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diff --git a/pi05/clean/kitchens/pick_hamburger_from_microwave_ks/_episodes.jsonl b/pi05/clean/kitchens/pick_hamburger_from_microwave_ks/_episodes.jsonl
new file mode 100644
index 0000000000000000000000000000000000000000..a8a477caec7af24eeaeeb81ddd316f4e7dca7b41
--- /dev/null
+++ b/pi05/clean/kitchens/pick_hamburger_from_microwave_ks/_episodes.jsonl
@@ -0,0 +1,20 @@
+{"config": "clean", "seed": 40000, "success": false, "hard_success": false, "collision": false}
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diff --git a/pi05/clean/kitchens/place_bowl_in_dishrack_ks/_episodes.jsonl b/pi05/clean/kitchens/place_bowl_in_dishrack_ks/_episodes.jsonl
new file mode 100644
index 0000000000000000000000000000000000000000..092d2cb7aa45d6f12008e742fa54df9e20540735
--- /dev/null
+++ b/pi05/clean/kitchens/place_bowl_in_dishrack_ks/_episodes.jsonl
@@ -0,0 +1,20 @@
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diff --git a/pi05/clean/kitchens/put_bowl_in_sink_ks/_episodes.jsonl b/pi05/clean/kitchens/put_bowl_in_sink_ks/_episodes.jsonl
new file mode 100644
index 0000000000000000000000000000000000000000..88a87cc21b89158136615c74c8fd38247302afa3
--- /dev/null
+++ b/pi05/clean/kitchens/put_bowl_in_sink_ks/_episodes.jsonl
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diff --git a/pi05/clean/kitchens/put_plate_in_sink_ks/_episodes.jsonl b/pi05/clean/kitchens/put_plate_in_sink_ks/_episodes.jsonl
new file mode 100644
index 0000000000000000000000000000000000000000..afe3de5dbd4bdff0e6b984100ce2d4790b4d1031
--- /dev/null
+++ b/pi05/clean/kitchens/put_plate_in_sink_ks/_episodes.jsonl
@@ -0,0 +1,20 @@
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diff --git a/pi05/clean/office/close_drawer/_episodes.jsonl b/pi05/clean/office/close_drawer/_episodes.jsonl
new file mode 100644
index 0000000000000000000000000000000000000000..0415abd510edd619000f362b51b29910d6611305
--- /dev/null
+++ b/pi05/clean/office/close_drawer/_episodes.jsonl
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diff --git a/pi05/clean/office/open_drawer/_episodes.jsonl b/pi05/clean/office/open_drawer/_episodes.jsonl
new file mode 100644
index 0000000000000000000000000000000000000000..bbae3199d9513bd9f29c0631ab1d6f49090744b7
--- /dev/null
+++ b/pi05/clean/office/open_drawer/_episodes.jsonl
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diff --git a/pi05/clean/office/organize_table/_episodes.jsonl b/pi05/clean/office/organize_table/_episodes.jsonl
new file mode 100644
index 0000000000000000000000000000000000000000..b88c2e963a51565ba228d12f0930c55f6a79d0c7
--- /dev/null
+++ b/pi05/clean/office/organize_table/_episodes.jsonl
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diff --git a/pi05/clean/office/put_milktea_next_to_laptop/_episodes.jsonl b/pi05/clean/office/put_milktea_next_to_laptop/_episodes.jsonl
new file mode 100644
index 0000000000000000000000000000000000000000..076d15f7c159341ac6e6d21b750d1063490e43f6
--- /dev/null
+++ b/pi05/clean/office/put_milktea_next_to_laptop/_episodes.jsonl
@@ -0,0 +1,20 @@
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diff --git a/pi05/clean/office/put_milktea_on_shelf/_episodes.jsonl b/pi05/clean/office/put_milktea_on_shelf/_episodes.jsonl
new file mode 100644
index 0000000000000000000000000000000000000000..55fbb25c420808b4402132365886c98083cd4a60
--- /dev/null
+++ b/pi05/clean/office/put_milktea_on_shelf/_episodes.jsonl
@@ -0,0 +1,20 @@
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diff --git a/pi05/clean/office/put_mouse_next_to_stapler/_episodes.jsonl b/pi05/clean/office/put_mouse_next_to_stapler/_episodes.jsonl
new file mode 100644
index 0000000000000000000000000000000000000000..087a84bfa2ca0abc66cac4209cba2127232c0483
--- /dev/null
+++ b/pi05/clean/office/put_mouse_next_to_stapler/_episodes.jsonl
@@ -0,0 +1,20 @@
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diff --git a/pi05/clean/office/put_mouse_on_pad/_episodes.jsonl b/pi05/clean/office/put_mouse_on_pad/_episodes.jsonl
new file mode 100644
index 0000000000000000000000000000000000000000..be252afb372359ee8731ab2a7960d3957c31b0a1
--- /dev/null
+++ b/pi05/clean/office/put_mouse_on_pad/_episodes.jsonl
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+{"config": "clean", "seed": 40001, "success": false, "hard_success": false, "collision": false}
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diff --git a/pi05/clean/office/put_phone_next_to_cube/_episodes.jsonl b/pi05/clean/office/put_phone_next_to_cube/_episodes.jsonl
new file mode 100644
index 0000000000000000000000000000000000000000..c5d4076a53fe96d925e189c04051589262ccd790
--- /dev/null
+++ b/pi05/clean/office/put_phone_next_to_cube/_episodes.jsonl
@@ -0,0 +1,20 @@
+{"config": "clean", "seed": 40000, "success": false, "hard_success": false, "collision": true}
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diff --git a/pi05/clean/office/put_phone_on_holder/_episodes.jsonl b/pi05/clean/office/put_phone_on_holder/_episodes.jsonl
new file mode 100644
index 0000000000000000000000000000000000000000..43378591f56471a74a9ceafa5f7580f6fdba33e1
--- /dev/null
+++ b/pi05/clean/office/put_phone_on_holder/_episodes.jsonl
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+{"config": "clean", "seed": 40000, "success": true, "hard_success": true, "collision": false}
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diff --git a/pi05/clean/office/put_rubikscube_in_drawer/_episodes.jsonl b/pi05/clean/office/put_rubikscube_in_drawer/_episodes.jsonl
new file mode 100644
index 0000000000000000000000000000000000000000..d5eb0ee1af29f698fb8dc78dc74166aa3f6145ef
--- /dev/null
+++ b/pi05/clean/office/put_rubikscube_in_drawer/_episodes.jsonl
@@ -0,0 +1,20 @@
+{"config": "clean", "seed": 40000, "success": true, "hard_success": true, "collision": false}
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diff --git a/pi05/clean/office/put_rubikscube_next_to_milktea/_episodes.jsonl b/pi05/clean/office/put_rubikscube_next_to_milktea/_episodes.jsonl
new file mode 100644
index 0000000000000000000000000000000000000000..36eeda6b158781d89d9172b77f72c9ddbdd1cac9
--- /dev/null
+++ b/pi05/clean/office/put_rubikscube_next_to_milktea/_episodes.jsonl
@@ -0,0 +1,20 @@
+{"config": "clean", "seed": 40000, "success": true, "hard_success": true, "collision": false}
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diff --git a/pi05/clean/office/put_stapler_in_drawer/_episodes.jsonl b/pi05/clean/office/put_stapler_in_drawer/_episodes.jsonl
new file mode 100644
index 0000000000000000000000000000000000000000..c59d07e1df73aac9cb0eab6660d30744cbdaf045
--- /dev/null
+++ b/pi05/clean/office/put_stapler_in_drawer/_episodes.jsonl
@@ -0,0 +1,20 @@
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diff --git a/pi05/clean/office/put_stapler_next_to_mouse/_episodes.jsonl b/pi05/clean/office/put_stapler_next_to_mouse/_episodes.jsonl
new file mode 100644
index 0000000000000000000000000000000000000000..3f5cf3237c3a9c3bd2de92384a5b58cb553a4797
--- /dev/null
+++ b/pi05/clean/office/put_stapler_next_to_mouse/_episodes.jsonl
@@ -0,0 +1,20 @@
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diff --git a/pi05/clean/office/put_stapler_on_book/_episodes.jsonl b/pi05/clean/office/put_stapler_on_book/_episodes.jsonl
new file mode 100644
index 0000000000000000000000000000000000000000..1f0c135026226ff219853ccd35c3e3a6f1c204bd
--- /dev/null
+++ b/pi05/clean/office/put_stapler_on_book/_episodes.jsonl
@@ -0,0 +1,20 @@
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diff --git a/pi05/clean/office/set_up_table/_episodes.jsonl b/pi05/clean/office/set_up_table/_episodes.jsonl
new file mode 100644
index 0000000000000000000000000000000000000000..3eb0d36ffdc42a865f36e35eb71e93176df7a2c8
--- /dev/null
+++ b/pi05/clean/office/set_up_table/_episodes.jsonl
@@ -0,0 +1,20 @@
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diff --git a/pi05/clean/office/store_rubikscube_on_shelf/_episodes.jsonl b/pi05/clean/office/store_rubikscube_on_shelf/_episodes.jsonl
new file mode 100644
index 0000000000000000000000000000000000000000..8c7a5aaa30ab84a561f82cebe11eeb676a9299a3
--- /dev/null
+++ b/pi05/clean/office/store_rubikscube_on_shelf/_episodes.jsonl
@@ -0,0 +1,20 @@
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+{"config": "clean", "seed": 40024, "success": false, "hard_success": false, "collision": true}
diff --git a/pi05/clean/office/store_stapler_in_drawer/_episodes.jsonl b/pi05/clean/office/store_stapler_in_drawer/_episodes.jsonl
new file mode 100644
index 0000000000000000000000000000000000000000..f481f20fe855e10c45a30670214260b685b84600
--- /dev/null
+++ b/pi05/clean/office/store_stapler_in_drawer/_episodes.jsonl
@@ -0,0 +1,20 @@
+{"config": "clean", "seed": 40001, "success": true, "hard_success": true, "collision": false}
+{"config": "clean", "seed": 40002, "success": true, "hard_success": true, "collision": false}
+{"config": "clean", "seed": 40004, "success": false, "hard_success": false, "collision": false}
+{"config": "clean", "seed": 40005, "success": false, "hard_success": false, "collision": false}
+{"config": "clean", "seed": 40007, "success": false, "hard_success": false, "collision": true}
+{"config": "clean", "seed": 40008, "success": false, "hard_success": false, "collision": false}
+{"config": "clean", "seed": 40009, "success": false, "hard_success": false, "collision": false}
+{"config": "clean", "seed": 40011, "success": true, "hard_success": false, "collision": true}
+{"config": "clean", "seed": 40012, "success": false, "hard_success": false, "collision": false}
+{"config": "clean", "seed": 40013, "success": true, "hard_success": true, "collision": false}
+{"config": "clean", "seed": 40014, "success": false, "hard_success": false, "collision": false}
+{"config": "clean", "seed": 40015, "success": false, "hard_success": false, "collision": false}
+{"config": "clean", "seed": 40017, "success": false, "hard_success": false, "collision": false}
+{"config": "clean", "seed": 40018, "success": true, "hard_success": true, "collision": false}
+{"config": "clean", "seed": 40020, "success": true, "hard_success": true, "collision": false}
+{"config": "clean", "seed": 40021, "success": false, "hard_success": false, "collision": false}
+{"config": "clean", "seed": 40023, "success": false, "hard_success": false, "collision": false}
+{"config": "clean", "seed": 40024, "success": false, "hard_success": false, "collision": false}
+{"config": "clean", "seed": 40025, "success": false, "hard_success": false, "collision": false}
+{"config": "clean", "seed": 40028, "success": true, "hard_success": true, "collision": false}