diff --git a/.gitattributes b/.gitattributes
index 501fade7e80ffd4210c253859e0ced7df8a92f8b..94f9480951bef69b6e544ee75bff1b6756636b2e 100644
--- a/.gitattributes
+++ b/.gitattributes
@@ -12716,3 +12716,18 @@ Part2/Obstacle_avoidance/cylinder_0030_10/position_05/depth_02/fem_node.csv filt
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 Part2/Obstacle_avoidance/cylinder_0030_10/position_05/depth_04/fem_node.csv filter=lfs diff=lfs merge=lfs -text
 Part2/Obstacle_avoidance/cylinder_0030_10/position_05/depth_05/fem_node.csv filter=lfs diff=lfs merge=lfs -text
+Part2/Free/digiy/ball_0050_12.5/width_01/pick/fem_node.csv filter=lfs diff=lfs merge=lfs -text
+Part2/Free/digiy/ball_0050_12.5/width_02/insert/fem_node.csv filter=lfs diff=lfs merge=lfs -text
+Part2/Free/digiy/ball_0050_12.5/width_02/pick/fem_node.csv filter=lfs diff=lfs merge=lfs -text
+Part2/Free/digiy/ball_0050_12.5/width_03/insert/fem_node.csv filter=lfs diff=lfs merge=lfs -text
+Part2/Free/digiy/ball_0050_12.5/width_03/pick/fem_node.csv filter=lfs diff=lfs merge=lfs -text
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+Part2/Free/digiy/ball_0050_12.5/width_04/pick/fem_node.csv filter=lfs diff=lfs merge=lfs -text
+Part2/Free/digiy/ball_0050_12.5/width_05/insert/fem_node.csv filter=lfs diff=lfs merge=lfs -text
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+Part2/Free/digiy/ball_0050_12.5/width_06/pick/fem_node.csv filter=lfs diff=lfs merge=lfs -text
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+Part2/Free/digiy/ball_0050_12.5/width_07/pick/fem_node.csv filter=lfs diff=lfs merge=lfs -text
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diff --git a/Part2/Free/digiy/ball_0050_12.5/width_01/pick/camera_frames_60hz.tar b/Part2/Free/digiy/ball_0050_12.5/width_01/pick/camera_frames_60hz.tar
new file mode 100644
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+++ b/Part2/Free/digiy/ball_0050_12.5/width_01/pick/camera_frames_60hz.tar
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diff --git a/Part2/Free/digiy/ball_0050_12.5/width_01/pick/camera_franka_gripper_aligned_60hz.csv.bak b/Part2/Free/digiy/ball_0050_12.5/width_01/pick/camera_franka_gripper_aligned_60hz.csv.bak
new file mode 100644
index 0000000000000000000000000000000000000000..7d6a5534b7786a43c90d879f6dbf6fd59782fe33
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+++ b/Part2/Free/digiy/ball_0050_12.5/width_01/pick/camera_franka_gripper_aligned_60hz.csv.bak
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diff --git a/Part2/Free/digiy/ball_0050_12.5/width_01/pick/fem_node.csv b/Part2/Free/digiy/ball_0050_12.5/width_01/pick/fem_node.csv
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--- /dev/null
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diff --git a/Part2/Free/digiy/ball_0050_12.5/width_01/pick/franka_data.csv b/Part2/Free/digiy/ball_0050_12.5/width_01/pick/franka_data.csv
new file mode 100644
index 0000000000000000000000000000000000000000..2eac02f97045181c7ec90c9bcc9cb1cfc16e514e
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diff --git a/Part2/Free/digiy/ball_0050_12.5/width_01/pick/simulation_data.csv b/Part2/Free/digiy/ball_0050_12.5/width_01/pick/simulation_data.csv
new file mode 100644
index 0000000000000000000000000000000000000000..1b0fc322d0ddaec39b83c325ae054c82de433460
--- /dev/null
+++ b/Part2/Free/digiy/ball_0050_12.5/width_01/pick/simulation_data.csv
@@ -0,0 +1,204 @@
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diff --git a/Part2/Free/digiy/ball_0050_12.5/width_02/insert/camera_frames_60hz.tar b/Part2/Free/digiy/ball_0050_12.5/width_02/insert/camera_frames_60hz.tar
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diff --git a/Part2/Free/digiy/ball_0050_12.5/width_02/insert/camera_franka_gripper_aligned_60hz.csv.bak b/Part2/Free/digiy/ball_0050_12.5/width_02/insert/camera_franka_gripper_aligned_60hz.csv.bak
new file mode 100644
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--- /dev/null
+++ b/Part2/Free/digiy/ball_0050_12.5/width_02/insert/camera_franka_gripper_aligned_60hz.csv.bak
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diff --git a/Part2/Free/digiy/ball_0050_12.5/width_02/insert/fem_node.csv b/Part2/Free/digiy/ball_0050_12.5/width_02/insert/fem_node.csv
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index 0000000000000000000000000000000000000000..ed6931100df97bad18f91ce94a0b9a5b91758d8b
--- /dev/null
+++ b/Part2/Free/digiy/ball_0050_12.5/width_02/insert/fem_node.csv
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diff --git a/Part2/Free/digiy/ball_0050_12.5/width_02/insert/franka_data.csv b/Part2/Free/digiy/ball_0050_12.5/width_02/insert/franka_data.csv
new file mode 100644
index 0000000000000000000000000000000000000000..dc59770b180d04698d275bf597e012503fae446e
--- /dev/null
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diff --git a/Part2/Free/digiy/ball_0050_12.5/width_02/insert/simulation_data.csv b/Part2/Free/digiy/ball_0050_12.5/width_02/insert/simulation_data.csv
new file mode 100644
index 0000000000000000000000000000000000000000..07075c19b523a66a54ff7a31538be42decace437
--- /dev/null
+++ b/Part2/Free/digiy/ball_0050_12.5/width_02/insert/simulation_data.csv
@@ -0,0 +1,872 @@
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+++ b/Part2/Free/digiy/ball_0050_12.5/width_02/pick/camera_franka_gripper_aligned_60hz.csv.bak
@@ -0,0 +1,348 @@
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diff --git a/Part2/Free/digiy/ball_0050_12.5/width_02/pick/fem_node.csv b/Part2/Free/digiy/ball_0050_12.5/width_02/pick/fem_node.csv
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index 0000000000000000000000000000000000000000..e2ee5b9f24825ea599c14eddbc0efed5a758f2ce
--- /dev/null
+++ b/Part2/Free/digiy/ball_0050_12.5/width_02/pick/fem_node.csv
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diff --git a/Part2/Free/digiy/ball_0050_12.5/width_02/pick/franka_data.csv b/Part2/Free/digiy/ball_0050_12.5/width_02/pick/franka_data.csv
new file mode 100644
index 0000000000000000000000000000000000000000..d1789f6d0eec4483c59851f845e4b789630c9577
--- /dev/null
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diff --git a/Part2/Free/digiy/ball_0050_12.5/width_02/pick/simulation_data.csv b/Part2/Free/digiy/ball_0050_12.5/width_02/pick/simulation_data.csv
new file mode 100644
index 0000000000000000000000000000000000000000..18b87ad37ea8751f8e66cce304173ac69ec52b2a
--- /dev/null
+++ b/Part2/Free/digiy/ball_0050_12.5/width_02/pick/simulation_data.csv
@@ -0,0 +1,203 @@
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diff --git a/Part2/Free/digiy/ball_0050_12.5/width_03/insert/camera_frames_60hz.tar b/Part2/Free/digiy/ball_0050_12.5/width_03/insert/camera_frames_60hz.tar
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--- /dev/null
+++ b/Part2/Free/digiy/ball_0050_12.5/width_03/insert/camera_frames_60hz.tar
@@ -0,0 +1,3 @@
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+size 8448000
diff --git a/Part2/Free/digiy/ball_0050_12.5/width_03/insert/camera_franka_gripper_aligned_60hz.csv.bak b/Part2/Free/digiy/ball_0050_12.5/width_03/insert/camera_franka_gripper_aligned_60hz.csv.bak
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--- /dev/null
+++ b/Part2/Free/digiy/ball_0050_12.5/width_03/insert/camera_franka_gripper_aligned_60hz.csv.bak
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diff --git a/Part2/Free/digiy/ball_0050_12.5/width_03/insert/fem_node.csv b/Part2/Free/digiy/ball_0050_12.5/width_03/insert/fem_node.csv
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index 0000000000000000000000000000000000000000..714f4f4f4151428ccde551c5b28ba900e791a800
--- /dev/null
+++ b/Part2/Free/digiy/ball_0050_12.5/width_03/insert/fem_node.csv
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diff --git a/Part2/Free/digiy/ball_0050_12.5/width_03/insert/franka_data.csv b/Part2/Free/digiy/ball_0050_12.5/width_03/insert/franka_data.csv
new file mode 100644
index 0000000000000000000000000000000000000000..b8dcf3038816a533d57601c832c77ba83ad07220
--- /dev/null
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diff --git a/Part2/Free/digiy/ball_0050_12.5/width_03/insert/simulation_data.csv b/Part2/Free/digiy/ball_0050_12.5/width_03/insert/simulation_data.csv
new file mode 100644
index 0000000000000000000000000000000000000000..e6b74c796c24f931c0294dd419d417ea92d6be4e
--- /dev/null
+++ b/Part2/Free/digiy/ball_0050_12.5/width_03/insert/simulation_data.csv
@@ -0,0 +1,872 @@
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+++ b/Part2/Free/digiy/ball_0050_12.5/width_03/pick/camera_franka_gripper_aligned_60hz.csv.bak
@@ -0,0 +1,365 @@
+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_12.5/width_03/pick/fem_node.csv b/Part2/Free/digiy/ball_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/ball_0050_12.5/width_03/pick/franka_data.csv b/Part2/Free/digiy/ball_0050_12.5/width_03/pick/franka_data.csv
new file mode 100644
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diff --git a/Part2/Free/digiy/ball_0050_12.5/width_03/pick/simulation_data.csv b/Part2/Free/digiy/ball_0050_12.5/width_03/pick/simulation_data.csv
new file mode 100644
index 0000000000000000000000000000000000000000..1ae242edaf97a0e6adf32bbdcecc384e665cce32
--- /dev/null
+++ b/Part2/Free/digiy/ball_0050_12.5/width_03/pick/simulation_data.csv
@@ -0,0 +1,203 @@
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diff --git a/Part2/Free/digiy/ball_0050_12.5/width_04/insert/camera_frames_60hz.tar b/Part2/Free/digiy/ball_0050_12.5/width_04/insert/camera_frames_60hz.tar
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--- /dev/null
+++ b/Part2/Free/digiy/ball_0050_12.5/width_04/insert/camera_frames_60hz.tar
@@ -0,0 +1,3 @@
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+size 8714240
diff --git a/Part2/Free/digiy/ball_0050_12.5/width_04/insert/camera_franka_gripper_aligned_60hz.csv.bak b/Part2/Free/digiy/ball_0050_12.5/width_04/insert/camera_franka_gripper_aligned_60hz.csv.bak
new file mode 100644
index 0000000000000000000000000000000000000000..dd76e17d5422dab4ff4867fcd9687da558434050
--- /dev/null
+++ b/Part2/Free/digiy/ball_0050_12.5/width_04/insert/camera_franka_gripper_aligned_60hz.csv.bak
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diff --git a/Part2/Free/digiy/ball_0050_12.5/width_04/insert/fem_node.csv b/Part2/Free/digiy/ball_0050_12.5/width_04/insert/fem_node.csv
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--- /dev/null
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diff --git a/Part2/Free/digiy/ball_0050_12.5/width_04/insert/franka_data.csv b/Part2/Free/digiy/ball_0050_12.5/width_04/insert/franka_data.csv
new file mode 100644
index 0000000000000000000000000000000000000000..8d7323aa78a193aa8bfc04c1527831cbf5ea5c72
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diff --git a/Part2/Free/digiy/ball_0050_12.5/width_04/insert/simulation_data.csv b/Part2/Free/digiy/ball_0050_12.5/width_04/insert/simulation_data.csv
new file mode 100644
index 0000000000000000000000000000000000000000..94b9b36fd1394a4a2b4b8c9af93f3d791d9914e1
--- /dev/null
+++ b/Part2/Free/digiy/ball_0050_12.5/width_04/insert/simulation_data.csv
@@ -0,0 +1,872 @@
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+++ b/Part2/Free/digiy/ball_0050_12.5/width_04/pick/camera_franka_gripper_aligned_60hz.csv.bak
@@ -0,0 +1,333 @@
+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_12.5/width_04/pick/fem_node.csv b/Part2/Free/digiy/ball_0050_12.5/width_04/pick/fem_node.csv
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--- /dev/null
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diff --git a/Part2/Free/digiy/ball_0050_12.5/width_04/pick/franka_data.csv b/Part2/Free/digiy/ball_0050_12.5/width_04/pick/franka_data.csv
new file mode 100644
index 0000000000000000000000000000000000000000..91ce83409334b7c87c5c777892562eefd7e17a7e
--- /dev/null
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diff --git a/Part2/Free/digiy/ball_0050_12.5/width_04/pick/simulation_data.csv b/Part2/Free/digiy/ball_0050_12.5/width_04/pick/simulation_data.csv
new file mode 100644
index 0000000000000000000000000000000000000000..addbcb3ac4a7cec39270b1d0279c72aa0ab859cb
--- /dev/null
+++ b/Part2/Free/digiy/ball_0050_12.5/width_04/pick/simulation_data.csv
@@ -0,0 +1,204 @@
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+++ b/Part2/Free/digiy/ball_0050_12.5/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/ball_0050_12.5/width_05/insert/fem_node.csv b/Part2/Free/digiy/ball_0050_12.5/width_05/insert/fem_node.csv
new file mode 100644
index 0000000000000000000000000000000000000000..94e92732a008a6faaecaf8f6fbc55b9e105fb585
--- /dev/null
+++ b/Part2/Free/digiy/ball_0050_12.5/width_05/insert/fem_node.csv
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+size 88142137
diff --git a/Part2/Free/digiy/ball_0050_12.5/width_05/insert/franka_data.csv b/Part2/Free/digiy/ball_0050_12.5/width_05/insert/franka_data.csv
new file mode 100644
index 0000000000000000000000000000000000000000..e5d32b9bcb0a31b3bf91772410969d3faff9214c
--- /dev/null
+++ b/Part2/Free/digiy/ball_0050_12.5/width_05/insert/franka_data.csv
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diff --git a/Part2/Free/digiy/ball_0050_12.5/width_05/insert/simulation_data.csv b/Part2/Free/digiy/ball_0050_12.5/width_05/insert/simulation_data.csv
new file mode 100644
index 0000000000000000000000000000000000000000..98b9129d378f74f4fc2d2b47a57c45cd5dc9ad29
--- /dev/null
+++ b/Part2/Free/digiy/ball_0050_12.5/width_05/insert/simulation_data.csv
@@ -0,0 +1,872 @@
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+++ b/Part2/Free/digiy/ball_0050_12.5/width_05/pick/camera_franka_gripper_aligned_60hz.csv.bak
@@ -0,0 +1,363 @@
+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_12.5/width_05/pick/fem_node.csv b/Part2/Free/digiy/ball_0050_12.5/width_05/pick/fem_node.csv
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index 0000000000000000000000000000000000000000..a2de4931d283f1eb17aed2de8e976fc167bd1861
--- /dev/null
+++ b/Part2/Free/digiy/ball_0050_12.5/width_05/pick/fem_node.csv
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diff --git a/Part2/Free/digiy/ball_0050_12.5/width_05/pick/franka_data.csv b/Part2/Free/digiy/ball_0050_12.5/width_05/pick/franka_data.csv
new file mode 100644
index 0000000000000000000000000000000000000000..5a3a4bf09d75179df9c340c6f6e1f890f2a66938
--- /dev/null
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diff --git a/Part2/Free/digiy/ball_0050_12.5/width_05/pick/simulation_data.csv b/Part2/Free/digiy/ball_0050_12.5/width_05/pick/simulation_data.csv
new file mode 100644
index 0000000000000000000000000000000000000000..b0e147331895a5b4bdb32dab46db4f8692b6bd17
--- /dev/null
+++ b/Part2/Free/digiy/ball_0050_12.5/width_05/pick/simulation_data.csv
@@ -0,0 +1,202 @@
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diff --git a/Part2/Free/digiy/ball_0050_12.5/width_06/insert/camera_frames_60hz.tar b/Part2/Free/digiy/ball_0050_12.5/width_06/insert/camera_frames_60hz.tar
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--- /dev/null
+++ b/Part2/Free/digiy/ball_0050_12.5/width_06/insert/camera_frames_60hz.tar
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diff --git a/Part2/Free/digiy/ball_0050_12.5/width_06/insert/camera_franka_gripper_aligned_60hz.csv.bak b/Part2/Free/digiy/ball_0050_12.5/width_06/insert/camera_franka_gripper_aligned_60hz.csv.bak
new file mode 100644
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--- /dev/null
+++ b/Part2/Free/digiy/ball_0050_12.5/width_06/insert/camera_franka_gripper_aligned_60hz.csv.bak
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diff --git a/Part2/Free/digiy/ball_0050_12.5/width_06/insert/fem_node.csv b/Part2/Free/digiy/ball_0050_12.5/width_06/insert/fem_node.csv
new file mode 100644
index 0000000000000000000000000000000000000000..5578c0d13a1281c3ddf37c06aa366f577fd3ecf2
--- /dev/null
+++ b/Part2/Free/digiy/ball_0050_12.5/width_06/insert/fem_node.csv
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+size 88142330
diff --git a/Part2/Free/digiy/ball_0050_12.5/width_06/insert/franka_data.csv b/Part2/Free/digiy/ball_0050_12.5/width_06/insert/franka_data.csv
new file mode 100644
index 0000000000000000000000000000000000000000..cbe4b0eed278bccb91de6b55f61c36cd9569f322
--- /dev/null
+++ b/Part2/Free/digiy/ball_0050_12.5/width_06/insert/franka_data.csv
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diff --git a/Part2/Free/digiy/ball_0050_12.5/width_06/insert/simulation_data.csv b/Part2/Free/digiy/ball_0050_12.5/width_06/insert/simulation_data.csv
new file mode 100644
index 0000000000000000000000000000000000000000..ae3c89094003506f0af41ee9cad7ae03ca961d7d
--- /dev/null
+++ b/Part2/Free/digiy/ball_0050_12.5/width_06/insert/simulation_data.csv
@@ -0,0 +1,872 @@
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+++ b/Part2/Free/digiy/ball_0050_12.5/width_06/pick/camera_franka_gripper_aligned_60hz.csv.bak
@@ -0,0 +1,357 @@
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a_y_radps2,robot_commanded_ee_alpha_z_radps2,gripper_ros_time_ns,camera_minus_gripper_time_ns,finger_joint_1_name,finger_joint_1_position_m,finger_joint_1_velocity_mps,finger_joint_1_effort,finger_joint_2_name,finger_joint_2_position_m,finger_joint_2_velocity_mps,finger_joint_2_effort,gripper_measured_total_width_m,gripper_position_count
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diff --git a/Part2/Free/digiy/ball_0050_12.5/width_06/pick/fem_node.csv b/Part2/Free/digiy/ball_0050_12.5/width_06/pick/fem_node.csv
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index 0000000000000000000000000000000000000000..aa0a8b1de506539366c61e92bd5c052c3c873ddb
--- /dev/null
+++ b/Part2/Free/digiy/ball_0050_12.5/width_06/pick/fem_node.csv
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diff --git a/Part2/Free/digiy/ball_0050_12.5/width_06/pick/franka_data.csv b/Part2/Free/digiy/ball_0050_12.5/width_06/pick/franka_data.csv
new file mode 100644
index 0000000000000000000000000000000000000000..3deebd709aa1b6edb8d4a18ab573119d0473945b
--- /dev/null
+++ b/Part2/Free/digiy/ball_0050_12.5/width_06/pick/franka_data.csv
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diff --git a/Part2/Free/digiy/ball_0050_12.5/width_06/pick/simulation_data.csv b/Part2/Free/digiy/ball_0050_12.5/width_06/pick/simulation_data.csv
new file mode 100644
index 0000000000000000000000000000000000000000..0c16ff60a96240648f4d42b119cf742a7e3a1aa7
--- /dev/null
+++ b/Part2/Free/digiy/ball_0050_12.5/width_06/pick/simulation_data.csv
@@ -0,0 +1,202 @@
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diff --git a/Part2/Free/digiy/ball_0050_12.5/width_07/insert/camera_frames_60hz.tar b/Part2/Free/digiy/ball_0050_12.5/width_07/insert/camera_frames_60hz.tar
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--- /dev/null
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diff --git a/Part2/Free/digiy/ball_0050_12.5/width_07/insert/camera_franka_gripper_aligned_60hz.csv.bak b/Part2/Free/digiy/ball_0050_12.5/width_07/insert/camera_franka_gripper_aligned_60hz.csv.bak
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index 0000000000000000000000000000000000000000..91d0d5565e12270d93aaf7e18c05f39ef68d4c8c
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+++ b/Part2/Free/digiy/ball_0050_12.5/width_07/insert/camera_franka_gripper_aligned_60hz.csv.bak
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diff --git a/Part2/Free/digiy/ball_0050_12.5/width_07/insert/fem_node.csv b/Part2/Free/digiy/ball_0050_12.5/width_07/insert/fem_node.csv
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index 0000000000000000000000000000000000000000..00ac01514d38b99e38f8ade972ed85f6606f925e
--- /dev/null
+++ b/Part2/Free/digiy/ball_0050_12.5/width_07/insert/fem_node.csv
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diff --git a/Part2/Free/digiy/ball_0050_12.5/width_07/insert/franka_data.csv b/Part2/Free/digiy/ball_0050_12.5/width_07/insert/franka_data.csv
new file mode 100644
index 0000000000000000000000000000000000000000..42d70921ec265ad06d4e6e02d5e9b853acf40d45
--- /dev/null
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diff --git a/Part2/Free/digiy/ball_0050_12.5/width_07/insert/simulation_data.csv b/Part2/Free/digiy/ball_0050_12.5/width_07/insert/simulation_data.csv
new file mode 100644
index 0000000000000000000000000000000000000000..f6e2417a664162fce509719a3a5f0272600dde58
--- /dev/null
+++ b/Part2/Free/digiy/ball_0050_12.5/width_07/insert/simulation_data.csv
@@ -0,0 +1,872 @@
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diff --git a/Part2/Free/digiy/ball_0050_12.5/width_07/pick/camera_frames_60hz.tar b/Part2/Free/digiy/ball_0050_12.5/width_07/pick/camera_frames_60hz.tar
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--- /dev/null
+++ b/Part2/Free/digiy/ball_0050_12.5/width_07/pick/camera_frames_60hz.tar
@@ -0,0 +1,3 @@
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+size 1996800
diff --git a/Part2/Free/digiy/ball_0050_12.5/width_07/pick/camera_franka_gripper_aligned_60hz.csv.bak b/Part2/Free/digiy/ball_0050_12.5/width_07/pick/camera_franka_gripper_aligned_60hz.csv.bak
new file mode 100644
index 0000000000000000000000000000000000000000..00d99097da89aa43d93ee12c19b5cd215f753d28
--- /dev/null
+++ b/Part2/Free/digiy/ball_0050_12.5/width_07/pick/camera_franka_gripper_aligned_60hz.csv.bak
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diff --git a/Part2/Free/digiy/ball_0050_12.5/width_07/pick/fem_node.csv b/Part2/Free/digiy/ball_0050_12.5/width_07/pick/fem_node.csv
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index 0000000000000000000000000000000000000000..3164d07d03a7cef320bbedadae492066ea894bd8
--- /dev/null
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diff --git a/Part2/Free/digiy/ball_0050_12.5/width_07/pick/franka_data.csv b/Part2/Free/digiy/ball_0050_12.5/width_07/pick/franka_data.csv
new file mode 100644
index 0000000000000000000000000000000000000000..7ea384bde489bcd9fe5d895becda41b2da2006f9
--- /dev/null
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diff --git a/Part2/Free/digiy/ball_0050_12.5/width_07/pick/simulation_data.csv b/Part2/Free/digiy/ball_0050_12.5/width_07/pick/simulation_data.csv
new file mode 100644
index 0000000000000000000000000000000000000000..774d7efa14441872a376f8bd8c1c32376e58f6b8
--- /dev/null
+++ b/Part2/Free/digiy/ball_0050_12.5/width_07/pick/simulation_data.csv
@@ -0,0 +1,203 @@
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diff --git a/Part2/Free/digiy/ball_0050_12.5/width_08/insert/camera_frames_60hz.tar b/Part2/Free/digiy/ball_0050_12.5/width_08/insert/camera_frames_60hz.tar
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--- /dev/null
+++ b/Part2/Free/digiy/ball_0050_12.5/width_08/insert/camera_frames_60hz.tar
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+size 8755200
diff --git a/Part2/Free/digiy/ball_0050_12.5/width_08/insert/camera_franka_gripper_aligned_60hz.csv.bak b/Part2/Free/digiy/ball_0050_12.5/width_08/insert/camera_franka_gripper_aligned_60hz.csv.bak
new file mode 100644
index 0000000000000000000000000000000000000000..d8ece6901cf61a40fe44e700c548eeeaf60cde78
--- /dev/null
+++ b/Part2/Free/digiy/ball_0050_12.5/width_08/insert/camera_franka_gripper_aligned_60hz.csv.bak
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diff --git a/Part2/Free/digiy/ball_0050_12.5/width_08/insert/fem_node.csv b/Part2/Free/digiy/ball_0050_12.5/width_08/insert/fem_node.csv
new file mode 100644
index 0000000000000000000000000000000000000000..32f8c4853de0c09ab01d7144a66124b098098b41
--- /dev/null
+++ b/Part2/Free/digiy/ball_0050_12.5/width_08/insert/fem_node.csv
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
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+size 88235106
diff --git a/Part2/Free/digiy/ball_0050_12.5/width_08/insert/franka_data.csv b/Part2/Free/digiy/ball_0050_12.5/width_08/insert/franka_data.csv
new file mode 100644
index 0000000000000000000000000000000000000000..9d56f59caad9f8de290cda51c46bb80c43f30833
--- /dev/null
+++ b/Part2/Free/digiy/ball_0050_12.5/width_08/insert/franka_data.csv
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diff --git a/Part2/Free/digiy/ball_0050_12.5/width_08/insert/simulation_data.csv b/Part2/Free/digiy/ball_0050_12.5/width_08/insert/simulation_data.csv
new file mode 100644
index 0000000000000000000000000000000000000000..18701a71a0fe9ba2d5de5a5a88a248e6b856435c
--- /dev/null
+++ b/Part2/Free/digiy/ball_0050_12.5/width_08/insert/simulation_data.csv
@@ -0,0 +1,873 @@
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diff --git a/Part2/Free/digiy/ball_0050_12.5/width_08/pick/camera_frames_60hz.tar b/Part2/Free/digiy/ball_0050_12.5/width_08/pick/camera_frames_60hz.tar
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--- /dev/null
+++ b/Part2/Free/digiy/ball_0050_12.5/width_08/pick/camera_frames_60hz.tar
@@ -0,0 +1,3 @@
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+size 2048000
diff --git a/Part2/Free/digiy/ball_0050_12.5/width_08/pick/camera_franka_gripper_aligned_60hz.csv.bak b/Part2/Free/digiy/ball_0050_12.5/width_08/pick/camera_franka_gripper_aligned_60hz.csv.bak
new file mode 100644
index 0000000000000000000000000000000000000000..d137c78d053a5f3807e14a9165546f704fe9e41c
--- /dev/null
+++ b/Part2/Free/digiy/ball_0050_12.5/width_08/pick/camera_franka_gripper_aligned_60hz.csv.bak
@@ -0,0 +1,361 @@
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diff --git a/Part2/Free/digiy/ball_0050_12.5/width_08/pick/fem_node.csv b/Part2/Free/digiy/ball_0050_12.5/width_08/pick/fem_node.csv
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index 0000000000000000000000000000000000000000..daabe5e3781fcf48f5d2f0ff8ed38c39849004bf
--- /dev/null
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diff --git a/Part2/Free/digiy/ball_0050_12.5/width_08/pick/franka_data.csv b/Part2/Free/digiy/ball_0050_12.5/width_08/pick/franka_data.csv
new file mode 100644
index 0000000000000000000000000000000000000000..43c8eced34ed76977371f2829aee7339071ea1b4
--- /dev/null
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diff --git a/Part2/Free/digiy/ball_0050_12.5/width_08/pick/simulation_data.csv b/Part2/Free/digiy/ball_0050_12.5/width_08/pick/simulation_data.csv
new file mode 100644
index 0000000000000000000000000000000000000000..2827fe9c20a948b3c1d711356228865898c57a9b
--- /dev/null
+++ b/Part2/Free/digiy/ball_0050_12.5/width_08/pick/simulation_data.csv
@@ -0,0 +1,204 @@
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