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+  "stabilize_steps": 271
+}
\ No newline at end of file
diff --git a/simple-depth-sidecars-v2-20260904/G1WholebodyLocomotionPickBetweenTablesTeleop-v0/episode_000000.npz b/simple-depth-sidecars-v2-20260904/G1WholebodyLocomotionPickBetweenTablesTeleop-v0/episode_000000.npz
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--- /dev/null
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+size 33938093
diff --git a/simple-depth-sidecars-v2-20260904/G1WholebodyLocomotionPickBetweenTablesTeleop-v0/episode_000001.json b/simple-depth-sidecars-v2-20260904/G1WholebodyLocomotionPickBetweenTablesTeleop-v0/episode_000001.json
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+  "stabilize_steps": 271
+}
\ No newline at end of file
diff --git a/simple-depth-sidecars-v2-20260904/G1WholebodyLocomotionPickBetweenTablesTeleop-v0/episode_000001.npz b/simple-depth-sidecars-v2-20260904/G1WholebodyLocomotionPickBetweenTablesTeleop-v0/episode_000001.npz
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--- /dev/null
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diff --git a/simple-depth-sidecars-v2-20260904/G1WholebodyLocomotionPickBetweenTablesTeleop-v0/episode_000002.json b/simple-depth-sidecars-v2-20260904/G1WholebodyLocomotionPickBetweenTablesTeleop-v0/episode_000002.json
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--- /dev/null
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+  "stabilize_steps": 271
+}
\ No newline at end of file
diff --git a/simple-depth-sidecars-v2-20260904/G1WholebodyLocomotionPickBetweenTablesTeleop-v0/episode_000002.npz b/simple-depth-sidecars-v2-20260904/G1WholebodyLocomotionPickBetweenTablesTeleop-v0/episode_000002.npz
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--- /dev/null
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+size 38298804
diff --git a/simple-depth-sidecars-v2-20260904/G1WholebodyLocomotionPickBetweenTablesTeleop-v0/episode_000003.json b/simple-depth-sidecars-v2-20260904/G1WholebodyLocomotionPickBetweenTablesTeleop-v0/episode_000003.json
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--- /dev/null
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+  "stabilize_steps": 271
+}
\ No newline at end of file
diff --git a/simple-depth-sidecars-v2-20260904/G1WholebodyLocomotionPickBetweenTablesTeleop-v0/episode_000003.npz b/simple-depth-sidecars-v2-20260904/G1WholebodyLocomotionPickBetweenTablesTeleop-v0/episode_000003.npz
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--- /dev/null
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+size 41871526
diff --git a/simple-depth-sidecars-v2-20260904/G1WholebodyLocomotionPickBetweenTablesTeleop-v0/episode_000004.json b/simple-depth-sidecars-v2-20260904/G1WholebodyLocomotionPickBetweenTablesTeleop-v0/episode_000004.json
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index 0000000000000000000000000000000000000000..f36e7b32fc989a1d27754a0b562ed38bc7581782
--- /dev/null
+++ b/simple-depth-sidecars-v2-20260904/G1WholebodyLocomotionPickBetweenTablesTeleop-v0/episode_000004.json
@@ -0,0 +1,5491 @@
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+  "replay_mode": "teleop_decoupled_wbc",
+  "stabilize_steps": 271
+}
\ No newline at end of file
diff --git a/simple-depth-sidecars-v2-20260904/G1WholebodyLocomotionPickBetweenTablesTeleop-v0/episode_000004.npz b/simple-depth-sidecars-v2-20260904/G1WholebodyLocomotionPickBetweenTablesTeleop-v0/episode_000004.npz
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--- /dev/null
+++ b/simple-depth-sidecars-v2-20260904/G1WholebodyLocomotionPickBetweenTablesTeleop-v0/episode_000004.npz
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+version https://git-lfs.github.com/spec/v1
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+size 30511608
diff --git a/simple-depth-sidecars-v2-20260904/G1WholebodyLocomotionPickBetweenTablesTeleop-v0/episode_000005.json b/simple-depth-sidecars-v2-20260904/G1WholebodyLocomotionPickBetweenTablesTeleop-v0/episode_000005.json
new file mode 100644
index 0000000000000000000000000000000000000000..6f35b7db27285ad2750351dfdc21da4e1731f3a5
--- /dev/null
+++ b/simple-depth-sidecars-v2-20260904/G1WholebodyLocomotionPickBetweenTablesTeleop-v0/episode_000005.json
@@ -0,0 +1,7371 @@
+{
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+  "stabilize_steps": 271
+}
\ No newline at end of file
diff --git a/simple-depth-sidecars-v2-20260904/G1WholebodyLocomotionPickBetweenTablesTeleop-v0/episode_000005.npz b/simple-depth-sidecars-v2-20260904/G1WholebodyLocomotionPickBetweenTablesTeleop-v0/episode_000005.npz
new file mode 100644
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--- /dev/null
+++ b/simple-depth-sidecars-v2-20260904/G1WholebodyLocomotionPickBetweenTablesTeleop-v0/episode_000005.npz
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+size 41927446
diff --git a/simple-depth-sidecars-v2-20260904/G1WholebodyLocomotionPickBetweenTablesTeleop-v0/episode_000006.json b/simple-depth-sidecars-v2-20260904/G1WholebodyLocomotionPickBetweenTablesTeleop-v0/episode_000006.json
new file mode 100644
index 0000000000000000000000000000000000000000..665589124d98b55cb26866dae6be091c26834be1
--- /dev/null
+++ b/simple-depth-sidecars-v2-20260904/G1WholebodyLocomotionPickBetweenTablesTeleop-v0/episode_000006.json
@@ -0,0 +1,6081 @@
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+  "stabilize_steps": 271
+}
\ No newline at end of file
diff --git a/simple-depth-sidecars-v2-20260904/G1WholebodyLocomotionPickBetweenTablesTeleop-v0/episode_000006.npz b/simple-depth-sidecars-v2-20260904/G1WholebodyLocomotionPickBetweenTablesTeleop-v0/episode_000006.npz
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--- /dev/null
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diff --git a/simple-depth-sidecars-v2-20260904/G1WholebodyLocomotionPickBetweenTablesTeleop-v0/episode_000007.json b/simple-depth-sidecars-v2-20260904/G1WholebodyLocomotionPickBetweenTablesTeleop-v0/episode_000007.json
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+  "replay_mode": "teleop_decoupled_wbc",
+  "stabilize_steps": 271
+}
\ No newline at end of file
diff --git a/simple-depth-sidecars-v2-20260904/G1WholebodyLocomotionPickBetweenTablesTeleop-v0/episode_000007.npz b/simple-depth-sidecars-v2-20260904/G1WholebodyLocomotionPickBetweenTablesTeleop-v0/episode_000007.npz
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diff --git a/simple-depth-sidecars-v2-20260904/G1WholebodyLocomotionPickBetweenTablesTeleop-v0/episode_000008.json b/simple-depth-sidecars-v2-20260904/G1WholebodyLocomotionPickBetweenTablesTeleop-v0/episode_000008.json
new file mode 100644
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+  "stabilize_steps": 271
+}
\ No newline at end of file
diff --git a/simple-depth-sidecars-v2-20260904/G1WholebodyLocomotionPickBetweenTablesTeleop-v0/episode_000008.npz b/simple-depth-sidecars-v2-20260904/G1WholebodyLocomotionPickBetweenTablesTeleop-v0/episode_000008.npz
new file mode 100644
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--- /dev/null
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+size 42551068
diff --git a/simple-depth-sidecars-v2-20260904/G1WholebodyLocomotionPickBetweenTablesTeleop-v0/episode_000009.json b/simple-depth-sidecars-v2-20260904/G1WholebodyLocomotionPickBetweenTablesTeleop-v0/episode_000009.json
new file mode 100644
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--- /dev/null
+++ b/simple-depth-sidecars-v2-20260904/G1WholebodyLocomotionPickBetweenTablesTeleop-v0/episode_000009.json
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+  "stabilize_steps": 271
+}
\ No newline at end of file
diff --git a/simple-depth-sidecars-v2-20260904/G1WholebodyLocomotionPickBetweenTablesTeleop-v0/episode_000009.npz b/simple-depth-sidecars-v2-20260904/G1WholebodyLocomotionPickBetweenTablesTeleop-v0/episode_000009.npz
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--- /dev/null
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diff --git a/simple-depth-sidecars-v2-20260904/G1WholebodyLocomotionPickBetweenTablesTeleop-v0/episode_000010.json b/simple-depth-sidecars-v2-20260904/G1WholebodyLocomotionPickBetweenTablesTeleop-v0/episode_000010.json
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+  "stabilize_steps": 271
+}
\ No newline at end of file
diff --git a/simple-depth-sidecars-v2-20260904/G1WholebodyLocomotionPickBetweenTablesTeleop-v0/episode_000010.npz b/simple-depth-sidecars-v2-20260904/G1WholebodyLocomotionPickBetweenTablesTeleop-v0/episode_000010.npz
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--- /dev/null
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+size 37167741
diff --git a/simple-depth-sidecars-v2-20260904/G1WholebodyLocomotionPickBetweenTablesTeleop-v0/episode_000011.json b/simple-depth-sidecars-v2-20260904/G1WholebodyLocomotionPickBetweenTablesTeleop-v0/episode_000011.json
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--- /dev/null
+++ b/simple-depth-sidecars-v2-20260904/G1WholebodyLocomotionPickBetweenTablesTeleop-v0/episode_000011.json
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+  "stabilize_steps": 271
+}
\ No newline at end of file
diff --git a/simple-depth-sidecars-v2-20260904/G1WholebodyLocomotionPickBetweenTablesTeleop-v0/episode_000011.npz b/simple-depth-sidecars-v2-20260904/G1WholebodyLocomotionPickBetweenTablesTeleop-v0/episode_000011.npz
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diff --git a/simple-depth-sidecars-v2-20260904/G1WholebodyLocomotionPickBetweenTablesTeleop-v0/episode_000012.json b/simple-depth-sidecars-v2-20260904/G1WholebodyLocomotionPickBetweenTablesTeleop-v0/episode_000012.json
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+  "stabilize_steps": 271
+}
\ No newline at end of file
diff --git a/simple-depth-sidecars-v2-20260904/G1WholebodyLocomotionPickBetweenTablesTeleop-v0/episode_000012.npz b/simple-depth-sidecars-v2-20260904/G1WholebodyLocomotionPickBetweenTablesTeleop-v0/episode_000012.npz
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--- /dev/null
+++ b/simple-depth-sidecars-v2-20260904/G1WholebodyLocomotionPickBetweenTablesTeleop-v0/episode_000012.npz
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+size 32816474
diff --git a/simple-depth-sidecars-v2-20260904/G1WholebodyLocomotionPickBetweenTablesTeleop-v0/episode_000013.json b/simple-depth-sidecars-v2-20260904/G1WholebodyLocomotionPickBetweenTablesTeleop-v0/episode_000013.json
new file mode 100644
index 0000000000000000000000000000000000000000..5c86af9eb43f4bde305ee6b8dd9ba8cfcc48e689
--- /dev/null
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+  "stabilize_steps": 271
+}
\ No newline at end of file
diff --git a/simple-depth-sidecars-v2-20260904/G1WholebodyLocomotionPickBetweenTablesTeleop-v0/episode_000013.npz b/simple-depth-sidecars-v2-20260904/G1WholebodyLocomotionPickBetweenTablesTeleop-v0/episode_000013.npz
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--- /dev/null
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+size 31746378
diff --git a/simple-depth-sidecars-v2-20260904/G1WholebodyLocomotionPickBetweenTablesTeleop-v0/episode_000014.json b/simple-depth-sidecars-v2-20260904/G1WholebodyLocomotionPickBetweenTablesTeleop-v0/episode_000014.json
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--- /dev/null
+++ b/simple-depth-sidecars-v2-20260904/G1WholebodyLocomotionPickBetweenTablesTeleop-v0/episode_000014.json
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+  "stabilize_steps": 271
+}
\ No newline at end of file
diff --git a/simple-depth-sidecars-v2-20260904/G1WholebodyLocomotionPickBetweenTablesTeleop-v0/episode_000014.npz b/simple-depth-sidecars-v2-20260904/G1WholebodyLocomotionPickBetweenTablesTeleop-v0/episode_000014.npz
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--- /dev/null
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+size 35094161
diff --git a/simple-depth-sidecars-v2-20260904/G1WholebodyLocomotionPickBetweenTablesTeleop-v0/episode_000015.json b/simple-depth-sidecars-v2-20260904/G1WholebodyLocomotionPickBetweenTablesTeleop-v0/episode_000015.json
new file mode 100644
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--- /dev/null
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+  "stabilize_steps": 271
+}
\ No newline at end of file
diff --git a/simple-depth-sidecars-v2-20260904/G1WholebodyLocomotionPickBetweenTablesTeleop-v0/episode_000015.npz b/simple-depth-sidecars-v2-20260904/G1WholebodyLocomotionPickBetweenTablesTeleop-v0/episode_000015.npz
new file mode 100644
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--- /dev/null
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+size 29782293
diff --git a/simple-depth-sidecars-v2-20260904/G1WholebodyLocomotionPickBetweenTablesTeleop-v0/episode_000016.json b/simple-depth-sidecars-v2-20260904/G1WholebodyLocomotionPickBetweenTablesTeleop-v0/episode_000016.json
new file mode 100644
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+  "replay_mode": "teleop_decoupled_wbc",
+  "stabilize_steps": 271
+}
\ No newline at end of file
diff --git a/simple-depth-sidecars-v2-20260904/G1WholebodyLocomotionPickBetweenTablesTeleop-v0/episode_000016.npz b/simple-depth-sidecars-v2-20260904/G1WholebodyLocomotionPickBetweenTablesTeleop-v0/episode_000016.npz
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--- /dev/null
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diff --git a/simple-depth-sidecars-v2-20260904/G1WholebodyLocomotionPickBetweenTablesTeleop-v0/episode_000017.json b/simple-depth-sidecars-v2-20260904/G1WholebodyLocomotionPickBetweenTablesTeleop-v0/episode_000017.json
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--- /dev/null
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@@ -0,0 +1,6861 @@
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+  "stabilize_steps": 271
+}
\ No newline at end of file
diff --git a/simple-depth-sidecars-v2-20260904/G1WholebodyLocomotionPickBetweenTablesTeleop-v0/episode_000017.npz b/simple-depth-sidecars-v2-20260904/G1WholebodyLocomotionPickBetweenTablesTeleop-v0/episode_000017.npz
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--- /dev/null
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+size 41613354
diff --git a/simple-depth-sidecars-v2-20260904/G1WholebodyLocomotionPickBetweenTablesTeleop-v0/episode_000018.json b/simple-depth-sidecars-v2-20260904/G1WholebodyLocomotionPickBetweenTablesTeleop-v0/episode_000018.json
new file mode 100644
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--- /dev/null
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+  "stabilize_steps": 271
+}
\ No newline at end of file
diff --git a/simple-depth-sidecars-v2-20260904/G1WholebodyLocomotionPickBetweenTablesTeleop-v0/episode_000018.npz b/simple-depth-sidecars-v2-20260904/G1WholebodyLocomotionPickBetweenTablesTeleop-v0/episode_000018.npz
new file mode 100644
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--- /dev/null
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+size 53890779
diff --git a/simple-depth-sidecars-v2-20260904/G1WholebodyLocomotionPickBetweenTablesTeleop-v0/episode_000019.json b/simple-depth-sidecars-v2-20260904/G1WholebodyLocomotionPickBetweenTablesTeleop-v0/episode_000019.json
new file mode 100644
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--- /dev/null
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+  "stabilize_steps": 271
+}
\ No newline at end of file
diff --git a/simple-depth-sidecars-v2-20260904/G1WholebodyLocomotionPickBetweenTablesTeleop-v0/episode_000019.npz b/simple-depth-sidecars-v2-20260904/G1WholebodyLocomotionPickBetweenTablesTeleop-v0/episode_000019.npz
new file mode 100644
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--- /dev/null
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diff --git a/simple-depth-sidecars-v2-20260904/G1WholebodyLocomotionPickBetweenTablesTeleop-v0/episode_000020.json b/simple-depth-sidecars-v2-20260904/G1WholebodyLocomotionPickBetweenTablesTeleop-v0/episode_000020.json
new file mode 100644
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+  "stabilize_steps": 271
+}
\ No newline at end of file
diff --git a/simple-depth-sidecars-v2-20260904/G1WholebodyLocomotionPickBetweenTablesTeleop-v0/episode_000020.npz b/simple-depth-sidecars-v2-20260904/G1WholebodyLocomotionPickBetweenTablesTeleop-v0/episode_000020.npz
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--- /dev/null
+++ b/simple-depth-sidecars-v2-20260904/G1WholebodyLocomotionPickBetweenTablesTeleop-v0/episode_000020.npz
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+size 46071662
diff --git a/simple-depth-sidecars-v2-20260904/G1WholebodyLocomotionPickBetweenTablesTeleop-v0/episode_000021.json b/simple-depth-sidecars-v2-20260904/G1WholebodyLocomotionPickBetweenTablesTeleop-v0/episode_000021.json
new file mode 100644
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--- /dev/null
+++ b/simple-depth-sidecars-v2-20260904/G1WholebodyLocomotionPickBetweenTablesTeleop-v0/episode_000021.json
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+  "stabilize_steps": 271
+}
\ No newline at end of file
diff --git a/simple-depth-sidecars-v2-20260904/G1WholebodyLocomotionPickBetweenTablesTeleop-v0/episode_000021.npz b/simple-depth-sidecars-v2-20260904/G1WholebodyLocomotionPickBetweenTablesTeleop-v0/episode_000021.npz
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--- /dev/null
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+size 40682276
diff --git a/simple-depth-sidecars-v2-20260904/G1WholebodyLocomotionPickBetweenTablesTeleop-v0/episode_000022.json b/simple-depth-sidecars-v2-20260904/G1WholebodyLocomotionPickBetweenTablesTeleop-v0/episode_000022.json
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--- /dev/null
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+  "stabilize_steps": 271
+}
\ No newline at end of file
diff --git a/simple-depth-sidecars-v2-20260904/G1WholebodyLocomotionPickBetweenTablesTeleop-v0/episode_000022.npz b/simple-depth-sidecars-v2-20260904/G1WholebodyLocomotionPickBetweenTablesTeleop-v0/episode_000022.npz
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--- /dev/null
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+size 40468587
diff --git a/simple-depth-sidecars-v2-20260904/G1WholebodyLocomotionPickBetweenTablesTeleop-v0/episode_000023.json b/simple-depth-sidecars-v2-20260904/G1WholebodyLocomotionPickBetweenTablesTeleop-v0/episode_000023.json
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+  "stabilize_steps": 271
+}
\ No newline at end of file
diff --git a/simple-depth-sidecars-v2-20260904/G1WholebodyLocomotionPickBetweenTablesTeleop-v0/episode_000023.npz b/simple-depth-sidecars-v2-20260904/G1WholebodyLocomotionPickBetweenTablesTeleop-v0/episode_000023.npz
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diff --git a/simple-depth-sidecars-v2-20260904/G1WholebodyLocomotionPickBetweenTablesTeleop-v0/episode_000024.json b/simple-depth-sidecars-v2-20260904/G1WholebodyLocomotionPickBetweenTablesTeleop-v0/episode_000024.json
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+  "stabilize_steps": 271
+}
\ No newline at end of file
diff --git a/simple-depth-sidecars-v2-20260904/G1WholebodyLocomotionPickBetweenTablesTeleop-v0/episode_000024.npz b/simple-depth-sidecars-v2-20260904/G1WholebodyLocomotionPickBetweenTablesTeleop-v0/episode_000024.npz
new file mode 100644
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--- /dev/null
+++ b/simple-depth-sidecars-v2-20260904/G1WholebodyLocomotionPickBetweenTablesTeleop-v0/episode_000024.npz
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+size 41417354
diff --git a/simple-depth-sidecars-v2-20260904/G1WholebodyLocomotionPickBetweenTablesTeleop-v0/episode_000025.json b/simple-depth-sidecars-v2-20260904/G1WholebodyLocomotionPickBetweenTablesTeleop-v0/episode_000025.json
new file mode 100644
index 0000000000000000000000000000000000000000..51610faff6df9ab2afac2bf932c3adc41d37640b
--- /dev/null
+++ b/simple-depth-sidecars-v2-20260904/G1WholebodyLocomotionPickBetweenTablesTeleop-v0/episode_000025.json
@@ -0,0 +1,7391 @@
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+  "stabilize_steps": 271
+}
\ No newline at end of file
diff --git a/simple-depth-sidecars-v2-20260904/G1WholebodyLocomotionPickBetweenTablesTeleop-v0/episode_000025.npz b/simple-depth-sidecars-v2-20260904/G1WholebodyLocomotionPickBetweenTablesTeleop-v0/episode_000025.npz
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--- /dev/null
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+size 38152836
diff --git a/simple-depth-sidecars-v2-20260904/G1WholebodyLocomotionPickBetweenTablesTeleop-v0/episode_000026.json b/simple-depth-sidecars-v2-20260904/G1WholebodyLocomotionPickBetweenTablesTeleop-v0/episode_000026.json
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--- /dev/null
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+  "stabilize_steps": 271
+}
\ No newline at end of file
diff --git a/simple-depth-sidecars-v2-20260904/G1WholebodyLocomotionPickBetweenTablesTeleop-v0/episode_000026.npz b/simple-depth-sidecars-v2-20260904/G1WholebodyLocomotionPickBetweenTablesTeleop-v0/episode_000026.npz
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--- /dev/null
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+size 43397952
diff --git a/simple-depth-sidecars-v2-20260904/G1WholebodyLocomotionPickBetweenTablesTeleop-v0/episode_000027.json b/simple-depth-sidecars-v2-20260904/G1WholebodyLocomotionPickBetweenTablesTeleop-v0/episode_000027.json
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--- /dev/null
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+  "stabilize_steps": 271
+}
\ No newline at end of file
diff --git a/simple-depth-sidecars-v2-20260904/G1WholebodyLocomotionPickBetweenTablesTeleop-v0/episode_000027.npz b/simple-depth-sidecars-v2-20260904/G1WholebodyLocomotionPickBetweenTablesTeleop-v0/episode_000027.npz
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+size 49167972
diff --git a/simple-depth-sidecars-v2-20260904/G1WholebodyLocomotionPickBetweenTablesTeleop-v0/episode_000028.json b/simple-depth-sidecars-v2-20260904/G1WholebodyLocomotionPickBetweenTablesTeleop-v0/episode_000028.json
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+  "stabilize_steps": 271
+}
\ No newline at end of file
diff --git a/simple-depth-sidecars-v2-20260904/G1WholebodyLocomotionPickBetweenTablesTeleop-v0/episode_000028.npz b/simple-depth-sidecars-v2-20260904/G1WholebodyLocomotionPickBetweenTablesTeleop-v0/episode_000028.npz
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--- /dev/null
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diff --git a/simple-depth-sidecars-v2-20260904/G1WholebodyLocomotionPickBetweenTablesTeleop-v0/episode_000029.json b/simple-depth-sidecars-v2-20260904/G1WholebodyLocomotionPickBetweenTablesTeleop-v0/episode_000029.json
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+  "stabilize_steps": 271
+}
\ No newline at end of file
diff --git a/simple-depth-sidecars-v2-20260904/G1WholebodyLocomotionPickBetweenTablesTeleop-v0/episode_000029.npz b/simple-depth-sidecars-v2-20260904/G1WholebodyLocomotionPickBetweenTablesTeleop-v0/episode_000029.npz
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--- /dev/null
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diff --git a/simple-depth-sidecars-v2-20260904/G1WholebodyLocomotionPickBetweenTablesTeleop-v0/episode_000030.json b/simple-depth-sidecars-v2-20260904/G1WholebodyLocomotionPickBetweenTablesTeleop-v0/episode_000030.json
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+  "stabilize_steps": 271
+}
\ No newline at end of file
diff --git a/simple-depth-sidecars-v2-20260904/G1WholebodyLocomotionPickBetweenTablesTeleop-v0/episode_000030.npz b/simple-depth-sidecars-v2-20260904/G1WholebodyLocomotionPickBetweenTablesTeleop-v0/episode_000030.npz
new file mode 100644
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--- /dev/null
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diff --git a/simple-depth-sidecars-v2-20260904/G1WholebodyLocomotionPickBetweenTablesTeleop-v0/episode_000031.json b/simple-depth-sidecars-v2-20260904/G1WholebodyLocomotionPickBetweenTablesTeleop-v0/episode_000031.json
new file mode 100644
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--- /dev/null
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+  "stabilize_steps": 271
+}
\ No newline at end of file
diff --git a/simple-depth-sidecars-v2-20260904/G1WholebodyLocomotionPickBetweenTablesTeleop-v0/episode_000031.npz b/simple-depth-sidecars-v2-20260904/G1WholebodyLocomotionPickBetweenTablesTeleop-v0/episode_000031.npz
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--- /dev/null
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+size 48599437
diff --git a/simple-depth-sidecars-v2-20260904/G1WholebodyLocomotionPickBetweenTablesTeleop-v0/episode_000032.json b/simple-depth-sidecars-v2-20260904/G1WholebodyLocomotionPickBetweenTablesTeleop-v0/episode_000032.json
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--- /dev/null
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+  "stabilize_steps": 271
+}
\ No newline at end of file
diff --git a/simple-depth-sidecars-v2-20260904/G1WholebodyLocomotionPickBetweenTablesTeleop-v0/episode_000032.npz b/simple-depth-sidecars-v2-20260904/G1WholebodyLocomotionPickBetweenTablesTeleop-v0/episode_000032.npz
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diff --git a/simple-depth-sidecars-v2-20260904/G1WholebodyLocomotionPickBetweenTablesTeleop-v0/episode_000033.json b/simple-depth-sidecars-v2-20260904/G1WholebodyLocomotionPickBetweenTablesTeleop-v0/episode_000033.json
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+  "stabilize_steps": 271
+}
\ No newline at end of file
diff --git a/simple-depth-sidecars-v2-20260904/G1WholebodyLocomotionPickBetweenTablesTeleop-v0/episode_000033.npz b/simple-depth-sidecars-v2-20260904/G1WholebodyLocomotionPickBetweenTablesTeleop-v0/episode_000033.npz
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--- /dev/null
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+size 36120901
diff --git a/simple-depth-sidecars-v2-20260904/G1WholebodyLocomotionPickBetweenTablesTeleop-v0/episode_000034.json b/simple-depth-sidecars-v2-20260904/G1WholebodyLocomotionPickBetweenTablesTeleop-v0/episode_000034.json
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+  "replay_mode": "teleop_decoupled_wbc",
+  "stabilize_steps": 271
+}
\ No newline at end of file
diff --git a/simple-depth-sidecars-v2-20260904/G1WholebodyLocomotionPickBetweenTablesTeleop-v0/episode_000034.npz b/simple-depth-sidecars-v2-20260904/G1WholebodyLocomotionPickBetweenTablesTeleop-v0/episode_000034.npz
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--- /dev/null
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diff --git a/simple-depth-sidecars-v2-20260904/G1WholebodyLocomotionPickBetweenTablesTeleop-v0/episode_000035.json b/simple-depth-sidecars-v2-20260904/G1WholebodyLocomotionPickBetweenTablesTeleop-v0/episode_000035.json
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--- /dev/null
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+  "replay_mode": "teleop_decoupled_wbc",
+  "stabilize_steps": 271
+}
\ No newline at end of file
diff --git a/simple-depth-sidecars-v2-20260904/G1WholebodyLocomotionPickBetweenTablesTeleop-v0/episode_000035.npz b/simple-depth-sidecars-v2-20260904/G1WholebodyLocomotionPickBetweenTablesTeleop-v0/episode_000035.npz
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diff --git a/simple-depth-sidecars-v2-20260904/G1WholebodyLocomotionPickBetweenTablesTeleop-v0/episode_000036.json b/simple-depth-sidecars-v2-20260904/G1WholebodyLocomotionPickBetweenTablesTeleop-v0/episode_000036.json
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+{
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+  "stabilize_steps": 271
+}
\ No newline at end of file
diff --git a/simple-depth-sidecars-v2-20260904/G1WholebodyLocomotionPickBetweenTablesTeleop-v0/episode_000036.npz b/simple-depth-sidecars-v2-20260904/G1WholebodyLocomotionPickBetweenTablesTeleop-v0/episode_000036.npz
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--- /dev/null
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diff --git a/simple-depth-sidecars-v2-20260904/G1WholebodyLocomotionPickBetweenTablesTeleop-v0/episode_000037.json b/simple-depth-sidecars-v2-20260904/G1WholebodyLocomotionPickBetweenTablesTeleop-v0/episode_000037.json
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+  "stabilize_steps": 271
+}
\ No newline at end of file
diff --git a/simple-depth-sidecars-v2-20260904/G1WholebodyLocomotionPickBetweenTablesTeleop-v0/episode_000037.npz b/simple-depth-sidecars-v2-20260904/G1WholebodyLocomotionPickBetweenTablesTeleop-v0/episode_000037.npz
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+size 32766971
diff --git a/simple-depth-sidecars-v2-20260904/G1WholebodyLocomotionPickBetweenTablesTeleop-v0/episode_000038.json b/simple-depth-sidecars-v2-20260904/G1WholebodyLocomotionPickBetweenTablesTeleop-v0/episode_000038.json
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+  "stabilize_steps": 271
+}
\ No newline at end of file
diff --git a/simple-depth-sidecars-v2-20260904/G1WholebodyLocomotionPickBetweenTablesTeleop-v0/episode_000038.npz b/simple-depth-sidecars-v2-20260904/G1WholebodyLocomotionPickBetweenTablesTeleop-v0/episode_000038.npz
new file mode 100644
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--- /dev/null
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+size 32811582
diff --git a/simple-depth-sidecars-v2-20260904/G1WholebodyLocomotionPickBetweenTablesTeleop-v0/episode_000039.json b/simple-depth-sidecars-v2-20260904/G1WholebodyLocomotionPickBetweenTablesTeleop-v0/episode_000039.json
new file mode 100644
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--- /dev/null
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+  "replay_mode": "teleop_decoupled_wbc",
+  "stabilize_steps": 271
+}
\ No newline at end of file
diff --git a/simple-depth-sidecars-v2-20260904/G1WholebodyLocomotionPickBetweenTablesTeleop-v0/episode_000039.npz b/simple-depth-sidecars-v2-20260904/G1WholebodyLocomotionPickBetweenTablesTeleop-v0/episode_000039.npz
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--- /dev/null
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+size 43472422
diff --git a/simple-depth-sidecars-v2-20260904/G1WholebodyLocomotionPickBetweenTablesTeleop-v0/episode_000040.json b/simple-depth-sidecars-v2-20260904/G1WholebodyLocomotionPickBetweenTablesTeleop-v0/episode_000040.json
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--- /dev/null
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+  "stabilize_steps": 271
+}
\ No newline at end of file
diff --git a/simple-depth-sidecars-v2-20260904/G1WholebodyLocomotionPickBetweenTablesTeleop-v0/episode_000040.npz b/simple-depth-sidecars-v2-20260904/G1WholebodyLocomotionPickBetweenTablesTeleop-v0/episode_000040.npz
new file mode 100644
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--- /dev/null
+++ b/simple-depth-sidecars-v2-20260904/G1WholebodyLocomotionPickBetweenTablesTeleop-v0/episode_000040.npz
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+version https://git-lfs.github.com/spec/v1
+oid sha256:febee5b8a68947ce6acf8e543148a2e6770e526df9168bdf6c3dc6496aaa3065
+size 37373752
diff --git a/simple-depth-sidecars-v2-20260904/G1WholebodyLocomotionPickBetweenTablesTeleop-v0/episode_000041.json b/simple-depth-sidecars-v2-20260904/G1WholebodyLocomotionPickBetweenTablesTeleop-v0/episode_000041.json
new file mode 100644
index 0000000000000000000000000000000000000000..c501bad4f3ced42d53e4cca2a1388fdf70e7b676
--- /dev/null
+++ b/simple-depth-sidecars-v2-20260904/G1WholebodyLocomotionPickBetweenTablesTeleop-v0/episode_000041.json
@@ -0,0 +1,6351 @@
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+  "replay_mode": "teleop_decoupled_wbc",
+  "stabilize_steps": 271
+}
\ No newline at end of file
diff --git a/simple-depth-sidecars-v2-20260904/G1WholebodyLocomotionPickBetweenTablesTeleop-v0/episode_000041.npz b/simple-depth-sidecars-v2-20260904/G1WholebodyLocomotionPickBetweenTablesTeleop-v0/episode_000041.npz
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--- /dev/null
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+size 35132865
diff --git a/simple-depth-sidecars-v2-20260904/G1WholebodyLocomotionPickBetweenTablesTeleop-v0/episode_000042.json b/simple-depth-sidecars-v2-20260904/G1WholebodyLocomotionPickBetweenTablesTeleop-v0/episode_000042.json
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--- /dev/null
+++ b/simple-depth-sidecars-v2-20260904/G1WholebodyLocomotionPickBetweenTablesTeleop-v0/episode_000042.json
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+  "stabilize_steps": 271
+}
\ No newline at end of file
diff --git a/simple-depth-sidecars-v2-20260904/G1WholebodyLocomotionPickBetweenTablesTeleop-v0/episode_000042.npz b/simple-depth-sidecars-v2-20260904/G1WholebodyLocomotionPickBetweenTablesTeleop-v0/episode_000042.npz
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--- /dev/null
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+size 32702988
diff --git a/simple-depth-sidecars-v2-20260904/G1WholebodyLocomotionPickBetweenTablesTeleop-v0/episode_000043.json b/simple-depth-sidecars-v2-20260904/G1WholebodyLocomotionPickBetweenTablesTeleop-v0/episode_000043.json
new file mode 100644
index 0000000000000000000000000000000000000000..1d3fa8a8f459b9b1b93e4d4c1bbfdfd5427c2c04
--- /dev/null
+++ b/simple-depth-sidecars-v2-20260904/G1WholebodyLocomotionPickBetweenTablesTeleop-v0/episode_000043.json
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+    }
+  },
+  "replay_mode": "teleop_decoupled_wbc",
+  "stabilize_steps": 271
+}
\ No newline at end of file
diff --git a/simple-depth-sidecars-v2-20260904/G1WholebodyLocomotionPickBetweenTablesTeleop-v0/episode_000043.npz b/simple-depth-sidecars-v2-20260904/G1WholebodyLocomotionPickBetweenTablesTeleop-v0/episode_000043.npz
new file mode 100644
index 0000000000000000000000000000000000000000..4f6255327f0f3c12e86b8647bfe89b390c36bf89
--- /dev/null
+++ b/simple-depth-sidecars-v2-20260904/G1WholebodyLocomotionPickBetweenTablesTeleop-v0/episode_000043.npz
@@ -0,0 +1,3 @@
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+  "stabilize_steps": 271
+}
\ No newline at end of file
diff --git a/simple-depth-sidecars-v2-20260904/G1WholebodyLocomotionPickBetweenTablesTeleop-v0/episode_000044.npz b/simple-depth-sidecars-v2-20260904/G1WholebodyLocomotionPickBetweenTablesTeleop-v0/episode_000044.npz
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diff --git a/simple-depth-sidecars-v2-20260904/G1WholebodyLocomotionPickBetweenTablesTeleop-v0/episode_000045.json b/simple-depth-sidecars-v2-20260904/G1WholebodyLocomotionPickBetweenTablesTeleop-v0/episode_000045.json
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+  "stabilize_steps": 271
+}
\ No newline at end of file
diff --git a/simple-depth-sidecars-v2-20260904/G1WholebodyLocomotionPickBetweenTablesTeleop-v0/episode_000045.npz b/simple-depth-sidecars-v2-20260904/G1WholebodyLocomotionPickBetweenTablesTeleop-v0/episode_000045.npz
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--- /dev/null
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diff --git a/simple-depth-sidecars-v2-20260904/G1WholebodyLocomotionPickBetweenTablesTeleop-v0/episode_000046.json b/simple-depth-sidecars-v2-20260904/G1WholebodyLocomotionPickBetweenTablesTeleop-v0/episode_000046.json
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+  "stabilize_steps": 271
+}
\ No newline at end of file
diff --git a/simple-depth-sidecars-v2-20260904/G1WholebodyLocomotionPickBetweenTablesTeleop-v0/episode_000046.npz b/simple-depth-sidecars-v2-20260904/G1WholebodyLocomotionPickBetweenTablesTeleop-v0/episode_000046.npz
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--- /dev/null
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diff --git a/simple-depth-sidecars-v2-20260904/G1WholebodyLocomotionPickBetweenTablesTeleop-v0/episode_000047.json b/simple-depth-sidecars-v2-20260904/G1WholebodyLocomotionPickBetweenTablesTeleop-v0/episode_000047.json
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+  "stabilize_steps": 271
+}
\ No newline at end of file
diff --git a/simple-depth-sidecars-v2-20260904/G1WholebodyLocomotionPickBetweenTablesTeleop-v0/episode_000047.npz b/simple-depth-sidecars-v2-20260904/G1WholebodyLocomotionPickBetweenTablesTeleop-v0/episode_000047.npz
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--- /dev/null
+++ b/simple-depth-sidecars-v2-20260904/G1WholebodyLocomotionPickBetweenTablesTeleop-v0/episode_000047.npz
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+size 30414709
diff --git a/simple-depth-sidecars-v2-20260904/G1WholebodyLocomotionPickBetweenTablesTeleop-v0/episode_000048.json b/simple-depth-sidecars-v2-20260904/G1WholebodyLocomotionPickBetweenTablesTeleop-v0/episode_000048.json
new file mode 100644
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--- /dev/null
+++ b/simple-depth-sidecars-v2-20260904/G1WholebodyLocomotionPickBetweenTablesTeleop-v0/episode_000048.json
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+  "stabilize_steps": 271
+}
\ No newline at end of file
diff --git a/simple-depth-sidecars-v2-20260904/G1WholebodyLocomotionPickBetweenTablesTeleop-v0/episode_000048.npz b/simple-depth-sidecars-v2-20260904/G1WholebodyLocomotionPickBetweenTablesTeleop-v0/episode_000048.npz
new file mode 100644
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--- /dev/null
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+size 31913699
diff --git a/simple-depth-sidecars-v2-20260904/G1WholebodyLocomotionPickBetweenTablesTeleop-v0/episode_000049.json b/simple-depth-sidecars-v2-20260904/G1WholebodyLocomotionPickBetweenTablesTeleop-v0/episode_000049.json
new file mode 100644
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--- /dev/null
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+  "stabilize_steps": 271
+}
\ No newline at end of file
diff --git a/simple-depth-sidecars-v2-20260904/G1WholebodyLocomotionPickBetweenTablesTeleop-v0/episode_000049.npz b/simple-depth-sidecars-v2-20260904/G1WholebodyLocomotionPickBetweenTablesTeleop-v0/episode_000049.npz
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--- /dev/null
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diff --git a/simple-depth-sidecars-v2-20260904/G1WholebodyLocomotionPickBetweenTablesTeleop-v0/episode_000050.json b/simple-depth-sidecars-v2-20260904/G1WholebodyLocomotionPickBetweenTablesTeleop-v0/episode_000050.json
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+  "stabilize_steps": 271
+}
\ No newline at end of file
diff --git a/simple-depth-sidecars-v2-20260904/G1WholebodyLocomotionPickBetweenTablesTeleop-v0/episode_000050.npz b/simple-depth-sidecars-v2-20260904/G1WholebodyLocomotionPickBetweenTablesTeleop-v0/episode_000050.npz
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--- /dev/null
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diff --git a/simple-depth-sidecars-v2-20260904/G1WholebodyLocomotionPickBetweenTablesTeleop-v0/episode_000051.json b/simple-depth-sidecars-v2-20260904/G1WholebodyLocomotionPickBetweenTablesTeleop-v0/episode_000051.json
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+  "stabilize_steps": 271
+}
\ No newline at end of file
diff --git a/simple-depth-sidecars-v2-20260904/G1WholebodyLocomotionPickBetweenTablesTeleop-v0/episode_000051.npz b/simple-depth-sidecars-v2-20260904/G1WholebodyLocomotionPickBetweenTablesTeleop-v0/episode_000051.npz
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diff --git a/simple-depth-sidecars-v2-20260904/G1WholebodyLocomotionPickBetweenTablesTeleop-v0/episode_000052.json b/simple-depth-sidecars-v2-20260904/G1WholebodyLocomotionPickBetweenTablesTeleop-v0/episode_000052.json
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+  "stabilize_steps": 271
+}
\ No newline at end of file
diff --git a/simple-depth-sidecars-v2-20260904/G1WholebodyLocomotionPickBetweenTablesTeleop-v0/episode_000052.npz b/simple-depth-sidecars-v2-20260904/G1WholebodyLocomotionPickBetweenTablesTeleop-v0/episode_000052.npz
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--- /dev/null
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+size 53454610
diff --git a/simple-depth-sidecars-v2-20260904/G1WholebodyLocomotionPickBetweenTablesTeleop-v0/episode_000053.json b/simple-depth-sidecars-v2-20260904/G1WholebodyLocomotionPickBetweenTablesTeleop-v0/episode_000053.json
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+  "stabilize_steps": 271
+}
\ No newline at end of file
diff --git a/simple-depth-sidecars-v2-20260904/G1WholebodyLocomotionPickBetweenTablesTeleop-v0/episode_000053.npz b/simple-depth-sidecars-v2-20260904/G1WholebodyLocomotionPickBetweenTablesTeleop-v0/episode_000053.npz
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diff --git a/simple-depth-sidecars-v2-20260904/G1WholebodyLocomotionPickBetweenTablesTeleop-v0/episode_000054.json b/simple-depth-sidecars-v2-20260904/G1WholebodyLocomotionPickBetweenTablesTeleop-v0/episode_000054.json
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+  "stabilize_steps": 271
+}
\ No newline at end of file
diff --git a/simple-depth-sidecars-v2-20260904/G1WholebodyLocomotionPickBetweenTablesTeleop-v0/episode_000054.npz b/simple-depth-sidecars-v2-20260904/G1WholebodyLocomotionPickBetweenTablesTeleop-v0/episode_000054.npz
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--- /dev/null
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diff --git a/simple-depth-sidecars-v2-20260904/G1WholebodyLocomotionPickBetweenTablesTeleop-v0/episode_000055.json b/simple-depth-sidecars-v2-20260904/G1WholebodyLocomotionPickBetweenTablesTeleop-v0/episode_000055.json
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+  "stabilize_steps": 271
+}
\ No newline at end of file
diff --git a/simple-depth-sidecars-v2-20260904/G1WholebodyLocomotionPickBetweenTablesTeleop-v0/episode_000055.npz b/simple-depth-sidecars-v2-20260904/G1WholebodyLocomotionPickBetweenTablesTeleop-v0/episode_000055.npz
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--- /dev/null
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diff --git a/simple-depth-sidecars-v2-20260904/G1WholebodyLocomotionPickBetweenTablesTeleop-v0/episode_000056.json b/simple-depth-sidecars-v2-20260904/G1WholebodyLocomotionPickBetweenTablesTeleop-v0/episode_000056.json
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+  "stabilize_steps": 271
+}
\ No newline at end of file
diff --git a/simple-depth-sidecars-v2-20260904/G1WholebodyLocomotionPickBetweenTablesTeleop-v0/episode_000056.npz b/simple-depth-sidecars-v2-20260904/G1WholebodyLocomotionPickBetweenTablesTeleop-v0/episode_000056.npz
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--- /dev/null
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diff --git a/simple-depth-sidecars-v2-20260904/G1WholebodyLocomotionPickBetweenTablesTeleop-v0/episode_000057.json b/simple-depth-sidecars-v2-20260904/G1WholebodyLocomotionPickBetweenTablesTeleop-v0/episode_000057.json
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+  "stabilize_steps": 271
+}
\ No newline at end of file
diff --git a/simple-depth-sidecars-v2-20260904/G1WholebodyLocomotionPickBetweenTablesTeleop-v0/episode_000057.npz b/simple-depth-sidecars-v2-20260904/G1WholebodyLocomotionPickBetweenTablesTeleop-v0/episode_000057.npz
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--- /dev/null
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+size 35879129
diff --git a/simple-depth-sidecars-v2-20260904/G1WholebodyLocomotionPickBetweenTablesTeleop-v0/episode_000058.json b/simple-depth-sidecars-v2-20260904/G1WholebodyLocomotionPickBetweenTablesTeleop-v0/episode_000058.json
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--- /dev/null
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+  "stabilize_steps": 271
+}
\ No newline at end of file
diff --git a/simple-depth-sidecars-v2-20260904/G1WholebodyLocomotionPickBetweenTablesTeleop-v0/episode_000058.npz b/simple-depth-sidecars-v2-20260904/G1WholebodyLocomotionPickBetweenTablesTeleop-v0/episode_000058.npz
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diff --git a/simple-depth-sidecars-v2-20260904/G1WholebodyLocomotionPickBetweenTablesTeleop-v0/episode_000059.json b/simple-depth-sidecars-v2-20260904/G1WholebodyLocomotionPickBetweenTablesTeleop-v0/episode_000059.json
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+  "replay_mode": "teleop_decoupled_wbc",
+  "stabilize_steps": 271
+}
\ No newline at end of file
diff --git a/simple-depth-sidecars-v2-20260904/G1WholebodyLocomotionPickBetweenTablesTeleop-v0/episode_000059.npz b/simple-depth-sidecars-v2-20260904/G1WholebodyLocomotionPickBetweenTablesTeleop-v0/episode_000059.npz
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--- /dev/null
+++ b/simple-depth-sidecars-v2-20260904/G1WholebodyLocomotionPickBetweenTablesTeleop-v0/episode_000059.npz
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+size 39835773
diff --git a/simple-depth-sidecars-v2-20260904/G1WholebodyLocomotionPickBetweenTablesTeleop-v0/episode_000060.json b/simple-depth-sidecars-v2-20260904/G1WholebodyLocomotionPickBetweenTablesTeleop-v0/episode_000060.json
new file mode 100644
index 0000000000000000000000000000000000000000..7e8c2b58bee635836accdadab148e631a050412f
--- /dev/null
+++ b/simple-depth-sidecars-v2-20260904/G1WholebodyLocomotionPickBetweenTablesTeleop-v0/episode_000060.json
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+  "replay_mode": "teleop_decoupled_wbc",
+  "stabilize_steps": 271
+}
\ No newline at end of file
diff --git a/simple-depth-sidecars-v2-20260904/G1WholebodyLocomotionPickBetweenTablesTeleop-v0/episode_000060.npz b/simple-depth-sidecars-v2-20260904/G1WholebodyLocomotionPickBetweenTablesTeleop-v0/episode_000060.npz
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--- /dev/null
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diff --git a/simple-depth-sidecars-v2-20260904/G1WholebodyLocomotionPickBetweenTablesTeleop-v0/episode_000061.json b/simple-depth-sidecars-v2-20260904/G1WholebodyLocomotionPickBetweenTablesTeleop-v0/episode_000061.json
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--- /dev/null
+++ b/simple-depth-sidecars-v2-20260904/G1WholebodyLocomotionPickBetweenTablesTeleop-v0/episode_000061.json
@@ -0,0 +1,6651 @@
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+  "replay_mode": "teleop_decoupled_wbc",
+  "stabilize_steps": 271
+}
\ No newline at end of file
diff --git a/simple-depth-sidecars-v2-20260904/G1WholebodyLocomotionPickBetweenTablesTeleop-v0/episode_000061.npz b/simple-depth-sidecars-v2-20260904/G1WholebodyLocomotionPickBetweenTablesTeleop-v0/episode_000061.npz
new file mode 100644
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--- /dev/null
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+size 37103225
diff --git a/simple-depth-sidecars-v2-20260904/G1WholebodyLocomotionPickBetweenTablesTeleop-v0/episode_000062.json b/simple-depth-sidecars-v2-20260904/G1WholebodyLocomotionPickBetweenTablesTeleop-v0/episode_000062.json
new file mode 100644
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+  "stabilize_steps": 271
+}
\ No newline at end of file
diff --git a/simple-depth-sidecars-v2-20260904/G1WholebodyLocomotionPickBetweenTablesTeleop-v0/episode_000062.npz b/simple-depth-sidecars-v2-20260904/G1WholebodyLocomotionPickBetweenTablesTeleop-v0/episode_000062.npz
new file mode 100644
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--- /dev/null
+++ b/simple-depth-sidecars-v2-20260904/G1WholebodyLocomotionPickBetweenTablesTeleop-v0/episode_000062.npz
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+size 33468273
diff --git a/simple-depth-sidecars-v2-20260904/G1WholebodyLocomotionPickBetweenTablesTeleop-v0/episode_000063.json b/simple-depth-sidecars-v2-20260904/G1WholebodyLocomotionPickBetweenTablesTeleop-v0/episode_000063.json
new file mode 100644
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--- /dev/null
+++ b/simple-depth-sidecars-v2-20260904/G1WholebodyLocomotionPickBetweenTablesTeleop-v0/episode_000063.json
@@ -0,0 +1,5551 @@
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+  "stabilize_steps": 271
+}
\ No newline at end of file
diff --git a/simple-depth-sidecars-v2-20260904/G1WholebodyLocomotionPickBetweenTablesTeleop-v0/episode_000063.npz b/simple-depth-sidecars-v2-20260904/G1WholebodyLocomotionPickBetweenTablesTeleop-v0/episode_000063.npz
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--- /dev/null
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diff --git a/simple-depth-sidecars-v2-20260904/G1WholebodyLocomotionPickBetweenTablesTeleop-v0/episode_000064.json b/simple-depth-sidecars-v2-20260904/G1WholebodyLocomotionPickBetweenTablesTeleop-v0/episode_000064.json
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--- /dev/null
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+  "stabilize_steps": 271
+}
\ No newline at end of file
diff --git a/simple-depth-sidecars-v2-20260904/G1WholebodyLocomotionPickBetweenTablesTeleop-v0/episode_000064.npz b/simple-depth-sidecars-v2-20260904/G1WholebodyLocomotionPickBetweenTablesTeleop-v0/episode_000064.npz
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--- /dev/null
+++ b/simple-depth-sidecars-v2-20260904/G1WholebodyLocomotionPickBetweenTablesTeleop-v0/episode_000064.npz
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+size 32985098
diff --git a/simple-depth-sidecars-v2-20260904/G1WholebodyLocomotionPickBetweenTablesTeleop-v0/episode_000065.json b/simple-depth-sidecars-v2-20260904/G1WholebodyLocomotionPickBetweenTablesTeleop-v0/episode_000065.json
new file mode 100644
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--- /dev/null
+++ b/simple-depth-sidecars-v2-20260904/G1WholebodyLocomotionPickBetweenTablesTeleop-v0/episode_000065.json
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+  "stabilize_steps": 271
+}
\ No newline at end of file
diff --git a/simple-depth-sidecars-v2-20260904/G1WholebodyLocomotionPickBetweenTablesTeleop-v0/episode_000065.npz b/simple-depth-sidecars-v2-20260904/G1WholebodyLocomotionPickBetweenTablesTeleop-v0/episode_000065.npz
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--- /dev/null
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+size 42151568
diff --git a/simple-depth-sidecars-v2-20260904/G1WholebodyLocomotionPickBetweenTablesTeleop-v0/episode_000066.json b/simple-depth-sidecars-v2-20260904/G1WholebodyLocomotionPickBetweenTablesTeleop-v0/episode_000066.json
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+  "stabilize_steps": 271
+}
\ No newline at end of file
diff --git a/simple-depth-sidecars-v2-20260904/G1WholebodyLocomotionPickBetweenTablesTeleop-v0/episode_000066.npz b/simple-depth-sidecars-v2-20260904/G1WholebodyLocomotionPickBetweenTablesTeleop-v0/episode_000066.npz
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--- /dev/null
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+size 33468200
diff --git a/simple-depth-sidecars-v2-20260904/G1WholebodyLocomotionPickBetweenTablesTeleop-v0/episode_000067.json b/simple-depth-sidecars-v2-20260904/G1WholebodyLocomotionPickBetweenTablesTeleop-v0/episode_000067.json
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+  "stabilize_steps": 271
+}
\ No newline at end of file
diff --git a/simple-depth-sidecars-v2-20260904/G1WholebodyLocomotionPickBetweenTablesTeleop-v0/episode_000067.npz b/simple-depth-sidecars-v2-20260904/G1WholebodyLocomotionPickBetweenTablesTeleop-v0/episode_000067.npz
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--- /dev/null
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diff --git a/simple-depth-sidecars-v2-20260904/G1WholebodyLocomotionPickBetweenTablesTeleop-v0/episode_000068.json b/simple-depth-sidecars-v2-20260904/G1WholebodyLocomotionPickBetweenTablesTeleop-v0/episode_000068.json
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+  "stabilize_steps": 271
+}
\ No newline at end of file
diff --git a/simple-depth-sidecars-v2-20260904/G1WholebodyLocomotionPickBetweenTablesTeleop-v0/episode_000068.npz b/simple-depth-sidecars-v2-20260904/G1WholebodyLocomotionPickBetweenTablesTeleop-v0/episode_000068.npz
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--- /dev/null
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+size 31790921
diff --git a/simple-depth-sidecars-v2-20260904/G1WholebodyLocomotionPickBetweenTablesTeleop-v0/episode_000069.json b/simple-depth-sidecars-v2-20260904/G1WholebodyLocomotionPickBetweenTablesTeleop-v0/episode_000069.json
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--- /dev/null
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+  "stabilize_steps": 271
+}
\ No newline at end of file
diff --git a/simple-depth-sidecars-v2-20260904/G1WholebodyLocomotionPickBetweenTablesTeleop-v0/episode_000069.npz b/simple-depth-sidecars-v2-20260904/G1WholebodyLocomotionPickBetweenTablesTeleop-v0/episode_000069.npz
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--- /dev/null
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diff --git a/simple-depth-sidecars-v2-20260904/G1WholebodyLocomotionPickBetweenTablesTeleop-v0/episode_000070.json b/simple-depth-sidecars-v2-20260904/G1WholebodyLocomotionPickBetweenTablesTeleop-v0/episode_000070.json
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+  "stabilize_steps": 271
+}
\ No newline at end of file
diff --git a/simple-depth-sidecars-v2-20260904/G1WholebodyLocomotionPickBetweenTablesTeleop-v0/episode_000070.npz b/simple-depth-sidecars-v2-20260904/G1WholebodyLocomotionPickBetweenTablesTeleop-v0/episode_000070.npz
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--- /dev/null
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diff --git a/simple-depth-sidecars-v2-20260904/G1WholebodyLocomotionPickBetweenTablesTeleop-v0/episode_000071.json b/simple-depth-sidecars-v2-20260904/G1WholebodyLocomotionPickBetweenTablesTeleop-v0/episode_000071.json
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--- /dev/null
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+  "replay_mode": "teleop_decoupled_wbc",
+  "stabilize_steps": 271
+}
\ No newline at end of file
diff --git a/simple-depth-sidecars-v2-20260904/G1WholebodyLocomotionPickBetweenTablesTeleop-v0/episode_000071.npz b/simple-depth-sidecars-v2-20260904/G1WholebodyLocomotionPickBetweenTablesTeleop-v0/episode_000071.npz
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--- /dev/null
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diff --git a/simple-depth-sidecars-v2-20260904/G1WholebodyLocomotionPickBetweenTablesTeleop-v0/episode_000072.json b/simple-depth-sidecars-v2-20260904/G1WholebodyLocomotionPickBetweenTablesTeleop-v0/episode_000072.json
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--- /dev/null
+++ b/simple-depth-sidecars-v2-20260904/G1WholebodyLocomotionPickBetweenTablesTeleop-v0/episode_000072.json
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+  "stabilize_steps": 271
+}
\ No newline at end of file
diff --git a/simple-depth-sidecars-v2-20260904/G1WholebodyLocomotionPickBetweenTablesTeleop-v0/episode_000072.npz b/simple-depth-sidecars-v2-20260904/G1WholebodyLocomotionPickBetweenTablesTeleop-v0/episode_000072.npz
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--- /dev/null
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+size 37390744
diff --git a/simple-depth-sidecars-v2-20260904/G1WholebodyLocomotionPickBetweenTablesTeleop-v0/episode_000073.json b/simple-depth-sidecars-v2-20260904/G1WholebodyLocomotionPickBetweenTablesTeleop-v0/episode_000073.json
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+    }
+  },
+  "replay_mode": "teleop_decoupled_wbc",
+  "stabilize_steps": 271
+}
\ No newline at end of file
diff --git a/simple-depth-sidecars-v2-20260904/G1WholebodyLocomotionPickBetweenTablesTeleop-v0/episode_000073.npz b/simple-depth-sidecars-v2-20260904/G1WholebodyLocomotionPickBetweenTablesTeleop-v0/episode_000073.npz
new file mode 100644
index 0000000000000000000000000000000000000000..5907e810769610e08479cd42f33d95e36b8a3565
--- /dev/null
+++ b/simple-depth-sidecars-v2-20260904/G1WholebodyLocomotionPickBetweenTablesTeleop-v0/episode_000073.npz
@@ -0,0 +1,3 @@
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