diff --git a/episode_0001/left.actions.eef_pose/data.csv b/episode_0001/left.actions.eef_pose/data.csv
new file mode 100644
index 0000000000000000000000000000000000000000..1fad061a6a903b31a3e5163be8395e0bc2524b91
--- /dev/null
+++ b/episode_0001/left.actions.eef_pose/data.csv
@@ -0,0 +1,463 @@
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diff --git a/episode_0001/left.actions.joint_position/data.csv b/episode_0001/left.actions.joint_position/data.csv
new file mode 100644
index 0000000000000000000000000000000000000000..16531e5cf9046cf288fec827bbe45cb95781abc6
--- /dev/null
+++ b/episode_0001/left.actions.joint_position/data.csv
@@ -0,0 +1,463 @@
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diff --git a/episode_0001/left.observation.state.eef_pose/data.csv b/episode_0001/left.observation.state.eef_pose/data.csv
new file mode 100644
index 0000000000000000000000000000000000000000..19b482808b2690a630278eef38fa28701dbba171
--- /dev/null
+++ b/episode_0001/left.observation.state.eef_pose/data.csv
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diff --git a/episode_0001/left.observation.state.joint_position/data.csv b/episode_0001/left.observation.state.joint_position/data.csv
new file mode 100644
index 0000000000000000000000000000000000000000..4eb359470919d54b6bd545bb2da36b923d0a6a49
--- /dev/null
+++ b/episode_0001/left.observation.state.joint_position/data.csv
@@ -0,0 +1,463 @@
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diff --git a/episode_0001/left.observation.state/data.jsonl b/episode_0001/left.observation.state/data.jsonl
new file mode 100644
index 0000000000000000000000000000000000000000..9cf5cf00b69b3e73761462f6b350591e1428fcd7
--- /dev/null
+++ b/episode_0001/left.observation.state/data.jsonl
@@ -0,0 +1,462 @@
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diff --git a/episode_0001/right.actions.eef_pose/data.csv b/episode_0001/right.actions.eef_pose/data.csv
new file mode 100644
index 0000000000000000000000000000000000000000..cbada6ea0cc39dd5114fe37d8e91f2eb162b8edd
--- /dev/null
+++ b/episode_0001/right.actions.eef_pose/data.csv
@@ -0,0 +1,463 @@
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diff --git a/episode_0001/right.actions.joint_position/data.csv b/episode_0001/right.actions.joint_position/data.csv
new file mode 100644
index 0000000000000000000000000000000000000000..80172ae0a56dc0332394a268bcd55d80c9611857
--- /dev/null
+++ b/episode_0001/right.actions.joint_position/data.csv
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diff --git a/episode_0001/right.observation.state.eef_pose/data.csv b/episode_0001/right.observation.state.eef_pose/data.csv
new file mode 100644
index 0000000000000000000000000000000000000000..d925f06e2cdd9cc1b59112d22d443603c2999b28
--- /dev/null
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diff --git a/episode_0001/right.observation.state.joint_position/data.csv b/episode_0001/right.observation.state.joint_position/data.csv
new file mode 100644
index 0000000000000000000000000000000000000000..afd2641ccd0606bae4e4b86cac39362922977e43
--- /dev/null
+++ b/episode_0001/right.observation.state.joint_position/data.csv
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diff --git a/episode_0001/right.observation.state/data.jsonl b/episode_0001/right.observation.state/data.jsonl
new file mode 100644
index 0000000000000000000000000000000000000000..277baaee9fdd6d6d4e703235c86af8af413143c9
--- /dev/null
+++ b/episode_0001/right.observation.state/data.jsonl
@@ -0,0 +1,462 @@
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diff --git a/episode_0009/left.actions.joint_position/data.csv b/episode_0009/left.actions.joint_position/data.csv
new file mode 100644
index 0000000000000000000000000000000000000000..6f37a5e98c6ddb36f7f78b8f197674aae6196e2f
--- /dev/null
+++ b/episode_0009/left.actions.joint_position/data.csv
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diff --git a/episode_0009/left.observation.state.eef_pose/data.csv b/episode_0009/left.observation.state.eef_pose/data.csv
new file mode 100644
index 0000000000000000000000000000000000000000..a03a7db7cdc389e42065f0f03febf4b12ad9adf2
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diff --git a/episode_0009/left.observation.state.joint_position/data.csv b/episode_0009/left.observation.state.joint_position/data.csv
new file mode 100644
index 0000000000000000000000000000000000000000..c41c3fae822dcf9a5fc8eb3dd37abb579f4b0daf
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diff --git a/episode_0009/left.observation.state/data.jsonl b/episode_0009/left.observation.state/data.jsonl
new file mode 100644
index 0000000000000000000000000000000000000000..817b278cb38e7fd439c56bffcb18ca58aebc3c46
--- /dev/null
+++ b/episode_0009/left.observation.state/data.jsonl
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diff --git a/episode_0009/right.actions.eef_pose/data.csv b/episode_0009/right.actions.eef_pose/data.csv
new file mode 100644
index 0000000000000000000000000000000000000000..d0494b27b892b8b4fe9fb6a1e0e3a108b52b495a
--- /dev/null
+++ b/episode_0009/right.actions.eef_pose/data.csv
@@ -0,0 +1,488 @@
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diff --git a/episode_0009/right.actions.joint_position/data.csv b/episode_0009/right.actions.joint_position/data.csv
new file mode 100644
index 0000000000000000000000000000000000000000..1109d8e16f1263f40764b6cbd8083232f9d0c5d2
--- /dev/null
+++ b/episode_0009/right.actions.joint_position/data.csv
@@ -0,0 +1,488 @@
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diff --git a/episode_0009/right.observation.state.eef_pose/data.csv b/episode_0009/right.observation.state.eef_pose/data.csv
new file mode 100644
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diff --git a/episode_0009/right.observation.state.joint_position/data.csv b/episode_0009/right.observation.state.joint_position/data.csv
new file mode 100644
index 0000000000000000000000000000000000000000..b07c3d3073bb3de26517dc77e5f912fca874feb4
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diff --git a/episode_0009/right.observation.state/data.jsonl b/episode_0009/right.observation.state/data.jsonl
new file mode 100644
index 0000000000000000000000000000000000000000..8226beefd6b5239ec45e4541989d7f7aac76f96e
--- /dev/null
+++ b/episode_0009/right.observation.state/data.jsonl
@@ -0,0 +1,487 @@
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diff --git a/episode_0023/left.actions.eef_pose/data.csv b/episode_0023/left.actions.eef_pose/data.csv
new file mode 100644
index 0000000000000000000000000000000000000000..e59b9c98e44022bd390f80ecff458e12ad5c2189
--- /dev/null
+++ b/episode_0023/left.actions.eef_pose/data.csv
@@ -0,0 +1,499 @@
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diff --git a/episode_0023/left.actions.joint_position/data.csv b/episode_0023/left.actions.joint_position/data.csv
new file mode 100644
index 0000000000000000000000000000000000000000..e67fe16cb3230e89de615ecf572483616c47fd2b
--- /dev/null
+++ b/episode_0023/left.actions.joint_position/data.csv
@@ -0,0 +1,499 @@
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diff --git a/episode_0023/left.observation.state.eef_pose/data.csv b/episode_0023/left.observation.state.eef_pose/data.csv
new file mode 100644
index 0000000000000000000000000000000000000000..608104b67e83c18f63e50180ee615b44af544833
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+++ b/episode_0023/left.observation.state.eef_pose/data.csv
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diff --git a/episode_0023/left.observation.state.joint_position/data.csv b/episode_0023/left.observation.state.joint_position/data.csv
new file mode 100644
index 0000000000000000000000000000000000000000..534c913fed47d7dbbc26b8c157ffd8d95cf7a399
--- /dev/null
+++ b/episode_0023/left.observation.state.joint_position/data.csv
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diff --git a/episode_0023/left.observation.state/data.jsonl b/episode_0023/left.observation.state/data.jsonl
new file mode 100644
index 0000000000000000000000000000000000000000..621de65aa1997ed704b946f328a60d062ec3e0a5
--- /dev/null
+++ b/episode_0023/left.observation.state/data.jsonl
@@ -0,0 +1,498 @@
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diff --git a/episode_0023/right.actions.eef_pose/data.csv b/episode_0023/right.actions.eef_pose/data.csv
new file mode 100644
index 0000000000000000000000000000000000000000..72024593df2b612f60875c8e1d7511f5bb10d7b2
--- /dev/null
+++ b/episode_0023/right.actions.eef_pose/data.csv
@@ -0,0 +1,499 @@
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diff --git a/episode_0023/right.actions.joint_position/data.csv b/episode_0023/right.actions.joint_position/data.csv
new file mode 100644
index 0000000000000000000000000000000000000000..75f5c74d00c9b9117d5c8cb0422026f503d90a7a
--- /dev/null
+++ b/episode_0023/right.actions.joint_position/data.csv
@@ -0,0 +1,499 @@
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diff --git a/episode_0023/right.observation.state.eef_pose/data.csv b/episode_0023/right.observation.state.eef_pose/data.csv
new file mode 100644
index 0000000000000000000000000000000000000000..07b9600bad13b9762e9c40dec71ecd2d8d946064
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diff --git a/episode_0023/right.observation.state.joint_position/data.csv b/episode_0023/right.observation.state.joint_position/data.csv
new file mode 100644
index 0000000000000000000000000000000000000000..33657014d0e306d73e99892297c971ba5d8c4850
--- /dev/null
+++ b/episode_0023/right.observation.state.joint_position/data.csv
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diff --git a/episode_0023/right.observation.state/data.jsonl b/episode_0023/right.observation.state/data.jsonl
new file mode 100644
index 0000000000000000000000000000000000000000..f27e1b951900528f67c3bc49c2942ae04fe1cf2e
--- /dev/null
+++ b/episode_0023/right.observation.state/data.jsonl
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diff --git a/episode_0025/left.actions.eef_pose/data.csv b/episode_0025/left.actions.eef_pose/data.csv
new file mode 100644
index 0000000000000000000000000000000000000000..bf196cd2656e86122d046dab645f27aac5ff03c5
--- /dev/null
+++ b/episode_0025/left.actions.eef_pose/data.csv
@@ -0,0 +1,474 @@
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diff --git a/episode_0025/left.actions.joint_position/data.csv b/episode_0025/left.actions.joint_position/data.csv
new file mode 100644
index 0000000000000000000000000000000000000000..83806f9887652fba9f5de6bd3feab641baf8f20a
--- /dev/null
+++ b/episode_0025/left.actions.joint_position/data.csv
@@ -0,0 +1,474 @@
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diff --git a/episode_0025/left.observation.state.eef_pose/data.csv b/episode_0025/left.observation.state.eef_pose/data.csv
new file mode 100644
index 0000000000000000000000000000000000000000..b296cdce97177ccd3d0691de869df9399d57891d
--- /dev/null
+++ b/episode_0025/left.observation.state.eef_pose/data.csv
@@ -0,0 +1,474 @@
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diff --git a/episode_0025/left.observation.state.joint_position/data.csv b/episode_0025/left.observation.state.joint_position/data.csv
new file mode 100644
index 0000000000000000000000000000000000000000..f768b5923d2245b959b633b13c14ec9d47e16b35
--- /dev/null
+++ b/episode_0025/left.observation.state.joint_position/data.csv
@@ -0,0 +1,474 @@
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diff --git a/episode_0025/left.observation.state/data.jsonl b/episode_0025/left.observation.state/data.jsonl
new file mode 100644
index 0000000000000000000000000000000000000000..491a2e1fdb72bad951c69b956490c9175f394ecb
--- /dev/null
+++ b/episode_0025/left.observation.state/data.jsonl
@@ -0,0 +1,473 @@
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diff --git a/episode_0025/right.actions.eef_pose/data.csv b/episode_0025/right.actions.eef_pose/data.csv
new file mode 100644
index 0000000000000000000000000000000000000000..2aa3ee04cef34d9831d483cd0e621c8fd73c4b4a
--- /dev/null
+++ b/episode_0025/right.actions.eef_pose/data.csv
@@ -0,0 +1,474 @@
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diff --git a/episode_0025/right.actions.joint_position/data.csv b/episode_0025/right.actions.joint_position/data.csv
new file mode 100644
index 0000000000000000000000000000000000000000..86776a068960f53d99c2b44928310322286bfc9a
--- /dev/null
+++ b/episode_0025/right.actions.joint_position/data.csv
@@ -0,0 +1,474 @@
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diff --git a/episode_0025/right.observation.state.eef_pose/data.csv b/episode_0025/right.observation.state.eef_pose/data.csv
new file mode 100644
index 0000000000000000000000000000000000000000..6cf9015b7132ab039e751ff97a047bb262b14689
--- /dev/null
+++ b/episode_0025/right.observation.state.eef_pose/data.csv
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diff --git a/episode_0025/right.observation.state.joint_position/data.csv b/episode_0025/right.observation.state.joint_position/data.csv
new file mode 100644
index 0000000000000000000000000000000000000000..94eeccc757c79057a381363b6d5bb40b0428c065
--- /dev/null
+++ b/episode_0025/right.observation.state.joint_position/data.csv
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diff --git a/episode_0025/right.observation.state/data.jsonl b/episode_0025/right.observation.state/data.jsonl
new file mode 100644
index 0000000000000000000000000000000000000000..ed74e50495204408430155d34f52749e34e6029e
--- /dev/null
+++ b/episode_0025/right.observation.state/data.jsonl
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