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diff --git a/episode_0010/left.actions.joint_position/data.csv b/episode_0010/left.actions.joint_position/data.csv
new file mode 100644
index 0000000000000000000000000000000000000000..3601144cc3bad9e813cecdcf8bc6930ceeb8693a
--- /dev/null
+++ b/episode_0010/left.actions.joint_position/data.csv
@@ -0,0 +1,522 @@
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diff --git a/episode_0010/left.observation.state.eef_pose/data.csv b/episode_0010/left.observation.state.eef_pose/data.csv
new file mode 100644
index 0000000000000000000000000000000000000000..7fcd3e2c91d269b69fd955c6116b88f583a76517
--- /dev/null
+++ b/episode_0010/left.observation.state.eef_pose/data.csv
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diff --git a/episode_0010/left.observation.state.joint_position/data.csv b/episode_0010/left.observation.state.joint_position/data.csv
new file mode 100644
index 0000000000000000000000000000000000000000..e0dfab0c9fb6aca4533d092d4ce1bd5220ce362f
--- /dev/null
+++ b/episode_0010/left.observation.state.joint_position/data.csv
@@ -0,0 +1,522 @@
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diff --git a/episode_0010/left.observation.state/data.jsonl b/episode_0010/left.observation.state/data.jsonl
new file mode 100644
index 0000000000000000000000000000000000000000..78ff965053beac2ee338352447dea63176f62c84
--- /dev/null
+++ b/episode_0010/left.observation.state/data.jsonl
@@ -0,0 +1,521 @@
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diff --git a/episode_0010/right.actions.eef_pose/data.csv b/episode_0010/right.actions.eef_pose/data.csv
new file mode 100644
index 0000000000000000000000000000000000000000..58770f7c79d98ff17224fbdd813e4864358b185d
--- /dev/null
+++ b/episode_0010/right.actions.eef_pose/data.csv
@@ -0,0 +1,522 @@
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diff --git a/episode_0010/right.actions.joint_position/data.csv b/episode_0010/right.actions.joint_position/data.csv
new file mode 100644
index 0000000000000000000000000000000000000000..8798400454c60fa65bba319d1fb12eebc1ff217a
--- /dev/null
+++ b/episode_0010/right.actions.joint_position/data.csv
@@ -0,0 +1,522 @@
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diff --git a/episode_0010/right.observation.state.eef_pose/data.csv b/episode_0010/right.observation.state.eef_pose/data.csv
new file mode 100644
index 0000000000000000000000000000000000000000..2ec8aac27787ecf244b676db5ddc2100ef84e930
--- /dev/null
+++ b/episode_0010/right.observation.state.eef_pose/data.csv
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diff --git a/episode_0010/right.observation.state.joint_position/data.csv b/episode_0010/right.observation.state.joint_position/data.csv
new file mode 100644
index 0000000000000000000000000000000000000000..b443ad8a462a71b2716fb5e599018fe261564b69
--- /dev/null
+++ b/episode_0010/right.observation.state.joint_position/data.csv
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diff --git a/episode_0010/right.observation.state/data.jsonl b/episode_0010/right.observation.state/data.jsonl
new file mode 100644
index 0000000000000000000000000000000000000000..d9b6a7db98c8aacd2837cc2f6369543427f3a20c
--- /dev/null
+++ b/episode_0010/right.observation.state/data.jsonl
@@ -0,0 +1,521 @@
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diff --git a/episode_0018/left.actions.eef_pose/data.csv b/episode_0018/left.actions.eef_pose/data.csv
new file mode 100644
index 0000000000000000000000000000000000000000..aa1e984aba4a1b772d6d8bc52b3de89e5633153a
--- /dev/null
+++ b/episode_0018/left.actions.eef_pose/data.csv
@@ -0,0 +1,593 @@
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diff --git a/episode_0018/left.actions.joint_position/data.csv b/episode_0018/left.actions.joint_position/data.csv
new file mode 100644
index 0000000000000000000000000000000000000000..d3e6ee5dad437387ff8befe8549fcbd03f510628
--- /dev/null
+++ b/episode_0018/left.actions.joint_position/data.csv
@@ -0,0 +1,593 @@
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diff --git a/episode_0018/left.observation.state.eef_pose/data.csv b/episode_0018/left.observation.state.eef_pose/data.csv
new file mode 100644
index 0000000000000000000000000000000000000000..705474e26a72f0d14c263284339d6ca3dae73e0a
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diff --git a/episode_0018/left.observation.state.joint_position/data.csv b/episode_0018/left.observation.state.joint_position/data.csv
new file mode 100644
index 0000000000000000000000000000000000000000..63c251cd47f6de661bfdde930723d58f45079d47
--- /dev/null
+++ b/episode_0018/left.observation.state.joint_position/data.csv
@@ -0,0 +1,593 @@
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diff --git a/episode_0018/left.observation.state/data.jsonl b/episode_0018/left.observation.state/data.jsonl
new file mode 100644
index 0000000000000000000000000000000000000000..fe76a53854ccaf40e88b7810cd625c6fbc6f1088
--- /dev/null
+++ b/episode_0018/left.observation.state/data.jsonl
@@ -0,0 +1,592 @@
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diff --git a/episode_0018/right.actions.eef_pose/data.csv b/episode_0018/right.actions.eef_pose/data.csv
new file mode 100644
index 0000000000000000000000000000000000000000..0043073867749d279eba160bdb0e5496b0123f21
--- /dev/null
+++ b/episode_0018/right.actions.eef_pose/data.csv
@@ -0,0 +1,593 @@
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diff --git a/episode_0018/right.actions.joint_position/data.csv b/episode_0018/right.actions.joint_position/data.csv
new file mode 100644
index 0000000000000000000000000000000000000000..c0367096630f3a838e2393bc957fab97c21c3b22
--- /dev/null
+++ b/episode_0018/right.actions.joint_position/data.csv
@@ -0,0 +1,593 @@
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diff --git a/episode_0018/right.observation.state.eef_pose/data.csv b/episode_0018/right.observation.state.eef_pose/data.csv
new file mode 100644
index 0000000000000000000000000000000000000000..fcffbb6eeff1685bae770d6caffb6e358d9b8c2e
--- /dev/null
+++ b/episode_0018/right.observation.state.eef_pose/data.csv
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diff --git a/episode_0018/right.observation.state.joint_position/data.csv b/episode_0018/right.observation.state.joint_position/data.csv
new file mode 100644
index 0000000000000000000000000000000000000000..78a7a9633167fa91b1eac97f162eabe90cb6fe70
--- /dev/null
+++ b/episode_0018/right.observation.state.joint_position/data.csv
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diff --git a/episode_0018/right.observation.state/data.jsonl b/episode_0018/right.observation.state/data.jsonl
new file mode 100644
index 0000000000000000000000000000000000000000..9134f9ee946f06bd8a83c03632d875fb17eb98b5
--- /dev/null
+++ b/episode_0018/right.observation.state/data.jsonl
@@ -0,0 +1,592 @@
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diff --git a/episode_0022/left.actions.eef_pose/data.csv b/episode_0022/left.actions.eef_pose/data.csv
new file mode 100644
index 0000000000000000000000000000000000000000..6660e93b9b6facbf7028b16c4ac5efcb683c86bc
--- /dev/null
+++ b/episode_0022/left.actions.eef_pose/data.csv
@@ -0,0 +1,483 @@
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diff --git a/episode_0022/left.actions.joint_position/data.csv b/episode_0022/left.actions.joint_position/data.csv
new file mode 100644
index 0000000000000000000000000000000000000000..c343de3a991191f361f2e0ebeaa32c09dae1448d
--- /dev/null
+++ b/episode_0022/left.actions.joint_position/data.csv
@@ -0,0 +1,483 @@
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diff --git a/episode_0022/left.observation.state.eef_pose/data.csv b/episode_0022/left.observation.state.eef_pose/data.csv
new file mode 100644
index 0000000000000000000000000000000000000000..32be599979100d9816aaf3510a69431c3d04cf8c
--- /dev/null
+++ b/episode_0022/left.observation.state.eef_pose/data.csv
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diff --git a/episode_0022/left.observation.state.joint_position/data.csv b/episode_0022/left.observation.state.joint_position/data.csv
new file mode 100644
index 0000000000000000000000000000000000000000..73c4300aaa1d68f2d3aa60418c040e21209ad236
--- /dev/null
+++ b/episode_0022/left.observation.state.joint_position/data.csv
@@ -0,0 +1,483 @@
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diff --git a/episode_0022/left.observation.state/data.jsonl b/episode_0022/left.observation.state/data.jsonl
new file mode 100644
index 0000000000000000000000000000000000000000..2e55d26713d1d617e261fa380d18c895d66ab708
--- /dev/null
+++ b/episode_0022/left.observation.state/data.jsonl
@@ -0,0 +1,482 @@
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diff --git a/episode_0022/right.actions.eef_pose/data.csv b/episode_0022/right.actions.eef_pose/data.csv
new file mode 100644
index 0000000000000000000000000000000000000000..9c2347741cbf1ca122949744b71de4193251542a
--- /dev/null
+++ b/episode_0022/right.actions.eef_pose/data.csv
@@ -0,0 +1,483 @@
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diff --git a/episode_0022/right.actions.joint_position/data.csv b/episode_0022/right.actions.joint_position/data.csv
new file mode 100644
index 0000000000000000000000000000000000000000..7854958739e1bf704764e4a6534466f881b0d075
--- /dev/null
+++ b/episode_0022/right.actions.joint_position/data.csv
@@ -0,0 +1,483 @@
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diff --git a/episode_0022/right.observation.state.eef_pose/data.csv b/episode_0022/right.observation.state.eef_pose/data.csv
new file mode 100644
index 0000000000000000000000000000000000000000..41913a21422d953db05fac9424392ddede5cb912
--- /dev/null
+++ b/episode_0022/right.observation.state.eef_pose/data.csv
@@ -0,0 +1,483 @@
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diff --git a/episode_0022/right.observation.state.joint_position/data.csv b/episode_0022/right.observation.state.joint_position/data.csv
new file mode 100644
index 0000000000000000000000000000000000000000..d3a3ce51ebe0bb10e213ac4679dae8fe0e362412
--- /dev/null
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diff --git a/episode_0022/right.observation.state/data.jsonl b/episode_0022/right.observation.state/data.jsonl
new file mode 100644
index 0000000000000000000000000000000000000000..13727d6fda43f6825b383289caf0f07a1157c8db
--- /dev/null
+++ b/episode_0022/right.observation.state/data.jsonl
@@ -0,0 +1,482 @@
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