diff --git a/.gitattributes b/.gitattributes
index ff637682650b90e819e6a8bb2fff45bdc77338bc..bf9bc8410c9bee5ba05c63a87efdbb9b3383a8ed 100644
--- a/.gitattributes
+++ b/.gitattributes
@@ -14331,3 +14331,18 @@ Part2/Free/digiy/cylinder_0050_15/width_09/pick/fem_node.csv filter=lfs diff=lfs
 Part2/Free/digiy/cylinder_0050_15/width_10/insert/fem_node.csv filter=lfs diff=lfs merge=lfs -text
 Part2/Free/digiy/cylinder_0050_15/width_10/pick/fem_node.csv filter=lfs diff=lfs merge=lfs -text
 Part2/Free/digiy/cylinder_0050_17.5/width_01/insert/fem_node.csv filter=lfs diff=lfs merge=lfs -text
+Part2/Free/digiy/cylinder_0050_17.5/width_01/pick/fem_node.csv filter=lfs diff=lfs merge=lfs -text
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+Part2/Free/digiy/cylinder_0050_17.5/width_03/insert/fem_node.csv filter=lfs diff=lfs merge=lfs -text
+Part2/Free/digiy/cylinder_0050_17.5/width_03/pick/fem_node.csv filter=lfs diff=lfs merge=lfs -text
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diff --git a/Part2/Free/digiy/cylinder_0050_17.5/width_01/pick/fem_node.csv b/Part2/Free/digiy/cylinder_0050_17.5/width_01/pick/fem_node.csv
new file mode 100644
index 0000000000000000000000000000000000000000..b370055aa6359e864589b64997a317f137d2d66e
--- /dev/null
+++ b/Part2/Free/digiy/cylinder_0050_17.5/width_01/pick/fem_node.csv
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diff --git a/Part2/Free/digiy/cylinder_0050_17.5/width_01/pick/franka_data.csv b/Part2/Free/digiy/cylinder_0050_17.5/width_01/pick/franka_data.csv
new file mode 100644
index 0000000000000000000000000000000000000000..8c81a4bbc25ed985daee15d29ee4c25f15215d14
--- /dev/null
+++ b/Part2/Free/digiy/cylinder_0050_17.5/width_01/pick/franka_data.csv
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diff --git a/Part2/Free/digiy/cylinder_0050_17.5/width_01/pick/simulation_data.csv b/Part2/Free/digiy/cylinder_0050_17.5/width_01/pick/simulation_data.csv
new file mode 100644
index 0000000000000000000000000000000000000000..56306a68389f8f2484235009aa04582228b457cb
--- /dev/null
+++ b/Part2/Free/digiy/cylinder_0050_17.5/width_01/pick/simulation_data.csv
@@ -0,0 +1,197 @@
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+++ b/Part2/Free/digiy/cylinder_0050_17.5/width_02/insert/camera_franka_gripper_aligned_60hz.csv.bak
@@ -0,0 +1,817 @@
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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_0050_17.5/width_02/insert/fem_node.csv b/Part2/Free/digiy/cylinder_0050_17.5/width_02/insert/fem_node.csv
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index 0000000000000000000000000000000000000000..906214607987cf4ac218aff85c0621be990f0633
--- /dev/null
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diff --git a/Part2/Free/digiy/cylinder_0050_17.5/width_02/insert/franka_data.csv b/Part2/Free/digiy/cylinder_0050_17.5/width_02/insert/franka_data.csv
new file mode 100644
index 0000000000000000000000000000000000000000..f5de6ca2e711dd9bfa4f5cedb790a613ca805b30
--- /dev/null
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diff --git a/Part2/Free/digiy/cylinder_0050_17.5/width_02/insert/simulation_data.csv b/Part2/Free/digiy/cylinder_0050_17.5/width_02/insert/simulation_data.csv
new file mode 100644
index 0000000000000000000000000000000000000000..00eecd19d1b9ecc9c896c538bf5726ac4e479356
--- /dev/null
+++ b/Part2/Free/digiy/cylinder_0050_17.5/width_02/insert/simulation_data.csv
@@ -0,0 +1,821 @@
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diff --git a/Part2/Free/digiy/cylinder_0050_17.5/width_02/pick/camera_frames_60hz.tar b/Part2/Free/digiy/cylinder_0050_17.5/width_02/pick/camera_frames_60hz.tar
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--- /dev/null
+++ b/Part2/Free/digiy/cylinder_0050_17.5/width_02/pick/camera_frames_60hz.tar
@@ -0,0 +1,3 @@
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+size 1904640
diff --git a/Part2/Free/digiy/cylinder_0050_17.5/width_02/pick/camera_franka_gripper_aligned_60hz.csv.bak b/Part2/Free/digiy/cylinder_0050_17.5/width_02/pick/camera_franka_gripper_aligned_60hz.csv.bak
new file mode 100644
index 0000000000000000000000000000000000000000..a0ae33ff7ecc750403b6656b8035898d856935eb
--- /dev/null
+++ b/Part2/Free/digiy/cylinder_0050_17.5/width_02/pick/camera_franka_gripper_aligned_60hz.csv.bak
@@ -0,0 +1,341 @@
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diff --git a/Part2/Free/digiy/cylinder_0050_17.5/width_02/pick/fem_node.csv b/Part2/Free/digiy/cylinder_0050_17.5/width_02/pick/fem_node.csv
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diff --git a/Part2/Free/digiy/cylinder_0050_17.5/width_02/pick/franka_data.csv b/Part2/Free/digiy/cylinder_0050_17.5/width_02/pick/franka_data.csv
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diff --git a/Part2/Free/digiy/cylinder_0050_17.5/width_02/pick/simulation_data.csv b/Part2/Free/digiy/cylinder_0050_17.5/width_02/pick/simulation_data.csv
new file mode 100644
index 0000000000000000000000000000000000000000..55d0a5a200d0f11b385516d6269941c11d409e52
--- /dev/null
+++ b/Part2/Free/digiy/cylinder_0050_17.5/width_02/pick/simulation_data.csv
@@ -0,0 +1,196 @@
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diff --git a/Part2/Free/digiy/cylinder_0050_17.5/width_03/insert/camera_frames_60hz.tar b/Part2/Free/digiy/cylinder_0050_17.5/width_03/insert/camera_frames_60hz.tar
new file mode 100644
index 0000000000000000000000000000000000000000..e92e940cad9dd2de6ded12b6a4008ce50dba146c
--- /dev/null
+++ b/Part2/Free/digiy/cylinder_0050_17.5/width_03/insert/camera_frames_60hz.tar
@@ -0,0 +1,3 @@
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+oid sha256:aa9fffdff12f0b48f54c9650d7d1a4045ed7cf207aad20ebd6d0de6d3bc4158d
+size 7956480
diff --git a/Part2/Free/digiy/cylinder_0050_17.5/width_03/insert/camera_franka_gripper_aligned_60hz.csv.bak b/Part2/Free/digiy/cylinder_0050_17.5/width_03/insert/camera_franka_gripper_aligned_60hz.csv.bak
new file mode 100644
index 0000000000000000000000000000000000000000..f0fdc767885e82b5e07756456eb543ca53fabf2f
--- /dev/null
+++ b/Part2/Free/digiy/cylinder_0050_17.5/width_03/insert/camera_franka_gripper_aligned_60hz.csv.bak
@@ -0,0 +1,794 @@
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diff --git a/Part2/Free/digiy/cylinder_0050_17.5/width_03/insert/fem_node.csv b/Part2/Free/digiy/cylinder_0050_17.5/width_03/insert/fem_node.csv
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index 0000000000000000000000000000000000000000..ca839846ecb72b8ddb2c31af534abdbe838c452d
--- /dev/null
+++ b/Part2/Free/digiy/cylinder_0050_17.5/width_03/insert/fem_node.csv
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+size 83121962
diff --git a/Part2/Free/digiy/cylinder_0050_17.5/width_03/insert/franka_data.csv b/Part2/Free/digiy/cylinder_0050_17.5/width_03/insert/franka_data.csv
new file mode 100644
index 0000000000000000000000000000000000000000..2f9668d27e9b859056f47abbb9bfa2da4347f286
--- /dev/null
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diff --git a/Part2/Free/digiy/cylinder_0050_17.5/width_03/insert/simulation_data.csv b/Part2/Free/digiy/cylinder_0050_17.5/width_03/insert/simulation_data.csv
new file mode 100644
index 0000000000000000000000000000000000000000..134425dc59d631530447dccd5ec99f0a4db3cbf9
--- /dev/null
+++ b/Part2/Free/digiy/cylinder_0050_17.5/width_03/insert/simulation_data.csv
@@ -0,0 +1,823 @@
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diff --git a/Part2/Free/digiy/cylinder_0050_17.5/width_03/pick/camera_frames_60hz.tar b/Part2/Free/digiy/cylinder_0050_17.5/width_03/pick/camera_frames_60hz.tar
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--- /dev/null
+++ b/Part2/Free/digiy/cylinder_0050_17.5/width_03/pick/camera_frames_60hz.tar
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
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+size 1976320
diff --git a/Part2/Free/digiy/cylinder_0050_17.5/width_03/pick/camera_franka_gripper_aligned_60hz.csv.bak b/Part2/Free/digiy/cylinder_0050_17.5/width_03/pick/camera_franka_gripper_aligned_60hz.csv.bak
new file mode 100644
index 0000000000000000000000000000000000000000..b2896f8ae92142bb96dfa8616d097339bd0c18a8
--- /dev/null
+++ b/Part2/Free/digiy/cylinder_0050_17.5/width_03/pick/camera_franka_gripper_aligned_60hz.csv.bak
@@ -0,0 +1,509 @@
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diff --git a/Part2/Free/digiy/cylinder_0050_17.5/width_03/pick/fem_node.csv b/Part2/Free/digiy/cylinder_0050_17.5/width_03/pick/fem_node.csv
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--- /dev/null
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diff --git a/Part2/Free/digiy/cylinder_0050_17.5/width_03/pick/franka_data.csv b/Part2/Free/digiy/cylinder_0050_17.5/width_03/pick/franka_data.csv
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diff --git a/Part2/Free/digiy/cylinder_0050_17.5/width_03/pick/simulation_data.csv b/Part2/Free/digiy/cylinder_0050_17.5/width_03/pick/simulation_data.csv
new file mode 100644
index 0000000000000000000000000000000000000000..3774ef0138a5bfec7520348973bc34d518ac86e4
--- /dev/null
+++ b/Part2/Free/digiy/cylinder_0050_17.5/width_03/pick/simulation_data.csv
@@ -0,0 +1,196 @@
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diff --git a/Part2/Free/digiy/cylinder_0050_17.5/width_04/insert/camera_frames_60hz.tar b/Part2/Free/digiy/cylinder_0050_17.5/width_04/insert/camera_frames_60hz.tar
new file mode 100644
index 0000000000000000000000000000000000000000..88cd6b6e995b44def14d30554df0c5aa2e00cda0
--- /dev/null
+++ b/Part2/Free/digiy/cylinder_0050_17.5/width_04/insert/camera_frames_60hz.tar
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
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+size 8243200
diff --git a/Part2/Free/digiy/cylinder_0050_17.5/width_04/insert/camera_franka_gripper_aligned_60hz.csv.bak b/Part2/Free/digiy/cylinder_0050_17.5/width_04/insert/camera_franka_gripper_aligned_60hz.csv.bak
new file mode 100644
index 0000000000000000000000000000000000000000..4c14dc8c73ad49b60cd2b151cfeb5c1fa259bb45
--- /dev/null
+++ b/Part2/Free/digiy/cylinder_0050_17.5/width_04/insert/camera_franka_gripper_aligned_60hz.csv.bak
@@ -0,0 +1,822 @@
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diff --git a/Part2/Free/digiy/cylinder_0050_17.5/width_04/insert/fem_node.csv b/Part2/Free/digiy/cylinder_0050_17.5/width_04/insert/fem_node.csv
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index 0000000000000000000000000000000000000000..cda1284bc1c1b4b049b578e4e3d5c68a5689922a
--- /dev/null
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diff --git a/Part2/Free/digiy/cylinder_0050_17.5/width_04/insert/franka_data.csv b/Part2/Free/digiy/cylinder_0050_17.5/width_04/insert/franka_data.csv
new file mode 100644
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diff --git a/Part2/Free/digiy/cylinder_0050_17.5/width_04/insert/simulation_data.csv b/Part2/Free/digiy/cylinder_0050_17.5/width_04/insert/simulation_data.csv
new file mode 100644
index 0000000000000000000000000000000000000000..e23a5fbc65c05e184f33cdbcdb849221eb1262bf
--- /dev/null
+++ b/Part2/Free/digiy/cylinder_0050_17.5/width_04/insert/simulation_data.csv
@@ -0,0 +1,821 @@
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+++ b/Part2/Free/digiy/cylinder_0050_17.5/width_04/pick/camera_franka_gripper_aligned_60hz.csv.bak
@@ -0,0 +1,351 @@
+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_17.5/width_04/pick/franka_data.csv b/Part2/Free/digiy/cylinder_0050_17.5/width_04/pick/franka_data.csv
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diff --git a/Part2/Free/digiy/cylinder_0050_17.5/width_04/pick/simulation_data.csv b/Part2/Free/digiy/cylinder_0050_17.5/width_04/pick/simulation_data.csv
new file mode 100644
index 0000000000000000000000000000000000000000..bb1009a79d794c28c9a9a44558a75b668c0bf49b
--- /dev/null
+++ b/Part2/Free/digiy/cylinder_0050_17.5/width_04/pick/simulation_data.csv
@@ -0,0 +1,197 @@
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diff --git a/Part2/Free/digiy/cylinder_0050_17.5/width_05/insert/camera_frames_60hz.tar b/Part2/Free/digiy/cylinder_0050_17.5/width_05/insert/camera_frames_60hz.tar
new file mode 100644
index 0000000000000000000000000000000000000000..d4a4ef075487573176a7e478ffc5685c15f8801c
--- /dev/null
+++ b/Part2/Free/digiy/cylinder_0050_17.5/width_05/insert/camera_frames_60hz.tar
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:08877e5e2b26732837eec607906f9ef72620437393e50377c0ab544899e32d17
+size 8263680
diff --git a/Part2/Free/digiy/cylinder_0050_17.5/width_05/insert/camera_franka_gripper_aligned_60hz.csv.bak b/Part2/Free/digiy/cylinder_0050_17.5/width_05/insert/camera_franka_gripper_aligned_60hz.csv.bak
new file mode 100644
index 0000000000000000000000000000000000000000..4b4c44ed8b34a40ab0b586bce9ae19661404b729
--- /dev/null
+++ b/Part2/Free/digiy/cylinder_0050_17.5/width_05/insert/camera_franka_gripper_aligned_60hz.csv.bak
@@ -0,0 +1,826 @@
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diff --git a/Part2/Free/digiy/cylinder_0050_17.5/width_05/insert/fem_node.csv b/Part2/Free/digiy/cylinder_0050_17.5/width_05/insert/fem_node.csv
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index 0000000000000000000000000000000000000000..1048f84d8ef55767952d5fb57a092b5518a3a134
--- /dev/null
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diff --git a/Part2/Free/digiy/cylinder_0050_17.5/width_05/insert/franka_data.csv b/Part2/Free/digiy/cylinder_0050_17.5/width_05/insert/franka_data.csv
new file mode 100644
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diff --git a/Part2/Free/digiy/cylinder_0050_17.5/width_05/insert/simulation_data.csv b/Part2/Free/digiy/cylinder_0050_17.5/width_05/insert/simulation_data.csv
new file mode 100644
index 0000000000000000000000000000000000000000..a66a1b77fa0dfa6bed55822b886d35755b6fadd5
--- /dev/null
+++ b/Part2/Free/digiy/cylinder_0050_17.5/width_05/insert/simulation_data.csv
@@ -0,0 +1,821 @@
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+++ b/Part2/Free/digiy/cylinder_0050_17.5/width_05/pick/camera_franka_gripper_aligned_60hz.csv.bak
@@ -0,0 +1,328 @@
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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_0050_17.5/width_05/pick/fem_node.csv b/Part2/Free/digiy/cylinder_0050_17.5/width_05/pick/fem_node.csv
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--- /dev/null
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diff --git a/Part2/Free/digiy/cylinder_0050_17.5/width_05/pick/franka_data.csv b/Part2/Free/digiy/cylinder_0050_17.5/width_05/pick/franka_data.csv
new file mode 100644
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diff --git a/Part2/Free/digiy/cylinder_0050_17.5/width_05/pick/simulation_data.csv b/Part2/Free/digiy/cylinder_0050_17.5/width_05/pick/simulation_data.csv
new file mode 100644
index 0000000000000000000000000000000000000000..46d09a74ad68a73ce168c0766c438d5ce00606a0
--- /dev/null
+++ b/Part2/Free/digiy/cylinder_0050_17.5/width_05/pick/simulation_data.csv
@@ -0,0 +1,196 @@
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diff --git a/Part2/Free/digiy/cylinder_0050_17.5/width_06/insert/camera_frames_60hz.tar b/Part2/Free/digiy/cylinder_0050_17.5/width_06/insert/camera_frames_60hz.tar
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--- /dev/null
+++ b/Part2/Free/digiy/cylinder_0050_17.5/width_06/insert/camera_frames_60hz.tar
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+size 8171520
diff --git a/Part2/Free/digiy/cylinder_0050_17.5/width_06/insert/camera_franka_gripper_aligned_60hz.csv.bak b/Part2/Free/digiy/cylinder_0050_17.5/width_06/insert/camera_franka_gripper_aligned_60hz.csv.bak
new file mode 100644
index 0000000000000000000000000000000000000000..dfce403095648bba3557ed54503548135295244f
--- /dev/null
+++ b/Part2/Free/digiy/cylinder_0050_17.5/width_06/insert/camera_franka_gripper_aligned_60hz.csv.bak
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diff --git a/Part2/Free/digiy/cylinder_0050_17.5/width_06/insert/fem_node.csv b/Part2/Free/digiy/cylinder_0050_17.5/width_06/insert/fem_node.csv
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--- /dev/null
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diff --git a/Part2/Free/digiy/cylinder_0050_17.5/width_06/insert/franka_data.csv b/Part2/Free/digiy/cylinder_0050_17.5/width_06/insert/franka_data.csv
new file mode 100644
index 0000000000000000000000000000000000000000..4c078cf483608bf0c613d2881b284188671ba1b2
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diff --git a/Part2/Free/digiy/cylinder_0050_17.5/width_06/insert/simulation_data.csv b/Part2/Free/digiy/cylinder_0050_17.5/width_06/insert/simulation_data.csv
new file mode 100644
index 0000000000000000000000000000000000000000..7121b32e2a465a85a17c6ee1429523a8cf5d6b03
--- /dev/null
+++ b/Part2/Free/digiy/cylinder_0050_17.5/width_06/insert/simulation_data.csv
@@ -0,0 +1,821 @@
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diff --git a/Part2/Free/digiy/cylinder_0050_17.5/width_06/pick/camera_frames_60hz.tar b/Part2/Free/digiy/cylinder_0050_17.5/width_06/pick/camera_frames_60hz.tar
new file mode 100644
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--- /dev/null
+++ b/Part2/Free/digiy/cylinder_0050_17.5/width_06/pick/camera_frames_60hz.tar
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
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+size 1925120
diff --git a/Part2/Free/digiy/cylinder_0050_17.5/width_06/pick/camera_franka_gripper_aligned_60hz.csv.bak b/Part2/Free/digiy/cylinder_0050_17.5/width_06/pick/camera_franka_gripper_aligned_60hz.csv.bak
new file mode 100644
index 0000000000000000000000000000000000000000..f0c14df1fae80b5a0a5766c3ebdc0fe663f8cae4
--- /dev/null
+++ b/Part2/Free/digiy/cylinder_0050_17.5/width_06/pick/camera_franka_gripper_aligned_60hz.csv.bak
@@ -0,0 +1,440 @@
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diff --git a/Part2/Free/digiy/cylinder_0050_17.5/width_06/pick/fem_node.csv b/Part2/Free/digiy/cylinder_0050_17.5/width_06/pick/fem_node.csv
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--- /dev/null
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diff --git a/Part2/Free/digiy/cylinder_0050_17.5/width_06/pick/franka_data.csv b/Part2/Free/digiy/cylinder_0050_17.5/width_06/pick/franka_data.csv
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diff --git a/Part2/Free/digiy/cylinder_0050_17.5/width_06/pick/simulation_data.csv b/Part2/Free/digiy/cylinder_0050_17.5/width_06/pick/simulation_data.csv
new file mode 100644
index 0000000000000000000000000000000000000000..0d072a02f53f7d197949c99062788e059c5b5b30
--- /dev/null
+++ b/Part2/Free/digiy/cylinder_0050_17.5/width_06/pick/simulation_data.csv
@@ -0,0 +1,197 @@
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diff --git a/Part2/Free/digiy/cylinder_0050_17.5/width_07/insert/camera_frames_60hz.tar b/Part2/Free/digiy/cylinder_0050_17.5/width_07/insert/camera_frames_60hz.tar
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--- /dev/null
+++ b/Part2/Free/digiy/cylinder_0050_17.5/width_07/insert/camera_frames_60hz.tar
@@ -0,0 +1,3 @@
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+size 8192000
diff --git a/Part2/Free/digiy/cylinder_0050_17.5/width_07/insert/camera_franka_gripper_aligned_60hz.csv.bak b/Part2/Free/digiy/cylinder_0050_17.5/width_07/insert/camera_franka_gripper_aligned_60hz.csv.bak
new file mode 100644
index 0000000000000000000000000000000000000000..eab604351ef49f713f717d2863b17875ce6a1adb
--- /dev/null
+++ b/Part2/Free/digiy/cylinder_0050_17.5/width_07/insert/camera_franka_gripper_aligned_60hz.csv.bak
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diff --git a/Part2/Free/digiy/cylinder_0050_17.5/width_07/insert/fem_node.csv b/Part2/Free/digiy/cylinder_0050_17.5/width_07/insert/fem_node.csv
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diff --git a/Part2/Free/digiy/cylinder_0050_17.5/width_07/insert/franka_data.csv b/Part2/Free/digiy/cylinder_0050_17.5/width_07/insert/franka_data.csv
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diff --git a/Part2/Free/digiy/cylinder_0050_17.5/width_07/insert/simulation_data.csv b/Part2/Free/digiy/cylinder_0050_17.5/width_07/insert/simulation_data.csv
new file mode 100644
index 0000000000000000000000000000000000000000..521317148ed3527617828267ca957faa81e83776
--- /dev/null
+++ b/Part2/Free/digiy/cylinder_0050_17.5/width_07/insert/simulation_data.csv
@@ -0,0 +1,821 @@
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diff --git a/Part2/Free/digiy/cylinder_0050_17.5/width_07/pick/camera_frames_60hz.tar b/Part2/Free/digiy/cylinder_0050_17.5/width_07/pick/camera_frames_60hz.tar
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+++ b/Part2/Free/digiy/cylinder_0050_17.5/width_07/pick/camera_frames_60hz.tar
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diff --git a/Part2/Free/digiy/cylinder_0050_17.5/width_07/pick/camera_franka_gripper_aligned_60hz.csv.bak b/Part2/Free/digiy/cylinder_0050_17.5/width_07/pick/camera_franka_gripper_aligned_60hz.csv.bak
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+++ b/Part2/Free/digiy/cylinder_0050_17.5/width_07/pick/camera_franka_gripper_aligned_60hz.csv.bak
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diff --git a/Part2/Free/digiy/cylinder_0050_17.5/width_07/pick/fem_node.csv b/Part2/Free/digiy/cylinder_0050_17.5/width_07/pick/fem_node.csv
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diff --git a/Part2/Free/digiy/cylinder_0050_17.5/width_07/pick/franka_data.csv b/Part2/Free/digiy/cylinder_0050_17.5/width_07/pick/franka_data.csv
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diff --git a/Part2/Free/digiy/cylinder_0050_17.5/width_07/pick/simulation_data.csv b/Part2/Free/digiy/cylinder_0050_17.5/width_07/pick/simulation_data.csv
new file mode 100644
index 0000000000000000000000000000000000000000..4524bade0e2716071eebc32f75f5729e91630e97
--- /dev/null
+++ b/Part2/Free/digiy/cylinder_0050_17.5/width_07/pick/simulation_data.csv
@@ -0,0 +1,196 @@
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diff --git a/Part2/Free/digiy/cylinder_0050_17.5/width_08/insert/camera_frames_60hz.tar b/Part2/Free/digiy/cylinder_0050_17.5/width_08/insert/camera_frames_60hz.tar
new file mode 100644
index 0000000000000000000000000000000000000000..1a70db2f0f3d66d06aa3d862c69d0641998f8781
--- /dev/null
+++ b/Part2/Free/digiy/cylinder_0050_17.5/width_08/insert/camera_frames_60hz.tar
@@ -0,0 +1,3 @@
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+size 8253440
diff --git a/Part2/Free/digiy/cylinder_0050_17.5/width_08/insert/camera_franka_gripper_aligned_60hz.csv.bak b/Part2/Free/digiy/cylinder_0050_17.5/width_08/insert/camera_franka_gripper_aligned_60hz.csv.bak
new file mode 100644
index 0000000000000000000000000000000000000000..a7f48c64a75d692e8d08dd44ca5db1aebb57b6c0
--- /dev/null
+++ b/Part2/Free/digiy/cylinder_0050_17.5/width_08/insert/camera_franka_gripper_aligned_60hz.csv.bak
@@ -0,0 +1,824 @@
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diff --git a/Part2/Free/digiy/cylinder_0050_17.5/width_08/insert/fem_node.csv b/Part2/Free/digiy/cylinder_0050_17.5/width_08/insert/fem_node.csv
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--- /dev/null
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diff --git a/Part2/Free/digiy/cylinder_0050_17.5/width_08/insert/franka_data.csv b/Part2/Free/digiy/cylinder_0050_17.5/width_08/insert/franka_data.csv
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index 0000000000000000000000000000000000000000..6acc5eedfc30111aa321d330f050dcfc48589137
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diff --git a/Part2/Free/digiy/cylinder_0050_17.5/width_08/insert/simulation_data.csv b/Part2/Free/digiy/cylinder_0050_17.5/width_08/insert/simulation_data.csv
new file mode 100644
index 0000000000000000000000000000000000000000..9fd7b706ed6964210c59c4423ffdd2d3de4b85a4
--- /dev/null
+++ b/Part2/Free/digiy/cylinder_0050_17.5/width_08/insert/simulation_data.csv
@@ -0,0 +1,821 @@
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diff --git a/Part2/Free/digiy/cylinder_0050_17.5/width_08/pick/camera_frames_60hz.tar b/Part2/Free/digiy/cylinder_0050_17.5/width_08/pick/camera_frames_60hz.tar
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--- /dev/null
+++ b/Part2/Free/digiy/cylinder_0050_17.5/width_08/pick/camera_frames_60hz.tar
@@ -0,0 +1,3 @@
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+size 2007040
diff --git a/Part2/Free/digiy/cylinder_0050_17.5/width_08/pick/camera_franka_gripper_aligned_60hz.csv.bak b/Part2/Free/digiy/cylinder_0050_17.5/width_08/pick/camera_franka_gripper_aligned_60hz.csv.bak
new file mode 100644
index 0000000000000000000000000000000000000000..2a3c2cd1ef710e2a414f235eb657eb8393d5ae8b
--- /dev/null
+++ b/Part2/Free/digiy/cylinder_0050_17.5/width_08/pick/camera_franka_gripper_aligned_60hz.csv.bak
@@ -0,0 +1,344 @@
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diff --git a/Part2/Free/digiy/cylinder_0050_17.5/width_08/pick/fem_node.csv b/Part2/Free/digiy/cylinder_0050_17.5/width_08/pick/fem_node.csv
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--- /dev/null
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diff --git a/Part2/Free/digiy/cylinder_0050_17.5/width_08/pick/franka_data.csv b/Part2/Free/digiy/cylinder_0050_17.5/width_08/pick/franka_data.csv
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diff --git a/Part2/Free/digiy/cylinder_0050_17.5/width_08/pick/simulation_data.csv b/Part2/Free/digiy/cylinder_0050_17.5/width_08/pick/simulation_data.csv
new file mode 100644
index 0000000000000000000000000000000000000000..868b78869551998f7018b8a06b203d724fce226b
--- /dev/null
+++ b/Part2/Free/digiy/cylinder_0050_17.5/width_08/pick/simulation_data.csv
@@ -0,0 +1,196 @@
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diff --git a/Part2/Free/digiy/cylinder_0050_17.5/width_09/insert/camera_frames_60hz.tar b/Part2/Free/digiy/cylinder_0050_17.5/width_09/insert/camera_frames_60hz.tar
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index 0000000000000000000000000000000000000000..887e85db29d48dcb0abf75d920fa929f0c28923b
--- /dev/null
+++ b/Part2/Free/digiy/cylinder_0050_17.5/width_09/insert/camera_frames_60hz.tar
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
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+size 8202240
diff --git a/Part2/Free/digiy/cylinder_0050_17.5/width_09/insert/camera_franka_gripper_aligned_60hz.csv.bak b/Part2/Free/digiy/cylinder_0050_17.5/width_09/insert/camera_franka_gripper_aligned_60hz.csv.bak
new file mode 100644
index 0000000000000000000000000000000000000000..f821da2fdbaaedea605e198ea2e49098d85daa11
--- /dev/null
+++ b/Part2/Free/digiy/cylinder_0050_17.5/width_09/insert/camera_franka_gripper_aligned_60hz.csv.bak
@@ -0,0 +1,818 @@
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