diff --git a/.gitattributes b/.gitattributes
index 680bb06a172fb2c40a6c8ba6367a2cfd05d7a3dd..a19917fb3a352674f1816e5bbf15de28da90fa7d 100644
--- a/.gitattributes
+++ b/.gitattributes
@@ -13328,3 +13328,18 @@ Part2/Obstacle_avoidance/cylinder_0050_20/position_02/depth_02/fem_node.csv filt
 Part2/Obstacle_avoidance/cylinder_0050_20/position_02/depth_03/fem_node.csv filter=lfs diff=lfs merge=lfs -text
 Part2/Obstacle_avoidance/cylinder_0050_20/position_02/depth_04/fem_node.csv filter=lfs diff=lfs merge=lfs -text
 Part2/Obstacle_avoidance/cylinder_0050_20/position_02/depth_05/fem_node.csv filter=lfs diff=lfs merge=lfs -text
+Part2/Free/digiy/ball_15A_12.5/width_02/pick/fem_node.csv filter=lfs diff=lfs merge=lfs -text
+Part2/Free/digiy/ball_15A_12.5/width_03/insert/fem_node.csv filter=lfs diff=lfs merge=lfs -text
+Part2/Free/digiy/ball_15A_12.5/width_03/pick/fem_node.csv filter=lfs diff=lfs merge=lfs -text
+Part2/Free/digiy/ball_15A_12.5/width_04/insert/fem_node.csv filter=lfs diff=lfs merge=lfs -text
+Part2/Free/digiy/ball_15A_12.5/width_04/pick/fem_node.csv filter=lfs diff=lfs merge=lfs -text
+Part2/Free/digiy/ball_15A_12.5/width_05/insert/fem_node.csv filter=lfs diff=lfs merge=lfs -text
+Part2/Free/digiy/ball_15A_12.5/width_05/pick/fem_node.csv filter=lfs diff=lfs merge=lfs -text
+Part2/Free/digiy/ball_15A_12.5/width_06/insert/fem_node.csv filter=lfs diff=lfs merge=lfs -text
+Part2/Free/digiy/ball_15A_12.5/width_06/pick/fem_node.csv filter=lfs diff=lfs merge=lfs -text
+Part2/Free/digiy/ball_15A_12.5/width_07/insert/fem_node.csv filter=lfs diff=lfs merge=lfs -text
+Part2/Free/digiy/ball_15A_12.5/width_07/pick/fem_node.csv filter=lfs diff=lfs merge=lfs -text
+Part2/Free/digiy/ball_15A_12.5/width_08/insert/fem_node.csv filter=lfs diff=lfs merge=lfs -text
+Part2/Free/digiy/ball_15A_12.5/width_08/pick/fem_node.csv filter=lfs diff=lfs merge=lfs -text
+Part2/Free/digiy/ball_15A_12.5/width_09/insert/fem_node.csv filter=lfs diff=lfs merge=lfs -text
+Part2/Free/digiy/ball_15A_12.5/width_09/pick/fem_node.csv filter=lfs diff=lfs merge=lfs -text
diff --git a/Part2/Free/digiy/ball_15A_12.5/width_02/pick/camera_frames_60hz.tar b/Part2/Free/digiy/ball_15A_12.5/width_02/pick/camera_frames_60hz.tar
new file mode 100644
index 0000000000000000000000000000000000000000..98d4d2cdc7f52938f5893ecf0349512dde885865
--- /dev/null
+++ b/Part2/Free/digiy/ball_15A_12.5/width_02/pick/camera_frames_60hz.tar
@@ -0,0 +1,3 @@
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diff --git a/Part2/Free/digiy/ball_15A_12.5/width_02/pick/camera_franka_gripper_aligned_60hz.csv.bak b/Part2/Free/digiy/ball_15A_12.5/width_02/pick/camera_franka_gripper_aligned_60hz.csv.bak
new file mode 100644
index 0000000000000000000000000000000000000000..12df7f9b478148104d7937527257657fdeb3484f
--- /dev/null
+++ b/Part2/Free/digiy/ball_15A_12.5/width_02/pick/camera_franka_gripper_aligned_60hz.csv.bak
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diff --git a/Part2/Free/digiy/ball_15A_12.5/width_02/pick/fem_node.csv b/Part2/Free/digiy/ball_15A_12.5/width_02/pick/fem_node.csv
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--- /dev/null
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diff --git a/Part2/Free/digiy/ball_15A_12.5/width_02/pick/franka_data.csv b/Part2/Free/digiy/ball_15A_12.5/width_02/pick/franka_data.csv
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diff --git a/Part2/Free/digiy/ball_15A_12.5/width_02/pick/simulation_data.csv b/Part2/Free/digiy/ball_15A_12.5/width_02/pick/simulation_data.csv
new file mode 100644
index 0000000000000000000000000000000000000000..1aad82ea78a59e7e7c4b3b6db79ac1fc60d14dc6
--- /dev/null
+++ b/Part2/Free/digiy/ball_15A_12.5/width_02/pick/simulation_data.csv
@@ -0,0 +1,203 @@
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diff --git a/Part2/Free/digiy/ball_15A_12.5/width_03/insert/camera_frames_60hz.tar b/Part2/Free/digiy/ball_15A_12.5/width_03/insert/camera_frames_60hz.tar
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--- /dev/null
+++ b/Part2/Free/digiy/ball_15A_12.5/width_03/insert/camera_frames_60hz.tar
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diff --git a/Part2/Free/digiy/ball_15A_12.5/width_03/insert/camera_franka_gripper_aligned_60hz.csv.bak b/Part2/Free/digiy/ball_15A_12.5/width_03/insert/camera_franka_gripper_aligned_60hz.csv.bak
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+++ b/Part2/Free/digiy/ball_15A_12.5/width_03/insert/camera_franka_gripper_aligned_60hz.csv.bak
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diff --git a/Part2/Free/digiy/ball_15A_12.5/width_03/insert/fem_node.csv b/Part2/Free/digiy/ball_15A_12.5/width_03/insert/fem_node.csv
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index 0000000000000000000000000000000000000000..81c32c505536fb8cd9864122073a6ee2a94ed69e
--- /dev/null
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diff --git a/Part2/Free/digiy/ball_15A_12.5/width_03/insert/franka_data.csv b/Part2/Free/digiy/ball_15A_12.5/width_03/insert/franka_data.csv
new file mode 100644
index 0000000000000000000000000000000000000000..7609b225e4fbe305209b550958f729dbdea95e2c
--- /dev/null
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diff --git a/Part2/Free/digiy/ball_15A_12.5/width_03/insert/simulation_data.csv b/Part2/Free/digiy/ball_15A_12.5/width_03/insert/simulation_data.csv
new file mode 100644
index 0000000000000000000000000000000000000000..5410f8d9f0838248346afa366f30f558941abf2a
--- /dev/null
+++ b/Part2/Free/digiy/ball_15A_12.5/width_03/insert/simulation_data.csv
@@ -0,0 +1,872 @@
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+++ b/Part2/Free/digiy/ball_15A_12.5/width_03/pick/camera_franka_gripper_aligned_60hz.csv.bak
@@ -0,0 +1,354 @@
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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/ball_15A_12.5/width_03/pick/fem_node.csv b/Part2/Free/digiy/ball_15A_12.5/width_03/pick/fem_node.csv
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diff --git a/Part2/Free/digiy/ball_15A_12.5/width_03/pick/franka_data.csv b/Part2/Free/digiy/ball_15A_12.5/width_03/pick/franka_data.csv
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diff --git a/Part2/Free/digiy/ball_15A_12.5/width_03/pick/simulation_data.csv b/Part2/Free/digiy/ball_15A_12.5/width_03/pick/simulation_data.csv
new file mode 100644
index 0000000000000000000000000000000000000000..0e30921ddfdb7f081273bdd070b8f22872bfebb7
--- /dev/null
+++ b/Part2/Free/digiy/ball_15A_12.5/width_03/pick/simulation_data.csv
@@ -0,0 +1,202 @@
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diff --git a/Part2/Free/digiy/ball_15A_12.5/width_04/insert/camera_franka_gripper_aligned_60hz.csv.bak b/Part2/Free/digiy/ball_15A_12.5/width_04/insert/camera_franka_gripper_aligned_60hz.csv.bak
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--- /dev/null
+++ b/Part2/Free/digiy/ball_15A_12.5/width_04/insert/camera_franka_gripper_aligned_60hz.csv.bak
@@ -0,0 +1,864 @@
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diff --git a/Part2/Free/digiy/ball_15A_12.5/width_04/insert/fem_node.csv b/Part2/Free/digiy/ball_15A_12.5/width_04/insert/fem_node.csv
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--- /dev/null
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diff --git a/Part2/Free/digiy/ball_15A_12.5/width_04/insert/franka_data.csv b/Part2/Free/digiy/ball_15A_12.5/width_04/insert/franka_data.csv
new file mode 100644
index 0000000000000000000000000000000000000000..7efce89cf717671a1e2993e737d7c991260ddfef
--- /dev/null
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diff --git a/Part2/Free/digiy/ball_15A_12.5/width_04/insert/simulation_data.csv b/Part2/Free/digiy/ball_15A_12.5/width_04/insert/simulation_data.csv
new file mode 100644
index 0000000000000000000000000000000000000000..3b7058ac76c531c3b1a8f5d22b7e0a4398679ce2
--- /dev/null
+++ b/Part2/Free/digiy/ball_15A_12.5/width_04/insert/simulation_data.csv
@@ -0,0 +1,872 @@
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diff --git a/Part2/Free/digiy/ball_15A_12.5/width_04/pick/camera_frames_60hz.tar b/Part2/Free/digiy/ball_15A_12.5/width_04/pick/camera_frames_60hz.tar
new file mode 100644
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--- /dev/null
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diff --git a/Part2/Free/digiy/ball_15A_12.5/width_04/pick/fem_node.csv b/Part2/Free/digiy/ball_15A_12.5/width_04/pick/fem_node.csv
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--- /dev/null
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diff --git a/Part2/Free/digiy/ball_15A_12.5/width_04/pick/franka_data.csv b/Part2/Free/digiy/ball_15A_12.5/width_04/pick/franka_data.csv
new file mode 100644
index 0000000000000000000000000000000000000000..2336b48f05366226fe4641c8a085701810c8e372
--- /dev/null
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diff --git a/Part2/Free/digiy/ball_15A_12.5/width_04/pick/simulation_data.csv b/Part2/Free/digiy/ball_15A_12.5/width_04/pick/simulation_data.csv
new file mode 100644
index 0000000000000000000000000000000000000000..d70836cd2d86461fc68bbac4590f9b278efcccfa
--- /dev/null
+++ b/Part2/Free/digiy/ball_15A_12.5/width_04/pick/simulation_data.csv
@@ -0,0 +1,203 @@
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diff --git a/Part2/Free/digiy/ball_15A_12.5/width_05/insert/camera_frames_60hz.tar b/Part2/Free/digiy/ball_15A_12.5/width_05/insert/camera_frames_60hz.tar
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--- /dev/null
+++ b/Part2/Free/digiy/ball_15A_12.5/width_05/insert/camera_frames_60hz.tar
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+size 8714240
diff --git a/Part2/Free/digiy/ball_15A_12.5/width_05/insert/camera_franka_gripper_aligned_60hz.csv.bak b/Part2/Free/digiy/ball_15A_12.5/width_05/insert/camera_franka_gripper_aligned_60hz.csv.bak
new file mode 100644
index 0000000000000000000000000000000000000000..e1f7a8315d824c6ab6e847f79d1e33f4a1586a6c
--- /dev/null
+++ b/Part2/Free/digiy/ball_15A_12.5/width_05/insert/camera_franka_gripper_aligned_60hz.csv.bak
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diff --git a/Part2/Free/digiy/ball_15A_12.5/width_05/insert/fem_node.csv b/Part2/Free/digiy/ball_15A_12.5/width_05/insert/fem_node.csv
new file mode 100644
index 0000000000000000000000000000000000000000..6b9287db4f17759c31386a7703579d415ca3f5e5
--- /dev/null
+++ b/Part2/Free/digiy/ball_15A_12.5/width_05/insert/fem_node.csv
@@ -0,0 +1,3 @@
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+oid sha256:fa17116cb348059039ce6f46530538d7bf287a5c17a7a34251fc68f6baf0697b
+size 88036050
diff --git a/Part2/Free/digiy/ball_15A_12.5/width_05/insert/franka_data.csv b/Part2/Free/digiy/ball_15A_12.5/width_05/insert/franka_data.csv
new file mode 100644
index 0000000000000000000000000000000000000000..f7db16947270245277307dcdb14c68de7aef8f0b
--- /dev/null
+++ b/Part2/Free/digiy/ball_15A_12.5/width_05/insert/franka_data.csv
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diff --git a/Part2/Free/digiy/ball_15A_12.5/width_05/insert/simulation_data.csv b/Part2/Free/digiy/ball_15A_12.5/width_05/insert/simulation_data.csv
new file mode 100644
index 0000000000000000000000000000000000000000..ee67302884dda5968892a8b150f54500a5a3e809
--- /dev/null
+++ b/Part2/Free/digiy/ball_15A_12.5/width_05/insert/simulation_data.csv
@@ -0,0 +1,871 @@
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+++ b/Part2/Free/digiy/ball_15A_12.5/width_05/pick/camera_franka_gripper_aligned_60hz.csv.bak
@@ -0,0 +1,346 @@
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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/ball_15A_12.5/width_05/pick/simulation_data.csv b/Part2/Free/digiy/ball_15A_12.5/width_05/pick/simulation_data.csv
new file mode 100644
index 0000000000000000000000000000000000000000..168884e911bc03c254ada6adc4cb9991ec163821
--- /dev/null
+++ b/Part2/Free/digiy/ball_15A_12.5/width_05/pick/simulation_data.csv
@@ -0,0 +1,204 @@
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diff --git a/Part2/Free/digiy/ball_15A_12.5/width_06/insert/camera_frames_60hz.tar b/Part2/Free/digiy/ball_15A_12.5/width_06/insert/camera_frames_60hz.tar
new file mode 100644
index 0000000000000000000000000000000000000000..7ff3cda9c57c87e234eb62e72e5c93554d5d8e14
--- /dev/null
+++ b/Part2/Free/digiy/ball_15A_12.5/width_06/insert/camera_frames_60hz.tar
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:c32d5beaa8271b1d327441b359617dc8b2fed2cc219ea87f3f993628072f16de
+size 8775680
diff --git a/Part2/Free/digiy/ball_15A_12.5/width_06/insert/camera_franka_gripper_aligned_60hz.csv.bak b/Part2/Free/digiy/ball_15A_12.5/width_06/insert/camera_franka_gripper_aligned_60hz.csv.bak
new file mode 100644
index 0000000000000000000000000000000000000000..2ebb69bcd27d6e31632b742cae57baa2ff39dc28
--- /dev/null
+++ b/Part2/Free/digiy/ball_15A_12.5/width_06/insert/camera_franka_gripper_aligned_60hz.csv.bak
@@ -0,0 +1,877 @@
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diff --git a/Part2/Free/digiy/ball_15A_12.5/width_06/insert/fem_node.csv b/Part2/Free/digiy/ball_15A_12.5/width_06/insert/fem_node.csv
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index 0000000000000000000000000000000000000000..e057e59d617074ddf0a1d73bbd40c996cb9ff691
--- /dev/null
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diff --git a/Part2/Free/digiy/ball_15A_12.5/width_06/insert/franka_data.csv b/Part2/Free/digiy/ball_15A_12.5/width_06/insert/franka_data.csv
new file mode 100644
index 0000000000000000000000000000000000000000..c18deddb94f4ad8c6b29c35853de013caec420db
--- /dev/null
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diff --git a/Part2/Free/digiy/ball_15A_12.5/width_06/insert/simulation_data.csv b/Part2/Free/digiy/ball_15A_12.5/width_06/insert/simulation_data.csv
new file mode 100644
index 0000000000000000000000000000000000000000..d7a75d7f40f7eab8d8a58cea21bd034ea0d3dd91
--- /dev/null
+++ b/Part2/Free/digiy/ball_15A_12.5/width_06/insert/simulation_data.csv
@@ -0,0 +1,873 @@
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+++ b/Part2/Free/digiy/ball_15A_12.5/width_06/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/ball_15A_12.5/width_06/pick/fem_node.csv b/Part2/Free/digiy/ball_15A_12.5/width_06/pick/fem_node.csv
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index 0000000000000000000000000000000000000000..8f567ab34a1ef4cc129af36295697f3bdf410cda
--- /dev/null
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diff --git a/Part2/Free/digiy/ball_15A_12.5/width_06/pick/franka_data.csv b/Part2/Free/digiy/ball_15A_12.5/width_06/pick/franka_data.csv
new file mode 100644
index 0000000000000000000000000000000000000000..b6b585b1948a5396d67fb4665ab519ec0f05b50b
--- /dev/null
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diff --git a/Part2/Free/digiy/ball_15A_12.5/width_06/pick/simulation_data.csv b/Part2/Free/digiy/ball_15A_12.5/width_06/pick/simulation_data.csv
new file mode 100644
index 0000000000000000000000000000000000000000..7f01654d852127c589b096c2c6be8ea5ce89333b
--- /dev/null
+++ b/Part2/Free/digiy/ball_15A_12.5/width_06/pick/simulation_data.csv
@@ -0,0 +1,203 @@
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diff --git a/Part2/Free/digiy/ball_15A_12.5/width_07/insert/camera_frames_60hz.tar b/Part2/Free/digiy/ball_15A_12.5/width_07/insert/camera_frames_60hz.tar
new file mode 100644
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--- /dev/null
+++ b/Part2/Free/digiy/ball_15A_12.5/width_07/insert/camera_frames_60hz.tar
@@ -0,0 +1,3 @@
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+size 8673280
diff --git a/Part2/Free/digiy/ball_15A_12.5/width_07/insert/camera_franka_gripper_aligned_60hz.csv.bak b/Part2/Free/digiy/ball_15A_12.5/width_07/insert/camera_franka_gripper_aligned_60hz.csv.bak
new file mode 100644
index 0000000000000000000000000000000000000000..f8dad17c4d28c9788bc9deccf166a29ae119afe5
--- /dev/null
+++ b/Part2/Free/digiy/ball_15A_12.5/width_07/insert/camera_franka_gripper_aligned_60hz.csv.bak
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diff --git a/Part2/Free/digiy/ball_15A_12.5/width_07/insert/fem_node.csv b/Part2/Free/digiy/ball_15A_12.5/width_07/insert/fem_node.csv
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index 0000000000000000000000000000000000000000..dda99f65667954ac3c5e3a1b9e41abf477f9364f
--- /dev/null
+++ b/Part2/Free/digiy/ball_15A_12.5/width_07/insert/fem_node.csv
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diff --git a/Part2/Free/digiy/ball_15A_12.5/width_07/insert/franka_data.csv b/Part2/Free/digiy/ball_15A_12.5/width_07/insert/franka_data.csv
new file mode 100644
index 0000000000000000000000000000000000000000..186160ec74e97e456bbbf0294d38104543d73590
--- /dev/null
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diff --git a/Part2/Free/digiy/ball_15A_12.5/width_07/insert/simulation_data.csv b/Part2/Free/digiy/ball_15A_12.5/width_07/insert/simulation_data.csv
new file mode 100644
index 0000000000000000000000000000000000000000..af30a113ebdb928ed6cf786c0d8f04f527a8e413
--- /dev/null
+++ b/Part2/Free/digiy/ball_15A_12.5/width_07/insert/simulation_data.csv
@@ -0,0 +1,872 @@
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+++ b/Part2/Free/digiy/ball_15A_12.5/width_07/pick/camera_franka_gripper_aligned_60hz.csv.bak
@@ -0,0 +1,357 @@
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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/ball_15A_12.5/width_07/pick/fem_node.csv b/Part2/Free/digiy/ball_15A_12.5/width_07/pick/fem_node.csv
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--- /dev/null
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diff --git a/Part2/Free/digiy/ball_15A_12.5/width_07/pick/franka_data.csv b/Part2/Free/digiy/ball_15A_12.5/width_07/pick/franka_data.csv
new file mode 100644
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--- /dev/null
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diff --git a/Part2/Free/digiy/ball_15A_12.5/width_07/pick/simulation_data.csv b/Part2/Free/digiy/ball_15A_12.5/width_07/pick/simulation_data.csv
new file mode 100644
index 0000000000000000000000000000000000000000..25161369e63eba9eb881b68325b3178e134c098e
--- /dev/null
+++ b/Part2/Free/digiy/ball_15A_12.5/width_07/pick/simulation_data.csv
@@ -0,0 +1,202 @@
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diff --git a/Part2/Free/digiy/ball_15A_12.5/width_08/insert/camera_frames_60hz.tar b/Part2/Free/digiy/ball_15A_12.5/width_08/insert/camera_frames_60hz.tar
new file mode 100644
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--- /dev/null
+++ b/Part2/Free/digiy/ball_15A_12.5/width_08/insert/camera_frames_60hz.tar
@@ -0,0 +1,3 @@
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+size 8550400
diff --git a/Part2/Free/digiy/ball_15A_12.5/width_08/insert/camera_franka_gripper_aligned_60hz.csv.bak b/Part2/Free/digiy/ball_15A_12.5/width_08/insert/camera_franka_gripper_aligned_60hz.csv.bak
new file mode 100644
index 0000000000000000000000000000000000000000..36728489acb7dff298acc33395842eceb19491a9
--- /dev/null
+++ b/Part2/Free/digiy/ball_15A_12.5/width_08/insert/camera_franka_gripper_aligned_60hz.csv.bak
@@ -0,0 +1,856 @@
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diff --git a/Part2/Free/digiy/ball_15A_12.5/width_08/insert/fem_node.csv b/Part2/Free/digiy/ball_15A_12.5/width_08/insert/fem_node.csv
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index 0000000000000000000000000000000000000000..c73e41f09581fb0258fac7d8aa8d83282dde553b
--- /dev/null
+++ b/Part2/Free/digiy/ball_15A_12.5/width_08/insert/fem_node.csv
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diff --git a/Part2/Free/digiy/ball_15A_12.5/width_08/insert/franka_data.csv b/Part2/Free/digiy/ball_15A_12.5/width_08/insert/franka_data.csv
new file mode 100644
index 0000000000000000000000000000000000000000..1c1e1a2f11c3a922bf01a44eb6808ce8c1fc240b
--- /dev/null
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diff --git a/Part2/Free/digiy/ball_15A_12.5/width_08/insert/simulation_data.csv b/Part2/Free/digiy/ball_15A_12.5/width_08/insert/simulation_data.csv
new file mode 100644
index 0000000000000000000000000000000000000000..51cc9aa8c20bb334bc99e99dd94856fb3cebdefb
--- /dev/null
+++ b/Part2/Free/digiy/ball_15A_12.5/width_08/insert/simulation_data.csv
@@ -0,0 +1,872 @@
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+++ b/Part2/Free/digiy/ball_15A_12.5/width_08/pick/camera_franka_gripper_aligned_60hz.csv.bak
@@ -0,0 +1,351 @@
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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/ball_15A_12.5/width_08/pick/fem_node.csv b/Part2/Free/digiy/ball_15A_12.5/width_08/pick/fem_node.csv
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index 0000000000000000000000000000000000000000..4bb0512550f54eb36c9148b80013bccba777200c
--- /dev/null
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diff --git a/Part2/Free/digiy/ball_15A_12.5/width_08/pick/franka_data.csv b/Part2/Free/digiy/ball_15A_12.5/width_08/pick/franka_data.csv
new file mode 100644
index 0000000000000000000000000000000000000000..e46de67f5c4ce41e26d73e8315aea41ab0ae3dcc
--- /dev/null
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diff --git a/Part2/Free/digiy/ball_15A_12.5/width_08/pick/simulation_data.csv b/Part2/Free/digiy/ball_15A_12.5/width_08/pick/simulation_data.csv
new file mode 100644
index 0000000000000000000000000000000000000000..947866074ab641099c87a3aaf14863870db3721f
--- /dev/null
+++ b/Part2/Free/digiy/ball_15A_12.5/width_08/pick/simulation_data.csv
@@ -0,0 +1,203 @@
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diff --git a/Part2/Free/digiy/ball_15A_12.5/width_09/insert/camera_frames_60hz.tar b/Part2/Free/digiy/ball_15A_12.5/width_09/insert/camera_frames_60hz.tar
new file mode 100644
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--- /dev/null
+++ b/Part2/Free/digiy/ball_15A_12.5/width_09/insert/camera_frames_60hz.tar
@@ -0,0 +1,3 @@
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+size 8611840
diff --git a/Part2/Free/digiy/ball_15A_12.5/width_09/insert/camera_franka_gripper_aligned_60hz.csv.bak b/Part2/Free/digiy/ball_15A_12.5/width_09/insert/camera_franka_gripper_aligned_60hz.csv.bak
new file mode 100644
index 0000000000000000000000000000000000000000..928e5707c307af7b73adb82f2e3c14ec2c8380f0
--- /dev/null
+++ b/Part2/Free/digiy/ball_15A_12.5/width_09/insert/camera_franka_gripper_aligned_60hz.csv.bak
@@ -0,0 +1,861 @@
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diff --git a/Part2/Free/digiy/ball_15A_12.5/width_09/insert/fem_node.csv b/Part2/Free/digiy/ball_15A_12.5/width_09/insert/fem_node.csv
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--- /dev/null
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diff --git a/Part2/Free/digiy/ball_15A_12.5/width_09/insert/franka_data.csv b/Part2/Free/digiy/ball_15A_12.5/width_09/insert/franka_data.csv
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index 0000000000000000000000000000000000000000..58f4776737db5b85136f77656a08a52e1bc6255e
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diff --git a/Part2/Free/digiy/ball_15A_12.5/width_09/insert/simulation_data.csv b/Part2/Free/digiy/ball_15A_12.5/width_09/insert/simulation_data.csv
new file mode 100644
index 0000000000000000000000000000000000000000..bba1c858fb07e87c00ea390e6d8c9332dafeda14
--- /dev/null
+++ b/Part2/Free/digiy/ball_15A_12.5/width_09/insert/simulation_data.csv
@@ -0,0 +1,871 @@
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+++ b/Part2/Free/digiy/ball_15A_12.5/width_09/pick/camera_franka_gripper_aligned_60hz.csv.bak
@@ -0,0 +1,357 @@
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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/ball_15A_12.5/width_09/pick/fem_node.csv b/Part2/Free/digiy/ball_15A_12.5/width_09/pick/fem_node.csv
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diff --git a/Part2/Free/digiy/ball_15A_12.5/width_09/pick/franka_data.csv b/Part2/Free/digiy/ball_15A_12.5/width_09/pick/franka_data.csv
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diff --git a/Part2/Free/digiy/ball_15A_12.5/width_09/pick/simulation_data.csv b/Part2/Free/digiy/ball_15A_12.5/width_09/pick/simulation_data.csv
new file mode 100644
index 0000000000000000000000000000000000000000..1212c985b0eff6728f0e98178e1c13c6bd462501
--- /dev/null
+++ b/Part2/Free/digiy/ball_15A_12.5/width_09/pick/simulation_data.csv
@@ -0,0 +1,204 @@
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