae9f6ecda30d1ac2b7d3
--- /dev/null
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diff --git a/Part2/Free/digiy/cylinder_0050_10/width_02/insert/franka_data.csv b/Part2/Free/digiy/cylinder_0050_10/width_02/insert/franka_data.csv
new file mode 100644
index 0000000000000000000000000000000000000000..b8742537f5be7fb7bed09582881f6766c23aeb5e
--- /dev/null
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diff --git a/Part2/Free/digiy/cylinder_0050_10/width_02/insert/simulation_data.csv b/Part2/Free/digiy/cylinder_0050_10/width_02/insert/simulation_data.csv
new file mode 100644
index 0000000000000000000000000000000000000000..2121134b48a26987e5ff1a551d2c65b0f9f92efd
--- /dev/null
+++ b/Part2/Free/digiy/cylinder_0050_10/width_02/insert/simulation_data.csv
@@ -0,0 +1,904 @@
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diff --git a/Part2/Free/digiy/cylinder_0050_10/width_02/pick/camera_frames_60hz.tar b/Part2/Free/digiy/cylinder_0050_10/width_02/pick/camera_frames_60hz.tar
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--- /dev/null
+++ b/Part2/Free/digiy/cylinder_0050_10/width_02/pick/camera_frames_60hz.tar
@@ -0,0 +1,3 @@
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diff --git a/Part2/Free/digiy/cylinder_0050_10/width_02/pick/camera_franka_gripper_aligned_60hz.csv.bak b/Part2/Free/digiy/cylinder_0050_10/width_02/pick/camera_franka_gripper_aligned_60hz.csv.bak
new file mode 100644
index 0000000000000000000000000000000000000000..b348eedb49f97ad00c34803199bc4214330a9eaa
--- /dev/null
+++ b/Part2/Free/digiy/cylinder_0050_10/width_02/pick/camera_franka_gripper_aligned_60hz.csv.bak
@@ -0,0 +1,368 @@
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diff --git a/Part2/Free/digiy/cylinder_0050_10/width_02/pick/fem_node.csv b/Part2/Free/digiy/cylinder_0050_10/width_02/pick/fem_node.csv
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index 0000000000000000000000000000000000000000..596dd13aa7250b09a3926a84685ab30fc77b89c8
--- /dev/null
+++ b/Part2/Free/digiy/cylinder_0050_10/width_02/pick/fem_node.csv
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diff --git a/Part2/Free/digiy/cylinder_0050_10/width_02/pick/franka_data.csv b/Part2/Free/digiy/cylinder_0050_10/width_02/pick/franka_data.csv
new file mode 100644
index 0000000000000000000000000000000000000000..25cc66b248011e07416e33101c19176fddf559fe
--- /dev/null
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diff --git a/Part2/Free/digiy/cylinder_0050_10/width_02/pick/simulation_data.csv b/Part2/Free/digiy/cylinder_0050_10/width_02/pick/simulation_data.csv
new file mode 100644
index 0000000000000000000000000000000000000000..90cb6d50e75777c6d53b044e21cd08a6bed42c9a
--- /dev/null
+++ b/Part2/Free/digiy/cylinder_0050_10/width_02/pick/simulation_data.csv
@@ -0,0 +1,208 @@
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+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_0050_10/width_03/insert/fem_node.csv b/Part2/Free/digiy/cylinder_0050_10/width_03/insert/fem_node.csv
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index 0000000000000000000000000000000000000000..d4597e9afcb78b950e80218e8ddbab27c0091e49
--- /dev/null
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diff --git a/Part2/Free/digiy/cylinder_0050_10/width_03/insert/franka_data.csv b/Part2/Free/digiy/cylinder_0050_10/width_03/insert/franka_data.csv
new file mode 100644
index 0000000000000000000000000000000000000000..8fc9d4d0424701134b745124c54b0d6526d3b5d0
--- /dev/null
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diff --git a/Part2/Free/digiy/cylinder_0050_10/width_03/insert/simulation_data.csv b/Part2/Free/digiy/cylinder_0050_10/width_03/insert/simulation_data.csv
new file mode 100644
index 0000000000000000000000000000000000000000..93281fe5d4530d420623d7400e9774711b00a2f1
--- /dev/null
+++ b/Part2/Free/digiy/cylinder_0050_10/width_03/insert/simulation_data.csv
@@ -0,0 +1,905 @@
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diff --git a/Part2/Free/digiy/cylinder_0050_10/width_03/pick/camera_frames_60hz.tar b/Part2/Free/digiy/cylinder_0050_10/width_03/pick/camera_frames_60hz.tar
new file mode 100644
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--- /dev/null
+++ b/Part2/Free/digiy/cylinder_0050_10/width_03/pick/camera_frames_60hz.tar
@@ -0,0 +1,3 @@
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+size 2099200
diff --git a/Part2/Free/digiy/cylinder_0050_10/width_03/pick/camera_franka_gripper_aligned_60hz.csv.bak b/Part2/Free/digiy/cylinder_0050_10/width_03/pick/camera_franka_gripper_aligned_60hz.csv.bak
new file mode 100644
index 0000000000000000000000000000000000000000..d2284a383d6f1a1fc7e4746cf02a9d32cc56cf13
--- /dev/null
+++ b/Part2/Free/digiy/cylinder_0050_10/width_03/pick/camera_franka_gripper_aligned_60hz.csv.bak
@@ -0,0 +1,363 @@
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diff --git a/Part2/Free/digiy/cylinder_0050_10/width_03/pick/fem_node.csv b/Part2/Free/digiy/cylinder_0050_10/width_03/pick/fem_node.csv
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index 0000000000000000000000000000000000000000..a1025af1d47637a578b029b12664bc735943365e
--- /dev/null
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diff --git a/Part2/Free/digiy/cylinder_0050_10/width_03/pick/franka_data.csv b/Part2/Free/digiy/cylinder_0050_10/width_03/pick/franka_data.csv
new file mode 100644
index 0000000000000000000000000000000000000000..50ff4b1c41268fa41bea2ab297c89ad838536c35
--- /dev/null
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diff --git a/Part2/Free/digiy/cylinder_0050_10/width_03/pick/simulation_data.csv b/Part2/Free/digiy/cylinder_0050_10/width_03/pick/simulation_data.csv
new file mode 100644
index 0000000000000000000000000000000000000000..d87cabd3a22ccd65aee62ce0f17d6dbb873ae80c
--- /dev/null
+++ b/Part2/Free/digiy/cylinder_0050_10/width_03/pick/simulation_data.csv
@@ -0,0 +1,208 @@
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diff --git a/Part2/Free/digiy/cylinder_0050_10/width_04/insert/camera_frames_60hz.tar b/Part2/Free/digiy/cylinder_0050_10/width_04/insert/camera_frames_60hz.tar
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--- /dev/null
+++ b/Part2/Free/digiy/cylinder_0050_10/width_04/insert/camera_frames_60hz.tar
@@ -0,0 +1,3 @@
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+size 8724480
diff --git a/Part2/Free/digiy/cylinder_0050_10/width_04/insert/camera_franka_gripper_aligned_60hz.csv.bak b/Part2/Free/digiy/cylinder_0050_10/width_04/insert/camera_franka_gripper_aligned_60hz.csv.bak
new file mode 100644
index 0000000000000000000000000000000000000000..ab40021d90daa584ed888d455612f271f5cb8e19
--- /dev/null
+++ b/Part2/Free/digiy/cylinder_0050_10/width_04/insert/camera_franka_gripper_aligned_60hz.csv.bak
@@ -0,0 +1,866 @@
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diff --git a/Part2/Free/digiy/cylinder_0050_10/width_04/insert/fem_node.csv b/Part2/Free/digiy/cylinder_0050_10/width_04/insert/fem_node.csv
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--- /dev/null
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diff --git a/Part2/Free/digiy/cylinder_0050_10/width_04/insert/franka_data.csv b/Part2/Free/digiy/cylinder_0050_10/width_04/insert/franka_data.csv
new file mode 100644
index 0000000000000000000000000000000000000000..8568cbb3d137a5ee3cc490533eed79dba491796a
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diff --git a/Part2/Free/digiy/cylinder_0050_10/width_04/insert/simulation_data.csv b/Part2/Free/digiy/cylinder_0050_10/width_04/insert/simulation_data.csv
new file mode 100644
index 0000000000000000000000000000000000000000..6adf0777bc797026f23234f772da2a73ed19f5d1
--- /dev/null
+++ b/Part2/Free/digiy/cylinder_0050_10/width_04/insert/simulation_data.csv
@@ -0,0 +1,903 @@
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+++ b/Part2/Free/digiy/cylinder_0050_10/width_04/pick/camera_franka_gripper_aligned_60hz.csv.bak
@@ -0,0 +1,361 @@
+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_0050_10/width_04/pick/fem_node.csv b/Part2/Free/digiy/cylinder_0050_10/width_04/pick/fem_node.csv
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--- /dev/null
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diff --git a/Part2/Free/digiy/cylinder_0050_10/width_04/pick/franka_data.csv b/Part2/Free/digiy/cylinder_0050_10/width_04/pick/franka_data.csv
new file mode 100644
index 0000000000000000000000000000000000000000..035579dc16aa506c47198c0feb291dfb4fcf4984
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diff --git a/Part2/Free/digiy/cylinder_0050_10/width_04/pick/simulation_data.csv b/Part2/Free/digiy/cylinder_0050_10/width_04/pick/simulation_data.csv
new file mode 100644
index 0000000000000000000000000000000000000000..d42b0b896912a80ac098745f760ad196d72b59dd
--- /dev/null
+++ b/Part2/Free/digiy/cylinder_0050_10/width_04/pick/simulation_data.csv
@@ -0,0 +1,208 @@
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diff --git a/Part2/Free/digiy/cylinder_0050_10/width_05/insert/camera_frames_60hz.tar b/Part2/Free/digiy/cylinder_0050_10/width_05/insert/camera_frames_60hz.tar
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--- /dev/null
+++ b/Part2/Free/digiy/cylinder_0050_10/width_05/insert/camera_frames_60hz.tar
@@ -0,0 +1,3 @@
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+size 8673280
diff --git a/Part2/Free/digiy/cylinder_0050_10/width_05/insert/camera_franka_gripper_aligned_60hz.csv.bak b/Part2/Free/digiy/cylinder_0050_10/width_05/insert/camera_franka_gripper_aligned_60hz.csv.bak
new file mode 100644
index 0000000000000000000000000000000000000000..1affa8b88a35bb569e1a82972f5e8b66f36fe445
--- /dev/null
+++ b/Part2/Free/digiy/cylinder_0050_10/width_05/insert/camera_franka_gripper_aligned_60hz.csv.bak
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