diff --git a/episode_0001/left.actions.joint_position/data.csv b/episode_0001/left.actions.joint_position/data.csv
new file mode 100644
index 0000000000000000000000000000000000000000..c1610ffc4137abe564f5220e4665b3077a83b82a
--- /dev/null
+++ b/episode_0001/left.actions.joint_position/data.csv
@@ -0,0 +1,553 @@
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diff --git a/episode_0001/right.actions.eef_pose/data.csv b/episode_0001/right.actions.eef_pose/data.csv
new file mode 100644
index 0000000000000000000000000000000000000000..83b4e5c8dbdc76d0f847a8187588955568c0a83a
--- /dev/null
+++ b/episode_0001/right.actions.eef_pose/data.csv
@@ -0,0 +1,553 @@
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diff --git a/episode_0009/left.actions.joint_position/data.csv b/episode_0009/left.actions.joint_position/data.csv
new file mode 100644
index 0000000000000000000000000000000000000000..bbefd2028dba73ae5b73a598272cb043c49c5a23
--- /dev/null
+++ b/episode_0009/left.actions.joint_position/data.csv
@@ -0,0 +1,553 @@
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diff --git a/episode_0009/left.observation.state.eef_pose/data.csv b/episode_0009/left.observation.state.eef_pose/data.csv
new file mode 100644
index 0000000000000000000000000000000000000000..bc5c24ebd8df969af69593716bc6b64bbc93367b
--- /dev/null
+++ b/episode_0009/left.observation.state.eef_pose/data.csv
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diff --git a/episode_0009/left.observation.state.joint_position/data.csv b/episode_0009/left.observation.state.joint_position/data.csv
new file mode 100644
index 0000000000000000000000000000000000000000..0916404137d20d3d03c17aa9663f0058805feeba
--- /dev/null
+++ b/episode_0009/left.observation.state.joint_position/data.csv
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diff --git a/episode_0009/left.observation.state/data.jsonl b/episode_0009/left.observation.state/data.jsonl
new file mode 100644
index 0000000000000000000000000000000000000000..cd43396125cf69cb0f8826323c9830c4bf0990a3
--- /dev/null
+++ b/episode_0009/left.observation.state/data.jsonl
@@ -0,0 +1,552 @@
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diff --git a/episode_0009/right.actions.eef_pose/data.csv b/episode_0009/right.actions.eef_pose/data.csv
new file mode 100644
index 0000000000000000000000000000000000000000..a712d972b28aac26a7cd72735a627337c0c137f2
--- /dev/null
+++ b/episode_0009/right.actions.eef_pose/data.csv
@@ -0,0 +1,553 @@
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diff --git a/episode_0009/right.actions.joint_position/data.csv b/episode_0009/right.actions.joint_position/data.csv
new file mode 100644
index 0000000000000000000000000000000000000000..436bc2ac3a36ebae179af30b7666fcbfa597d8df
--- /dev/null
+++ b/episode_0009/right.actions.joint_position/data.csv
@@ -0,0 +1,553 @@
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diff --git a/episode_0009/right.observation.state.eef_pose/data.csv b/episode_0009/right.observation.state.eef_pose/data.csv
new file mode 100644
index 0000000000000000000000000000000000000000..6f622e1c47cad9572ac5aa6adfa923c1e3654460
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+++ b/episode_0009/right.observation.state.eef_pose/data.csv
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diff --git a/episode_0009/right.observation.state.joint_position/data.csv b/episode_0009/right.observation.state.joint_position/data.csv
new file mode 100644
index 0000000000000000000000000000000000000000..6b64dee109289a057017c4afefaff4679691b179
--- /dev/null
+++ b/episode_0009/right.observation.state.joint_position/data.csv
@@ -0,0 +1,553 @@
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diff --git a/episode_0009/right.observation.state/data.jsonl b/episode_0009/right.observation.state/data.jsonl
new file mode 100644
index 0000000000000000000000000000000000000000..aeab5c47e94a82c0715875a41b26acfef937618d
--- /dev/null
+++ b/episode_0009/right.observation.state/data.jsonl
@@ -0,0 +1,552 @@
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diff --git a/episode_0016/left.actions.joint_position/data.csv b/episode_0016/left.actions.joint_position/data.csv
new file mode 100644
index 0000000000000000000000000000000000000000..5ef085cae6a699df95ccd464a7f8cb0c98438fdf
--- /dev/null
+++ b/episode_0016/left.actions.joint_position/data.csv
@@ -0,0 +1,515 @@
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diff --git a/episode_0016/left.observation.state.eef_pose/data.csv b/episode_0016/left.observation.state.eef_pose/data.csv
new file mode 100644
index 0000000000000000000000000000000000000000..3e5554934790a4c2696678059347a0554fdc1e6f
--- /dev/null
+++ b/episode_0016/left.observation.state.eef_pose/data.csv
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diff --git a/episode_0016/left.observation.state.joint_position/data.csv b/episode_0016/left.observation.state.joint_position/data.csv
new file mode 100644
index 0000000000000000000000000000000000000000..eb4024f88c9ab30a40eedc7c044905a51791e025
--- /dev/null
+++ b/episode_0016/left.observation.state.joint_position/data.csv
@@ -0,0 +1,515 @@
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diff --git a/episode_0016/left.observation.state/data.jsonl b/episode_0016/left.observation.state/data.jsonl
new file mode 100644
index 0000000000000000000000000000000000000000..f401f976f5423521651f1d34d146302a98885c34
--- /dev/null
+++ b/episode_0016/left.observation.state/data.jsonl
@@ -0,0 +1,514 @@
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diff --git a/episode_0016/right.actions.eef_pose/data.csv b/episode_0016/right.actions.eef_pose/data.csv
new file mode 100644
index 0000000000000000000000000000000000000000..2a56105a3ba184c734b9e8f98175f7c61958cdc6
--- /dev/null
+++ b/episode_0016/right.actions.eef_pose/data.csv
@@ -0,0 +1,515 @@
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diff --git a/episode_0016/right.actions.joint_position/data.csv b/episode_0016/right.actions.joint_position/data.csv
new file mode 100644
index 0000000000000000000000000000000000000000..4d3389fc16eef6d5ee428dfc3e2c54fee1c10a19
--- /dev/null
+++ b/episode_0016/right.actions.joint_position/data.csv
@@ -0,0 +1,515 @@
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diff --git a/episode_0016/right.observation.state.eef_pose/data.csv b/episode_0016/right.observation.state.eef_pose/data.csv
new file mode 100644
index 0000000000000000000000000000000000000000..30857ead40965e552ce85c6cf7a1b33581295333
--- /dev/null
+++ b/episode_0016/right.observation.state.eef_pose/data.csv
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diff --git a/episode_0016/right.observation.state.joint_position/data.csv b/episode_0016/right.observation.state.joint_position/data.csv
new file mode 100644
index 0000000000000000000000000000000000000000..55f655c8220814ba15361936ffb01c138fed4d29
--- /dev/null
+++ b/episode_0016/right.observation.state.joint_position/data.csv
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diff --git a/episode_0016/right.observation.state/data.jsonl b/episode_0016/right.observation.state/data.jsonl
new file mode 100644
index 0000000000000000000000000000000000000000..bf882b114dc140ac4dae447ea9e9c50bf231e2b7
--- /dev/null
+++ b/episode_0016/right.observation.state/data.jsonl
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diff --git a/episode_0023/left.actions.eef_pose/data.csv b/episode_0023/left.actions.eef_pose/data.csv
new file mode 100644
index 0000000000000000000000000000000000000000..5f728e69ad0d24b1ff50beeff1a6ec33408b2e53
--- /dev/null
+++ b/episode_0023/left.actions.eef_pose/data.csv
@@ -0,0 +1,521 @@
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diff --git a/episode_0023/left.actions.joint_position/data.csv b/episode_0023/left.actions.joint_position/data.csv
new file mode 100644
index 0000000000000000000000000000000000000000..81810c86a66592a691220deb6d7499147f929452
--- /dev/null
+++ b/episode_0023/left.actions.joint_position/data.csv
@@ -0,0 +1,521 @@
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diff --git a/episode_0023/left.observation.state.eef_pose/data.csv b/episode_0023/left.observation.state.eef_pose/data.csv
new file mode 100644
index 0000000000000000000000000000000000000000..3448f38b5170ea736668232ca457647975dc9909
--- /dev/null
+++ b/episode_0023/left.observation.state.eef_pose/data.csv
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diff --git a/episode_0023/left.observation.state.joint_position/data.csv b/episode_0023/left.observation.state.joint_position/data.csv
new file mode 100644
index 0000000000000000000000000000000000000000..4db6b456462bcb3a115efe5f08c62c2bf267dc60
--- /dev/null
+++ b/episode_0023/left.observation.state.joint_position/data.csv
@@ -0,0 +1,521 @@
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diff --git a/episode_0023/left.observation.state/data.jsonl b/episode_0023/left.observation.state/data.jsonl
new file mode 100644
index 0000000000000000000000000000000000000000..30d6c71fbad92d5b4d3d4054b5488505841ce682
--- /dev/null
+++ b/episode_0023/left.observation.state/data.jsonl
@@ -0,0 +1,520 @@
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diff --git a/episode_0023/right.actions.eef_pose/data.csv b/episode_0023/right.actions.eef_pose/data.csv
new file mode 100644
index 0000000000000000000000000000000000000000..d41e30c2031db35f9e91d0919d2d92144f6f1d6e
--- /dev/null
+++ b/episode_0023/right.actions.eef_pose/data.csv
@@ -0,0 +1,521 @@
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diff --git a/episode_0023/right.actions.joint_position/data.csv b/episode_0023/right.actions.joint_position/data.csv
new file mode 100644
index 0000000000000000000000000000000000000000..67312820960f4863a394196806bce7f614f3d21b
--- /dev/null
+++ b/episode_0023/right.actions.joint_position/data.csv
@@ -0,0 +1,521 @@
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diff --git a/episode_0023/right.observation.state.eef_pose/data.csv b/episode_0023/right.observation.state.eef_pose/data.csv
new file mode 100644
index 0000000000000000000000000000000000000000..aa370ae56c4b23d2e52c7cce0bf71989c228b4be
--- /dev/null
+++ b/episode_0023/right.observation.state.eef_pose/data.csv
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diff --git a/episode_0023/right.observation.state.joint_position/data.csv b/episode_0023/right.observation.state.joint_position/data.csv
new file mode 100644
index 0000000000000000000000000000000000000000..3b2eb629013652ef0874afc2b22d372b008d9796
--- /dev/null
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diff --git a/episode_0023/right.observation.state/data.jsonl b/episode_0023/right.observation.state/data.jsonl
new file mode 100644
index 0000000000000000000000000000000000000000..f8c138ca304dd2c77f74646a71fed85aa6c7c1fe
--- /dev/null
+++ b/episode_0023/right.observation.state/data.jsonl
@@ -0,0 +1,520 @@
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