add blocks_in_two_cabinets train demos

Restore previous blocks_in_drawers and blocks_in_drawers_hard datasets

Update inspect_and_pick train dataset (removed forced stratified variations)

update iap train demos with revised language instruction

regenerate blocks_in_drawers_hard train dataset with stratified variations and pre-approach fix

add inspect_and_pick train dataset

regenerate blocks_in_drawers train dataset with stratified variations and pre-approach fix

add blocks_in_drawers train dataset

add blocks_in_drawers_hard train dataset

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