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diff --git a/recorded_gelsight_force/episode_12/image_index.json b/recorded_gelsight_force/episode_12/image_index.json
new file mode 100644
index 0000000000000000000000000000000000000000..e669db89f80a45bfb4fb90a1c7ea379bfd79438c
--- /dev/null
+++ b/recorded_gelsight_force/episode_12/image_index.json
@@ -0,0 +1,402 @@
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\ No newline at end of file
diff --git a/recorded_gelsight_force/episode_12/session_info.json b/recorded_gelsight_force/episode_12/session_info.json
new file mode 100644
index 0000000000000000000000000000000000000000..b7dd2fdb89452ba2eeea80667beee43fdef46d63
--- /dev/null
+++ b/recorded_gelsight_force/episode_12/session_info.json
@@ -0,0 +1,12 @@
+{
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+}
\ No newline at end of file
diff --git a/recorded_gelsight_force/episode_69/force_data.json b/recorded_gelsight_force/episode_69/force_data.json
new file mode 100644
index 0000000000000000000000000000000000000000..3d83f219570fdee694083708b9635a22dc7adec6
--- /dev/null
+++ b/recorded_gelsight_force/episode_69/force_data.json
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diff --git a/recorded_gelsight_force/episode_69/image_index.json b/recorded_gelsight_force/episode_69/image_index.json
new file mode 100644
index 0000000000000000000000000000000000000000..e3e70a47a645f77eacd2da64caafe86c8071ed86
--- /dev/null
+++ b/recorded_gelsight_force/episode_69/image_index.json
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diff --git a/recorded_gelsight_force/episode_69/session_info.json b/recorded_gelsight_force/episode_69/session_info.json
new file mode 100644
index 0000000000000000000000000000000000000000..ec65ea0b6434854f94b61981853cc24a761cbc71
--- /dev/null
+++ b/recorded_gelsight_force/episode_69/session_info.json
@@ -0,0 +1,12 @@
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+}
\ No newline at end of file
diff --git a/recorded_gelsight_force/episode_90/force_data.json b/recorded_gelsight_force/episode_90/force_data.json
new file mode 100644
index 0000000000000000000000000000000000000000..c40cd45acd2bc1f2d0897443afdcb456c98acbec
--- /dev/null
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diff --git a/recorded_gelsight_force/episode_90/image_index.json b/recorded_gelsight_force/episode_90/image_index.json
new file mode 100644
index 0000000000000000000000000000000000000000..0f18247e99ccfee7cacf690b1f032a5630f98e5f
--- /dev/null
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diff --git a/recorded_gelsight_force/episode_90/session_info.json b/recorded_gelsight_force/episode_90/session_info.json
new file mode 100644
index 0000000000000000000000000000000000000000..bc457be028ab31427f4e13af389bbaaf1cf4018f
--- /dev/null
+++ b/recorded_gelsight_force/episode_90/session_info.json
@@ -0,0 +1,12 @@
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+}
\ No newline at end of file
diff --git a/recorded_gelsight_force/episode_95/force_data.json b/recorded_gelsight_force/episode_95/force_data.json
new file mode 100644
index 0000000000000000000000000000000000000000..a4cd4079fcc971954d6dcdf01efb471b4bc4ea46
--- /dev/null
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diff --git a/recorded_gelsight_force/episode_95/image_index.json b/recorded_gelsight_force/episode_95/image_index.json
new file mode 100644
index 0000000000000000000000000000000000000000..c1a56a38a784c44b5fad5d31ceb704ad7d3396b3
--- /dev/null
+++ b/recorded_gelsight_force/episode_95/image_index.json
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diff --git a/recorded_gelsight_force/episode_95/session_info.json b/recorded_gelsight_force/episode_95/session_info.json
new file mode 100644
index 0000000000000000000000000000000000000000..eb98badddfed5cb680c336c49054e3e311bbd517
--- /dev/null
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diff --git a/recorded_tac02_force/episode_17/session_info.json b/recorded_tac02_force/episode_17/session_info.json
new file mode 100644
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diff --git a/recorded_tac02_force/episode_33/force_data.json b/recorded_tac02_force/episode_33/force_data.json
new file mode 100644
index 0000000000000000000000000000000000000000..90ce33be6244fa250a5c0f9d8414bbac6f2f486f
--- /dev/null
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diff --git a/recorded_tac02_force/episode_33/session_info.json b/recorded_tac02_force/episode_33/session_info.json
new file mode 100644
index 0000000000000000000000000000000000000000..6df7102f170a45ebedad1ad4f97cc36272e7b938
--- /dev/null
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+}
\ No newline at end of file
diff --git a/recorded_tac02_force/episode_33/tactile_data.json b/recorded_tac02_force/episode_33/tactile_data.json
new file mode 100644
index 0000000000000000000000000000000000000000..49eaf28d98c56dfb97555665cf47476bb9489a08
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diff --git a/recorded_tac02_force/episode_43/force_data.json b/recorded_tac02_force/episode_43/force_data.json
new file mode 100644
index 0000000000000000000000000000000000000000..6276eefed38ed939e04551bde80770f25e1cb51a
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diff --git a/recorded_tac02_force/episode_43/session_info.json b/recorded_tac02_force/episode_43/session_info.json
new file mode 100644
index 0000000000000000000000000000000000000000..f172edb4689f16b1011062b3f22158034b80d82b
--- /dev/null
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+}
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diff --git a/recorded_tac02_force/episode_43/tactile_data.json b/recorded_tac02_force/episode_43/tactile_data.json
new file mode 100644
index 0000000000000000000000000000000000000000..ca125b0361283f1df0a6c1a4254063b9d0faa5ea
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diff --git a/recorded_tac02_force/episode_76/force_data.json b/recorded_tac02_force/episode_76/force_data.json
new file mode 100644
index 0000000000000000000000000000000000000000..b88e1d3ef0ab7bd056746c13d16adb072de08dd5
--- /dev/null
+++ b/recorded_tac02_force/episode_76/force_data.json
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diff --git a/recorded_tac02_force/episode_76/session_info.json b/recorded_tac02_force/episode_76/session_info.json
new file mode 100644
index 0000000000000000000000000000000000000000..1d3d664f658498188c09b9ab83775a58b4e342c8
--- /dev/null
+++ b/recorded_tac02_force/episode_76/session_info.json
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+}
\ No newline at end of file
diff --git a/recorded_tac02_force/episode_76/tactile_data.json b/recorded_tac02_force/episode_76/tactile_data.json
new file mode 100644
index 0000000000000000000000000000000000000000..cd265dd2eef3db7278cc0557be50a0b862161065
--- /dev/null
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diff --git a/recorded_tac02_force/episode_9/force_data.json b/recorded_tac02_force/episode_9/force_data.json
new file mode 100644
index 0000000000000000000000000000000000000000..d910b9303a2ecba49345dc9e83f21e2dfd220e8b
--- /dev/null
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diff --git a/recorded_tac02_force/episode_9/session_info.json b/recorded_tac02_force/episode_9/session_info.json
new file mode 100644
index 0000000000000000000000000000000000000000..8215db34fafcc674caaa96e7e9a741615051c4c7
--- /dev/null
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+}
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diff --git a/recorded_tac02_force/episode_9/tactile_data.json b/recorded_tac02_force/episode_9/tactile_data.json
new file mode 100644
index 0000000000000000000000000000000000000000..aab8e9b24538564001aa1fc2e0f034d36f3c959c
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diff --git a/recorded_xela_force/episode_13/xela_data.json b/recorded_xela_force/episode_13/xela_data.json
new file mode 100644
index 0000000000000000000000000000000000000000..19b65ba7e659ba70c0c1a5e80095fa2464420d26
--- /dev/null
+++ b/recorded_xela_force/episode_13/xela_data.json
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diff --git a/recorded_xela_force/episode_64/force_data.json b/recorded_xela_force/episode_64/force_data.json
new file mode 100644
index 0000000000000000000000000000000000000000..7c94fd55c919300dee122e82ba8d5f42378cb940
--- /dev/null
+++ b/recorded_xela_force/episode_64/force_data.json
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diff --git a/recorded_xela_force/episode_64/session_info.json b/recorded_xela_force/episode_64/session_info.json
new file mode 100644
index 0000000000000000000000000000000000000000..0fd39ec6f034131742ec166a5298eecbd58f7aae
--- /dev/null
+++ b/recorded_xela_force/episode_64/session_info.json
@@ -0,0 +1,14 @@
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+}
\ No newline at end of file
diff --git a/recorded_xela_force/episode_64/xela_data.json b/recorded_xela_force/episode_64/xela_data.json
new file mode 100644
index 0000000000000000000000000000000000000000..07b94fbf1907fe83abe110a3f296c8383519cea9
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\ No newline at end of file
diff --git a/recorded_xela_force/episode_73/force_data.json b/recorded_xela_force/episode_73/force_data.json
new file mode 100644
index 0000000000000000000000000000000000000000..98d51e86e6f2ac47ddebbdccccaac3adb772e136
--- /dev/null
+++ b/recorded_xela_force/episode_73/force_data.json
@@ -0,0 +1,162 @@
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\ No newline at end of file
diff --git a/recorded_xela_force/episode_73/session_info.json b/recorded_xela_force/episode_73/session_info.json
new file mode 100644
index 0000000000000000000000000000000000000000..418943e64f80b2dd10f6e72085d08d4d348e2258
--- /dev/null
+++ b/recorded_xela_force/episode_73/session_info.json
@@ -0,0 +1,14 @@
+{
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+  "xela_topic": "xServTopic",
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+  "end_time": "2025-12-20T16:47:39.465870",
+  "ros_end_time": 1766220459.465875,
+  "total_xela_frames": 402,
+  "total_force_frames": 40
+}
\ No newline at end of file
diff --git a/recorded_xela_force/episode_73/xela_data.json b/recorded_xela_force/episode_73/xela_data.json
new file mode 100644
index 0000000000000000000000000000000000000000..7a9b6273953d736b40814c82f1c19b01e68f93e5
--- /dev/null
+++ b/recorded_xela_force/episode_73/xela_data.json
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