diff --git a/.gitattributes b/.gitattributes
index fecb987664e52a92d534cbde4dbb1d25eb523c41..a421a267c2dc36743813edf1fb903fe38cc4d04c 100644
--- a/.gitattributes
+++ b/.gitattributes
@@ -2558,3 +2558,21 @@ Free/s2/ball_0010_17.5/width_09/insert/fem_node.csv filter=lfs diff=lfs merge=lf
 Free/s2/ball_0010_17.5/width_09/pick/fem_node.csv filter=lfs diff=lfs merge=lfs -text
 Free/s2/ball_0010_17.5/width_10/insert/fem_node.csv filter=lfs diff=lfs merge=lfs -text
 Free/s2/ball_0010_17.5/width_10/pick/fem_node.csv filter=lfs diff=lfs merge=lfs -text
+Free/s2/ball_0010_20/width_01/insert/fem_node.csv filter=lfs diff=lfs merge=lfs -text
+Free/s2/ball_0010_20/width_01/pick/fem_node.csv filter=lfs diff=lfs merge=lfs -text
+Free/s2/ball_0010_20/width_02/insert/fem_node.csv filter=lfs diff=lfs merge=lfs -text
+Free/s2/ball_0010_20/width_02/pick/fem_node.csv filter=lfs diff=lfs merge=lfs -text
+Free/s2/ball_0010_20/width_03/insert/fem_node.csv filter=lfs diff=lfs merge=lfs -text
+Free/s2/ball_0010_20/width_03/pick/fem_node.csv filter=lfs diff=lfs merge=lfs -text
+Free/s2/ball_0010_20/width_04/insert/fem_node.csv filter=lfs diff=lfs merge=lfs -text
+Free/s2/ball_0010_20/width_04/pick/fem_node.csv filter=lfs diff=lfs merge=lfs -text
+Free/s2/ball_0010_20/width_05/insert/fem_node.csv filter=lfs diff=lfs merge=lfs -text
+Free/s2/ball_0010_20/width_05/pick/fem_node.csv filter=lfs diff=lfs merge=lfs -text
+Free/s2/ball_0010_20/width_06/insert/fem_node.csv filter=lfs diff=lfs merge=lfs -text
+Free/s2/ball_0010_20/width_06/pick/fem_node.csv filter=lfs diff=lfs merge=lfs -text
+Free/s2/ball_0010_20/width_07/insert/fem_node.csv filter=lfs diff=lfs merge=lfs -text
+Free/s2/ball_0010_20/width_07/pick/fem_node.csv filter=lfs diff=lfs merge=lfs -text
+Free/s2/ball_0010_20/width_08/insert/fem_node.csv filter=lfs diff=lfs merge=lfs -text
+Free/s2/ball_0010_20/width_08/pick/fem_node.csv filter=lfs diff=lfs merge=lfs -text
+Free/s2/ball_0010_20/width_09/insert/fem_node.csv filter=lfs diff=lfs merge=lfs -text
+Free/s2/ball_0010_20/width_09/pick/fem_node.csv filter=lfs diff=lfs merge=lfs -text
diff --git a/Free/s2/ball_0010_17.5/width_10/pick/simulation_data.csv b/Free/s2/ball_0010_17.5/width_10/pick/simulation_data.csv
new file mode 100644
index 0000000000000000000000000000000000000000..356deb3ea4caf3a24f127fc5fc0172b9d873965f
--- /dev/null
+++ b/Free/s2/ball_0010_17.5/width_10/pick/simulation_data.csv
@@ -0,0 +1,201 @@
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diff --git a/Free/s2/ball_0010_20/width_01/insert/simulation_data.csv b/Free/s2/ball_0010_20/width_01/insert/simulation_data.csv
new file mode 100644
index 0000000000000000000000000000000000000000..5cea2fd8c7ac85dea56bbf0e765afa02c53fc0a1
--- /dev/null
+++ b/Free/s2/ball_0010_20/width_01/insert/simulation_data.csv
@@ -0,0 +1,901 @@
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diff --git a/Free/s2/ball_0010_20/width_01/pick/simulation_data.csv b/Free/s2/ball_0010_20/width_01/pick/simulation_data.csv
new file mode 100644
index 0000000000000000000000000000000000000000..46a7c38c6b866c95e7fc6cd2bace92ba98da73d3
--- /dev/null
+++ b/Free/s2/ball_0010_20/width_01/pick/simulation_data.csv
@@ -0,0 +1,203 @@
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diff --git a/Free/s2/ball_0010_20/width_02/insert/simulation_data.csv b/Free/s2/ball_0010_20/width_02/insert/simulation_data.csv
new file mode 100644
index 0000000000000000000000000000000000000000..eb53f56ce143c95544d8ae5a41138c95b6c3814b
--- /dev/null
+++ b/Free/s2/ball_0010_20/width_02/insert/simulation_data.csv
@@ -0,0 +1,193 @@
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diff --git a/Free/s2/ball_0010_20/width_02/pick/.~lock.gripper_position_yz.csv# b/Free/s2/ball_0010_20/width_02/pick/.~lock.gripper_position_yz.csv#
new file mode 100644
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--- /dev/null
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@@ -0,0 +1 @@
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\ No newline at end of file
diff --git a/Free/s2/ball_0010_20/width_02/pick/camera_frames_60hz.tar b/Free/s2/ball_0010_20/width_02/pick/camera_frames_60hz.tar
new file mode 100644
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diff --git a/Free/s2/ball_0010_20/width_02/pick/fem_node.csv b/Free/s2/ball_0010_20/width_02/pick/fem_node.csv
new file mode 100644
index 0000000000000000000000000000000000000000..d3741fa9902aff6c002eec1b251ed7120bb90b4c
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diff --git a/Free/s2/ball_0010_20/width_02/pick/franka_data.csv b/Free/s2/ball_0010_20/width_02/pick/franka_data.csv
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diff --git a/Free/s2/ball_0010_20/width_02/pick/simulation_data.csv b/Free/s2/ball_0010_20/width_02/pick/simulation_data.csv
new file mode 100644
index 0000000000000000000000000000000000000000..2cb4d6d9e3a2184f2fa2286f7a027f6c6c504489
--- /dev/null
+++ b/Free/s2/ball_0010_20/width_02/pick/simulation_data.csv
@@ -0,0 +1,204 @@
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diff --git a/Free/s2/ball_0010_20/width_03/insert/simulation_data.csv b/Free/s2/ball_0010_20/width_03/insert/simulation_data.csv
new file mode 100644
index 0000000000000000000000000000000000000000..9c3b877b5ba568b6f060b52ad7af48f4e3a9593e
--- /dev/null
+++ b/Free/s2/ball_0010_20/width_03/insert/simulation_data.csv
@@ -0,0 +1,901 @@
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diff --git a/Free/s2/ball_0010_20/width_03/pick/simulation_data.csv b/Free/s2/ball_0010_20/width_03/pick/simulation_data.csv
new file mode 100644
index 0000000000000000000000000000000000000000..238e1902d8dc98f69834e5e7f123c7b8c9498579
--- /dev/null
+++ b/Free/s2/ball_0010_20/width_03/pick/simulation_data.csv
@@ -0,0 +1,203 @@
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diff --git a/Free/s2/ball_0010_20/width_04/insert/simulation_data.csv b/Free/s2/ball_0010_20/width_04/insert/simulation_data.csv
new file mode 100644
index 0000000000000000000000000000000000000000..3620140cd6588df1d16482bea72a9d8f580c2019
--- /dev/null
+++ b/Free/s2/ball_0010_20/width_04/insert/simulation_data.csv
@@ -0,0 +1,901 @@
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diff --git a/Free/s2/ball_0010_20/width_04/pick/simulation_data.csv b/Free/s2/ball_0010_20/width_04/pick/simulation_data.csv
new file mode 100644
index 0000000000000000000000000000000000000000..587b601fe24db57f1dc4dc9ed0ccb53502ab9494
--- /dev/null
+++ b/Free/s2/ball_0010_20/width_04/pick/simulation_data.csv
@@ -0,0 +1,203 @@
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diff --git a/Free/s2/ball_0010_20/width_05/insert/simulation_data.csv b/Free/s2/ball_0010_20/width_05/insert/simulation_data.csv
new file mode 100644
index 0000000000000000000000000000000000000000..0ede90102fc5a1bb7f3a318d6df5bc7513450591
--- /dev/null
+++ b/Free/s2/ball_0010_20/width_05/insert/simulation_data.csv
@@ -0,0 +1,902 @@
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diff --git a/Free/s2/ball_0010_20/width_05/pick/simulation_data.csv b/Free/s2/ball_0010_20/width_05/pick/simulation_data.csv
new file mode 100644
index 0000000000000000000000000000000000000000..9e580da92087d2fe0ff65baf4b7113ad4e95fd6b
--- /dev/null
+++ b/Free/s2/ball_0010_20/width_05/pick/simulation_data.csv
@@ -0,0 +1,204 @@
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diff --git a/Free/s2/ball_0010_20/width_06/insert/simulation_data.csv b/Free/s2/ball_0010_20/width_06/insert/simulation_data.csv
new file mode 100644
index 0000000000000000000000000000000000000000..a24524a8b00322b23f4b775d5bd157b2e11084f3
--- /dev/null
+++ b/Free/s2/ball_0010_20/width_06/insert/simulation_data.csv
@@ -0,0 +1,900 @@
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diff --git a/Free/s2/ball_0010_20/width_06/pick/simulation_data.csv b/Free/s2/ball_0010_20/width_06/pick/simulation_data.csv
new file mode 100644
index 0000000000000000000000000000000000000000..4aa9a05eef7ff790ff255193dbb5f4930ce17faa
--- /dev/null
+++ b/Free/s2/ball_0010_20/width_06/pick/simulation_data.csv
@@ -0,0 +1,203 @@
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diff --git a/Free/s2/ball_0010_20/width_07/insert/simulation_data.csv b/Free/s2/ball_0010_20/width_07/insert/simulation_data.csv
new file mode 100644
index 0000000000000000000000000000000000000000..40f1e21ddb37401e7e1c2caf5d3a94057449b72b
--- /dev/null
+++ b/Free/s2/ball_0010_20/width_07/insert/simulation_data.csv
@@ -0,0 +1,904 @@
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diff --git a/Free/s2/ball_0010_20/width_07/pick/simulation_data.csv b/Free/s2/ball_0010_20/width_07/pick/simulation_data.csv
new file mode 100644
index 0000000000000000000000000000000000000000..3ba19153607210a265eb733184561100932aeabc
--- /dev/null
+++ b/Free/s2/ball_0010_20/width_07/pick/simulation_data.csv
@@ -0,0 +1,204 @@
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diff --git a/Free/s2/ball_0010_20/width_08/insert/simulation_data.csv b/Free/s2/ball_0010_20/width_08/insert/simulation_data.csv
new file mode 100644
index 0000000000000000000000000000000000000000..eefbdb3a89746f1c0a25d51cc371a785835c0dd0
--- /dev/null
+++ b/Free/s2/ball_0010_20/width_08/insert/simulation_data.csv
@@ -0,0 +1,900 @@
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diff --git a/Free/s2/ball_0010_20/width_08/pick/simulation_data.csv b/Free/s2/ball_0010_20/width_08/pick/simulation_data.csv
new file mode 100644
index 0000000000000000000000000000000000000000..9361a5b86d964bc0cf500ec350fe12349aa64dd6
--- /dev/null
+++ b/Free/s2/ball_0010_20/width_08/pick/simulation_data.csv
@@ -0,0 +1,204 @@
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diff --git a/Free/s2/ball_0010_20/width_09/insert/simulation_data.csv b/Free/s2/ball_0010_20/width_09/insert/simulation_data.csv
new file mode 100644
index 0000000000000000000000000000000000000000..e1bd6340e788bf3956b0249f7a134d5b7aba41df
--- /dev/null
+++ b/Free/s2/ball_0010_20/width_09/insert/simulation_data.csv
@@ -0,0 +1,901 @@
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