diff --git a/.gitattributes b/.gitattributes
index 498f83a7e9ba3ced3b7f471f5b9c82445f4ccdbe..14654d97aab46d37f752ee67008b4a89026a9734 100644
--- a/.gitattributes
+++ b/.gitattributes
@@ -12941,3 +12941,13 @@ Part2/Obstacle_avoidance/cylinder_0030_17.5/position_09/depth_02/fem_node.csv fi
 Part2/Obstacle_avoidance/cylinder_0030_17.5/position_09/depth_03/fem_node.csv filter=lfs diff=lfs merge=lfs -text
 Part2/Obstacle_avoidance/cylinder_0030_17.5/position_09/depth_04/fem_node.csv filter=lfs diff=lfs merge=lfs -text
 Part2/Obstacle_avoidance/cylinder_0030_17.5/position_09/depth_05/fem_node.csv filter=lfs diff=lfs merge=lfs -text
+Part2/Free/digiy/ball_0050_17.5/width_01/pick/fem_node.csv filter=lfs diff=lfs merge=lfs -text
+Part2/Free/digiy/ball_0050_17.5/width_02/insert/fem_node.csv filter=lfs diff=lfs merge=lfs -text
+Part2/Free/digiy/ball_0050_17.5/width_02/pick/fem_node.csv filter=lfs diff=lfs merge=lfs -text
+Part2/Free/digiy/ball_0050_17.5/width_03/insert/fem_node.csv filter=lfs diff=lfs merge=lfs -text
+Part2/Free/digiy/ball_0050_17.5/width_03/pick/fem_node.csv filter=lfs diff=lfs merge=lfs -text
+Part2/Free/digiy/ball_0050_17.5/width_04/insert/fem_node.csv filter=lfs diff=lfs merge=lfs -text
+Part2/Free/digiy/ball_0050_17.5/width_04/pick/fem_node.csv filter=lfs diff=lfs merge=lfs -text
+Part2/Free/digiy/ball_0050_17.5/width_05/insert/fem_node.csv filter=lfs diff=lfs merge=lfs -text
+Part2/Free/digiy/ball_0050_17.5/width_05/pick/fem_node.csv filter=lfs diff=lfs merge=lfs -text
+Part2/Free/digiy/ball_0050_17.5/width_06/insert/fem_node.csv filter=lfs diff=lfs merge=lfs -text
diff --git a/Part2/Free/digiy/ball_0050_17.5/width_01/pick/camera_frames_60hz.tar b/Part2/Free/digiy/ball_0050_17.5/width_01/pick/camera_frames_60hz.tar
new file mode 100644
index 0000000000000000000000000000000000000000..c8f823c18448fc446fe6291f8075a5e93c0383ef
--- /dev/null
+++ b/Part2/Free/digiy/ball_0050_17.5/width_01/pick/camera_frames_60hz.tar
@@ -0,0 +1,3 @@
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diff --git a/Part2/Free/digiy/ball_0050_17.5/width_01/pick/camera_franka_gripper_aligned_60hz.csv.bak b/Part2/Free/digiy/ball_0050_17.5/width_01/pick/camera_franka_gripper_aligned_60hz.csv.bak
new file mode 100644
index 0000000000000000000000000000000000000000..ac9f73f0f18b9d86419871106a7d2da354466338
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+++ b/Part2/Free/digiy/ball_0050_17.5/width_01/pick/camera_franka_gripper_aligned_60hz.csv.bak
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diff --git a/Part2/Free/digiy/ball_0050_17.5/width_01/pick/fem_node.csv b/Part2/Free/digiy/ball_0050_17.5/width_01/pick/fem_node.csv
new file mode 100644
index 0000000000000000000000000000000000000000..28a089f8c6720361c00db2ffabc55213b2a6714e
--- /dev/null
+++ b/Part2/Free/digiy/ball_0050_17.5/width_01/pick/fem_node.csv
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diff --git a/Part2/Free/digiy/ball_0050_17.5/width_01/pick/franka_data.csv b/Part2/Free/digiy/ball_0050_17.5/width_01/pick/franka_data.csv
new file mode 100644
index 0000000000000000000000000000000000000000..1e03fc3a66fa39d3095e815a659754a115892860
--- /dev/null
+++ b/Part2/Free/digiy/ball_0050_17.5/width_01/pick/franka_data.csv
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diff --git a/Part2/Free/digiy/ball_0050_17.5/width_01/pick/simulation_data.csv b/Part2/Free/digiy/ball_0050_17.5/width_01/pick/simulation_data.csv
new file mode 100644
index 0000000000000000000000000000000000000000..f86897b3e03b7652e881e329b5c8e92c97b82b4a
--- /dev/null
+++ b/Part2/Free/digiy/ball_0050_17.5/width_01/pick/simulation_data.csv
@@ -0,0 +1,202 @@
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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/ball_0050_17.5/width_02/insert/fem_node.csv b/Part2/Free/digiy/ball_0050_17.5/width_02/insert/fem_node.csv
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index 0000000000000000000000000000000000000000..6abf0bc885f0c527366543c9d9a59821a616b2ce
--- /dev/null
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diff --git a/Part2/Free/digiy/ball_0050_17.5/width_02/insert/franka_data.csv b/Part2/Free/digiy/ball_0050_17.5/width_02/insert/franka_data.csv
new file mode 100644
index 0000000000000000000000000000000000000000..e735684c574b033d39b4698f0d97260e21b0cda3
--- /dev/null
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diff --git a/Part2/Free/digiy/ball_0050_17.5/width_02/insert/simulation_data.csv b/Part2/Free/digiy/ball_0050_17.5/width_02/insert/simulation_data.csv
new file mode 100644
index 0000000000000000000000000000000000000000..b98f9b73671c41f7f1d5a501f2b7498524d23530
--- /dev/null
+++ b/Part2/Free/digiy/ball_0050_17.5/width_02/insert/simulation_data.csv
@@ -0,0 +1,873 @@
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+++ b/Part2/Free/digiy/ball_0050_17.5/width_02/pick/camera_franka_gripper_aligned_60hz.csv.bak
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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_0050_17.5/width_02/pick/fem_node.csv b/Part2/Free/digiy/ball_0050_17.5/width_02/pick/fem_node.csv
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--- /dev/null
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diff --git a/Part2/Free/digiy/ball_0050_17.5/width_02/pick/franka_data.csv b/Part2/Free/digiy/ball_0050_17.5/width_02/pick/franka_data.csv
new file mode 100644
index 0000000000000000000000000000000000000000..6fb52b4c64c413ebb5c3ba971c2f967b014657ab
--- /dev/null
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diff --git a/Part2/Free/digiy/ball_0050_17.5/width_02/pick/simulation_data.csv b/Part2/Free/digiy/ball_0050_17.5/width_02/pick/simulation_data.csv
new file mode 100644
index 0000000000000000000000000000000000000000..de105fa1c5bcc93f057bde0c056cdc9bb6d377ab
--- /dev/null
+++ b/Part2/Free/digiy/ball_0050_17.5/width_02/pick/simulation_data.csv
@@ -0,0 +1,204 @@
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diff --git a/Part2/Free/digiy/ball_0050_17.5/width_03/insert/camera_frames_60hz.tar b/Part2/Free/digiy/ball_0050_17.5/width_03/insert/camera_frames_60hz.tar
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--- /dev/null
+++ b/Part2/Free/digiy/ball_0050_17.5/width_03/insert/camera_frames_60hz.tar
@@ -0,0 +1,3 @@
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+size 8652800
diff --git a/Part2/Free/digiy/ball_0050_17.5/width_03/insert/camera_franka_gripper_aligned_60hz.csv.bak b/Part2/Free/digiy/ball_0050_17.5/width_03/insert/camera_franka_gripper_aligned_60hz.csv.bak
new file mode 100644
index 0000000000000000000000000000000000000000..a8ea187e9094892eff166ba35172329233c27004
--- /dev/null
+++ b/Part2/Free/digiy/ball_0050_17.5/width_03/insert/camera_franka_gripper_aligned_60hz.csv.bak
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diff --git a/Part2/Free/digiy/ball_0050_17.5/width_03/insert/fem_node.csv b/Part2/Free/digiy/ball_0050_17.5/width_03/insert/fem_node.csv
new file mode 100644
index 0000000000000000000000000000000000000000..2ac4840fd65058df86c9734f929d8039ba4800e2
--- /dev/null
+++ b/Part2/Free/digiy/ball_0050_17.5/width_03/insert/fem_node.csv
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
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+size 88341444
diff --git a/Part2/Free/digiy/ball_0050_17.5/width_03/insert/franka_data.csv b/Part2/Free/digiy/ball_0050_17.5/width_03/insert/franka_data.csv
new file mode 100644
index 0000000000000000000000000000000000000000..70591cfa231d4c3a38949341f33a34891f6e9746
--- /dev/null
+++ b/Part2/Free/digiy/ball_0050_17.5/width_03/insert/franka_data.csv
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diff --git a/Part2/Free/digiy/ball_0050_17.5/width_03/insert/simulation_data.csv b/Part2/Free/digiy/ball_0050_17.5/width_03/insert/simulation_data.csv
new file mode 100644
index 0000000000000000000000000000000000000000..d8cd585a57d65212064a0e245c3674ac701ed413
--- /dev/null
+++ b/Part2/Free/digiy/ball_0050_17.5/width_03/insert/simulation_data.csv
@@ -0,0 +1,874 @@
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diff --git a/Part2/Free/digiy/ball_0050_17.5/width_03/pick/camera_frames_60hz.tar b/Part2/Free/digiy/ball_0050_17.5/width_03/pick/camera_frames_60hz.tar
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--- /dev/null
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@@ -0,0 +1,3 @@
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diff --git a/Part2/Free/digiy/ball_0050_17.5/width_03/pick/camera_franka_gripper_aligned_60hz.csv.bak b/Part2/Free/digiy/ball_0050_17.5/width_03/pick/camera_franka_gripper_aligned_60hz.csv.bak
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index 0000000000000000000000000000000000000000..9cdf509e8022b64c27c55a33f7780d71725b5813
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+++ b/Part2/Free/digiy/ball_0050_17.5/width_03/pick/camera_franka_gripper_aligned_60hz.csv.bak
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diff --git a/Part2/Free/digiy/ball_0050_17.5/width_03/pick/fem_node.csv b/Part2/Free/digiy/ball_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/ball_0050_17.5/width_03/pick/franka_data.csv b/Part2/Free/digiy/ball_0050_17.5/width_03/pick/franka_data.csv
new file mode 100644
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diff --git a/Part2/Free/digiy/ball_0050_17.5/width_03/pick/simulation_data.csv b/Part2/Free/digiy/ball_0050_17.5/width_03/pick/simulation_data.csv
new file mode 100644
index 0000000000000000000000000000000000000000..965615213369ce2b33985bdd9ab0eea8bc1d2cd9
--- /dev/null
+++ b/Part2/Free/digiy/ball_0050_17.5/width_03/pick/simulation_data.csv
@@ -0,0 +1,203 @@
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diff --git a/Part2/Free/digiy/ball_0050_17.5/width_04/insert/camera_frames_60hz.tar b/Part2/Free/digiy/ball_0050_17.5/width_04/insert/camera_frames_60hz.tar
new file mode 100644
index 0000000000000000000000000000000000000000..89ae7c5865b31a75b77ab062c56aa56cf445d265
--- /dev/null
+++ b/Part2/Free/digiy/ball_0050_17.5/width_04/insert/camera_frames_60hz.tar
@@ -0,0 +1,3 @@
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+size 8581120
diff --git a/Part2/Free/digiy/ball_0050_17.5/width_04/insert/camera_franka_gripper_aligned_60hz.csv.bak b/Part2/Free/digiy/ball_0050_17.5/width_04/insert/camera_franka_gripper_aligned_60hz.csv.bak
new file mode 100644
index 0000000000000000000000000000000000000000..c4ac8e912972d860c6bddc0c181792ec9a7e35c9
--- /dev/null
+++ b/Part2/Free/digiy/ball_0050_17.5/width_04/insert/camera_franka_gripper_aligned_60hz.csv.bak
@@ -0,0 +1,856 @@
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diff --git a/Part2/Free/digiy/ball_0050_17.5/width_04/insert/fem_node.csv b/Part2/Free/digiy/ball_0050_17.5/width_04/insert/fem_node.csv
new file mode 100644
index 0000000000000000000000000000000000000000..b316d30ff44f66fa450e806eeed62ecb18fcab06
--- /dev/null
+++ b/Part2/Free/digiy/ball_0050_17.5/width_04/insert/fem_node.csv
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+size 88351189
diff --git a/Part2/Free/digiy/ball_0050_17.5/width_04/insert/franka_data.csv b/Part2/Free/digiy/ball_0050_17.5/width_04/insert/franka_data.csv
new file mode 100644
index 0000000000000000000000000000000000000000..6d1708fa2181f7389cb1179caf6ae84797bddcee
--- /dev/null
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diff --git a/Part2/Free/digiy/ball_0050_17.5/width_04/insert/simulation_data.csv b/Part2/Free/digiy/ball_0050_17.5/width_04/insert/simulation_data.csv
new file mode 100644
index 0000000000000000000000000000000000000000..1c4c8e576a0de39f253d85a8440961954534a55c
--- /dev/null
+++ b/Part2/Free/digiy/ball_0050_17.5/width_04/insert/simulation_data.csv
@@ -0,0 +1,874 @@
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diff --git a/Part2/Free/digiy/ball_0050_17.5/width_04/pick/camera_frames_60hz.tar b/Part2/Free/digiy/ball_0050_17.5/width_04/pick/camera_frames_60hz.tar
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--- /dev/null
+++ b/Part2/Free/digiy/ball_0050_17.5/width_04/pick/camera_frames_60hz.tar
@@ -0,0 +1,3 @@
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+size 2027520
diff --git a/Part2/Free/digiy/ball_0050_17.5/width_04/pick/camera_franka_gripper_aligned_60hz.csv.bak b/Part2/Free/digiy/ball_0050_17.5/width_04/pick/camera_franka_gripper_aligned_60hz.csv.bak
new file mode 100644
index 0000000000000000000000000000000000000000..cad4fc59b07b5b29d90c8517e73f896583a29cfc
--- /dev/null
+++ b/Part2/Free/digiy/ball_0050_17.5/width_04/pick/camera_franka_gripper_aligned_60hz.csv.bak
@@ -0,0 +1,329 @@
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diff --git a/Part2/Free/digiy/ball_0050_17.5/width_04/pick/fem_node.csv b/Part2/Free/digiy/ball_0050_17.5/width_04/pick/fem_node.csv
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index 0000000000000000000000000000000000000000..2e321eb87b4caa76c5a11f62cdd1284ffcb380c0
--- /dev/null
+++ b/Part2/Free/digiy/ball_0050_17.5/width_04/pick/fem_node.csv
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diff --git a/Part2/Free/digiy/ball_0050_17.5/width_04/pick/franka_data.csv b/Part2/Free/digiy/ball_0050_17.5/width_04/pick/franka_data.csv
new file mode 100644
index 0000000000000000000000000000000000000000..f47b54d91f8ae250f85c08c832334d0f9a660a50
--- /dev/null
+++ b/Part2/Free/digiy/ball_0050_17.5/width_04/pick/franka_data.csv
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diff --git a/Part2/Free/digiy/ball_0050_17.5/width_04/pick/simulation_data.csv b/Part2/Free/digiy/ball_0050_17.5/width_04/pick/simulation_data.csv
new file mode 100644
index 0000000000000000000000000000000000000000..953ad9f04b649a20ea178408467cc77fbcb634b7
--- /dev/null
+++ b/Part2/Free/digiy/ball_0050_17.5/width_04/pick/simulation_data.csv
@@ -0,0 +1,203 @@
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diff --git a/Part2/Free/digiy/ball_0050_17.5/width_05/insert/camera_frames_60hz.tar b/Part2/Free/digiy/ball_0050_17.5/width_05/insert/camera_frames_60hz.tar
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--- /dev/null
+++ b/Part2/Free/digiy/ball_0050_17.5/width_05/insert/camera_frames_60hz.tar
@@ -0,0 +1,3 @@
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+size 8069120
diff --git a/Part2/Free/digiy/ball_0050_17.5/width_05/insert/camera_franka_gripper_aligned_60hz.csv.bak b/Part2/Free/digiy/ball_0050_17.5/width_05/insert/camera_franka_gripper_aligned_60hz.csv.bak
new file mode 100644
index 0000000000000000000000000000000000000000..2053cb4cfa923f58dd69459d6ee19f85e030e33c
--- /dev/null
+++ b/Part2/Free/digiy/ball_0050_17.5/width_05/insert/camera_franka_gripper_aligned_60hz.csv.bak
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diff --git a/Part2/Free/digiy/ball_0050_17.5/width_05/insert/fem_node.csv b/Part2/Free/digiy/ball_0050_17.5/width_05/insert/fem_node.csv
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--- /dev/null
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diff --git a/Part2/Free/digiy/ball_0050_17.5/width_05/insert/franka_data.csv b/Part2/Free/digiy/ball_0050_17.5/width_05/insert/franka_data.csv
new file mode 100644
index 0000000000000000000000000000000000000000..ad3d9e2e74aff3e0605d2020c807aa3d3432aa62
--- /dev/null
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diff --git a/Part2/Free/digiy/ball_0050_17.5/width_05/insert/simulation_data.csv b/Part2/Free/digiy/ball_0050_17.5/width_05/insert/simulation_data.csv
new file mode 100644
index 0000000000000000000000000000000000000000..4af5ced6b2c94c28c3bb08ddca7f0708e3926baa
--- /dev/null
+++ b/Part2/Free/digiy/ball_0050_17.5/width_05/insert/simulation_data.csv
@@ -0,0 +1,873 @@
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+++ b/Part2/Free/digiy/ball_0050_17.5/width_05/pick/camera_franka_gripper_aligned_60hz.csv.bak
@@ -0,0 +1,332 @@
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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_0050_17.5/width_05/pick/fem_node.csv b/Part2/Free/digiy/ball_0050_17.5/width_05/pick/fem_node.csv
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index 0000000000000000000000000000000000000000..d27e1a37276a48b5547b2db9370a02132c56fbd5
--- /dev/null
+++ b/Part2/Free/digiy/ball_0050_17.5/width_05/pick/fem_node.csv
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diff --git a/Part2/Free/digiy/ball_0050_17.5/width_05/pick/franka_data.csv b/Part2/Free/digiy/ball_0050_17.5/width_05/pick/franka_data.csv
new file mode 100644
index 0000000000000000000000000000000000000000..770e74e11303b61ac50bc98de8c42d3e79a0dc72
--- /dev/null
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diff --git a/Part2/Free/digiy/ball_0050_17.5/width_05/pick/simulation_data.csv b/Part2/Free/digiy/ball_0050_17.5/width_05/pick/simulation_data.csv
new file mode 100644
index 0000000000000000000000000000000000000000..b4a8b834d9f355067c73b75b3f1e0647f94344d0
--- /dev/null
+++ b/Part2/Free/digiy/ball_0050_17.5/width_05/pick/simulation_data.csv
@@ -0,0 +1,203 @@
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diff --git a/Part2/Free/digiy/ball_0050_17.5/width_06/insert/camera_frames_60hz.tar b/Part2/Free/digiy/ball_0050_17.5/width_06/insert/camera_frames_60hz.tar
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--- /dev/null
+++ b/Part2/Free/digiy/ball_0050_17.5/width_06/insert/camera_frames_60hz.tar
@@ -0,0 +1,3 @@
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+size 8570880
diff --git a/Part2/Free/digiy/ball_0050_17.5/width_06/insert/camera_franka_gripper_aligned_60hz.csv.bak b/Part2/Free/digiy/ball_0050_17.5/width_06/insert/camera_franka_gripper_aligned_60hz.csv.bak
new file mode 100644
index 0000000000000000000000000000000000000000..33ddbc9e783c1c43aa9e05a4737cac30ee22990c
--- /dev/null
+++ b/Part2/Free/digiy/ball_0050_17.5/width_06/insert/camera_franka_gripper_aligned_60hz.csv.bak
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diff --git a/Part2/Free/digiy/ball_0050_17.5/width_06/insert/fem_node.csv b/Part2/Free/digiy/ball_0050_17.5/width_06/insert/fem_node.csv
new file mode 100644
index 0000000000000000000000000000000000000000..2ff4ce367cff82be87aa130a298eccead41845cf
--- /dev/null
+++ b/Part2/Free/digiy/ball_0050_17.5/width_06/insert/fem_node.csv
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+size 88152064
diff --git a/Part2/Free/digiy/ball_0050_17.5/width_06/insert/franka_data.csv b/Part2/Free/digiy/ball_0050_17.5/width_06/insert/franka_data.csv
new file mode 100644
index 0000000000000000000000000000000000000000..1137e17480091ef8cbe8e4f17e206339dc7c6b77
--- /dev/null
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diff --git a/Part2/Free/digiy/ball_0050_17.5/width_06/insert/simulation_data.csv b/Part2/Free/digiy/ball_0050_17.5/width_06/insert/simulation_data.csv
new file mode 100644
index 0000000000000000000000000000000000000000..e06b7e372b2f76a979065109ccaac0fdbcfc75f1
--- /dev/null
+++ b/Part2/Free/digiy/ball_0050_17.5/width_06/insert/simulation_data.csv
@@ -0,0 +1,872 @@
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