diff --git a/episode_0008/left.actions.eef_pose/data.csv b/episode_0008/left.actions.eef_pose/data.csv
new file mode 100644
index 0000000000000000000000000000000000000000..c7f167b249fe2434787e814f54bd15a6d576363c
--- /dev/null
+++ b/episode_0008/left.actions.eef_pose/data.csv
@@ -0,0 +1,581 @@
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diff --git a/episode_0008/left.actions.joint_position/data.csv b/episode_0008/left.actions.joint_position/data.csv
new file mode 100644
index 0000000000000000000000000000000000000000..44884a3b2ead1b096b793cccfe2a67bb17b9f208
--- /dev/null
+++ b/episode_0008/left.actions.joint_position/data.csv
@@ -0,0 +1,581 @@
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diff --git a/episode_0008/left.observation.state.eef_pose/data.csv b/episode_0008/left.observation.state.eef_pose/data.csv
new file mode 100644
index 0000000000000000000000000000000000000000..1fb56f6ebc74774014d0172fd7f44f2716f3915b
--- /dev/null
+++ b/episode_0008/left.observation.state.eef_pose/data.csv
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diff --git a/episode_0008/left.observation.state.joint_position/data.csv b/episode_0008/left.observation.state.joint_position/data.csv
new file mode 100644
index 0000000000000000000000000000000000000000..e78bc1ed0a93fcc62441c01b9f2e4d0e217b383d
--- /dev/null
+++ b/episode_0008/left.observation.state.joint_position/data.csv
@@ -0,0 +1,581 @@
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diff --git a/episode_0008/left.observation.state/data.jsonl b/episode_0008/left.observation.state/data.jsonl
new file mode 100644
index 0000000000000000000000000000000000000000..bf6c67bba2b6c12c2f9bb4327f1e43fe2925c1fc
--- /dev/null
+++ b/episode_0008/left.observation.state/data.jsonl
@@ -0,0 +1,580 @@
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diff --git a/episode_0008/right.actions.eef_pose/data.csv b/episode_0008/right.actions.eef_pose/data.csv
new file mode 100644
index 0000000000000000000000000000000000000000..6a1a17df8a5e5beb6626e5ed99d0b21d654b5ad8
--- /dev/null
+++ b/episode_0008/right.actions.eef_pose/data.csv
@@ -0,0 +1,581 @@
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diff --git a/episode_0008/right.actions.joint_position/data.csv b/episode_0008/right.actions.joint_position/data.csv
new file mode 100644
index 0000000000000000000000000000000000000000..8a0ff91f0b36663c3a46aa5d426834d4ea783112
--- /dev/null
+++ b/episode_0008/right.actions.joint_position/data.csv
@@ -0,0 +1,581 @@
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diff --git a/episode_0008/right.observation.state.eef_pose/data.csv b/episode_0008/right.observation.state.eef_pose/data.csv
new file mode 100644
index 0000000000000000000000000000000000000000..c7457fb704a1479735732d1c13dbed682533b343
--- /dev/null
+++ b/episode_0008/right.observation.state.eef_pose/data.csv
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diff --git a/episode_0008/right.observation.state.joint_position/data.csv b/episode_0008/right.observation.state.joint_position/data.csv
new file mode 100644
index 0000000000000000000000000000000000000000..44506ea1a35d23135aa8005404b1c7afb8d184dc
--- /dev/null
+++ b/episode_0008/right.observation.state.joint_position/data.csv
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diff --git a/episode_0008/right.observation.state/data.jsonl b/episode_0008/right.observation.state/data.jsonl
new file mode 100644
index 0000000000000000000000000000000000000000..ccc79783e8c74aab9f509ce0ab88aedb7e530130
--- /dev/null
+++ b/episode_0008/right.observation.state/data.jsonl
@@ -0,0 +1,580 @@
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diff --git a/episode_0017/left.actions.joint_position/data.csv b/episode_0017/left.actions.joint_position/data.csv
new file mode 100644
index 0000000000000000000000000000000000000000..be87fdbcc17baf55ddfa93b445c765219408d80e
--- /dev/null
+++ b/episode_0017/left.actions.joint_position/data.csv
@@ -0,0 +1,517 @@
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diff --git a/episode_0017/left.observation.state.eef_pose/data.csv b/episode_0017/left.observation.state.eef_pose/data.csv
new file mode 100644
index 0000000000000000000000000000000000000000..8f414f9b3a0770be0a5e9b08a732c946c15bdc6a
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diff --git a/episode_0017/left.observation.state.joint_position/data.csv b/episode_0017/left.observation.state.joint_position/data.csv
new file mode 100644
index 0000000000000000000000000000000000000000..35da3694f57362fa887cfbf8b4a0d9eb127c8d04
--- /dev/null
+++ b/episode_0017/left.observation.state.joint_position/data.csv
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diff --git a/episode_0017/left.observation.state/data.jsonl b/episode_0017/left.observation.state/data.jsonl
new file mode 100644
index 0000000000000000000000000000000000000000..f55262bc97ae85166981be4640f690056720cb65
--- /dev/null
+++ b/episode_0017/left.observation.state/data.jsonl
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diff --git a/episode_0017/right.actions.eef_pose/data.csv b/episode_0017/right.actions.eef_pose/data.csv
new file mode 100644
index 0000000000000000000000000000000000000000..2b291308d9789828e1dbb1eaaea170b90a8062aa
--- /dev/null
+++ b/episode_0017/right.actions.eef_pose/data.csv
@@ -0,0 +1,517 @@
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diff --git a/episode_0017/right.actions.joint_position/data.csv b/episode_0017/right.actions.joint_position/data.csv
new file mode 100644
index 0000000000000000000000000000000000000000..549be3cb4f97847338cec0f9ea8fbc323e8cdadc
--- /dev/null
+++ b/episode_0017/right.actions.joint_position/data.csv
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diff --git a/episode_0017/right.observation.state.eef_pose/data.csv b/episode_0017/right.observation.state.eef_pose/data.csv
new file mode 100644
index 0000000000000000000000000000000000000000..3d4db99989a94a88a43592a4a9abbedbe5c16dcb
--- /dev/null
+++ b/episode_0017/right.observation.state.eef_pose/data.csv
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diff --git a/episode_0017/right.observation.state.joint_position/data.csv b/episode_0017/right.observation.state.joint_position/data.csv
new file mode 100644
index 0000000000000000000000000000000000000000..3ba4f9d92fcf98c30b3c6da95753a20694626a58
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diff --git a/episode_0017/right.observation.state/data.jsonl b/episode_0017/right.observation.state/data.jsonl
new file mode 100644
index 0000000000000000000000000000000000000000..533c3088154ac6d528a0ef3085c78d4ad19ef101
--- /dev/null
+++ b/episode_0017/right.observation.state/data.jsonl
@@ -0,0 +1,516 @@
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diff --git a/episode_0024/left.actions.eef_pose/data.csv b/episode_0024/left.actions.eef_pose/data.csv
new file mode 100644
index 0000000000000000000000000000000000000000..423532783006ad616a78fc7d04e16698c95321bc
--- /dev/null
+++ b/episode_0024/left.actions.eef_pose/data.csv
@@ -0,0 +1,557 @@
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diff --git a/episode_0024/left.actions.joint_position/data.csv b/episode_0024/left.actions.joint_position/data.csv
new file mode 100644
index 0000000000000000000000000000000000000000..a952b075d695d37133d02ec5cf6ba205e49d951d
--- /dev/null
+++ b/episode_0024/left.actions.joint_position/data.csv
@@ -0,0 +1,557 @@
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diff --git a/episode_0024/left.observation.state.eef_pose/data.csv b/episode_0024/left.observation.state.eef_pose/data.csv
new file mode 100644
index 0000000000000000000000000000000000000000..02824a18cfe27e67b06f340643c64d6fcc172765
--- /dev/null
+++ b/episode_0024/left.observation.state.eef_pose/data.csv
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diff --git a/episode_0024/left.observation.state.joint_position/data.csv b/episode_0024/left.observation.state.joint_position/data.csv
new file mode 100644
index 0000000000000000000000000000000000000000..bc5cdd0a700812ddd16c3e950d0c3acdbe8a1dc0
--- /dev/null
+++ b/episode_0024/left.observation.state.joint_position/data.csv
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diff --git a/episode_0024/left.observation.state/data.jsonl b/episode_0024/left.observation.state/data.jsonl
new file mode 100644
index 0000000000000000000000000000000000000000..c06f05f322277bb9752249f24e5d60c9502c997b
--- /dev/null
+++ b/episode_0024/left.observation.state/data.jsonl
@@ -0,0 +1,556 @@
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diff --git a/episode_0024/right.actions.eef_pose/data.csv b/episode_0024/right.actions.eef_pose/data.csv
new file mode 100644
index 0000000000000000000000000000000000000000..b0ad875b63b05c21a31b29547a6df9cfcc9ea65a
--- /dev/null
+++ b/episode_0024/right.actions.eef_pose/data.csv
@@ -0,0 +1,557 @@
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diff --git a/episode_0024/right.actions.joint_position/data.csv b/episode_0024/right.actions.joint_position/data.csv
new file mode 100644
index 0000000000000000000000000000000000000000..53ac3b53912fbcb956dac2ebb974c56d7e695303
--- /dev/null
+++ b/episode_0024/right.actions.joint_position/data.csv
@@ -0,0 +1,557 @@
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diff --git a/episode_0024/right.observation.state.eef_pose/data.csv b/episode_0024/right.observation.state.eef_pose/data.csv
new file mode 100644
index 0000000000000000000000000000000000000000..43eeda813ada003c852a3d31ba36e3783d2f7178
--- /dev/null
+++ b/episode_0024/right.observation.state.eef_pose/data.csv
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diff --git a/episode_0024/right.observation.state.joint_position/data.csv b/episode_0024/right.observation.state.joint_position/data.csv
new file mode 100644
index 0000000000000000000000000000000000000000..b0cbff0e525d32da723eed0eb35bfa3f59333cbc
--- /dev/null
+++ b/episode_0024/right.observation.state.joint_position/data.csv
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diff --git a/episode_0024/right.observation.state/data.jsonl b/episode_0024/right.observation.state/data.jsonl
new file mode 100644
index 0000000000000000000000000000000000000000..a8e5dfa8dd92744662867332a9f2e6df2d94d2dd
--- /dev/null
+++ b/episode_0024/right.observation.state/data.jsonl
@@ -0,0 +1,556 @@
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diff --git a/episode_0027/left.actions.eef_pose/data.csv b/episode_0027/left.actions.eef_pose/data.csv
new file mode 100644
index 0000000000000000000000000000000000000000..bf5513a42bd5bd562cbb88e74fff8a6f20ff2241
--- /dev/null
+++ b/episode_0027/left.actions.eef_pose/data.csv
@@ -0,0 +1,477 @@
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diff --git a/episode_0027/left.actions.joint_position/data.csv b/episode_0027/left.actions.joint_position/data.csv
new file mode 100644
index 0000000000000000000000000000000000000000..3060fae895e36df5512071164196946382dff40d
--- /dev/null
+++ b/episode_0027/left.actions.joint_position/data.csv
@@ -0,0 +1,477 @@
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diff --git a/episode_0027/left.observation.state.eef_pose/data.csv b/episode_0027/left.observation.state.eef_pose/data.csv
new file mode 100644
index 0000000000000000000000000000000000000000..38e3463a9cfe02a055f12eb89afe806cef9bbbe1
--- /dev/null
+++ b/episode_0027/left.observation.state.eef_pose/data.csv
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diff --git a/episode_0027/left.observation.state.joint_position/data.csv b/episode_0027/left.observation.state.joint_position/data.csv
new file mode 100644
index 0000000000000000000000000000000000000000..7fe842b967355de4b97d0fd368494aca123c664f
--- /dev/null
+++ b/episode_0027/left.observation.state.joint_position/data.csv
@@ -0,0 +1,477 @@
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diff --git a/episode_0027/left.observation.state/data.jsonl b/episode_0027/left.observation.state/data.jsonl
new file mode 100644
index 0000000000000000000000000000000000000000..b03bc1f9cca4a3fda85f89e4ce1307daf7279b84
--- /dev/null
+++ b/episode_0027/left.observation.state/data.jsonl
@@ -0,0 +1,476 @@
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diff --git a/episode_0027/right.actions.eef_pose/data.csv b/episode_0027/right.actions.eef_pose/data.csv
new file mode 100644
index 0000000000000000000000000000000000000000..ed372504cbeb9beef5bbdb39e78d25fdcefc0bb9
--- /dev/null
+++ b/episode_0027/right.actions.eef_pose/data.csv
@@ -0,0 +1,477 @@
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diff --git a/episode_0027/right.actions.joint_position/data.csv b/episode_0027/right.actions.joint_position/data.csv
new file mode 100644
index 0000000000000000000000000000000000000000..187f746fd4e25d02997a25695fb1e0f2a3128ca0
--- /dev/null
+++ b/episode_0027/right.actions.joint_position/data.csv
@@ -0,0 +1,477 @@
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diff --git a/episode_0027/right.observation.state.eef_pose/data.csv b/episode_0027/right.observation.state.eef_pose/data.csv
new file mode 100644
index 0000000000000000000000000000000000000000..61a63602406a205ea4c86ece52bec8ba0e414dc2
--- /dev/null
+++ b/episode_0027/right.observation.state.eef_pose/data.csv
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diff --git a/episode_0027/right.observation.state.joint_position/data.csv b/episode_0027/right.observation.state.joint_position/data.csv
new file mode 100644
index 0000000000000000000000000000000000000000..801bc6adcbce4d4e99972db2e39eaf9c625909ab
--- /dev/null
+++ b/episode_0027/right.observation.state.joint_position/data.csv
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diff --git a/episode_0027/right.observation.state/data.jsonl b/episode_0027/right.observation.state/data.jsonl
new file mode 100644
index 0000000000000000000000000000000000000000..5b1e9257ce7d9fd29dcab63b6f204d2ed122a503
--- /dev/null
+++ b/episode_0027/right.observation.state/data.jsonl
@@ -0,0 +1,476 @@
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