diff --git a/.gitattributes b/.gitattributes
index 92d62e093f1e6c02bd847a18ca192598821796c4..1cf0ba924be39a30b75d3fbf6a3552e1331ff99f 100644
--- a/.gitattributes
+++ b/.gitattributes
@@ -10114,3 +10114,28 @@ Part2/Free/s2/cylinder_15A_10/width_08/insert/fem_node.csv filter=lfs diff=lfs m
 Part2/Free/s2/cylinder_15A_10/width_08/pick/fem_node.csv filter=lfs diff=lfs merge=lfs -text
 Part2/Free/s2/cylinder_15A_10/width_09/insert/fem_node.csv filter=lfs diff=lfs merge=lfs -text
 Part2/Free/s2/cylinder_15A_10/width_09/pick/fem_node.csv filter=lfs diff=lfs merge=lfs -text
+Part2/Free/s2/cylinder_15A_10/width_10/insert/fem_node.csv filter=lfs diff=lfs merge=lfs -text
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+Part2/Free/s2/cylinder_15A_15/width_01/insert/fem_node.csv filter=lfs diff=lfs merge=lfs -text
+Part2/Free/s2/cylinder_15A_15/width_01/pick/fem_node.csv filter=lfs diff=lfs merge=lfs -text
+Part2/Free/s2/cylinder_15A_15/width_02/insert/fem_node.csv filter=lfs diff=lfs merge=lfs -text
diff --git a/Part2/Free/s2/cylinder_15A_10/width_09/pick/simulation_data.csv b/Part2/Free/s2/cylinder_15A_10/width_09/pick/simulation_data.csv
new file mode 100644
index 0000000000000000000000000000000000000000..2c134faca2c0bf56a2ffcb130bf4d8b639f691bf
--- /dev/null
+++ b/Part2/Free/s2/cylinder_15A_10/width_09/pick/simulation_data.csv
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diff --git a/Part2/Free/s2/cylinder_15A_10/width_10/insert/simulation_data.csv b/Part2/Free/s2/cylinder_15A_10/width_10/insert/simulation_data.csv
new file mode 100644
index 0000000000000000000000000000000000000000..0558638b795f01acd4155970d8a54301c3030693
--- /dev/null
+++ b/Part2/Free/s2/cylinder_15A_10/width_10/insert/simulation_data.csv
@@ -0,0 +1,920 @@
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diff --git a/Part2/Free/s2/cylinder_15A_10/width_10/pick/simulation_data.csv b/Part2/Free/s2/cylinder_15A_10/width_10/pick/simulation_data.csv
new file mode 100644
index 0000000000000000000000000000000000000000..bf1c9b9cad85ef3886bbb150bcdaf3bd3110759f
--- /dev/null
+++ b/Part2/Free/s2/cylinder_15A_10/width_10/pick/simulation_data.csv
@@ -0,0 +1,207 @@
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diff --git a/Part2/Free/s2/cylinder_15A_12.5/width_01/insert/simulation_data.csv b/Part2/Free/s2/cylinder_15A_12.5/width_01/insert/simulation_data.csv
new file mode 100644
index 0000000000000000000000000000000000000000..229065300f43933ab4edda019057c910ed7dfda5
--- /dev/null
+++ b/Part2/Free/s2/cylinder_15A_12.5/width_01/insert/simulation_data.csv
@@ -0,0 +1,919 @@
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diff --git a/Part2/Free/s2/cylinder_15A_12.5/width_01/pick/franka_data.csv b/Part2/Free/s2/cylinder_15A_12.5/width_01/pick/franka_data.csv
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diff --git a/Part2/Free/s2/cylinder_15A_12.5/width_01/pick/simulation_data.csv b/Part2/Free/s2/cylinder_15A_12.5/width_01/pick/simulation_data.csv
new file mode 100644
index 0000000000000000000000000000000000000000..d1fad912f51ac83e6235e6133797a1746f736ded
--- /dev/null
+++ b/Part2/Free/s2/cylinder_15A_12.5/width_01/pick/simulation_data.csv
@@ -0,0 +1,208 @@
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diff --git a/Part2/Free/s2/cylinder_15A_12.5/width_02/insert/simulation_data.csv b/Part2/Free/s2/cylinder_15A_12.5/width_02/insert/simulation_data.csv
new file mode 100644
index 0000000000000000000000000000000000000000..0ed370990509c8d090e2aa62a2ed1b68f29dd48b
--- /dev/null
+++ b/Part2/Free/s2/cylinder_15A_12.5/width_02/insert/simulation_data.csv
@@ -0,0 +1,917 @@
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diff --git a/Part2/Free/s2/cylinder_15A_12.5/width_02/pick/simulation_data.csv b/Part2/Free/s2/cylinder_15A_12.5/width_02/pick/simulation_data.csv
new file mode 100644
index 0000000000000000000000000000000000000000..43c23c34eccfba76cf7cd496b113e0fa304acbba
--- /dev/null
+++ b/Part2/Free/s2/cylinder_15A_12.5/width_02/pick/simulation_data.csv
@@ -0,0 +1,207 @@
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diff --git a/Part2/Free/s2/cylinder_15A_12.5/width_03/insert/simulation_data.csv b/Part2/Free/s2/cylinder_15A_12.5/width_03/insert/simulation_data.csv
new file mode 100644
index 0000000000000000000000000000000000000000..82bea68b6f8fd0fd1f22b77b492468db3cac6fef
--- /dev/null
+++ b/Part2/Free/s2/cylinder_15A_12.5/width_03/insert/simulation_data.csv
@@ -0,0 +1,918 @@
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diff --git a/Part2/Free/s2/cylinder_15A_12.5/width_03/pick/simulation_data.csv b/Part2/Free/s2/cylinder_15A_12.5/width_03/pick/simulation_data.csv
new file mode 100644
index 0000000000000000000000000000000000000000..1ce1686a1e885041deebdbfa066ac6717c71384d
--- /dev/null
+++ b/Part2/Free/s2/cylinder_15A_12.5/width_03/pick/simulation_data.csv
@@ -0,0 +1,207 @@
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diff --git a/Part2/Free/s2/cylinder_15A_12.5/width_04/insert/simulation_data.csv b/Part2/Free/s2/cylinder_15A_12.5/width_04/insert/simulation_data.csv
new file mode 100644
index 0000000000000000000000000000000000000000..6a2197e023d05097bfc0a3cf5e7cd1ab1b87be51
--- /dev/null
+++ b/Part2/Free/s2/cylinder_15A_12.5/width_04/insert/simulation_data.csv
@@ -0,0 +1,919 @@
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diff --git a/Part2/Free/s2/cylinder_15A_12.5/width_04/pick/simulation_data.csv b/Part2/Free/s2/cylinder_15A_12.5/width_04/pick/simulation_data.csv
new file mode 100644
index 0000000000000000000000000000000000000000..7cda1fe60f72b38e3220a083eb6243bf71557682
--- /dev/null
+++ b/Part2/Free/s2/cylinder_15A_12.5/width_04/pick/simulation_data.csv
@@ -0,0 +1,207 @@
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diff --git a/Part2/Free/s2/cylinder_15A_12.5/width_05/insert/simulation_data.csv b/Part2/Free/s2/cylinder_15A_12.5/width_05/insert/simulation_data.csv
new file mode 100644
index 0000000000000000000000000000000000000000..39020133fc8dda3606cebc6fafd542320205b51e
--- /dev/null
+++ b/Part2/Free/s2/cylinder_15A_12.5/width_05/insert/simulation_data.csv
@@ -0,0 +1,918 @@
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diff --git a/Part2/Free/s2/cylinder_15A_12.5/width_05/pick/simulation_data.csv b/Part2/Free/s2/cylinder_15A_12.5/width_05/pick/simulation_data.csv
new file mode 100644
index 0000000000000000000000000000000000000000..9b53b4eb36a451842b6ec904efd31dd2bf8510a3
--- /dev/null
+++ b/Part2/Free/s2/cylinder_15A_12.5/width_05/pick/simulation_data.csv
@@ -0,0 +1,207 @@
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diff --git a/Part2/Free/s2/cylinder_15A_12.5/width_06/insert/simulation_data.csv b/Part2/Free/s2/cylinder_15A_12.5/width_06/insert/simulation_data.csv
new file mode 100644
index 0000000000000000000000000000000000000000..4f62ef553d7999c239892b832eb7d6a543acf35c
--- /dev/null
+++ b/Part2/Free/s2/cylinder_15A_12.5/width_06/insert/simulation_data.csv
@@ -0,0 +1,918 @@
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diff --git a/Part2/Free/s2/cylinder_15A_12.5/width_06/pick/simulation_data.csv b/Part2/Free/s2/cylinder_15A_12.5/width_06/pick/simulation_data.csv
new file mode 100644
index 0000000000000000000000000000000000000000..8487895b79a8238e757b8651fbae3345dd2354d1
--- /dev/null
+++ b/Part2/Free/s2/cylinder_15A_12.5/width_06/pick/simulation_data.csv
@@ -0,0 +1,208 @@
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diff --git a/Part2/Free/s2/cylinder_15A_12.5/width_07/insert/simulation_data.csv b/Part2/Free/s2/cylinder_15A_12.5/width_07/insert/simulation_data.csv
new file mode 100644
index 0000000000000000000000000000000000000000..07d4fb05ed27a203134fa0f1add542311ebfb1d6
--- /dev/null
+++ b/Part2/Free/s2/cylinder_15A_12.5/width_07/insert/simulation_data.csv
@@ -0,0 +1,918 @@
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diff --git a/Part2/Free/s2/cylinder_15A_12.5/width_07/pick/franka_data.csv b/Part2/Free/s2/cylinder_15A_12.5/width_07/pick/franka_data.csv
new file mode 100644
index 0000000000000000000000000000000000000000..15897399e688569825d49becdea138cd07a51004
--- /dev/null
+++ b/Part2/Free/s2/cylinder_15A_12.5/width_07/pick/franka_data.csv
@@ -0,0 +1,207 @@
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diff --git a/Part2/Free/s2/cylinder_15A_12.5/width_07/pick/simulation_data.csv b/Part2/Free/s2/cylinder_15A_12.5/width_07/pick/simulation_data.csv
new file mode 100644
index 0000000000000000000000000000000000000000..a58a461467b7d10a5fcddbfdd37f69cb6b738f85
--- /dev/null
+++ b/Part2/Free/s2/cylinder_15A_12.5/width_07/pick/simulation_data.csv
@@ -0,0 +1,207 @@
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diff --git a/Part2/Free/s2/cylinder_15A_12.5/width_08/insert/simulation_data.csv b/Part2/Free/s2/cylinder_15A_12.5/width_08/insert/simulation_data.csv
new file mode 100644
index 0000000000000000000000000000000000000000..103fa8c6218f1acbb8f36c644c34ff602ed383c3
--- /dev/null
+++ b/Part2/Free/s2/cylinder_15A_12.5/width_08/insert/simulation_data.csv
@@ -0,0 +1,917 @@
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diff --git a/Part2/Free/s2/cylinder_15A_12.5/width_08/pick/camera_frames_60hz.tar b/Part2/Free/s2/cylinder_15A_12.5/width_08/pick/camera_frames_60hz.tar
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diff --git a/Part2/Free/s2/cylinder_15A_12.5/width_08/pick/simulation_data.csv b/Part2/Free/s2/cylinder_15A_12.5/width_08/pick/simulation_data.csv
new file mode 100644
index 0000000000000000000000000000000000000000..a81693dab380f94baa433ad57ce50f6a73dcf2d5
--- /dev/null
+++ b/Part2/Free/s2/cylinder_15A_12.5/width_08/pick/simulation_data.csv
@@ -0,0 +1,209 @@
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diff --git a/Part2/Free/s2/cylinder_15A_12.5/width_09/insert/simulation_data.csv b/Part2/Free/s2/cylinder_15A_12.5/width_09/insert/simulation_data.csv
new file mode 100644
index 0000000000000000000000000000000000000000..e0b8d794b196d5050ade4dca41015e5e783d3af1
--- /dev/null
+++ b/Part2/Free/s2/cylinder_15A_12.5/width_09/insert/simulation_data.csv
@@ -0,0 +1,917 @@
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diff --git a/Part2/Free/s2/cylinder_15A_12.5/width_09/pick/simulation_data.csv b/Part2/Free/s2/cylinder_15A_12.5/width_09/pick/simulation_data.csv
new file mode 100644
index 0000000000000000000000000000000000000000..55a3343b193d5d952a802406e94417e2739d3fe9
--- /dev/null
+++ b/Part2/Free/s2/cylinder_15A_12.5/width_09/pick/simulation_data.csv
@@ -0,0 +1,209 @@
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diff --git a/Part2/Free/s2/cylinder_15A_12.5/width_10/insert/simulation_data.csv b/Part2/Free/s2/cylinder_15A_12.5/width_10/insert/simulation_data.csv
new file mode 100644
index 0000000000000000000000000000000000000000..02ea5acefd3df49546f7f496e494838fc692b5cd
--- /dev/null
+++ b/Part2/Free/s2/cylinder_15A_12.5/width_10/insert/simulation_data.csv
@@ -0,0 +1,920 @@
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diff --git a/Part2/Free/s2/cylinder_15A_12.5/width_10/pick/simulation_data.csv b/Part2/Free/s2/cylinder_15A_12.5/width_10/pick/simulation_data.csv
new file mode 100644
index 0000000000000000000000000000000000000000..961972ab5ea215f2f41d96fc390a9a197a6e37c2
--- /dev/null
+++ b/Part2/Free/s2/cylinder_15A_12.5/width_10/pick/simulation_data.csv
@@ -0,0 +1,207 @@
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diff --git a/Part2/Free/s2/cylinder_15A_15/width_01/insert/simulation_data.csv b/Part2/Free/s2/cylinder_15A_15/width_01/insert/simulation_data.csv
new file mode 100644
index 0000000000000000000000000000000000000000..bf3e69407b4b76960b798cc343348ce52e7d1e68
--- /dev/null
+++ b/Part2/Free/s2/cylinder_15A_15/width_01/insert/simulation_data.csv
@@ -0,0 +1,919 @@
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diff --git a/Part2/Free/s2/cylinder_15A_15/width_01/pick/simulation_data.csv b/Part2/Free/s2/cylinder_15A_15/width_01/pick/simulation_data.csv
new file mode 100644
index 0000000000000000000000000000000000000000..59d24308affb1f09a5ecba0d0c87320bbc1e8ced
--- /dev/null
+++ b/Part2/Free/s2/cylinder_15A_15/width_01/pick/simulation_data.csv
@@ -0,0 +1,208 @@
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