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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..0836eee6ff31b239be726dcf5b05b9f4d64938b2
--- /dev/null
+++ b/episode_0016/left.actions.joint_position/data.csv
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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..7967fdba732b8c05173059c4a5cf9a0dd97e3152
--- /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..7229e392598401299251688a9573f19291f78451
--- /dev/null
+++ b/episode_0016/left.observation.state.joint_position/data.csv
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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..5508d4101feab6caf2611a716efcdd089cebd8ff
--- /dev/null
+++ b/episode_0016/left.observation.state/data.jsonl
@@ -0,0 +1,406 @@
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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..bf8e663f3e54456aec1b5d4993a189718a38fb70
--- /dev/null
+++ b/episode_0016/right.actions.eef_pose/data.csv
@@ -0,0 +1,407 @@
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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..16eb82d0740c3eda109d1cb74304fcb71ae5a7ac
--- /dev/null
+++ b/episode_0016/right.actions.joint_position/data.csv
@@ -0,0 +1,407 @@
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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..aeb41a4e23edb8c56e0deb992b7f90dab567b970
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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..0477ed7d6efb80b8fa9de18ff177ca281d8f2ebd
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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..bd1479b58ab9a6a8a8f2de80baa5d49854e7b64b
--- /dev/null
+++ b/episode_0016/right.observation.state/data.jsonl
@@ -0,0 +1,406 @@
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diff --git a/episode_0024/left.actions.eef_pose/data.csv b/episode_0024/left.actions.eef_pose/data.csv
new file mode 100644
index 0000000000000000000000000000000000000000..57a7db6299987c1ff54b3554d6150bf40cefc14e
--- /dev/null
+++ b/episode_0024/left.actions.eef_pose/data.csv
@@ -0,0 +1,513 @@
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diff --git a/episode_0024/left.actions.joint_position/data.csv b/episode_0024/left.actions.joint_position/data.csv
new file mode 100644
index 0000000000000000000000000000000000000000..da1f5d6518dda5b469e181aadb3fb5ea128da3b4
--- /dev/null
+++ b/episode_0024/left.actions.joint_position/data.csv
@@ -0,0 +1,513 @@
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diff --git a/episode_0024/left.observation.state.eef_pose/data.csv b/episode_0024/left.observation.state.eef_pose/data.csv
new file mode 100644
index 0000000000000000000000000000000000000000..88e34d48ab91f2c2f3eeb4384a0494d84c1a566f
--- /dev/null
+++ b/episode_0024/left.observation.state.eef_pose/data.csv
@@ -0,0 +1,513 @@
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diff --git a/episode_0024/left.observation.state.joint_position/data.csv b/episode_0024/left.observation.state.joint_position/data.csv
new file mode 100644
index 0000000000000000000000000000000000000000..e2068fe575c0670831e5c30e32dd683f102132a7
--- /dev/null
+++ b/episode_0024/left.observation.state.joint_position/data.csv
@@ -0,0 +1,513 @@
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diff --git a/episode_0024/left.observation.state/data.jsonl b/episode_0024/left.observation.state/data.jsonl
new file mode 100644
index 0000000000000000000000000000000000000000..7779dc22dcb2db9651d0e6e49c5af0279ad9e4fd
--- /dev/null
+++ b/episode_0024/left.observation.state/data.jsonl
@@ -0,0 +1,512 @@
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diff --git a/episode_0024/right.actions.eef_pose/data.csv b/episode_0024/right.actions.eef_pose/data.csv
new file mode 100644
index 0000000000000000000000000000000000000000..05447011c61a07b475bb430a108ee3a16359dded
--- /dev/null
+++ b/episode_0024/right.actions.eef_pose/data.csv
@@ -0,0 +1,513 @@
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diff --git a/episode_0024/right.actions.joint_position/data.csv b/episode_0024/right.actions.joint_position/data.csv
new file mode 100644
index 0000000000000000000000000000000000000000..3ec4942be97d76114f754d65f65c4bd156758e9d
--- /dev/null
+++ b/episode_0024/right.actions.joint_position/data.csv
@@ -0,0 +1,513 @@
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diff --git a/episode_0024/right.observation.state.eef_pose/data.csv b/episode_0024/right.observation.state.eef_pose/data.csv
new file mode 100644
index 0000000000000000000000000000000000000000..3920947acd07dd4131784a9837d02f6618484d24
--- /dev/null
+++ b/episode_0024/right.observation.state.eef_pose/data.csv
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diff --git a/episode_0024/right.observation.state.joint_position/data.csv b/episode_0024/right.observation.state.joint_position/data.csv
new file mode 100644
index 0000000000000000000000000000000000000000..c9b16c7c0a8caed8ad48c96b645ec888204d4658
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diff --git a/episode_0024/right.observation.state/data.jsonl b/episode_0024/right.observation.state/data.jsonl
new file mode 100644
index 0000000000000000000000000000000000000000..7d29a85749c6eb7f97bf14d257b0e04bdea8cf75
--- /dev/null
+++ b/episode_0024/right.observation.state/data.jsonl
@@ -0,0 +1,512 @@
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diff --git a/episode_0027/left.actions.eef_pose/data.csv b/episode_0027/left.actions.eef_pose/data.csv
new file mode 100644
index 0000000000000000000000000000000000000000..b77f768187db5c51e49fd8489e46f703055fbc38
--- /dev/null
+++ b/episode_0027/left.actions.eef_pose/data.csv
@@ -0,0 +1,443 @@
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diff --git a/episode_0027/left.actions.joint_position/data.csv b/episode_0027/left.actions.joint_position/data.csv
new file mode 100644
index 0000000000000000000000000000000000000000..bd010c5f5a7ffcf6a4909b613cdc95f26f88115f
--- /dev/null
+++ b/episode_0027/left.actions.joint_position/data.csv
@@ -0,0 +1,443 @@
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diff --git a/episode_0027/left.observation.state.eef_pose/data.csv b/episode_0027/left.observation.state.eef_pose/data.csv
new file mode 100644
index 0000000000000000000000000000000000000000..e249769f58f7f74581a47a7df2294dfc8432e62f
--- /dev/null
+++ b/episode_0027/left.observation.state.eef_pose/data.csv
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diff --git a/episode_0027/left.observation.state.joint_position/data.csv b/episode_0027/left.observation.state.joint_position/data.csv
new file mode 100644
index 0000000000000000000000000000000000000000..edb76d10e41f2f2040bb577e1278a8d15c2d1cfc
--- /dev/null
+++ b/episode_0027/left.observation.state.joint_position/data.csv
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diff --git a/episode_0027/left.observation.state/data.jsonl b/episode_0027/left.observation.state/data.jsonl
new file mode 100644
index 0000000000000000000000000000000000000000..948f8b2a22b2bc134bd5880d648813ba469cec83
--- /dev/null
+++ b/episode_0027/left.observation.state/data.jsonl
@@ -0,0 +1,442 @@
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diff --git a/episode_0027/right.actions.eef_pose/data.csv b/episode_0027/right.actions.eef_pose/data.csv
new file mode 100644
index 0000000000000000000000000000000000000000..454e1480003002790db2a2e0d0fdc1a7654efc44
--- /dev/null
+++ b/episode_0027/right.actions.eef_pose/data.csv
@@ -0,0 +1,443 @@
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diff --git a/episode_0027/right.actions.joint_position/data.csv b/episode_0027/right.actions.joint_position/data.csv
new file mode 100644
index 0000000000000000000000000000000000000000..bfbafe018dfdd3b7c5cfff196af4c44247a53ab2
--- /dev/null
+++ b/episode_0027/right.actions.joint_position/data.csv
@@ -0,0 +1,443 @@
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diff --git a/episode_0027/right.observation.state.eef_pose/data.csv b/episode_0027/right.observation.state.eef_pose/data.csv
new file mode 100644
index 0000000000000000000000000000000000000000..95705692c1af77a4e5b64f40c68809cafa2c6afa
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diff --git a/episode_0027/right.observation.state.joint_position/data.csv b/episode_0027/right.observation.state.joint_position/data.csv
new file mode 100644
index 0000000000000000000000000000000000000000..9d725366f3c392b1acdb2e3561871e82a739fca1
--- /dev/null
+++ b/episode_0027/right.observation.state.joint_position/data.csv
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diff --git a/episode_0027/right.observation.state/data.jsonl b/episode_0027/right.observation.state/data.jsonl
new file mode 100644
index 0000000000000000000000000000000000000000..59001cc1a6a7c7b4e77acf099e973442e51c757f
--- /dev/null
+++ b/episode_0027/right.observation.state/data.jsonl
@@ -0,0 +1,442 @@
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