diff --git a/.gitattributes b/.gitattributes
index 2aa9414a5772f2da410b5c85729b13f0774e4d9c..37e24b7a184b9b03e08647464ebd5e6e6c55b062 100644
--- a/.gitattributes
+++ b/.gitattributes
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 Part2/Free/digiy/cylinder_15A_12.5/width_05/insert/fem_node.csv filter=lfs diff=lfs merge=lfs -text
 Part2/Free/digiy/cylinder_15A_12.5/width_05/pick/fem_node.csv filter=lfs diff=lfs merge=lfs -text
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diff --git a/Part2/Free/digiy/cylinder_15A_12.5/width_06/insert/fem_node.csv b/Part2/Free/digiy/cylinder_15A_12.5/width_06/insert/fem_node.csv
new file mode 100644
index 0000000000000000000000000000000000000000..424f8b3c4a2af85b19cee601726286eb5510854f
--- /dev/null
+++ b/Part2/Free/digiy/cylinder_15A_12.5/width_06/insert/fem_node.csv
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diff --git a/Part2/Free/digiy/cylinder_15A_12.5/width_06/insert/franka_data.csv b/Part2/Free/digiy/cylinder_15A_12.5/width_06/insert/franka_data.csv
new file mode 100644
index 0000000000000000000000000000000000000000..3a77d53cee0dbefdb6d877384ce30b285e399b3f
--- /dev/null
+++ b/Part2/Free/digiy/cylinder_15A_12.5/width_06/insert/franka_data.csv
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diff --git a/Part2/Free/digiy/cylinder_15A_12.5/width_06/insert/simulation_data.csv b/Part2/Free/digiy/cylinder_15A_12.5/width_06/insert/simulation_data.csv
new file mode 100644
index 0000000000000000000000000000000000000000..bbde92894c52aae7bbe6b3c26b5224200f35ff11
--- /dev/null
+++ b/Part2/Free/digiy/cylinder_15A_12.5/width_06/insert/simulation_data.csv
@@ -0,0 +1,902 @@
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diff --git a/Part2/Free/digiy/cylinder_15A_12.5/width_06/pick/camera_frames_60hz.tar b/Part2/Free/digiy/cylinder_15A_12.5/width_06/pick/camera_frames_60hz.tar
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+++ b/Part2/Free/digiy/cylinder_15A_12.5/width_06/pick/camera_frames_60hz.tar
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diff --git a/Part2/Free/digiy/cylinder_15A_12.5/width_06/pick/camera_franka_gripper_aligned_60hz.csv.bak b/Part2/Free/digiy/cylinder_15A_12.5/width_06/pick/camera_franka_gripper_aligned_60hz.csv.bak
new file mode 100644
index 0000000000000000000000000000000000000000..ba191a1e4598f120f17c43fe844e27296cc62e2d
--- /dev/null
+++ b/Part2/Free/digiy/cylinder_15A_12.5/width_06/pick/camera_franka_gripper_aligned_60hz.csv.bak
@@ -0,0 +1,360 @@
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diff --git a/Part2/Free/digiy/cylinder_15A_12.5/width_06/pick/fem_node.csv b/Part2/Free/digiy/cylinder_15A_12.5/width_06/pick/fem_node.csv
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--- /dev/null
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diff --git a/Part2/Free/digiy/cylinder_15A_12.5/width_06/pick/franka_data.csv b/Part2/Free/digiy/cylinder_15A_12.5/width_06/pick/franka_data.csv
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diff --git a/Part2/Free/digiy/cylinder_15A_12.5/width_06/pick/simulation_data.csv b/Part2/Free/digiy/cylinder_15A_12.5/width_06/pick/simulation_data.csv
new file mode 100644
index 0000000000000000000000000000000000000000..486831ce03302ea0a3c13dc198598856d0b63bfd
--- /dev/null
+++ b/Part2/Free/digiy/cylinder_15A_12.5/width_06/pick/simulation_data.csv
@@ -0,0 +1,208 @@
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diff --git a/Part2/Free/digiy/cylinder_15A_12.5/width_07/insert/camera_frames_60hz.tar b/Part2/Free/digiy/cylinder_15A_12.5/width_07/insert/camera_frames_60hz.tar
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--- /dev/null
+++ b/Part2/Free/digiy/cylinder_15A_12.5/width_07/insert/camera_frames_60hz.tar
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+size 9103360
diff --git a/Part2/Free/digiy/cylinder_15A_12.5/width_07/insert/camera_franka_gripper_aligned_60hz.csv.bak b/Part2/Free/digiy/cylinder_15A_12.5/width_07/insert/camera_franka_gripper_aligned_60hz.csv.bak
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index 0000000000000000000000000000000000000000..e37a8d3cf99aa5e60f60f9aab9d1a0b06a40010a
--- /dev/null
+++ b/Part2/Free/digiy/cylinder_15A_12.5/width_07/insert/camera_franka_gripper_aligned_60hz.csv.bak
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diff --git a/Part2/Free/digiy/cylinder_15A_12.5/width_07/insert/fem_node.csv b/Part2/Free/digiy/cylinder_15A_12.5/width_07/insert/fem_node.csv
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index 0000000000000000000000000000000000000000..39f21df475206de1360ca930ed472e9135e7d1cb
--- /dev/null
+++ b/Part2/Free/digiy/cylinder_15A_12.5/width_07/insert/fem_node.csv
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+size 91456625
diff --git a/Part2/Free/digiy/cylinder_15A_12.5/width_07/insert/franka_data.csv b/Part2/Free/digiy/cylinder_15A_12.5/width_07/insert/franka_data.csv
new file mode 100644
index 0000000000000000000000000000000000000000..4cf9b1292a2f7e4704aaa761aea228ffd4c3cf63
--- /dev/null
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diff --git a/Part2/Free/digiy/cylinder_15A_12.5/width_07/insert/simulation_data.csv b/Part2/Free/digiy/cylinder_15A_12.5/width_07/insert/simulation_data.csv
new file mode 100644
index 0000000000000000000000000000000000000000..edb9d9039f5df1ee8e18cc2f96f7b9ed8886fb54
--- /dev/null
+++ b/Part2/Free/digiy/cylinder_15A_12.5/width_07/insert/simulation_data.csv
@@ -0,0 +1,904 @@
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+++ b/Part2/Free/digiy/cylinder_15A_12.5/width_07/pick/camera_franka_gripper_aligned_60hz.csv.bak
@@ -0,0 +1,365 @@
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diff --git a/Part2/Free/digiy/cylinder_15A_12.5/width_07/pick/fem_node.csv b/Part2/Free/digiy/cylinder_15A_12.5/width_07/pick/fem_node.csv
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index 0000000000000000000000000000000000000000..9d02f538072aa52e8fd657e2c9ae94ae00f8511c
--- /dev/null
+++ b/Part2/Free/digiy/cylinder_15A_12.5/width_07/pick/fem_node.csv
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diff --git a/Part2/Free/digiy/cylinder_15A_12.5/width_07/pick/franka_data.csv b/Part2/Free/digiy/cylinder_15A_12.5/width_07/pick/franka_data.csv
new file mode 100644
index 0000000000000000000000000000000000000000..17d9f5e15a3668fcae7d5a7fde9acd55cd77c7d1
--- /dev/null
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diff --git a/Part2/Free/digiy/cylinder_15A_12.5/width_07/pick/simulation_data.csv b/Part2/Free/digiy/cylinder_15A_12.5/width_07/pick/simulation_data.csv
new file mode 100644
index 0000000000000000000000000000000000000000..8932cdae487f29870191a958582c85c95ea3c5d7
--- /dev/null
+++ b/Part2/Free/digiy/cylinder_15A_12.5/width_07/pick/simulation_data.csv
@@ -0,0 +1,208 @@
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diff --git a/Part2/Free/digiy/cylinder_15A_12.5/width_08/insert/camera_frames_60hz.tar b/Part2/Free/digiy/cylinder_15A_12.5/width_08/insert/camera_frames_60hz.tar
new file mode 100644
index 0000000000000000000000000000000000000000..e4fe20ccaca48f4add3ad51ab165801212e57b3d
--- /dev/null
+++ b/Part2/Free/digiy/cylinder_15A_12.5/width_08/insert/camera_frames_60hz.tar
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:9fffdf660963092bbba6367d4f7cf785392f665b46a6bf9b2c7cc62aed74892a
+size 9021440
diff --git a/Part2/Free/digiy/cylinder_15A_12.5/width_08/insert/camera_franka_gripper_aligned_60hz.csv.bak b/Part2/Free/digiy/cylinder_15A_12.5/width_08/insert/camera_franka_gripper_aligned_60hz.csv.bak
new file mode 100644
index 0000000000000000000000000000000000000000..5c71931de523ba920015326e86f87c26edc6f242
--- /dev/null
+++ b/Part2/Free/digiy/cylinder_15A_12.5/width_08/insert/camera_franka_gripper_aligned_60hz.csv.bak
@@ -0,0 +1,899 @@
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diff --git a/Part2/Free/digiy/cylinder_15A_12.5/width_08/insert/fem_node.csv b/Part2/Free/digiy/cylinder_15A_12.5/width_08/insert/fem_node.csv
new file mode 100644
index 0000000000000000000000000000000000000000..cef569c7515b15219e532f51c8f023762ead76cb
--- /dev/null
+++ b/Part2/Free/digiy/cylinder_15A_12.5/width_08/insert/fem_node.csv
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+size 91354474
diff --git a/Part2/Free/digiy/cylinder_15A_12.5/width_08/insert/franka_data.csv b/Part2/Free/digiy/cylinder_15A_12.5/width_08/insert/franka_data.csv
new file mode 100644
index 0000000000000000000000000000000000000000..f89524239edfc601f32eabc27cc37729c23e4b06
--- /dev/null
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diff --git a/Part2/Free/digiy/cylinder_15A_12.5/width_08/insert/simulation_data.csv b/Part2/Free/digiy/cylinder_15A_12.5/width_08/insert/simulation_data.csv
new file mode 100644
index 0000000000000000000000000000000000000000..319cb72f08a76a7294cf8bbbd233ddaddd2fbb71
--- /dev/null
+++ b/Part2/Free/digiy/cylinder_15A_12.5/width_08/insert/simulation_data.csv
@@ -0,0 +1,903 @@
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diff --git a/Part2/Free/digiy/cylinder_15A_12.5/width_08/pick/camera_frames_60hz.tar b/Part2/Free/digiy/cylinder_15A_12.5/width_08/pick/camera_frames_60hz.tar
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--- /dev/null
+++ b/Part2/Free/digiy/cylinder_15A_12.5/width_08/pick/camera_frames_60hz.tar
@@ -0,0 +1,3 @@
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+size 2058240
diff --git a/Part2/Free/digiy/cylinder_15A_12.5/width_08/pick/camera_franka_gripper_aligned_60hz.csv.bak b/Part2/Free/digiy/cylinder_15A_12.5/width_08/pick/camera_franka_gripper_aligned_60hz.csv.bak
new file mode 100644
index 0000000000000000000000000000000000000000..2e7525a22dcc015db5ebab07ceb6ada2e89e7b1e
--- /dev/null
+++ b/Part2/Free/digiy/cylinder_15A_12.5/width_08/pick/camera_franka_gripper_aligned_60hz.csv.bak
@@ -0,0 +1,363 @@
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diff --git a/Part2/Free/digiy/cylinder_15A_12.5/width_08/pick/fem_node.csv b/Part2/Free/digiy/cylinder_15A_12.5/width_08/pick/fem_node.csv
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--- /dev/null
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diff --git a/Part2/Free/digiy/cylinder_15A_12.5/width_08/pick/franka_data.csv b/Part2/Free/digiy/cylinder_15A_12.5/width_08/pick/franka_data.csv
new file mode 100644
index 0000000000000000000000000000000000000000..28cba44ffc02dadf2f72f586ef7519760885029b
--- /dev/null
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diff --git a/Part2/Free/digiy/cylinder_15A_12.5/width_08/pick/simulation_data.csv b/Part2/Free/digiy/cylinder_15A_12.5/width_08/pick/simulation_data.csv
new file mode 100644
index 0000000000000000000000000000000000000000..bede04e6fbbe2a0f3c803b31218b2624436e163c
--- /dev/null
+++ b/Part2/Free/digiy/cylinder_15A_12.5/width_08/pick/simulation_data.csv
@@ -0,0 +1,208 @@
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diff --git a/Part2/Free/digiy/cylinder_15A_12.5/width_09/insert/camera_frames_60hz.tar b/Part2/Free/digiy/cylinder_15A_12.5/width_09/insert/camera_frames_60hz.tar
new file mode 100644
index 0000000000000000000000000000000000000000..05dc1642f998dccbcdc778f528dcc52c2c2854a4
--- /dev/null
+++ b/Part2/Free/digiy/cylinder_15A_12.5/width_09/insert/camera_frames_60hz.tar
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:861013bb840b59b8c063ce46d325b4f17d821477d9fc51ab1f73d7ebd8314625
+size 9093120
diff --git a/Part2/Free/digiy/cylinder_15A_12.5/width_09/insert/camera_franka_gripper_aligned_60hz.csv.bak b/Part2/Free/digiy/cylinder_15A_12.5/width_09/insert/camera_franka_gripper_aligned_60hz.csv.bak
new file mode 100644
index 0000000000000000000000000000000000000000..d45af3a99391ba18559cb672f2080341e683ecd4
--- /dev/null
+++ b/Part2/Free/digiy/cylinder_15A_12.5/width_09/insert/camera_franka_gripper_aligned_60hz.csv.bak
@@ -0,0 +1,907 @@
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diff --git a/Part2/Free/digiy/cylinder_15A_12.5/width_09/insert/fem_node.csv b/Part2/Free/digiy/cylinder_15A_12.5/width_09/insert/fem_node.csv
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index 0000000000000000000000000000000000000000..46876136d424fe169e6133d3fa79b6e102c56c5c
--- /dev/null
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diff --git a/Part2/Free/digiy/cylinder_15A_12.5/width_09/insert/franka_data.csv b/Part2/Free/digiy/cylinder_15A_12.5/width_09/insert/franka_data.csv
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--- /dev/null
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diff --git a/Part2/Free/digiy/cylinder_15A_12.5/width_09/insert/simulation_data.csv b/Part2/Free/digiy/cylinder_15A_12.5/width_09/insert/simulation_data.csv
new file mode 100644
index 0000000000000000000000000000000000000000..a5365047f29b21ec8600e3d6659b640928ea79b3
--- /dev/null
+++ b/Part2/Free/digiy/cylinder_15A_12.5/width_09/insert/simulation_data.csv
@@ -0,0 +1,904 @@
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+++ b/Part2/Free/digiy/cylinder_15A_12.5/width_09/pick/camera_franka_gripper_aligned_60hz.csv.bak
@@ -0,0 +1,372 @@
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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/cylinder_15A_12.5/width_09/pick/fem_node.csv b/Part2/Free/digiy/cylinder_15A_12.5/width_09/pick/fem_node.csv
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--- /dev/null
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diff --git a/Part2/Free/digiy/cylinder_15A_12.5/width_09/pick/franka_data.csv b/Part2/Free/digiy/cylinder_15A_12.5/width_09/pick/franka_data.csv
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diff --git a/Part2/Free/digiy/cylinder_15A_12.5/width_09/pick/simulation_data.csv b/Part2/Free/digiy/cylinder_15A_12.5/width_09/pick/simulation_data.csv
new file mode 100644
index 0000000000000000000000000000000000000000..3bc77180b32234bfbd9fe366f36606c7257b7c48
--- /dev/null
+++ b/Part2/Free/digiy/cylinder_15A_12.5/width_09/pick/simulation_data.csv
@@ -0,0 +1,207 @@
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diff --git a/Part2/Free/digiy/cylinder_15A_12.5/width_10/insert/camera_frames_60hz.tar b/Part2/Free/digiy/cylinder_15A_12.5/width_10/insert/camera_frames_60hz.tar
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--- /dev/null
+++ b/Part2/Free/digiy/cylinder_15A_12.5/width_10/insert/camera_frames_60hz.tar
@@ -0,0 +1,3 @@
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+size 9062400
diff --git a/Part2/Free/digiy/cylinder_15A_12.5/width_10/insert/camera_franka_gripper_aligned_60hz.csv.bak b/Part2/Free/digiy/cylinder_15A_12.5/width_10/insert/camera_franka_gripper_aligned_60hz.csv.bak
new file mode 100644
index 0000000000000000000000000000000000000000..630af7cb8172e6e9e9b009f96eab1c5a2f035752
--- /dev/null
+++ b/Part2/Free/digiy/cylinder_15A_12.5/width_10/insert/camera_franka_gripper_aligned_60hz.csv.bak
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diff --git a/Part2/Free/digiy/cylinder_15A_12.5/width_10/insert/fem_node.csv b/Part2/Free/digiy/cylinder_15A_12.5/width_10/insert/fem_node.csv
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index 0000000000000000000000000000000000000000..9f513940c1cf0c06decda36b5c1d6fc2150ad65e
--- /dev/null
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diff --git a/Part2/Free/digiy/cylinder_15A_12.5/width_10/insert/franka_data.csv b/Part2/Free/digiy/cylinder_15A_12.5/width_10/insert/franka_data.csv
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diff --git a/Part2/Free/digiy/cylinder_15A_12.5/width_10/insert/simulation_data.csv b/Part2/Free/digiy/cylinder_15A_12.5/width_10/insert/simulation_data.csv
new file mode 100644
index 0000000000000000000000000000000000000000..9f14db21e7dd65694b7bb659604234008e582153
--- /dev/null
+++ b/Part2/Free/digiy/cylinder_15A_12.5/width_10/insert/simulation_data.csv
@@ -0,0 +1,904 @@
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+++ b/Part2/Free/digiy/cylinder_15A_12.5/width_10/pick/camera_franka_gripper_aligned_60hz.csv.bak
@@ -0,0 +1,369 @@
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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/cylinder_15A_12.5/width_10/pick/fem_node.csv b/Part2/Free/digiy/cylinder_15A_12.5/width_10/pick/fem_node.csv
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--- /dev/null
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diff --git a/Part2/Free/digiy/cylinder_15A_12.5/width_10/pick/franka_data.csv b/Part2/Free/digiy/cylinder_15A_12.5/width_10/pick/franka_data.csv
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index 0000000000000000000000000000000000000000..6015d0b2edab44ef49400f948585d0f1e6e6f43b
--- /dev/null
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diff --git a/Part2/Free/digiy/cylinder_15A_12.5/width_10/pick/simulation_data.csv b/Part2/Free/digiy/cylinder_15A_12.5/width_10/pick/simulation_data.csv
new file mode 100644
index 0000000000000000000000000000000000000000..eae30b74fa7235f90171884f3c1540673fe8780f
--- /dev/null
+++ b/Part2/Free/digiy/cylinder_15A_12.5/width_10/pick/simulation_data.csv
@@ -0,0 +1,208 @@
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diff --git a/Part2/Free/digiy/cylinder_15A_15/width_01/insert/camera_frames_60hz.tar b/Part2/Free/digiy/cylinder_15A_15/width_01/insert/camera_frames_60hz.tar
new file mode 100644
index 0000000000000000000000000000000000000000..4f379f8558a1b9f5d826f64ebc1ab21930728463
--- /dev/null
+++ b/Part2/Free/digiy/cylinder_15A_15/width_01/insert/camera_frames_60hz.tar
@@ -0,0 +1,3 @@
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+size 9103360
diff --git a/Part2/Free/digiy/cylinder_15A_15/width_01/insert/camera_franka_gripper_aligned_60hz.csv.bak b/Part2/Free/digiy/cylinder_15A_15/width_01/insert/camera_franka_gripper_aligned_60hz.csv.bak
new file mode 100644
index 0000000000000000000000000000000000000000..e02d1bbd897309659cdacff71e5ace45af7388e2
--- /dev/null
+++ b/Part2/Free/digiy/cylinder_15A_15/width_01/insert/camera_franka_gripper_aligned_60hz.csv.bak
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diff --git a/Part2/Free/digiy/cylinder_15A_15/width_01/insert/fem_node.csv b/Part2/Free/digiy/cylinder_15A_15/width_01/insert/fem_node.csv
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--- /dev/null
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diff --git a/Part2/Free/digiy/cylinder_15A_15/width_01/insert/franka_data.csv b/Part2/Free/digiy/cylinder_15A_15/width_01/insert/franka_data.csv
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index 0000000000000000000000000000000000000000..50c76a377a45ce2121458f114fc22954a591a143
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diff --git a/Part2/Free/digiy/cylinder_15A_15/width_01/insert/simulation_data.csv b/Part2/Free/digiy/cylinder_15A_15/width_01/insert/simulation_data.csv
new file mode 100644
index 0000000000000000000000000000000000000000..d6a68c58dc57cef28802afd14a2ec33dcbcdd853
--- /dev/null
+++ b/Part2/Free/digiy/cylinder_15A_15/width_01/insert/simulation_data.csv
@@ -0,0 +1,903 @@
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diff --git a/Part2/Free/digiy/cylinder_15A_15/width_01/pick/camera_frames_60hz.tar b/Part2/Free/digiy/cylinder_15A_15/width_01/pick/camera_frames_60hz.tar
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--- /dev/null
+++ b/Part2/Free/digiy/cylinder_15A_15/width_01/pick/camera_frames_60hz.tar
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
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+size 2037760
diff --git a/Part2/Free/digiy/cylinder_15A_15/width_01/pick/camera_franka_gripper_aligned_60hz.csv.bak b/Part2/Free/digiy/cylinder_15A_15/width_01/pick/camera_franka_gripper_aligned_60hz.csv.bak
new file mode 100644
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--- /dev/null
+++ b/Part2/Free/digiy/cylinder_15A_15/width_01/pick/camera_franka_gripper_aligned_60hz.csv.bak
@@ -0,0 +1,349 @@
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diff --git a/Part2/Free/digiy/cylinder_15A_15/width_01/pick/fem_node.csv b/Part2/Free/digiy/cylinder_15A_15/width_01/pick/fem_node.csv
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index 0000000000000000000000000000000000000000..7d32fc0592817325054f633bfa6fdf35967f5166
--- /dev/null
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diff --git a/Part2/Free/digiy/cylinder_15A_15/width_01/pick/franka_data.csv b/Part2/Free/digiy/cylinder_15A_15/width_01/pick/franka_data.csv
new file mode 100644
index 0000000000000000000000000000000000000000..6b2e7588514853b62a0c84cd8ccca4c8faeaa45f
--- /dev/null
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diff --git a/Part2/Free/digiy/cylinder_15A_15/width_01/pick/simulation_data.csv b/Part2/Free/digiy/cylinder_15A_15/width_01/pick/simulation_data.csv
new file mode 100644
index 0000000000000000000000000000000000000000..b1cbccadd4011c0ab2c0880dd66c1bd6a27e62c4
--- /dev/null
+++ b/Part2/Free/digiy/cylinder_15A_15/width_01/pick/simulation_data.csv
@@ -0,0 +1,208 @@
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diff --git a/Part2/Free/digiy/cylinder_15A_15/width_02/insert/camera_frames_60hz.tar b/Part2/Free/digiy/cylinder_15A_15/width_02/insert/camera_frames_60hz.tar
new file mode 100644
index 0000000000000000000000000000000000000000..fd6607864d06f5a933d5a8aa469e3ef5b6a4c430
--- /dev/null
+++ b/Part2/Free/digiy/cylinder_15A_15/width_02/insert/camera_frames_60hz.tar
@@ -0,0 +1,3 @@
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+size 9072640
diff --git a/Part2/Free/digiy/cylinder_15A_15/width_02/insert/camera_franka_gripper_aligned_60hz.csv.bak b/Part2/Free/digiy/cylinder_15A_15/width_02/insert/camera_franka_gripper_aligned_60hz.csv.bak
new file mode 100644
index 0000000000000000000000000000000000000000..15cd37c61e947967030f23ee1cf23e41157d31d6
--- /dev/null
+++ b/Part2/Free/digiy/cylinder_15A_15/width_02/insert/camera_franka_gripper_aligned_60hz.csv.bak
@@ -0,0 +1,905 @@
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diff --git a/Part2/Free/digiy/cylinder_15A_15/width_02/insert/fem_node.csv b/Part2/Free/digiy/cylinder_15A_15/width_02/insert/fem_node.csv
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index 0000000000000000000000000000000000000000..2c2a187bbd760a1dcf348b6b17f695528ed0aaf5
--- /dev/null
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+size 91349546
diff --git a/Part2/Free/digiy/cylinder_15A_15/width_02/insert/franka_data.csv b/Part2/Free/digiy/cylinder_15A_15/width_02/insert/franka_data.csv
new file mode 100644
index 0000000000000000000000000000000000000000..bdf3788908d3723fddb2aa2b72b0671720247933
--- /dev/null
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diff --git a/Part2/Free/digiy/cylinder_15A_15/width_02/insert/simulation_data.csv b/Part2/Free/digiy/cylinder_15A_15/width_02/insert/simulation_data.csv
new file mode 100644
index 0000000000000000000000000000000000000000..060fff893835812a561f607c2d047893353afe41
--- /dev/null
+++ b/Part2/Free/digiy/cylinder_15A_15/width_02/insert/simulation_data.csv
@@ -0,0 +1,903 @@
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+++ b/Part2/Free/digiy/cylinder_15A_15/width_02/pick/camera_franka_gripper_aligned_60hz.csv.bak
@@ -0,0 +1,375 @@
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diff --git a/Part2/Free/digiy/cylinder_15A_15/width_02/pick/fem_node.csv b/Part2/Free/digiy/cylinder_15A_15/width_02/pick/fem_node.csv
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index 0000000000000000000000000000000000000000..dc5b58f0d255ffda27a4bdb44f3797f8dbe822eb
--- /dev/null
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diff --git a/Part2/Free/digiy/cylinder_15A_15/width_02/pick/franka_data.csv b/Part2/Free/digiy/cylinder_15A_15/width_02/pick/franka_data.csv
new file mode 100644
index 0000000000000000000000000000000000000000..6c25edce74a4f68ffc27a9bd79a6bfe6ce551487
--- /dev/null
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diff --git a/Part2/Free/digiy/cylinder_15A_15/width_02/pick/simulation_data.csv b/Part2/Free/digiy/cylinder_15A_15/width_02/pick/simulation_data.csv
new file mode 100644
index 0000000000000000000000000000000000000000..690ea77614b94703620df840daa13a7d9411e183
--- /dev/null
+++ b/Part2/Free/digiy/cylinder_15A_15/width_02/pick/simulation_data.csv
@@ -0,0 +1,208 @@
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diff --git a/Part2/Free/digiy/cylinder_15A_15/width_03/insert/camera_frames_60hz.tar b/Part2/Free/digiy/cylinder_15A_15/width_03/insert/camera_frames_60hz.tar
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index 0000000000000000000000000000000000000000..841be1573b463032e4fff8fb5c6e01f4c83f2570
--- /dev/null
+++ b/Part2/Free/digiy/cylinder_15A_15/width_03/insert/camera_frames_60hz.tar
@@ -0,0 +1,3 @@
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+size 9011200
diff --git a/Part2/Free/digiy/cylinder_15A_15/width_03/insert/camera_franka_gripper_aligned_60hz.csv.bak b/Part2/Free/digiy/cylinder_15A_15/width_03/insert/camera_franka_gripper_aligned_60hz.csv.bak
new file mode 100644
index 0000000000000000000000000000000000000000..a7b7f98b26b913bd3eec1a79b5d7c9afb853fc72
--- /dev/null
+++ b/Part2/Free/digiy/cylinder_15A_15/width_03/insert/camera_franka_gripper_aligned_60hz.csv.bak
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diff --git a/Part2/Free/digiy/cylinder_15A_15/width_03/insert/fem_node.csv b/Part2/Free/digiy/cylinder_15A_15/width_03/insert/fem_node.csv
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--- /dev/null
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diff --git a/Part2/Free/digiy/cylinder_15A_15/width_03/insert/franka_data.csv b/Part2/Free/digiy/cylinder_15A_15/width_03/insert/franka_data.csv
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diff --git a/Part2/Free/digiy/cylinder_15A_15/width_03/insert/simulation_data.csv b/Part2/Free/digiy/cylinder_15A_15/width_03/insert/simulation_data.csv
new file mode 100644
index 0000000000000000000000000000000000000000..ba59966c0d79cd4658e591b83491b5a338d28baf
--- /dev/null
+++ b/Part2/Free/digiy/cylinder_15A_15/width_03/insert/simulation_data.csv
@@ -0,0 +1,902 @@
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diff --git a/Part2/Free/digiy/cylinder_15A_15/width_03/pick/camera_frames_60hz.tar b/Part2/Free/digiy/cylinder_15A_15/width_03/pick/camera_frames_60hz.tar
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--- /dev/null
+++ b/Part2/Free/digiy/cylinder_15A_15/width_03/pick/camera_frames_60hz.tar
@@ -0,0 +1,3 @@
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+size 2099200
diff --git a/Part2/Free/digiy/cylinder_15A_15/width_03/pick/camera_franka_gripper_aligned_60hz.csv.bak b/Part2/Free/digiy/cylinder_15A_15/width_03/pick/camera_franka_gripper_aligned_60hz.csv.bak
new file mode 100644
index 0000000000000000000000000000000000000000..91ef479ac7ddc2de4eb785339409679931fa80db
--- /dev/null
+++ b/Part2/Free/digiy/cylinder_15A_15/width_03/pick/camera_franka_gripper_aligned_60hz.csv.bak
@@ -0,0 +1,362 @@
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