diff --git a/episode_0006/left.actions.eef_pose/data.csv b/episode_0006/left.actions.eef_pose/data.csv
new file mode 100644
index 0000000000000000000000000000000000000000..4093a6d61e525d3fb1c92696be94e5a3570d586d
--- /dev/null
+++ b/episode_0006/left.actions.eef_pose/data.csv
@@ -0,0 +1,521 @@
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diff --git a/episode_0006/left.actions.joint_position/data.csv b/episode_0006/left.actions.joint_position/data.csv
new file mode 100644
index 0000000000000000000000000000000000000000..332c593e7dde2b2db91bcd34ddacba2cafaf8eb1
--- /dev/null
+++ b/episode_0006/left.actions.joint_position/data.csv
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diff --git a/episode_0006/left.observation.state.eef_pose/data.csv b/episode_0006/left.observation.state.eef_pose/data.csv
new file mode 100644
index 0000000000000000000000000000000000000000..5232ead83168411e71e7f2fa26b64f50759ea3f6
--- /dev/null
+++ b/episode_0006/left.observation.state.eef_pose/data.csv
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diff --git a/episode_0006/left.observation.state.joint_position/data.csv b/episode_0006/left.observation.state.joint_position/data.csv
new file mode 100644
index 0000000000000000000000000000000000000000..75f7a8c7948939aefc8d0a0bcfca58ff215eff85
--- /dev/null
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diff --git a/episode_0006/left.observation.state/data.jsonl b/episode_0006/left.observation.state/data.jsonl
new file mode 100644
index 0000000000000000000000000000000000000000..2cccd59a2afaecc740265f05d03fa343bf598f7b
--- /dev/null
+++ b/episode_0006/left.observation.state/data.jsonl
@@ -0,0 +1,520 @@
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diff --git a/episode_0006/right.actions.eef_pose/data.csv b/episode_0006/right.actions.eef_pose/data.csv
new file mode 100644
index 0000000000000000000000000000000000000000..a4279b8c20e6c396bcc18917a1182ce5e0bec108
--- /dev/null
+++ b/episode_0006/right.actions.eef_pose/data.csv
@@ -0,0 +1,521 @@
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diff --git a/episode_0006/right.actions.joint_position/data.csv b/episode_0006/right.actions.joint_position/data.csv
new file mode 100644
index 0000000000000000000000000000000000000000..5d557161ce72cbfae9faff59026ea841c3ae1524
--- /dev/null
+++ b/episode_0006/right.actions.joint_position/data.csv
@@ -0,0 +1,521 @@
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diff --git a/episode_0006/right.observation.state.eef_pose/data.csv b/episode_0006/right.observation.state.eef_pose/data.csv
new file mode 100644
index 0000000000000000000000000000000000000000..a9b9138ac5d61b0c4aca54c009f30c3446866144
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new file mode 100644
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diff --git a/episode_0006/right.observation.state/data.jsonl b/episode_0006/right.observation.state/data.jsonl
new file mode 100644
index 0000000000000000000000000000000000000000..54c869a6b61445ab735f6ac0cb3ddc558561525c
--- /dev/null
+++ b/episode_0006/right.observation.state/data.jsonl
@@ -0,0 +1,520 @@
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diff --git a/episode_0015/left.actions.joint_position/data.csv b/episode_0015/left.actions.joint_position/data.csv
new file mode 100644
index 0000000000000000000000000000000000000000..8f4115210cad7fcfcb951cfb25261a2e0291e27f
--- /dev/null
+++ b/episode_0015/left.actions.joint_position/data.csv
@@ -0,0 +1,478 @@
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diff --git a/episode_0015/left.observation.state.eef_pose/data.csv b/episode_0015/left.observation.state.eef_pose/data.csv
new file mode 100644
index 0000000000000000000000000000000000000000..17a896d42d0f0f7c87956b20ae63fc2bed0f5b1f
--- /dev/null
+++ b/episode_0015/left.observation.state.eef_pose/data.csv
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diff --git a/episode_0015/left.observation.state.joint_position/data.csv b/episode_0015/left.observation.state.joint_position/data.csv
new file mode 100644
index 0000000000000000000000000000000000000000..0f99ee84126232a824d9743a7ec37affcc710120
--- /dev/null
+++ b/episode_0015/left.observation.state.joint_position/data.csv
@@ -0,0 +1,478 @@
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diff --git a/episode_0015/left.observation.state/data.jsonl b/episode_0015/left.observation.state/data.jsonl
new file mode 100644
index 0000000000000000000000000000000000000000..f4b8fbf2e3220633d86f79b33fa8622dc9d6d709
--- /dev/null
+++ b/episode_0015/left.observation.state/data.jsonl
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diff --git a/episode_0015/right.actions.eef_pose/data.csv b/episode_0015/right.actions.eef_pose/data.csv
new file mode 100644
index 0000000000000000000000000000000000000000..ed85e2e703c8e7255ac0fd3acfe97ea891e29708
--- /dev/null
+++ b/episode_0015/right.actions.eef_pose/data.csv
@@ -0,0 +1,478 @@
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diff --git a/episode_0015/right.actions.joint_position/data.csv b/episode_0015/right.actions.joint_position/data.csv
new file mode 100644
index 0000000000000000000000000000000000000000..a1e8be1f1c97b32c017db5993ea6e489d2666bf3
--- /dev/null
+++ b/episode_0015/right.actions.joint_position/data.csv
@@ -0,0 +1,478 @@
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diff --git a/episode_0015/right.observation.state.eef_pose/data.csv b/episode_0015/right.observation.state.eef_pose/data.csv
new file mode 100644
index 0000000000000000000000000000000000000000..82783af36f3283c8fc99c5c1e743263689df8ae7
--- /dev/null
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diff --git a/episode_0015/right.observation.state.joint_position/data.csv b/episode_0015/right.observation.state.joint_position/data.csv
new file mode 100644
index 0000000000000000000000000000000000000000..ad66c42f8a4172c4a9f80e8f041bbe216a445fbd
--- /dev/null
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diff --git a/episode_0015/right.observation.state/data.jsonl b/episode_0015/right.observation.state/data.jsonl
new file mode 100644
index 0000000000000000000000000000000000000000..dc3fbf83634ae564db4c778f3b3349efe679ee72
--- /dev/null
+++ b/episode_0015/right.observation.state/data.jsonl
@@ -0,0 +1,477 @@
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