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..b3d9089247a2ee0ad8fb91203d05d63d47b17b99
--- /dev/null
+++ b/episode_0002/left.actions.eef_pose/data.csv
@@ -0,0 +1,415 @@
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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..c1ce6ecef2c4678234b4996ebec08c33e80c3f92
--- /dev/null
+++ b/episode_0002/left.actions.joint_position/data.csv
@@ -0,0 +1,415 @@
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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..56c4b45be78ca4b8e9c1ed2eafbe38cd3551cc10
--- /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..5c14ec1c5d03d9f67fab0119a6f1558fd3aff363
--- /dev/null
+++ b/episode_0002/left.observation.state.joint_position/data.csv
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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..544c1d4dfa3e6d486b7360f0f3ce8a7835ae82be
--- /dev/null
+++ b/episode_0002/left.observation.state/data.jsonl
@@ -0,0 +1,414 @@
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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..74cb87092a2470ccc7db6ea9597fe2e0e11aa9cb
--- /dev/null
+++ b/episode_0002/right.actions.eef_pose/data.csv
@@ -0,0 +1,415 @@
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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..ced864350368ba87b0ac9c0478664ff282eca950
--- /dev/null
+++ b/episode_0002/right.actions.joint_position/data.csv
@@ -0,0 +1,415 @@
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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..2bc3951b74286b0fe51858e4b227559d01ebde23
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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..7cf9c9c46bba6b25f7f0910c080523044352951c
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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..11cd1789546486a8315b7ed346dac7f0c0b2259a
--- /dev/null
+++ b/episode_0002/right.observation.state/data.jsonl
@@ -0,0 +1,414 @@
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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..7a505727f6a66025cb7b64f6a76d994ebb7808d0
--- /dev/null
+++ b/episode_0003/left.actions.eef_pose/data.csv
@@ -0,0 +1,479 @@
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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..a3664b814867b6dd99c6c23f0a90f10aafd82a5d
--- /dev/null
+++ b/episode_0003/left.actions.joint_position/data.csv
@@ -0,0 +1,479 @@
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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..e57c833451e3eed9769528bfe5a6b200cbf05303
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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..f897d9c81ced0c504e5e0050422ca3cc0f361b71
--- /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..a7f8ff4032ab6aeb4fb7246ba5155fc2317de6e0
--- /dev/null
+++ b/episode_0003/left.observation.state/data.jsonl
@@ -0,0 +1,478 @@
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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..ef7cd0ab86d495bc1ee83545eb3fed31af2ba65c
--- /dev/null
+++ b/episode_0003/right.actions.eef_pose/data.csv
@@ -0,0 +1,479 @@
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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..c711c747dd7fdc85502608d12ec676a2da631847
--- /dev/null
+++ b/episode_0003/right.actions.joint_position/data.csv
@@ -0,0 +1,479 @@
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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
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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..6fd574b85f928fde59d15922bba0166bafe4a868
--- /dev/null
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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..752bced005f227990d8f7bde0d39cf97fbfc4a80
--- /dev/null
+++ b/episode_0003/right.observation.state/data.jsonl
@@ -0,0 +1,478 @@
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diff --git a/episode_0011/left.actions.eef_pose/data.csv b/episode_0011/left.actions.eef_pose/data.csv
new file mode 100644
index 0000000000000000000000000000000000000000..d554d19584898f924df87d59226c34dc795efb27
--- /dev/null
+++ b/episode_0011/left.actions.eef_pose/data.csv
@@ -0,0 +1,478 @@
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diff --git a/episode_0011/left.actions.joint_position/data.csv b/episode_0011/left.actions.joint_position/data.csv
new file mode 100644
index 0000000000000000000000000000000000000000..698ca4ffa0b620e1f2d0a6d9914f22d4df6368c8
--- /dev/null
+++ b/episode_0011/left.actions.joint_position/data.csv
@@ -0,0 +1,478 @@
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diff --git a/episode_0011/left.observation.state.eef_pose/data.csv b/episode_0011/left.observation.state.eef_pose/data.csv
new file mode 100644
index 0000000000000000000000000000000000000000..7334fb5d3f66823a30c76f95ec580b9f12d752a6
--- /dev/null
+++ b/episode_0011/left.observation.state.eef_pose/data.csv
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diff --git a/episode_0011/left.observation.state.joint_position/data.csv b/episode_0011/left.observation.state.joint_position/data.csv
new file mode 100644
index 0000000000000000000000000000000000000000..a1f29edfdd123e38e16c662f095a13102cd2e4cd
--- /dev/null
+++ b/episode_0011/left.observation.state.joint_position/data.csv
@@ -0,0 +1,478 @@
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diff --git a/episode_0011/left.observation.state/data.jsonl b/episode_0011/left.observation.state/data.jsonl
new file mode 100644
index 0000000000000000000000000000000000000000..0237cc503b0140f1ad0e742c08d80aff7c911887
--- /dev/null
+++ b/episode_0011/left.observation.state/data.jsonl
@@ -0,0 +1,477 @@
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diff --git a/episode_0011/right.actions.eef_pose/data.csv b/episode_0011/right.actions.eef_pose/data.csv
new file mode 100644
index 0000000000000000000000000000000000000000..bb47535a58ac377ce58cfa08228a57dd03587b48
--- /dev/null
+++ b/episode_0011/right.actions.eef_pose/data.csv
@@ -0,0 +1,478 @@
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diff --git a/episode_0011/right.actions.joint_position/data.csv b/episode_0011/right.actions.joint_position/data.csv
new file mode 100644
index 0000000000000000000000000000000000000000..71d9537ae3c343309bdb03850470832077cba12f
--- /dev/null
+++ b/episode_0011/right.actions.joint_position/data.csv
@@ -0,0 +1,478 @@
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diff --git a/episode_0011/right.observation.state.eef_pose/data.csv b/episode_0011/right.observation.state.eef_pose/data.csv
new file mode 100644
index 0000000000000000000000000000000000000000..0c929acc5d9af13536d407097637922bd32a8ce8
--- /dev/null
+++ b/episode_0011/right.observation.state.eef_pose/data.csv
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diff --git a/episode_0011/right.observation.state.joint_position/data.csv b/episode_0011/right.observation.state.joint_position/data.csv
new file mode 100644
index 0000000000000000000000000000000000000000..97f6ce326c63a751d4d77f7b471fbc41cbc495ee
--- /dev/null
+++ b/episode_0011/right.observation.state.joint_position/data.csv
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diff --git a/episode_0011/right.observation.state/data.jsonl b/episode_0011/right.observation.state/data.jsonl
new file mode 100644
index 0000000000000000000000000000000000000000..012cbb97cb992c96e076d055241acd1cfa24ed40
--- /dev/null
+++ b/episode_0011/right.observation.state/data.jsonl
@@ -0,0 +1,477 @@
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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..f83781c0218cf2ee6ddac0ef360768c55b128004
--- /dev/null
+++ b/episode_0021/left.actions.joint_position/data.csv
@@ -0,0 +1,500 @@
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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..3d9f4cbcd4e1d8215fbab340f9c8fbee61aa43ae
--- /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..f9f7923a464a16f08a697d88f3ab12a4f18d7550
--- /dev/null
+++ b/episode_0021/left.observation.state.joint_position/data.csv
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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..290cd17f961e6ca1c5a66ca7ded65a7100287a79
--- /dev/null
+++ b/episode_0021/left.observation.state/data.jsonl
@@ -0,0 +1,499 @@
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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..23fe4357c8360ba851e177857c37fe66eb8cc7e5
--- /dev/null
+++ b/episode_0021/right.actions.eef_pose/data.csv
@@ -0,0 +1,500 @@
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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..576296d50a28480fca9d781038c50e86937bba6b
--- /dev/null
+++ b/episode_0021/right.actions.joint_position/data.csv
@@ -0,0 +1,500 @@
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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..8dcf2355441df946e0e6f1a7e49eeb6d55bd1314
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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..b614e2f03f18d07dfcc47b1be674f473ac966905
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+++ 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..39123c874b931230b2fbe32ac8530cf78f652b0b
--- /dev/null
+++ b/episode_0021/right.observation.state/data.jsonl
@@ -0,0 +1,499 @@
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