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diff --git a/episode_0019/left.actions.joint_position/data.csv b/episode_0019/left.actions.joint_position/data.csv
new file mode 100644
index 0000000000000000000000000000000000000000..7c8f5a16d459e0c9d90c6fee356daacddeee2602
--- /dev/null
+++ b/episode_0019/left.actions.joint_position/data.csv
@@ -0,0 +1,488 @@
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diff --git a/episode_0019/left.observation.state.eef_pose/data.csv b/episode_0019/left.observation.state.eef_pose/data.csv
new file mode 100644
index 0000000000000000000000000000000000000000..dcb527d2c78b01866e0fa29cf81d1c4ff7de1109
--- /dev/null
+++ b/episode_0019/left.observation.state.eef_pose/data.csv
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diff --git a/episode_0019/left.observation.state.joint_position/data.csv b/episode_0019/left.observation.state.joint_position/data.csv
new file mode 100644
index 0000000000000000000000000000000000000000..162d30adc31ee33babea26dfcf4dad466eb4702c
--- /dev/null
+++ b/episode_0019/left.observation.state.joint_position/data.csv
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diff --git a/episode_0019/left.observation.state/data.jsonl b/episode_0019/left.observation.state/data.jsonl
new file mode 100644
index 0000000000000000000000000000000000000000..17173cbe4416e041b74483b3c34d8ed67196fd09
--- /dev/null
+++ b/episode_0019/left.observation.state/data.jsonl
@@ -0,0 +1,487 @@
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diff --git a/episode_0019/right.actions.eef_pose/data.csv b/episode_0019/right.actions.eef_pose/data.csv
new file mode 100644
index 0000000000000000000000000000000000000000..286315fe11a02d6225fd7fa54e104bde35f38e07
--- /dev/null
+++ b/episode_0019/right.actions.eef_pose/data.csv
@@ -0,0 +1,488 @@
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diff --git a/episode_0019/right.actions.joint_position/data.csv b/episode_0019/right.actions.joint_position/data.csv
new file mode 100644
index 0000000000000000000000000000000000000000..ac31ab7f72ea8aa0ceee186ede3be4f79835f17e
--- /dev/null
+++ b/episode_0019/right.actions.joint_position/data.csv
@@ -0,0 +1,488 @@
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diff --git a/episode_0019/right.observation.state.eef_pose/data.csv b/episode_0019/right.observation.state.eef_pose/data.csv
new file mode 100644
index 0000000000000000000000000000000000000000..58cdec481d6c0fc723dffbb3b1c34f6d15854641
--- /dev/null
+++ b/episode_0019/right.observation.state.eef_pose/data.csv
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diff --git a/episode_0019/right.observation.state.joint_position/data.csv b/episode_0019/right.observation.state.joint_position/data.csv
new file mode 100644
index 0000000000000000000000000000000000000000..a369a7420023c304c47e261eae575332fc3559c6
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diff --git a/episode_0019/right.observation.state/data.jsonl b/episode_0019/right.observation.state/data.jsonl
new file mode 100644
index 0000000000000000000000000000000000000000..58029fcb5ffdb63f7162473c7b412793ee77cdb4
--- /dev/null
+++ b/episode_0019/right.observation.state/data.jsonl
@@ -0,0 +1,487 @@
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diff --git a/episode_0022/left.actions.eef_pose/data.csv b/episode_0022/left.actions.eef_pose/data.csv
new file mode 100644
index 0000000000000000000000000000000000000000..5ac30f17c44861b518f43485684e4b09cbe06da9
--- /dev/null
+++ b/episode_0022/left.actions.eef_pose/data.csv
@@ -0,0 +1,526 @@
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diff --git a/episode_0022/left.actions.joint_position/data.csv b/episode_0022/left.actions.joint_position/data.csv
new file mode 100644
index 0000000000000000000000000000000000000000..db48349fa7292888f56b2f003a608bbf0896549e
--- /dev/null
+++ b/episode_0022/left.actions.joint_position/data.csv
@@ -0,0 +1,526 @@
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diff --git a/episode_0022/left.observation.state.eef_pose/data.csv b/episode_0022/left.observation.state.eef_pose/data.csv
new file mode 100644
index 0000000000000000000000000000000000000000..c4f1681695d9b408c711808ea7c294de0c7091aa
--- /dev/null
+++ b/episode_0022/left.observation.state.eef_pose/data.csv
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diff --git a/episode_0022/left.observation.state.joint_position/data.csv b/episode_0022/left.observation.state.joint_position/data.csv
new file mode 100644
index 0000000000000000000000000000000000000000..932fd9021f18b85e73a9c7f0e08c39ec650a8919
--- /dev/null
+++ b/episode_0022/left.observation.state.joint_position/data.csv
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diff --git a/episode_0022/left.observation.state/data.jsonl b/episode_0022/left.observation.state/data.jsonl
new file mode 100644
index 0000000000000000000000000000000000000000..667f3fce7655d64a3e353552a59e9752986f851c
--- /dev/null
+++ b/episode_0022/left.observation.state/data.jsonl
@@ -0,0 +1,525 @@
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diff --git a/episode_0022/right.actions.eef_pose/data.csv b/episode_0022/right.actions.eef_pose/data.csv
new file mode 100644
index 0000000000000000000000000000000000000000..49dad7d30f22d7d13d885366c236578b5e5072ac
--- /dev/null
+++ b/episode_0022/right.actions.eef_pose/data.csv
@@ -0,0 +1,526 @@
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diff --git a/episode_0022/right.actions.joint_position/data.csv b/episode_0022/right.actions.joint_position/data.csv
new file mode 100644
index 0000000000000000000000000000000000000000..68cb7629f7f768633b57cba0f0161ce1e3ee6b9b
--- /dev/null
+++ b/episode_0022/right.actions.joint_position/data.csv
@@ -0,0 +1,526 @@
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diff --git a/episode_0022/right.observation.state.eef_pose/data.csv b/episode_0022/right.observation.state.eef_pose/data.csv
new file mode 100644
index 0000000000000000000000000000000000000000..2e8c9f4c88c1566bc6eebc320b9b4365553c3a75
--- /dev/null
+++ b/episode_0022/right.observation.state.eef_pose/data.csv
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diff --git a/episode_0022/right.observation.state.joint_position/data.csv b/episode_0022/right.observation.state.joint_position/data.csv
new file mode 100644
index 0000000000000000000000000000000000000000..3a433c1b4aceaf431760a827a8ce825076c2b5d8
--- /dev/null
+++ b/episode_0022/right.observation.state.joint_position/data.csv
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diff --git a/episode_0022/right.observation.state/data.jsonl b/episode_0022/right.observation.state/data.jsonl
new file mode 100644
index 0000000000000000000000000000000000000000..ffc9ae3e98676d62097ef6af56a45f8103e2e462
--- /dev/null
+++ b/episode_0022/right.observation.state/data.jsonl
@@ -0,0 +1,525 @@
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