diff --git a/.gitattributes b/.gitattributes
index 43c3140cb41e05512b3dc7db9b8e9815558562d3..a39aff362bb242326e08888194068ecd3d06ac6f 100644
--- a/.gitattributes
+++ b/.gitattributes
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 Part2/Free/digiy/cylinder_0050_12.5/width_01/insert/fem_node.csv filter=lfs diff=lfs merge=lfs -text
 Part2/Free/digiy/cylinder_0050_12.5/width_01/pick/fem_node.csv filter=lfs diff=lfs merge=lfs -text
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diff --git a/Part2/Free/digiy/cylinder_0050_12.5/width_02/insert/fem_node.csv b/Part2/Free/digiy/cylinder_0050_12.5/width_02/insert/fem_node.csv
new file mode 100644
index 0000000000000000000000000000000000000000..850454ae8e6f1fa47a677f57ce4a301d6b40ed8a
--- /dev/null
+++ b/Part2/Free/digiy/cylinder_0050_12.5/width_02/insert/fem_node.csv
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diff --git a/Part2/Free/digiy/cylinder_0050_12.5/width_02/insert/franka_data.csv b/Part2/Free/digiy/cylinder_0050_12.5/width_02/insert/franka_data.csv
new file mode 100644
index 0000000000000000000000000000000000000000..a9b1783cbc9ea5ecb52d98201fbcc00a3edcf31f
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diff --git a/Part2/Free/digiy/cylinder_0050_12.5/width_02/insert/simulation_data.csv b/Part2/Free/digiy/cylinder_0050_12.5/width_02/insert/simulation_data.csv
new file mode 100644
index 0000000000000000000000000000000000000000..9da9d62c3c70eea2feb490a52d3bd8b112d084f9
--- /dev/null
+++ b/Part2/Free/digiy/cylinder_0050_12.5/width_02/insert/simulation_data.csv
@@ -0,0 +1,903 @@
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diff --git a/Part2/Free/digiy/cylinder_0050_12.5/width_02/pick/camera_frames_60hz.tar b/Part2/Free/digiy/cylinder_0050_12.5/width_02/pick/camera_frames_60hz.tar
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--- /dev/null
+++ b/Part2/Free/digiy/cylinder_0050_12.5/width_02/pick/camera_frames_60hz.tar
@@ -0,0 +1,3 @@
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diff --git a/Part2/Free/digiy/cylinder_0050_12.5/width_02/pick/camera_franka_gripper_aligned_60hz.csv.bak b/Part2/Free/digiy/cylinder_0050_12.5/width_02/pick/camera_franka_gripper_aligned_60hz.csv.bak
new file mode 100644
index 0000000000000000000000000000000000000000..e8e039c3e230e66cdf772e2b7128a31dde8ce1f9
--- /dev/null
+++ b/Part2/Free/digiy/cylinder_0050_12.5/width_02/pick/camera_franka_gripper_aligned_60hz.csv.bak
@@ -0,0 +1,549 @@
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diff --git a/Part2/Free/digiy/cylinder_0050_12.5/width_02/pick/fem_node.csv b/Part2/Free/digiy/cylinder_0050_12.5/width_02/pick/fem_node.csv
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diff --git a/Part2/Free/digiy/cylinder_0050_12.5/width_02/pick/franka_data.csv b/Part2/Free/digiy/cylinder_0050_12.5/width_02/pick/franka_data.csv
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diff --git a/Part2/Free/digiy/cylinder_0050_12.5/width_02/pick/simulation_data.csv b/Part2/Free/digiy/cylinder_0050_12.5/width_02/pick/simulation_data.csv
new file mode 100644
index 0000000000000000000000000000000000000000..1c2ca2ca4e9d871944e01f752be1118b0d34fc64
--- /dev/null
+++ b/Part2/Free/digiy/cylinder_0050_12.5/width_02/pick/simulation_data.csv
@@ -0,0 +1,208 @@
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diff --git a/Part2/Free/digiy/cylinder_0050_12.5/width_03/insert/camera_frames_60hz.tar b/Part2/Free/digiy/cylinder_0050_12.5/width_03/insert/camera_frames_60hz.tar
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--- /dev/null
+++ b/Part2/Free/digiy/cylinder_0050_12.5/width_03/insert/camera_frames_60hz.tar
@@ -0,0 +1,3 @@
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diff --git a/Part2/Free/digiy/cylinder_0050_12.5/width_03/insert/camera_franka_gripper_aligned_60hz.csv.bak b/Part2/Free/digiy/cylinder_0050_12.5/width_03/insert/camera_franka_gripper_aligned_60hz.csv.bak
new file mode 100644
index 0000000000000000000000000000000000000000..1fadfcfb4224bf1bc12d86b5702e0554e1cdb1c4
--- /dev/null
+++ b/Part2/Free/digiy/cylinder_0050_12.5/width_03/insert/camera_franka_gripper_aligned_60hz.csv.bak
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diff --git a/Part2/Free/digiy/cylinder_0050_12.5/width_03/insert/fem_node.csv b/Part2/Free/digiy/cylinder_0050_12.5/width_03/insert/fem_node.csv
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--- /dev/null
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diff --git a/Part2/Free/digiy/cylinder_0050_12.5/width_03/insert/franka_data.csv b/Part2/Free/digiy/cylinder_0050_12.5/width_03/insert/franka_data.csv
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index 0000000000000000000000000000000000000000..3210609e7c5671246a615540b53672bc8d0017db
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diff --git a/Part2/Free/digiy/cylinder_0050_12.5/width_03/insert/simulation_data.csv b/Part2/Free/digiy/cylinder_0050_12.5/width_03/insert/simulation_data.csv
new file mode 100644
index 0000000000000000000000000000000000000000..0109390948f8ffc5c8f66ceefb379fe8af930bb6
--- /dev/null
+++ b/Part2/Free/digiy/cylinder_0050_12.5/width_03/insert/simulation_data.csv
@@ -0,0 +1,904 @@
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diff --git a/Part2/Free/digiy/cylinder_0050_12.5/width_03/pick/camera_frames_60hz.tar b/Part2/Free/digiy/cylinder_0050_12.5/width_03/pick/camera_frames_60hz.tar
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--- /dev/null
+++ b/Part2/Free/digiy/cylinder_0050_12.5/width_03/pick/camera_frames_60hz.tar
@@ -0,0 +1,3 @@
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diff --git a/Part2/Free/digiy/cylinder_0050_12.5/width_03/pick/camera_franka_gripper_aligned_60hz.csv.bak b/Part2/Free/digiy/cylinder_0050_12.5/width_03/pick/camera_franka_gripper_aligned_60hz.csv.bak
new file mode 100644
index 0000000000000000000000000000000000000000..6dfec07c4afd5c3ce61b2f0160b834b76dec95e6
--- /dev/null
+++ b/Part2/Free/digiy/cylinder_0050_12.5/width_03/pick/camera_franka_gripper_aligned_60hz.csv.bak
@@ -0,0 +1,366 @@
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diff --git a/Part2/Free/digiy/cylinder_0050_12.5/width_03/pick/fem_node.csv b/Part2/Free/digiy/cylinder_0050_12.5/width_03/pick/fem_node.csv
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--- /dev/null
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diff --git a/Part2/Free/digiy/cylinder_0050_12.5/width_03/pick/franka_data.csv b/Part2/Free/digiy/cylinder_0050_12.5/width_03/pick/franka_data.csv
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diff --git a/Part2/Free/digiy/cylinder_0050_12.5/width_03/pick/simulation_data.csv b/Part2/Free/digiy/cylinder_0050_12.5/width_03/pick/simulation_data.csv
new file mode 100644
index 0000000000000000000000000000000000000000..c63b5d3fde6784f2e526eb94f413e7fcd3e09b07
--- /dev/null
+++ b/Part2/Free/digiy/cylinder_0050_12.5/width_03/pick/simulation_data.csv
@@ -0,0 +1,208 @@
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+++ b/Part2/Free/digiy/cylinder_0050_12.5/width_04/insert/camera_franka_gripper_aligned_60hz.csv.bak
@@ -0,0 +1,916 @@
+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_12.5/width_04/insert/fem_node.csv b/Part2/Free/digiy/cylinder_0050_12.5/width_04/insert/fem_node.csv
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diff --git a/Part2/Free/digiy/cylinder_0050_12.5/width_04/insert/franka_data.csv b/Part2/Free/digiy/cylinder_0050_12.5/width_04/insert/franka_data.csv
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diff --git a/Part2/Free/digiy/cylinder_0050_12.5/width_04/insert/simulation_data.csv b/Part2/Free/digiy/cylinder_0050_12.5/width_04/insert/simulation_data.csv
new file mode 100644
index 0000000000000000000000000000000000000000..abfb8c65e490e7cb25613410f78fc555253514e8
--- /dev/null
+++ b/Part2/Free/digiy/cylinder_0050_12.5/width_04/insert/simulation_data.csv
@@ -0,0 +1,903 @@
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diff --git a/Part2/Free/digiy/cylinder_0050_12.5/width_04/pick/camera_frames_60hz.tar b/Part2/Free/digiy/cylinder_0050_12.5/width_04/pick/camera_frames_60hz.tar
new file mode 100644
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--- /dev/null
+++ b/Part2/Free/digiy/cylinder_0050_12.5/width_04/pick/camera_frames_60hz.tar
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
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+size 2048000
diff --git a/Part2/Free/digiy/cylinder_0050_12.5/width_04/pick/camera_franka_gripper_aligned_60hz.csv.bak b/Part2/Free/digiy/cylinder_0050_12.5/width_04/pick/camera_franka_gripper_aligned_60hz.csv.bak
new file mode 100644
index 0000000000000000000000000000000000000000..0de34c67b6e40da55430358d8035cf9ffbdc0cb9
--- /dev/null
+++ b/Part2/Free/digiy/cylinder_0050_12.5/width_04/pick/camera_franka_gripper_aligned_60hz.csv.bak
@@ -0,0 +1,358 @@
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diff --git a/Part2/Free/digiy/cylinder_0050_12.5/width_04/pick/fem_node.csv b/Part2/Free/digiy/cylinder_0050_12.5/width_04/pick/fem_node.csv
new file mode 100644
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diff --git a/Part2/Free/digiy/cylinder_0050_12.5/width_04/pick/franka_data.csv b/Part2/Free/digiy/cylinder_0050_12.5/width_04/pick/franka_data.csv
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index 0000000000000000000000000000000000000000..7258a0cb53ffcae6321a394a2ffe693c16dfd662
--- /dev/null
+++ b/Part2/Free/digiy/cylinder_0050_12.5/width_04/pick/franka_data.csv
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diff --git a/Part2/Free/digiy/cylinder_0050_12.5/width_04/pick/simulation_data.csv b/Part2/Free/digiy/cylinder_0050_12.5/width_04/pick/simulation_data.csv
new file mode 100644
index 0000000000000000000000000000000000000000..da905fb05ac85aaa916a7de2b299b786b2dfbdcd
--- /dev/null
+++ b/Part2/Free/digiy/cylinder_0050_12.5/width_04/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_12.5/width_05/insert/fem_node.csv b/Part2/Free/digiy/cylinder_0050_12.5/width_05/insert/fem_node.csv
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diff --git a/Part2/Free/digiy/cylinder_0050_12.5/width_05/insert/franka_data.csv b/Part2/Free/digiy/cylinder_0050_12.5/width_05/insert/franka_data.csv
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diff --git a/Part2/Free/digiy/cylinder_0050_12.5/width_05/insert/simulation_data.csv b/Part2/Free/digiy/cylinder_0050_12.5/width_05/insert/simulation_data.csv
new file mode 100644
index 0000000000000000000000000000000000000000..21b7a2fe8c74191a70d93292b3bc88cba355a001
--- /dev/null
+++ b/Part2/Free/digiy/cylinder_0050_12.5/width_05/insert/simulation_data.csv
@@ -0,0 +1,903 @@
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diff --git a/Part2/Free/digiy/cylinder_0050_12.5/width_05/pick/camera_frames_60hz.tar b/Part2/Free/digiy/cylinder_0050_12.5/width_05/pick/camera_frames_60hz.tar
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--- /dev/null
+++ b/Part2/Free/digiy/cylinder_0050_12.5/width_05/pick/camera_frames_60hz.tar
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
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+size 2088960
diff --git a/Part2/Free/digiy/cylinder_0050_12.5/width_05/pick/camera_franka_gripper_aligned_60hz.csv.bak b/Part2/Free/digiy/cylinder_0050_12.5/width_05/pick/camera_franka_gripper_aligned_60hz.csv.bak
new file mode 100644
index 0000000000000000000000000000000000000000..968bf09d071205dbcc43d7308ffe2187a1b09397
--- /dev/null
+++ b/Part2/Free/digiy/cylinder_0050_12.5/width_05/pick/camera_franka_gripper_aligned_60hz.csv.bak
@@ -0,0 +1,367 @@
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diff --git a/Part2/Free/digiy/cylinder_0050_12.5/width_05/pick/fem_node.csv b/Part2/Free/digiy/cylinder_0050_12.5/width_05/pick/fem_node.csv
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diff --git a/Part2/Free/digiy/cylinder_0050_12.5/width_05/pick/simulation_data.csv b/Part2/Free/digiy/cylinder_0050_12.5/width_05/pick/simulation_data.csv
new file mode 100644
index 0000000000000000000000000000000000000000..39a3dce0a4a37836f76b8e839732dc7db78d0f7e
--- /dev/null
+++ b/Part2/Free/digiy/cylinder_0050_12.5/width_05/pick/simulation_data.csv
@@ -0,0 +1,208 @@
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diff --git a/Part2/Free/digiy/cylinder_0050_12.5/width_06/insert/camera_frames_60hz.tar b/Part2/Free/digiy/cylinder_0050_12.5/width_06/insert/camera_frames_60hz.tar
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--- /dev/null
+++ b/Part2/Free/digiy/cylinder_0050_12.5/width_06/insert/camera_frames_60hz.tar
@@ -0,0 +1,3 @@
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+size 8878080
diff --git a/Part2/Free/digiy/cylinder_0050_12.5/width_06/insert/camera_franka_gripper_aligned_60hz.csv.bak b/Part2/Free/digiy/cylinder_0050_12.5/width_06/insert/camera_franka_gripper_aligned_60hz.csv.bak
new file mode 100644
index 0000000000000000000000000000000000000000..33e95b9c9a6e9636e31150aad4a87b1e7214526f
--- /dev/null
+++ b/Part2/Free/digiy/cylinder_0050_12.5/width_06/insert/camera_franka_gripper_aligned_60hz.csv.bak
@@ -0,0 +1,889 @@
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diff --git a/Part2/Free/digiy/cylinder_0050_12.5/width_06/insert/fem_node.csv b/Part2/Free/digiy/cylinder_0050_12.5/width_06/insert/fem_node.csv
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--- /dev/null
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diff --git a/Part2/Free/digiy/cylinder_0050_12.5/width_06/insert/franka_data.csv b/Part2/Free/digiy/cylinder_0050_12.5/width_06/insert/franka_data.csv
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diff --git a/Part2/Free/digiy/cylinder_0050_12.5/width_06/insert/simulation_data.csv b/Part2/Free/digiy/cylinder_0050_12.5/width_06/insert/simulation_data.csv
new file mode 100644
index 0000000000000000000000000000000000000000..9469c0dcc5dab788b1f9f802db135724fb7ace84
--- /dev/null
+++ b/Part2/Free/digiy/cylinder_0050_12.5/width_06/insert/simulation_data.csv
@@ -0,0 +1,903 @@
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+++ b/Part2/Free/digiy/cylinder_0050_12.5/width_06/pick/camera_franka_gripper_aligned_60hz.csv.bak
@@ -0,0 +1,362 @@
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diff --git a/Part2/Free/digiy/cylinder_0050_12.5/width_06/pick/simulation_data.csv b/Part2/Free/digiy/cylinder_0050_12.5/width_06/pick/simulation_data.csv
new file mode 100644
index 0000000000000000000000000000000000000000..8663a7eb44eabe4aedeff463e178b80436e78e29
--- /dev/null
+++ b/Part2/Free/digiy/cylinder_0050_12.5/width_06/pick/simulation_data.csv
@@ -0,0 +1,207 @@
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diff --git a/Part2/Free/digiy/cylinder_0050_12.5/width_07/insert/camera_frames_60hz.tar b/Part2/Free/digiy/cylinder_0050_12.5/width_07/insert/camera_frames_60hz.tar
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--- /dev/null
+++ b/Part2/Free/digiy/cylinder_0050_12.5/width_07/insert/camera_frames_60hz.tar
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+size 8898560
diff --git a/Part2/Free/digiy/cylinder_0050_12.5/width_07/insert/camera_franka_gripper_aligned_60hz.csv.bak b/Part2/Free/digiy/cylinder_0050_12.5/width_07/insert/camera_franka_gripper_aligned_60hz.csv.bak
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index 0000000000000000000000000000000000000000..cc8daea8e3c771db68fc4150a0875858cdabe559
--- /dev/null
+++ b/Part2/Free/digiy/cylinder_0050_12.5/width_07/insert/camera_franka_gripper_aligned_60hz.csv.bak
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