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diff --git a/episode_0012/left.actions.joint_position/data.csv b/episode_0012/left.actions.joint_position/data.csv
new file mode 100644
index 0000000000000000000000000000000000000000..a4c673e0c861df6936d1202628fc1fcc6f9a2cba
--- /dev/null
+++ b/episode_0012/left.actions.joint_position/data.csv
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diff --git a/episode_0012/left.observation.state.eef_pose/data.csv b/episode_0012/left.observation.state.eef_pose/data.csv
new file mode 100644
index 0000000000000000000000000000000000000000..62b3a79bbcaf4ab3bc5c2ebc0887da22851b6346
--- /dev/null
+++ b/episode_0012/left.observation.state.eef_pose/data.csv
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diff --git a/episode_0012/left.observation.state.joint_position/data.csv b/episode_0012/left.observation.state.joint_position/data.csv
new file mode 100644
index 0000000000000000000000000000000000000000..84a84458a58139938084a627e01efd3ed00718a9
--- /dev/null
+++ b/episode_0012/left.observation.state.joint_position/data.csv
@@ -0,0 +1,531 @@
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diff --git a/episode_0012/left.observation.state/data.jsonl b/episode_0012/left.observation.state/data.jsonl
new file mode 100644
index 0000000000000000000000000000000000000000..b7cc26543af96b3f2801f8898feb2b06aef8f628
--- /dev/null
+++ b/episode_0012/left.observation.state/data.jsonl
@@ -0,0 +1,530 @@
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diff --git a/episode_0012/right.actions.eef_pose/data.csv b/episode_0012/right.actions.eef_pose/data.csv
new file mode 100644
index 0000000000000000000000000000000000000000..ed77b820806a9df2aa5b31a140f7fdb16c3d753f
--- /dev/null
+++ b/episode_0012/right.actions.eef_pose/data.csv
@@ -0,0 +1,531 @@
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diff --git a/episode_0012/right.actions.joint_position/data.csv b/episode_0012/right.actions.joint_position/data.csv
new file mode 100644
index 0000000000000000000000000000000000000000..c676f29695e74ffed181d37f035db47f02bf336a
--- /dev/null
+++ b/episode_0012/right.actions.joint_position/data.csv
@@ -0,0 +1,531 @@
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diff --git a/episode_0012/right.observation.state.eef_pose/data.csv b/episode_0012/right.observation.state.eef_pose/data.csv
new file mode 100644
index 0000000000000000000000000000000000000000..c0d8286acf5e9711b1a2f64bc66fc04d32da6d76
--- /dev/null
+++ b/episode_0012/right.observation.state.eef_pose/data.csv
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diff --git a/episode_0012/right.observation.state.joint_position/data.csv b/episode_0012/right.observation.state.joint_position/data.csv
new file mode 100644
index 0000000000000000000000000000000000000000..c30c80e9cf3d1b3fb46873ffc8e2f8bd6878ec4b
--- /dev/null
+++ b/episode_0012/right.observation.state.joint_position/data.csv
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diff --git a/episode_0012/right.observation.state/data.jsonl b/episode_0012/right.observation.state/data.jsonl
new file mode 100644
index 0000000000000000000000000000000000000000..f020c477007f8f6c56cb0ab30abb4d04c61f35a9
--- /dev/null
+++ b/episode_0012/right.observation.state/data.jsonl
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diff --git a/episode_0020/left.actions.eef_pose/data.csv b/episode_0020/left.actions.eef_pose/data.csv
new file mode 100644
index 0000000000000000000000000000000000000000..e90decbb6694b7f357f5cdf2cdf0839926e049d4
--- /dev/null
+++ b/episode_0020/left.actions.eef_pose/data.csv
@@ -0,0 +1,526 @@
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diff --git a/episode_0020/left.actions.joint_position/data.csv b/episode_0020/left.actions.joint_position/data.csv
new file mode 100644
index 0000000000000000000000000000000000000000..24bfa9363b24310c9d9161508bfc03235c67e5cc
--- /dev/null
+++ b/episode_0020/left.actions.joint_position/data.csv
@@ -0,0 +1,526 @@
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diff --git a/episode_0020/left.observation.state.eef_pose/data.csv b/episode_0020/left.observation.state.eef_pose/data.csv
new file mode 100644
index 0000000000000000000000000000000000000000..b6d2a51f4c2d3d1b3da16dc736847fb615c14897
--- /dev/null
+++ b/episode_0020/left.observation.state.eef_pose/data.csv
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diff --git a/episode_0020/left.observation.state.joint_position/data.csv b/episode_0020/left.observation.state.joint_position/data.csv
new file mode 100644
index 0000000000000000000000000000000000000000..664bc0e6dcad8da02c4de7e626ae3ef3e81f01d0
--- /dev/null
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diff --git a/episode_0020/left.observation.state/data.jsonl b/episode_0020/left.observation.state/data.jsonl
new file mode 100644
index 0000000000000000000000000000000000000000..95939bd260c652712f2d9aeb046fabcca2221e1b
--- /dev/null
+++ b/episode_0020/left.observation.state/data.jsonl
@@ -0,0 +1,525 @@
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diff --git a/episode_0020/right.actions.eef_pose/data.csv b/episode_0020/right.actions.eef_pose/data.csv
new file mode 100644
index 0000000000000000000000000000000000000000..b281c91b79a94c22dea1774b471ec5f18af3977a
--- /dev/null
+++ b/episode_0020/right.actions.eef_pose/data.csv
@@ -0,0 +1,526 @@
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diff --git a/episode_0020/right.actions.joint_position/data.csv b/episode_0020/right.actions.joint_position/data.csv
new file mode 100644
index 0000000000000000000000000000000000000000..427dd971d0e8c5d145a8918ec032fd73f11fe1e1
--- /dev/null
+++ b/episode_0020/right.actions.joint_position/data.csv
@@ -0,0 +1,526 @@
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diff --git a/episode_0020/right.observation.state.eef_pose/data.csv b/episode_0020/right.observation.state.eef_pose/data.csv
new file mode 100644
index 0000000000000000000000000000000000000000..7dc49db5c3879dd3fbcd2898fd7f7d680bf90b7f
--- /dev/null
+++ b/episode_0020/right.observation.state.eef_pose/data.csv
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diff --git a/episode_0020/right.observation.state.joint_position/data.csv b/episode_0020/right.observation.state.joint_position/data.csv
new file mode 100644
index 0000000000000000000000000000000000000000..dc7405a1e5274f68934f584e43cddfd186019ede
--- /dev/null
+++ b/episode_0020/right.observation.state.joint_position/data.csv
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diff --git a/episode_0020/right.observation.state/data.jsonl b/episode_0020/right.observation.state/data.jsonl
new file mode 100644
index 0000000000000000000000000000000000000000..f5778bdb7f55a0343d97c3d7a11ffcfa51d2816a
--- /dev/null
+++ b/episode_0020/right.observation.state/data.jsonl
@@ -0,0 +1,525 @@
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diff --git a/episode_0026/left.actions.eef_pose/data.csv b/episode_0026/left.actions.eef_pose/data.csv
new file mode 100644
index 0000000000000000000000000000000000000000..6b1e65aec5e8ab538e177b0db6d80345b060a358
--- /dev/null
+++ b/episode_0026/left.actions.eef_pose/data.csv
@@ -0,0 +1,484 @@
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diff --git a/episode_0026/left.actions.joint_position/data.csv b/episode_0026/left.actions.joint_position/data.csv
new file mode 100644
index 0000000000000000000000000000000000000000..e81ddf67bd8fb6598ea4147d4f3fc0d19fb3ff46
--- /dev/null
+++ b/episode_0026/left.actions.joint_position/data.csv
@@ -0,0 +1,484 @@
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diff --git a/episode_0026/left.observation.state.eef_pose/data.csv b/episode_0026/left.observation.state.eef_pose/data.csv
new file mode 100644
index 0000000000000000000000000000000000000000..18e0831e19e8c32728d76d64b519a494fd500bf9
--- /dev/null
+++ b/episode_0026/left.observation.state.eef_pose/data.csv
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diff --git a/episode_0026/left.observation.state.joint_position/data.csv b/episode_0026/left.observation.state.joint_position/data.csv
new file mode 100644
index 0000000000000000000000000000000000000000..014ac22e5cb78509cf6477e48293344bbf3deb3b
--- /dev/null
+++ b/episode_0026/left.observation.state.joint_position/data.csv
@@ -0,0 +1,484 @@
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diff --git a/episode_0026/left.observation.state/data.jsonl b/episode_0026/left.observation.state/data.jsonl
new file mode 100644
index 0000000000000000000000000000000000000000..dd26544b6676570345de4d3875d4e5cffae2eca2
--- /dev/null
+++ b/episode_0026/left.observation.state/data.jsonl
@@ -0,0 +1,483 @@
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diff --git a/episode_0026/right.actions.eef_pose/data.csv b/episode_0026/right.actions.eef_pose/data.csv
new file mode 100644
index 0000000000000000000000000000000000000000..21a10279dcd729a014a7e4ab802b1327a4900ec4
--- /dev/null
+++ b/episode_0026/right.actions.eef_pose/data.csv
@@ -0,0 +1,484 @@
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diff --git a/episode_0026/right.actions.joint_position/data.csv b/episode_0026/right.actions.joint_position/data.csv
new file mode 100644
index 0000000000000000000000000000000000000000..60c64683a6b673ef0c9f80778860dc0f0cfc0b9a
--- /dev/null
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diff --git a/episode_0026/right.observation.state.eef_pose/data.csv b/episode_0026/right.observation.state.eef_pose/data.csv
new file mode 100644
index 0000000000000000000000000000000000000000..78ebcb88284311d97f3d7f2445efca4693bfbe12
--- /dev/null
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diff --git a/episode_0026/right.observation.state.joint_position/data.csv b/episode_0026/right.observation.state.joint_position/data.csv
new file mode 100644
index 0000000000000000000000000000000000000000..af43d8763252750e1ff45635a67267b7033d13ac
--- /dev/null
+++ b/episode_0026/right.observation.state.joint_position/data.csv
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diff --git a/episode_0026/right.observation.state/data.jsonl b/episode_0026/right.observation.state/data.jsonl
new file mode 100644
index 0000000000000000000000000000000000000000..c7fed16cdc7d88d0e17e909120c7721941edc8cc
--- /dev/null
+++ b/episode_0026/right.observation.state/data.jsonl
@@ -0,0 +1,483 @@
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