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+{"config": "d9", "seed": 40000, "success": false, "hard_success": false, "collision": false}
+{"config": "d9", "seed": 40003, "success": false, "hard_success": false, "collision": false}
diff --git a/pi05/clutter/study/move_seal_cup_next_to_box/_episodes.jsonl b/pi05/clutter/study/move_seal_cup_next_to_box/_episodes.jsonl
new file mode 100644
index 0000000000000000000000000000000000000000..a906b46dc994d2f160073bc48c42370785769714
--- /dev/null
+++ b/pi05/clutter/study/move_seal_cup_next_to_box/_episodes.jsonl
@@ -0,0 +1,20 @@
+{"config": "d10", "seed": 40000, "success": true, "hard_success": true, "collision": false}
+{"config": "d10", "seed": 40002, "success": true, "hard_success": true, "collision": false}
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+{"config": "d12", "seed": 40002, "success": true, "hard_success": true, "collision": false}
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+{"config": "d14", "seed": 40002, "success": true, "hard_success": true, "collision": false}
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+{"config": "d9", "seed": 40000, "success": false, "hard_success": false, "collision": false}
+{"config": "d9", "seed": 40002, "success": true, "hard_success": true, "collision": false}
diff --git a/pi05/clutter/study/move_seal_next_to_box/_episodes.jsonl b/pi05/clutter/study/move_seal_next_to_box/_episodes.jsonl
new file mode 100644
index 0000000000000000000000000000000000000000..fe44df26b6327ab49623297e00f1164023e4132c
--- /dev/null
+++ b/pi05/clutter/study/move_seal_next_to_box/_episodes.jsonl
@@ -0,0 +1,20 @@
+{"config": "d10", "seed": 40000, "success": true, "hard_success": true, "collision": false}
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+{"config": "d8", "seed": 40000, "success": true, "hard_success": true, "collision": false}
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+{"config": "d9", "seed": 40000, "success": true, "hard_success": true, "collision": false}
+{"config": "d9", "seed": 40001, "success": true, "hard_success": true, "collision": false}
diff --git a/pi05/clutter/study/move_seal_next_to_pencup/_episodes.jsonl b/pi05/clutter/study/move_seal_next_to_pencup/_episodes.jsonl
new file mode 100644
index 0000000000000000000000000000000000000000..f7e420f34019af37048f2ab1511f4a5cb187f7d2
--- /dev/null
+++ b/pi05/clutter/study/move_seal_next_to_pencup/_episodes.jsonl
@@ -0,0 +1,20 @@
+{"config": "d10", "seed": 40000, "success": true, "hard_success": true, "collision": false}
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+{"config": "d12", "seed": 40001, "success": false, "hard_success": false, "collision": true}
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+{"config": "d9", "seed": 40001, "success": true, "hard_success": true, "collision": false}
diff --git a/pi05/clutter/study/move_seal_onto_book/_episodes.jsonl b/pi05/clutter/study/move_seal_onto_book/_episodes.jsonl
new file mode 100644
index 0000000000000000000000000000000000000000..e92fbb04275d66358e01ba28145c54f36fbc9846
--- /dev/null
+++ b/pi05/clutter/study/move_seal_onto_book/_episodes.jsonl
@@ -0,0 +1,20 @@
+{"config": "d10", "seed": 40003, "success": true, "hard_success": true, "collision": false}
+{"config": "d10", "seed": 40005, "success": false, "hard_success": false, "collision": false}
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+{"config": "d7", "seed": 40005, "success": false, "hard_success": false, "collision": false}
+{"config": "d7", "seed": 40007, "success": true, "hard_success": true, "collision": false}
+{"config": "d8", "seed": 40003, "success": true, "hard_success": true, "collision": false}
+{"config": "d8", "seed": 40005, "success": true, "hard_success": true, "collision": false}
+{"config": "d9", "seed": 40003, "success": true, "hard_success": true, "collision": false}
+{"config": "d9", "seed": 40005, "success": true, "hard_success": false, "collision": true}
diff --git a/pi05/clutter/study/move_seal_onto_table/_episodes.jsonl b/pi05/clutter/study/move_seal_onto_table/_episodes.jsonl
new file mode 100644
index 0000000000000000000000000000000000000000..7ac75e9860a4c50ff281e94b941f3c532ab7f08d
--- /dev/null
+++ b/pi05/clutter/study/move_seal_onto_table/_episodes.jsonl
@@ -0,0 +1,20 @@
+{"config": "d10", "seed": 40001, "success": true, "hard_success": true, "collision": false}
+{"config": "d10", "seed": 40003, "success": true, "hard_success": true, "collision": false}
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+{"config": "d9", "seed": 40003, "success": true, "hard_success": true, "collision": false}
diff --git a/pi05/clutter/study/put_cup_in_box/_episodes.jsonl b/pi05/clutter/study/put_cup_in_box/_episodes.jsonl
new file mode 100644
index 0000000000000000000000000000000000000000..1d1cdf69f68c47899469b623bba6ed968440e2f1
--- /dev/null
+++ b/pi05/clutter/study/put_cup_in_box/_episodes.jsonl
@@ -0,0 +1,20 @@
+{"config": "d10", "seed": 40000, "success": false, "hard_success": false, "collision": false}
+{"config": "d10", "seed": 40001, "success": true, "hard_success": true, "collision": false}
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+{"config": "d12", "seed": 40001, "success": true, "hard_success": true, "collision": false}
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+{"config": "d8", "seed": 40000, "success": true, "hard_success": true, "collision": false}
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+{"config": "d9", "seed": 40001, "success": false, "hard_success": false, "collision": false}
diff --git a/pi05/clutter/study/put_cup_on_coaster/_episodes.jsonl b/pi05/clutter/study/put_cup_on_coaster/_episodes.jsonl
new file mode 100644
index 0000000000000000000000000000000000000000..76b915b9d69d7dd48f0b9559de50fb839282ecd8
--- /dev/null
+++ b/pi05/clutter/study/put_cup_on_coaster/_episodes.jsonl
@@ -0,0 +1,20 @@
+{"config": "d10", "seed": 40000, "success": false, "hard_success": false, "collision": false}
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+{"config": "d9", "seed": 40001, "success": true, "hard_success": false, "collision": true}
diff --git a/pi05/clutter/study/put_glue_in_box/_episodes.jsonl b/pi05/clutter/study/put_glue_in_box/_episodes.jsonl
new file mode 100644
index 0000000000000000000000000000000000000000..e4c14a510b59817ad18a85edca0b8acfda5741e9
--- /dev/null
+++ b/pi05/clutter/study/put_glue_in_box/_episodes.jsonl
@@ -0,0 +1,20 @@
+{"config": "d10", "seed": 40000, "success": true, "hard_success": false, "collision": true}
+{"config": "d10", "seed": 40001, "success": true, "hard_success": true, "collision": false}
+{"config": "d11", "seed": 40000, "success": true, "hard_success": false, "collision": true}
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+{"config": "d12", "seed": 40001, "success": true, "hard_success": false, "collision": true}
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+{"config": "d8", "seed": 40000, "success": true, "hard_success": false, "collision": true}
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+{"config": "d9", "seed": 40001, "success": true, "hard_success": true, "collision": false}
diff --git a/pi05/clutter/study/put_pen_in_box/_episodes.jsonl b/pi05/clutter/study/put_pen_in_box/_episodes.jsonl
new file mode 100644
index 0000000000000000000000000000000000000000..42ae0a1b39503f4f3e4349507282c7bd6d5b7009
--- /dev/null
+++ b/pi05/clutter/study/put_pen_in_box/_episodes.jsonl
@@ -0,0 +1,20 @@
+{"config": "d10", "seed": 40001, "success": true, "hard_success": true, "collision": false}
+{"config": "d10", "seed": 40002, "success": true, "hard_success": true, "collision": false}
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+{"config": "d8", "seed": 40001, "success": true, "hard_success": true, "collision": false}
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+{"config": "d9", "seed": 40001, "success": true, "hard_success": true, "collision": false}
+{"config": "d9", "seed": 40002, "success": true, "hard_success": true, "collision": false}
diff --git a/pi05/clutter/study/put_pen_in_pencup/_episodes.jsonl b/pi05/clutter/study/put_pen_in_pencup/_episodes.jsonl
new file mode 100644
index 0000000000000000000000000000000000000000..9dc00c3fbe1d9ec6a97996aeac0002b67cc84086
--- /dev/null
+++ b/pi05/clutter/study/put_pen_in_pencup/_episodes.jsonl
@@ -0,0 +1,20 @@
+{"config": "d10", "seed": 40001, "success": false, "hard_success": false, "collision": true}
+{"config": "d10", "seed": 40007, "success": false, "hard_success": false, "collision": false}
+{"config": "d11", "seed": 40007, "success": false, "hard_success": false, "collision": true}
+{"config": "d11", "seed": 40008, "success": false, "hard_success": false, "collision": false}
+{"config": "d12", "seed": 40007, "success": false, "hard_success": false, "collision": false}
+{"config": "d12", "seed": 40008, "success": true, "hard_success": true, "collision": false}
+{"config": "d13", "seed": 40007, "success": false, "hard_success": false, "collision": false}
+{"config": "d13", "seed": 40008, "success": false, "hard_success": false, "collision": false}
+{"config": "d14", "seed": 40008, "success": false, "hard_success": false, "collision": false}
+{"config": "d14", "seed": 40017, "success": false, "hard_success": false, "collision": false}
+{"config": "d15", "seed": 40008, "success": false, "hard_success": false, "collision": false}
+{"config": "d15", "seed": 40040, "success": false, "hard_success": false, "collision": true}
+{"config": "d6", "seed": 40001, "success": false, "hard_success": false, "collision": true}
+{"config": "d6", "seed": 40007, "success": false, "hard_success": false, "collision": false}
+{"config": "d7", "seed": 40007, "success": false, "hard_success": false, "collision": false}
+{"config": "d7", "seed": 40008, "success": false, "hard_success": false, "collision": false}
+{"config": "d8", "seed": 40001, "success": false, "hard_success": false, "collision": true}
+{"config": "d8", "seed": 40007, "success": false, "hard_success": false, "collision": true}
+{"config": "d9", "seed": 40001, "success": false, "hard_success": false, "collision": true}
+{"config": "d9", "seed": 40007, "success": false, "hard_success": false, "collision": false}
diff --git a/pi05/clutter/study/put_seal_in_box/_episodes.jsonl b/pi05/clutter/study/put_seal_in_box/_episodes.jsonl
new file mode 100644
index 0000000000000000000000000000000000000000..fe44df26b6327ab49623297e00f1164023e4132c
--- /dev/null
+++ b/pi05/clutter/study/put_seal_in_box/_episodes.jsonl
@@ -0,0 +1,20 @@
+{"config": "d10", "seed": 40000, "success": true, "hard_success": true, "collision": false}
+{"config": "d10", "seed": 40001, "success": true, "hard_success": true, "collision": false}
+{"config": "d11", "seed": 40000, "success": true, "hard_success": true, "collision": false}
+{"config": "d11", "seed": 40001, "success": true, "hard_success": true, "collision": false}
+{"config": "d12", "seed": 40000, "success": true, "hard_success": true, "collision": false}
+{"config": "d12", "seed": 40001, "success": true, "hard_success": true, "collision": false}
+{"config": "d13", "seed": 40000, "success": true, "hard_success": true, "collision": false}
+{"config": "d13", "seed": 40001, "success": true, "hard_success": true, "collision": false}
+{"config": "d14", "seed": 40000, "success": true, "hard_success": true, "collision": false}
+{"config": "d14", "seed": 40001, "success": true, "hard_success": true, "collision": false}
+{"config": "d15", "seed": 40000, "success": true, "hard_success": true, "collision": false}
+{"config": "d15", "seed": 40001, "success": true, "hard_success": true, "collision": false}
+{"config": "d6", "seed": 40000, "success": true, "hard_success": true, "collision": false}
+{"config": "d6", "seed": 40001, "success": true, "hard_success": true, "collision": false}
+{"config": "d7", "seed": 40000, "success": true, "hard_success": true, "collision": false}
+{"config": "d7", "seed": 40001, "success": true, "hard_success": true, "collision": false}
+{"config": "d8", "seed": 40000, "success": true, "hard_success": true, "collision": false}
+{"config": "d8", "seed": 40001, "success": true, "hard_success": true, "collision": false}
+{"config": "d9", "seed": 40000, "success": true, "hard_success": true, "collision": false}
+{"config": "d9", "seed": 40001, "success": true, "hard_success": true, "collision": false}