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diff --git a/episode_0013/left.actions.joint_position/data.csv b/episode_0013/left.actions.joint_position/data.csv
new file mode 100644
index 0000000000000000000000000000000000000000..6de330f003058e9f79c3601bc982fcb93cfc8069
--- /dev/null
+++ b/episode_0013/left.actions.joint_position/data.csv
@@ -0,0 +1,531 @@
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diff --git a/episode_0013/left.observation.state.eef_pose/data.csv b/episode_0013/left.observation.state.eef_pose/data.csv
new file mode 100644
index 0000000000000000000000000000000000000000..a979e0a3c7c1160b4589b1374c35d3de12718b5f
--- /dev/null
+++ b/episode_0013/left.observation.state.eef_pose/data.csv
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diff --git a/episode_0013/left.observation.state.joint_position/data.csv b/episode_0013/left.observation.state.joint_position/data.csv
new file mode 100644
index 0000000000000000000000000000000000000000..ed94bbab5e162fa70ca499a019a00e8999512e61
--- /dev/null
+++ b/episode_0013/left.observation.state.joint_position/data.csv
@@ -0,0 +1,531 @@
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diff --git a/episode_0013/left.observation.state/data.jsonl b/episode_0013/left.observation.state/data.jsonl
new file mode 100644
index 0000000000000000000000000000000000000000..1b544e2d661360a666e466614549524c9e8d788f
--- /dev/null
+++ b/episode_0013/left.observation.state/data.jsonl
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diff --git a/episode_0013/right.actions.eef_pose/data.csv b/episode_0013/right.actions.eef_pose/data.csv
new file mode 100644
index 0000000000000000000000000000000000000000..02c91f9f17f86ee6af00a7a3ed148390f42319ae
--- /dev/null
+++ b/episode_0013/right.actions.eef_pose/data.csv
@@ -0,0 +1,531 @@
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diff --git a/episode_0013/right.actions.joint_position/data.csv b/episode_0013/right.actions.joint_position/data.csv
new file mode 100644
index 0000000000000000000000000000000000000000..9672ff336139004722b5b4e0835299e113898336
--- /dev/null
+++ b/episode_0013/right.actions.joint_position/data.csv
@@ -0,0 +1,531 @@
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diff --git a/episode_0013/right.observation.state.eef_pose/data.csv b/episode_0013/right.observation.state.eef_pose/data.csv
new file mode 100644
index 0000000000000000000000000000000000000000..506834a52e25dbeb0e5ad8a29e2f164bf227c249
--- /dev/null
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diff --git a/episode_0013/right.observation.state.joint_position/data.csv b/episode_0013/right.observation.state.joint_position/data.csv
new file mode 100644
index 0000000000000000000000000000000000000000..502dad43d02502cf2e0b9e17a8cf9b4d29cb0d7f
--- /dev/null
+++ b/episode_0013/right.observation.state.joint_position/data.csv
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diff --git a/episode_0013/right.observation.state/data.jsonl b/episode_0013/right.observation.state/data.jsonl
new file mode 100644
index 0000000000000000000000000000000000000000..a6a5dda96b79747c590982b66edf6b6ec8a7d467
--- /dev/null
+++ b/episode_0013/right.observation.state/data.jsonl
@@ -0,0 +1,530 @@
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diff --git a/episode_0029/left.actions.eef_pose/data.csv b/episode_0029/left.actions.eef_pose/data.csv
new file mode 100644
index 0000000000000000000000000000000000000000..bf7170cce05a38885fefcc49eeee18b444d9f67d
--- /dev/null
+++ b/episode_0029/left.actions.eef_pose/data.csv
@@ -0,0 +1,456 @@
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diff --git a/episode_0029/left.actions.joint_position/data.csv b/episode_0029/left.actions.joint_position/data.csv
new file mode 100644
index 0000000000000000000000000000000000000000..22e5d3e11e90506a40578df72edcd5fe4b2bfe96
--- /dev/null
+++ b/episode_0029/left.actions.joint_position/data.csv
@@ -0,0 +1,456 @@
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diff --git a/episode_0029/left.observation.state.eef_pose/data.csv b/episode_0029/left.observation.state.eef_pose/data.csv
new file mode 100644
index 0000000000000000000000000000000000000000..e6939d4baa540eddddccadac3c406d1ca7eb6c12
--- /dev/null
+++ b/episode_0029/left.observation.state.eef_pose/data.csv
@@ -0,0 +1,456 @@
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diff --git a/episode_0029/left.observation.state.joint_position/data.csv b/episode_0029/left.observation.state.joint_position/data.csv
new file mode 100644
index 0000000000000000000000000000000000000000..580a364ed92652dd7459de8877352d31e01a8d23
--- /dev/null
+++ b/episode_0029/left.observation.state.joint_position/data.csv
@@ -0,0 +1,456 @@
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diff --git a/episode_0029/left.observation.state/data.jsonl b/episode_0029/left.observation.state/data.jsonl
new file mode 100644
index 0000000000000000000000000000000000000000..8d9358accf5c80136df50d05d521781675aef2d1
--- /dev/null
+++ b/episode_0029/left.observation.state/data.jsonl
@@ -0,0 +1,455 @@
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diff --git a/episode_0029/right.actions.eef_pose/data.csv b/episode_0029/right.actions.eef_pose/data.csv
new file mode 100644
index 0000000000000000000000000000000000000000..a61d25ef839d3623f14f95a182c79aeca0865024
--- /dev/null
+++ b/episode_0029/right.actions.eef_pose/data.csv
@@ -0,0 +1,456 @@
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diff --git a/episode_0029/right.actions.joint_position/data.csv b/episode_0029/right.actions.joint_position/data.csv
new file mode 100644
index 0000000000000000000000000000000000000000..49f0cbe2b586012449682bf39d1f43234c6f1c8f
--- /dev/null
+++ b/episode_0029/right.actions.joint_position/data.csv
@@ -0,0 +1,456 @@
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diff --git a/episode_0029/right.observation.state.eef_pose/data.csv b/episode_0029/right.observation.state.eef_pose/data.csv
new file mode 100644
index 0000000000000000000000000000000000000000..ae38ff7eb2b01c93022e5c8494f9e77328e9786f
--- /dev/null
+++ b/episode_0029/right.observation.state.eef_pose/data.csv
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diff --git a/episode_0029/right.observation.state.joint_position/data.csv b/episode_0029/right.observation.state.joint_position/data.csv
new file mode 100644
index 0000000000000000000000000000000000000000..2123cf31f669ac15efdc7e271c4d7c2d24c744ad
--- /dev/null
+++ b/episode_0029/right.observation.state.joint_position/data.csv
@@ -0,0 +1,456 @@
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diff --git a/episode_0029/right.observation.state/data.jsonl b/episode_0029/right.observation.state/data.jsonl
new file mode 100644
index 0000000000000000000000000000000000000000..af92a1844305c6bb84e463f879fdefd714504a2f
--- /dev/null
+++ b/episode_0029/right.observation.state/data.jsonl
@@ -0,0 +1,455 @@
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