diff --git a/.gitattributes b/.gitattributes
index f1de9ac0d68eda8a4c147242c50b7ad795a1d8de..891da8b8dac67941f59fd33571b27bfe2c150051 100644
--- a/.gitattributes
+++ b/.gitattributes
@@ -14209,3 +14209,13 @@ Part2/Free/digiy/cylinder_0030_12.5/width_08/pick/fem_node.csv filter=lfs diff=l
 Part2/Free/digiy/cylinder_0030_12.5/width_09/insert/fem_node.csv filter=lfs diff=lfs merge=lfs -text
 Part2/Free/digiy/cylinder_0030_12.5/width_09/pick/fem_node.csv filter=lfs diff=lfs merge=lfs -text
 Part2/Free/digiy/cylinder_0030_12.5/width_10/insert/fem_node.csv filter=lfs diff=lfs merge=lfs -text
+Part2/Free/digiy/cylinder_0030_12.5/width_10/pick/fem_node.csv filter=lfs diff=lfs merge=lfs -text
+Part2/Free/digiy/cylinder_0030_15/width_01/insert/fem_node.csv filter=lfs diff=lfs merge=lfs -text
+Part2/Free/digiy/cylinder_0030_15/width_01/pick/fem_node.csv filter=lfs diff=lfs merge=lfs -text
+Part2/Free/digiy/cylinder_0030_15/width_02/insert/fem_node.csv filter=lfs diff=lfs merge=lfs -text
+Part2/Free/digiy/cylinder_0030_15/width_02/pick/fem_node.csv filter=lfs diff=lfs merge=lfs -text
+Part2/Free/digiy/cylinder_0030_15/width_03/insert/fem_node.csv filter=lfs diff=lfs merge=lfs -text
+Part2/Free/digiy/cylinder_0030_15/width_03/pick/fem_node.csv filter=lfs diff=lfs merge=lfs -text
+Part2/Free/digiy/cylinder_0030_15/width_04/insert/fem_node.csv filter=lfs diff=lfs merge=lfs -text
+Part2/Free/digiy/cylinder_0030_15/width_04/pick/fem_node.csv filter=lfs diff=lfs merge=lfs -text
+Part2/Free/digiy/cylinder_0030_15/width_05/insert/fem_node.csv filter=lfs diff=lfs merge=lfs -text
diff --git a/Part2/Free/digiy/cylinder_0030_12.5/width_10/pick/fem_node.csv b/Part2/Free/digiy/cylinder_0030_12.5/width_10/pick/fem_node.csv
new file mode 100644
index 0000000000000000000000000000000000000000..0f077d84912cecc53fb64c7bcf4dffbc8dd7681b
--- /dev/null
+++ b/Part2/Free/digiy/cylinder_0030_12.5/width_10/pick/fem_node.csv
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
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+size 20154996
diff --git a/Part2/Free/digiy/cylinder_0030_12.5/width_10/pick/franka_data.csv b/Part2/Free/digiy/cylinder_0030_12.5/width_10/pick/franka_data.csv
new file mode 100644
index 0000000000000000000000000000000000000000..3eae85e832f0093fbdb94319a102c90fcef152cd
--- /dev/null
+++ b/Part2/Free/digiy/cylinder_0030_12.5/width_10/pick/franka_data.csv
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diff --git a/Part2/Free/digiy/cylinder_0030_12.5/width_10/pick/simulation_data.csv b/Part2/Free/digiy/cylinder_0030_12.5/width_10/pick/simulation_data.csv
new file mode 100644
index 0000000000000000000000000000000000000000..04ffdb0df9776fc21c7f983a0cf8a035e34023c1
--- /dev/null
+++ b/Part2/Free/digiy/cylinder_0030_12.5/width_10/pick/simulation_data.csv
@@ -0,0 +1,208 @@
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diff --git a/Part2/Free/digiy/cylinder_0030_15/width_01/insert/camera_frames_60hz.tar b/Part2/Free/digiy/cylinder_0030_15/width_01/insert/camera_frames_60hz.tar
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--- /dev/null
+++ b/Part2/Free/digiy/cylinder_0030_15/width_01/insert/camera_frames_60hz.tar
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diff --git a/Part2/Free/digiy/cylinder_0030_15/width_01/insert/camera_franka_gripper_aligned_60hz.csv.bak b/Part2/Free/digiy/cylinder_0030_15/width_01/insert/camera_franka_gripper_aligned_60hz.csv.bak
new file mode 100644
index 0000000000000000000000000000000000000000..6cf90b49475b01cd5bb92feface1920a5a9a7ab4
--- /dev/null
+++ b/Part2/Free/digiy/cylinder_0030_15/width_01/insert/camera_franka_gripper_aligned_60hz.csv.bak
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diff --git a/Part2/Free/digiy/cylinder_0030_15/width_01/insert/fem_node.csv b/Part2/Free/digiy/cylinder_0030_15/width_01/insert/fem_node.csv
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--- /dev/null
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diff --git a/Part2/Free/digiy/cylinder_0030_15/width_01/insert/franka_data.csv b/Part2/Free/digiy/cylinder_0030_15/width_01/insert/franka_data.csv
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diff --git a/Part2/Free/digiy/cylinder_0030_15/width_01/insert/simulation_data.csv b/Part2/Free/digiy/cylinder_0030_15/width_01/insert/simulation_data.csv
new file mode 100644
index 0000000000000000000000000000000000000000..bac0aa6e8a7ba317c27f8a0cf162d07cac931c06
--- /dev/null
+++ b/Part2/Free/digiy/cylinder_0030_15/width_01/insert/simulation_data.csv
@@ -0,0 +1,905 @@
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diff --git a/Part2/Free/digiy/cylinder_0030_15/width_01/pick/camera_frames_60hz.tar b/Part2/Free/digiy/cylinder_0030_15/width_01/pick/camera_frames_60hz.tar
new file mode 100644
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--- /dev/null
+++ b/Part2/Free/digiy/cylinder_0030_15/width_01/pick/camera_frames_60hz.tar
@@ -0,0 +1,3 @@
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+size 2088960
diff --git a/Part2/Free/digiy/cylinder_0030_15/width_01/pick/camera_franka_gripper_aligned_60hz.csv.bak b/Part2/Free/digiy/cylinder_0030_15/width_01/pick/camera_franka_gripper_aligned_60hz.csv.bak
new file mode 100644
index 0000000000000000000000000000000000000000..adac29cf08cdb20223f2a827ccf36a2db5098b09
--- /dev/null
+++ b/Part2/Free/digiy/cylinder_0030_15/width_01/pick/camera_franka_gripper_aligned_60hz.csv.bak
@@ -0,0 +1,368 @@
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diff --git a/Part2/Free/digiy/cylinder_0030_15/width_01/pick/fem_node.csv b/Part2/Free/digiy/cylinder_0030_15/width_01/pick/fem_node.csv
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index 0000000000000000000000000000000000000000..d8fd933740d7ca01c162348497cf01d59c8c2363
--- /dev/null
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diff --git a/Part2/Free/digiy/cylinder_0030_15/width_01/pick/franka_data.csv b/Part2/Free/digiy/cylinder_0030_15/width_01/pick/franka_data.csv
new file mode 100644
index 0000000000000000000000000000000000000000..fe8333780036272988c93edcce7e39069ac7be5d
--- /dev/null
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diff --git a/Part2/Free/digiy/cylinder_0030_15/width_01/pick/simulation_data.csv b/Part2/Free/digiy/cylinder_0030_15/width_01/pick/simulation_data.csv
new file mode 100644
index 0000000000000000000000000000000000000000..288af15cbcd9b88e891b8e3e32e4ee4e7e2b19ad
--- /dev/null
+++ b/Part2/Free/digiy/cylinder_0030_15/width_01/pick/simulation_data.csv
@@ -0,0 +1,208 @@
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diff --git a/Part2/Free/digiy/cylinder_0030_15/width_02/insert/camera_frames_60hz.tar b/Part2/Free/digiy/cylinder_0030_15/width_02/insert/camera_frames_60hz.tar
new file mode 100644
index 0000000000000000000000000000000000000000..18e4f435d0491d9d5c7b5550b68ef49964fd9fca
--- /dev/null
+++ b/Part2/Free/digiy/cylinder_0030_15/width_02/insert/camera_frames_60hz.tar
@@ -0,0 +1,3 @@
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+oid sha256:f3965cee6a2d212a18df02323c51d712371a64b92ea5e8417ac955b09577e498
+size 7997440
diff --git a/Part2/Free/digiy/cylinder_0030_15/width_02/insert/camera_franka_gripper_aligned_60hz.csv.bak b/Part2/Free/digiy/cylinder_0030_15/width_02/insert/camera_franka_gripper_aligned_60hz.csv.bak
new file mode 100644
index 0000000000000000000000000000000000000000..5d28c3eabd4aeb69ec523fe7abc1a6f040490d82
--- /dev/null
+++ b/Part2/Free/digiy/cylinder_0030_15/width_02/insert/camera_franka_gripper_aligned_60hz.csv.bak
@@ -0,0 +1,799 @@
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diff --git a/Part2/Free/digiy/cylinder_0030_15/width_02/insert/fem_node.csv b/Part2/Free/digiy/cylinder_0030_15/width_02/insert/fem_node.csv
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index 0000000000000000000000000000000000000000..2badde875c25f013fadef4be8c6e341cc67fb0c5
--- /dev/null
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diff --git a/Part2/Free/digiy/cylinder_0030_15/width_02/insert/franka_data.csv b/Part2/Free/digiy/cylinder_0030_15/width_02/insert/franka_data.csv
new file mode 100644
index 0000000000000000000000000000000000000000..c030af1b68e3135c74aaec2486fd1386ea045709
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diff --git a/Part2/Free/digiy/cylinder_0030_15/width_02/insert/simulation_data.csv b/Part2/Free/digiy/cylinder_0030_15/width_02/insert/simulation_data.csv
new file mode 100644
index 0000000000000000000000000000000000000000..1654b305d463013c222a00ae2ddadb4e5edb6aff
--- /dev/null
+++ b/Part2/Free/digiy/cylinder_0030_15/width_02/insert/simulation_data.csv
@@ -0,0 +1,900 @@
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+++ b/Part2/Free/digiy/cylinder_0030_15/width_02/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/cylinder_0030_15/width_02/pick/fem_node.csv b/Part2/Free/digiy/cylinder_0030_15/width_02/pick/fem_node.csv
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index 0000000000000000000000000000000000000000..542345e8715dde62db0189a7f31c7a381af213af
--- /dev/null
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diff --git a/Part2/Free/digiy/cylinder_0030_15/width_02/pick/franka_data.csv b/Part2/Free/digiy/cylinder_0030_15/width_02/pick/franka_data.csv
new file mode 100644
index 0000000000000000000000000000000000000000..a4c9e91478b123e6b3dc011557d17d37a177b8ba
--- /dev/null
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diff --git a/Part2/Free/digiy/cylinder_0030_15/width_02/pick/simulation_data.csv b/Part2/Free/digiy/cylinder_0030_15/width_02/pick/simulation_data.csv
new file mode 100644
index 0000000000000000000000000000000000000000..4898b37db38642d69d1ea357f27f54d1fcb7ccd7
--- /dev/null
+++ b/Part2/Free/digiy/cylinder_0030_15/width_02/pick/simulation_data.csv
@@ -0,0 +1,208 @@
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diff --git a/Part2/Free/digiy/cylinder_0030_15/width_03/insert/camera_frames_60hz.tar b/Part2/Free/digiy/cylinder_0030_15/width_03/insert/camera_frames_60hz.tar
new file mode 100644
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--- /dev/null
+++ b/Part2/Free/digiy/cylinder_0030_15/width_03/insert/camera_frames_60hz.tar
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:417135cad5b7a57fb922b687eb31839d0835867c0e736f71f58591feada68645
+size 8509440
diff --git a/Part2/Free/digiy/cylinder_0030_15/width_03/insert/camera_franka_gripper_aligned_60hz.csv.bak b/Part2/Free/digiy/cylinder_0030_15/width_03/insert/camera_franka_gripper_aligned_60hz.csv.bak
new file mode 100644
index 0000000000000000000000000000000000000000..8c81a060529c7e4ef2a718c4020bf71a0da70e0c
--- /dev/null
+++ b/Part2/Free/digiy/cylinder_0030_15/width_03/insert/camera_franka_gripper_aligned_60hz.csv.bak
@@ -0,0 +1,851 @@
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diff --git a/Part2/Free/digiy/cylinder_0030_15/width_03/insert/fem_node.csv b/Part2/Free/digiy/cylinder_0030_15/width_03/insert/fem_node.csv
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index 0000000000000000000000000000000000000000..cb26565e148ef6fe4b27770b7379dd1abd4496ab
--- /dev/null
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diff --git a/Part2/Free/digiy/cylinder_0030_15/width_03/insert/franka_data.csv b/Part2/Free/digiy/cylinder_0030_15/width_03/insert/franka_data.csv
new file mode 100644
index 0000000000000000000000000000000000000000..3f61e5ad059846559afac7fb70a87c413b6fff76
--- /dev/null
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diff --git a/Part2/Free/digiy/cylinder_0030_15/width_03/insert/simulation_data.csv b/Part2/Free/digiy/cylinder_0030_15/width_03/insert/simulation_data.csv
new file mode 100644
index 0000000000000000000000000000000000000000..5083e4aa7fa21d761c33ccc1c3b5d353a66f80bb
--- /dev/null
+++ b/Part2/Free/digiy/cylinder_0030_15/width_03/insert/simulation_data.csv
@@ -0,0 +1,904 @@
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+++ b/Part2/Free/digiy/cylinder_0030_15/width_03/pick/camera_franka_gripper_aligned_60hz.csv.bak
@@ -0,0 +1,301 @@
+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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--- /dev/null
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diff --git a/Part2/Free/digiy/cylinder_0030_15/width_03/pick/franka_data.csv b/Part2/Free/digiy/cylinder_0030_15/width_03/pick/franka_data.csv
new file mode 100644
index 0000000000000000000000000000000000000000..7eca1c22014a3d63b1453977b750aa6e84a2854a
--- /dev/null
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diff --git a/Part2/Free/digiy/cylinder_0030_15/width_03/pick/simulation_data.csv b/Part2/Free/digiy/cylinder_0030_15/width_03/pick/simulation_data.csv
new file mode 100644
index 0000000000000000000000000000000000000000..8f28c1729eb0a0123e1c12ef617f4b8fde465c33
--- /dev/null
+++ b/Part2/Free/digiy/cylinder_0030_15/width_03/pick/simulation_data.csv
@@ -0,0 +1,208 @@
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diff --git a/Part2/Free/digiy/cylinder_0030_15/width_04/insert/camera_frames_60hz.tar b/Part2/Free/digiy/cylinder_0030_15/width_04/insert/camera_frames_60hz.tar
new file mode 100644
index 0000000000000000000000000000000000000000..76840196732cb56873753912b7cd27d6d9af592e
--- /dev/null
+++ b/Part2/Free/digiy/cylinder_0030_15/width_04/insert/camera_frames_60hz.tar
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:9f9dcaeb3997b41b3d056e8eafef3ef10bda4a063ffe939a436465df9f97a8eb
+size 8826880
diff --git a/Part2/Free/digiy/cylinder_0030_15/width_04/insert/camera_franka_gripper_aligned_60hz.csv.bak b/Part2/Free/digiy/cylinder_0030_15/width_04/insert/camera_franka_gripper_aligned_60hz.csv.bak
new file mode 100644
index 0000000000000000000000000000000000000000..5db4817604064e04faebea590c4181048522b10c
--- /dev/null
+++ b/Part2/Free/digiy/cylinder_0030_15/width_04/insert/camera_franka_gripper_aligned_60hz.csv.bak
@@ -0,0 +1,885 @@
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diff --git a/Part2/Free/digiy/cylinder_0030_15/width_04/insert/fem_node.csv b/Part2/Free/digiy/cylinder_0030_15/width_04/insert/fem_node.csv
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index 0000000000000000000000000000000000000000..301d58fc2a3dc7c5b351d8b257518a1fc82e1a49
--- /dev/null
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diff --git a/Part2/Free/digiy/cylinder_0030_15/width_04/insert/franka_data.csv b/Part2/Free/digiy/cylinder_0030_15/width_04/insert/franka_data.csv
new file mode 100644
index 0000000000000000000000000000000000000000..dcc23b75efafe16160e7a36e0f5a42b9ae9b5657
--- /dev/null
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diff --git a/Part2/Free/digiy/cylinder_0030_15/width_04/insert/simulation_data.csv b/Part2/Free/digiy/cylinder_0030_15/width_04/insert/simulation_data.csv
new file mode 100644
index 0000000000000000000000000000000000000000..ce8441cb92e072e65d124a82e852478ce8f44843
--- /dev/null
+++ b/Part2/Free/digiy/cylinder_0030_15/width_04/insert/simulation_data.csv
@@ -0,0 +1,903 @@
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diff --git a/Part2/Free/digiy/cylinder_0030_15/width_04/pick/camera_frames_60hz.tar b/Part2/Free/digiy/cylinder_0030_15/width_04/pick/camera_frames_60hz.tar
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--- /dev/null
+++ b/Part2/Free/digiy/cylinder_0030_15/width_04/pick/camera_frames_60hz.tar
@@ -0,0 +1,3 @@
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+size 2078720
diff --git a/Part2/Free/digiy/cylinder_0030_15/width_04/pick/camera_franka_gripper_aligned_60hz.csv.bak b/Part2/Free/digiy/cylinder_0030_15/width_04/pick/camera_franka_gripper_aligned_60hz.csv.bak
new file mode 100644
index 0000000000000000000000000000000000000000..7a429daf0c7f05ff843fcff860311134551d5492
--- /dev/null
+++ b/Part2/Free/digiy/cylinder_0030_15/width_04/pick/camera_franka_gripper_aligned_60hz.csv.bak
@@ -0,0 +1,360 @@
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diff --git a/Part2/Free/digiy/cylinder_0030_15/width_04/pick/fem_node.csv b/Part2/Free/digiy/cylinder_0030_15/width_04/pick/fem_node.csv
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index 0000000000000000000000000000000000000000..180d349528f667b435640c54eab7772e73cdfc67
--- /dev/null
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diff --git a/Part2/Free/digiy/cylinder_0030_15/width_04/pick/franka_data.csv b/Part2/Free/digiy/cylinder_0030_15/width_04/pick/franka_data.csv
new file mode 100644
index 0000000000000000000000000000000000000000..440842b99a8da5c78bbe378759d9c52e406540f9
--- /dev/null
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diff --git a/Part2/Free/digiy/cylinder_0030_15/width_04/pick/simulation_data.csv b/Part2/Free/digiy/cylinder_0030_15/width_04/pick/simulation_data.csv
new file mode 100644
index 0000000000000000000000000000000000000000..9e815e7a3b8595d7e6dfd4b928e162bc64d8c1ce
--- /dev/null
+++ b/Part2/Free/digiy/cylinder_0030_15/width_04/pick/simulation_data.csv
@@ -0,0 +1,209 @@
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+++ b/Part2/Free/digiy/cylinder_0030_15/width_05/insert/camera_franka_gripper_aligned_60hz.csv.bak
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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_0030_15/width_05/insert/simulation_data.csv b/Part2/Free/digiy/cylinder_0030_15/width_05/insert/simulation_data.csv
new file mode 100644
index 0000000000000000000000000000000000000000..af9e41531c8ff9e2e8f82529f35dccbc039bd624
--- /dev/null
+++ b/Part2/Free/digiy/cylinder_0030_15/width_05/insert/simulation_data.csv
@@ -0,0 +1,830 @@
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@@ -0,0 +1,345 @@
+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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