diff --git a/episode_0002/left.actions.eef_pose/data.csv b/episode_0002/left.actions.eef_pose/data.csv
new file mode 100644
index 0000000000000000000000000000000000000000..c24cbc8a6a198145f2a404bb380a970c16ef1130
--- /dev/null
+++ b/episode_0002/left.actions.eef_pose/data.csv
@@ -0,0 +1,519 @@
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diff --git a/episode_0002/left.actions.joint_position/data.csv b/episode_0002/left.actions.joint_position/data.csv
new file mode 100644
index 0000000000000000000000000000000000000000..7d2b1bd2aeb82556aefd9902c2d6edb77822a344
--- /dev/null
+++ b/episode_0002/left.actions.joint_position/data.csv
@@ -0,0 +1,519 @@
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diff --git a/episode_0002/left.observation.state.eef_pose/data.csv b/episode_0002/left.observation.state.eef_pose/data.csv
new file mode 100644
index 0000000000000000000000000000000000000000..fb2d6aa80999c957021bf70065b29c264d9e8e56
--- /dev/null
+++ b/episode_0002/left.observation.state.eef_pose/data.csv
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diff --git a/episode_0002/left.observation.state.joint_position/data.csv b/episode_0002/left.observation.state.joint_position/data.csv
new file mode 100644
index 0000000000000000000000000000000000000000..67add63321681402198903a99328ace2d4c4ce82
--- /dev/null
+++ b/episode_0002/left.observation.state.joint_position/data.csv
@@ -0,0 +1,519 @@
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diff --git a/episode_0002/left.observation.state/data.jsonl b/episode_0002/left.observation.state/data.jsonl
new file mode 100644
index 0000000000000000000000000000000000000000..7a933fed921fd3ba591d21d7ba8532bc1b010bf3
--- /dev/null
+++ b/episode_0002/left.observation.state/data.jsonl
@@ -0,0 +1,518 @@
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diff --git a/episode_0002/right.actions.eef_pose/data.csv b/episode_0002/right.actions.eef_pose/data.csv
new file mode 100644
index 0000000000000000000000000000000000000000..680ef8ff87a4d165361e5c08a12b1c5d7dfacf50
--- /dev/null
+++ b/episode_0002/right.actions.eef_pose/data.csv
@@ -0,0 +1,519 @@
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diff --git a/episode_0002/right.actions.joint_position/data.csv b/episode_0002/right.actions.joint_position/data.csv
new file mode 100644
index 0000000000000000000000000000000000000000..234ca10b1aa440de261932ebbc5267ed5a164f61
--- /dev/null
+++ b/episode_0002/right.actions.joint_position/data.csv
@@ -0,0 +1,519 @@
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diff --git a/episode_0002/right.observation.state.eef_pose/data.csv b/episode_0002/right.observation.state.eef_pose/data.csv
new file mode 100644
index 0000000000000000000000000000000000000000..907b9424c7f86eba432fca20c9b5d9088f225269
--- /dev/null
+++ b/episode_0002/right.observation.state.eef_pose/data.csv
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diff --git a/episode_0002/right.observation.state.joint_position/data.csv b/episode_0002/right.observation.state.joint_position/data.csv
new file mode 100644
index 0000000000000000000000000000000000000000..43473938a309e6247cf1730f27ead1bd8848340d
--- /dev/null
+++ b/episode_0002/right.observation.state.joint_position/data.csv
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diff --git a/episode_0002/right.observation.state/data.jsonl b/episode_0002/right.observation.state/data.jsonl
new file mode 100644
index 0000000000000000000000000000000000000000..ba5ceb9a0d2dbd1d072ecca21674c732abc7746a
--- /dev/null
+++ b/episode_0002/right.observation.state/data.jsonl
@@ -0,0 +1,518 @@
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diff --git a/episode_0003/left.actions.eef_pose/data.csv b/episode_0003/left.actions.eef_pose/data.csv
new file mode 100644
index 0000000000000000000000000000000000000000..f2c63eb80b6f05aedb8db2a63124bdf11ff5dfa7
--- /dev/null
+++ b/episode_0003/left.actions.eef_pose/data.csv
@@ -0,0 +1,457 @@
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diff --git a/episode_0003/left.actions.joint_position/data.csv b/episode_0003/left.actions.joint_position/data.csv
new file mode 100644
index 0000000000000000000000000000000000000000..b288dfa051302fb9ab8955ef2ae9d06fba14092b
--- /dev/null
+++ b/episode_0003/left.actions.joint_position/data.csv
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diff --git a/episode_0003/left.observation.state.eef_pose/data.csv b/episode_0003/left.observation.state.eef_pose/data.csv
new file mode 100644
index 0000000000000000000000000000000000000000..f44b1f21637a7a6799b8ea17c679a493d5e0e112
--- /dev/null
+++ b/episode_0003/left.observation.state.eef_pose/data.csv
@@ -0,0 +1,457 @@
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diff --git a/episode_0003/left.observation.state.joint_position/data.csv b/episode_0003/left.observation.state.joint_position/data.csv
new file mode 100644
index 0000000000000000000000000000000000000000..de5c03ee060066119d89558a40c561aec0697224
--- /dev/null
+++ b/episode_0003/left.observation.state.joint_position/data.csv
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diff --git a/episode_0003/left.observation.state/data.jsonl b/episode_0003/left.observation.state/data.jsonl
new file mode 100644
index 0000000000000000000000000000000000000000..edda34515413ec190f47def53ec0c9564bdc9177
--- /dev/null
+++ b/episode_0003/left.observation.state/data.jsonl
@@ -0,0 +1,456 @@
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diff --git a/episode_0003/right.actions.eef_pose/data.csv b/episode_0003/right.actions.eef_pose/data.csv
new file mode 100644
index 0000000000000000000000000000000000000000..cd2685b4303bd0f8d4028ecdfd60a3cb7f9ba038
--- /dev/null
+++ b/episode_0003/right.actions.eef_pose/data.csv
@@ -0,0 +1,457 @@
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diff --git a/episode_0003/right.actions.joint_position/data.csv b/episode_0003/right.actions.joint_position/data.csv
new file mode 100644
index 0000000000000000000000000000000000000000..227006e947a481b832cfda795bc7435457af2915
--- /dev/null
+++ b/episode_0003/right.actions.joint_position/data.csv
@@ -0,0 +1,457 @@
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diff --git a/episode_0003/right.observation.state.eef_pose/data.csv b/episode_0003/right.observation.state.eef_pose/data.csv
new file mode 100644
index 0000000000000000000000000000000000000000..e00621648e5e7606c2a375093775cb6759308da9
--- /dev/null
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diff --git a/episode_0003/right.observation.state.joint_position/data.csv b/episode_0003/right.observation.state.joint_position/data.csv
new file mode 100644
index 0000000000000000000000000000000000000000..d03594a655275f24eae05a0230f65ddcf5e92964
--- /dev/null
+++ b/episode_0003/right.observation.state.joint_position/data.csv
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diff --git a/episode_0003/right.observation.state/data.jsonl b/episode_0003/right.observation.state/data.jsonl
new file mode 100644
index 0000000000000000000000000000000000000000..8ff20bde03de8c863ceace968f254e88abfa95f7
--- /dev/null
+++ b/episode_0003/right.observation.state/data.jsonl
@@ -0,0 +1,456 @@
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diff --git a/episode_0021/left.actions.joint_position/data.csv b/episode_0021/left.actions.joint_position/data.csv
new file mode 100644
index 0000000000000000000000000000000000000000..4886794134d0611a6e46c1a486ec86bc632fcd4f
--- /dev/null
+++ b/episode_0021/left.actions.joint_position/data.csv
@@ -0,0 +1,479 @@
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diff --git a/episode_0021/left.observation.state.eef_pose/data.csv b/episode_0021/left.observation.state.eef_pose/data.csv
new file mode 100644
index 0000000000000000000000000000000000000000..fb2538af575f99845fca49ed1fa0ebe5a3326376
--- /dev/null
+++ b/episode_0021/left.observation.state.eef_pose/data.csv
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diff --git a/episode_0021/left.observation.state.joint_position/data.csv b/episode_0021/left.observation.state.joint_position/data.csv
new file mode 100644
index 0000000000000000000000000000000000000000..d62b1c143c4f2b5ef49efcb67070ddbb4be16f34
--- /dev/null
+++ b/episode_0021/left.observation.state.joint_position/data.csv
@@ -0,0 +1,479 @@
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diff --git a/episode_0021/left.observation.state/data.jsonl b/episode_0021/left.observation.state/data.jsonl
new file mode 100644
index 0000000000000000000000000000000000000000..bffd1f85fba463abf239e0baf21c0b62ccea8014
--- /dev/null
+++ b/episode_0021/left.observation.state/data.jsonl
@@ -0,0 +1,478 @@
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diff --git a/episode_0021/right.actions.eef_pose/data.csv b/episode_0021/right.actions.eef_pose/data.csv
new file mode 100644
index 0000000000000000000000000000000000000000..e8acd763c5078d1b9927ac3b2d2294f7f109be81
--- /dev/null
+++ b/episode_0021/right.actions.eef_pose/data.csv
@@ -0,0 +1,479 @@
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diff --git a/episode_0021/right.actions.joint_position/data.csv b/episode_0021/right.actions.joint_position/data.csv
new file mode 100644
index 0000000000000000000000000000000000000000..039a6a9b00a43c5bba54ae4b09c428a9e93a394c
--- /dev/null
+++ b/episode_0021/right.actions.joint_position/data.csv
@@ -0,0 +1,479 @@
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diff --git a/episode_0021/right.observation.state.eef_pose/data.csv b/episode_0021/right.observation.state.eef_pose/data.csv
new file mode 100644
index 0000000000000000000000000000000000000000..c5eced818568ad7ba57bf5ee87bf5d82358c8931
--- /dev/null
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diff --git a/episode_0021/right.observation.state.joint_position/data.csv b/episode_0021/right.observation.state.joint_position/data.csv
new file mode 100644
index 0000000000000000000000000000000000000000..efd0f37cf8958eb2dd843967f7b7d94e1d8e91eb
--- /dev/null
+++ b/episode_0021/right.observation.state.joint_position/data.csv
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diff --git a/episode_0021/right.observation.state/data.jsonl b/episode_0021/right.observation.state/data.jsonl
new file mode 100644
index 0000000000000000000000000000000000000000..7b887681ea9b2d5250860c1782840ac121993520
--- /dev/null
+++ b/episode_0021/right.observation.state/data.jsonl
@@ -0,0 +1,478 @@
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