diff --git a/stack/main/data/trajectories/dynamic/control_inputs_controlled.csv b/stack/main/data/trajectories/dynamic/control_inputs_controlled.csv
index bc46519..efcac4c 100644
--- a/stack/main/data/trajectories/dynamic/control_inputs_controlled.csv
+++ b/stack/main/data/trajectories/dynamic/control_inputs_controlled.csv
@@ -1,12001 +1,12001 @@
 ID,u1,u2,u3,u4,u5,u6
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diff --git a/stack/main/data/trajectories/dynamic/observations_controlled_src_demo_17oct24.csv b/stack/main/data/trajectories/dynamic/observations_controlled_src_demo_17oct24.csv
new file mode 100644
index 0000000..f6d6c21
--- /dev/null
+++ b/stack/main/data/trajectories/dynamic/observations_controlled_src_demo_17oct24.csv
@@ -0,0 +1,36004 @@
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diff --git a/stack/main/data/trajectories/dynamic/observations_decay_src_demo_17oct24.csv b/stack/main/data/trajectories/dynamic/observations_decay_src_demo_17oct24.csv
new file mode 100644
index 0000000..e81bc45
--- /dev/null
+++ b/stack/main/data/trajectories/dynamic/observations_decay_src_demo_17oct24.csv
@@ -0,0 +1,7469 @@
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diff --git a/stack/main/scripts/generate_ol_control_sequence.py b/stack/main/scripts/generate_ol_control_sequence.py
index 0e37fec..53405a1 100644
--- a/stack/main/scripts/generate_ol_control_sequence.py
+++ b/stack/main/scripts/generate_ol_control_sequence.py
@@ -54,8 +54,8 @@ def sine_trajectory():
     num_cycles = 4  # number of cycles per control
     sampling_rate = 100  # [Hz]
     period = 5  # [s], period of the sine wave
-    max_amp = 0.35  # maximum amplitude of the sine wave
-    gamma = 0.8  # decrease amplitude with this factor
+    max_amp = 0.55  # maximum amplitude of the sine wave
+    gamma = 0.9  # decrease amplitude with this factor
 
     ts = np.arange(0, period, 1/sampling_rate)
 
@@ -88,6 +88,7 @@ def main(control_inputs_file, control_type):
 
 if __name__ == '__main__':
     control_type = 'sinusoidal'
-    data_dir = os.getenv('TRUNK_DATA', '/home/asl/Documents/asl_trunk_ws/data')
-    control_inputs_file = os.path.join(data_dir, f'trajectories/dynamic/control_inputs_controlled_{control_type}.csv')
+    data_dir = os.getenv('TRUNK_DATA', '/home/trunk/Documents/trunk-stack/stack/main/data')
+    # control_inputs_file = os.path.join(data_dir, f'trajectories/dynamic/control_inputs_controlled_{control_type}.csv')
+    control_inputs_file = os.path.join(data_dir, f'trajectories/dynamic/control_inputs_controlled.csv')
     main(control_inputs_file, control_type=control_type)
diff --git a/stack/main/src/executor/executor/data_collection_node.py b/stack/main/src/executor/executor/data_collection_node.py
index ea5bd1b..daf26ad 100644
--- a/stack/main/src/executor/executor/data_collection_node.py
+++ b/stack/main/src/executor/executor/data_collection_node.py
@@ -90,7 +90,6 @@ def listener_callback(self, msg):
             # Store current positions
             self.store_positions(msg)
             
-            # Publish new motor control inputs
             # Publish new motor control inputs
             self.current_control_id += 1
             self.control_inputs = self.control_inputs_dict.get(self.current_control_id)
@@ -223,7 +222,7 @@ def process_data(self, names):
         # Populate the header row of the CSV file with states if it does not exist
         trajectory_csv_file = os.path.join(self.data_dir, f'trajectories/{self.data_type}/{self.results_name}.csv')
         if not os.path.exists(trajectory_csv_file):
-            header = ['ID'] + ['ID'] + [f'{axis}{name}' for name in names for axis in ['x', 'y', 'z']]
+            header = ['ID'] + [f'{axis}{name}' for name in names for axis in ['x', 'y', 'z']]
             with open(trajectory_csv_file, 'w', newline='') as file:
                 writer = csv.writer(file)
                 writer.writerow(header)