diff --git a/recorded_gelsight_pose/episode_103/image_index.json b/recorded_gelsight_pose/episode_103/image_index.json
new file mode 100644
index 0000000000000000000000000000000000000000..d417d2ba203b2504696c9a460b864fe22161fa53
--- /dev/null
+++ b/recorded_gelsight_pose/episode_103/image_index.json
@@ -0,0 +1,378 @@
+[
+  {
+    "timestamp": 1766150364.185451,
+    "filename": "img_000000.png"
+  },
+  {
+    "timestamp": 1766150364.2212691,
+    "filename": "img_000001.png"
+  },
+  {
+    "timestamp": 1766150364.2577837,
+    "filename": "img_000002.png"
+  },
+  {
+    "timestamp": 1766150364.29981,
+    "filename": "img_000003.png"
+  },
+  {
+    "timestamp": 1766150364.3375092,
+    "filename": "img_000004.png"
+  },
+  {
+    "timestamp": 1766150364.37892,
+    "filename": "img_000005.png"
+  },
+  {
+    "timestamp": 1766150364.417874,
+    "filename": "img_000006.png"
+  },
+  {
+    "timestamp": 1766150364.4576366,
+    "filename": "img_000007.png"
+  },
+  {
+    "timestamp": 1766150364.4995577,
+    "filename": "img_000008.png"
+  },
+  {
+    "timestamp": 1766150364.537816,
+    "filename": "img_000009.png"
+  },
+  {
+    "timestamp": 1766150364.5795765,
+    "filename": "img_000010.png"
+  },
+  {
+    "timestamp": 1766150364.6160917,
+    "filename": "img_000011.png"
+  },
+  {
+    "timestamp": 1766150364.65933,
+    "filename": "img_000012.png"
+  },
+  {
+    "timestamp": 1766150364.6980667,
+    "filename": "img_000013.png"
+  },
+  {
+    "timestamp": 1766150364.7389097,
+    "filename": "img_000014.png"
+  },
+  {
+    "timestamp": 1766150364.782099,
+    "filename": "img_000015.png"
+  },
+  {
+    "timestamp": 1766150364.8168697,
+    "filename": "img_000016.png"
+  },
+  {
+    "timestamp": 1766150364.8595185,
+    "filename": "img_000017.png"
+  },
+  {
+    "timestamp": 1766150364.8997838,
+    "filename": "img_000018.png"
+  },
+  {
+    "timestamp": 1766150364.9375546,
+    "filename": "img_000019.png"
+  },
+  {
+    "timestamp": 1766150364.9767034,
+    "filename": "img_000020.png"
+  },
+  {
+    "timestamp": 1766150365.0159402,
+    "filename": "img_000021.png"
+  },
+  {
+    "timestamp": 1766150365.057874,
+    "filename": "img_000022.png"
+  },
+  {
+    "timestamp": 1766150365.097001,
+    "filename": "img_000023.png"
+  },
+  {
+    "timestamp": 1766150365.134936,
+    "filename": "img_000024.png"
+  },
+  {
+    "timestamp": 1766150365.180044,
+    "filename": "img_000025.png"
+  },
+  {
+    "timestamp": 1766150365.2180305,
+    "filename": "img_000026.png"
+  },
+  {
+    "timestamp": 1766150365.257437,
+    "filename": "img_000027.png"
+  },
+  {
+    "timestamp": 1766150365.3072944,
+    "filename": "img_000028.png"
+  },
+  {
+    "timestamp": 1766150365.337245,
+    "filename": "img_000029.png"
+  },
+  {
+    "timestamp": 1766150365.3788419,
+    "filename": "img_000030.png"
+  },
+  {
+    "timestamp": 1766150365.4172733,
+    "filename": "img_000031.png"
+  },
+  {
+    "timestamp": 1766150365.4577723,
+    "filename": "img_000032.png"
+  },
+  {
+    "timestamp": 1766150365.4987204,
+    "filename": "img_000033.png"
+  },
+  {
+    "timestamp": 1766150365.537919,
+    "filename": "img_000034.png"
+  },
+  {
+    "timestamp": 1766150365.5786371,
+    "filename": "img_000035.png"
+  },
+  {
+    "timestamp": 1766150365.6167936,
+    "filename": "img_000036.png"
+  },
+  {
+    "timestamp": 1766150365.6587005,
+    "filename": "img_000037.png"
+  },
+  {
+    "timestamp": 1766150365.6992671,
+    "filename": "img_000038.png"
+  },
+  {
+    "timestamp": 1766150365.737163,
+    "filename": "img_000039.png"
+  },
+  {
+    "timestamp": 1766150365.7772489,
+    "filename": "img_000040.png"
+  },
+  {
+    "timestamp": 1766150365.8192966,
+    "filename": "img_000041.png"
+  },
+  {
+    "timestamp": 1766150365.8588495,
+    "filename": "img_000042.png"
+  },
+  {
+    "timestamp": 1766150365.8995025,
+    "filename": "img_000043.png"
+  },
+  {
+    "timestamp": 1766150365.937386,
+    "filename": "img_000044.png"
+  },
+  {
+    "timestamp": 1766150365.9788017,
+    "filename": "img_000045.png"
+  },
+  {
+    "timestamp": 1766150366.0210006,
+    "filename": "img_000046.png"
+  },
+  {
+    "timestamp": 1766150366.0594153,
+    "filename": "img_000047.png"
+  },
+  {
+    "timestamp": 1766150366.0986972,
+    "filename": "img_000048.png"
+  },
+  {
+    "timestamp": 1766150366.136425,
+    "filename": "img_000049.png"
+  },
+  {
+    "timestamp": 1766150366.1802595,
+    "filename": "img_000050.png"
+  },
+  {
+    "timestamp": 1766150366.2163026,
+    "filename": "img_000051.png"
+  },
+  {
+    "timestamp": 1766150366.2570708,
+    "filename": "img_000052.png"
+  },
+  {
+    "timestamp": 1766150366.2993076,
+    "filename": "img_000053.png"
+  },
+  {
+    "timestamp": 1766150366.3397198,
+    "filename": "img_000054.png"
+  },
+  {
+    "timestamp": 1766150366.3783965,
+    "filename": "img_000055.png"
+  },
+  {
+    "timestamp": 1766150366.416496,
+    "filename": "img_000056.png"
+  },
+  {
+    "timestamp": 1766150366.461535,
+    "filename": "img_000057.png"
+  },
+  {
+    "timestamp": 1766150366.5002434,
+    "filename": "img_000058.png"
+  },
+  {
+    "timestamp": 1766150366.537674,
+    "filename": "img_000059.png"
+  },
+  {
+    "timestamp": 1766150366.5768638,
+    "filename": "img_000060.png"
+  },
+  {
+    "timestamp": 1766150366.6208727,
+    "filename": "img_000061.png"
+  },
+  {
+    "timestamp": 1766150366.6653168,
+    "filename": "img_000062.png"
+  },
+  {
+    "timestamp": 1766150366.6969173,
+    "filename": "img_000063.png"
+  },
+  {
+    "timestamp": 1766150366.7391126,
+    "filename": "img_000064.png"
+  },
+  {
+    "timestamp": 1766150366.777716,
+    "filename": "img_000065.png"
+  },
+  {
+    "timestamp": 1766150366.818118,
+    "filename": "img_000066.png"
+  },
+  {
+    "timestamp": 1766150366.8578525,
+    "filename": "img_000067.png"
+  },
+  {
+    "timestamp": 1766150366.897737,
+    "filename": "img_000068.png"
+  },
+  {
+    "timestamp": 1766150366.9375196,
+    "filename": "img_000069.png"
+  },
+  {
+    "timestamp": 1766150366.980155,
+    "filename": "img_000070.png"
+  },
+  {
+    "timestamp": 1766150367.0173001,
+    "filename": "img_000071.png"
+  },
+  {
+    "timestamp": 1766150367.0581439,
+    "filename": "img_000072.png"
+  },
+  {
+    "timestamp": 1766150367.0982456,
+    "filename": "img_000073.png"
+  },
+  {
+    "timestamp": 1766150367.1404178,
+    "filename": "img_000074.png"
+  },
+  {
+    "timestamp": 1766150367.1782682,
+    "filename": "img_000075.png"
+  },
+  {
+    "timestamp": 1766150367.2171497,
+    "filename": "img_000076.png"
+  },
+  {
+    "timestamp": 1766150367.2571535,
+    "filename": "img_000077.png"
+  },
+  {
+    "timestamp": 1766150367.2987425,
+    "filename": "img_000078.png"
+  },
+  {
+    "timestamp": 1766150367.3368883,
+    "filename": "img_000079.png"
+  },
+  {
+    "timestamp": 1766150367.377029,
+    "filename": "img_000080.png"
+  },
+  {
+    "timestamp": 1766150367.4177163,
+    "filename": "img_000081.png"
+  },
+  {
+    "timestamp": 1766150367.4580956,
+    "filename": "img_000082.png"
+  },
+  {
+    "timestamp": 1766150367.4985242,
+    "filename": "img_000083.png"
+  },
+  {
+    "timestamp": 1766150367.5381775,
+    "filename": "img_000084.png"
+  },
+  {
+    "timestamp": 1766150367.5780067,
+    "filename": "img_000085.png"
+  },
+  {
+    "timestamp": 1766150367.6179957,
+    "filename": "img_000086.png"
+  },
+  {
+    "timestamp": 1766150367.6578913,
+    "filename": "img_000087.png"
+  },
+  {
+    "timestamp": 1766150367.697401,
+    "filename": "img_000088.png"
+  },
+  {
+    "timestamp": 1766150367.7373862,
+    "filename": "img_000089.png"
+  },
+  {
+    "timestamp": 1766150367.7771451,
+    "filename": "img_000090.png"
+  },
+  {
+    "timestamp": 1766150367.8210974,
+    "filename": "img_000091.png"
+  },
+  {
+    "timestamp": 1766150367.8590786,
+    "filename": "img_000092.png"
+  },
+  {
+    "timestamp": 1766150367.898347,
+    "filename": "img_000093.png"
+  }
+]
\ No newline at end of file
diff --git a/recorded_gelsight_pose/episode_103/pose_data.json b/recorded_gelsight_pose/episode_103/pose_data.json
new file mode 100644
index 0000000000000000000000000000000000000000..10f3ed410a111f4d1728a3928d3114d8defd35e7
--- /dev/null
+++ b/recorded_gelsight_pose/episode_103/pose_data.json
@@ -0,0 +1,394 @@
+[
+  {
+    "timestamp": 1766137421.3474278,
+    "position": {
+      "x": 0.19576254000912963,
+      "y": -0.007452163930840028,
+      "z": -0.0322794733307185
+    },
+    "orientation": {
+      "x": 0.372012415511455,
+      "y": 0.22398437434703672,
+      "z": 0.4266472646206451,
+      "w": 0.7933535620046213
+    }
+  },
+  {
+    "timestamp": 1766137421.4801188,
+    "position": {
+      "x": 0.1965744356682348,
+      "y": -0.00818518901088866,
+      "z": -0.03351448274587565
+    },
+    "orientation": {
+      "x": 0.37110637437823246,
+      "y": 0.221787198773244,
+      "z": 0.43001287707502145,
+      "w": 0.792577707802726
+    }
+  },
+  {
+    "timestamp": 1766137421.6128087,
+    "position": {
+      "x": 0.19620368355181422,
+      "y": -0.007193457632447275,
+      "z": -0.03239654912947598
+    },
+    "orientation": {
+      "x": 0.3713074214246893,
+      "y": 0.22181412117312102,
+      "z": 0.4256836464995164,
+      "w": 0.794809868802608
+    }
+  },
+  {
+    "timestamp": 1766137421.7454987,
+    "position": {
+      "x": 0.19490416230595137,
+      "y": -0.006300939997782001,
+      "z": -0.031494475938032826
+    },
+    "orientation": {
+      "x": 0.3705908317359476,
+      "y": 0.21892902924127122,
+      "z": 0.42152654478097196,
+      "w": 0.7981527971721633
+    }
+  },
+  {
+    "timestamp": 1766137421.8781888,
+    "position": {
+      "x": 0.1933816829984774,
+      "y": -0.0054926782361432724,
+      "z": -0.03249920850874306
+    },
+    "orientation": {
+      "x": 0.3736468832762827,
+      "y": 0.21574104769604469,
+      "z": 0.41861299937089225,
+      "w": 0.7991288780382286
+    }
+  },
+  {
+    "timestamp": 1766137422.0108788,
+    "position": {
+      "x": 0.19143334803778342,
+      "y": -0.0041602923899621,
+      "z": -0.03441148264971962
+    },
+    "orientation": {
+      "x": 0.3786216978472145,
+      "y": 0.2106816104929307,
+      "z": 0.4157603757456584,
+      "w": 0.7996262745053007
+    }
+  },
+  {
+    "timestamp": 1766137422.1435688,
+    "position": {
+      "x": 0.18835467541247397,
+      "y": -0.0026291802518068064,
+      "z": -0.0384189280148657
+    },
+    "orientation": {
+      "x": 0.38864861106865833,
+      "y": 0.20631575698351126,
+      "z": 0.41356624357990485,
+      "w": 0.7970878419007094
+    }
+  },
+  {
+    "timestamp": 1766137422.2762587,
+    "position": {
+      "x": 0.1859575747751554,
+      "y": -0.0008632253583499838,
+      "z": -0.04268551359664445
+    },
+    "orientation": {
+      "x": 0.39694015429068086,
+      "y": 0.1963178253056581,
+      "z": 0.41215261203668563,
+      "w": 0.7962587831668073
+    }
+  },
+  {
+    "timestamp": 1766137422.4089487,
+    "position": {
+      "x": 0.18420878765993948,
+      "y": 0.0008740424129031199,
+      "z": -0.04628712779268197
+    },
+    "orientation": {
+      "x": 0.4031738963910997,
+      "y": 0.18818614939176145,
+      "z": 0.41112827909223637,
+      "w": 0.7956194571380067
+    }
+  },
+  {
+    "timestamp": 1766137422.5416389,
+    "position": {
+      "x": 0.1825526641876449,
+      "y": 0.001999319447264669,
+      "z": -0.04938962237340011
+    },
+    "orientation": {
+      "x": 0.40742045915966657,
+      "y": 0.18146820946107134,
+      "z": 0.4108047023116889,
+      "w": 0.7951838497930677
+    }
+  },
+  {
+    "timestamp": 1766137422.6743288,
+    "position": {
+      "x": 0.18046100972190388,
+      "y": 0.0038235685974261358,
+      "z": -0.052357668249005965
+    },
+    "orientation": {
+      "x": 0.4147496471733367,
+      "y": 0.1731769720726283,
+      "z": 0.4067090021613548,
+      "w": 0.7953491397331514
+    }
+  },
+  {
+    "timestamp": 1766137422.8070197,
+    "position": {
+      "x": 0.17876526595714232,
+      "y": 0.004558203464331778,
+      "z": -0.05435760786737813
+    },
+    "orientation": {
+      "x": 0.4161762723961374,
+      "y": 0.16644266177517758,
+      "z": 0.4049932395041294,
+      "w": 0.7969156960379188
+    }
+  },
+  {
+    "timestamp": 1766137422.9397097,
+    "position": {
+      "x": 0.17940840609032838,
+      "y": 0.003580786029441091,
+      "z": -0.052837323096191754
+    },
+    "orientation": {
+      "x": 0.4111769487997716,
+      "y": 0.17111521885850514,
+      "z": 0.4054443754797227,
+      "w": 0.798290646971749
+    }
+  },
+  {
+    "timestamp": 1766137423.1055717,
+    "position": {
+      "x": 0.18114983938907647,
+      "y": 0.0022199168574246753,
+      "z": -0.04962407809763432
+    },
+    "orientation": {
+      "x": 0.40328099854694355,
+      "y": 0.17564260407587165,
+      "z": 0.40566929718006217,
+      "w": 0.8012156595885163
+    }
+  },
+  {
+    "timestamp": 1766137423.2714348,
+    "position": {
+      "x": 0.18204148005982476,
+      "y": 0.0022791378361785575,
+      "z": -0.04495520776617733
+    },
+    "orientation": {
+      "x": 0.4028975648349076,
+      "y": 0.18840331036436647,
+      "z": 0.4037375944687704,
+      "w": 0.7994833955163925
+    }
+  },
+  {
+    "timestamp": 1766137423.4041247,
+    "position": {
+      "x": 0.182437839061021,
+      "y": 0.000981121431209514,
+      "z": -0.04118591531527353
+    },
+    "orientation": {
+      "x": 0.39817390883847786,
+      "y": 0.1981275191761764,
+      "z": 0.40329357776738783,
+      "w": 0.7997232737622192
+    }
+  },
+  {
+    "timestamp": 1766137423.5368147,
+    "position": {
+      "x": 0.18367685288902608,
+      "y": -0.0008506682074356231,
+      "z": -0.03593514133715971
+    },
+    "orientation": {
+      "x": 0.39057033094175747,
+      "y": 0.2099256389562647,
+      "z": 0.40126218885033127,
+      "w": 0.8014828123521371
+    }
+  },
+  {
+    "timestamp": 1766137423.669505,
+    "position": {
+      "x": 0.1856017874433164,
+      "y": -0.0028812062817420436,
+      "z": -0.029928596842838037
+    },
+    "orientation": {
+      "x": 0.37948610349159045,
+      "y": 0.22158144564893678,
+      "z": 0.4004314452321689,
+      "w": 0.8040812259157489
+    }
+  },
+  {
+    "timestamp": 1766137423.8021948,
+    "position": {
+      "x": 0.18720717385855692,
+      "y": -0.003935716339030976,
+      "z": -0.024882841782593007
+    },
+    "orientation": {
+      "x": 0.37038738567570906,
+      "y": 0.2286614813306161,
+      "z": 0.39828932388729543,
+      "w": 0.8073987403788807
+    }
+  },
+  {
+    "timestamp": 1766137423.9348857,
+    "position": {
+      "x": 0.1875947275470955,
+      "y": -0.0045757776523054905,
+      "z": -0.02494932507850814
+    },
+    "orientation": {
+      "x": 0.36667590972693187,
+      "y": 0.22532369203875252,
+      "z": 0.3990245074345138,
+      "w": 0.8096650254880694
+    }
+  },
+  {
+    "timestamp": 1766137424.0675757,
+    "position": {
+      "x": 0.18966836603574969,
+      "y": -0.0057442505403709765,
+      "z": -0.02753059327411532
+    },
+    "orientation": {
+      "x": 0.3610655578935981,
+      "y": 0.2159195690268159,
+      "z": 0.40571272881305864,
+      "w": 0.8114231844686965
+    }
+  },
+  {
+    "timestamp": 1766137424.200266,
+    "position": {
+      "x": 0.19152195363345687,
+      "y": -0.006588399343979867,
+      "z": -0.03056056652063255
+    },
+    "orientation": {
+      "x": 0.3578032980362058,
+      "y": 0.20653075529463194,
+      "z": 0.4120705094480409,
+      "w": 0.8121082084766014
+    }
+  },
+  {
+    "timestamp": 1766137424.3329558,
+    "position": {
+      "x": 0.19401401081620195,
+      "y": -0.0066571335820931055,
+      "z": -0.03475449454028941
+    },
+    "orientation": {
+      "x": 0.36305154916137006,
+      "y": 0.20049252306653492,
+      "z": 0.42100994772184347,
+      "w": 0.8066888773035085
+    }
+  },
+  {
+    "timestamp": 1766137424.4656458,
+    "position": {
+      "x": 0.19426315666386235,
+      "y": -0.007204469584450451,
+      "z": -0.03734461406771132
+    },
+    "orientation": {
+      "x": 0.3638252387305523,
+      "y": 0.197015097266976,
+      "z": 0.42395801344236034,
+      "w": 0.8056524374378494
+    }
+  },
+  {
+    "timestamp": 1766137424.5983357,
+    "position": {
+      "x": 0.19373772533889763,
+      "y": -0.0071236308148392435,
+      "z": -0.037524445041903595
+    },
+    "orientation": {
+      "x": 0.36142877642128396,
+      "y": 0.19370359975669546,
+      "z": 0.42257815461119624,
+      "w": 0.8082548226031857
+    }
+  },
+  {
+    "timestamp": 1766137424.7310257,
+    "position": {
+      "x": 0.1922341602767706,
+      "y": -0.005311365339748159,
+      "z": -0.03758742538334239
+    },
+    "orientation": {
+      "x": 0.36279516197084216,
+      "y": 0.18748342988133224,
+      "z": 0.41713762143828537,
+      "w": 0.8119272373503008
+    }
+  },
+  {
+    "timestamp": 1766137424.863716,
+    "position": {
+      "x": 0.18757667849737494,
+      "y": -0.003441162814276366,
+      "z": -0.04106092045650124
+    },
+    "orientation": {
+      "x": 0.37065306901819445,
+      "y": 0.17928911163281525,
+      "z": 0.40960076877799134,
+      "w": 0.8140632205755198
+    }
+  },
+  {
+    "timestamp": 1766137424.9964058,
+    "position": {
+      "x": 0.1831496302443322,
+      "y": 0.00028775455365936953,
+      "z": -0.04395800424748923
+    },
+    "orientation": {
+      "x": 0.38170928838686,
+      "y": 0.16904013680773866,
+      "z": 0.4003028099153996,
+      "w": 0.8157702566783452
+    }
+  }
+]
\ No newline at end of file
diff --git a/recorded_gelsight_pose/episode_103/session_info.json b/recorded_gelsight_pose/episode_103/session_info.json
new file mode 100644
index 0000000000000000000000000000000000000000..945581b2bc9ff002f34870986f597e323754fd74
--- /dev/null
+++ b/recorded_gelsight_pose/episode_103/session_info.json
@@ -0,0 +1,12 @@
+{
+  "session_id": 53,
+  "start_time": "2025-12-19T21:19:24.150788",
+  "ros_start_time": 1766150364.1508071,
+  "image_topic": "/gelsight_img",
+  "pose_topic": "/pose",
+  "image_format": "png",
+  "end_time": "2025-12-19T21:19:27.939854",
+  "ros_end_time": 1766150367.939863,
+  "total_images": 94,
+  "total_pose_frames": 28
+}
\ No newline at end of file
diff --git a/recorded_gelsight_pose/episode_108/image_index.json b/recorded_gelsight_pose/episode_108/image_index.json
new file mode 100644
index 0000000000000000000000000000000000000000..dbb3d96e39c763fd259e8b61c70be3c92b0c96fa
--- /dev/null
+++ b/recorded_gelsight_pose/episode_108/image_index.json
@@ -0,0 +1,414 @@
+[
+  {
+    "timestamp": 1766150390.1036692,
+    "filename": "img_000000.png"
+  },
+  {
+    "timestamp": 1766150390.1415675,
+    "filename": "img_000001.png"
+  },
+  {
+    "timestamp": 1766150390.1807475,
+    "filename": "img_000002.png"
+  },
+  {
+    "timestamp": 1766150390.2183971,
+    "filename": "img_000003.png"
+  },
+  {
+    "timestamp": 1766150390.2585275,
+    "filename": "img_000004.png"
+  },
+  {
+    "timestamp": 1766150390.3001812,
+    "filename": "img_000005.png"
+  },
+  {
+    "timestamp": 1766150390.3403091,
+    "filename": "img_000006.png"
+  },
+  {
+    "timestamp": 1766150390.3793144,
+    "filename": "img_000007.png"
+  },
+  {
+    "timestamp": 1766150390.4179077,
+    "filename": "img_000008.png"
+  },
+  {
+    "timestamp": 1766150390.4581518,
+    "filename": "img_000009.png"
+  },
+  {
+    "timestamp": 1766150390.503146,
+    "filename": "img_000010.png"
+  },
+  {
+    "timestamp": 1766150390.542759,
+    "filename": "img_000011.png"
+  },
+  {
+    "timestamp": 1766150390.5808175,
+    "filename": "img_000012.png"
+  },
+  {
+    "timestamp": 1766150390.6172554,
+    "filename": "img_000013.png"
+  },
+  {
+    "timestamp": 1766150390.6591787,
+    "filename": "img_000014.png"
+  },
+  {
+    "timestamp": 1766150390.7015734,
+    "filename": "img_000015.png"
+  },
+  {
+    "timestamp": 1766150390.7418451,
+    "filename": "img_000016.png"
+  },
+  {
+    "timestamp": 1766150390.7820015,
+    "filename": "img_000017.png"
+  },
+  {
+    "timestamp": 1766150390.8191333,
+    "filename": "img_000018.png"
+  },
+  {
+    "timestamp": 1766150390.861494,
+    "filename": "img_000019.png"
+  },
+  {
+    "timestamp": 1766150390.8996468,
+    "filename": "img_000020.png"
+  },
+  {
+    "timestamp": 1766150390.941597,
+    "filename": "img_000021.png"
+  },
+  {
+    "timestamp": 1766150390.9803748,
+    "filename": "img_000022.png"
+  },
+  {
+    "timestamp": 1766150391.0177755,
+    "filename": "img_000023.png"
+  },
+  {
+    "timestamp": 1766150391.0563052,
+    "filename": "img_000024.png"
+  },
+  {
+    "timestamp": 1766150391.0997488,
+    "filename": "img_000025.png"
+  },
+  {
+    "timestamp": 1766150391.1404219,
+    "filename": "img_000026.png"
+  },
+  {
+    "timestamp": 1766150391.1795645,
+    "filename": "img_000027.png"
+  },
+  {
+    "timestamp": 1766150391.2190137,
+    "filename": "img_000028.png"
+  },
+  {
+    "timestamp": 1766150391.261955,
+    "filename": "img_000029.png"
+  },
+  {
+    "timestamp": 1766150391.3014193,
+    "filename": "img_000030.png"
+  },
+  {
+    "timestamp": 1766150391.340672,
+    "filename": "img_000031.png"
+  },
+  {
+    "timestamp": 1766150391.379694,
+    "filename": "img_000032.png"
+  },
+  {
+    "timestamp": 1766150391.4214506,
+    "filename": "img_000033.png"
+  },
+  {
+    "timestamp": 1766150391.4596634,
+    "filename": "img_000034.png"
+  },
+  {
+    "timestamp": 1766150391.5006242,
+    "filename": "img_000035.png"
+  },
+  {
+    "timestamp": 1766150391.5408955,
+    "filename": "img_000036.png"
+  },
+  {
+    "timestamp": 1766150391.582609,
+    "filename": "img_000037.png"
+  },
+  {
+    "timestamp": 1766150391.61947,
+    "filename": "img_000038.png"
+  },
+  {
+    "timestamp": 1766150391.6616633,
+    "filename": "img_000039.png"
+  },
+  {
+    "timestamp": 1766150391.702071,
+    "filename": "img_000040.png"
+  },
+  {
+    "timestamp": 1766150391.7415254,
+    "filename": "img_000041.png"
+  },
+  {
+    "timestamp": 1766150391.7828956,
+    "filename": "img_000042.png"
+  },
+  {
+    "timestamp": 1766150391.818254,
+    "filename": "img_000043.png"
+  },
+  {
+    "timestamp": 1766150391.860467,
+    "filename": "img_000044.png"
+  },
+  {
+    "timestamp": 1766150391.9003613,
+    "filename": "img_000045.png"
+  },
+  {
+    "timestamp": 1766150391.9429095,
+    "filename": "img_000046.png"
+  },
+  {
+    "timestamp": 1766150391.9797058,
+    "filename": "img_000047.png"
+  },
+  {
+    "timestamp": 1766150392.0169826,
+    "filename": "img_000048.png"
+  },
+  {
+    "timestamp": 1766150392.0597658,
+    "filename": "img_000049.png"
+  },
+  {
+    "timestamp": 1766150392.100096,
+    "filename": "img_000050.png"
+  },
+  {
+    "timestamp": 1766150392.1404939,
+    "filename": "img_000051.png"
+  },
+  {
+    "timestamp": 1766150392.1800354,
+    "filename": "img_000052.png"
+  },
+  {
+    "timestamp": 1766150392.2185392,
+    "filename": "img_000053.png"
+  },
+  {
+    "timestamp": 1766150392.2632084,
+    "filename": "img_000054.png"
+  },
+  {
+    "timestamp": 1766150392.3008404,
+    "filename": "img_000055.png"
+  },
+  {
+    "timestamp": 1766150392.3400133,
+    "filename": "img_000056.png"
+  },
+  {
+    "timestamp": 1766150392.3797705,
+    "filename": "img_000057.png"
+  },
+  {
+    "timestamp": 1766150392.41803,
+    "filename": "img_000058.png"
+  },
+  {
+    "timestamp": 1766150392.4600663,
+    "filename": "img_000059.png"
+  },
+  {
+    "timestamp": 1766150392.498491,
+    "filename": "img_000060.png"
+  },
+  {
+    "timestamp": 1766150392.5393982,
+    "filename": "img_000061.png"
+  },
+  {
+    "timestamp": 1766150392.5796828,
+    "filename": "img_000062.png"
+  },
+  {
+    "timestamp": 1766150392.6167037,
+    "filename": "img_000063.png"
+  },
+  {
+    "timestamp": 1766150392.6571486,
+    "filename": "img_000064.png"
+  },
+  {
+    "timestamp": 1766150392.6998763,
+    "filename": "img_000065.png"
+  },
+  {
+    "timestamp": 1766150392.739152,
+    "filename": "img_000066.png"
+  },
+  {
+    "timestamp": 1766150392.7786129,
+    "filename": "img_000067.png"
+  },
+  {
+    "timestamp": 1766150392.8161824,
+    "filename": "img_000068.png"
+  },
+  {
+    "timestamp": 1766150392.85846,
+    "filename": "img_000069.png"
+  },
+  {
+    "timestamp": 1766150392.900901,
+    "filename": "img_000070.png"
+  },
+  {
+    "timestamp": 1766150392.9417284,
+    "filename": "img_000071.png"
+  },
+  {
+    "timestamp": 1766150392.979993,
+    "filename": "img_000072.png"
+  },
+  {
+    "timestamp": 1766150393.0184321,
+    "filename": "img_000073.png"
+  },
+  {
+    "timestamp": 1766150393.0600662,
+    "filename": "img_000074.png"
+  },
+  {
+    "timestamp": 1766150393.0987852,
+    "filename": "img_000075.png"
+  },
+  {
+    "timestamp": 1766150393.1392024,
+    "filename": "img_000076.png"
+  },
+  {
+    "timestamp": 1766150393.1811328,
+    "filename": "img_000077.png"
+  },
+  {
+    "timestamp": 1766150393.2174294,
+    "filename": "img_000078.png"
+  },
+  {
+    "timestamp": 1766150393.2582905,
+    "filename": "img_000079.png"
+  },
+  {
+    "timestamp": 1766150393.298934,
+    "filename": "img_000080.png"
+  },
+  {
+    "timestamp": 1766150393.3389022,
+    "filename": "img_000081.png"
+  },
+  {
+    "timestamp": 1766150393.37987,
+    "filename": "img_000082.png"
+  },
+  {
+    "timestamp": 1766150393.417152,
+    "filename": "img_000083.png"
+  },
+  {
+    "timestamp": 1766150393.4583044,
+    "filename": "img_000084.png"
+  },
+  {
+    "timestamp": 1766150393.498403,
+    "filename": "img_000085.png"
+  },
+  {
+    "timestamp": 1766150393.5396583,
+    "filename": "img_000086.png"
+  },
+  {
+    "timestamp": 1766150393.5791247,
+    "filename": "img_000087.png"
+  },
+  {
+    "timestamp": 1766150393.616603,
+    "filename": "img_000088.png"
+  },
+  {
+    "timestamp": 1766150393.6624796,
+    "filename": "img_000089.png"
+  },
+  {
+    "timestamp": 1766150393.700137,
+    "filename": "img_000090.png"
+  },
+  {
+    "timestamp": 1766150393.7393327,
+    "filename": "img_000091.png"
+  },
+  {
+    "timestamp": 1766150393.7794108,
+    "filename": "img_000092.png"
+  },
+  {
+    "timestamp": 1766150393.8188593,
+    "filename": "img_000093.png"
+  },
+  {
+    "timestamp": 1766150393.8594265,
+    "filename": "img_000094.png"
+  },
+  {
+    "timestamp": 1766150393.8997438,
+    "filename": "img_000095.png"
+  },
+  {
+    "timestamp": 1766150393.9388943,
+    "filename": "img_000096.png"
+  },
+  {
+    "timestamp": 1766150393.979705,
+    "filename": "img_000097.png"
+  },
+  {
+    "timestamp": 1766150394.0305407,
+    "filename": "img_000098.png"
+  },
+  {
+    "timestamp": 1766150394.059785,
+    "filename": "img_000099.png"
+  },
+  {
+    "timestamp": 1766150394.1031885,
+    "filename": "img_000100.png"
+  },
+  {
+    "timestamp": 1766150394.140571,
+    "filename": "img_000101.png"
+  },
+  {
+    "timestamp": 1766150394.1805317,
+    "filename": "img_000102.png"
+  }
+]
\ No newline at end of file
diff --git a/recorded_gelsight_pose/episode_108/session_info.json b/recorded_gelsight_pose/episode_108/session_info.json
new file mode 100644
index 0000000000000000000000000000000000000000..347903f54a39f007e3ce0964cdffaea5ba2395a9
--- /dev/null
+++ b/recorded_gelsight_pose/episode_108/session_info.json
@@ -0,0 +1,12 @@
+{
+  "session_id": 58,
+  "start_time": "2025-12-19T21:19:50.062321",
+  "ros_start_time": 1766150390.062347,
+  "image_topic": "/gelsight_img",
+  "pose_topic": "/pose",
+  "image_format": "png",
+  "end_time": "2025-12-19T21:19:54.231751",
+  "ros_end_time": 1766150394.2317593,
+  "total_images": 103,
+  "total_pose_frames": 31
+}
\ No newline at end of file
diff --git a/recorded_gelsight_pose/episode_110/image_index.json b/recorded_gelsight_pose/episode_110/image_index.json
new file mode 100644
index 0000000000000000000000000000000000000000..9697055e17af7bb305bdc3a94723bf7a4c93ae32
--- /dev/null
+++ b/recorded_gelsight_pose/episode_110/image_index.json
@@ -0,0 +1,430 @@
+[
+  {
+    "timestamp": 1766150400.5422351,
+    "filename": "img_000000.png"
+  },
+  {
+    "timestamp": 1766150400.5810242,
+    "filename": "img_000001.png"
+  },
+  {
+    "timestamp": 1766150400.6180727,
+    "filename": "img_000002.png"
+  },
+  {
+    "timestamp": 1766150400.6602235,
+    "filename": "img_000003.png"
+  },
+  {
+    "timestamp": 1766150400.7001302,
+    "filename": "img_000004.png"
+  },
+  {
+    "timestamp": 1766150400.7403233,
+    "filename": "img_000005.png"
+  },
+  {
+    "timestamp": 1766150400.7783287,
+    "filename": "img_000006.png"
+  },
+  {
+    "timestamp": 1766150400.8172562,
+    "filename": "img_000007.png"
+  },
+  {
+    "timestamp": 1766150400.8599267,
+    "filename": "img_000008.png"
+  },
+  {
+    "timestamp": 1766150400.9025733,
+    "filename": "img_000009.png"
+  },
+  {
+    "timestamp": 1766150400.9405885,
+    "filename": "img_000010.png"
+  },
+  {
+    "timestamp": 1766150400.9781234,
+    "filename": "img_000011.png"
+  },
+  {
+    "timestamp": 1766150401.0177178,
+    "filename": "img_000012.png"
+  },
+  {
+    "timestamp": 1766150401.0594254,
+    "filename": "img_000013.png"
+  },
+  {
+    "timestamp": 1766150401.100413,
+    "filename": "img_000014.png"
+  },
+  {
+    "timestamp": 1766150401.1442676,
+    "filename": "img_000015.png"
+  },
+  {
+    "timestamp": 1766150401.1799304,
+    "filename": "img_000016.png"
+  },
+  {
+    "timestamp": 1766150401.2217555,
+    "filename": "img_000017.png"
+  },
+  {
+    "timestamp": 1766150401.2603667,
+    "filename": "img_000018.png"
+  },
+  {
+    "timestamp": 1766150401.2988586,
+    "filename": "img_000019.png"
+  },
+  {
+    "timestamp": 1766150401.3396945,
+    "filename": "img_000020.png"
+  },
+  {
+    "timestamp": 1766150401.3803864,
+    "filename": "img_000021.png"
+  },
+  {
+    "timestamp": 1766150401.419399,
+    "filename": "img_000022.png"
+  },
+  {
+    "timestamp": 1766150401.4583657,
+    "filename": "img_000023.png"
+  },
+  {
+    "timestamp": 1766150401.498455,
+    "filename": "img_000024.png"
+  },
+  {
+    "timestamp": 1766150401.5403175,
+    "filename": "img_000025.png"
+  },
+  {
+    "timestamp": 1766150401.5779154,
+    "filename": "img_000026.png"
+  },
+  {
+    "timestamp": 1766150401.62105,
+    "filename": "img_000027.png"
+  },
+  {
+    "timestamp": 1766150401.663152,
+    "filename": "img_000028.png"
+  },
+  {
+    "timestamp": 1766150401.7025926,
+    "filename": "img_000029.png"
+  },
+  {
+    "timestamp": 1766150401.7421486,
+    "filename": "img_000030.png"
+  },
+  {
+    "timestamp": 1766150401.779168,
+    "filename": "img_000031.png"
+  },
+  {
+    "timestamp": 1766150401.818809,
+    "filename": "img_000032.png"
+  },
+  {
+    "timestamp": 1766150401.8609245,
+    "filename": "img_000033.png"
+  },
+  {
+    "timestamp": 1766150401.9015744,
+    "filename": "img_000034.png"
+  },
+  {
+    "timestamp": 1766150401.9423292,
+    "filename": "img_000035.png"
+  },
+  {
+    "timestamp": 1766150401.9806163,
+    "filename": "img_000036.png"
+  },
+  {
+    "timestamp": 1766150402.0218852,
+    "filename": "img_000037.png"
+  },
+  {
+    "timestamp": 1766150402.0636864,
+    "filename": "img_000038.png"
+  },
+  {
+    "timestamp": 1766150402.101506,
+    "filename": "img_000039.png"
+  },
+  {
+    "timestamp": 1766150402.1417582,
+    "filename": "img_000040.png"
+  },
+  {
+    "timestamp": 1766150402.1847472,
+    "filename": "img_000041.png"
+  },
+  {
+    "timestamp": 1766150402.222133,
+    "filename": "img_000042.png"
+  },
+  {
+    "timestamp": 1766150402.2623148,
+    "filename": "img_000043.png"
+  },
+  {
+    "timestamp": 1766150402.3033934,
+    "filename": "img_000044.png"
+  },
+  {
+    "timestamp": 1766150402.3430438,
+    "filename": "img_000045.png"
+  },
+  {
+    "timestamp": 1766150402.380827,
+    "filename": "img_000046.png"
+  },
+  {
+    "timestamp": 1766150402.4228263,
+    "filename": "img_000047.png"
+  },
+  {
+    "timestamp": 1766150402.4616098,
+    "filename": "img_000048.png"
+  },
+  {
+    "timestamp": 1766150402.5011048,
+    "filename": "img_000049.png"
+  },
+  {
+    "timestamp": 1766150402.5408254,
+    "filename": "img_000050.png"
+  },
+  {
+    "timestamp": 1766150402.578456,
+    "filename": "img_000051.png"
+  },
+  {
+    "timestamp": 1766150402.620152,
+    "filename": "img_000052.png"
+  },
+  {
+    "timestamp": 1766150402.6600502,
+    "filename": "img_000053.png"
+  },
+  {
+    "timestamp": 1766150402.69965,
+    "filename": "img_000054.png"
+  },
+  {
+    "timestamp": 1766150402.738934,
+    "filename": "img_000055.png"
+  },
+  {
+    "timestamp": 1766150402.7782607,
+    "filename": "img_000056.png"
+  },
+  {
+    "timestamp": 1766150402.8188243,
+    "filename": "img_000057.png"
+  },
+  {
+    "timestamp": 1766150402.8591714,
+    "filename": "img_000058.png"
+  },
+  {
+    "timestamp": 1766150402.8982134,
+    "filename": "img_000059.png"
+  },
+  {
+    "timestamp": 1766150402.9401252,
+    "filename": "img_000060.png"
+  },
+  {
+    "timestamp": 1766150402.9794948,
+    "filename": "img_000061.png"
+  },
+  {
+    "timestamp": 1766150403.017963,
+    "filename": "img_000062.png"
+  },
+  {
+    "timestamp": 1766150403.0594404,
+    "filename": "img_000063.png"
+  },
+  {
+    "timestamp": 1766150403.0990558,
+    "filename": "img_000064.png"
+  },
+  {
+    "timestamp": 1766150403.139614,
+    "filename": "img_000065.png"
+  },
+  {
+    "timestamp": 1766150403.1777794,
+    "filename": "img_000066.png"
+  },
+  {
+    "timestamp": 1766150403.2172737,
+    "filename": "img_000067.png"
+  },
+  {
+    "timestamp": 1766150403.260855,
+    "filename": "img_000068.png"
+  },
+  {
+    "timestamp": 1766150403.3000743,
+    "filename": "img_000069.png"
+  },
+  {
+    "timestamp": 1766150403.3385496,
+    "filename": "img_000070.png"
+  },
+  {
+    "timestamp": 1766150403.378774,
+    "filename": "img_000071.png"
+  },
+  {
+    "timestamp": 1766150403.4169269,
+    "filename": "img_000072.png"
+  },
+  {
+    "timestamp": 1766150403.459415,
+    "filename": "img_000073.png"
+  },
+  {
+    "timestamp": 1766150403.4996064,
+    "filename": "img_000074.png"
+  },
+  {
+    "timestamp": 1766150403.5391953,
+    "filename": "img_000075.png"
+  },
+  {
+    "timestamp": 1766150403.5784912,
+    "filename": "img_000076.png"
+  },
+  {
+    "timestamp": 1766150403.6184843,
+    "filename": "img_000077.png"
+  },
+  {
+    "timestamp": 1766150403.6607542,
+    "filename": "img_000078.png"
+  },
+  {
+    "timestamp": 1766150403.7006466,
+    "filename": "img_000079.png"
+  },
+  {
+    "timestamp": 1766150403.7395015,
+    "filename": "img_000080.png"
+  },
+  {
+    "timestamp": 1766150403.7808537,
+    "filename": "img_000081.png"
+  },
+  {
+    "timestamp": 1766150403.8191564,
+    "filename": "img_000082.png"
+  },
+  {
+    "timestamp": 1766150403.8593073,
+    "filename": "img_000083.png"
+  },
+  {
+    "timestamp": 1766150403.899259,
+    "filename": "img_000084.png"
+  },
+  {
+    "timestamp": 1766150403.9414089,
+    "filename": "img_000085.png"
+  },
+  {
+    "timestamp": 1766150403.9781532,
+    "filename": "img_000086.png"
+  },
+  {
+    "timestamp": 1766150404.0176644,
+    "filename": "img_000087.png"
+  },
+  {
+    "timestamp": 1766150404.0587635,
+    "filename": "img_000088.png"
+  },
+  {
+    "timestamp": 1766150404.1009455,
+    "filename": "img_000089.png"
+  },
+  {
+    "timestamp": 1766150404.1426303,
+    "filename": "img_000090.png"
+  },
+  {
+    "timestamp": 1766150404.1789513,
+    "filename": "img_000091.png"
+  },
+  {
+    "timestamp": 1766150404.2191763,
+    "filename": "img_000092.png"
+  },
+  {
+    "timestamp": 1766150404.2596085,
+    "filename": "img_000093.png"
+  },
+  {
+    "timestamp": 1766150404.30168,
+    "filename": "img_000094.png"
+  },
+  {
+    "timestamp": 1766150404.3396413,
+    "filename": "img_000095.png"
+  },
+  {
+    "timestamp": 1766150404.377789,
+    "filename": "img_000096.png"
+  },
+  {
+    "timestamp": 1766150404.4186432,
+    "filename": "img_000097.png"
+  },
+  {
+    "timestamp": 1766150404.4592016,
+    "filename": "img_000098.png"
+  },
+  {
+    "timestamp": 1766150404.4983253,
+    "filename": "img_000099.png"
+  },
+  {
+    "timestamp": 1766150404.5428336,
+    "filename": "img_000100.png"
+  },
+  {
+    "timestamp": 1766150404.5822344,
+    "filename": "img_000101.png"
+  },
+  {
+    "timestamp": 1766150404.6183841,
+    "filename": "img_000102.png"
+  },
+  {
+    "timestamp": 1766150404.658792,
+    "filename": "img_000103.png"
+  },
+  {
+    "timestamp": 1766150404.7038152,
+    "filename": "img_000104.png"
+  },
+  {
+    "timestamp": 1766150404.7412999,
+    "filename": "img_000105.png"
+  },
+  {
+    "timestamp": 1766150404.7778487,
+    "filename": "img_000106.png"
+  }
+]
\ No newline at end of file
diff --git a/recorded_gelsight_pose/episode_110/pose_data.json b/recorded_gelsight_pose/episode_110/pose_data.json
new file mode 100644
index 0000000000000000000000000000000000000000..4310f0cfc18dd958ee7ed06b950cc54cddd6274d
--- /dev/null
+++ b/recorded_gelsight_pose/episode_110/pose_data.json
@@ -0,0 +1,450 @@
+[
+  {
+    "timestamp": 1766137457.5054827,
+    "position": {
+      "x": 0.18078273651754265,
+      "y": 0.0014115559630296093,
+      "z": -0.04597052363861011
+    },
+    "orientation": {
+      "x": 0.38100312871426206,
+      "y": 0.16215604655837804,
+      "z": 0.39540475867516145,
+      "w": 0.8198762768195809
+    }
+  },
+  {
+    "timestamp": 1766137457.6381729,
+    "position": {
+      "x": 0.18383461411716912,
+      "y": -0.000992119279967868,
+      "z": -0.0412880343531445
+    },
+    "orientation": {
+      "x": 0.3696183138667985,
+      "y": 0.17227547005006397,
+      "z": 0.3984682717542836,
+      "w": 0.8215391048991206
+    }
+  },
+  {
+    "timestamp": 1766137457.7708628,
+    "position": {
+      "x": 0.1867188718768335,
+      "y": -0.00284330535957536,
+      "z": -0.035175107949108525
+    },
+    "orientation": {
+      "x": 0.36180115484875763,
+      "y": 0.18670498383056405,
+      "z": 0.3995046181018718,
+      "w": 0.8213630339126613
+    }
+  },
+  {
+    "timestamp": 1766137457.9035528,
+    "position": {
+      "x": 0.19103170986652235,
+      "y": -0.006083819739067325,
+      "z": -0.026016359161110336
+    },
+    "orientation": {
+      "x": 0.34300509345815083,
+      "y": 0.20367201020939243,
+      "z": 0.4012932520816057,
+      "w": 0.8245174006367599
+    }
+  },
+  {
+    "timestamp": 1766137458.0362427,
+    "position": {
+      "x": 0.1948458986558153,
+      "y": -0.008625526202253181,
+      "z": -0.019783733065511386
+    },
+    "orientation": {
+      "x": 0.3275822493328425,
+      "y": 0.2104619221383106,
+      "z": 0.40410572018847934,
+      "w": 0.8277041839708394
+    }
+  },
+  {
+    "timestamp": 1766137458.1689327,
+    "position": {
+      "x": 0.1937266520009205,
+      "y": -0.008464972505864282,
+      "z": -0.022510144359740983
+    },
+    "orientation": {
+      "x": 0.33253522815452013,
+      "y": 0.2046468224262451,
+      "z": 0.40423624301499306,
+      "w": 0.8271233644023033
+    }
+  },
+  {
+    "timestamp": 1766137458.3016229,
+    "position": {
+      "x": 0.1914085404841559,
+      "y": -0.006357456600866063,
+      "z": -0.029022396425324087
+    },
+    "orientation": {
+      "x": 0.34481157639188237,
+      "y": 0.19230852325048828,
+      "z": 0.40495652249861014,
+      "w": 0.824701536046341
+    }
+  },
+  {
+    "timestamp": 1766137458.4343138,
+    "position": {
+      "x": 0.1890029415275712,
+      "y": -0.004299497043695283,
+      "z": -0.036459384806775005
+    },
+    "orientation": {
+      "x": 0.35895737693805846,
+      "y": 0.1807130291249081,
+      "z": 0.4064857524617821,
+      "w": 0.8205252803490137
+    }
+  },
+  {
+    "timestamp": 1766137458.5670037,
+    "position": {
+      "x": 0.18627195984099726,
+      "y": -0.002035229948253614,
+      "z": -0.04385630606440412
+    },
+    "orientation": {
+      "x": 0.3756518466960629,
+      "y": 0.1693708762725231,
+      "z": 0.40715887440833887,
+      "w": 0.8151201428838879
+    }
+  },
+  {
+    "timestamp": 1766137458.6996937,
+    "position": {
+      "x": 0.18490033585903057,
+      "y": -0.0008479423804240438,
+      "z": -0.04873083083207165
+    },
+    "orientation": {
+      "x": 0.3856731942949965,
+      "y": 0.16365653271027414,
+      "z": 0.41038709251510563,
+      "w": 0.8099723210088992
+    }
+  },
+  {
+    "timestamp": 1766137458.8323839,
+    "position": {
+      "x": 0.1877702140860985,
+      "y": -0.0026049299628026767,
+      "z": -0.04514368713300379
+    },
+    "orientation": {
+      "x": 0.37723286524967453,
+      "y": 0.17495183756354696,
+      "z": 0.41408079695764377,
+      "w": 0.8097063131157999
+    }
+  },
+  {
+    "timestamp": 1766137458.9650738,
+    "position": {
+      "x": 0.19124518416239306,
+      "y": -0.004361186297589109,
+      "z": -0.03850437947950648
+    },
+    "orientation": {
+      "x": 0.36533327407807953,
+      "y": 0.1881001882859107,
+      "z": 0.41542506668305984,
+      "w": 0.8115244494096102
+    }
+  },
+  {
+    "timestamp": 1766137459.0977638,
+    "position": {
+      "x": 0.1951335019056182,
+      "y": -0.007391974364659076,
+      "z": -0.03016179457568323
+    },
+    "orientation": {
+      "x": 0.34837144738477366,
+      "y": 0.20343634074851358,
+      "z": 0.4165423848905267,
+      "w": 0.8147045056335487
+    }
+  },
+  {
+    "timestamp": 1766137459.2304537,
+    "position": {
+      "x": 0.19881503572365924,
+      "y": -0.010580847476847483,
+      "z": -0.022549145646516208
+    },
+    "orientation": {
+      "x": 0.3287223074453091,
+      "y": 0.21299102688615748,
+      "z": 0.41717665461624914,
+      "w": 0.8200854259752494
+    }
+  },
+  {
+    "timestamp": 1766137459.3631437,
+    "position": {
+      "x": 0.1982885417591403,
+      "y": -0.01183184547834204,
+      "z": -0.02120123752229032
+    },
+    "orientation": {
+      "x": 0.32436991406325416,
+      "y": 0.2119005389795387,
+      "z": 0.41477046624471925,
+      "w": 0.8233151163205473
+    }
+  },
+  {
+    "timestamp": 1766137459.4958339,
+    "position": {
+      "x": 0.1959333389344164,
+      "y": -0.009102418615402036,
+      "z": -0.02521459204942679
+    },
+    "orientation": {
+      "x": 0.3319789655350214,
+      "y": 0.2008559251017039,
+      "z": 0.41172585516528243,
+      "w": 0.8245778823023651
+    }
+  },
+  {
+    "timestamp": 1766137459.6285248,
+    "position": {
+      "x": 0.1925616694219764,
+      "y": -0.006622494724912387,
+      "z": -0.0303208545422525
+    },
+    "orientation": {
+      "x": 0.345041102574715,
+      "y": 0.1910385847348941,
+      "z": 0.4078387786583655,
+      "w": 0.8234794637991687
+    }
+  },
+  {
+    "timestamp": 1766137459.7612147,
+    "position": {
+      "x": 0.1889247404997422,
+      "y": -0.004379705705415987,
+      "z": -0.03664784253170909
+    },
+    "orientation": {
+      "x": 0.35725244566442416,
+      "y": 0.17875782454099567,
+      "z": 0.4054228970348868,
+      "w": 0.8222217491601629
+    }
+  },
+  {
+    "timestamp": 1766137459.8939047,
+    "position": {
+      "x": 0.18709765614058144,
+      "y": -0.002947128813475558,
+      "z": -0.038220654046413644
+    },
+    "orientation": {
+      "x": 0.3644638932411165,
+      "y": 0.17908442620362655,
+      "z": 0.4034347509977006,
+      "w": 0.8199605115505679
+    }
+  },
+  {
+    "timestamp": 1766137460.0265949,
+    "position": {
+      "x": 0.18874754246724856,
+      "y": -0.0035444215269517243,
+      "z": -0.03317536896027941
+    },
+    "orientation": {
+      "x": 0.35728858087181337,
+      "y": 0.18985558585033926,
+      "z": 0.40169486902766216,
+      "w": 0.8215479040791712
+    }
+  },
+  {
+    "timestamp": 1766137460.1592848,
+    "position": {
+      "x": 0.18863421813797446,
+      "y": -0.004816540767755062,
+      "z": -0.029606980761600996
+    },
+    "orientation": {
+      "x": 0.3544867781025331,
+      "y": 0.20062233706363755,
+      "z": 0.40033508589306116,
+      "w": 0.8208663843918843
+    }
+  },
+  {
+    "timestamp": 1766137460.2919748,
+    "position": {
+      "x": 0.19049347523907448,
+      "y": -0.006347342312877063,
+      "z": -0.02317452282149679
+    },
+    "orientation": {
+      "x": 0.3419896529027025,
+      "y": 0.21075248517367662,
+      "z": 0.3985479593678682,
+      "w": 0.824491353128895
+    }
+  },
+  {
+    "timestamp": 1766137460.4246647,
+    "position": {
+      "x": 0.19129476392983907,
+      "y": -0.007499410104386206,
+      "z": -0.018891626453007557
+    },
+    "orientation": {
+      "x": 0.33356158404195085,
+      "y": 0.21465839449216337,
+      "z": 0.3970711942743047,
+      "w": 0.8276429846274592
+    }
+  },
+  {
+    "timestamp": 1766137460.5573547,
+    "position": {
+      "x": 0.18840450264534014,
+      "y": -0.0058236579188517545,
+      "z": -0.022766231793629632
+    },
+    "orientation": {
+      "x": 0.3406163078700787,
+      "y": 0.20318997295573468,
+      "z": 0.39284020255622204,
+      "w": 0.829681228520201
+    }
+  },
+  {
+    "timestamp": 1766137460.6900449,
+    "position": {
+      "x": 0.18571701482295763,
+      "y": -0.003875724392948393,
+      "z": -0.027808071249126265
+    },
+    "orientation": {
+      "x": 0.3504179034485107,
+      "y": 0.1938536132267555,
+      "z": 0.3907966011314355,
+      "w": 0.8287979766660869
+    }
+  },
+  {
+    "timestamp": 1766137460.8227358,
+    "position": {
+      "x": 0.18183183990087104,
+      "y": -0.0012820701087146447,
+      "z": -0.03535999692620061
+    },
+    "orientation": {
+      "x": 0.36460764244129984,
+      "y": 0.1787484694468835,
+      "z": 0.38811979805503244,
+      "w": 0.8273289999157013
+    }
+  },
+  {
+    "timestamp": 1766137460.9554257,
+    "position": {
+      "x": 0.17823772055274503,
+      "y": 0.0007166147978318604,
+      "z": -0.042493974255814124
+    },
+    "orientation": {
+      "x": 0.3781874271582754,
+      "y": 0.16683046062984808,
+      "z": 0.3885339017043025,
+      "w": 0.8235188368045192
+    }
+  },
+  {
+    "timestamp": 1766137461.0881157,
+    "position": {
+      "x": 0.1777854148211092,
+      "y": 0.0012771812291325346,
+      "z": -0.04525869017684729
+    },
+    "orientation": {
+      "x": 0.38377636249168606,
+      "y": 0.16167600333740562,
+      "z": 0.3908622168386997,
+      "w": 0.8208552253506282
+    }
+  },
+  {
+    "timestamp": 1766137461.220806,
+    "position": {
+      "x": 0.18185045830698882,
+      "y": -0.0010096058989944312,
+      "z": -0.041037030450689585
+    },
+    "orientation": {
+      "x": 0.37147048338157834,
+      "y": 0.17148436790799973,
+      "z": 0.39557717368526324,
+      "w": 0.822266070805934
+    }
+  },
+  {
+    "timestamp": 1766137461.3534958,
+    "position": {
+      "x": 0.1845754375989893,
+      "y": -0.0021055207306470702,
+      "z": -0.037074287653630605
+    },
+    "orientation": {
+      "x": 0.36309447728386696,
+      "y": 0.17677132264409953,
+      "z": 0.3972492644117655,
+      "w": 0.8240796818153705
+    }
+  },
+  {
+    "timestamp": 1766137461.4861858,
+    "position": {
+      "x": 0.1861713073918252,
+      "y": -0.004406076390361557,
+      "z": -0.03228425268278441
+    },
+    "orientation": {
+      "x": 0.3547748885053545,
+      "y": 0.19137185296029993,
+      "z": 0.39634724418467654,
+      "w": 0.8248760236591721
+    }
+  },
+  {
+    "timestamp": 1766137461.6188757,
+    "position": {
+      "x": 0.18973680043244667,
+      "y": -0.005680034668979733,
+      "z": -0.026308470771179385
+    },
+    "orientation": {
+      "x": 0.34176519919195353,
+      "y": 0.19739741201492855,
+      "z": 0.3988821012402203,
+      "w": 0.8277221029193794
+    }
+  }
+]
\ No newline at end of file
diff --git a/recorded_gelsight_pose/episode_110/session_info.json b/recorded_gelsight_pose/episode_110/session_info.json
new file mode 100644
index 0000000000000000000000000000000000000000..651d15a23f299a54146173fca0e1eead642a7599
--- /dev/null
+++ b/recorded_gelsight_pose/episode_110/session_info.json
@@ -0,0 +1,12 @@
+{
+  "session_id": 60,
+  "start_time": "2025-12-19T21:20:00.503433",
+  "ros_start_time": 1766150400.5034544,
+  "image_topic": "/gelsight_img",
+  "pose_topic": "/pose",
+  "image_format": "png",
+  "end_time": "2025-12-19T21:20:04.808119",
+  "ros_end_time": 1766150404.808127,
+  "total_images": 107,
+  "total_pose_frames": 32
+}
\ No newline at end of file
diff --git a/recorded_gelsight_pose/episode_118/image_index.json b/recorded_gelsight_pose/episode_118/image_index.json
new file mode 100644
index 0000000000000000000000000000000000000000..9fe0614c7cea39006664d1b3a8ed8a69a2c0cf26
--- /dev/null
+++ b/recorded_gelsight_pose/episode_118/image_index.json
@@ -0,0 +1,402 @@
+[
+  {
+    "timestamp": 1766150596.4012752,
+    "filename": "img_000000.png"
+  },
+  {
+    "timestamp": 1766150596.4413137,
+    "filename": "img_000001.png"
+  },
+  {
+    "timestamp": 1766150596.4842184,
+    "filename": "img_000002.png"
+  },
+  {
+    "timestamp": 1766150596.526754,
+    "filename": "img_000003.png"
+  },
+  {
+    "timestamp": 1766150596.5587335,
+    "filename": "img_000004.png"
+  },
+  {
+    "timestamp": 1766150596.5982597,
+    "filename": "img_000005.png"
+  },
+  {
+    "timestamp": 1766150596.6393163,
+    "filename": "img_000006.png"
+  },
+  {
+    "timestamp": 1766150596.6785717,
+    "filename": "img_000007.png"
+  },
+  {
+    "timestamp": 1766150596.7178314,
+    "filename": "img_000008.png"
+  },
+  {
+    "timestamp": 1766150596.7572432,
+    "filename": "img_000009.png"
+  },
+  {
+    "timestamp": 1766150596.7993495,
+    "filename": "img_000010.png"
+  },
+  {
+    "timestamp": 1766150596.8384838,
+    "filename": "img_000011.png"
+  },
+  {
+    "timestamp": 1766150596.880514,
+    "filename": "img_000012.png"
+  },
+  {
+    "timestamp": 1766150596.9192963,
+    "filename": "img_000013.png"
+  },
+  {
+    "timestamp": 1766150596.9616947,
+    "filename": "img_000014.png"
+  },
+  {
+    "timestamp": 1766150597.004831,
+    "filename": "img_000015.png"
+  },
+  {
+    "timestamp": 1766150597.0472069,
+    "filename": "img_000016.png"
+  },
+  {
+    "timestamp": 1766150597.0838184,
+    "filename": "img_000017.png"
+  },
+  {
+    "timestamp": 1766150597.1216626,
+    "filename": "img_000018.png"
+  },
+  {
+    "timestamp": 1766150597.1607258,
+    "filename": "img_000019.png"
+  },
+  {
+    "timestamp": 1766150597.201094,
+    "filename": "img_000020.png"
+  },
+  {
+    "timestamp": 1766150597.2400389,
+    "filename": "img_000021.png"
+  },
+  {
+    "timestamp": 1766150597.2811096,
+    "filename": "img_000022.png"
+  },
+  {
+    "timestamp": 1766150597.319851,
+    "filename": "img_000023.png"
+  },
+  {
+    "timestamp": 1766150597.3617055,
+    "filename": "img_000024.png"
+  },
+  {
+    "timestamp": 1766150597.4002557,
+    "filename": "img_000025.png"
+  },
+  {
+    "timestamp": 1766150597.4430535,
+    "filename": "img_000026.png"
+  },
+  {
+    "timestamp": 1766150597.4801164,
+    "filename": "img_000027.png"
+  },
+  {
+    "timestamp": 1766150597.5184908,
+    "filename": "img_000028.png"
+  },
+  {
+    "timestamp": 1766150597.560753,
+    "filename": "img_000029.png"
+  },
+  {
+    "timestamp": 1766150597.6022654,
+    "filename": "img_000030.png"
+  },
+  {
+    "timestamp": 1766150597.6436837,
+    "filename": "img_000031.png"
+  },
+  {
+    "timestamp": 1766150597.6813068,
+    "filename": "img_000032.png"
+  },
+  {
+    "timestamp": 1766150597.720675,
+    "filename": "img_000033.png"
+  },
+  {
+    "timestamp": 1766150597.763835,
+    "filename": "img_000034.png"
+  },
+  {
+    "timestamp": 1766150597.8055477,
+    "filename": "img_000035.png"
+  },
+  {
+    "timestamp": 1766150597.8424716,
+    "filename": "img_000036.png"
+  },
+  {
+    "timestamp": 1766150597.88327,
+    "filename": "img_000037.png"
+  },
+  {
+    "timestamp": 1766150597.923906,
+    "filename": "img_000038.png"
+  },
+  {
+    "timestamp": 1766150597.9643836,
+    "filename": "img_000039.png"
+  },
+  {
+    "timestamp": 1766150598.0001369,
+    "filename": "img_000040.png"
+  },
+  {
+    "timestamp": 1766150598.042567,
+    "filename": "img_000041.png"
+  },
+  {
+    "timestamp": 1766150598.0846968,
+    "filename": "img_000042.png"
+  },
+  {
+    "timestamp": 1766150598.1269994,
+    "filename": "img_000043.png"
+  },
+  {
+    "timestamp": 1766150598.1637914,
+    "filename": "img_000044.png"
+  },
+  {
+    "timestamp": 1766150598.2024906,
+    "filename": "img_000045.png"
+  },
+  {
+    "timestamp": 1766150598.2418072,
+    "filename": "img_000046.png"
+  },
+  {
+    "timestamp": 1766150598.2811692,
+    "filename": "img_000047.png"
+  },
+  {
+    "timestamp": 1766150598.3195171,
+    "filename": "img_000048.png"
+  },
+  {
+    "timestamp": 1766150598.35801,
+    "filename": "img_000049.png"
+  },
+  {
+    "timestamp": 1766150598.3989806,
+    "filename": "img_000050.png"
+  },
+  {
+    "timestamp": 1766150598.4399705,
+    "filename": "img_000051.png"
+  },
+  {
+    "timestamp": 1766150598.4797776,
+    "filename": "img_000052.png"
+  },
+  {
+    "timestamp": 1766150598.5183299,
+    "filename": "img_000053.png"
+  },
+  {
+    "timestamp": 1766150598.5635562,
+    "filename": "img_000054.png"
+  },
+  {
+    "timestamp": 1766150598.602555,
+    "filename": "img_000055.png"
+  },
+  {
+    "timestamp": 1766150598.6404223,
+    "filename": "img_000056.png"
+  },
+  {
+    "timestamp": 1766150598.6798813,
+    "filename": "img_000057.png"
+  },
+  {
+    "timestamp": 1766150598.7196553,
+    "filename": "img_000058.png"
+  },
+  {
+    "timestamp": 1766150598.762182,
+    "filename": "img_000059.png"
+  },
+  {
+    "timestamp": 1766150598.7984188,
+    "filename": "img_000060.png"
+  },
+  {
+    "timestamp": 1766150598.8385203,
+    "filename": "img_000061.png"
+  },
+  {
+    "timestamp": 1766150598.8803046,
+    "filename": "img_000062.png"
+  },
+  {
+    "timestamp": 1766150598.9172366,
+    "filename": "img_000063.png"
+  },
+  {
+    "timestamp": 1766150598.961817,
+    "filename": "img_000064.png"
+  },
+  {
+    "timestamp": 1766150599.0017476,
+    "filename": "img_000065.png"
+  },
+  {
+    "timestamp": 1766150599.0403466,
+    "filename": "img_000066.png"
+  },
+  {
+    "timestamp": 1766150599.0792704,
+    "filename": "img_000067.png"
+  },
+  {
+    "timestamp": 1766150599.118367,
+    "filename": "img_000068.png"
+  },
+  {
+    "timestamp": 1766150599.157635,
+    "filename": "img_000069.png"
+  },
+  {
+    "timestamp": 1766150599.1990602,
+    "filename": "img_000070.png"
+  },
+  {
+    "timestamp": 1766150599.2390783,
+    "filename": "img_000071.png"
+  },
+  {
+    "timestamp": 1766150599.2789087,
+    "filename": "img_000072.png"
+  },
+  {
+    "timestamp": 1766150599.3211138,
+    "filename": "img_000073.png"
+  },
+  {
+    "timestamp": 1766150599.3601775,
+    "filename": "img_000074.png"
+  },
+  {
+    "timestamp": 1766150599.4002693,
+    "filename": "img_000075.png"
+  },
+  {
+    "timestamp": 1766150599.4382038,
+    "filename": "img_000076.png"
+  },
+  {
+    "timestamp": 1766150599.478482,
+    "filename": "img_000077.png"
+  },
+  {
+    "timestamp": 1766150599.519037,
+    "filename": "img_000078.png"
+  },
+  {
+    "timestamp": 1766150599.5639937,
+    "filename": "img_000079.png"
+  },
+  {
+    "timestamp": 1766150599.6009297,
+    "filename": "img_000080.png"
+  },
+  {
+    "timestamp": 1766150599.6381667,
+    "filename": "img_000081.png"
+  },
+  {
+    "timestamp": 1766150599.6802323,
+    "filename": "img_000082.png"
+  },
+  {
+    "timestamp": 1766150599.7173088,
+    "filename": "img_000083.png"
+  },
+  {
+    "timestamp": 1766150599.7565875,
+    "filename": "img_000084.png"
+  },
+  {
+    "timestamp": 1766150599.7992156,
+    "filename": "img_000085.png"
+  },
+  {
+    "timestamp": 1766150599.8406224,
+    "filename": "img_000086.png"
+  },
+  {
+    "timestamp": 1766150599.8792586,
+    "filename": "img_000087.png"
+  },
+  {
+    "timestamp": 1766150599.917164,
+    "filename": "img_000088.png"
+  },
+  {
+    "timestamp": 1766150599.9577892,
+    "filename": "img_000089.png"
+  },
+  {
+    "timestamp": 1766150600.001168,
+    "filename": "img_000090.png"
+  },
+  {
+    "timestamp": 1766150600.0386875,
+    "filename": "img_000091.png"
+  },
+  {
+    "timestamp": 1766150600.078801,
+    "filename": "img_000092.png"
+  },
+  {
+    "timestamp": 1766150600.1197157,
+    "filename": "img_000093.png"
+  },
+  {
+    "timestamp": 1766150600.15846,
+    "filename": "img_000094.png"
+  },
+  {
+    "timestamp": 1766150600.1992679,
+    "filename": "img_000095.png"
+  },
+  {
+    "timestamp": 1766150600.2412086,
+    "filename": "img_000096.png"
+  },
+  {
+    "timestamp": 1766150600.2789707,
+    "filename": "img_000097.png"
+  },
+  {
+    "timestamp": 1766150600.3178287,
+    "filename": "img_000098.png"
+  },
+  {
+    "timestamp": 1766150600.3601108,
+    "filename": "img_000099.png"
+  }
+]
\ No newline at end of file
diff --git a/recorded_gelsight_pose/episode_118/pose_data.json b/recorded_gelsight_pose/episode_118/pose_data.json
new file mode 100644
index 0000000000000000000000000000000000000000..fe3551ae2b4501fa5408937afe7ef19380f91e06
--- /dev/null
+++ b/recorded_gelsight_pose/episode_118/pose_data.json
@@ -0,0 +1,422 @@
+[
+  {
+    "timestamp": 1766137652.6262867,
+    "position": {
+      "x": 0.18476527533862552,
+      "y": 0.0009545069109002102,
+      "z": -0.03952307482517771
+    },
+    "orientation": {
+      "x": 0.3813242158899309,
+      "y": 0.18623640510914674,
+      "z": 0.3987604567370281,
+      "w": 0.8129562976758516
+    }
+  },
+  {
+    "timestamp": 1766137652.7589767,
+    "position": {
+      "x": 0.18538366315770155,
+      "y": 0.00041446526298360986,
+      "z": -0.03700778024647554
+    },
+    "orientation": {
+      "x": 0.37821077970465256,
+      "y": 0.19274089999745392,
+      "z": 0.3976258699434383,
+      "w": 0.8134501946247811
+    }
+  },
+  {
+    "timestamp": 1766137652.891667,
+    "position": {
+      "x": 0.18577912907923494,
+      "y": -0.0009239722355647018,
+      "z": -0.03245011763530552
+    },
+    "orientation": {
+      "x": 0.36822957978495713,
+      "y": 0.20090543324333124,
+      "z": 0.3946695211331651,
+      "w": 0.8174839157764643
+    }
+  },
+  {
+    "timestamp": 1766137653.0243568,
+    "position": {
+      "x": 0.1855662490591756,
+      "y": -0.003018606477107305,
+      "z": -0.02777728458421201
+    },
+    "orientation": {
+      "x": 0.35675190829331355,
+      "y": 0.20644670843508828,
+      "z": 0.389869972389976,
+      "w": 0.8234738836988311
+    }
+  },
+  {
+    "timestamp": 1766137653.1570468,
+    "position": {
+      "x": 0.18494522479556652,
+      "y": -0.004124893169386523,
+      "z": -0.02387795203595512
+    },
+    "orientation": {
+      "x": 0.35172512227320374,
+      "y": 0.21403571268529542,
+      "z": 0.38651812065356517,
+      "w": 0.8252768592803469
+    }
+  },
+  {
+    "timestamp": 1766137653.2897367,
+    "position": {
+      "x": 0.1866976145447505,
+      "y": -0.004288352738076595,
+      "z": -0.024259394287952527
+    },
+    "orientation": {
+      "x": 0.35473799278134305,
+      "y": 0.21531820429179413,
+      "z": 0.3919065592395712,
+      "w": 0.8211018671291774
+    }
+  },
+  {
+    "timestamp": 1766137653.4224267,
+    "position": {
+      "x": 0.1895961725742732,
+      "y": -0.005574224832634339,
+      "z": -0.023947258335306934
+    },
+    "orientation": {
+      "x": 0.35209467478024076,
+      "y": 0.21866065592986492,
+      "z": 0.39940943185206357,
+      "w": 0.8177340419031909
+    }
+  },
+  {
+    "timestamp": 1766137653.555117,
+    "position": {
+      "x": 0.19319016342283274,
+      "y": -0.007087895515222209,
+      "z": -0.02477593868994392
+    },
+    "orientation": {
+      "x": 0.34942717621377434,
+      "y": 0.21802928535760419,
+      "z": 0.4079733981537031,
+      "w": 0.8148138349639384
+    }
+  },
+  {
+    "timestamp": 1766137653.6878078,
+    "position": {
+      "x": 0.19536702071936152,
+      "y": -0.008237708783680103,
+      "z": -0.02538489587547578
+    },
+    "orientation": {
+      "x": 0.3468461216409388,
+      "y": 0.21707450160057326,
+      "z": 0.4124621786653557,
+      "w": 0.8139111621228264
+    }
+  },
+  {
+    "timestamp": 1766137653.8204978,
+    "position": {
+      "x": 0.19469576796386148,
+      "y": -0.008012987280341194,
+      "z": -0.024453895814223373
+    },
+    "orientation": {
+      "x": 0.34059299872248594,
+      "y": 0.21174224415284454,
+      "z": 0.409157934326996,
+      "w": 0.8196044265617454
+    }
+  },
+  {
+    "timestamp": 1766137653.9531877,
+    "position": {
+      "x": 0.19242916414450265,
+      "y": -0.006557736909098166,
+      "z": -0.02343025414174564
+    },
+    "orientation": {
+      "x": 0.3436788917673873,
+      "y": 0.21241191543246082,
+      "z": 0.4019445800143407,
+      "w": 0.8217095302678122
+    }
+  },
+  {
+    "timestamp": 1766137654.0858777,
+    "position": {
+      "x": 0.18973566908214537,
+      "y": -0.005925283545403698,
+      "z": -0.023102521309056726
+    },
+    "orientation": {
+      "x": 0.3459950052664026,
+      "y": 0.21364562492625921,
+      "z": 0.39625955358443166,
+      "w": 0.8231776050608017
+    }
+  },
+  {
+    "timestamp": 1766137654.2185678,
+    "position": {
+      "x": 0.1874265249271026,
+      "y": -0.0045348504520874855,
+      "z": -0.02285222939641919
+    },
+    "orientation": {
+      "x": 0.35024199479498414,
+      "y": 0.2123378489239697,
+      "z": 0.39022402348732643,
+      "w": 0.8246019612453843
+    }
+  },
+  {
+    "timestamp": 1766137654.3512578,
+    "position": {
+      "x": 0.18511780137547662,
+      "y": -0.0037292996934523426,
+      "z": -0.023312496107078834
+    },
+    "orientation": {
+      "x": 0.3529667776481226,
+      "y": 0.21136777468956894,
+      "z": 0.3856711579330222,
+      "w": 0.8258304157864871
+    }
+  },
+  {
+    "timestamp": 1766137654.4839478,
+    "position": {
+      "x": 0.18392836690011655,
+      "y": -0.003071224191152744,
+      "z": -0.0258639417703094
+    },
+    "orientation": {
+      "x": 0.3609001507090739,
+      "y": 0.20887440930663156,
+      "z": 0.387347046930588,
+      "w": 0.8222437762544186
+    }
+  },
+  {
+    "timestamp": 1766137654.6166377,
+    "position": {
+      "x": 0.1836560354754874,
+      "y": -0.002159547521894234,
+      "z": -0.030760596834690235
+    },
+    "orientation": {
+      "x": 0.36624833002567453,
+      "y": 0.19575594076078262,
+      "z": 0.39010062216976843,
+      "w": 0.8218048898570909
+    }
+  },
+  {
+    "timestamp": 1766137654.7493277,
+    "position": {
+      "x": 0.18085027333320944,
+      "y": 0.00033207006084562396,
+      "z": -0.03797856761050182
+    },
+    "orientation": {
+      "x": 0.3812439861844543,
+      "y": 0.18295001699694793,
+      "z": 0.390675852445176,
+      "w": 0.8176519385381771
+    }
+  },
+  {
+    "timestamp": 1766137654.8820179,
+    "position": {
+      "x": 0.17853701372393468,
+      "y": 0.002806866737068675,
+      "z": -0.044312509231965544
+    },
+    "orientation": {
+      "x": 0.3936212165731432,
+      "y": 0.17346956973462668,
+      "z": 0.390738095055419,
+      "w": 0.8138147131331703
+    }
+  },
+  {
+    "timestamp": 1766137655.0147088,
+    "position": {
+      "x": 0.17717342576046632,
+      "y": 0.004211365189637689,
+      "z": -0.04778770776239645
+    },
+    "orientation": {
+      "x": 0.4005888657774,
+      "y": 0.16892107031310366,
+      "z": 0.3915526500183925,
+      "w": 0.8109751875877744
+    }
+  },
+  {
+    "timestamp": 1766137655.1473987,
+    "position": {
+      "x": 0.178758845515524,
+      "y": 0.0037789185655052737,
+      "z": -0.04424444787125523
+    },
+    "orientation": {
+      "x": 0.4007337996883817,
+      "y": 0.18573282048717338,
+      "z": 0.39245124521486313,
+      "w": 0.8067823506438987
+    }
+  },
+  {
+    "timestamp": 1766137655.2800887,
+    "position": {
+      "x": 0.18191910059412314,
+      "y": 0.002949251705983841,
+      "z": -0.03898546485386871
+    },
+    "orientation": {
+      "x": 0.39339874110833467,
+      "y": 0.19612580230572396,
+      "z": 0.3942784669522194,
+      "w": 0.8070418766471299
+    }
+  },
+  {
+    "timestamp": 1766137655.4127789,
+    "position": {
+      "x": 0.18318217252739052,
+      "y": 0.0004722675295183443,
+      "z": -0.033665581563909516
+    },
+    "orientation": {
+      "x": 0.38386228761669067,
+      "y": 0.20980046605651545,
+      "z": 0.3937990807501416,
+      "w": 0.8084279761292857
+    }
+  },
+  {
+    "timestamp": 1766137655.5454688,
+    "position": {
+      "x": 0.18580998258668202,
+      "y": -0.002274501004221968,
+      "z": -0.027669704856435842
+    },
+    "orientation": {
+      "x": 0.37483185195813806,
+      "y": 0.226001190341283,
+      "z": 0.39616089959009254,
+      "w": 0.8071437829519127
+    }
+  },
+  {
+    "timestamp": 1766137655.6781588,
+    "position": {
+      "x": 0.1881643388158462,
+      "y": -0.004577794316213274,
+      "z": -0.022636719681656828
+    },
+    "orientation": {
+      "x": 0.36526653459705083,
+      "y": 0.2341596851534454,
+      "z": 0.3964515662015983,
+      "w": 0.8090585616681899
+    }
+  },
+  {
+    "timestamp": 1766137655.8108487,
+    "position": {
+      "x": 0.1871454154668265,
+      "y": -0.004038348705779182,
+      "z": -0.024829792006311274
+    },
+    "orientation": {
+      "x": 0.3699262153313467,
+      "y": 0.22726654212639183,
+      "z": 0.397023586661704,
+      "w": 0.8086264809383968
+    }
+  },
+  {
+    "timestamp": 1766137655.9435387,
+    "position": {
+      "x": 0.18476228089413302,
+      "y": -0.0011738916090192064,
+      "z": -0.031181735573375002
+    },
+    "orientation": {
+      "x": 0.386676218210932,
+      "y": 0.21420898882511671,
+      "z": 0.39721198938801316,
+      "w": 0.8042503632967967
+    }
+  },
+  {
+    "timestamp": 1766137656.0762289,
+    "position": {
+      "x": 0.1828710769724839,
+      "y": 0.0008451035183443534,
+      "z": -0.037477325100123984
+    },
+    "orientation": {
+      "x": 0.4004442498646075,
+      "y": 0.20637082488550063,
+      "z": 0.3998604576573352,
+      "w": 0.7982274737119214
+    }
+  },
+  {
+    "timestamp": 1766137656.2089198,
+    "position": {
+      "x": 0.1808374589147975,
+      "y": 0.0027904564701261847,
+      "z": -0.04364682683369535
+    },
+    "orientation": {
+      "x": 0.4110923607499687,
+      "y": 0.19352352677454634,
+      "z": 0.40192552004892845,
+      "w": 0.7949890514033243
+    }
+  },
+  {
+    "timestamp": 1766137656.3416097,
+    "position": {
+      "x": 0.1788430609110884,
+      "y": 0.004078211902226236,
+      "z": -0.04993836345340688
+    },
+    "orientation": {
+      "x": 0.4210473296707909,
+      "y": 0.18307659055277437,
+      "z": 0.4045867885909694,
+      "w": 0.7908929375499025
+    }
+  },
+  {
+    "timestamp": 1766137656.4742997,
+    "position": {
+      "x": 0.18153732093611666,
+      "y": 0.004171602777834571,
+      "z": -0.04754458064413608
+    },
+    "orientation": {
+      "x": 0.4188484405285605,
+      "y": 0.19601679459598922,
+      "z": 0.4075667800273401,
+      "w": 0.7874215642978369
+    }
+  }
+]
\ No newline at end of file
diff --git a/recorded_gelsight_pose/episode_118/session_info.json b/recorded_gelsight_pose/episode_118/session_info.json
new file mode 100644
index 0000000000000000000000000000000000000000..ac7df5560446db395b31149c2dffdc8f2b5f56df
--- /dev/null
+++ b/recorded_gelsight_pose/episode_118/session_info.json
@@ -0,0 +1,12 @@
+{
+  "session_id": 7,
+  "start_time": "2025-12-19T21:23:16.378042",
+  "ros_start_time": 1766150596.378096,
+  "image_topic": "/gelsight_img",
+  "pose_topic": "/pose",
+  "image_format": "png",
+  "end_time": "2025-12-19T21:23:20.379311",
+  "ros_end_time": 1766150600.3793182,
+  "total_images": 100,
+  "total_pose_frames": 30
+}
\ No newline at end of file
diff --git a/recorded_gelsight_pose/episode_121/image_index.json b/recorded_gelsight_pose/episode_121/image_index.json
new file mode 100644
index 0000000000000000000000000000000000000000..f2b94b55f41332235105760fc394ed3eb3fd0d60
--- /dev/null
+++ b/recorded_gelsight_pose/episode_121/image_index.json
@@ -0,0 +1,434 @@
+[
+  {
+    "timestamp": 1766150629.3610482,
+    "filename": "img_000000.png"
+  },
+  {
+    "timestamp": 1766150629.406646,
+    "filename": "img_000001.png"
+  },
+  {
+    "timestamp": 1766150629.4408672,
+    "filename": "img_000002.png"
+  },
+  {
+    "timestamp": 1766150629.4854841,
+    "filename": "img_000003.png"
+  },
+  {
+    "timestamp": 1766150629.5252686,
+    "filename": "img_000004.png"
+  },
+  {
+    "timestamp": 1766150629.560996,
+    "filename": "img_000005.png"
+  },
+  {
+    "timestamp": 1766150629.601924,
+    "filename": "img_000006.png"
+  },
+  {
+    "timestamp": 1766150629.6400015,
+    "filename": "img_000007.png"
+  },
+  {
+    "timestamp": 1766150629.6792898,
+    "filename": "img_000008.png"
+  },
+  {
+    "timestamp": 1766150629.7183182,
+    "filename": "img_000009.png"
+  },
+  {
+    "timestamp": 1766150629.7595987,
+    "filename": "img_000010.png"
+  },
+  {
+    "timestamp": 1766150629.7975051,
+    "filename": "img_000011.png"
+  },
+  {
+    "timestamp": 1766150629.8389006,
+    "filename": "img_000012.png"
+  },
+  {
+    "timestamp": 1766150629.878146,
+    "filename": "img_000013.png"
+  },
+  {
+    "timestamp": 1766150629.9188542,
+    "filename": "img_000014.png"
+  },
+  {
+    "timestamp": 1766150629.962984,
+    "filename": "img_000015.png"
+  },
+  {
+    "timestamp": 1766150629.9987216,
+    "filename": "img_000016.png"
+  },
+  {
+    "timestamp": 1766150630.041346,
+    "filename": "img_000017.png"
+  },
+  {
+    "timestamp": 1766150630.0803823,
+    "filename": "img_000018.png"
+  },
+  {
+    "timestamp": 1766150630.1190605,
+    "filename": "img_000019.png"
+  },
+  {
+    "timestamp": 1766150630.1592627,
+    "filename": "img_000020.png"
+  },
+  {
+    "timestamp": 1766150630.1998856,
+    "filename": "img_000021.png"
+  },
+  {
+    "timestamp": 1766150630.239393,
+    "filename": "img_000022.png"
+  },
+  {
+    "timestamp": 1766150630.2789578,
+    "filename": "img_000023.png"
+  },
+  {
+    "timestamp": 1766150630.3175614,
+    "filename": "img_000024.png"
+  },
+  {
+    "timestamp": 1766150630.3591025,
+    "filename": "img_000025.png"
+  },
+  {
+    "timestamp": 1766150630.3992078,
+    "filename": "img_000026.png"
+  },
+  {
+    "timestamp": 1766150630.4404616,
+    "filename": "img_000027.png"
+  },
+  {
+    "timestamp": 1766150630.4823182,
+    "filename": "img_000028.png"
+  },
+  {
+    "timestamp": 1766150630.5182607,
+    "filename": "img_000029.png"
+  },
+  {
+    "timestamp": 1766150630.565762,
+    "filename": "img_000030.png"
+  },
+  {
+    "timestamp": 1766150630.6001294,
+    "filename": "img_000031.png"
+  },
+  {
+    "timestamp": 1766150630.6409018,
+    "filename": "img_000032.png"
+  },
+  {
+    "timestamp": 1766150630.679599,
+    "filename": "img_000033.png"
+  },
+  {
+    "timestamp": 1766150630.7214339,
+    "filename": "img_000034.png"
+  },
+  {
+    "timestamp": 1766150630.7613997,
+    "filename": "img_000035.png"
+  },
+  {
+    "timestamp": 1766150630.7989821,
+    "filename": "img_000036.png"
+  },
+  {
+    "timestamp": 1766150630.8389437,
+    "filename": "img_000037.png"
+  },
+  {
+    "timestamp": 1766150630.8837197,
+    "filename": "img_000038.png"
+  },
+  {
+    "timestamp": 1766150630.9200325,
+    "filename": "img_000039.png"
+  },
+  {
+    "timestamp": 1766150630.9609034,
+    "filename": "img_000040.png"
+  },
+  {
+    "timestamp": 1766150631.0022871,
+    "filename": "img_000041.png"
+  },
+  {
+    "timestamp": 1766150631.0417917,
+    "filename": "img_000042.png"
+  },
+  {
+    "timestamp": 1766150631.084142,
+    "filename": "img_000043.png"
+  },
+  {
+    "timestamp": 1766150631.1216416,
+    "filename": "img_000044.png"
+  },
+  {
+    "timestamp": 1766150631.1606445,
+    "filename": "img_000045.png"
+  },
+  {
+    "timestamp": 1766150631.203237,
+    "filename": "img_000046.png"
+  },
+  {
+    "timestamp": 1766150631.2432606,
+    "filename": "img_000047.png"
+  },
+  {
+    "timestamp": 1766150631.2813702,
+    "filename": "img_000048.png"
+  },
+  {
+    "timestamp": 1766150631.3194823,
+    "filename": "img_000049.png"
+  },
+  {
+    "timestamp": 1766150631.3621626,
+    "filename": "img_000050.png"
+  },
+  {
+    "timestamp": 1766150631.3977334,
+    "filename": "img_000051.png"
+  },
+  {
+    "timestamp": 1766150631.4384973,
+    "filename": "img_000052.png"
+  },
+  {
+    "timestamp": 1766150631.4780967,
+    "filename": "img_000053.png"
+  },
+  {
+    "timestamp": 1766150631.518081,
+    "filename": "img_000054.png"
+  },
+  {
+    "timestamp": 1766150631.5621216,
+    "filename": "img_000055.png"
+  },
+  {
+    "timestamp": 1766150631.6029787,
+    "filename": "img_000056.png"
+  },
+  {
+    "timestamp": 1766150631.6395314,
+    "filename": "img_000057.png"
+  },
+  {
+    "timestamp": 1766150631.6798518,
+    "filename": "img_000058.png"
+  },
+  {
+    "timestamp": 1766150631.7182627,
+    "filename": "img_000059.png"
+  },
+  {
+    "timestamp": 1766150631.7588668,
+    "filename": "img_000060.png"
+  },
+  {
+    "timestamp": 1766150631.7970378,
+    "filename": "img_000061.png"
+  },
+  {
+    "timestamp": 1766150631.8391562,
+    "filename": "img_000062.png"
+  },
+  {
+    "timestamp": 1766150631.879433,
+    "filename": "img_000063.png"
+  },
+  {
+    "timestamp": 1766150631.9178793,
+    "filename": "img_000064.png"
+  },
+  {
+    "timestamp": 1766150631.9619303,
+    "filename": "img_000065.png"
+  },
+  {
+    "timestamp": 1766150631.9993613,
+    "filename": "img_000066.png"
+  },
+  {
+    "timestamp": 1766150632.0403383,
+    "filename": "img_000067.png"
+  },
+  {
+    "timestamp": 1766150632.0780919,
+    "filename": "img_000068.png"
+  },
+  {
+    "timestamp": 1766150632.116685,
+    "filename": "img_000069.png"
+  },
+  {
+    "timestamp": 1766150632.1579754,
+    "filename": "img_000070.png"
+  },
+  {
+    "timestamp": 1766150632.1976361,
+    "filename": "img_000071.png"
+  },
+  {
+    "timestamp": 1766150632.2383132,
+    "filename": "img_000072.png"
+  },
+  {
+    "timestamp": 1766150632.277819,
+    "filename": "img_000073.png"
+  },
+  {
+    "timestamp": 1766150632.3248599,
+    "filename": "img_000074.png"
+  },
+  {
+    "timestamp": 1766150632.3626533,
+    "filename": "img_000075.png"
+  },
+  {
+    "timestamp": 1766150632.399976,
+    "filename": "img_000076.png"
+  },
+  {
+    "timestamp": 1766150632.4416802,
+    "filename": "img_000077.png"
+  },
+  {
+    "timestamp": 1766150632.4812598,
+    "filename": "img_000078.png"
+  },
+  {
+    "timestamp": 1766150632.519726,
+    "filename": "img_000079.png"
+  },
+  {
+    "timestamp": 1766150632.5590603,
+    "filename": "img_000080.png"
+  },
+  {
+    "timestamp": 1766150632.598319,
+    "filename": "img_000081.png"
+  },
+  {
+    "timestamp": 1766150632.639602,
+    "filename": "img_000082.png"
+  },
+  {
+    "timestamp": 1766150632.6801512,
+    "filename": "img_000083.png"
+  },
+  {
+    "timestamp": 1766150632.7202647,
+    "filename": "img_000084.png"
+  },
+  {
+    "timestamp": 1766150632.757951,
+    "filename": "img_000085.png"
+  },
+  {
+    "timestamp": 1766150632.7985191,
+    "filename": "img_000086.png"
+  },
+  {
+    "timestamp": 1766150632.8408663,
+    "filename": "img_000087.png"
+  },
+  {
+    "timestamp": 1766150632.878796,
+    "filename": "img_000088.png"
+  },
+  {
+    "timestamp": 1766150632.9179544,
+    "filename": "img_000089.png"
+  },
+  {
+    "timestamp": 1766150632.9613082,
+    "filename": "img_000090.png"
+  },
+  {
+    "timestamp": 1766150632.9996867,
+    "filename": "img_000091.png"
+  },
+  {
+    "timestamp": 1766150633.038818,
+    "filename": "img_000092.png"
+  },
+  {
+    "timestamp": 1766150633.0777776,
+    "filename": "img_000093.png"
+  },
+  {
+    "timestamp": 1766150633.1199284,
+    "filename": "img_000094.png"
+  },
+  {
+    "timestamp": 1766150633.1584353,
+    "filename": "img_000095.png"
+  },
+  {
+    "timestamp": 1766150633.199035,
+    "filename": "img_000096.png"
+  },
+  {
+    "timestamp": 1766150633.239328,
+    "filename": "img_000097.png"
+  },
+  {
+    "timestamp": 1766150633.2795446,
+    "filename": "img_000098.png"
+  },
+  {
+    "timestamp": 1766150633.3177545,
+    "filename": "img_000099.png"
+  },
+  {
+    "timestamp": 1766150633.3631134,
+    "filename": "img_000100.png"
+  },
+  {
+    "timestamp": 1766150633.4039853,
+    "filename": "img_000101.png"
+  },
+  {
+    "timestamp": 1766150633.4399881,
+    "filename": "img_000102.png"
+  },
+  {
+    "timestamp": 1766150633.4806042,
+    "filename": "img_000103.png"
+  },
+  {
+    "timestamp": 1766150633.5197113,
+    "filename": "img_000104.png"
+  },
+  {
+    "timestamp": 1766150633.5577526,
+    "filename": "img_000105.png"
+  },
+  {
+    "timestamp": 1766150633.6021514,
+    "filename": "img_000106.png"
+  },
+  {
+    "timestamp": 1766150633.6394167,
+    "filename": "img_000107.png"
+  }
+]
\ No newline at end of file
diff --git a/recorded_gelsight_pose/episode_121/pose_data.json b/recorded_gelsight_pose/episode_121/pose_data.json
new file mode 100644
index 0000000000000000000000000000000000000000..f84a504b937ee6bfc91137f119822f67d08ca184
--- /dev/null
+++ b/recorded_gelsight_pose/episode_121/pose_data.json
@@ -0,0 +1,464 @@
+[
+  {
+    "timestamp": 1766137685.4007428,
+    "position": {
+      "x": 0.18106888569621926,
+      "y": 5.4644645955781446e-05,
+      "z": -0.028902963046351718
+    },
+    "orientation": {
+      "x": 0.3921932975940888,
+      "y": 0.2258782582801819,
+      "z": 0.38479444587386674,
+      "w": 0.8044231872486085
+    }
+  },
+  {
+    "timestamp": 1766137685.5334327,
+    "position": {
+      "x": 0.17884871273278835,
+      "y": 0.0003651805121819285,
+      "z": -0.028407173297198773
+    },
+    "orientation": {
+      "x": 0.3952358267602387,
+      "y": 0.22811211486889893,
+      "z": 0.3804470677183701,
+      "w": 0.8043715142642004
+    }
+  },
+  {
+    "timestamp": 1766137685.6661239,
+    "position": {
+      "x": 0.17538319913057446,
+      "y": 0.00031235328318374167,
+      "z": -0.02721173424447587
+    },
+    "orientation": {
+      "x": 0.3960117445351214,
+      "y": 0.23106017057339673,
+      "z": 0.3724695897033344,
+      "w": 0.8068781199853373
+    }
+  },
+  {
+    "timestamp": 1766137685.7988138,
+    "position": {
+      "x": 0.1723749743227651,
+      "y": 0.0013135891462929539,
+      "z": -0.026487527551713644
+    },
+    "orientation": {
+      "x": 0.3995651478453475,
+      "y": 0.2328785043764928,
+      "z": 0.36614264607700336,
+      "w": 0.8074991378016597
+    }
+  },
+  {
+    "timestamp": 1766137685.9315038,
+    "position": {
+      "x": 0.16984305263142757,
+      "y": 0.0018352231974327893,
+      "z": -0.026351447676867104
+    },
+    "orientation": {
+      "x": 0.4011485541651223,
+      "y": 0.23064450020697821,
+      "z": 0.36033511142995056,
+      "w": 0.8099639248054633
+    }
+  },
+  {
+    "timestamp": 1766137686.0641937,
+    "position": {
+      "x": 0.16944941053544188,
+      "y": 0.002498587205703229,
+      "z": -0.026660675035557024
+    },
+    "orientation": {
+      "x": 0.4007361644991218,
+      "y": 0.22653704819414336,
+      "z": 0.35889471690515856,
+      "w": 0.811964330765572
+    }
+  },
+  {
+    "timestamp": 1766137686.1968837,
+    "position": {
+      "x": 0.16947622971288817,
+      "y": 0.003050346535170001,
+      "z": -0.029376602822250214
+    },
+    "orientation": {
+      "x": 0.4056667275660506,
+      "y": 0.2231489613578404,
+      "z": 0.36275702592758563,
+      "w": 0.8087313443480113
+    }
+  },
+  {
+    "timestamp": 1766137686.3295739,
+    "position": {
+      "x": 0.17367213756900798,
+      "y": 0.003029408254324989,
+      "z": -0.031360843805570124
+    },
+    "orientation": {
+      "x": 0.4034046569996889,
+      "y": 0.2181210358849276,
+      "z": 0.3714681366246584,
+      "w": 0.8072789603898107
+    }
+  },
+  {
+    "timestamp": 1766137686.4622638,
+    "position": {
+      "x": 0.17638318259166125,
+      "y": 0.0025451383078536893,
+      "z": -0.03358135925893499
+    },
+    "orientation": {
+      "x": 0.4023291272852893,
+      "y": 0.21394402424315517,
+      "z": 0.3797077110268411,
+      "w": 0.8050970637229145
+    }
+  },
+  {
+    "timestamp": 1766137686.5949538,
+    "position": {
+      "x": 0.17979007239656897,
+      "y": 0.0015429443791725173,
+      "z": -0.035154305838727765
+    },
+    "orientation": {
+      "x": 0.3972578952260737,
+      "y": 0.20972496125995005,
+      "z": 0.3888536385817626,
+      "w": 0.8043596540520829
+    }
+  },
+  {
+    "timestamp": 1766137686.7276437,
+    "position": {
+      "x": 0.1819888522630576,
+      "y": 0.0006638338710040215,
+      "z": -0.03663346877172667
+    },
+    "orientation": {
+      "x": 0.3915228234959605,
+      "y": 0.2031587072658554,
+      "z": 0.39363527132951115,
+      "w": 0.806528171553331
+    }
+  },
+  {
+    "timestamp": 1766137686.8603349,
+    "position": {
+      "x": 0.18507488634869607,
+      "y": 0.00034586273681591617,
+      "z": -0.03837209729531653
+    },
+    "orientation": {
+      "x": 0.3896669331824333,
+      "y": 0.19825012934007794,
+      "z": 0.4014322319477816,
+      "w": 0.8048035353763437
+    }
+  },
+  {
+    "timestamp": 1766137686.9930248,
+    "position": {
+      "x": 0.1864688560650883,
+      "y": -5.629324674369385e-05,
+      "z": -0.039352058323540856
+    },
+    "orientation": {
+      "x": 0.387480579950836,
+      "y": 0.1950977604014765,
+      "z": 0.4038850448237752,
+      "w": 0.8054020949904396
+    }
+  },
+  {
+    "timestamp": 1766137687.1257148,
+    "position": {
+      "x": 0.18523878172125707,
+      "y": 0.0005696324836444167,
+      "z": -0.03865248363112703
+    },
+    "orientation": {
+      "x": 0.3884493553099608,
+      "y": 0.1956571067805126,
+      "z": 0.3994307365687183,
+      "w": 0.8070195050986848
+    }
+  },
+  {
+    "timestamp": 1766137687.2584047,
+    "position": {
+      "x": 0.18252450643572712,
+      "y": 0.001420098302027134,
+      "z": -0.03728072127503998
+    },
+    "orientation": {
+      "x": 0.39103223347417765,
+      "y": 0.1990839864134935,
+      "z": 0.3911072387485223,
+      "w": 0.8090083352700479
+    }
+  },
+  {
+    "timestamp": 1766137687.3910947,
+    "position": {
+      "x": 0.17882257004618995,
+      "y": 0.0030352996830216306,
+      "z": -0.03603063445207909
+    },
+    "orientation": {
+      "x": 0.39486382274015636,
+      "y": 0.198907921376616,
+      "z": 0.38243692739068824,
+      "w": 0.811332359069102
+    }
+  },
+  {
+    "timestamp": 1766137687.5237849,
+    "position": {
+      "x": 0.17410238657125104,
+      "y": 0.0034830401213651885,
+      "z": -0.03542857949714452
+    },
+    "orientation": {
+      "x": 0.398499805024332,
+      "y": 0.20003276730643446,
+      "z": 0.3721357288112657,
+      "w": 0.8140637547154443
+    }
+  },
+  {
+    "timestamp": 1766137687.6564748,
+    "position": {
+      "x": 0.17067859289863932,
+      "y": 0.0044772753221751505,
+      "z": -0.03473592142968053
+    },
+    "orientation": {
+      "x": 0.4032004492074607,
+      "y": 0.2039335164033997,
+      "z": 0.36546400137993434,
+      "w": 0.8138037738555982
+    }
+  },
+  {
+    "timestamp": 1766137687.7891648,
+    "position": {
+      "x": 0.1699753861969813,
+      "y": 0.00476172989853077,
+      "z": -0.03511933842371927
+    },
+    "orientation": {
+      "x": 0.40797116608408457,
+      "y": 0.2060240017202171,
+      "z": 0.36525590077363834,
+      "w": 0.810988141287663
+    }
+  },
+  {
+    "timestamp": 1766137687.9218547,
+    "position": {
+      "x": 0.17282227818840756,
+      "y": 0.004375402456476968,
+      "z": -0.036904102440836736
+    },
+    "orientation": {
+      "x": 0.4066769550659965,
+      "y": 0.20144227347001142,
+      "z": 0.3729748287233415,
+      "w": 0.8092741450313835
+    }
+  },
+  {
+    "timestamp": 1766137688.0545447,
+    "position": {
+      "x": 0.1771903037826823,
+      "y": 0.004292500362546275,
+      "z": -0.03960943873397278
+    },
+    "orientation": {
+      "x": 0.4036313742716663,
+      "y": 0.19380520246658905,
+      "z": 0.38302958962083766,
+      "w": 0.8079663301619339
+    }
+  },
+  {
+    "timestamp": 1766137688.1872358,
+    "position": {
+      "x": 0.18002556411115617,
+      "y": 0.0032274618324376614,
+      "z": -0.04326440063344174
+    },
+    "orientation": {
+      "x": 0.4015225649004467,
+      "y": 0.18690335045763823,
+      "z": 0.39393535488366543,
+      "w": 0.8053953710049221
+    }
+  },
+  {
+    "timestamp": 1766137688.3199258,
+    "position": {
+      "x": 0.18193320039021094,
+      "y": 0.0031447063549448206,
+      "z": -0.045839536767020836
+    },
+    "orientation": {
+      "x": 0.40222951715226846,
+      "y": 0.18090486888025803,
+      "z": 0.39953356546632307,
+      "w": 0.8036527695545116
+    }
+  },
+  {
+    "timestamp": 1766137688.4526157,
+    "position": {
+      "x": 0.18060173606940985,
+      "y": 0.0035523146701813557,
+      "z": -0.04534064934681194
+    },
+    "orientation": {
+      "x": 0.40348880370193646,
+      "y": 0.18153242326872085,
+      "z": 0.39459671336357194,
+      "w": 0.8053174519355912
+    }
+  },
+  {
+    "timestamp": 1766137688.5853057,
+    "position": {
+      "x": 0.17822204354377746,
+      "y": 0.004743495680569754,
+      "z": -0.04345663167940088
+    },
+    "orientation": {
+      "x": 0.4090978740411563,
+      "y": 0.18849523084876577,
+      "z": 0.3895744026366794,
+      "w": 0.8033307302802196
+    }
+  },
+  {
+    "timestamp": 1766137688.717996,
+    "position": {
+      "x": 0.17495284720155987,
+      "y": 0.005326574273711415,
+      "z": -0.03960682762642212
+    },
+    "orientation": {
+      "x": 0.4097627595185369,
+      "y": 0.19849608718656309,
+      "z": 0.37861665620044627,
+      "w": 0.8058183492146175
+    }
+  },
+  {
+    "timestamp": 1766137688.8506858,
+    "position": {
+      "x": 0.17205412075200285,
+      "y": 0.005646259159820977,
+      "z": -0.036463433674471954
+    },
+    "orientation": {
+      "x": 0.41175176778623446,
+      "y": 0.2071765226446726,
+      "z": 0.36977591607509747,
+      "w": 0.8067243284298514
+    }
+  },
+  {
+    "timestamp": 1766137688.9833758,
+    "position": {
+      "x": 0.16983307998861258,
+      "y": 0.005433528476195881,
+      "z": -0.033545018236900634
+    },
+    "orientation": {
+      "x": 0.4128718140482957,
+      "y": 0.21496152927725046,
+      "z": 0.36460711579581784,
+      "w": 0.8064676417602323
+    }
+  },
+  {
+    "timestamp": 1766137689.1160657,
+    "position": {
+      "x": 0.1695594381553755,
+      "y": 0.0033587298045431035,
+      "z": -0.030006377766425285
+    },
+    "orientation": {
+      "x": 0.40550886314117623,
+      "y": 0.2244524805371658,
+      "z": 0.3625977315135698,
+      "w": 0.8085212000905586
+    }
+  },
+  {
+    "timestamp": 1766137689.2487557,
+    "position": {
+      "x": 0.17299393858365775,
+      "y": 0.0031442285997869968,
+      "z": -0.030310817738784537
+    },
+    "orientation": {
+      "x": 0.4034710633297885,
+      "y": 0.2234086570187829,
+      "z": 0.3701920802347439,
+      "w": 0.8063854517264473
+    }
+  },
+  {
+    "timestamp": 1766137689.3814468,
+    "position": {
+      "x": 0.17712413549921235,
+      "y": 0.0017151242881665307,
+      "z": -0.0304479827949186
+    },
+    "orientation": {
+      "x": 0.3993202234457212,
+      "y": 0.22494890994845845,
+      "z": 0.37889474458279504,
+      "w": 0.8039776860011714
+    }
+  },
+  {
+    "timestamp": 1766137689.5141368,
+    "position": {
+      "x": 0.1821130567478022,
+      "y": -0.001260056639044993,
+      "z": -0.02798164094780556
+    },
+    "orientation": {
+      "x": 0.3898804083430519,
+      "y": 0.23383824483817278,
+      "z": 0.38976771295510393,
+      "w": 0.8008708212808139
+    }
+  },
+  {
+    "timestamp": 1766137689.6468267,
+    "position": {
+      "x": 0.18420946303751076,
+      "y": -0.0019098200783070896,
+      "z": -0.02637186979374896
+    },
+    "orientation": {
+      "x": 0.3820639239699712,
+      "y": 0.23081506592463624,
+      "z": 0.3912046969197096,
+      "w": 0.8048046026526142
+    }
+  }
+]
\ No newline at end of file
diff --git a/recorded_gelsight_pose/episode_121/session_info.json b/recorded_gelsight_pose/episode_121/session_info.json
new file mode 100644
index 0000000000000000000000000000000000000000..382b7d5bef3fa364ae385efbc1389b47c2ef8780
--- /dev/null
+++ b/recorded_gelsight_pose/episode_121/session_info.json
@@ -0,0 +1,12 @@
+{
+  "session_id": 10,
+  "start_time": "2025-12-19T21:23:49.340316",
+  "ros_start_time": 1766150629.3403432,
+  "image_topic": "/gelsight_img",
+  "pose_topic": "/pose",
+  "image_format": "png",
+  "end_time": "2025-12-19T21:23:53.656712",
+  "ros_end_time": 1766150633.6567252,
+  "total_images": 108,
+  "total_pose_frames": 33
+}
\ No newline at end of file
diff --git a/recorded_gelsight_pose/episode_122/image_index.json b/recorded_gelsight_pose/episode_122/image_index.json
new file mode 100644
index 0000000000000000000000000000000000000000..ddb35e3033eb6ad3bcff5124a87db66cdb1e5755
--- /dev/null
+++ b/recorded_gelsight_pose/episode_122/image_index.json
@@ -0,0 +1,394 @@
+[
+  {
+    "timestamp": 1766150634.602832,
+    "filename": "img_000000.png"
+  },
+  {
+    "timestamp": 1766150634.643033,
+    "filename": "img_000001.png"
+  },
+  {
+    "timestamp": 1766150634.6820707,
+    "filename": "img_000002.png"
+  },
+  {
+    "timestamp": 1766150634.7193973,
+    "filename": "img_000003.png"
+  },
+  {
+    "timestamp": 1766150634.7598825,
+    "filename": "img_000004.png"
+  },
+  {
+    "timestamp": 1766150634.7986143,
+    "filename": "img_000005.png"
+  },
+  {
+    "timestamp": 1766150634.8397636,
+    "filename": "img_000006.png"
+  },
+  {
+    "timestamp": 1766150634.8796725,
+    "filename": "img_000007.png"
+  },
+  {
+    "timestamp": 1766150634.9185188,
+    "filename": "img_000008.png"
+  },
+  {
+    "timestamp": 1766150634.9595578,
+    "filename": "img_000009.png"
+  },
+  {
+    "timestamp": 1766150634.9995263,
+    "filename": "img_000010.png"
+  },
+  {
+    "timestamp": 1766150635.038697,
+    "filename": "img_000011.png"
+  },
+  {
+    "timestamp": 1766150635.078726,
+    "filename": "img_000012.png"
+  },
+  {
+    "timestamp": 1766150635.1177235,
+    "filename": "img_000013.png"
+  },
+  {
+    "timestamp": 1766150635.158603,
+    "filename": "img_000014.png"
+  },
+  {
+    "timestamp": 1766150635.1988165,
+    "filename": "img_000015.png"
+  },
+  {
+    "timestamp": 1766150635.243273,
+    "filename": "img_000016.png"
+  },
+  {
+    "timestamp": 1766150635.2802541,
+    "filename": "img_000017.png"
+  },
+  {
+    "timestamp": 1766150635.3197422,
+    "filename": "img_000018.png"
+  },
+  {
+    "timestamp": 1766150635.3591142,
+    "filename": "img_000019.png"
+  },
+  {
+    "timestamp": 1766150635.3995838,
+    "filename": "img_000020.png"
+  },
+  {
+    "timestamp": 1766150635.439005,
+    "filename": "img_000021.png"
+  },
+  {
+    "timestamp": 1766150635.478502,
+    "filename": "img_000022.png"
+  },
+  {
+    "timestamp": 1766150635.518956,
+    "filename": "img_000023.png"
+  },
+  {
+    "timestamp": 1766150635.5607462,
+    "filename": "img_000024.png"
+  },
+  {
+    "timestamp": 1766150635.6010642,
+    "filename": "img_000025.png"
+  },
+  {
+    "timestamp": 1766150635.6387277,
+    "filename": "img_000026.png"
+  },
+  {
+    "timestamp": 1766150635.679211,
+    "filename": "img_000027.png"
+  },
+  {
+    "timestamp": 1766150635.7193744,
+    "filename": "img_000028.png"
+  },
+  {
+    "timestamp": 1766150635.760152,
+    "filename": "img_000029.png"
+  },
+  {
+    "timestamp": 1766150635.8000453,
+    "filename": "img_000030.png"
+  },
+  {
+    "timestamp": 1766150635.841284,
+    "filename": "img_000031.png"
+  },
+  {
+    "timestamp": 1766150635.8836539,
+    "filename": "img_000032.png"
+  },
+  {
+    "timestamp": 1766150635.9212034,
+    "filename": "img_000033.png"
+  },
+  {
+    "timestamp": 1766150635.9607995,
+    "filename": "img_000034.png"
+  },
+  {
+    "timestamp": 1766150636.003192,
+    "filename": "img_000035.png"
+  },
+  {
+    "timestamp": 1766150636.0429251,
+    "filename": "img_000036.png"
+  },
+  {
+    "timestamp": 1766150636.0810175,
+    "filename": "img_000037.png"
+  },
+  {
+    "timestamp": 1766150636.122352,
+    "filename": "img_000038.png"
+  },
+  {
+    "timestamp": 1766150636.1611753,
+    "filename": "img_000039.png"
+  },
+  {
+    "timestamp": 1766150636.2008083,
+    "filename": "img_000040.png"
+  },
+  {
+    "timestamp": 1766150636.2409942,
+    "filename": "img_000041.png"
+  },
+  {
+    "timestamp": 1766150636.280431,
+    "filename": "img_000042.png"
+  },
+  {
+    "timestamp": 1766150636.3197348,
+    "filename": "img_000043.png"
+  },
+  {
+    "timestamp": 1766150636.3619866,
+    "filename": "img_000044.png"
+  },
+  {
+    "timestamp": 1766150636.4028015,
+    "filename": "img_000045.png"
+  },
+  {
+    "timestamp": 1766150636.4420345,
+    "filename": "img_000046.png"
+  },
+  {
+    "timestamp": 1766150636.4819417,
+    "filename": "img_000047.png"
+  },
+  {
+    "timestamp": 1766150636.5203989,
+    "filename": "img_000048.png"
+  },
+  {
+    "timestamp": 1766150636.5578973,
+    "filename": "img_000049.png"
+  },
+  {
+    "timestamp": 1766150636.6013582,
+    "filename": "img_000050.png"
+  },
+  {
+    "timestamp": 1766150636.6408548,
+    "filename": "img_000051.png"
+  },
+  {
+    "timestamp": 1766150636.6803212,
+    "filename": "img_000052.png"
+  },
+  {
+    "timestamp": 1766150636.7188847,
+    "filename": "img_000053.png"
+  },
+  {
+    "timestamp": 1766150636.7596638,
+    "filename": "img_000054.png"
+  },
+  {
+    "timestamp": 1766150636.8002374,
+    "filename": "img_000055.png"
+  },
+  {
+    "timestamp": 1766150636.841436,
+    "filename": "img_000056.png"
+  },
+  {
+    "timestamp": 1766150636.8798385,
+    "filename": "img_000057.png"
+  },
+  {
+    "timestamp": 1766150636.9173915,
+    "filename": "img_000058.png"
+  },
+  {
+    "timestamp": 1766150636.9606452,
+    "filename": "img_000059.png"
+  },
+  {
+    "timestamp": 1766150637.0028706,
+    "filename": "img_000060.png"
+  },
+  {
+    "timestamp": 1766150637.0401149,
+    "filename": "img_000061.png"
+  },
+  {
+    "timestamp": 1766150637.0790546,
+    "filename": "img_000062.png"
+  },
+  {
+    "timestamp": 1766150637.1187131,
+    "filename": "img_000063.png"
+  },
+  {
+    "timestamp": 1766150637.1586998,
+    "filename": "img_000064.png"
+  },
+  {
+    "timestamp": 1766150637.1986291,
+    "filename": "img_000065.png"
+  },
+  {
+    "timestamp": 1766150637.2382712,
+    "filename": "img_000066.png"
+  },
+  {
+    "timestamp": 1766150637.278831,
+    "filename": "img_000067.png"
+  },
+  {
+    "timestamp": 1766150637.318256,
+    "filename": "img_000068.png"
+  },
+  {
+    "timestamp": 1766150637.3587997,
+    "filename": "img_000069.png"
+  },
+  {
+    "timestamp": 1766150637.397801,
+    "filename": "img_000070.png"
+  },
+  {
+    "timestamp": 1766150637.4388542,
+    "filename": "img_000071.png"
+  },
+  {
+    "timestamp": 1766150637.4824421,
+    "filename": "img_000072.png"
+  },
+  {
+    "timestamp": 1766150637.5175517,
+    "filename": "img_000073.png"
+  },
+  {
+    "timestamp": 1766150637.5585177,
+    "filename": "img_000074.png"
+  },
+  {
+    "timestamp": 1766150637.5982223,
+    "filename": "img_000075.png"
+  },
+  {
+    "timestamp": 1766150637.6408422,
+    "filename": "img_000076.png"
+  },
+  {
+    "timestamp": 1766150637.6786425,
+    "filename": "img_000077.png"
+  },
+  {
+    "timestamp": 1766150637.716535,
+    "filename": "img_000078.png"
+  },
+  {
+    "timestamp": 1766150637.7586746,
+    "filename": "img_000079.png"
+  },
+  {
+    "timestamp": 1766150637.7984416,
+    "filename": "img_000080.png"
+  },
+  {
+    "timestamp": 1766150637.8386958,
+    "filename": "img_000081.png"
+  },
+  {
+    "timestamp": 1766150637.8774357,
+    "filename": "img_000082.png"
+  },
+  {
+    "timestamp": 1766150637.918825,
+    "filename": "img_000083.png"
+  },
+  {
+    "timestamp": 1766150637.957206,
+    "filename": "img_000084.png"
+  },
+  {
+    "timestamp": 1766150637.999423,
+    "filename": "img_000085.png"
+  },
+  {
+    "timestamp": 1766150638.0373302,
+    "filename": "img_000086.png"
+  },
+  {
+    "timestamp": 1766150638.0787258,
+    "filename": "img_000087.png"
+  },
+  {
+    "timestamp": 1766150638.117341,
+    "filename": "img_000088.png"
+  },
+  {
+    "timestamp": 1766150638.157397,
+    "filename": "img_000089.png"
+  },
+  {
+    "timestamp": 1766150638.1967506,
+    "filename": "img_000090.png"
+  },
+  {
+    "timestamp": 1766150638.239496,
+    "filename": "img_000091.png"
+  },
+  {
+    "timestamp": 1766150638.2795236,
+    "filename": "img_000092.png"
+  },
+  {
+    "timestamp": 1766150638.3179681,
+    "filename": "img_000093.png"
+  },
+  {
+    "timestamp": 1766150638.35801,
+    "filename": "img_000094.png"
+  },
+  {
+    "timestamp": 1766150638.3973668,
+    "filename": "img_000095.png"
+  },
+  {
+    "timestamp": 1766150638.437472,
+    "filename": "img_000096.png"
+  },
+  {
+    "timestamp": 1766150638.4787111,
+    "filename": "img_000097.png"
+  }
+]
\ No newline at end of file
diff --git a/recorded_gelsight_pose/episode_122/pose_data.json b/recorded_gelsight_pose/episode_122/pose_data.json
new file mode 100644
index 0000000000000000000000000000000000000000..38ffa5b78eb365b9ee90070802d109a024cb94af
--- /dev/null
+++ b/recorded_gelsight_pose/episode_122/pose_data.json
@@ -0,0 +1,408 @@
+[
+  {
+    "timestamp": 1766137690.7083478,
+    "position": {
+      "x": 0.18475972018339737,
+      "y": -0.0038556231301711263,
+      "z": -0.02367468913668795
+    },
+    "orientation": {
+      "x": 0.3699891651744916,
+      "y": 0.22998485483591347,
+      "z": 0.3911972026109621,
+      "w": 0.8106662277836325
+    }
+  },
+  {
+    "timestamp": 1766137690.8410378,
+    "position": {
+      "x": 0.18799101192278747,
+      "y": -0.004382709327655082,
+      "z": -0.02500472394144694
+    },
+    "orientation": {
+      "x": 0.36381193143893964,
+      "y": 0.22189345804065608,
+      "z": 0.3957331120431782,
+      "w": 0.81351058742591
+    }
+  },
+  {
+    "timestamp": 1766137690.9737277,
+    "position": {
+      "x": 0.18721422785064373,
+      "y": -0.004557903405041752,
+      "z": -0.023883241878724037
+    },
+    "orientation": {
+      "x": 0.3497166913157296,
+      "y": 0.21025642871501865,
+      "z": 0.3896237645186297,
+      "w": 0.8256414428318846
+    }
+  },
+  {
+    "timestamp": 1766137691.1064177,
+    "position": {
+      "x": 0.18388471782929994,
+      "y": -0.0034156439264604876,
+      "z": -0.02323738589909212
+    },
+    "orientation": {
+      "x": 0.35032786570138685,
+      "y": 0.2068083635687754,
+      "z": 0.37937793213018245,
+      "w": 0.8310072634362127
+    }
+  },
+  {
+    "timestamp": 1766137691.2391078,
+    "position": {
+      "x": 0.17923684064724044,
+      "y": -0.0018449745725283295,
+      "z": -0.024075957278760135
+    },
+    "orientation": {
+      "x": 0.35784712710737365,
+      "y": 0.20579346007211746,
+      "z": 0.37099780556104417,
+      "w": 0.8318383939693061
+    }
+  },
+  {
+    "timestamp": 1766137691.3717978,
+    "position": {
+      "x": 0.17465480093323357,
+      "y": -0.0006700090285843008,
+      "z": -0.02528543308977292
+    },
+    "orientation": {
+      "x": 0.36713352784989606,
+      "y": 0.20729065242754935,
+      "z": 0.3631701403515926,
+      "w": 0.8308736409958226
+    }
+  },
+  {
+    "timestamp": 1766137691.5044878,
+    "position": {
+      "x": 0.17188412764532943,
+      "y": 0.00041402068048787544,
+      "z": -0.026253892681294952
+    },
+    "orientation": {
+      "x": 0.37091252680417885,
+      "y": 0.20389019040917966,
+      "z": 0.3580862839407013,
+      "w": 0.8322420927639909
+    }
+  },
+  {
+    "timestamp": 1766137691.6371777,
+    "position": {
+      "x": 0.1729087580707222,
+      "y": 0.0008199453467362394,
+      "z": -0.028537175644548524
+    },
+    "orientation": {
+      "x": 0.3755506926020316,
+      "y": 0.2011059196964382,
+      "z": 0.3627168700352672,
+      "w": 0.8288272187500861
+    }
+  },
+  {
+    "timestamp": 1766137691.7698689,
+    "position": {
+      "x": 0.1767863821202271,
+      "y": 0.001324162823943903,
+      "z": -0.03082861910172098
+    },
+    "orientation": {
+      "x": 0.3759420308595626,
+      "y": 0.19657335167836976,
+      "z": 0.37272257320188956,
+      "w": 0.8252904884153711
+    }
+  },
+  {
+    "timestamp": 1766137691.9025588,
+    "position": {
+      "x": 0.18102240464154895,
+      "y": -0.0005597629151874728,
+      "z": -0.03285622869430639
+    },
+    "orientation": {
+      "x": 0.3551599187707992,
+      "y": 0.17603498372603688,
+      "z": 0.37793032755469186,
+      "w": 0.8366849969478936
+    }
+  },
+  {
+    "timestamp": 1766137692.0352488,
+    "position": {
+      "x": 0.1863349889252054,
+      "y": -0.0026388233240019487,
+      "z": -0.033309759274892076
+    },
+    "orientation": {
+      "x": 0.33636762133256143,
+      "y": 0.16410597801763963,
+      "z": 0.3851459713735576,
+      "w": 0.8435571302719616
+    }
+  },
+  {
+    "timestamp": 1766137692.1679387,
+    "position": {
+      "x": 0.18851920220109686,
+      "y": -0.0032824322158210018,
+      "z": -0.03306671859316582
+    },
+    "orientation": {
+      "x": 0.3300840138388337,
+      "y": 0.15876591435855622,
+      "z": 0.38788661475933844,
+      "w": 0.8458025197033152
+    }
+  },
+  {
+    "timestamp": 1766137692.3006287,
+    "position": {
+      "x": 0.1872555017429376,
+      "y": -0.0037334002066152505,
+      "z": -0.033376825455663464
+    },
+    "orientation": {
+      "x": 0.3267542257784582,
+      "y": 0.15503896940175957,
+      "z": 0.38467629975689893,
+      "w": 0.8492459822148711
+    }
+  },
+  {
+    "timestamp": 1766137692.4333189,
+    "position": {
+      "x": 0.184941179895566,
+      "y": -0.0030670727906841055,
+      "z": -0.031914726121067036
+    },
+    "orientation": {
+      "x": 0.32489237320543934,
+      "y": 0.15546941541218426,
+      "z": 0.37573366684133896,
+      "w": 0.8538726007469104
+    }
+  },
+  {
+    "timestamp": 1766137692.5660088,
+    "position": {
+      "x": 0.1809175071515949,
+      "y": -0.0018551201676058338,
+      "z": -0.03072256402305394
+    },
+    "orientation": {
+      "x": 0.3287127120973544,
+      "y": 0.15856920637363217,
+      "z": 0.3656637016499903,
+      "w": 0.8562089797422503
+    }
+  },
+  {
+    "timestamp": 1766137692.6986988,
+    "position": {
+      "x": 0.17589721953574394,
+      "y": -0.00101480754660202,
+      "z": -0.0299493305747527
+    },
+    "orientation": {
+      "x": 0.3313628891859474,
+      "y": 0.16078944919609262,
+      "z": 0.3546742795164977,
+      "w": 0.8593902164599103
+    }
+  },
+  {
+    "timestamp": 1766137692.8313887,
+    "position": {
+      "x": 0.1726990387941878,
+      "y": 3.586048910333983e-05,
+      "z": -0.02924268544799255
+    },
+    "orientation": {
+      "x": 0.3331544554539337,
+      "y": 0.1608826822529104,
+      "z": 0.3473978087864493,
+      "w": 0.8616493682540918
+    }
+  },
+  {
+    "timestamp": 1766137692.9640787,
+    "position": {
+      "x": 0.17270658236602993,
+      "y": -0.0006935702969690649,
+      "z": -0.030528595671370715
+    },
+    "orientation": {
+      "x": 0.33097221336434307,
+      "y": 0.15702995183829085,
+      "z": 0.34900639541732126,
+      "w": 0.8625505922345542
+    }
+  },
+  {
+    "timestamp": 1766137693.0967698,
+    "position": {
+      "x": 0.17643692486165724,
+      "y": -0.0020046354429242297,
+      "z": -0.031077511521347537
+    },
+    "orientation": {
+      "x": 0.3168557505906809,
+      "y": 0.1440507520564393,
+      "z": 0.35424287542484545,
+      "w": 0.8679653215194303
+    }
+  },
+  {
+    "timestamp": 1766137693.2294598,
+    "position": {
+      "x": 0.18129888945008907,
+      "y": -0.0033130787246563875,
+      "z": -0.030996728476864535
+    },
+    "orientation": {
+      "x": 0.30148358501541156,
+      "y": 0.13545450004336523,
+      "z": 0.3619494546650135,
+      "w": 0.8716377221368731
+    }
+  },
+  {
+    "timestamp": 1766137693.3621497,
+    "position": {
+      "x": 0.18599753566968721,
+      "y": -0.00498534372105866,
+      "z": -0.030789161925957043
+    },
+    "orientation": {
+      "x": 0.2856350725548182,
+      "y": 0.12343148799413917,
+      "z": 0.3678896251247455,
+      "w": 0.8762616600215546
+    }
+  },
+  {
+    "timestamp": 1766137693.4948397,
+    "position": {
+      "x": 0.18850722717838658,
+      "y": -0.0061634320707938395,
+      "z": -0.030704428594805017
+    },
+    "orientation": {
+      "x": 0.2755090123721112,
+      "y": 0.11560833490417118,
+      "z": 0.3702648404099064,
+      "w": 0.8795643495268868
+    }
+  },
+  {
+    "timestamp": 1766137693.6275299,
+    "position": {
+      "x": 0.1889555004690589,
+      "y": -0.006055473367374026,
+      "z": -0.031115656717239967
+    },
+    "orientation": {
+      "x": 0.2753910742094436,
+      "y": 0.11274042404342433,
+      "z": 0.37119428514228997,
+      "w": 0.8795818072868388
+    }
+  },
+  {
+    "timestamp": 1766137693.7602198,
+    "position": {
+      "x": 0.18684063409373672,
+      "y": -0.005472407750426483,
+      "z": -0.03002842184709785
+    },
+    "orientation": {
+      "x": 0.2822120274255716,
+      "y": 0.12262510216947654,
+      "z": 0.36836330425632086,
+      "w": 0.8772844076875177
+    }
+  },
+  {
+    "timestamp": 1766137693.8929098,
+    "position": {
+      "x": 0.1858141549645696,
+      "y": -0.005439145255010547,
+      "z": -0.025213737331358538
+    },
+    "orientation": {
+      "x": 0.2784374739511693,
+      "y": 0.13432454118318451,
+      "z": 0.3641521928559644,
+      "w": 0.8785343881566682
+    }
+  },
+  {
+    "timestamp": 1766137694.0255997,
+    "position": {
+      "x": 0.1845214524765691,
+      "y": -0.007968698458550139,
+      "z": -0.018759454308926657
+    },
+    "orientation": {
+      "x": 0.2637500893290931,
+      "y": 0.14526048678967757,
+      "z": 0.35942317675665036,
+      "w": 0.8832611512835142
+    }
+  },
+  {
+    "timestamp": 1766137694.1582897,
+    "position": {
+      "x": 0.1844302236240486,
+      "y": -0.009036960099512631,
+      "z": -0.012912487302307915
+    },
+    "orientation": {
+      "x": 0.2550492662657557,
+      "y": 0.15566420433984543,
+      "z": 0.35678340502215367,
+      "w": 0.8851124952034857
+    }
+  },
+  {
+    "timestamp": 1766137694.2909808,
+    "position": {
+      "x": 0.18415871001772,
+      "y": -0.010894000088990358,
+      "z": -0.0071625819288843595
+    },
+    "orientation": {
+      "x": 0.24612927091913459,
+      "y": 0.16748935580796143,
+      "z": 0.35467574739689056,
+      "w": 0.8863254548394209
+    }
+  },
+  {
+    "timestamp": 1766137694.4236708,
+    "position": {
+      "x": 0.18558465762344736,
+      "y": -0.013095744019761907,
+      "z": 0.0006654610366786801
+    },
+    "orientation": {
+      "x": 0.23021559474679343,
+      "y": 0.17889871924448628,
+      "z": 0.3547744316330683,
+      "w": 0.8883305301786583
+    }
+  }
+]
\ No newline at end of file
diff --git a/recorded_gelsight_pose/episode_122/session_info.json b/recorded_gelsight_pose/episode_122/session_info.json
new file mode 100644
index 0000000000000000000000000000000000000000..56a7f08aad0cf1ec73fa112e4d6a719fc0f17b5f
--- /dev/null
+++ b/recorded_gelsight_pose/episode_122/session_info.json
@@ -0,0 +1,12 @@
+{
+  "session_id": 11,
+  "start_time": "2025-12-19T21:23:54.587998",
+  "ros_start_time": 1766150634.5880144,
+  "image_topic": "/gelsight_img",
+  "pose_topic": "/pose",
+  "image_format": "png",
+  "end_time": "2025-12-19T21:23:58.522374",
+  "ros_end_time": 1766150638.5223832,
+  "total_images": 98,
+  "total_pose_frames": 29
+}
\ No newline at end of file
diff --git a/recorded_gelsight_pose/episode_124/image_index.json b/recorded_gelsight_pose/episode_124/image_index.json
new file mode 100644
index 0000000000000000000000000000000000000000..799a34da3f0b6729e2da37241a6c79904be5d258
--- /dev/null
+++ b/recorded_gelsight_pose/episode_124/image_index.json
@@ -0,0 +1,402 @@
+[
+  {
+    "timestamp": 1766150645.038052,
+    "filename": "img_000000.png"
+  },
+  {
+    "timestamp": 1766150645.0816467,
+    "filename": "img_000001.png"
+  },
+  {
+    "timestamp": 1766150645.124656,
+    "filename": "img_000002.png"
+  },
+  {
+    "timestamp": 1766150645.1592994,
+    "filename": "img_000003.png"
+  },
+  {
+    "timestamp": 1766150645.2004435,
+    "filename": "img_000004.png"
+  },
+  {
+    "timestamp": 1766150645.2397664,
+    "filename": "img_000005.png"
+  },
+  {
+    "timestamp": 1766150645.281102,
+    "filename": "img_000006.png"
+  },
+  {
+    "timestamp": 1766150645.3176477,
+    "filename": "img_000007.png"
+  },
+  {
+    "timestamp": 1766150645.3582597,
+    "filename": "img_000008.png"
+  },
+  {
+    "timestamp": 1766150645.3984985,
+    "filename": "img_000009.png"
+  },
+  {
+    "timestamp": 1766150645.4384754,
+    "filename": "img_000010.png"
+  },
+  {
+    "timestamp": 1766150645.4835792,
+    "filename": "img_000011.png"
+  },
+  {
+    "timestamp": 1766150645.5169287,
+    "filename": "img_000012.png"
+  },
+  {
+    "timestamp": 1766150645.5568962,
+    "filename": "img_000013.png"
+  },
+  {
+    "timestamp": 1766150645.5991418,
+    "filename": "img_000014.png"
+  },
+  {
+    "timestamp": 1766150645.6417108,
+    "filename": "img_000015.png"
+  },
+  {
+    "timestamp": 1766150645.6816971,
+    "filename": "img_000016.png"
+  },
+  {
+    "timestamp": 1766150645.717425,
+    "filename": "img_000017.png"
+  },
+  {
+    "timestamp": 1766150645.7588296,
+    "filename": "img_000018.png"
+  },
+  {
+    "timestamp": 1766150645.8000655,
+    "filename": "img_000019.png"
+  },
+  {
+    "timestamp": 1766150645.8401916,
+    "filename": "img_000020.png"
+  },
+  {
+    "timestamp": 1766150645.8777778,
+    "filename": "img_000021.png"
+  },
+  {
+    "timestamp": 1766150645.9185202,
+    "filename": "img_000022.png"
+  },
+  {
+    "timestamp": 1766150645.9600294,
+    "filename": "img_000023.png"
+  },
+  {
+    "timestamp": 1766150646.000015,
+    "filename": "img_000024.png"
+  },
+  {
+    "timestamp": 1766150646.0402367,
+    "filename": "img_000025.png"
+  },
+  {
+    "timestamp": 1766150646.0804665,
+    "filename": "img_000026.png"
+  },
+  {
+    "timestamp": 1766150646.1183393,
+    "filename": "img_000027.png"
+  },
+  {
+    "timestamp": 1766150646.1614244,
+    "filename": "img_000028.png"
+  },
+  {
+    "timestamp": 1766150646.2018895,
+    "filename": "img_000029.png"
+  },
+  {
+    "timestamp": 1766150646.241646,
+    "filename": "img_000030.png"
+  },
+  {
+    "timestamp": 1766150646.282149,
+    "filename": "img_000031.png"
+  },
+  {
+    "timestamp": 1766150646.325655,
+    "filename": "img_000032.png"
+  },
+  {
+    "timestamp": 1766150646.3607433,
+    "filename": "img_000033.png"
+  },
+  {
+    "timestamp": 1766150646.4067054,
+    "filename": "img_000034.png"
+  },
+  {
+    "timestamp": 1766150646.443094,
+    "filename": "img_000035.png"
+  },
+  {
+    "timestamp": 1766150646.480045,
+    "filename": "img_000036.png"
+  },
+  {
+    "timestamp": 1766150646.525168,
+    "filename": "img_000037.png"
+  },
+  {
+    "timestamp": 1766150646.561586,
+    "filename": "img_000038.png"
+  },
+  {
+    "timestamp": 1766150646.6040854,
+    "filename": "img_000039.png"
+  },
+  {
+    "timestamp": 1766150646.647293,
+    "filename": "img_000040.png"
+  },
+  {
+    "timestamp": 1766150646.683695,
+    "filename": "img_000041.png"
+  },
+  {
+    "timestamp": 1766150646.7248409,
+    "filename": "img_000042.png"
+  },
+  {
+    "timestamp": 1766150646.761534,
+    "filename": "img_000043.png"
+  },
+  {
+    "timestamp": 1766150646.8046587,
+    "filename": "img_000044.png"
+  },
+  {
+    "timestamp": 1766150646.8436415,
+    "filename": "img_000045.png"
+  },
+  {
+    "timestamp": 1766150646.8812716,
+    "filename": "img_000046.png"
+  },
+  {
+    "timestamp": 1766150646.9238293,
+    "filename": "img_000047.png"
+  },
+  {
+    "timestamp": 1766150646.9654877,
+    "filename": "img_000048.png"
+  },
+  {
+    "timestamp": 1766150647.0013294,
+    "filename": "img_000049.png"
+  },
+  {
+    "timestamp": 1766150647.0394986,
+    "filename": "img_000050.png"
+  },
+  {
+    "timestamp": 1766150647.0797377,
+    "filename": "img_000051.png"
+  },
+  {
+    "timestamp": 1766150647.117176,
+    "filename": "img_000052.png"
+  },
+  {
+    "timestamp": 1766150647.1579754,
+    "filename": "img_000053.png"
+  },
+  {
+    "timestamp": 1766150647.1995666,
+    "filename": "img_000054.png"
+  },
+  {
+    "timestamp": 1766150647.2408452,
+    "filename": "img_000055.png"
+  },
+  {
+    "timestamp": 1766150647.2787852,
+    "filename": "img_000056.png"
+  },
+  {
+    "timestamp": 1766150647.3164809,
+    "filename": "img_000057.png"
+  },
+  {
+    "timestamp": 1766150647.3586376,
+    "filename": "img_000058.png"
+  },
+  {
+    "timestamp": 1766150647.3989966,
+    "filename": "img_000059.png"
+  },
+  {
+    "timestamp": 1766150647.438167,
+    "filename": "img_000060.png"
+  },
+  {
+    "timestamp": 1766150647.477429,
+    "filename": "img_000061.png"
+  },
+  {
+    "timestamp": 1766150647.517189,
+    "filename": "img_000062.png"
+  },
+  {
+    "timestamp": 1766150647.56,
+    "filename": "img_000063.png"
+  },
+  {
+    "timestamp": 1766150647.601369,
+    "filename": "img_000064.png"
+  },
+  {
+    "timestamp": 1766150647.6386492,
+    "filename": "img_000065.png"
+  },
+  {
+    "timestamp": 1766150647.679362,
+    "filename": "img_000066.png"
+  },
+  {
+    "timestamp": 1766150647.717241,
+    "filename": "img_000067.png"
+  },
+  {
+    "timestamp": 1766150647.7592845,
+    "filename": "img_000068.png"
+  },
+  {
+    "timestamp": 1766150647.798882,
+    "filename": "img_000069.png"
+  },
+  {
+    "timestamp": 1766150647.838776,
+    "filename": "img_000070.png"
+  },
+  {
+    "timestamp": 1766150647.8787959,
+    "filename": "img_000071.png"
+  },
+  {
+    "timestamp": 1766150647.9170697,
+    "filename": "img_000072.png"
+  },
+  {
+    "timestamp": 1766150647.957759,
+    "filename": "img_000073.png"
+  },
+  {
+    "timestamp": 1766150647.9985802,
+    "filename": "img_000074.png"
+  },
+  {
+    "timestamp": 1766150648.0394654,
+    "filename": "img_000075.png"
+  },
+  {
+    "timestamp": 1766150648.0788977,
+    "filename": "img_000076.png"
+  },
+  {
+    "timestamp": 1766150648.1157506,
+    "filename": "img_000077.png"
+  },
+  {
+    "timestamp": 1766150648.159803,
+    "filename": "img_000078.png"
+  },
+  {
+    "timestamp": 1766150648.1988199,
+    "filename": "img_000079.png"
+  },
+  {
+    "timestamp": 1766150648.2391596,
+    "filename": "img_000080.png"
+  },
+  {
+    "timestamp": 1766150648.2780344,
+    "filename": "img_000081.png"
+  },
+  {
+    "timestamp": 1766150648.317114,
+    "filename": "img_000082.png"
+  },
+  {
+    "timestamp": 1766150648.360914,
+    "filename": "img_000083.png"
+  },
+  {
+    "timestamp": 1766150648.4023035,
+    "filename": "img_000084.png"
+  },
+  {
+    "timestamp": 1766150648.437526,
+    "filename": "img_000085.png"
+  },
+  {
+    "timestamp": 1766150648.478934,
+    "filename": "img_000086.png"
+  },
+  {
+    "timestamp": 1766150648.5169086,
+    "filename": "img_000087.png"
+  },
+  {
+    "timestamp": 1766150648.557824,
+    "filename": "img_000088.png"
+  },
+  {
+    "timestamp": 1766150648.5992632,
+    "filename": "img_000089.png"
+  },
+  {
+    "timestamp": 1766150648.6382105,
+    "filename": "img_000090.png"
+  },
+  {
+    "timestamp": 1766150648.6790595,
+    "filename": "img_000091.png"
+  },
+  {
+    "timestamp": 1766150648.7173114,
+    "filename": "img_000092.png"
+  },
+  {
+    "timestamp": 1766150648.7577987,
+    "filename": "img_000093.png"
+  },
+  {
+    "timestamp": 1766150648.7994328,
+    "filename": "img_000094.png"
+  },
+  {
+    "timestamp": 1766150648.8391283,
+    "filename": "img_000095.png"
+  },
+  {
+    "timestamp": 1766150648.8786821,
+    "filename": "img_000096.png"
+  },
+  {
+    "timestamp": 1766150648.9188373,
+    "filename": "img_000097.png"
+  },
+  {
+    "timestamp": 1766150648.961052,
+    "filename": "img_000098.png"
+  },
+  {
+    "timestamp": 1766150648.9995663,
+    "filename": "img_000099.png"
+  }
+]
\ No newline at end of file
diff --git a/recorded_gelsight_pose/episode_124/pose_data.json b/recorded_gelsight_pose/episode_124/pose_data.json
new file mode 100644
index 0000000000000000000000000000000000000000..4602d83ee086b2f235cb7018050ebf22aee3e5bb
--- /dev/null
+++ b/recorded_gelsight_pose/episode_124/pose_data.json
@@ -0,0 +1,422 @@
+[
+  {
+    "timestamp": 1766137701.0581758,
+    "position": {
+      "x": 0.19344796387226978,
+      "y": -0.015923301051872035,
+      "z": -0.016424344991260484
+    },
+    "orientation": {
+      "x": 0.12550719438740368,
+      "y": 0.020060249690673635,
+      "z": 0.33692810456518196,
+      "w": 0.9329120981600916
+    }
+  },
+  {
+    "timestamp": 1766137701.1908658,
+    "position": {
+      "x": 0.19211537042487883,
+      "y": -0.01598674336019343,
+      "z": -0.014697199756412538
+    },
+    "orientation": {
+      "x": 0.1258160981757872,
+      "y": 0.028761028204728943,
+      "z": 0.3357797597045843,
+      "w": 0.9330568394632556
+    }
+  },
+  {
+    "timestamp": 1766137701.3235557,
+    "position": {
+      "x": 0.19155630224778025,
+      "y": -0.015748081432617883,
+      "z": -0.012841079351499182
+    },
+    "orientation": {
+      "x": 0.12843519359680017,
+      "y": 0.03758412482776465,
+      "z": 0.3371293690209175,
+      "w": 0.9318989339784876
+    }
+  },
+  {
+    "timestamp": 1766137701.4562457,
+    "position": {
+      "x": 0.19098776185700853,
+      "y": -0.01632049688934925,
+      "z": -0.00737568870551987
+    },
+    "orientation": {
+      "x": 0.12121880933381071,
+      "y": 0.05002496482589964,
+      "z": 0.33614300231050975,
+      "w": 0.9326367916587557
+    }
+  },
+  {
+    "timestamp": 1766137701.5889368,
+    "position": {
+      "x": 0.19018559018697512,
+      "y": -0.017188831096138668,
+      "z": -0.00229010234759007
+    },
+    "orientation": {
+      "x": 0.11434580249839585,
+      "y": 0.06090030184240308,
+      "z": 0.3340958710320662,
+      "w": 0.933593133889612
+    }
+  },
+  {
+    "timestamp": 1766137701.7216268,
+    "position": {
+      "x": 0.19035794265424394,
+      "y": -0.01680459456894401,
+      "z": -0.0007964646476261023
+    },
+    "orientation": {
+      "x": 0.11329185688537662,
+      "y": 0.061664854651944864,
+      "z": 0.333575491430163,
+      "w": 0.9338574796944892
+    }
+  },
+  {
+    "timestamp": 1766137701.8543167,
+    "position": {
+      "x": 0.1895624084326974,
+      "y": -0.01616278038182159,
+      "z": -0.0028048126260228207
+    },
+    "orientation": {
+      "x": 0.11440805430745947,
+      "y": 0.05508561150486954,
+      "z": 0.3306111269899333,
+      "w": 0.9351858934057774
+    }
+  },
+  {
+    "timestamp": 1766137701.9870067,
+    "position": {
+      "x": 0.18521408584974997,
+      "y": -0.01598214693858735,
+      "z": -0.0035605295465758052
+    },
+    "orientation": {
+      "x": 0.11411061276368492,
+      "y": 0.054883036585869314,
+      "z": 0.32072702644211154,
+      "w": 0.9386696942265749
+    }
+  },
+  {
+    "timestamp": 1766137702.1196969,
+    "position": {
+      "x": 0.1808968437856553,
+      "y": -0.014895463997251807,
+      "z": -0.004104903843464527
+    },
+    "orientation": {
+      "x": 0.11682751760736208,
+      "y": 0.056098644167177476,
+      "z": 0.3110773571468347,
+      "w": 0.9415068513414263
+    }
+  },
+  {
+    "timestamp": 1766137702.2523868,
+    "position": {
+      "x": 0.17543104849205518,
+      "y": -0.013504864411647749,
+      "z": -0.005880360095923798
+    },
+    "orientation": {
+      "x": 0.12304256014839335,
+      "y": 0.057090617032452357,
+      "z": 0.3003440633032216,
+      "w": 0.9441369781326718
+    }
+  },
+  {
+    "timestamp": 1766137702.3850768,
+    "position": {
+      "x": 0.17176050574400323,
+      "y": -0.012432180195665554,
+      "z": -0.0072344983947495445
+    },
+    "orientation": {
+      "x": 0.12678134083786957,
+      "y": 0.05560181959466825,
+      "z": 0.2929578912065235,
+      "w": 0.9460500003979392
+    }
+  },
+  {
+    "timestamp": 1766137702.5177667,
+    "position": {
+      "x": 0.1701105414325254,
+      "y": -0.01200951319597221,
+      "z": -0.008455569253863107
+    },
+    "orientation": {
+      "x": 0.13235787180172634,
+      "y": 0.0560993519093708,
+      "z": 0.2908633217075442,
+      "w": 0.945903158136561
+    }
+  },
+  {
+    "timestamp": 1766137702.6504567,
+    "position": {
+      "x": 0.17272399779371994,
+      "y": -0.011917689786006463,
+      "z": -0.009370457794263279
+    },
+    "orientation": {
+      "x": 0.137407969545799,
+      "y": 0.055586059190719676,
+      "z": 0.2962804598822118,
+      "w": 0.9435290822337865
+    }
+  },
+  {
+    "timestamp": 1766137702.7831469,
+    "position": {
+      "x": 0.1764674919725165,
+      "y": -0.011847916346268611,
+      "z": -0.011197723478469673
+    },
+    "orientation": {
+      "x": 0.13921898472076188,
+      "y": 0.04937601765123093,
+      "z": 0.3036112262018538,
+      "w": 0.9412758928701153
+    }
+  },
+  {
+    "timestamp": 1766137702.9158378,
+    "position": {
+      "x": 0.17843367329079157,
+      "y": -0.011982087011730952,
+      "z": -0.014668905261384521
+    },
+    "orientation": {
+      "x": 0.14161028001063203,
+      "y": 0.04031581977020558,
+      "z": 0.30695219267048496,
+      "w": 0.9402667252893446
+    }
+  },
+  {
+    "timestamp": 1766137703.0485277,
+    "position": {
+      "x": 0.1797500012343748,
+      "y": -0.010939719912424678,
+      "z": -0.020109798304496995
+    },
+    "orientation": {
+      "x": 0.15420966740010658,
+      "y": 0.03137765542288449,
+      "z": 0.3101159146976148,
+      "w": 0.9375835646339866
+    }
+  },
+  {
+    "timestamp": 1766137703.1812177,
+    "position": {
+      "x": 0.1809285051702001,
+      "y": -0.01010992795794488,
+      "z": -0.026973825259369713
+    },
+    "orientation": {
+      "x": 0.16899270376477543,
+      "y": 0.022263560100127658,
+      "z": 0.31523323651970164,
+      "w": 0.9335811729888582
+    }
+  },
+  {
+    "timestamp": 1766137703.3139079,
+    "position": {
+      "x": 0.18110381363236833,
+      "y": -0.009172213988522498,
+      "z": -0.03128387477203784
+    },
+    "orientation": {
+      "x": 0.17967627461875554,
+      "y": 0.018947083358279118,
+      "z": 0.3177358029573753,
+      "w": 0.9308068563834132
+    }
+  },
+  {
+    "timestamp": 1766137703.4465978,
+    "position": {
+      "x": 0.18405347978587835,
+      "y": -0.009490759112442154,
+      "z": -0.031183347845778128
+    },
+    "orientation": {
+      "x": 0.17528411424758622,
+      "y": 0.013589586640388568,
+      "z": 0.3236818993158151,
+      "w": 0.9296885663934396
+    }
+  },
+  {
+    "timestamp": 1766137703.5792878,
+    "position": {
+      "x": 0.1874910886341304,
+      "y": -0.01069576077176479,
+      "z": -0.030688315228903015
+    },
+    "orientation": {
+      "x": 0.1717599738722048,
+      "y": 0.013931119848428817,
+      "z": 0.331937883057702,
+      "w": 0.9274274511067482
+    }
+  },
+  {
+    "timestamp": 1766137703.7119777,
+    "position": {
+      "x": 0.19047896301679906,
+      "y": -0.012062332863104125,
+      "z": -0.032002492680884245
+    },
+    "orientation": {
+      "x": 0.17544353798611675,
+      "y": 0.014299752599963276,
+      "z": 0.34037818463984365,
+      "w": 0.9236654012551182
+    }
+  },
+  {
+    "timestamp": 1766137703.8446677,
+    "position": {
+      "x": 0.19189114863616838,
+      "y": -0.011985626189144616,
+      "z": -0.031651013045703155
+    },
+    "orientation": {
+      "x": 0.1752134419865769,
+      "y": 0.014793178467831968,
+      "z": 0.34432258039077557,
+      "w": 0.9222382405057131
+    }
+  },
+  {
+    "timestamp": 1766137703.9773579,
+    "position": {
+      "x": 0.19150681717370155,
+      "y": -0.011529278455846698,
+      "z": -0.02914483765553659
+    },
+    "orientation": {
+      "x": 0.17866363356874584,
+      "y": 0.0272550261940303,
+      "z": 0.34476427242210345,
+      "w": 0.9211265201091722
+    }
+  },
+  {
+    "timestamp": 1766137704.1100488,
+    "position": {
+      "x": 0.19057875878816616,
+      "y": -0.012190543279234328,
+      "z": -0.02607360092370503
+    },
+    "orientation": {
+      "x": 0.1793999888778888,
+      "y": 0.04044417861779085,
+      "z": 0.3465408590807714,
+      "w": 0.9198311504804056
+    }
+  },
+  {
+    "timestamp": 1766137704.2427387,
+    "position": {
+      "x": 0.1923086406302428,
+      "y": -0.013803767412806506,
+      "z": -0.01773690075644342
+    },
+    "orientation": {
+      "x": 0.16311805046029126,
+      "y": 0.052981874805714396,
+      "z": 0.34790888722774405,
+      "w": 0.921707561401152
+    }
+  },
+  {
+    "timestamp": 1766137704.3754287,
+    "position": {
+      "x": 0.1940294564566819,
+      "y": -0.014987430587278666,
+      "z": -0.010144206237469339
+    },
+    "orientation": {
+      "x": 0.150920249942295,
+      "y": 0.06556238918905975,
+      "z": 0.350401803105783,
+      "w": 0.9220321185627935
+    }
+  },
+  {
+    "timestamp": 1766137704.5081189,
+    "position": {
+      "x": 0.192801898865874,
+      "y": -0.015315070400966468,
+      "z": -0.009208679436554665
+    },
+    "orientation": {
+      "x": 0.15545629455909837,
+      "y": 0.0744085132811893,
+      "z": 0.349038933395723,
+      "w": 0.9211235186484026
+    }
+  },
+  {
+    "timestamp": 1766137704.6408088,
+    "position": {
+      "x": 0.18967349945106232,
+      "y": -0.015092556348134528,
+      "z": -0.005278373812240139
+    },
+    "orientation": {
+      "x": 0.15029709547946427,
+      "y": 0.0826805856669124,
+      "z": 0.341384919912195,
+      "w": 0.9241379985157829
+    }
+  },
+  {
+    "timestamp": 1766137704.7734988,
+    "position": {
+      "x": 0.18520298088529769,
+      "y": -0.01426686718630446,
+      "z": -0.0034622801702622746
+    },
+    "orientation": {
+      "x": 0.1503593652193109,
+      "y": 0.08674799932145165,
+      "z": 0.33076113155918835,
+      "w": 0.9276119445944283
+    }
+  },
+  {
+    "timestamp": 1766137704.9061887,
+    "position": {
+      "x": 0.18132457572434466,
+      "y": -0.01275562739315747,
+      "z": -0.004071990373561138
+    },
+    "orientation": {
+      "x": 0.15445487506510244,
+      "y": 0.0868728764527561,
+      "z": 0.3217693277121892,
+      "w": 0.930086713510678
+    }
+  }
+]
\ No newline at end of file
diff --git a/recorded_gelsight_pose/episode_124/session_info.json b/recorded_gelsight_pose/episode_124/session_info.json
new file mode 100644
index 0000000000000000000000000000000000000000..190bdb50d337008ac75ecb2fa49e8410e238d1ad
--- /dev/null
+++ b/recorded_gelsight_pose/episode_124/session_info.json
@@ -0,0 +1,12 @@
+{
+  "session_id": 13,
+  "start_time": "2025-12-19T21:24:05.041536",
+  "ros_start_time": 1766150645.041559,
+  "image_topic": "/gelsight_img",
+  "pose_topic": "/pose",
+  "image_format": "png",
+  "end_time": "2025-12-19T21:24:09.047315",
+  "ros_end_time": 1766150649.0473244,
+  "total_images": 100,
+  "total_pose_frames": 30
+}
\ No newline at end of file
diff --git a/recorded_gelsight_pose/episode_129/image_index.json b/recorded_gelsight_pose/episode_129/image_index.json
new file mode 100644
index 0000000000000000000000000000000000000000..d307bd5c8f73c587fb6edbd5243a7166f7f8bf3d
--- /dev/null
+++ b/recorded_gelsight_pose/episode_129/image_index.json
@@ -0,0 +1,370 @@
+[
+  {
+    "timestamp": 1766150675.0816941,
+    "filename": "img_000000.png"
+  },
+  {
+    "timestamp": 1766150675.1270173,
+    "filename": "img_000001.png"
+  },
+  {
+    "timestamp": 1766150675.15794,
+    "filename": "img_000002.png"
+  },
+  {
+    "timestamp": 1766150675.1982574,
+    "filename": "img_000003.png"
+  },
+  {
+    "timestamp": 1766150675.2402513,
+    "filename": "img_000004.png"
+  },
+  {
+    "timestamp": 1766150675.2789357,
+    "filename": "img_000005.png"
+  },
+  {
+    "timestamp": 1766150675.318636,
+    "filename": "img_000006.png"
+  },
+  {
+    "timestamp": 1766150675.3589473,
+    "filename": "img_000007.png"
+  },
+  {
+    "timestamp": 1766150675.400661,
+    "filename": "img_000008.png"
+  },
+  {
+    "timestamp": 1766150675.438712,
+    "filename": "img_000009.png"
+  },
+  {
+    "timestamp": 1766150675.4789789,
+    "filename": "img_000010.png"
+  },
+  {
+    "timestamp": 1766150675.5179694,
+    "filename": "img_000011.png"
+  },
+  {
+    "timestamp": 1766150675.5595934,
+    "filename": "img_000012.png"
+  },
+  {
+    "timestamp": 1766150675.5994527,
+    "filename": "img_000013.png"
+  },
+  {
+    "timestamp": 1766150675.639333,
+    "filename": "img_000014.png"
+  },
+  {
+    "timestamp": 1766150675.6828601,
+    "filename": "img_000015.png"
+  },
+  {
+    "timestamp": 1766150675.721898,
+    "filename": "img_000016.png"
+  },
+  {
+    "timestamp": 1766150675.7603486,
+    "filename": "img_000017.png"
+  },
+  {
+    "timestamp": 1766150675.8005178,
+    "filename": "img_000018.png"
+  },
+  {
+    "timestamp": 1766150675.8392549,
+    "filename": "img_000019.png"
+  },
+  {
+    "timestamp": 1766150675.8810458,
+    "filename": "img_000020.png"
+  },
+  {
+    "timestamp": 1766150675.9181504,
+    "filename": "img_000021.png"
+  },
+  {
+    "timestamp": 1766150675.9585075,
+    "filename": "img_000022.png"
+  },
+  {
+    "timestamp": 1766150675.9999282,
+    "filename": "img_000023.png"
+  },
+  {
+    "timestamp": 1766150676.039238,
+    "filename": "img_000024.png"
+  },
+  {
+    "timestamp": 1766150676.0797858,
+    "filename": "img_000025.png"
+  },
+  {
+    "timestamp": 1766150676.1184897,
+    "filename": "img_000026.png"
+  },
+  {
+    "timestamp": 1766150676.1582906,
+    "filename": "img_000027.png"
+  },
+  {
+    "timestamp": 1766150676.1995275,
+    "filename": "img_000028.png"
+  },
+  {
+    "timestamp": 1766150676.2405844,
+    "filename": "img_000029.png"
+  },
+  {
+    "timestamp": 1766150676.2869952,
+    "filename": "img_000030.png"
+  },
+  {
+    "timestamp": 1766150676.3191526,
+    "filename": "img_000031.png"
+  },
+  {
+    "timestamp": 1766150676.3622458,
+    "filename": "img_000032.png"
+  },
+  {
+    "timestamp": 1766150676.4031742,
+    "filename": "img_000033.png"
+  },
+  {
+    "timestamp": 1766150676.439758,
+    "filename": "img_000034.png"
+  },
+  {
+    "timestamp": 1766150676.4808915,
+    "filename": "img_000035.png"
+  },
+  {
+    "timestamp": 1766150676.5202136,
+    "filename": "img_000036.png"
+  },
+  {
+    "timestamp": 1766150676.5596685,
+    "filename": "img_000037.png"
+  },
+  {
+    "timestamp": 1766150676.601032,
+    "filename": "img_000038.png"
+  },
+  {
+    "timestamp": 1766150676.6416674,
+    "filename": "img_000039.png"
+  },
+  {
+    "timestamp": 1766150676.6824517,
+    "filename": "img_000040.png"
+  },
+  {
+    "timestamp": 1766150676.7217398,
+    "filename": "img_000041.png"
+  },
+  {
+    "timestamp": 1766150676.7597687,
+    "filename": "img_000042.png"
+  },
+  {
+    "timestamp": 1766150676.8018646,
+    "filename": "img_000043.png"
+  },
+  {
+    "timestamp": 1766150676.8440492,
+    "filename": "img_000044.png"
+  },
+  {
+    "timestamp": 1766150676.881397,
+    "filename": "img_000045.png"
+  },
+  {
+    "timestamp": 1766150676.9202514,
+    "filename": "img_000046.png"
+  },
+  {
+    "timestamp": 1766150676.9633958,
+    "filename": "img_000047.png"
+  },
+  {
+    "timestamp": 1766150677.0019221,
+    "filename": "img_000048.png"
+  },
+  {
+    "timestamp": 1766150677.0389845,
+    "filename": "img_000049.png"
+  },
+  {
+    "timestamp": 1766150677.0791469,
+    "filename": "img_000050.png"
+  },
+  {
+    "timestamp": 1766150677.1183834,
+    "filename": "img_000051.png"
+  },
+  {
+    "timestamp": 1766150677.158713,
+    "filename": "img_000052.png"
+  },
+  {
+    "timestamp": 1766150677.198936,
+    "filename": "img_000053.png"
+  },
+  {
+    "timestamp": 1766150677.2388859,
+    "filename": "img_000054.png"
+  },
+  {
+    "timestamp": 1766150677.2788188,
+    "filename": "img_000055.png"
+  },
+  {
+    "timestamp": 1766150677.3195086,
+    "filename": "img_000056.png"
+  },
+  {
+    "timestamp": 1766150677.3587523,
+    "filename": "img_000057.png"
+  },
+  {
+    "timestamp": 1766150677.3978143,
+    "filename": "img_000058.png"
+  },
+  {
+    "timestamp": 1766150677.4384358,
+    "filename": "img_000059.png"
+  },
+  {
+    "timestamp": 1766150677.4793267,
+    "filename": "img_000060.png"
+  },
+  {
+    "timestamp": 1766150677.518068,
+    "filename": "img_000061.png"
+  },
+  {
+    "timestamp": 1766150677.5565634,
+    "filename": "img_000062.png"
+  },
+  {
+    "timestamp": 1766150677.598112,
+    "filename": "img_000063.png"
+  },
+  {
+    "timestamp": 1766150677.6391952,
+    "filename": "img_000064.png"
+  },
+  {
+    "timestamp": 1766150677.6785653,
+    "filename": "img_000065.png"
+  },
+  {
+    "timestamp": 1766150677.7178032,
+    "filename": "img_000066.png"
+  },
+  {
+    "timestamp": 1766150677.758304,
+    "filename": "img_000067.png"
+  },
+  {
+    "timestamp": 1766150677.7991507,
+    "filename": "img_000068.png"
+  },
+  {
+    "timestamp": 1766150677.8392265,
+    "filename": "img_000069.png"
+  },
+  {
+    "timestamp": 1766150677.8795455,
+    "filename": "img_000070.png"
+  },
+  {
+    "timestamp": 1766150677.9183333,
+    "filename": "img_000071.png"
+  },
+  {
+    "timestamp": 1766150677.9580388,
+    "filename": "img_000072.png"
+  },
+  {
+    "timestamp": 1766150677.9989338,
+    "filename": "img_000073.png"
+  },
+  {
+    "timestamp": 1766150678.0386727,
+    "filename": "img_000074.png"
+  },
+  {
+    "timestamp": 1766150678.0787086,
+    "filename": "img_000075.png"
+  },
+  {
+    "timestamp": 1766150678.11867,
+    "filename": "img_000076.png"
+  },
+  {
+    "timestamp": 1766150678.1587586,
+    "filename": "img_000077.png"
+  },
+  {
+    "timestamp": 1766150678.1975799,
+    "filename": "img_000078.png"
+  },
+  {
+    "timestamp": 1766150678.2380035,
+    "filename": "img_000079.png"
+  },
+  {
+    "timestamp": 1766150678.2795382,
+    "filename": "img_000080.png"
+  },
+  {
+    "timestamp": 1766150678.3175898,
+    "filename": "img_000081.png"
+  },
+  {
+    "timestamp": 1766150678.3596063,
+    "filename": "img_000082.png"
+  },
+  {
+    "timestamp": 1766150678.3998733,
+    "filename": "img_000083.png"
+  },
+  {
+    "timestamp": 1766150678.4397807,
+    "filename": "img_000084.png"
+  },
+  {
+    "timestamp": 1766150678.4791408,
+    "filename": "img_000085.png"
+  },
+  {
+    "timestamp": 1766150678.517248,
+    "filename": "img_000086.png"
+  },
+  {
+    "timestamp": 1766150678.5594676,
+    "filename": "img_000087.png"
+  },
+  {
+    "timestamp": 1766150678.5983942,
+    "filename": "img_000088.png"
+  },
+  {
+    "timestamp": 1766150678.6384397,
+    "filename": "img_000089.png"
+  },
+  {
+    "timestamp": 1766150678.6790874,
+    "filename": "img_000090.png"
+  },
+  {
+    "timestamp": 1766150678.7180562,
+    "filename": "img_000091.png"
+  }
+]
\ No newline at end of file
diff --git a/recorded_gelsight_pose/episode_129/pose_data.json b/recorded_gelsight_pose/episode_129/pose_data.json
new file mode 100644
index 0000000000000000000000000000000000000000..eff18c44dabb9b6f391b4326c87a180721c0fb21
--- /dev/null
+++ b/recorded_gelsight_pose/episode_129/pose_data.json
@@ -0,0 +1,380 @@
+[
+  {
+    "timestamp": 1766137731.0461397,
+    "position": {
+      "x": 0.18832963971753927,
+      "y": -0.014470136681790147,
+      "z": -0.009469097148511518
+    },
+    "orientation": {
+      "x": 0.15550910492331232,
+      "y": 0.07609652588045866,
+      "z": 0.3387975206597894,
+      "w": 0.9247932077116778
+    }
+  },
+  {
+    "timestamp": 1766137731.1788309,
+    "position": {
+      "x": 0.18963386517312025,
+      "y": -0.013630863556609363,
+      "z": -0.010369932454771011
+    },
+    "orientation": {
+      "x": 0.16942682866533584,
+      "y": 0.08572769133650655,
+      "z": 0.34550205553429253,
+      "w": 0.9190068782594057
+    }
+  },
+  {
+    "timestamp": 1766137731.3115208,
+    "position": {
+      "x": 0.1910298438102711,
+      "y": -0.011864059401342164,
+      "z": -0.014621308429697
+    },
+    "orientation": {
+      "x": 0.21131155444438876,
+      "y": 0.1104969364775684,
+      "z": 0.3594173315026417,
+      "w": 0.9021956748970196
+    }
+  },
+  {
+    "timestamp": 1766137731.4442108,
+    "position": {
+      "x": 0.19222778080154926,
+      "y": -0.01055065461527735,
+      "z": -0.018889741089810744
+    },
+    "orientation": {
+      "x": 0.24518855614000576,
+      "y": 0.12893683954940013,
+      "z": 0.372026272659905,
+      "w": 0.8859200391659338
+    }
+  },
+  {
+    "timestamp": 1766137731.5769007,
+    "position": {
+      "x": 0.19225721017997338,
+      "y": -0.008834316438853379,
+      "z": -0.02323974839517584
+    },
+    "orientation": {
+      "x": 0.2838748418115346,
+      "y": 0.15272785083270807,
+      "z": 0.3854213362539708,
+      "w": 0.8646037655057386
+    }
+  },
+  {
+    "timestamp": 1766137731.7095907,
+    "position": {
+      "x": 0.19232523067571375,
+      "y": -0.0071184225965873205,
+      "z": -0.02784224210207853
+    },
+    "orientation": {
+      "x": 0.3219126487584513,
+      "y": 0.17690009321570824,
+      "z": 0.3982345055413905,
+      "w": 0.8405283351474809
+    }
+  },
+  {
+    "timestamp": 1766137731.8422809,
+    "position": {
+      "x": 0.19168875225966392,
+      "y": -0.004990331131850073,
+      "z": -0.03283032992832921
+    },
+    "orientation": {
+      "x": 0.3674269527764419,
+      "y": 0.20738012267578484,
+      "z": 0.4117051155417631,
+      "w": 0.8077684178829587
+    }
+  },
+  {
+    "timestamp": 1766137731.9749708,
+    "position": {
+      "x": 0.18998565609055984,
+      "y": -0.0033825343752307557,
+      "z": -0.03810555282336352
+    },
+    "orientation": {
+      "x": 0.4136196062840369,
+      "y": 0.24214577501530535,
+      "z": 0.4263623427422081,
+      "w": 0.7671371439521432
+    }
+  },
+  {
+    "timestamp": 1766137732.1076608,
+    "position": {
+      "x": 0.1868307510070627,
+      "y": 0.0003885783468838555,
+      "z": -0.04221576706026886
+    },
+    "orientation": {
+      "x": 0.4602580735888368,
+      "y": 0.27247275331825455,
+      "z": 0.43336228225977597,
+      "w": 0.7253400834850235
+    }
+  },
+  {
+    "timestamp": 1766137732.2403507,
+    "position": {
+      "x": 0.18382681281781127,
+      "y": 0.0036418695373507948,
+      "z": -0.045121291558736176
+    },
+    "orientation": {
+      "x": 0.5025381291848361,
+      "y": 0.3049322521121252,
+      "z": 0.4400995351165156,
+      "w": 0.6788108348630413
+    }
+  },
+  {
+    "timestamp": 1766137732.3730419,
+    "position": {
+      "x": 0.18158514192635833,
+      "y": 0.004123396401351093,
+      "z": -0.047983220542237845
+    },
+    "orientation": {
+      "x": 0.5251502797979929,
+      "y": 0.3245349256504583,
+      "z": 0.4454813638003895,
+      "w": 0.6484139265682733
+    }
+  },
+  {
+    "timestamp": 1766137732.5057318,
+    "position": {
+      "x": 0.18230435559125574,
+      "y": 0.0037467271981150574,
+      "z": -0.048461614696177976
+    },
+    "orientation": {
+      "x": 0.5184866056393769,
+      "y": 0.3159823106106524,
+      "z": 0.446582713538181,
+      "w": 0.6571839157515843
+    }
+  },
+  {
+    "timestamp": 1766137732.6384218,
+    "position": {
+      "x": 0.18347984405271478,
+      "y": 0.002181890071194653,
+      "z": -0.046841520835215464
+    },
+    "orientation": {
+      "x": 0.49056347541222817,
+      "y": 0.2861064778490488,
+      "z": 0.44079610204479575,
+      "w": 0.6951182319191476
+    }
+  },
+  {
+    "timestamp": 1766137732.7711117,
+    "position": {
+      "x": 0.18678804215616301,
+      "y": -0.0005677988765125375,
+      "z": -0.04305081100847108
+    },
+    "orientation": {
+      "x": 0.4501679041205402,
+      "y": 0.2594754420173898,
+      "z": 0.4336622667199596,
+      "w": 0.7361782335229065
+    }
+  },
+  {
+    "timestamp": 1766137732.9038017,
+    "position": {
+      "x": 0.18991339217200165,
+      "y": -0.002508732061250102,
+      "z": -0.038708661284543866
+    },
+    "orientation": {
+      "x": 0.4150547664607449,
+      "y": 0.2375991900559697,
+      "z": 0.42656859845122247,
+      "w": 0.7676688065424591
+    }
+  },
+  {
+    "timestamp": 1766137733.0364919,
+    "position": {
+      "x": 0.19045516988989836,
+      "y": -0.0033083206554815614,
+      "z": -0.03564870274996422
+    },
+    "orientation": {
+      "x": 0.3851373182780046,
+      "y": 0.2123702085004477,
+      "z": 0.4155515559917882,
+      "w": 0.7961689801316723
+    }
+  },
+  {
+    "timestamp": 1766137733.1691818,
+    "position": {
+      "x": 0.19150253035443282,
+      "y": -0.006097984178144111,
+      "z": -0.0307070685136846
+    },
+    "orientation": {
+      "x": 0.33801325074079464,
+      "y": 0.18171514460366842,
+      "z": 0.402812558214779,
+      "w": 0.8309444575239512
+    }
+  },
+  {
+    "timestamp": 1766137733.3018718,
+    "position": {
+      "x": 0.1917603008546128,
+      "y": -0.007601216486307932,
+      "z": -0.027743020829691517
+    },
+    "orientation": {
+      "x": 0.29657522573904543,
+      "y": 0.14652869949017006,
+      "z": 0.38899271480576436,
+      "w": 0.8598006417371383
+    }
+  },
+  {
+    "timestamp": 1766137733.4345617,
+    "position": {
+      "x": 0.19082002510080054,
+      "y": -0.007932157416621038,
+      "z": -0.026265006682778883
+    },
+    "orientation": {
+      "x": 0.2745972601685617,
+      "y": 0.12620900489973713,
+      "z": 0.3776844543853533,
+      "w": 0.8752268761331403
+    }
+  },
+  {
+    "timestamp": 1766137733.5672529,
+    "position": {
+      "x": 0.19149167875239098,
+      "y": -0.009217796741901624,
+      "z": -0.023438842771800042
+    },
+    "orientation": {
+      "x": 0.24778338381901557,
+      "y": 0.10954093900195631,
+      "z": 0.3709616541479626,
+      "w": 0.8882520073366428
+    }
+  },
+  {
+    "timestamp": 1766137733.6999428,
+    "position": {
+      "x": 0.19125138352813895,
+      "y": -0.011377493877903655,
+      "z": -0.020904927913110605
+    },
+    "orientation": {
+      "x": 0.21240811588478398,
+      "y": 0.08485091275778019,
+      "z": 0.3600396621890775,
+      "w": 0.904463684489998
+    }
+  },
+  {
+    "timestamp": 1766137733.8326328,
+    "position": {
+      "x": 0.19114333398206507,
+      "y": -0.011782242774674906,
+      "z": -0.019752048151934043
+    },
+    "orientation": {
+      "x": 0.19581538959237446,
+      "y": 0.07114103772516214,
+      "z": 0.3531719918977943,
+      "w": 0.9120662421606875
+    }
+  },
+  {
+    "timestamp": 1766137733.9653227,
+    "position": {
+      "x": 0.1905938359654429,
+      "y": -0.010815088765944197,
+      "z": -0.020127808504237316
+    },
+    "orientation": {
+      "x": 0.2101673861530309,
+      "y": 0.0842251088334906,
+      "z": 0.3554275060255296,
+      "w": 0.9068666323115331
+    }
+  },
+  {
+    "timestamp": 1766137734.0980127,
+    "position": {
+      "x": 0.1904808773582365,
+      "y": -0.009880953424531491,
+      "z": -0.022222546590400197
+    },
+    "orientation": {
+      "x": 0.23793810396559856,
+      "y": 0.10542942788467882,
+      "z": 0.36521420646504305,
+      "w": 0.8938057271092384
+    }
+  },
+  {
+    "timestamp": 1766137734.2307029,
+    "position": {
+      "x": 0.19007347057702315,
+      "y": -0.007939860241737151,
+      "z": -0.026230532633668036
+    },
+    "orientation": {
+      "x": 0.2797267533904261,
+      "y": 0.13297063385663413,
+      "z": 0.3772062595220394,
+      "w": 0.8728042115771489
+    }
+  },
+  {
+    "timestamp": 1766137734.3633928,
+    "position": {
+      "x": 0.18944237580216391,
+      "y": -0.005133780003242938,
+      "z": -0.029369955088318647
+    },
+    "orientation": {
+      "x": 0.32645941963691744,
+      "y": 0.1684485765017021,
+      "z": 0.38928260090962324,
+      "w": 0.8446942529897526
+    }
+  },
+  {
+    "timestamp": 1766137734.4960828,
+    "position": {
+      "x": 0.18761714015810615,
+      "y": -0.002397637972734623,
+      "z": -0.032852401854285146
+    },
+    "orientation": {
+      "x": 0.3723331624539734,
+      "y": 0.20229592822904144,
+      "z": 0.399158913702473,
+      "w": 0.8130907299747275
+    }
+  }
+]
\ No newline at end of file
diff --git a/recorded_gelsight_pose/episode_129/session_info.json b/recorded_gelsight_pose/episode_129/session_info.json
new file mode 100644
index 0000000000000000000000000000000000000000..e270de1a50b9ff316046a3993e69cbc9c5b58c6c
--- /dev/null
+++ b/recorded_gelsight_pose/episode_129/session_info.json
@@ -0,0 +1,12 @@
+{
+  "session_id": 18,
+  "start_time": "2025-12-19T21:24:35.057386",
+  "ros_start_time": 1766150675.057453,
+  "image_topic": "/gelsight_img",
+  "pose_topic": "/pose",
+  "image_format": "png",
+  "end_time": "2025-12-19T21:24:38.765013",
+  "ros_end_time": 1766150678.7650242,
+  "total_images": 92,
+  "total_pose_frames": 27
+}
\ No newline at end of file
diff --git a/recorded_gelsight_pose/episode_135/image_index.json b/recorded_gelsight_pose/episode_135/image_index.json
new file mode 100644
index 0000000000000000000000000000000000000000..d6959c228582da2f1d5e931277d84feee807a29c
--- /dev/null
+++ b/recorded_gelsight_pose/episode_135/image_index.json
@@ -0,0 +1,426 @@
+[
+  {
+    "timestamp": 1766150902.7609422,
+    "filename": "img_000000.png"
+  },
+  {
+    "timestamp": 1766150902.7990956,
+    "filename": "img_000001.png"
+  },
+  {
+    "timestamp": 1766150902.835323,
+    "filename": "img_000002.png"
+  },
+  {
+    "timestamp": 1766150902.8739839,
+    "filename": "img_000003.png"
+  },
+  {
+    "timestamp": 1766150902.9132495,
+    "filename": "img_000004.png"
+  },
+  {
+    "timestamp": 1766150902.953285,
+    "filename": "img_000005.png"
+  },
+  {
+    "timestamp": 1766150902.9938214,
+    "filename": "img_000006.png"
+  },
+  {
+    "timestamp": 1766150903.0341277,
+    "filename": "img_000007.png"
+  },
+  {
+    "timestamp": 1766150903.0747027,
+    "filename": "img_000008.png"
+  },
+  {
+    "timestamp": 1766150903.1114194,
+    "filename": "img_000009.png"
+  },
+  {
+    "timestamp": 1766150903.1526704,
+    "filename": "img_000010.png"
+  },
+  {
+    "timestamp": 1766150903.1937468,
+    "filename": "img_000011.png"
+  },
+  {
+    "timestamp": 1766150903.2348683,
+    "filename": "img_000012.png"
+  },
+  {
+    "timestamp": 1766150903.2725646,
+    "filename": "img_000013.png"
+  },
+  {
+    "timestamp": 1766150903.3123083,
+    "filename": "img_000014.png"
+  },
+  {
+    "timestamp": 1766150903.355938,
+    "filename": "img_000015.png"
+  },
+  {
+    "timestamp": 1766150903.3969543,
+    "filename": "img_000016.png"
+  },
+  {
+    "timestamp": 1766150903.4336655,
+    "filename": "img_000017.png"
+  },
+  {
+    "timestamp": 1766150903.4738908,
+    "filename": "img_000018.png"
+  },
+  {
+    "timestamp": 1766150903.512943,
+    "filename": "img_000019.png"
+  },
+  {
+    "timestamp": 1766150903.5534227,
+    "filename": "img_000020.png"
+  },
+  {
+    "timestamp": 1766150903.5938115,
+    "filename": "img_000021.png"
+  },
+  {
+    "timestamp": 1766150903.6337616,
+    "filename": "img_000022.png"
+  },
+  {
+    "timestamp": 1766150903.673951,
+    "filename": "img_000023.png"
+  },
+  {
+    "timestamp": 1766150903.712929,
+    "filename": "img_000024.png"
+  },
+  {
+    "timestamp": 1766150903.7531674,
+    "filename": "img_000025.png"
+  },
+  {
+    "timestamp": 1766150903.7929826,
+    "filename": "img_000026.png"
+  },
+  {
+    "timestamp": 1766150903.8343954,
+    "filename": "img_000027.png"
+  },
+  {
+    "timestamp": 1766150903.875048,
+    "filename": "img_000028.png"
+  },
+  {
+    "timestamp": 1766150903.9140198,
+    "filename": "img_000029.png"
+  },
+  {
+    "timestamp": 1766150903.9538274,
+    "filename": "img_000030.png"
+  },
+  {
+    "timestamp": 1766150903.9961443,
+    "filename": "img_000031.png"
+  },
+  {
+    "timestamp": 1766150904.037475,
+    "filename": "img_000032.png"
+  },
+  {
+    "timestamp": 1766150904.076932,
+    "filename": "img_000033.png"
+  },
+  {
+    "timestamp": 1766150904.112738,
+    "filename": "img_000034.png"
+  },
+  {
+    "timestamp": 1766150904.1588266,
+    "filename": "img_000035.png"
+  },
+  {
+    "timestamp": 1766150904.1974857,
+    "filename": "img_000036.png"
+  },
+  {
+    "timestamp": 1766150904.2350788,
+    "filename": "img_000037.png"
+  },
+  {
+    "timestamp": 1766150904.274093,
+    "filename": "img_000038.png"
+  },
+  {
+    "timestamp": 1766150904.3137662,
+    "filename": "img_000039.png"
+  },
+  {
+    "timestamp": 1766150904.35589,
+    "filename": "img_000040.png"
+  },
+  {
+    "timestamp": 1766150904.3952804,
+    "filename": "img_000041.png"
+  },
+  {
+    "timestamp": 1766150904.4351287,
+    "filename": "img_000042.png"
+  },
+  {
+    "timestamp": 1766150904.477038,
+    "filename": "img_000043.png"
+  },
+  {
+    "timestamp": 1766150904.5145652,
+    "filename": "img_000044.png"
+  },
+  {
+    "timestamp": 1766150904.5546892,
+    "filename": "img_000045.png"
+  },
+  {
+    "timestamp": 1766150904.5955367,
+    "filename": "img_000046.png"
+  },
+  {
+    "timestamp": 1766150904.6366029,
+    "filename": "img_000047.png"
+  },
+  {
+    "timestamp": 1766150904.6740937,
+    "filename": "img_000048.png"
+  },
+  {
+    "timestamp": 1766150904.7106972,
+    "filename": "img_000049.png"
+  },
+  {
+    "timestamp": 1766150904.7523477,
+    "filename": "img_000050.png"
+  },
+  {
+    "timestamp": 1766150904.7930522,
+    "filename": "img_000051.png"
+  },
+  {
+    "timestamp": 1766150904.8324726,
+    "filename": "img_000052.png"
+  },
+  {
+    "timestamp": 1766150904.8724039,
+    "filename": "img_000053.png"
+  },
+  {
+    "timestamp": 1766150904.9094899,
+    "filename": "img_000054.png"
+  },
+  {
+    "timestamp": 1766150904.9548995,
+    "filename": "img_000055.png"
+  },
+  {
+    "timestamp": 1766150904.9932487,
+    "filename": "img_000056.png"
+  },
+  {
+    "timestamp": 1766150905.0317552,
+    "filename": "img_000057.png"
+  },
+  {
+    "timestamp": 1766150905.0724475,
+    "filename": "img_000058.png"
+  },
+  {
+    "timestamp": 1766150905.110402,
+    "filename": "img_000059.png"
+  },
+  {
+    "timestamp": 1766150905.1528685,
+    "filename": "img_000060.png"
+  },
+  {
+    "timestamp": 1766150905.1957676,
+    "filename": "img_000061.png"
+  },
+  {
+    "timestamp": 1766150905.2319725,
+    "filename": "img_000062.png"
+  },
+  {
+    "timestamp": 1766150905.274276,
+    "filename": "img_000063.png"
+  },
+  {
+    "timestamp": 1766150905.3118463,
+    "filename": "img_000064.png"
+  },
+  {
+    "timestamp": 1766150905.3545,
+    "filename": "img_000065.png"
+  },
+  {
+    "timestamp": 1766150905.3926327,
+    "filename": "img_000066.png"
+  },
+  {
+    "timestamp": 1766150905.4329717,
+    "filename": "img_000067.png"
+  },
+  {
+    "timestamp": 1766150905.473793,
+    "filename": "img_000068.png"
+  },
+  {
+    "timestamp": 1766150905.5109603,
+    "filename": "img_000069.png"
+  },
+  {
+    "timestamp": 1766150905.554916,
+    "filename": "img_000070.png"
+  },
+  {
+    "timestamp": 1766150905.5934963,
+    "filename": "img_000071.png"
+  },
+  {
+    "timestamp": 1766150905.6334507,
+    "filename": "img_000072.png"
+  },
+  {
+    "timestamp": 1766150905.6736138,
+    "filename": "img_000073.png"
+  },
+  {
+    "timestamp": 1766150905.7112353,
+    "filename": "img_000074.png"
+  },
+  {
+    "timestamp": 1766150905.754446,
+    "filename": "img_000075.png"
+  },
+  {
+    "timestamp": 1766150905.7961433,
+    "filename": "img_000076.png"
+  },
+  {
+    "timestamp": 1766150905.8342059,
+    "filename": "img_000077.png"
+  },
+  {
+    "timestamp": 1766150905.8766632,
+    "filename": "img_000078.png"
+  },
+  {
+    "timestamp": 1766150905.9126017,
+    "filename": "img_000079.png"
+  },
+  {
+    "timestamp": 1766150905.9551628,
+    "filename": "img_000080.png"
+  },
+  {
+    "timestamp": 1766150905.995488,
+    "filename": "img_000081.png"
+  },
+  {
+    "timestamp": 1766150906.033453,
+    "filename": "img_000082.png"
+  },
+  {
+    "timestamp": 1766150906.075002,
+    "filename": "img_000083.png"
+  },
+  {
+    "timestamp": 1766150906.1217406,
+    "filename": "img_000084.png"
+  },
+  {
+    "timestamp": 1766150906.1551237,
+    "filename": "img_000085.png"
+  },
+  {
+    "timestamp": 1766150906.1944542,
+    "filename": "img_000086.png"
+  },
+  {
+    "timestamp": 1766150906.2332957,
+    "filename": "img_000087.png"
+  },
+  {
+    "timestamp": 1766150906.2760727,
+    "filename": "img_000088.png"
+  },
+  {
+    "timestamp": 1766150906.3149796,
+    "filename": "img_000089.png"
+  },
+  {
+    "timestamp": 1766150906.3534892,
+    "filename": "img_000090.png"
+  },
+  {
+    "timestamp": 1766150906.394415,
+    "filename": "img_000091.png"
+  },
+  {
+    "timestamp": 1766150906.438214,
+    "filename": "img_000092.png"
+  },
+  {
+    "timestamp": 1766150906.4747782,
+    "filename": "img_000093.png"
+  },
+  {
+    "timestamp": 1766150906.5107596,
+    "filename": "img_000094.png"
+  },
+  {
+    "timestamp": 1766150906.5537643,
+    "filename": "img_000095.png"
+  },
+  {
+    "timestamp": 1766150906.595941,
+    "filename": "img_000096.png"
+  },
+  {
+    "timestamp": 1766150906.6351144,
+    "filename": "img_000097.png"
+  },
+  {
+    "timestamp": 1766150906.6736214,
+    "filename": "img_000098.png"
+  },
+  {
+    "timestamp": 1766150906.7139347,
+    "filename": "img_000099.png"
+  },
+  {
+    "timestamp": 1766150906.759668,
+    "filename": "img_000100.png"
+  },
+  {
+    "timestamp": 1766150906.795766,
+    "filename": "img_000101.png"
+  },
+  {
+    "timestamp": 1766150906.8342612,
+    "filename": "img_000102.png"
+  },
+  {
+    "timestamp": 1766150906.875155,
+    "filename": "img_000103.png"
+  },
+  {
+    "timestamp": 1766150906.9158864,
+    "filename": "img_000104.png"
+  },
+  {
+    "timestamp": 1766150906.954572,
+    "filename": "img_000105.png"
+  }
+]
\ No newline at end of file
diff --git a/recorded_gelsight_pose/episode_135/pose_data.json b/recorded_gelsight_pose/episode_135/pose_data.json
new file mode 100644
index 0000000000000000000000000000000000000000..befaf9b3eeb98a7e88526ea7bc949b42e3800adc
--- /dev/null
+++ b/recorded_gelsight_pose/episode_135/pose_data.json
@@ -0,0 +1,450 @@
+[
+  {
+    "timestamp": 1766137957.7140167,
+    "position": {
+      "x": 0.18667464605688355,
+      "y": -0.0031183338552248085,
+      "z": -0.02846620773650828
+    },
+    "orientation": {
+      "x": 0.36529414572648494,
+      "y": 0.20677933645210236,
+      "z": 0.3938319832690461,
+      "w": 0.8177400944485694
+    }
+  },
+  {
+    "timestamp": 1766137957.8467078,
+    "position": {
+      "x": 0.1867671071190647,
+      "y": -0.0026401171692549963,
+      "z": -0.029192525773615183
+    },
+    "orientation": {
+      "x": 0.36937298189095225,
+      "y": 0.20792161269664922,
+      "z": 0.39565025840989265,
+      "w": 0.8147349730082758
+    }
+  },
+  {
+    "timestamp": 1766137957.9793978,
+    "position": {
+      "x": 0.18655417159347226,
+      "y": -0.0031020701518197635,
+      "z": -0.02919025310265412
+    },
+    "orientation": {
+      "x": 0.3687493711624362,
+      "y": 0.20790509056435003,
+      "z": 0.3954222983266782,
+      "w": 0.8151322472892264
+    }
+  },
+  {
+    "timestamp": 1766137958.1120877,
+    "position": {
+      "x": 0.18739471370973929,
+      "y": -0.0036308372819758294,
+      "z": -0.029395740883135582
+    },
+    "orientation": {
+      "x": 0.3633989396340487,
+      "y": 0.20376068057067404,
+      "z": 0.39753431075169365,
+      "w": 0.8175507736534782
+    }
+  },
+  {
+    "timestamp": 1766137958.2447777,
+    "position": {
+      "x": 0.18720707037583795,
+      "y": -0.0037152444861832112,
+      "z": -0.028803388658941595
+    },
+    "orientation": {
+      "x": 0.3555066460530421,
+      "y": 0.19684845134234516,
+      "z": 0.3926587697586674,
+      "w": 0.825036243051084
+    }
+  },
+  {
+    "timestamp": 1766137958.3774679,
+    "position": {
+      "x": 0.18710626642265948,
+      "y": -0.005127485970544465,
+      "z": -0.02526366839739312
+    },
+    "orientation": {
+      "x": 0.3238398472216602,
+      "y": 0.17528122736630744,
+      "z": 0.38200464180293764,
+      "w": 0.8476300480312279
+    }
+  },
+  {
+    "timestamp": 1766137958.5101578,
+    "position": {
+      "x": 0.18557713109608093,
+      "y": -0.006791314268180942,
+      "z": -0.021068570185242733
+    },
+    "orientation": {
+      "x": 0.28264502150880266,
+      "y": 0.14923491711150624,
+      "z": 0.36428613555040534,
+      "w": 0.8747207227319825
+    }
+  },
+  {
+    "timestamp": 1766137958.6428478,
+    "position": {
+      "x": 0.1841999714257347,
+      "y": -0.0089631706612823,
+      "z": -0.01833870242071997
+    },
+    "orientation": {
+      "x": 0.2519872153447606,
+      "y": 0.1310985244487759,
+      "z": 0.35387821598238933,
+      "w": 0.8911149355965641
+    }
+  },
+  {
+    "timestamp": 1766137958.7755377,
+    "position": {
+      "x": 0.18415622981501084,
+      "y": -0.010264956767158356,
+      "z": -0.016690866323809173
+    },
+    "orientation": {
+      "x": 0.22451129231965783,
+      "y": 0.11162064512529296,
+      "z": 0.34642428328387087,
+      "w": 0.9039500689496224
+    }
+  },
+  {
+    "timestamp": 1766137958.9082277,
+    "position": {
+      "x": 0.1836298220658231,
+      "y": -0.01072603388887819,
+      "z": -0.013682029934950268
+    },
+    "orientation": {
+      "x": 0.20276217934264298,
+      "y": 0.10045316399431516,
+      "z": 0.3379444179121192,
+      "w": 0.9135591009200182
+    }
+  },
+  {
+    "timestamp": 1766137959.0409188,
+    "position": {
+      "x": 0.1835418967427994,
+      "y": -0.011875428190990273,
+      "z": -0.012372905159603098
+    },
+    "orientation": {
+      "x": 0.1913772992196657,
+      "y": 0.09664453202967277,
+      "z": 0.33568239984370923,
+      "w": 0.9172523590633715
+    }
+  },
+  {
+    "timestamp": 1766137959.2067807,
+    "position": {
+      "x": 0.18464717904213335,
+      "y": -0.009968213693672845,
+      "z": -0.015323255808915831
+    },
+    "orientation": {
+      "x": 0.22628845136951128,
+      "y": 0.1169887534711501,
+      "z": 0.3464799268216849,
+      "w": 0.9028060858499429
+    }
+  },
+  {
+    "timestamp": 1766137959.3394709,
+    "position": {
+      "x": 0.18464371413232716,
+      "y": -0.008756804769377458,
+      "z": -0.019234246597201424
+    },
+    "orientation": {
+      "x": 0.26246513113850206,
+      "y": 0.13897027506766593,
+      "z": 0.35830522955125865,
+      "w": 0.8851082871944461
+    }
+  },
+  {
+    "timestamp": 1766137959.4721608,
+    "position": {
+      "x": 0.18630587597681098,
+      "y": -0.006804623387027364,
+      "z": -0.021258859398048904
+    },
+    "orientation": {
+      "x": 0.29397328249401633,
+      "y": 0.1626962003819687,
+      "z": 0.3709022585193434,
+      "w": 0.8657604577400226
+    }
+  },
+  {
+    "timestamp": 1766137959.6048517,
+    "position": {
+      "x": 0.1874819793938321,
+      "y": -0.005790303186772983,
+      "z": -0.02369801540784769
+    },
+    "orientation": {
+      "x": 0.3202786689172409,
+      "y": 0.1802483689884476,
+      "z": 0.38189937573244015,
+      "w": 0.8479887773601588
+    }
+  },
+  {
+    "timestamp": 1766137959.7375417,
+    "position": {
+      "x": 0.18726115757019118,
+      "y": -0.005017296447530961,
+      "z": -0.025870763876393157
+    },
+    "orientation": {
+      "x": 0.34319875399269445,
+      "y": 0.19756874751946785,
+      "z": 0.38947997388410627,
+      "w": 0.8315567059465558
+    }
+  },
+  {
+    "timestamp": 1766137959.8702319,
+    "position": {
+      "x": 0.18752901987818693,
+      "y": -0.0031053657976245763,
+      "z": -0.028722049279714293
+    },
+    "orientation": {
+      "x": 0.37503195499696707,
+      "y": 0.21884456352888867,
+      "z": 0.39982090088459266,
+      "w": 0.8072182709533002
+    }
+  },
+  {
+    "timestamp": 1766137960.0029218,
+    "position": {
+      "x": 0.18753012007129993,
+      "y": -0.0021904466950694867,
+      "z": -0.03179750408339391
+    },
+    "orientation": {
+      "x": 0.3999383907721174,
+      "y": 0.23598059203345298,
+      "z": 0.40913815360935535,
+      "w": 0.7854733700331781
+    }
+  },
+  {
+    "timestamp": 1766137960.1356118,
+    "position": {
+      "x": 0.18743550973866452,
+      "y": -0.0009815308938309897,
+      "z": -0.03554569197147134
+    },
+    "orientation": {
+      "x": 0.42967286340025923,
+      "y": 0.2568293647611431,
+      "z": 0.4204154132932763,
+      "w": 0.7567501490711803
+    }
+  },
+  {
+    "timestamp": 1766137960.2683017,
+    "position": {
+      "x": 0.18565455675388126,
+      "y": 0.001114135277513889,
+      "z": -0.0399006295609317
+    },
+    "orientation": {
+      "x": 0.46659065393256,
+      "y": 0.28187644851557975,
+      "z": 0.4301315665706326,
+      "w": 0.7196010456318993
+    }
+  },
+  {
+    "timestamp": 1766137960.4009917,
+    "position": {
+      "x": 0.1841828794336233,
+      "y": 0.0025934092302779266,
+      "z": -0.042029832117707375
+    },
+    "orientation": {
+      "x": 0.4907350683488268,
+      "y": 0.3000158635394692,
+      "z": 0.43561825741837146,
+      "w": 0.6923917302518282
+    }
+  },
+  {
+    "timestamp": 1766137960.5336819,
+    "position": {
+      "x": 0.18254730841888256,
+      "y": 0.003733867019711651,
+      "z": -0.043193533230552084
+    },
+    "orientation": {
+      "x": 0.5087285746376397,
+      "y": 0.3142953147777676,
+      "z": 0.43692256574698557,
+      "w": 0.6719466972885354
+    }
+  },
+  {
+    "timestamp": 1766137960.6663718,
+    "position": {
+      "x": 0.18042723221089765,
+      "y": 0.005221051832910217,
+      "z": -0.04553787358449794
+    },
+    "orientation": {
+      "x": 0.5319387925367869,
+      "y": 0.33132419263854723,
+      "z": 0.4413699921221613,
+      "w": 0.6422288769753374
+    }
+  },
+  {
+    "timestamp": 1766137960.7990618,
+    "position": {
+      "x": 0.1791172545133391,
+      "y": 0.005378585159016763,
+      "z": -0.047677441393491046
+    },
+    "orientation": {
+      "x": 0.5449522135579303,
+      "y": 0.34025620197692213,
+      "z": 0.4448608009598156,
+      "w": 0.6239805042819393
+    }
+  },
+  {
+    "timestamp": 1766137960.9317527,
+    "position": {
+      "x": 0.17954913545154538,
+      "y": 0.004636001317497751,
+      "z": -0.048270059371051596
+    },
+    "orientation": {
+      "x": 0.5357361059969196,
+      "y": 0.32940255750704917,
+      "z": 0.4455606463336823,
+      "w": 0.6371471496269792
+    }
+  },
+  {
+    "timestamp": 1766137961.0644429,
+    "position": {
+      "x": 0.1818702932536708,
+      "y": 0.003826502079309013,
+      "z": -0.0448079975856875
+    },
+    "orientation": {
+      "x": 0.5088922741148731,
+      "y": 0.3060100568824293,
+      "z": 0.43830486436119676,
+      "w": 0.6747409460750979
+    }
+  },
+  {
+    "timestamp": 1766137961.1971328,
+    "position": {
+      "x": 0.1842650419011452,
+      "y": 0.001958001121565134,
+      "z": -0.0413886862951081
+    },
+    "orientation": {
+      "x": 0.4748545523257448,
+      "y": 0.2820179461328484,
+      "z": 0.4306782394859635,
+      "w": 0.7137893850624268
+    }
+  },
+  {
+    "timestamp": 1766137961.3298228,
+    "position": {
+      "x": 0.18578948980931165,
+      "y": 0.000398000576042834,
+      "z": -0.03800860139001762
+    },
+    "orientation": {
+      "x": 0.44460128484058337,
+      "y": 0.26070416204808533,
+      "z": 0.42224243588302773,
+      "w": 0.7457039377316411
+    }
+  },
+  {
+    "timestamp": 1766137961.4625127,
+    "position": {
+      "x": 0.18663283765916627,
+      "y": -0.0004191735977565614,
+      "z": -0.03499876322013919
+    },
+    "orientation": {
+      "x": 0.4130652541945724,
+      "y": 0.2322857744251824,
+      "z": 0.4114564359900377,
+      "w": 0.7785396689053439
+    }
+  },
+  {
+    "timestamp": 1766137961.5952027,
+    "position": {
+      "x": 0.18587481110747994,
+      "y": -0.002074116387416197,
+      "z": -0.030698637073912738
+    },
+    "orientation": {
+      "x": 0.3771274052712035,
+      "y": 0.20800556021760594,
+      "z": 0.3958878439944398,
+      "w": 0.8110372507409284
+    }
+  },
+  {
+    "timestamp": 1766137961.7278929,
+    "position": {
+      "x": 0.18435289292054755,
+      "y": -0.0037357166999275604,
+      "z": -0.027505195084510686
+    },
+    "orientation": {
+      "x": 0.3481060879362762,
+      "y": 0.19116474600808203,
+      "z": 0.38237065283067073,
+      "w": 0.8343086211224322
+    }
+  },
+  {
+    "timestamp": 1766137961.8605828,
+    "position": {
+      "x": 0.18242022398869517,
+      "y": -0.004803534946532129,
+      "z": -0.02381297818658558
+    },
+    "orientation": {
+      "x": 0.3248711807442366,
+      "y": 0.1801782004065295,
+      "z": 0.3685069467457176,
+      "w": 0.8521720261897002
+    }
+  }
+]
\ No newline at end of file
diff --git a/recorded_gelsight_pose/episode_135/session_info.json b/recorded_gelsight_pose/episode_135/session_info.json
new file mode 100644
index 0000000000000000000000000000000000000000..afe521189925c18303580dc1427ffb1987ebac94
--- /dev/null
+++ b/recorded_gelsight_pose/episode_135/session_info.json
@@ -0,0 +1,12 @@
+{
+  "session_id": 1,
+  "start_time": "2025-12-19T21:28:22.734755",
+  "ros_start_time": 1766150902.7347753,
+  "image_topic": "/gelsight_img",
+  "pose_topic": "/pose",
+  "image_format": "png",
+  "end_time": "2025-12-19T21:28:26.981246",
+  "ros_end_time": 1766150906.9812567,
+  "total_images": 106,
+  "total_pose_frames": 32
+}
\ No newline at end of file
diff --git a/recorded_gelsight_pose/episode_139/image_index.json b/recorded_gelsight_pose/episode_139/image_index.json
new file mode 100644
index 0000000000000000000000000000000000000000..322ebc8dfd43c9be6dcb6b0a12d2d2cb03ad5100
--- /dev/null
+++ b/recorded_gelsight_pose/episode_139/image_index.json
@@ -0,0 +1,386 @@
+[
+  {
+    "timestamp": 1766150922.9144094,
+    "filename": "img_000000.png"
+  },
+  {
+    "timestamp": 1766150922.9622211,
+    "filename": "img_000001.png"
+  },
+  {
+    "timestamp": 1766150922.9933863,
+    "filename": "img_000002.png"
+  },
+  {
+    "timestamp": 1766150923.0349221,
+    "filename": "img_000003.png"
+  },
+  {
+    "timestamp": 1766150923.07608,
+    "filename": "img_000004.png"
+  },
+  {
+    "timestamp": 1766150923.1180336,
+    "filename": "img_000005.png"
+  },
+  {
+    "timestamp": 1766150923.154509,
+    "filename": "img_000006.png"
+  },
+  {
+    "timestamp": 1766150923.1950603,
+    "filename": "img_000007.png"
+  },
+  {
+    "timestamp": 1766150923.2362251,
+    "filename": "img_000008.png"
+  },
+  {
+    "timestamp": 1766150923.274877,
+    "filename": "img_000009.png"
+  },
+  {
+    "timestamp": 1766150923.3161156,
+    "filename": "img_000010.png"
+  },
+  {
+    "timestamp": 1766150923.3546352,
+    "filename": "img_000011.png"
+  },
+  {
+    "timestamp": 1766150923.3950877,
+    "filename": "img_000012.png"
+  },
+  {
+    "timestamp": 1766150923.4350202,
+    "filename": "img_000013.png"
+  },
+  {
+    "timestamp": 1766150923.473619,
+    "filename": "img_000014.png"
+  },
+  {
+    "timestamp": 1766150923.520577,
+    "filename": "img_000015.png"
+  },
+  {
+    "timestamp": 1766150923.560113,
+    "filename": "img_000016.png"
+  },
+  {
+    "timestamp": 1766150923.5958924,
+    "filename": "img_000017.png"
+  },
+  {
+    "timestamp": 1766150923.63963,
+    "filename": "img_000018.png"
+  },
+  {
+    "timestamp": 1766150923.6743844,
+    "filename": "img_000019.png"
+  },
+  {
+    "timestamp": 1766150923.7148392,
+    "filename": "img_000020.png"
+  },
+  {
+    "timestamp": 1766150923.754463,
+    "filename": "img_000021.png"
+  },
+  {
+    "timestamp": 1766150923.7923496,
+    "filename": "img_000022.png"
+  },
+  {
+    "timestamp": 1766150923.8347628,
+    "filename": "img_000023.png"
+  },
+  {
+    "timestamp": 1766150923.8746684,
+    "filename": "img_000024.png"
+  },
+  {
+    "timestamp": 1766150923.9135852,
+    "filename": "img_000025.png"
+  },
+  {
+    "timestamp": 1766150923.9551919,
+    "filename": "img_000026.png"
+  },
+  {
+    "timestamp": 1766150923.995592,
+    "filename": "img_000027.png"
+  },
+  {
+    "timestamp": 1766150924.035785,
+    "filename": "img_000028.png"
+  },
+  {
+    "timestamp": 1766150924.0764413,
+    "filename": "img_000029.png"
+  },
+  {
+    "timestamp": 1766150924.1151235,
+    "filename": "img_000030.png"
+  },
+  {
+    "timestamp": 1766150924.1590755,
+    "filename": "img_000031.png"
+  },
+  {
+    "timestamp": 1766150924.1988966,
+    "filename": "img_000032.png"
+  },
+  {
+    "timestamp": 1766150924.236349,
+    "filename": "img_000033.png"
+  },
+  {
+    "timestamp": 1766150924.2750275,
+    "filename": "img_000034.png"
+  },
+  {
+    "timestamp": 1766150924.3154464,
+    "filename": "img_000035.png"
+  },
+  {
+    "timestamp": 1766150924.356903,
+    "filename": "img_000036.png"
+  },
+  {
+    "timestamp": 1766150924.3947158,
+    "filename": "img_000037.png"
+  },
+  {
+    "timestamp": 1766150924.4400523,
+    "filename": "img_000038.png"
+  },
+  {
+    "timestamp": 1766150924.477728,
+    "filename": "img_000039.png"
+  },
+  {
+    "timestamp": 1766150924.5160978,
+    "filename": "img_000040.png"
+  },
+  {
+    "timestamp": 1766150924.558485,
+    "filename": "img_000041.png"
+  },
+  {
+    "timestamp": 1766150924.5960052,
+    "filename": "img_000042.png"
+  },
+  {
+    "timestamp": 1766150924.6361203,
+    "filename": "img_000043.png"
+  },
+  {
+    "timestamp": 1766150924.677746,
+    "filename": "img_000044.png"
+  },
+  {
+    "timestamp": 1766150924.7168825,
+    "filename": "img_000045.png"
+  },
+  {
+    "timestamp": 1766150924.7565413,
+    "filename": "img_000046.png"
+  },
+  {
+    "timestamp": 1766150924.795819,
+    "filename": "img_000047.png"
+  },
+  {
+    "timestamp": 1766150924.839286,
+    "filename": "img_000048.png"
+  },
+  {
+    "timestamp": 1766150924.8757725,
+    "filename": "img_000049.png"
+  },
+  {
+    "timestamp": 1766150924.9140995,
+    "filename": "img_000050.png"
+  },
+  {
+    "timestamp": 1766150924.9568505,
+    "filename": "img_000051.png"
+  },
+  {
+    "timestamp": 1766150924.9935162,
+    "filename": "img_000052.png"
+  },
+  {
+    "timestamp": 1766150925.0336664,
+    "filename": "img_000053.png"
+  },
+  {
+    "timestamp": 1766150925.0734131,
+    "filename": "img_000054.png"
+  },
+  {
+    "timestamp": 1766150925.116689,
+    "filename": "img_000055.png"
+  },
+  {
+    "timestamp": 1766150925.1543868,
+    "filename": "img_000056.png"
+  },
+  {
+    "timestamp": 1766150925.1931698,
+    "filename": "img_000057.png"
+  },
+  {
+    "timestamp": 1766150925.234122,
+    "filename": "img_000058.png"
+  },
+  {
+    "timestamp": 1766150925.2749052,
+    "filename": "img_000059.png"
+  },
+  {
+    "timestamp": 1766150925.3145218,
+    "filename": "img_000060.png"
+  },
+  {
+    "timestamp": 1766150925.354746,
+    "filename": "img_000061.png"
+  },
+  {
+    "timestamp": 1766150925.393515,
+    "filename": "img_000062.png"
+  },
+  {
+    "timestamp": 1766150925.4340367,
+    "filename": "img_000063.png"
+  },
+  {
+    "timestamp": 1766150925.4744234,
+    "filename": "img_000064.png"
+  },
+  {
+    "timestamp": 1766150925.5137904,
+    "filename": "img_000065.png"
+  },
+  {
+    "timestamp": 1766150925.5539453,
+    "filename": "img_000066.png"
+  },
+  {
+    "timestamp": 1766150925.593598,
+    "filename": "img_000067.png"
+  },
+  {
+    "timestamp": 1766150925.6356204,
+    "filename": "img_000068.png"
+  },
+  {
+    "timestamp": 1766150925.6754506,
+    "filename": "img_000069.png"
+  },
+  {
+    "timestamp": 1766150925.7138894,
+    "filename": "img_000070.png"
+  },
+  {
+    "timestamp": 1766150925.753661,
+    "filename": "img_000071.png"
+  },
+  {
+    "timestamp": 1766150925.7959173,
+    "filename": "img_000072.png"
+  },
+  {
+    "timestamp": 1766150925.835264,
+    "filename": "img_000073.png"
+  },
+  {
+    "timestamp": 1766150925.8734546,
+    "filename": "img_000074.png"
+  },
+  {
+    "timestamp": 1766150925.9132917,
+    "filename": "img_000075.png"
+  },
+  {
+    "timestamp": 1766150925.9546096,
+    "filename": "img_000076.png"
+  },
+  {
+    "timestamp": 1766150925.9947274,
+    "filename": "img_000077.png"
+  },
+  {
+    "timestamp": 1766150926.032913,
+    "filename": "img_000078.png"
+  },
+  {
+    "timestamp": 1766150926.073783,
+    "filename": "img_000079.png"
+  },
+  {
+    "timestamp": 1766150926.1150382,
+    "filename": "img_000080.png"
+  },
+  {
+    "timestamp": 1766150926.1534529,
+    "filename": "img_000081.png"
+  },
+  {
+    "timestamp": 1766150926.1918907,
+    "filename": "img_000082.png"
+  },
+  {
+    "timestamp": 1766150926.234588,
+    "filename": "img_000083.png"
+  },
+  {
+    "timestamp": 1766150926.2750585,
+    "filename": "img_000084.png"
+  },
+  {
+    "timestamp": 1766150926.3142462,
+    "filename": "img_000085.png"
+  },
+  {
+    "timestamp": 1766150926.353203,
+    "filename": "img_000086.png"
+  },
+  {
+    "timestamp": 1766150926.3924973,
+    "filename": "img_000087.png"
+  },
+  {
+    "timestamp": 1766150926.4347472,
+    "filename": "img_000088.png"
+  },
+  {
+    "timestamp": 1766150926.47755,
+    "filename": "img_000089.png"
+  },
+  {
+    "timestamp": 1766150926.5127995,
+    "filename": "img_000090.png"
+  },
+  {
+    "timestamp": 1766150926.5552404,
+    "filename": "img_000091.png"
+  },
+  {
+    "timestamp": 1766150926.593771,
+    "filename": "img_000092.png"
+  },
+  {
+    "timestamp": 1766150926.6355264,
+    "filename": "img_000093.png"
+  },
+  {
+    "timestamp": 1766150926.673694,
+    "filename": "img_000094.png"
+  },
+  {
+    "timestamp": 1766150926.7139635,
+    "filename": "img_000095.png"
+  }
+]
\ No newline at end of file
diff --git a/recorded_gelsight_pose/episode_139/pose_data.json b/recorded_gelsight_pose/episode_139/pose_data.json
new file mode 100644
index 0000000000000000000000000000000000000000..74098b91fbe3119d970a9a88273f642ff7b658e3
--- /dev/null
+++ b/recorded_gelsight_pose/episode_139/pose_data.json
@@ -0,0 +1,408 @@
+[
+  {
+    "timestamp": 1766137977.8497407,
+    "position": {
+      "x": 0.18701867763283908,
+      "y": -0.0015230123891616654,
+      "z": -0.03280374170010582
+    },
+    "orientation": {
+      "x": 0.3759429975727022,
+      "y": 0.20428156404625422,
+      "z": 0.39992025820202776,
+      "w": 0.8105551753252155
+    }
+  },
+  {
+    "timestamp": 1766137977.9824307,
+    "position": {
+      "x": 0.1861659233208927,
+      "y": -0.0026070915723721277,
+      "z": -0.031346435879543624
+    },
+    "orientation": {
+      "x": 0.3726623636200312,
+      "y": 0.21025423320365422,
+      "z": 0.39716204850301134,
+      "w": 0.8118979168528312
+    }
+  },
+  {
+    "timestamp": 1766137978.1151218,
+    "position": {
+      "x": 0.18668181711491097,
+      "y": -0.0028095409362767776,
+      "z": -0.031231891943940215
+    },
+    "orientation": {
+      "x": 0.37148952004481944,
+      "y": 0.20835885241630206,
+      "z": 0.3986687393451105,
+      "w": 0.8121855461565489
+    }
+  },
+  {
+    "timestamp": 1766137978.2478118,
+    "position": {
+      "x": 0.18729970817285935,
+      "y": -0.0030723866676335143,
+      "z": -0.030710892636627504
+    },
+    "orientation": {
+      "x": 0.36559859054400695,
+      "y": 0.203967377454184,
+      "z": 0.39829391406559933,
+      "w": 0.8161476199469082
+    }
+  },
+  {
+    "timestamp": 1766137978.3805017,
+    "position": {
+      "x": 0.18722555580127914,
+      "y": -0.00475267260269388,
+      "z": -0.029059413593652467
+    },
+    "orientation": {
+      "x": 0.3401071331575188,
+      "y": 0.1860998620660075,
+      "z": 0.3906217480184195,
+      "w": 0.8349303140319083
+    }
+  },
+  {
+    "timestamp": 1766137978.5131917,
+    "position": {
+      "x": 0.18616053760490126,
+      "y": -0.005510929887998339,
+      "z": -0.026216794286121628
+    },
+    "orientation": {
+      "x": 0.30816148801558757,
+      "y": 0.1600427549982127,
+      "z": 0.37583576384263634,
+      "w": 0.8591683726100624
+    }
+  },
+  {
+    "timestamp": 1766137978.645882,
+    "position": {
+      "x": 0.1845194916607931,
+      "y": -0.007295511891872525,
+      "z": -0.02355205785781457
+    },
+    "orientation": {
+      "x": 0.2699804133171908,
+      "y": 0.13059225786239814,
+      "z": 0.35849948420604927,
+      "w": 0.8840443192710852
+    }
+  },
+  {
+    "timestamp": 1766137978.7785718,
+    "position": {
+      "x": 0.18455260256563719,
+      "y": -0.00982156209289986,
+      "z": -0.02001529218643762
+    },
+    "orientation": {
+      "x": 0.21944705545180368,
+      "y": 0.09468017056674656,
+      "z": 0.34460656816401447,
+      "w": 0.9078132893570159
+    }
+  },
+  {
+    "timestamp": 1766137978.9112618,
+    "position": {
+      "x": 0.18408339977120053,
+      "y": -0.011954723120113114,
+      "z": -0.01745944508603048
+    },
+    "orientation": {
+      "x": 0.17116918170473874,
+      "y": 0.05825870945849849,
+      "z": 0.32873222208156333,
+      "w": 0.9269531596429661
+    }
+  },
+  {
+    "timestamp": 1766137979.0439517,
+    "position": {
+      "x": 0.18388397910886498,
+      "y": -0.013618623709638233,
+      "z": -0.014687715647730054
+    },
+    "orientation": {
+      "x": 0.14096151385146005,
+      "y": 0.04185875193951092,
+      "z": 0.32110939115275633,
+      "w": 0.9355567622609957
+    }
+  },
+  {
+    "timestamp": 1766137979.1766417,
+    "position": {
+      "x": 0.18472508943619298,
+      "y": -0.01334894099573658,
+      "z": -0.013924523179848491
+    },
+    "orientation": {
+      "x": 0.14998200248049082,
+      "y": 0.052000229677896116,
+      "z": 0.32563721841658594,
+      "w": 0.9320739117834469
+    }
+  },
+  {
+    "timestamp": 1766137979.3093328,
+    "position": {
+      "x": 0.185827075276602,
+      "y": -0.012075147417097476,
+      "z": -0.015345388747199887
+    },
+    "orientation": {
+      "x": 0.18920423268117265,
+      "y": 0.08737767459770791,
+      "z": 0.3405245506831223,
+      "w": 0.9168478230870613
+    }
+  },
+  {
+    "timestamp": 1766137979.4420228,
+    "position": {
+      "x": 0.18874568099380978,
+      "y": -0.009246130023684351,
+      "z": -0.021006453616155205
+    },
+    "orientation": {
+      "x": 0.25213086966763065,
+      "y": 0.12598490520789343,
+      "z": 0.3661220461621037,
+      "w": 0.8868553859195292
+    }
+  },
+  {
+    "timestamp": 1766137979.5747128,
+    "position": {
+      "x": 0.18805386617742695,
+      "y": -0.004792468090081409,
+      "z": -0.027830479250033485
+    },
+    "orientation": {
+      "x": 0.32871769486259333,
+      "y": 0.17870341790266223,
+      "z": 0.3868460818058511,
+      "w": 0.8428284964959301
+    }
+  },
+  {
+    "timestamp": 1766137979.7074027,
+    "position": {
+      "x": 0.18495613688482776,
+      "y": -0.0013022006717209322,
+      "z": -0.03253310741374886
+    },
+    "orientation": {
+      "x": 0.3840082774727084,
+      "y": 0.21319795697934094,
+      "z": 0.396437655460587,
+      "w": 0.8061770644871951
+    }
+  },
+  {
+    "timestamp": 1766137979.8400927,
+    "position": {
+      "x": 0.18277442230167204,
+      "y": 0.0020725194119612655,
+      "z": -0.03756697720254286
+    },
+    "orientation": {
+      "x": 0.43408381061247653,
+      "y": 0.24530253358654933,
+      "z": 0.40908549240509695,
+      "w": 0.76422965938509
+    }
+  },
+  {
+    "timestamp": 1766137979.9727829,
+    "position": {
+      "x": 0.18129646059614019,
+      "y": 0.004286818242734414,
+      "z": -0.04170690374758872
+    },
+    "orientation": {
+      "x": 0.4877165958316319,
+      "y": 0.29236354087477245,
+      "z": 0.425857784774625,
+      "w": 0.7037764057315499
+    }
+  },
+  {
+    "timestamp": 1766137980.1054728,
+    "position": {
+      "x": 0.17778740292138823,
+      "y": 0.006728417910495638,
+      "z": -0.04489093578284263
+    },
+    "orientation": {
+      "x": 0.5321951316822295,
+      "y": 0.3282251268664099,
+      "z": 0.43414534512060865,
+      "w": 0.6485016786542432
+    }
+  },
+  {
+    "timestamp": 1766137980.2381628,
+    "position": {
+      "x": 0.17609192539209786,
+      "y": 0.007916271682160914,
+      "z": -0.047142111331351835
+    },
+    "orientation": {
+      "x": 0.5514365147837131,
+      "y": 0.3407262569896796,
+      "z": 0.4380427144644559,
+      "w": 0.6228498761865543
+    }
+  },
+  {
+    "timestamp": 1766137980.3708527,
+    "position": {
+      "x": 0.17652011187724947,
+      "y": 0.006794298412333921,
+      "z": -0.047863324817059724
+    },
+    "orientation": {
+      "x": 0.5443595362227402,
+      "y": 0.33281530533845094,
+      "z": 0.4391126219143286,
+      "w": 0.6325241284973729
+    }
+  },
+  {
+    "timestamp": 1766137980.5035439,
+    "position": {
+      "x": 0.17818213495012214,
+      "y": 0.006599734587030698,
+      "z": -0.04627065291632558
+    },
+    "orientation": {
+      "x": 0.5188019027291262,
+      "y": 0.30424193382102255,
+      "z": 0.43375705574463724,
+      "w": 0.6709219388432804
+    }
+  },
+  {
+    "timestamp": 1766137980.6362338,
+    "position": {
+      "x": 0.18085582466705455,
+      "y": 0.004545797682981134,
+      "z": -0.042482540668358854
+    },
+    "orientation": {
+      "x": 0.4836046619030493,
+      "y": 0.2787783965511015,
+      "z": 0.4246858219289301,
+      "w": 0.7127770263235083
+    }
+  },
+  {
+    "timestamp": 1766137980.7689238,
+    "position": {
+      "x": 0.18264634519644618,
+      "y": 0.002511644735054691,
+      "z": -0.03983052990657755
+    },
+    "orientation": {
+      "x": 0.44460728788719217,
+      "y": 0.24667716917842256,
+      "z": 0.4143528764870556,
+      "w": 0.7548419884390495
+    }
+  },
+  {
+    "timestamp": 1766137980.9016137,
+    "position": {
+      "x": 0.18303048296434538,
+      "y": 4.271221450344309e-05,
+      "z": -0.037100821585506746
+    },
+    "orientation": {
+      "x": 0.39951739992220375,
+      "y": 0.20808098432485012,
+      "z": 0.4009807297946906,
+      "w": 0.7976857811539081
+    }
+  },
+  {
+    "timestamp": 1766137981.0343037,
+    "position": {
+      "x": 0.18500674394479855,
+      "y": -0.003177141452322285,
+      "z": -0.032105801641498274
+    },
+    "orientation": {
+      "x": 0.34478264812824566,
+      "y": 0.1728073095286202,
+      "z": 0.3864755792235339,
+      "w": 0.837794238454161
+    }
+  },
+  {
+    "timestamp": 1766137981.1669939,
+    "position": {
+      "x": 0.1863416353326063,
+      "y": -0.005709770564275213,
+      "z": -0.02843286857944148
+    },
+    "orientation": {
+      "x": 0.29557544395596147,
+      "y": 0.13615282266326226,
+      "z": 0.3730549461673158,
+      "w": 0.868865681766269
+    }
+  },
+  {
+    "timestamp": 1766137981.2996838,
+    "position": {
+      "x": 0.18522024651012475,
+      "y": -0.0074662879167931295,
+      "z": -0.026105453449745727
+    },
+    "orientation": {
+      "x": 0.24537862434529192,
+      "y": 0.09197168609067083,
+      "z": 0.35241510111060215,
+      "w": 0.898406442642335
+    }
+  },
+  {
+    "timestamp": 1766137981.4323738,
+    "position": {
+      "x": 0.1843907861390185,
+      "y": -0.009634467105579941,
+      "z": -0.023138684010685084
+    },
+    "orientation": {
+      "x": 0.2056989376198866,
+      "y": 0.06662696429005878,
+      "z": 0.33685294657669274,
+      "w": 0.9163945040615101
+    }
+  },
+  {
+    "timestamp": 1766137981.5650637,
+    "position": {
+      "x": 0.18384149407056555,
+      "y": -0.011155904325802768,
+      "z": -0.020900757381467544
+    },
+    "orientation": {
+      "x": 0.1842768165850786,
+      "y": 0.05750667862287115,
+      "z": 0.3306328828600965,
+      "w": 0.923805679542325
+    }
+  }
+]
\ No newline at end of file
diff --git a/recorded_gelsight_pose/episode_139/session_info.json b/recorded_gelsight_pose/episode_139/session_info.json
new file mode 100644
index 0000000000000000000000000000000000000000..6330aca267d123d74b274820e06447e2e19319b2
--- /dev/null
+++ b/recorded_gelsight_pose/episode_139/session_info.json
@@ -0,0 +1,12 @@
+{
+  "session_id": 5,
+  "start_time": "2025-12-19T21:28:42.905881",
+  "ros_start_time": 1766150922.9058974,
+  "image_topic": "/gelsight_img",
+  "pose_topic": "/pose",
+  "image_format": "png",
+  "end_time": "2025-12-19T21:28:46.760709",
+  "ros_end_time": 1766150926.760717,
+  "total_images": 96,
+  "total_pose_frames": 29
+}
\ No newline at end of file
diff --git a/recorded_gelsight_pose/episode_14/image_index.json b/recorded_gelsight_pose/episode_14/image_index.json
new file mode 100644
index 0000000000000000000000000000000000000000..76f0ef56a802f967d672feb5b6861589dc1d7ff5
--- /dev/null
+++ b/recorded_gelsight_pose/episode_14/image_index.json
@@ -0,0 +1,430 @@
+[
+  {
+    "timestamp": 1766147923.7487588,
+    "filename": "img_000000.png"
+  },
+  {
+    "timestamp": 1766147923.786384,
+    "filename": "img_000001.png"
+  },
+  {
+    "timestamp": 1766147923.8256555,
+    "filename": "img_000002.png"
+  },
+  {
+    "timestamp": 1766147923.864453,
+    "filename": "img_000003.png"
+  },
+  {
+    "timestamp": 1766147923.9018624,
+    "filename": "img_000004.png"
+  },
+  {
+    "timestamp": 1766147923.9433115,
+    "filename": "img_000005.png"
+  },
+  {
+    "timestamp": 1766147923.9834242,
+    "filename": "img_000006.png"
+  },
+  {
+    "timestamp": 1766147924.0249376,
+    "filename": "img_000007.png"
+  },
+  {
+    "timestamp": 1766147924.063976,
+    "filename": "img_000008.png"
+  },
+  {
+    "timestamp": 1766147924.1019568,
+    "filename": "img_000009.png"
+  },
+  {
+    "timestamp": 1766147924.1424797,
+    "filename": "img_000010.png"
+  },
+  {
+    "timestamp": 1766147924.1847634,
+    "filename": "img_000011.png"
+  },
+  {
+    "timestamp": 1766147924.2252536,
+    "filename": "img_000012.png"
+  },
+  {
+    "timestamp": 1766147924.2626138,
+    "filename": "img_000013.png"
+  },
+  {
+    "timestamp": 1766147924.302512,
+    "filename": "img_000014.png"
+  },
+  {
+    "timestamp": 1766147924.345856,
+    "filename": "img_000015.png"
+  },
+  {
+    "timestamp": 1766147924.384483,
+    "filename": "img_000016.png"
+  },
+  {
+    "timestamp": 1766147924.4247437,
+    "filename": "img_000017.png"
+  },
+  {
+    "timestamp": 1766147924.4641893,
+    "filename": "img_000018.png"
+  },
+  {
+    "timestamp": 1766147924.5046837,
+    "filename": "img_000019.png"
+  },
+  {
+    "timestamp": 1766147924.5481615,
+    "filename": "img_000020.png"
+  },
+  {
+    "timestamp": 1766147924.5829935,
+    "filename": "img_000021.png"
+  },
+  {
+    "timestamp": 1766147924.6239116,
+    "filename": "img_000022.png"
+  },
+  {
+    "timestamp": 1766147924.6637988,
+    "filename": "img_000023.png"
+  },
+  {
+    "timestamp": 1766147924.7031834,
+    "filename": "img_000024.png"
+  },
+  {
+    "timestamp": 1766147924.7448566,
+    "filename": "img_000025.png"
+  },
+  {
+    "timestamp": 1766147924.7832143,
+    "filename": "img_000026.png"
+  },
+  {
+    "timestamp": 1766147924.824909,
+    "filename": "img_000027.png"
+  },
+  {
+    "timestamp": 1766147924.8637123,
+    "filename": "img_000028.png"
+  },
+  {
+    "timestamp": 1766147924.901428,
+    "filename": "img_000029.png"
+  },
+  {
+    "timestamp": 1766147924.9433405,
+    "filename": "img_000030.png"
+  },
+  {
+    "timestamp": 1766147924.9841323,
+    "filename": "img_000031.png"
+  },
+  {
+    "timestamp": 1766147925.0242817,
+    "filename": "img_000032.png"
+  },
+  {
+    "timestamp": 1766147925.063738,
+    "filename": "img_000033.png"
+  },
+  {
+    "timestamp": 1766147925.1026933,
+    "filename": "img_000034.png"
+  },
+  {
+    "timestamp": 1766147925.1457157,
+    "filename": "img_000035.png"
+  },
+  {
+    "timestamp": 1766147925.18653,
+    "filename": "img_000036.png"
+  },
+  {
+    "timestamp": 1766147925.2258584,
+    "filename": "img_000037.png"
+  },
+  {
+    "timestamp": 1766147925.2650342,
+    "filename": "img_000038.png"
+  },
+  {
+    "timestamp": 1766147925.3023343,
+    "filename": "img_000039.png"
+  },
+  {
+    "timestamp": 1766147925.3484368,
+    "filename": "img_000040.png"
+  },
+  {
+    "timestamp": 1766147925.3827481,
+    "filename": "img_000041.png"
+  },
+  {
+    "timestamp": 1766147925.424119,
+    "filename": "img_000042.png"
+  },
+  {
+    "timestamp": 1766147925.463926,
+    "filename": "img_000043.png"
+  },
+  {
+    "timestamp": 1766147925.5024102,
+    "filename": "img_000044.png"
+  },
+  {
+    "timestamp": 1766147925.5462008,
+    "filename": "img_000045.png"
+  },
+  {
+    "timestamp": 1766147925.5824747,
+    "filename": "img_000046.png"
+  },
+  {
+    "timestamp": 1766147925.6253755,
+    "filename": "img_000047.png"
+  },
+  {
+    "timestamp": 1766147925.6635623,
+    "filename": "img_000048.png"
+  },
+  {
+    "timestamp": 1766147925.7018628,
+    "filename": "img_000049.png"
+  },
+  {
+    "timestamp": 1766147925.7444336,
+    "filename": "img_000050.png"
+  },
+  {
+    "timestamp": 1766147925.7841864,
+    "filename": "img_000051.png"
+  },
+  {
+    "timestamp": 1766147925.8249,
+    "filename": "img_000052.png"
+  },
+  {
+    "timestamp": 1766147925.8631911,
+    "filename": "img_000053.png"
+  },
+  {
+    "timestamp": 1766147925.9011164,
+    "filename": "img_000054.png"
+  },
+  {
+    "timestamp": 1766147925.9447374,
+    "filename": "img_000055.png"
+  },
+  {
+    "timestamp": 1766147925.9849286,
+    "filename": "img_000056.png"
+  },
+  {
+    "timestamp": 1766147926.0237322,
+    "filename": "img_000057.png"
+  },
+  {
+    "timestamp": 1766147926.0646157,
+    "filename": "img_000058.png"
+  },
+  {
+    "timestamp": 1766147926.1027727,
+    "filename": "img_000059.png"
+  },
+  {
+    "timestamp": 1766147926.1431835,
+    "filename": "img_000060.png"
+  },
+  {
+    "timestamp": 1766147926.1849027,
+    "filename": "img_000061.png"
+  },
+  {
+    "timestamp": 1766147926.2249408,
+    "filename": "img_000062.png"
+  },
+  {
+    "timestamp": 1766147926.2633421,
+    "filename": "img_000063.png"
+  },
+  {
+    "timestamp": 1766147926.3019702,
+    "filename": "img_000064.png"
+  },
+  {
+    "timestamp": 1766147926.3436685,
+    "filename": "img_000065.png"
+  },
+  {
+    "timestamp": 1766147926.3825312,
+    "filename": "img_000066.png"
+  },
+  {
+    "timestamp": 1766147926.424531,
+    "filename": "img_000067.png"
+  },
+  {
+    "timestamp": 1766147926.464001,
+    "filename": "img_000068.png"
+  },
+  {
+    "timestamp": 1766147926.5013943,
+    "filename": "img_000069.png"
+  },
+  {
+    "timestamp": 1766147926.543636,
+    "filename": "img_000070.png"
+  },
+  {
+    "timestamp": 1766147926.5856428,
+    "filename": "img_000071.png"
+  },
+  {
+    "timestamp": 1766147926.6278305,
+    "filename": "img_000072.png"
+  },
+  {
+    "timestamp": 1766147926.6629164,
+    "filename": "img_000073.png"
+  },
+  {
+    "timestamp": 1766147926.7023635,
+    "filename": "img_000074.png"
+  },
+  {
+    "timestamp": 1766147926.7452621,
+    "filename": "img_000075.png"
+  },
+  {
+    "timestamp": 1766147926.7853322,
+    "filename": "img_000076.png"
+  },
+  {
+    "timestamp": 1766147926.825205,
+    "filename": "img_000077.png"
+  },
+  {
+    "timestamp": 1766147926.8644307,
+    "filename": "img_000078.png"
+  },
+  {
+    "timestamp": 1766147926.9034464,
+    "filename": "img_000079.png"
+  },
+  {
+    "timestamp": 1766147926.947428,
+    "filename": "img_000080.png"
+  },
+  {
+    "timestamp": 1766147926.9841514,
+    "filename": "img_000081.png"
+  },
+  {
+    "timestamp": 1766147927.0260417,
+    "filename": "img_000082.png"
+  },
+  {
+    "timestamp": 1766147927.0638528,
+    "filename": "img_000083.png"
+  },
+  {
+    "timestamp": 1766147927.1024456,
+    "filename": "img_000084.png"
+  },
+  {
+    "timestamp": 1766147927.143344,
+    "filename": "img_000085.png"
+  },
+  {
+    "timestamp": 1766147927.1844628,
+    "filename": "img_000086.png"
+  },
+  {
+    "timestamp": 1766147927.2251165,
+    "filename": "img_000087.png"
+  },
+  {
+    "timestamp": 1766147927.2646527,
+    "filename": "img_000088.png"
+  },
+  {
+    "timestamp": 1766147927.301693,
+    "filename": "img_000089.png"
+  },
+  {
+    "timestamp": 1766147927.3440754,
+    "filename": "img_000090.png"
+  },
+  {
+    "timestamp": 1766147927.3835824,
+    "filename": "img_000091.png"
+  },
+  {
+    "timestamp": 1766147927.426246,
+    "filename": "img_000092.png"
+  },
+  {
+    "timestamp": 1766147927.4618738,
+    "filename": "img_000093.png"
+  },
+  {
+    "timestamp": 1766147927.5013053,
+    "filename": "img_000094.png"
+  },
+  {
+    "timestamp": 1766147927.543559,
+    "filename": "img_000095.png"
+  },
+  {
+    "timestamp": 1766147927.5837085,
+    "filename": "img_000096.png"
+  },
+  {
+    "timestamp": 1766147927.6227741,
+    "filename": "img_000097.png"
+  },
+  {
+    "timestamp": 1766147927.6638105,
+    "filename": "img_000098.png"
+  },
+  {
+    "timestamp": 1766147927.7018816,
+    "filename": "img_000099.png"
+  },
+  {
+    "timestamp": 1766147927.750696,
+    "filename": "img_000100.png"
+  },
+  {
+    "timestamp": 1766147927.7850423,
+    "filename": "img_000101.png"
+  },
+  {
+    "timestamp": 1766147927.8247645,
+    "filename": "img_000102.png"
+  },
+  {
+    "timestamp": 1766147927.8631709,
+    "filename": "img_000103.png"
+  },
+  {
+    "timestamp": 1766147927.901848,
+    "filename": "img_000104.png"
+  },
+  {
+    "timestamp": 1766147927.9437096,
+    "filename": "img_000105.png"
+  },
+  {
+    "timestamp": 1766147927.9821224,
+    "filename": "img_000106.png"
+  }
+]
\ No newline at end of file
diff --git a/recorded_gelsight_pose/episode_14/pose_data.json b/recorded_gelsight_pose/episode_14/pose_data.json
new file mode 100644
index 0000000000000000000000000000000000000000..a88dff757c9c43150b84ee62f0151954582aa648
--- /dev/null
+++ b/recorded_gelsight_pose/episode_14/pose_data.json
@@ -0,0 +1,450 @@
+[
+  {
+    "timestamp": 1766139285.6641538,
+    "position": {
+      "x": 0.03722829467468783,
+      "y": 0.045419413240331385,
+      "z": -0.09189068742445322
+    },
+    "orientation": {
+      "x": -0.28975800778207356,
+      "y": 0.8479983365598777,
+      "z": 0.22800215519375214,
+      "w": -0.3807284272875461
+    }
+  },
+  {
+    "timestamp": 1766139285.7968438,
+    "position": {
+      "x": 0.03739108183967846,
+      "y": 0.045179296084293843,
+      "z": -0.09167249729880417
+    },
+    "orientation": {
+      "x": -0.2898113928780678,
+      "y": 0.8489639695932983,
+      "z": 0.22695848573242722,
+      "w": -0.3791561428283962
+    }
+  },
+  {
+    "timestamp": 1766139285.9295337,
+    "position": {
+      "x": 0.03773114069005171,
+      "y": 0.04530015873368572,
+      "z": -0.09162412058062333
+    },
+    "orientation": {
+      "x": -0.2901703592596073,
+      "y": 0.8493187581919533,
+      "z": 0.22546975521098903,
+      "w": -0.37897519585788897
+    }
+  },
+  {
+    "timestamp": 1766139286.0622237,
+    "position": {
+      "x": 0.037205649882859904,
+      "y": 0.04525145335155625,
+      "z": -0.0907317425003796
+    },
+    "orientation": {
+      "x": -0.2923367875837422,
+      "y": 0.8497658071868903,
+      "z": 0.22166796393843757,
+      "w": -0.37855064301176167
+    }
+  },
+  {
+    "timestamp": 1766139286.1949139,
+    "position": {
+      "x": 0.03806978974445738,
+      "y": 0.046992266432794194,
+      "z": -0.09066006848864314
+    },
+    "orientation": {
+      "x": -0.2942821821136516,
+      "y": 0.848374425764176,
+      "z": 0.22527797984686782,
+      "w": -0.3780326213382204
+    }
+  },
+  {
+    "timestamp": 1766139286.3276038,
+    "position": {
+      "x": 0.039035023640286964,
+      "y": 0.05230063477190369,
+      "z": -0.08898034095550697
+    },
+    "orientation": {
+      "x": -0.3045737901476531,
+      "y": 0.845733050434286,
+      "z": 0.22788449166573227,
+      "w": -0.37421794748042425
+    }
+  },
+  {
+    "timestamp": 1766139286.4602938,
+    "position": {
+      "x": 0.04059721396921567,
+      "y": 0.05559298810287537,
+      "z": -0.08789603216574912
+    },
+    "orientation": {
+      "x": -0.3118831800628609,
+      "y": 0.8456206920908936,
+      "z": 0.22174991410248196,
+      "w": -0.37213102893622957
+    }
+  },
+  {
+    "timestamp": 1766139286.5929837,
+    "position": {
+      "x": 0.039746035626685244,
+      "y": 0.054653288446111684,
+      "z": -0.08724325679537459
+    },
+    "orientation": {
+      "x": -0.3108715435461824,
+      "y": 0.8463784567114988,
+      "z": 0.21987729359486874,
+      "w": -0.37236590497690786
+    }
+  },
+  {
+    "timestamp": 1766139286.7256737,
+    "position": {
+      "x": 0.04045966990907099,
+      "y": 0.054199774239297976,
+      "z": -0.08730100563739673
+    },
+    "orientation": {
+      "x": -0.3101799008805499,
+      "y": 0.8468420464941783,
+      "z": 0.22081250802613103,
+      "w": -0.37133383050631685
+    }
+  },
+  {
+    "timestamp": 1766139286.8583648,
+    "position": {
+      "x": 0.04393303176924673,
+      "y": 0.05294226636449757,
+      "z": -0.08500768432525402
+    },
+    "orientation": {
+      "x": -0.30630880262582544,
+      "y": 0.8503544680333425,
+      "z": 0.22588191085581244,
+      "w": -0.36338623870173026
+    }
+  },
+  {
+    "timestamp": 1766139286.9910548,
+    "position": {
+      "x": 0.047467856286270566,
+      "y": 0.05036836003011046,
+      "z": -0.08057868204325397
+    },
+    "orientation": {
+      "x": -0.30559462570451,
+      "y": 0.8564835572593825,
+      "z": 0.21826017725253033,
+      "w": -0.3541332177451421
+    }
+  },
+  {
+    "timestamp": 1766139287.1237447,
+    "position": {
+      "x": 0.0480205581507053,
+      "y": 0.050868575956623724,
+      "z": -0.08088227233898981
+    },
+    "orientation": {
+      "x": -0.3061337892908844,
+      "y": 0.855649273921886,
+      "z": 0.22079662952062196,
+      "w": -0.35411194767147675
+    }
+  },
+  {
+    "timestamp": 1766139287.2564347,
+    "position": {
+      "x": 0.04707551895907594,
+      "y": 0.04934281345838806,
+      "z": -0.08080431414656955
+    },
+    "orientation": {
+      "x": -0.30279453497671066,
+      "y": 0.857207083912463,
+      "z": 0.2181192307954641,
+      "w": -0.354873901598475
+    }
+  },
+  {
+    "timestamp": 1766139287.3891249,
+    "position": {
+      "x": 0.04589006987196717,
+      "y": 0.04634493565079958,
+      "z": -0.08160852595021453
+    },
+    "orientation": {
+      "x": -0.29559239657180375,
+      "y": 0.8585284446757381,
+      "z": 0.21905758689630817,
+      "w": -0.35716637354986563
+    }
+  },
+  {
+    "timestamp": 1766139287.5218148,
+    "position": {
+      "x": 0.04517931002417394,
+      "y": 0.040970594449027425,
+      "z": -0.08355772171816594
+    },
+    "orientation": {
+      "x": -0.2858238215836993,
+      "y": 0.8607107244662706,
+      "z": 0.21864753593354333,
+      "w": -0.36010421662933506
+    }
+  },
+  {
+    "timestamp": 1766139287.6545048,
+    "position": {
+      "x": 0.04489925873996076,
+      "y": 0.03938758302428819,
+      "z": -0.08340981003360406
+    },
+    "orientation": {
+      "x": -0.2845673593008179,
+      "y": 0.8624685956199654,
+      "z": 0.21414007070934882,
+      "w": -0.3596016820128613
+    }
+  },
+  {
+    "timestamp": 1766139287.7871947,
+    "position": {
+      "x": 0.04593992676688713,
+      "y": 0.04059671057992639,
+      "z": -0.08361722489442142
+    },
+    "orientation": {
+      "x": -0.2863075482868257,
+      "y": 0.861753957703012,
+      "z": 0.2157088350417651,
+      "w": -0.35899554685553836
+    }
+  },
+  {
+    "timestamp": 1766139287.9198847,
+    "position": {
+      "x": 0.046924103233070974,
+      "y": 0.04232752165537079,
+      "z": -0.08241011676391771
+    },
+    "orientation": {
+      "x": -0.29152006745865044,
+      "y": 0.8612993416122275,
+      "z": 0.2136984432364317,
+      "w": -0.3570888821646128
+    }
+  },
+  {
+    "timestamp": 1766139288.0525749,
+    "position": {
+      "x": 0.048967606677973674,
+      "y": 0.04641718071383942,
+      "z": -0.07923163613195658
+    },
+    "orientation": {
+      "x": -0.3003507274766128,
+      "y": 0.861413379063224,
+      "z": 0.21436400782790688,
+      "w": -0.3490050186216594
+    }
+  },
+  {
+    "timestamp": 1766139288.1852658,
+    "position": {
+      "x": 0.05060281490686297,
+      "y": 0.04889815888767027,
+      "z": -0.07793728975061309
+    },
+    "orientation": {
+      "x": -0.30488983926614666,
+      "y": 0.8605297823086718,
+      "z": 0.21264151418579866,
+      "w": -0.34830197547074565
+    }
+  },
+  {
+    "timestamp": 1766139288.3179557,
+    "position": {
+      "x": 0.0505919669000057,
+      "y": 0.048469825565488685,
+      "z": -0.07813955713517357
+    },
+    "orientation": {
+      "x": -0.303396878277116,
+      "y": 0.8610519542312383,
+      "z": 0.21442343243383957,
+      "w": -0.3472210506140966
+    }
+  },
+  {
+    "timestamp": 1766139288.4506457,
+    "position": {
+      "x": 0.05027556331783692,
+      "y": 0.04694133033217372,
+      "z": -0.07845729861664638
+    },
+    "orientation": {
+      "x": -0.30081523320232717,
+      "y": 0.8616238963203509,
+      "z": 0.2132921494030813,
+      "w": -0.3487419042303068
+    }
+  },
+  {
+    "timestamp": 1766139288.5833359,
+    "position": {
+      "x": 0.048984225714497676,
+      "y": 0.04444700820917798,
+      "z": -0.07839098427174956
+    },
+    "orientation": {
+      "x": -0.29490237433506206,
+      "y": 0.8630596020396852,
+      "z": 0.2147521196360226,
+      "w": -0.3493454451549046
+    }
+  },
+  {
+    "timestamp": 1766139288.7160258,
+    "position": {
+      "x": 0.04937808127319304,
+      "y": 0.03945502115260572,
+      "z": -0.07910150607960481
+    },
+    "orientation": {
+      "x": -0.2861573394166748,
+      "y": 0.8665537879712042,
+      "z": 0.2141384061954025,
+      "w": -0.3483435841849541
+    }
+  },
+  {
+    "timestamp": 1766139288.8487158,
+    "position": {
+      "x": 0.04937803559228515,
+      "y": 0.036420101117126236,
+      "z": -0.07940642111630342
+    },
+    "orientation": {
+      "x": -0.27974144295083997,
+      "y": 0.8690430569676801,
+      "z": 0.21190125564694257,
+      "w": -0.34872159108277245
+    }
+  },
+  {
+    "timestamp": 1766139288.9814057,
+    "position": {
+      "x": 0.049723990508798305,
+      "y": 0.037301311290189834,
+      "z": -0.07936700635242008
+    },
+    "orientation": {
+      "x": -0.28174030656187105,
+      "y": 0.8681952970019143,
+      "z": 0.2131451580640554,
+      "w": -0.34846587711859184
+    }
+  },
+  {
+    "timestamp": 1766139289.1140957,
+    "position": {
+      "x": 0.05120452369260517,
+      "y": 0.03917375747405902,
+      "z": -0.07894397886404464
+    },
+    "orientation": {
+      "x": -0.28755755912728204,
+      "y": 0.8677320830895275,
+      "z": 0.210321759054661,
+      "w": -0.3465781871872813
+    }
+  },
+  {
+    "timestamp": 1766139289.2467859,
+    "position": {
+      "x": 0.05297767777718021,
+      "y": 0.04287283745482572,
+      "z": -0.07681528653273129
+    },
+    "orientation": {
+      "x": -0.29415887319042233,
+      "y": 0.8667234933614666,
+      "z": 0.21163428007200538,
+      "w": -0.34274170285659816
+    }
+  },
+  {
+    "timestamp": 1766139289.3794768,
+    "position": {
+      "x": 0.05392632042056636,
+      "y": 0.04455946695971788,
+      "z": -0.0754355248423765
+    },
+    "orientation": {
+      "x": -0.29843745997878457,
+      "y": 0.867077154724219,
+      "z": 0.20760538345300525,
+      "w": -0.3406057765189764
+    }
+  },
+  {
+    "timestamp": 1766139289.5121667,
+    "position": {
+      "x": 0.053597960064816486,
+      "y": 0.04453341373488208,
+      "z": -0.07574108673345431
+    },
+    "orientation": {
+      "x": -0.29733953281920666,
+      "y": 0.8666112721200799,
+      "z": 0.21077188851987816,
+      "w": -0.340806860651362
+    }
+  },
+  {
+    "timestamp": 1766139289.6448567,
+    "position": {
+      "x": 0.053320190531385314,
+      "y": 0.04428332640910181,
+      "z": -0.07579016608680744
+    },
+    "orientation": {
+      "x": -0.2970360254042586,
+      "y": 0.8667303270939057,
+      "z": 0.20943204820827652,
+      "w": -0.3415938478529992
+    }
+  },
+  {
+    "timestamp": 1766139289.777547,
+    "position": {
+      "x": 0.05314349554010958,
+      "y": 0.043788991941642125,
+      "z": -0.07558807618556398
+    },
+    "orientation": {
+      "x": -0.296427653200484,
+      "y": 0.8675068601421008,
+      "z": 0.2091365340786618,
+      "w": -0.34032984608760375
+    }
+  }
+]
\ No newline at end of file
diff --git a/recorded_gelsight_pose/episode_14/session_info.json b/recorded_gelsight_pose/episode_14/session_info.json
new file mode 100644
index 0000000000000000000000000000000000000000..47bf406d00971f5bd3752657df8beae96c810d8d
--- /dev/null
+++ b/recorded_gelsight_pose/episode_14/session_info.json
@@ -0,0 +1,12 @@
+{
+  "session_id": 17,
+  "start_time": "2025-12-19T20:38:43.708803",
+  "ros_start_time": 1766147923.7088313,
+  "image_topic": "/gelsight_img",
+  "pose_topic": "/pose",
+  "image_format": "png",
+  "end_time": "2025-12-19T20:38:48.023073",
+  "ros_end_time": 1766147928.0230815,
+  "total_images": 107,
+  "total_pose_frames": 32
+}
\ No newline at end of file
diff --git a/recorded_gelsight_pose/episode_140/image_index.json b/recorded_gelsight_pose/episode_140/image_index.json
new file mode 100644
index 0000000000000000000000000000000000000000..3f9e0d1f621e290532634abb6e42a5edfbbf9733
--- /dev/null
+++ b/recorded_gelsight_pose/episode_140/image_index.json
@@ -0,0 +1,390 @@
+[
+  {
+    "timestamp": 1766150928.0352666,
+    "filename": "img_000000.png"
+  },
+  {
+    "timestamp": 1766150928.0786617,
+    "filename": "img_000001.png"
+  },
+  {
+    "timestamp": 1766150928.1139653,
+    "filename": "img_000002.png"
+  },
+  {
+    "timestamp": 1766150928.154523,
+    "filename": "img_000003.png"
+  },
+  {
+    "timestamp": 1766150928.1937876,
+    "filename": "img_000004.png"
+  },
+  {
+    "timestamp": 1766150928.235334,
+    "filename": "img_000005.png"
+  },
+  {
+    "timestamp": 1766150928.273689,
+    "filename": "img_000006.png"
+  },
+  {
+    "timestamp": 1766150928.3132246,
+    "filename": "img_000007.png"
+  },
+  {
+    "timestamp": 1766150928.357246,
+    "filename": "img_000008.png"
+  },
+  {
+    "timestamp": 1766150928.39263,
+    "filename": "img_000009.png"
+  },
+  {
+    "timestamp": 1766150928.4342885,
+    "filename": "img_000010.png"
+  },
+  {
+    "timestamp": 1766150928.4745715,
+    "filename": "img_000011.png"
+  },
+  {
+    "timestamp": 1766150928.5145895,
+    "filename": "img_000012.png"
+  },
+  {
+    "timestamp": 1766150928.551787,
+    "filename": "img_000013.png"
+  },
+  {
+    "timestamp": 1766150928.5923023,
+    "filename": "img_000014.png"
+  },
+  {
+    "timestamp": 1766150928.6353867,
+    "filename": "img_000015.png"
+  },
+  {
+    "timestamp": 1766150928.6763911,
+    "filename": "img_000016.png"
+  },
+  {
+    "timestamp": 1766150928.7151692,
+    "filename": "img_000017.png"
+  },
+  {
+    "timestamp": 1766150928.7535732,
+    "filename": "img_000018.png"
+  },
+  {
+    "timestamp": 1766150928.7928379,
+    "filename": "img_000019.png"
+  },
+  {
+    "timestamp": 1766150928.8353467,
+    "filename": "img_000020.png"
+  },
+  {
+    "timestamp": 1766150928.8747125,
+    "filename": "img_000021.png"
+  },
+  {
+    "timestamp": 1766150928.9131215,
+    "filename": "img_000022.png"
+  },
+  {
+    "timestamp": 1766150928.9536173,
+    "filename": "img_000023.png"
+  },
+  {
+    "timestamp": 1766150928.9959664,
+    "filename": "img_000024.png"
+  },
+  {
+    "timestamp": 1766150929.0337927,
+    "filename": "img_000025.png"
+  },
+  {
+    "timestamp": 1766150929.0729733,
+    "filename": "img_000026.png"
+  },
+  {
+    "timestamp": 1766150929.1127846,
+    "filename": "img_000027.png"
+  },
+  {
+    "timestamp": 1766150929.1567657,
+    "filename": "img_000028.png"
+  },
+  {
+    "timestamp": 1766150929.199244,
+    "filename": "img_000029.png"
+  },
+  {
+    "timestamp": 1766150929.2381346,
+    "filename": "img_000030.png"
+  },
+  {
+    "timestamp": 1766150929.2760994,
+    "filename": "img_000031.png"
+  },
+  {
+    "timestamp": 1766150929.316048,
+    "filename": "img_000032.png"
+  },
+  {
+    "timestamp": 1766150929.3534338,
+    "filename": "img_000033.png"
+  },
+  {
+    "timestamp": 1766150929.395271,
+    "filename": "img_000034.png"
+  },
+  {
+    "timestamp": 1766150929.434438,
+    "filename": "img_000035.png"
+  },
+  {
+    "timestamp": 1766150929.478238,
+    "filename": "img_000036.png"
+  },
+  {
+    "timestamp": 1766150929.5150359,
+    "filename": "img_000037.png"
+  },
+  {
+    "timestamp": 1766150929.5540588,
+    "filename": "img_000038.png"
+  },
+  {
+    "timestamp": 1766150929.5946572,
+    "filename": "img_000039.png"
+  },
+  {
+    "timestamp": 1766150929.635914,
+    "filename": "img_000040.png"
+  },
+  {
+    "timestamp": 1766150929.677755,
+    "filename": "img_000041.png"
+  },
+  {
+    "timestamp": 1766150929.7155337,
+    "filename": "img_000042.png"
+  },
+  {
+    "timestamp": 1766150929.7543323,
+    "filename": "img_000043.png"
+  },
+  {
+    "timestamp": 1766150929.7950373,
+    "filename": "img_000044.png"
+  },
+  {
+    "timestamp": 1766150929.8347971,
+    "filename": "img_000045.png"
+  },
+  {
+    "timestamp": 1766150929.8749115,
+    "filename": "img_000046.png"
+  },
+  {
+    "timestamp": 1766150929.9151905,
+    "filename": "img_000047.png"
+  },
+  {
+    "timestamp": 1766150929.9547687,
+    "filename": "img_000048.png"
+  },
+  {
+    "timestamp": 1766150929.9939556,
+    "filename": "img_000049.png"
+  },
+  {
+    "timestamp": 1766150930.0321286,
+    "filename": "img_000050.png"
+  },
+  {
+    "timestamp": 1766150930.0736787,
+    "filename": "img_000051.png"
+  },
+  {
+    "timestamp": 1766150930.1148942,
+    "filename": "img_000052.png"
+  },
+  {
+    "timestamp": 1766150930.152426,
+    "filename": "img_000053.png"
+  },
+  {
+    "timestamp": 1766150930.1937227,
+    "filename": "img_000054.png"
+  },
+  {
+    "timestamp": 1766150930.236078,
+    "filename": "img_000055.png"
+  },
+  {
+    "timestamp": 1766150930.274609,
+    "filename": "img_000056.png"
+  },
+  {
+    "timestamp": 1766150930.3155143,
+    "filename": "img_000057.png"
+  },
+  {
+    "timestamp": 1766150930.352204,
+    "filename": "img_000058.png"
+  },
+  {
+    "timestamp": 1766150930.3937316,
+    "filename": "img_000059.png"
+  },
+  {
+    "timestamp": 1766150930.4336586,
+    "filename": "img_000060.png"
+  },
+  {
+    "timestamp": 1766150930.4745686,
+    "filename": "img_000061.png"
+  },
+  {
+    "timestamp": 1766150930.5153844,
+    "filename": "img_000062.png"
+  },
+  {
+    "timestamp": 1766150930.5532959,
+    "filename": "img_000063.png"
+  },
+  {
+    "timestamp": 1766150930.5929894,
+    "filename": "img_000064.png"
+  },
+  {
+    "timestamp": 1766150930.633808,
+    "filename": "img_000065.png"
+  },
+  {
+    "timestamp": 1766150930.6734564,
+    "filename": "img_000066.png"
+  },
+  {
+    "timestamp": 1766150930.714232,
+    "filename": "img_000067.png"
+  },
+  {
+    "timestamp": 1766150930.7532506,
+    "filename": "img_000068.png"
+  },
+  {
+    "timestamp": 1766150930.792105,
+    "filename": "img_000069.png"
+  },
+  {
+    "timestamp": 1766150930.8338392,
+    "filename": "img_000070.png"
+  },
+  {
+    "timestamp": 1766150930.8735006,
+    "filename": "img_000071.png"
+  },
+  {
+    "timestamp": 1766150930.915122,
+    "filename": "img_000072.png"
+  },
+  {
+    "timestamp": 1766150930.952225,
+    "filename": "img_000073.png"
+  },
+  {
+    "timestamp": 1766150930.9923089,
+    "filename": "img_000074.png"
+  },
+  {
+    "timestamp": 1766150931.0334554,
+    "filename": "img_000075.png"
+  },
+  {
+    "timestamp": 1766150931.0745625,
+    "filename": "img_000076.png"
+  },
+  {
+    "timestamp": 1766150931.1135526,
+    "filename": "img_000077.png"
+  },
+  {
+    "timestamp": 1766150931.152472,
+    "filename": "img_000078.png"
+  },
+  {
+    "timestamp": 1766150931.1925242,
+    "filename": "img_000079.png"
+  },
+  {
+    "timestamp": 1766150931.2355955,
+    "filename": "img_000080.png"
+  },
+  {
+    "timestamp": 1766150931.2755666,
+    "filename": "img_000081.png"
+  },
+  {
+    "timestamp": 1766150931.3143263,
+    "filename": "img_000082.png"
+  },
+  {
+    "timestamp": 1766150931.3545184,
+    "filename": "img_000083.png"
+  },
+  {
+    "timestamp": 1766150931.3954256,
+    "filename": "img_000084.png"
+  },
+  {
+    "timestamp": 1766150931.4335601,
+    "filename": "img_000085.png"
+  },
+  {
+    "timestamp": 1766150931.4737077,
+    "filename": "img_000086.png"
+  },
+  {
+    "timestamp": 1766150931.5130832,
+    "filename": "img_000087.png"
+  },
+  {
+    "timestamp": 1766150931.556892,
+    "filename": "img_000088.png"
+  },
+  {
+    "timestamp": 1766150931.5927646,
+    "filename": "img_000089.png"
+  },
+  {
+    "timestamp": 1766150931.6327925,
+    "filename": "img_000090.png"
+  },
+  {
+    "timestamp": 1766150931.6733682,
+    "filename": "img_000091.png"
+  },
+  {
+    "timestamp": 1766150931.7142513,
+    "filename": "img_000092.png"
+  },
+  {
+    "timestamp": 1766150931.7517173,
+    "filename": "img_000093.png"
+  },
+  {
+    "timestamp": 1766150931.792128,
+    "filename": "img_000094.png"
+  },
+  {
+    "timestamp": 1766150931.8345377,
+    "filename": "img_000095.png"
+  },
+  {
+    "timestamp": 1766150931.8753912,
+    "filename": "img_000096.png"
+  }
+]
\ No newline at end of file
diff --git a/recorded_gelsight_pose/episode_140/pose_data.json b/recorded_gelsight_pose/episode_140/pose_data.json
new file mode 100644
index 0000000000000000000000000000000000000000..e0e9279521f3b30202e802b4e9da31b7421d445f
--- /dev/null
+++ b/recorded_gelsight_pose/episode_140/pose_data.json
@@ -0,0 +1,408 @@
+[
+  {
+    "timestamp": 1766137982.8919647,
+    "position": {
+      "x": 0.19060401783767594,
+      "y": -0.003584453050893832,
+      "z": -0.03780507090264039
+    },
+    "orientation": {
+      "x": 0.38651215968731406,
+      "y": 0.20955602223571357,
+      "z": 0.41823408118838507,
+      "w": 0.7948426745533362
+    }
+  },
+  {
+    "timestamp": 1766137983.0246558,
+    "position": {
+      "x": 0.19069837211395535,
+      "y": -0.0022612084143368294,
+      "z": -0.037784497408424586
+    },
+    "orientation": {
+      "x": 0.39442436549374577,
+      "y": 0.21692670712556003,
+      "z": 0.41920890349296225,
+      "w": 0.788439039414428
+    }
+  },
+  {
+    "timestamp": 1766137983.1573458,
+    "position": {
+      "x": 0.19046147558199353,
+      "y": -0.003314270533708058,
+      "z": -0.03773873011074266
+    },
+    "orientation": {
+      "x": 0.3901372397112331,
+      "y": 0.21453640183367254,
+      "z": 0.4195604860297967,
+      "w": 0.7910348064663157
+    }
+  },
+  {
+    "timestamp": 1766137983.2900357,
+    "position": {
+      "x": 0.1918730252551572,
+      "y": -0.005447292089326122,
+      "z": -0.03509906213709964
+    },
+    "orientation": {
+      "x": 0.3609173345588283,
+      "y": 0.19544375040385584,
+      "z": 0.4135199960726088,
+      "w": 0.81273712287008
+    }
+  },
+  {
+    "timestamp": 1766137983.4227257,
+    "position": {
+      "x": 0.19229115474246347,
+      "y": -0.007148601248965242,
+      "z": -0.03187811709475205
+    },
+    "orientation": {
+      "x": 0.3213320123665256,
+      "y": 0.16211618733770938,
+      "z": 0.40058308923064506,
+      "w": 0.842613356323051
+    }
+  },
+  {
+    "timestamp": 1766137983.5554159,
+    "position": {
+      "x": 0.19165639096757503,
+      "y": -0.008038666851621828,
+      "z": -0.028807239893814382
+    },
+    "orientation": {
+      "x": 0.2859603822560194,
+      "y": 0.13330293353200878,
+      "z": 0.3842629263345583,
+      "w": 0.8676398971558154
+    }
+  },
+  {
+    "timestamp": 1766137983.6881058,
+    "position": {
+      "x": 0.1919074579442604,
+      "y": -0.010384472001313538,
+      "z": -0.023716600074235497
+    },
+    "orientation": {
+      "x": 0.23908811294144408,
+      "y": 0.10374903371341894,
+      "z": 0.3708552679209769,
+      "w": 0.8913693861182869
+    }
+  },
+  {
+    "timestamp": 1766137983.8207958,
+    "position": {
+      "x": 0.19289478148697964,
+      "y": -0.012403844186692714,
+      "z": -0.0198078464105801
+    },
+    "orientation": {
+      "x": 0.19271558704184882,
+      "y": 0.06963585155892489,
+      "z": 0.3570004252234329,
+      "w": 0.911351878847609
+    }
+  },
+  {
+    "timestamp": 1766137983.9534857,
+    "position": {
+      "x": 0.19065358502182647,
+      "y": -0.013982856021057838,
+      "z": -0.01859004189930548
+    },
+    "orientation": {
+      "x": 0.1641103717880191,
+      "y": 0.046668277539059874,
+      "z": 0.3425103499611531,
+      "w": 0.9238920488415429
+    }
+  },
+  {
+    "timestamp": 1766137984.0861757,
+    "position": {
+      "x": 0.1919659095990048,
+      "y": -0.015062608987802706,
+      "z": -0.015733358169567876
+    },
+    "orientation": {
+      "x": 0.14993006871675343,
+      "y": 0.04551043546017729,
+      "z": 0.34280164417936243,
+      "w": 0.9262487827288846
+    }
+  },
+  {
+    "timestamp": 1766137984.2188668,
+    "position": {
+      "x": 0.19295909291142338,
+      "y": -0.013694183653672809,
+      "z": -0.01736381166127661
+    },
+    "orientation": {
+      "x": 0.17497562353222207,
+      "y": 0.06467662420960316,
+      "z": 0.3523377202590069,
+      "w": 0.9170924688018355
+    }
+  },
+  {
+    "timestamp": 1766137984.3515568,
+    "position": {
+      "x": 0.1924100540056875,
+      "y": -0.011151055666351245,
+      "z": -0.021461572666451212
+    },
+    "orientation": {
+      "x": 0.22551744096904594,
+      "y": 0.09914717843705746,
+      "z": 0.36522579209336353,
+      "w": 0.8977314975071993
+    }
+  },
+  {
+    "timestamp": 1766137984.4842467,
+    "position": {
+      "x": 0.19199720105871443,
+      "y": -0.008484451121784364,
+      "z": -0.02786051459732719
+    },
+    "orientation": {
+      "x": 0.2834851576914154,
+      "y": 0.13587130309051138,
+      "z": 0.3842844540518548,
+      "w": 0.8680441306403882
+    }
+  },
+  {
+    "timestamp": 1766137984.6169367,
+    "position": {
+      "x": 0.19138048626228993,
+      "y": -0.005833859247841966,
+      "z": -0.032817207090870465
+    },
+    "orientation": {
+      "x": 0.3379861786866807,
+      "y": 0.1770464958051904,
+      "z": 0.40194880649678477,
+      "w": 0.8323803447317147
+    }
+  },
+  {
+    "timestamp": 1766137984.7496269,
+    "position": {
+      "x": 0.1892436186526958,
+      "y": -0.002526885191327627,
+      "z": -0.03701616976795727
+    },
+    "orientation": {
+      "x": 0.39486549667800563,
+      "y": 0.2195425017572094,
+      "z": 0.41552207460247653,
+      "w": 0.7894452070748618
+    }
+  },
+  {
+    "timestamp": 1766137984.8823168,
+    "position": {
+      "x": 0.18699559106369384,
+      "y": 0.0006713728109778716,
+      "z": -0.041544028832090615
+    },
+    "orientation": {
+      "x": 0.44257656189190453,
+      "y": 0.25213951564251197,
+      "z": 0.4264490161852881,
+      "w": 0.7474576162633574
+    }
+  },
+  {
+    "timestamp": 1766137985.0150068,
+    "position": {
+      "x": 0.1844356389571034,
+      "y": 0.0037348269635942843,
+      "z": -0.04432958377129545
+    },
+    "orientation": {
+      "x": 0.48080147937096185,
+      "y": 0.2814463062376247,
+      "z": 0.4329678453119072,
+      "w": 0.7086301990924857
+    }
+  },
+  {
+    "timestamp": 1766137985.1476967,
+    "position": {
+      "x": 0.1827536635487596,
+      "y": 0.0033811704805480625,
+      "z": -0.04654801949110149
+    },
+    "orientation": {
+      "x": 0.4916088031034692,
+      "y": 0.28734192431872546,
+      "z": 0.43689953707592916,
+      "w": 0.6963290872445478
+    }
+  },
+  {
+    "timestamp": 1766137985.2803867,
+    "position": {
+      "x": 0.1831325687114888,
+      "y": 0.0032604666033213825,
+      "z": -0.04683697806182899
+    },
+    "orientation": {
+      "x": 0.47998948929078855,
+      "y": 0.2708305572552905,
+      "z": 0.43481313594342696,
+      "w": 0.7121786547195863
+    }
+  },
+  {
+    "timestamp": 1766137985.4130778,
+    "position": {
+      "x": 0.1859184418069492,
+      "y": 0.001196840412136052,
+      "z": -0.042295579326370555
+    },
+    "orientation": {
+      "x": 0.4393462327958013,
+      "y": 0.2416176811842692,
+      "z": 0.4223401183067935,
+      "w": 0.7551321793804565
+    }
+  },
+  {
+    "timestamp": 1766137985.5457678,
+    "position": {
+      "x": 0.188708079813955,
+      "y": -0.0022776879698732932,
+      "z": -0.0384700995461288
+    },
+    "orientation": {
+      "x": 0.39145375200212557,
+      "y": 0.20852284282706543,
+      "z": 0.41464202993530724,
+      "w": 0.7945779830034968
+    }
+  },
+  {
+    "timestamp": 1766137985.6784577,
+    "position": {
+      "x": 0.19070481126697728,
+      "y": -0.004774020982745791,
+      "z": -0.03324725960124093
+    },
+    "orientation": {
+      "x": 0.34653290476173626,
+      "y": 0.18131959687693489,
+      "z": 0.402150263662726,
+      "w": 0.8278365268226446
+    }
+  },
+  {
+    "timestamp": 1766137985.8111477,
+    "position": {
+      "x": 0.19125987371504288,
+      "y": -0.007850760594240724,
+      "z": -0.030043165601347732
+    },
+    "orientation": {
+      "x": 0.2984662230859974,
+      "y": 0.1431332105588882,
+      "z": 0.38823176698116274,
+      "w": 0.8600621447422092
+    }
+  },
+  {
+    "timestamp": 1766137985.943838,
+    "position": {
+      "x": 0.1895728482112949,
+      "y": -0.009074577411834428,
+      "z": -0.0277167753598989
+    },
+    "orientation": {
+      "x": 0.25953028825349034,
+      "y": 0.10823332866439093,
+      "z": 0.3701628039160215,
+      "w": 0.8853863984963373
+    }
+  },
+  {
+    "timestamp": 1766137986.0765278,
+    "position": {
+      "x": 0.19043826154748256,
+      "y": -0.01204887010238559,
+      "z": -0.0212088557503418
+    },
+    "orientation": {
+      "x": 0.2023572879387341,
+      "y": 0.07726630255681957,
+      "z": 0.3556615372373314,
+      "w": 0.9091679258735739
+    }
+  },
+  {
+    "timestamp": 1766137986.2092178,
+    "position": {
+      "x": 0.1894022720901254,
+      "y": -0.013928462331545516,
+      "z": -0.017252244735534703
+    },
+    "orientation": {
+      "x": 0.15682588455485896,
+      "y": 0.04489064060237096,
+      "z": 0.33684082656966235,
+      "w": 0.9273234224777034
+    }
+  },
+  {
+    "timestamp": 1766137986.3419077,
+    "position": {
+      "x": 0.18852385860874965,
+      "y": -0.014654702457438912,
+      "z": -0.016711217593191746
+    },
+    "orientation": {
+      "x": 0.14263412091584762,
+      "y": 0.03348494187703626,
+      "z": 0.3300762628814687,
+      "w": 0.9325148400429122
+    }
+  },
+  {
+    "timestamp": 1766137986.4745977,
+    "position": {
+      "x": 0.19003228669826586,
+      "y": -0.013920927758282103,
+      "z": -0.017294879268372657
+    },
+    "orientation": {
+      "x": 0.15792161402621638,
+      "y": 0.04578545788325842,
+      "z": 0.33909932471539794,
+      "w": 0.9262699950054175
+    }
+  },
+  {
+    "timestamp": 1766137986.607288,
+    "position": {
+      "x": 0.1923608457962635,
+      "y": -0.01214616260883375,
+      "z": -0.019167782793879012
+    },
+    "orientation": {
+      "x": 0.19977282276112815,
+      "y": 0.08106608738186516,
+      "z": 0.35763214897615014,
+      "w": 0.9086354355743272
+    }
+  }
+]
\ No newline at end of file
diff --git a/recorded_gelsight_pose/episode_140/session_info.json b/recorded_gelsight_pose/episode_140/session_info.json
new file mode 100644
index 0000000000000000000000000000000000000000..69cab4d3b9ab2ca44f26fabc0610d12baf088750
--- /dev/null
+++ b/recorded_gelsight_pose/episode_140/session_info.json
@@ -0,0 +1,12 @@
+{
+  "session_id": 6,
+  "start_time": "2025-12-19T21:28:48.024570",
+  "ros_start_time": 1766150928.024589,
+  "image_topic": "/gelsight_img",
+  "pose_topic": "/pose",
+  "image_format": "png",
+  "end_time": "2025-12-19T21:28:51.917387",
+  "ros_end_time": 1766150931.917397,
+  "total_images": 97,
+  "total_pose_frames": 29
+}
\ No newline at end of file
diff --git a/recorded_gelsight_pose/episode_141/image_index.json b/recorded_gelsight_pose/episode_141/image_index.json
new file mode 100644
index 0000000000000000000000000000000000000000..e5169b1ab83cd1020ceb441f78c9a42d1e9cf5e8
--- /dev/null
+++ b/recorded_gelsight_pose/episode_141/image_index.json
@@ -0,0 +1,446 @@
+[
+  {
+    "timestamp": 1766150933.0030293,
+    "filename": "img_000000.png"
+  },
+  {
+    "timestamp": 1766150933.0505233,
+    "filename": "img_000001.png"
+  },
+  {
+    "timestamp": 1766150933.0807045,
+    "filename": "img_000002.png"
+  },
+  {
+    "timestamp": 1766150933.1151836,
+    "filename": "img_000003.png"
+  },
+  {
+    "timestamp": 1766150933.1568003,
+    "filename": "img_000004.png"
+  },
+  {
+    "timestamp": 1766150933.195832,
+    "filename": "img_000005.png"
+  },
+  {
+    "timestamp": 1766150933.2355673,
+    "filename": "img_000006.png"
+  },
+  {
+    "timestamp": 1766150933.2751923,
+    "filename": "img_000007.png"
+  },
+  {
+    "timestamp": 1766150933.3155735,
+    "filename": "img_000008.png"
+  },
+  {
+    "timestamp": 1766150933.353145,
+    "filename": "img_000009.png"
+  },
+  {
+    "timestamp": 1766150933.3950698,
+    "filename": "img_000010.png"
+  },
+  {
+    "timestamp": 1766150933.435893,
+    "filename": "img_000011.png"
+  },
+  {
+    "timestamp": 1766150933.4772034,
+    "filename": "img_000012.png"
+  },
+  {
+    "timestamp": 1766150933.5189946,
+    "filename": "img_000013.png"
+  },
+  {
+    "timestamp": 1766150933.5537295,
+    "filename": "img_000014.png"
+  },
+  {
+    "timestamp": 1766150933.597616,
+    "filename": "img_000015.png"
+  },
+  {
+    "timestamp": 1766150933.6380427,
+    "filename": "img_000016.png"
+  },
+  {
+    "timestamp": 1766150933.6776228,
+    "filename": "img_000017.png"
+  },
+  {
+    "timestamp": 1766150933.7151463,
+    "filename": "img_000018.png"
+  },
+  {
+    "timestamp": 1766150933.7540286,
+    "filename": "img_000019.png"
+  },
+  {
+    "timestamp": 1766150933.7959523,
+    "filename": "img_000020.png"
+  },
+  {
+    "timestamp": 1766150933.8356671,
+    "filename": "img_000021.png"
+  },
+  {
+    "timestamp": 1766150933.8750415,
+    "filename": "img_000022.png"
+  },
+  {
+    "timestamp": 1766150933.9150286,
+    "filename": "img_000023.png"
+  },
+  {
+    "timestamp": 1766150933.9555125,
+    "filename": "img_000024.png"
+  },
+  {
+    "timestamp": 1766150934.0002668,
+    "filename": "img_000025.png"
+  },
+  {
+    "timestamp": 1766150934.0347085,
+    "filename": "img_000026.png"
+  },
+  {
+    "timestamp": 1766150934.075673,
+    "filename": "img_000027.png"
+  },
+  {
+    "timestamp": 1766150934.1170802,
+    "filename": "img_000028.png"
+  },
+  {
+    "timestamp": 1766150934.1553288,
+    "filename": "img_000029.png"
+  },
+  {
+    "timestamp": 1766150934.1977675,
+    "filename": "img_000030.png"
+  },
+  {
+    "timestamp": 1766150934.2403917,
+    "filename": "img_000031.png"
+  },
+  {
+    "timestamp": 1766150934.2798615,
+    "filename": "img_000032.png"
+  },
+  {
+    "timestamp": 1766150934.3163779,
+    "filename": "img_000033.png"
+  },
+  {
+    "timestamp": 1766150934.3554397,
+    "filename": "img_000034.png"
+  },
+  {
+    "timestamp": 1766150934.399787,
+    "filename": "img_000035.png"
+  },
+  {
+    "timestamp": 1766150934.4370465,
+    "filename": "img_000036.png"
+  },
+  {
+    "timestamp": 1766150934.477267,
+    "filename": "img_000037.png"
+  },
+  {
+    "timestamp": 1766150934.5169675,
+    "filename": "img_000038.png"
+  },
+  {
+    "timestamp": 1766150934.5576363,
+    "filename": "img_000039.png"
+  },
+  {
+    "timestamp": 1766150934.6002164,
+    "filename": "img_000040.png"
+  },
+  {
+    "timestamp": 1766150934.6382108,
+    "filename": "img_000041.png"
+  },
+  {
+    "timestamp": 1766150934.6776447,
+    "filename": "img_000042.png"
+  },
+  {
+    "timestamp": 1766150934.717331,
+    "filename": "img_000043.png"
+  },
+  {
+    "timestamp": 1766150934.7566333,
+    "filename": "img_000044.png"
+  },
+  {
+    "timestamp": 1766150934.798522,
+    "filename": "img_000045.png"
+  },
+  {
+    "timestamp": 1766150934.8362658,
+    "filename": "img_000046.png"
+  },
+  {
+    "timestamp": 1766150934.879063,
+    "filename": "img_000047.png"
+  },
+  {
+    "timestamp": 1766150934.916424,
+    "filename": "img_000048.png"
+  },
+  {
+    "timestamp": 1766150934.9557965,
+    "filename": "img_000049.png"
+  },
+  {
+    "timestamp": 1766150934.9966402,
+    "filename": "img_000050.png"
+  },
+  {
+    "timestamp": 1766150935.0359383,
+    "filename": "img_000051.png"
+  },
+  {
+    "timestamp": 1766150935.0776334,
+    "filename": "img_000052.png"
+  },
+  {
+    "timestamp": 1766150935.1144676,
+    "filename": "img_000053.png"
+  },
+  {
+    "timestamp": 1766150935.1540737,
+    "filename": "img_000054.png"
+  },
+  {
+    "timestamp": 1766150935.1961067,
+    "filename": "img_000055.png"
+  },
+  {
+    "timestamp": 1766150935.2353683,
+    "filename": "img_000056.png"
+  },
+  {
+    "timestamp": 1766150935.2752082,
+    "filename": "img_000057.png"
+  },
+  {
+    "timestamp": 1766150935.313925,
+    "filename": "img_000058.png"
+  },
+  {
+    "timestamp": 1766150935.3527904,
+    "filename": "img_000059.png"
+  },
+  {
+    "timestamp": 1766150935.3981452,
+    "filename": "img_000060.png"
+  },
+  {
+    "timestamp": 1766150935.436475,
+    "filename": "img_000061.png"
+  },
+  {
+    "timestamp": 1766150935.4763107,
+    "filename": "img_000062.png"
+  },
+  {
+    "timestamp": 1766150935.5169675,
+    "filename": "img_000063.png"
+  },
+  {
+    "timestamp": 1766150935.558676,
+    "filename": "img_000064.png"
+  },
+  {
+    "timestamp": 1766150935.598526,
+    "filename": "img_000065.png"
+  },
+  {
+    "timestamp": 1766150935.6377885,
+    "filename": "img_000066.png"
+  },
+  {
+    "timestamp": 1766150935.6752515,
+    "filename": "img_000067.png"
+  },
+  {
+    "timestamp": 1766150935.7165694,
+    "filename": "img_000068.png"
+  },
+  {
+    "timestamp": 1766150935.7523875,
+    "filename": "img_000069.png"
+  },
+  {
+    "timestamp": 1766150935.7938097,
+    "filename": "img_000070.png"
+  },
+  {
+    "timestamp": 1766150935.837335,
+    "filename": "img_000071.png"
+  },
+  {
+    "timestamp": 1766150935.8755882,
+    "filename": "img_000072.png"
+  },
+  {
+    "timestamp": 1766150935.9138038,
+    "filename": "img_000073.png"
+  },
+  {
+    "timestamp": 1766150935.9569674,
+    "filename": "img_000074.png"
+  },
+  {
+    "timestamp": 1766150935.9955773,
+    "filename": "img_000075.png"
+  },
+  {
+    "timestamp": 1766150936.033834,
+    "filename": "img_000076.png"
+  },
+  {
+    "timestamp": 1766150936.075415,
+    "filename": "img_000077.png"
+  },
+  {
+    "timestamp": 1766150936.115402,
+    "filename": "img_000078.png"
+  },
+  {
+    "timestamp": 1766150936.1548104,
+    "filename": "img_000079.png"
+  },
+  {
+    "timestamp": 1766150936.196835,
+    "filename": "img_000080.png"
+  },
+  {
+    "timestamp": 1766150936.2353618,
+    "filename": "img_000081.png"
+  },
+  {
+    "timestamp": 1766150936.2750924,
+    "filename": "img_000082.png"
+  },
+  {
+    "timestamp": 1766150936.313546,
+    "filename": "img_000083.png"
+  },
+  {
+    "timestamp": 1766150936.353072,
+    "filename": "img_000084.png"
+  },
+  {
+    "timestamp": 1766150936.3952649,
+    "filename": "img_000085.png"
+  },
+  {
+    "timestamp": 1766150936.433376,
+    "filename": "img_000086.png"
+  },
+  {
+    "timestamp": 1766150936.4750285,
+    "filename": "img_000087.png"
+  },
+  {
+    "timestamp": 1766150936.5164933,
+    "filename": "img_000088.png"
+  },
+  {
+    "timestamp": 1766150936.5527852,
+    "filename": "img_000089.png"
+  },
+  {
+    "timestamp": 1766150936.5948718,
+    "filename": "img_000090.png"
+  },
+  {
+    "timestamp": 1766150936.633954,
+    "filename": "img_000091.png"
+  },
+  {
+    "timestamp": 1766150936.6749303,
+    "filename": "img_000092.png"
+  },
+  {
+    "timestamp": 1766150936.7136443,
+    "filename": "img_000093.png"
+  },
+  {
+    "timestamp": 1766150936.7529144,
+    "filename": "img_000094.png"
+  },
+  {
+    "timestamp": 1766150936.79461,
+    "filename": "img_000095.png"
+  },
+  {
+    "timestamp": 1766150936.8346956,
+    "filename": "img_000096.png"
+  },
+  {
+    "timestamp": 1766150936.8750787,
+    "filename": "img_000097.png"
+  },
+  {
+    "timestamp": 1766150936.9134462,
+    "filename": "img_000098.png"
+  },
+  {
+    "timestamp": 1766150936.9551654,
+    "filename": "img_000099.png"
+  },
+  {
+    "timestamp": 1766150937.0008066,
+    "filename": "img_000100.png"
+  },
+  {
+    "timestamp": 1766150937.0397136,
+    "filename": "img_000101.png"
+  },
+  {
+    "timestamp": 1766150937.0760767,
+    "filename": "img_000102.png"
+  },
+  {
+    "timestamp": 1766150937.114618,
+    "filename": "img_000103.png"
+  },
+  {
+    "timestamp": 1766150937.154153,
+    "filename": "img_000104.png"
+  },
+  {
+    "timestamp": 1766150937.19476,
+    "filename": "img_000105.png"
+  },
+  {
+    "timestamp": 1766150937.2347426,
+    "filename": "img_000106.png"
+  },
+  {
+    "timestamp": 1766150937.2755861,
+    "filename": "img_000107.png"
+  },
+  {
+    "timestamp": 1766150937.314818,
+    "filename": "img_000108.png"
+  },
+  {
+    "timestamp": 1766150937.3531,
+    "filename": "img_000109.png"
+  },
+  {
+    "timestamp": 1766150937.395209,
+    "filename": "img_000110.png"
+  }
+]
\ No newline at end of file
diff --git a/recorded_gelsight_pose/episode_141/pose_data.json b/recorded_gelsight_pose/episode_141/pose_data.json
new file mode 100644
index 0000000000000000000000000000000000000000..c5cbc425023cd2e5c7649299c913dcd3f60e2e9c
--- /dev/null
+++ b/recorded_gelsight_pose/episode_141/pose_data.json
@@ -0,0 +1,478 @@
+[
+  {
+    "timestamp": 1766137987.801499,
+    "position": {
+      "x": 0.18376423068713393,
+      "y": 0.00046266874112665946,
+      "z": -0.03485465550369164
+    },
+    "orientation": {
+      "x": 0.3975023185062391,
+      "y": 0.21513327108039737,
+      "z": 0.3985802872000342,
+      "w": 0.7980246469326313
+    }
+  },
+  {
+    "timestamp": 1766137987.9341898,
+    "position": {
+      "x": 0.18394588551273888,
+      "y": 0.0002273039072757943,
+      "z": -0.03555883527046201
+    },
+    "orientation": {
+      "x": 0.39902050038194087,
+      "y": 0.21612247422882358,
+      "z": 0.40048388501252824,
+      "w": 0.796044203705692
+    }
+  },
+  {
+    "timestamp": 1766137988.0668797,
+    "position": {
+      "x": 0.18350791473195796,
+      "y": 0.0006845975918444991,
+      "z": -0.03626143924212985
+    },
+    "orientation": {
+      "x": 0.40160920505423126,
+      "y": 0.2130839879792823,
+      "z": 0.39996205380783745,
+      "w": 0.7958238599064306
+    }
+  },
+  {
+    "timestamp": 1766137988.1995697,
+    "position": {
+      "x": 0.18487600203811916,
+      "y": -0.0008729537268839793,
+      "z": -0.034765606986222816
+    },
+    "orientation": {
+      "x": 0.3894670065404797,
+      "y": 0.209660060116026,
+      "z": 0.39979889527513873,
+      "w": 0.8028193777838953
+    }
+  },
+  {
+    "timestamp": 1766137988.33226,
+    "position": {
+      "x": 0.1853049520426288,
+      "y": -0.002033114326900537,
+      "z": -0.033714819718405994
+    },
+    "orientation": {
+      "x": 0.36997205640826314,
+      "y": 0.19398223257754696,
+      "z": 0.3952530595287485,
+      "w": 0.8180871529699234
+    }
+  },
+  {
+    "timestamp": 1766137988.4649498,
+    "position": {
+      "x": 0.1866896218839906,
+      "y": -0.004432879866335976,
+      "z": -0.03082191903895462
+    },
+    "orientation": {
+      "x": 0.33630325038497505,
+      "y": 0.17429338607251227,
+      "z": 0.3883351313800814,
+      "w": 0.8400700953419864
+    }
+  },
+  {
+    "timestamp": 1766137988.5976398,
+    "position": {
+      "x": 0.18624523963920628,
+      "y": -0.005526525556380807,
+      "z": -0.027615326657543682
+    },
+    "orientation": {
+      "x": 0.3019443026404147,
+      "y": 0.14858478195186922,
+      "z": 0.375122118169611,
+      "w": 0.8637335220629413
+    }
+  },
+  {
+    "timestamp": 1766137988.7303298,
+    "position": {
+      "x": 0.18645511656117658,
+      "y": -0.007793494095387876,
+      "z": -0.02446309794846052
+    },
+    "orientation": {
+      "x": 0.25379847301682157,
+      "y": 0.11204490277145289,
+      "z": 0.3594107637929409,
+      "w": 0.8909860704450099
+    }
+  },
+  {
+    "timestamp": 1766137988.8630197,
+    "position": {
+      "x": 0.18435653575109154,
+      "y": -0.010602249546197456,
+      "z": -0.020220706060552943
+    },
+    "orientation": {
+      "x": 0.20278712363635965,
+      "y": 0.0792188263920212,
+      "z": 0.33936840754215125,
+      "w": 0.9151124761441441
+    }
+  },
+  {
+    "timestamp": 1766137988.9957097,
+    "position": {
+      "x": 0.18425346193671596,
+      "y": -0.01255710455924941,
+      "z": -0.018511463461614336
+    },
+    "orientation": {
+      "x": 0.16007971003715685,
+      "y": 0.04304459725482472,
+      "z": 0.32492601627583595,
+      "w": 0.9310986698673267
+    }
+  },
+  {
+    "timestamp": 1766137989.1284008,
+    "position": {
+      "x": 0.1842434044174826,
+      "y": -0.013655919810389577,
+      "z": -0.017368644677015016
+    },
+    "orientation": {
+      "x": 0.13135682405193377,
+      "y": 0.01962561236336019,
+      "z": 0.3157190472832945,
+      "w": 0.9395114173318393
+    }
+  },
+  {
+    "timestamp": 1766137989.2610908,
+    "position": {
+      "x": 0.18263720734377772,
+      "y": -0.013620697039458313,
+      "z": -0.017243598968601698
+    },
+    "orientation": {
+      "x": 0.1311010806222012,
+      "y": 0.0213438133662738,
+      "z": 0.3120902603393199,
+      "w": 0.9407213283922143
+    }
+  },
+  {
+    "timestamp": 1766137989.3937807,
+    "position": {
+      "x": 0.18204695150072558,
+      "y": -0.013321181381581115,
+      "z": -0.016847917616883784
+    },
+    "orientation": {
+      "x": 0.14297352347967213,
+      "y": 0.03670958603137471,
+      "z": 0.3157907194014312,
+      "w": 0.9372764797097701
+    }
+  },
+  {
+    "timestamp": 1766137989.5264707,
+    "position": {
+      "x": 0.1817292238500872,
+      "y": -0.011923563272506321,
+      "z": -0.019019726944349793
+    },
+    "orientation": {
+      "x": 0.17552208643696976,
+      "y": 0.059764309595236584,
+      "z": 0.32378520170698083,
+      "w": 0.9277841169296805
+    }
+  },
+  {
+    "timestamp": 1766137989.6591609,
+    "position": {
+      "x": 0.18282572517630336,
+      "y": -0.009967430578841557,
+      "z": -0.02087018215552712
+    },
+    "orientation": {
+      "x": 0.21409321650724686,
+      "y": 0.0893366302433189,
+      "z": 0.33835595445491956,
+      "w": 0.9119749498902093
+    }
+  },
+  {
+    "timestamp": 1766137989.7918508,
+    "position": {
+      "x": 0.18398643768424483,
+      "y": -0.007859647729413277,
+      "z": -0.024445168494644426
+    },
+    "orientation": {
+      "x": 0.2535784329262964,
+      "y": 0.11222264304154618,
+      "z": 0.35289014514867856,
+      "w": 0.8936288951238976
+    }
+  },
+  {
+    "timestamp": 1766137989.9245408,
+    "position": {
+      "x": 0.18451906978370144,
+      "y": -0.005003171825772729,
+      "z": -0.028245200164399478
+    },
+    "orientation": {
+      "x": 0.30462389576139254,
+      "y": 0.14894890696775895,
+      "z": 0.3705076044954819,
+      "w": 0.8647211228224285
+    }
+  },
+  {
+    "timestamp": 1766137990.0572307,
+    "position": {
+      "x": 0.1834311701666944,
+      "y": -0.0017971718124179525,
+      "z": -0.031995636505919356
+    },
+    "orientation": {
+      "x": 0.36497287257209987,
+      "y": 0.19482383735679798,
+      "z": 0.38717984611206324,
+      "w": 0.8239722334209332
+    }
+  },
+  {
+    "timestamp": 1766137990.1899207,
+    "position": {
+      "x": 0.181820531047764,
+      "y": 0.0015973526748379874,
+      "z": -0.03718443483300474
+    },
+    "orientation": {
+      "x": 0.4218785364055594,
+      "y": 0.2318267503514179,
+      "z": 0.40309628088323207,
+      "w": 0.7783239985249787
+    }
+  },
+  {
+    "timestamp": 1766137990.3226118,
+    "position": {
+      "x": 0.179828860010087,
+      "y": 0.004381473410016962,
+      "z": -0.0408888992835513
+    },
+    "orientation": {
+      "x": 0.4691781193007351,
+      "y": 0.26864613281512334,
+      "z": 0.4156589476298628,
+      "w": 0.7313882600562709
+    }
+  },
+  {
+    "timestamp": 1766137990.4553018,
+    "position": {
+      "x": 0.17754191768404304,
+      "y": 0.0062804725818648155,
+      "z": -0.044426459135906066
+    },
+    "orientation": {
+      "x": 0.5006167584077864,
+      "y": 0.2860593819674531,
+      "z": 0.42316839583371346,
+      "w": 0.6989144439466108
+    }
+  },
+  {
+    "timestamp": 1766137990.5879917,
+    "position": {
+      "x": 0.17629941724256343,
+      "y": 0.006463676306928512,
+      "z": -0.0465409473900744
+    },
+    "orientation": {
+      "x": 0.5102494083282794,
+      "y": 0.2897074353261753,
+      "z": 0.42773334413031966,
+      "w": 0.6875749628487531
+    }
+  },
+  {
+    "timestamp": 1766137990.7206817,
+    "position": {
+      "x": 0.17831523223814283,
+      "y": 0.005911504733867812,
+      "z": -0.04437189424337598
+    },
+    "orientation": {
+      "x": 0.49465214056585405,
+      "y": 0.28159855118055477,
+      "z": 0.42341932198929505,
+      "w": 0.7047961361789357
+    }
+  },
+  {
+    "timestamp": 1766137990.8533719,
+    "position": {
+      "x": 0.17993836362917073,
+      "y": 0.0052193017132108055,
+      "z": -0.040571922914424643
+    },
+    "orientation": {
+      "x": 0.47186936470843294,
+      "y": 0.26723364538701805,
+      "z": 0.41476040293197985,
+      "w": 0.7306841243536958
+    }
+  },
+  {
+    "timestamp": 1766137990.9860618,
+    "position": {
+      "x": 0.1807425905508407,
+      "y": 0.003994249223921581,
+      "z": -0.03961579271018369
+    },
+    "orientation": {
+      "x": 0.4483428153349631,
+      "y": 0.2442018205550013,
+      "z": 0.40862300577732646,
+      "w": 0.756558940152481
+    }
+  },
+  {
+    "timestamp": 1766137991.1187518,
+    "position": {
+      "x": 0.1805714156907031,
+      "y": 0.002393228435447259,
+      "z": -0.03777590829197788
+    },
+    "orientation": {
+      "x": 0.41887609916690494,
+      "y": 0.21957770236959595,
+      "z": 0.39779393899665483,
+      "w": 0.7861860010623009
+    }
+  },
+  {
+    "timestamp": 1766137991.2514417,
+    "position": {
+      "x": 0.1839383939908089,
+      "y": -0.0016420219873384545,
+      "z": -0.032441099307737545
+    },
+    "orientation": {
+      "x": 0.36481799073538945,
+      "y": 0.19242725537216415,
+      "z": 0.3889730865944055,
+      "w": 0.8237593841231495
+    }
+  },
+  {
+    "timestamp": 1766137991.3841317,
+    "position": {
+      "x": 0.18492482607699606,
+      "y": -0.00463772827732109,
+      "z": -0.02921567613848121
+    },
+    "orientation": {
+      "x": 0.3209629326599025,
+      "y": 0.16226411171482302,
+      "z": 0.37795095243735477,
+      "w": 0.8531156026351003
+    }
+  },
+  {
+    "timestamp": 1766137991.5168219,
+    "position": {
+      "x": 0.18481261867110535,
+      "y": -0.006648483566572078,
+      "z": -0.027228811271314976
+    },
+    "orientation": {
+      "x": 0.2765184258570241,
+      "y": 0.12464568385400561,
+      "z": 0.3630792632156693,
+      "w": 0.8810076403078964
+    }
+  },
+  {
+    "timestamp": 1766137991.6495128,
+    "position": {
+      "x": 0.1851816582964348,
+      "y": -0.008779198276311156,
+      "z": -0.023008256148540338
+    },
+    "orientation": {
+      "x": 0.2243101522760005,
+      "y": 0.08780132247179274,
+      "z": 0.34691292908498217,
+      "w": 0.9064365962337352
+    }
+  },
+  {
+    "timestamp": 1766137991.7822027,
+    "position": {
+      "x": 0.1839673127779842,
+      "y": -0.01172643709744517,
+      "z": -0.01955484218562964
+    },
+    "orientation": {
+      "x": 0.17715496049442547,
+      "y": 0.05783764556266234,
+      "z": 0.3302345477296552,
+      "w": 0.9253194422542826
+    }
+  },
+  {
+    "timestamp": 1766137991.9148927,
+    "position": {
+      "x": 0.18448135668420482,
+      "y": -0.013227594479246985,
+      "z": -0.01730823167982215
+    },
+    "orientation": {
+      "x": 0.15168595543633673,
+      "y": 0.042637222151338514,
+      "z": 0.3239220179416788,
+      "w": 0.9328708187649423
+    }
+  },
+  {
+    "timestamp": 1766137992.0475829,
+    "position": {
+      "x": 0.18414029518349428,
+      "y": -0.012426635937937663,
+      "z": -0.01772560427028111
+    },
+    "orientation": {
+      "x": 0.16477372439762641,
+      "y": 0.05261949015123381,
+      "z": 0.3267568184348937,
+      "w": 0.9291451935035046
+    }
+  },
+  {
+    "timestamp": 1766137992.1802728,
+    "position": {
+      "x": 0.18459737192245956,
+      "y": -0.010346845562369894,
+      "z": -0.02015637133048373
+    },
+    "orientation": {
+      "x": 0.19952894535149204,
+      "y": 0.07689851092293683,
+      "z": 0.33801661431999297,
+      "w": 0.9165258247471292
+    }
+  }
+]
\ No newline at end of file
diff --git a/recorded_gelsight_pose/episode_141/session_info.json b/recorded_gelsight_pose/episode_141/session_info.json
new file mode 100644
index 0000000000000000000000000000000000000000..8559bc25721743824a5a52902e0cedf2dadf9e8d
--- /dev/null
+++ b/recorded_gelsight_pose/episode_141/session_info.json
@@ -0,0 +1,12 @@
+{
+  "session_id": 7,
+  "start_time": "2025-12-19T21:28:52.961871",
+  "ros_start_time": 1766150932.96189,
+  "image_topic": "/gelsight_img",
+  "pose_topic": "/pose",
+  "image_format": "png",
+  "end_time": "2025-12-19T21:28:57.437357",
+  "ros_end_time": 1766150937.4373658,
+  "total_images": 111,
+  "total_pose_frames": 34
+}
\ No newline at end of file
diff --git a/recorded_gelsight_pose/episode_147/image_index.json b/recorded_gelsight_pose/episode_147/image_index.json
new file mode 100644
index 0000000000000000000000000000000000000000..ec93ce8390f8f41ec778f47e51f26265b143f3a7
--- /dev/null
+++ b/recorded_gelsight_pose/episode_147/image_index.json
@@ -0,0 +1,398 @@
+[
+  {
+    "timestamp": 1766150963.9544473,
+    "filename": "img_000000.png"
+  },
+  {
+    "timestamp": 1766150963.9975388,
+    "filename": "img_000001.png"
+  },
+  {
+    "timestamp": 1766150964.03852,
+    "filename": "img_000002.png"
+  },
+  {
+    "timestamp": 1766150964.0773757,
+    "filename": "img_000003.png"
+  },
+  {
+    "timestamp": 1766150964.1138113,
+    "filename": "img_000004.png"
+  },
+  {
+    "timestamp": 1766150964.153133,
+    "filename": "img_000005.png"
+  },
+  {
+    "timestamp": 1766150964.1972058,
+    "filename": "img_000006.png"
+  },
+  {
+    "timestamp": 1766150964.233841,
+    "filename": "img_000007.png"
+  },
+  {
+    "timestamp": 1766150964.2741015,
+    "filename": "img_000008.png"
+  },
+  {
+    "timestamp": 1766150964.313595,
+    "filename": "img_000009.png"
+  },
+  {
+    "timestamp": 1766150964.3542106,
+    "filename": "img_000010.png"
+  },
+  {
+    "timestamp": 1766150964.3936892,
+    "filename": "img_000011.png"
+  },
+  {
+    "timestamp": 1766150964.4320788,
+    "filename": "img_000012.png"
+  },
+  {
+    "timestamp": 1766150964.4749527,
+    "filename": "img_000013.png"
+  },
+  {
+    "timestamp": 1766150964.5136354,
+    "filename": "img_000014.png"
+  },
+  {
+    "timestamp": 1766150964.5563564,
+    "filename": "img_000015.png"
+  },
+  {
+    "timestamp": 1766150964.5942552,
+    "filename": "img_000016.png"
+  },
+  {
+    "timestamp": 1766150964.6335151,
+    "filename": "img_000017.png"
+  },
+  {
+    "timestamp": 1766150964.676463,
+    "filename": "img_000018.png"
+  },
+  {
+    "timestamp": 1766150964.7155497,
+    "filename": "img_000019.png"
+  },
+  {
+    "timestamp": 1766150964.7532895,
+    "filename": "img_000020.png"
+  },
+  {
+    "timestamp": 1766150964.7933533,
+    "filename": "img_000021.png"
+  },
+  {
+    "timestamp": 1766150964.8353164,
+    "filename": "img_000022.png"
+  },
+  {
+    "timestamp": 1766150964.8741703,
+    "filename": "img_000023.png"
+  },
+  {
+    "timestamp": 1766150964.9128923,
+    "filename": "img_000024.png"
+  },
+  {
+    "timestamp": 1766150964.9533377,
+    "filename": "img_000025.png"
+  },
+  {
+    "timestamp": 1766150964.995764,
+    "filename": "img_000026.png"
+  },
+  {
+    "timestamp": 1766150965.0321403,
+    "filename": "img_000027.png"
+  },
+  {
+    "timestamp": 1766150965.0732684,
+    "filename": "img_000028.png"
+  },
+  {
+    "timestamp": 1766150965.114789,
+    "filename": "img_000029.png"
+  },
+  {
+    "timestamp": 1766150965.1549299,
+    "filename": "img_000030.png"
+  },
+  {
+    "timestamp": 1766150965.1951513,
+    "filename": "img_000031.png"
+  },
+  {
+    "timestamp": 1766150965.23688,
+    "filename": "img_000032.png"
+  },
+  {
+    "timestamp": 1766150965.2757385,
+    "filename": "img_000033.png"
+  },
+  {
+    "timestamp": 1766150965.3155289,
+    "filename": "img_000034.png"
+  },
+  {
+    "timestamp": 1766150965.3565135,
+    "filename": "img_000035.png"
+  },
+  {
+    "timestamp": 1766150965.393946,
+    "filename": "img_000036.png"
+  },
+  {
+    "timestamp": 1766150965.4362917,
+    "filename": "img_000037.png"
+  },
+  {
+    "timestamp": 1766150965.4764907,
+    "filename": "img_000038.png"
+  },
+  {
+    "timestamp": 1766150965.517208,
+    "filename": "img_000039.png"
+  },
+  {
+    "timestamp": 1766150965.5549781,
+    "filename": "img_000040.png"
+  },
+  {
+    "timestamp": 1766150965.594095,
+    "filename": "img_000041.png"
+  },
+  {
+    "timestamp": 1766150965.6345024,
+    "filename": "img_000042.png"
+  },
+  {
+    "timestamp": 1766150965.674988,
+    "filename": "img_000043.png"
+  },
+  {
+    "timestamp": 1766150965.7160165,
+    "filename": "img_000044.png"
+  },
+  {
+    "timestamp": 1766150965.7550113,
+    "filename": "img_000045.png"
+  },
+  {
+    "timestamp": 1766150965.797318,
+    "filename": "img_000046.png"
+  },
+  {
+    "timestamp": 1766150965.834749,
+    "filename": "img_000047.png"
+  },
+  {
+    "timestamp": 1766150965.8758626,
+    "filename": "img_000048.png"
+  },
+  {
+    "timestamp": 1766150965.9155545,
+    "filename": "img_000049.png"
+  },
+  {
+    "timestamp": 1766150965.9559,
+    "filename": "img_000050.png"
+  },
+  {
+    "timestamp": 1766150965.9938972,
+    "filename": "img_000051.png"
+  },
+  {
+    "timestamp": 1766150966.031695,
+    "filename": "img_000052.png"
+  },
+  {
+    "timestamp": 1766150966.0735178,
+    "filename": "img_000053.png"
+  },
+  {
+    "timestamp": 1766150966.114127,
+    "filename": "img_000054.png"
+  },
+  {
+    "timestamp": 1766150966.153518,
+    "filename": "img_000055.png"
+  },
+  {
+    "timestamp": 1766150966.1945255,
+    "filename": "img_000056.png"
+  },
+  {
+    "timestamp": 1766150966.2365608,
+    "filename": "img_000057.png"
+  },
+  {
+    "timestamp": 1766150966.2769504,
+    "filename": "img_000058.png"
+  },
+  {
+    "timestamp": 1766150966.3165653,
+    "filename": "img_000059.png"
+  },
+  {
+    "timestamp": 1766150966.3535287,
+    "filename": "img_000060.png"
+  },
+  {
+    "timestamp": 1766150966.3937535,
+    "filename": "img_000061.png"
+  },
+  {
+    "timestamp": 1766150966.4361894,
+    "filename": "img_000062.png"
+  },
+  {
+    "timestamp": 1766150966.4746916,
+    "filename": "img_000063.png"
+  },
+  {
+    "timestamp": 1766150966.5135982,
+    "filename": "img_000064.png"
+  },
+  {
+    "timestamp": 1766150966.5525908,
+    "filename": "img_000065.png"
+  },
+  {
+    "timestamp": 1766150966.5933871,
+    "filename": "img_000066.png"
+  },
+  {
+    "timestamp": 1766150966.6352413,
+    "filename": "img_000067.png"
+  },
+  {
+    "timestamp": 1766150966.675543,
+    "filename": "img_000068.png"
+  },
+  {
+    "timestamp": 1766150966.713823,
+    "filename": "img_000069.png"
+  },
+  {
+    "timestamp": 1766150966.7544065,
+    "filename": "img_000070.png"
+  },
+  {
+    "timestamp": 1766150966.7930229,
+    "filename": "img_000071.png"
+  },
+  {
+    "timestamp": 1766150966.8341584,
+    "filename": "img_000072.png"
+  },
+  {
+    "timestamp": 1766150966.8747249,
+    "filename": "img_000073.png"
+  },
+  {
+    "timestamp": 1766150966.924718,
+    "filename": "img_000074.png"
+  },
+  {
+    "timestamp": 1766150966.9623737,
+    "filename": "img_000075.png"
+  },
+  {
+    "timestamp": 1766150966.997179,
+    "filename": "img_000076.png"
+  },
+  {
+    "timestamp": 1766150967.0375881,
+    "filename": "img_000077.png"
+  },
+  {
+    "timestamp": 1766150967.0772402,
+    "filename": "img_000078.png"
+  },
+  {
+    "timestamp": 1766150967.1172664,
+    "filename": "img_000079.png"
+  },
+  {
+    "timestamp": 1766150967.1557124,
+    "filename": "img_000080.png"
+  },
+  {
+    "timestamp": 1766150967.1956766,
+    "filename": "img_000081.png"
+  },
+  {
+    "timestamp": 1766150967.237564,
+    "filename": "img_000082.png"
+  },
+  {
+    "timestamp": 1766150967.276082,
+    "filename": "img_000083.png"
+  },
+  {
+    "timestamp": 1766150967.315521,
+    "filename": "img_000084.png"
+  },
+  {
+    "timestamp": 1766150967.3545833,
+    "filename": "img_000085.png"
+  },
+  {
+    "timestamp": 1766150967.3959725,
+    "filename": "img_000086.png"
+  },
+  {
+    "timestamp": 1766150967.4371526,
+    "filename": "img_000087.png"
+  },
+  {
+    "timestamp": 1766150967.4758136,
+    "filename": "img_000088.png"
+  },
+  {
+    "timestamp": 1766150967.5174763,
+    "filename": "img_000089.png"
+  },
+  {
+    "timestamp": 1766150967.5617015,
+    "filename": "img_000090.png"
+  },
+  {
+    "timestamp": 1766150967.6068952,
+    "filename": "img_000091.png"
+  },
+  {
+    "timestamp": 1766150967.6384726,
+    "filename": "img_000092.png"
+  },
+  {
+    "timestamp": 1766150967.6769106,
+    "filename": "img_000093.png"
+  },
+  {
+    "timestamp": 1766150967.7168646,
+    "filename": "img_000094.png"
+  },
+  {
+    "timestamp": 1766150967.7566159,
+    "filename": "img_000095.png"
+  },
+  {
+    "timestamp": 1766150967.796302,
+    "filename": "img_000096.png"
+  },
+  {
+    "timestamp": 1766150967.8372178,
+    "filename": "img_000097.png"
+  },
+  {
+    "timestamp": 1766150967.8770542,
+    "filename": "img_000098.png"
+  }
+]
\ No newline at end of file
diff --git a/recorded_gelsight_pose/episode_147/pose_data.json b/recorded_gelsight_pose/episode_147/pose_data.json
new file mode 100644
index 0000000000000000000000000000000000000000..967ec3110c5a97ba0a8d8fda49429e727896bff6
--- /dev/null
+++ b/recorded_gelsight_pose/episode_147/pose_data.json
@@ -0,0 +1,422 @@
+[
+  {
+    "timestamp": 1766138018.7182949,
+    "position": {
+      "x": 0.1889732010964823,
+      "y": -0.00606237150209693,
+      "z": -0.028877170357559462
+    },
+    "orientation": {
+      "x": 0.2973093748358961,
+      "y": 0.14354571442123445,
+      "z": 0.38057793661892736,
+      "w": 0.8638068057528059
+    }
+  },
+  {
+    "timestamp": 1766138018.8509848,
+    "position": {
+      "x": 0.18951292625258231,
+      "y": -0.006712105705678484,
+      "z": -0.026856403182944757
+    },
+    "orientation": {
+      "x": 0.28997957446861145,
+      "y": 0.14493236740483748,
+      "z": 0.38005179784370313,
+      "w": 0.8662950341686145
+    }
+  },
+  {
+    "timestamp": 1766138018.9836748,
+    "position": {
+      "x": 0.18962889672393335,
+      "y": -0.006190053614956642,
+      "z": -0.027953906264128983
+    },
+    "orientation": {
+      "x": 0.3002881235446987,
+      "y": 0.15051506574370338,
+      "z": 0.383590555075572,
+      "w": 0.8602502798017487
+    }
+  },
+  {
+    "timestamp": 1766138019.1163647,
+    "position": {
+      "x": 0.18860809345758014,
+      "y": -0.005181719011655622,
+      "z": -0.031726786219158504
+    },
+    "orientation": {
+      "x": 0.33521593514815434,
+      "y": 0.17528012746747676,
+      "z": 0.39387529960078577,
+      "w": 0.8377167791695024
+    }
+  },
+  {
+    "timestamp": 1766138019.2490547,
+    "position": {
+      "x": 0.18739482027755586,
+      "y": -0.002986313842829519,
+      "z": -0.03571389512953195
+    },
+    "orientation": {
+      "x": 0.3763131456557562,
+      "y": 0.20294049990626725,
+      "z": 0.4051454112480997,
+      "w": 0.8081217517485049
+    }
+  },
+  {
+    "timestamp": 1766138019.3817449,
+    "position": {
+      "x": 0.18537487910401,
+      "y": 0.00030956309607513277,
+      "z": -0.03860086448995283
+    },
+    "orientation": {
+      "x": 0.4173961783952781,
+      "y": 0.23039620661162577,
+      "z": 0.4130748724349627,
+      "w": 0.7759298731218108
+    }
+  },
+  {
+    "timestamp": 1766138019.5144348,
+    "position": {
+      "x": 0.1828049070877389,
+      "y": 0.0031803069452319976,
+      "z": -0.041390327316477335
+    },
+    "orientation": {
+      "x": 0.457255144519133,
+      "y": 0.2600796863278636,
+      "z": 0.41985162227294925,
+      "w": 0.7395950952008534
+    }
+  },
+  {
+    "timestamp": 1766138019.6471248,
+    "position": {
+      "x": 0.17857598779529174,
+      "y": 0.00645994867974059,
+      "z": -0.043798902793834735
+    },
+    "orientation": {
+      "x": 0.5022393465136032,
+      "y": 0.29405834536946496,
+      "z": 0.4246581610477099,
+      "w": 0.6935061460345816
+    }
+  },
+  {
+    "timestamp": 1766138019.7798147,
+    "position": {
+      "x": 0.17571783881707873,
+      "y": 0.008535439409531859,
+      "z": -0.046139117949117917
+    },
+    "orientation": {
+      "x": 0.5306273144849301,
+      "y": 0.31120488742428754,
+      "z": 0.42858065275514956,
+      "w": 0.6617437534648271
+    }
+  },
+  {
+    "timestamp": 1766138019.9125059,
+    "position": {
+      "x": 0.17650190909490387,
+      "y": 0.007811580801285384,
+      "z": -0.04642780156204557
+    },
+    "orientation": {
+      "x": 0.5243435759221489,
+      "y": 0.30696615024667157,
+      "z": 0.43015308490557297,
+      "w": 0.6676854952282029
+    }
+  },
+  {
+    "timestamp": 1766138020.0451958,
+    "position": {
+      "x": 0.17878589023375502,
+      "y": 0.006098594854401229,
+      "z": -0.04444845933620402
+    },
+    "orientation": {
+      "x": 0.5009729446265463,
+      "y": 0.2916437673292302,
+      "z": 0.4258678181729387,
+      "w": 0.6946989442735912
+    }
+  },
+  {
+    "timestamp": 1766138020.1778858,
+    "position": {
+      "x": 0.18075173720434318,
+      "y": 0.004800637703800598,
+      "z": -0.042476050266651924
+    },
+    "orientation": {
+      "x": 0.47252078713166573,
+      "y": 0.2657860990427788,
+      "z": 0.4207248254123454,
+      "w": 0.7273736842681654
+    }
+  },
+  {
+    "timestamp": 1766138020.3105757,
+    "position": {
+      "x": 0.18267468078120197,
+      "y": 0.001500840615153376,
+      "z": -0.040584495747161733
+    },
+    "orientation": {
+      "x": 0.42892519998087636,
+      "y": 0.23081624441022625,
+      "z": 0.41157507998563003,
+      "w": 0.7702940916770333
+    }
+  },
+  {
+    "timestamp": 1766138020.4432657,
+    "position": {
+      "x": 0.18544815850937799,
+      "y": -0.0012767893300317523,
+      "z": -0.03666225398197252
+    },
+    "orientation": {
+      "x": 0.37915561020456434,
+      "y": 0.1946674628159905,
+      "z": 0.4013551465070048,
+      "w": 0.8107155164072846
+    }
+  },
+  {
+    "timestamp": 1766138020.5759559,
+    "position": {
+      "x": 0.1872779263024898,
+      "y": -0.004734661536356266,
+      "z": -0.03293935952881939
+    },
+    "orientation": {
+      "x": 0.3278732051440327,
+      "y": 0.158950355638446,
+      "z": 0.3885564772880366,
+      "w": 0.8463201579476304
+    }
+  },
+  {
+    "timestamp": 1766138020.7086458,
+    "position": {
+      "x": 0.18946111022721962,
+      "y": -0.007154588396160982,
+      "z": -0.02839517227656564
+    },
+    "orientation": {
+      "x": 0.27504286728386473,
+      "y": 0.12148951643023895,
+      "z": 0.3752413525877039,
+      "w": 0.8768042232231592
+    }
+  },
+  {
+    "timestamp": 1766138020.8413358,
+    "position": {
+      "x": 0.18878692749727866,
+      "y": -0.009719072299906178,
+      "z": -0.025199275262499057
+    },
+    "orientation": {
+      "x": 0.2284146503317802,
+      "y": 0.08741190395790165,
+      "z": 0.3585230252018573,
+      "w": 0.9009146169090462
+    }
+  },
+  {
+    "timestamp": 1766138020.9740257,
+    "position": {
+      "x": 0.18979223782185045,
+      "y": -0.01091274431968181,
+      "z": -0.02231031162220372
+    },
+    "orientation": {
+      "x": 0.20130055939916836,
+      "y": 0.06977779660540405,
+      "z": 0.35200954548148883,
+      "w": 0.911426587156855
+    }
+  },
+  {
+    "timestamp": 1766138021.1067169,
+    "position": {
+      "x": 0.1895164006940961,
+      "y": -0.011171433641126799,
+      "z": -0.0224845717046048
+    },
+    "orientation": {
+      "x": 0.2059620856894088,
+      "y": 0.07598111490503134,
+      "z": 0.3527731500035537,
+      "w": 0.9095919931886095
+    }
+  },
+  {
+    "timestamp": 1766138021.2394068,
+    "position": {
+      "x": 0.18919946838381685,
+      "y": -0.009302033731881237,
+      "z": -0.024912701284310612
+    },
+    "orientation": {
+      "x": 0.23421913951546877,
+      "y": 0.09374198943807449,
+      "z": 0.36067681110984506,
+      "w": 0.8979231994043023
+    }
+  },
+  {
+    "timestamp": 1766138021.3720968,
+    "position": {
+      "x": 0.18878814895375853,
+      "y": -0.007128307639686304,
+      "z": -0.028348876821135363
+    },
+    "orientation": {
+      "x": 0.27956178458802405,
+      "y": 0.12813296468643096,
+      "z": 0.37507962133058254,
+      "w": 0.874495528645591
+    }
+  },
+  {
+    "timestamp": 1766138021.5047867,
+    "position": {
+      "x": 0.18869134953427402,
+      "y": -0.004867025557386329,
+      "z": -0.03438916118036453
+    },
+    "orientation": {
+      "x": 0.3310052611299594,
+      "y": 0.15840345369712688,
+      "z": 0.3927454244203221,
+      "w": 0.8432644274235754
+    }
+  },
+  {
+    "timestamp": 1766138021.6374767,
+    "position": {
+      "x": 0.18711084569264005,
+      "y": -0.0015268358970949025,
+      "z": -0.03895794297172743
+    },
+    "orientation": {
+      "x": 0.383294507201715,
+      "y": 0.19358357780880914,
+      "z": 0.40735463051386206,
+      "w": 0.8060229054751793
+    }
+  },
+  {
+    "timestamp": 1766138021.7701669,
+    "position": {
+      "x": 0.18475656365382206,
+      "y": 0.0008015927046693128,
+      "z": -0.04184110146564479
+    },
+    "orientation": {
+      "x": 0.4267282701815316,
+      "y": 0.23017811842051208,
+      "z": 0.4184183504394127,
+      "w": 0.7680150397250247
+    }
+  },
+  {
+    "timestamp": 1766138021.9028568,
+    "position": {
+      "x": 0.18233937414250734,
+      "y": 0.0026488669782437912,
+      "z": -0.045170648004260516
+    },
+    "orientation": {
+      "x": 0.4646015456949465,
+      "y": 0.25887988189115296,
+      "z": 0.4270227277704604,
+      "w": 0.7312853071526628
+    }
+  },
+  {
+    "timestamp": 1766138022.0355468,
+    "position": {
+      "x": 0.17984659156232463,
+      "y": 0.004740328674011168,
+      "z": -0.04746618246683139
+    },
+    "orientation": {
+      "x": 0.4974519475273994,
+      "y": 0.28596669272626385,
+      "z": 0.43248914862680526,
+      "w": 0.6954982004811093
+    }
+  },
+  {
+    "timestamp": 1766138022.1682367,
+    "position": {
+      "x": 0.17807847399187055,
+      "y": 0.006204093666920318,
+      "z": -0.048136041883247965
+    },
+    "orientation": {
+      "x": 0.5244618740170921,
+      "y": 0.313252358865154,
+      "z": 0.4373998321407883,
+      "w": 0.6599197596762097
+    }
+  },
+  {
+    "timestamp": 1766138022.3009279,
+    "position": {
+      "x": 0.17479936334251284,
+      "y": 0.00791891043991888,
+      "z": -0.04995727699252242
+    },
+    "orientation": {
+      "x": 0.5526500469031095,
+      "y": 0.334067683613074,
+      "z": 0.43930007480535455,
+      "w": 0.624493516939444
+    }
+  },
+  {
+    "timestamp": 1766138022.4336178,
+    "position": {
+      "x": 0.1711906161219595,
+      "y": 0.009783954319231236,
+      "z": -0.05173907871763646
+    },
+    "orientation": {
+      "x": 0.5787336964600602,
+      "y": 0.35374247124234115,
+      "z": 0.44072567944471375,
+      "w": 0.5879578625199529
+    }
+  },
+  {
+    "timestamp": 1766138022.5663078,
+    "position": {
+      "x": 0.16877384111791077,
+      "y": 0.012238838867304563,
+      "z": -0.05153036770699322
+    },
+    "orientation": {
+      "x": 0.6019865047248721,
+      "y": 0.3716187038905579,
+      "z": 0.4397603344632546,
+      "w": 0.5532835035319593
+    }
+  }
+]
\ No newline at end of file
diff --git a/recorded_gelsight_pose/episode_147/session_info.json b/recorded_gelsight_pose/episode_147/session_info.json
new file mode 100644
index 0000000000000000000000000000000000000000..ce4df166874020596c2aaf9fe322dc8f075a9a00
--- /dev/null
+++ b/recorded_gelsight_pose/episode_147/session_info.json
@@ -0,0 +1,12 @@
+{
+  "session_id": 13,
+  "start_time": "2025-12-19T21:29:23.948257",
+  "ros_start_time": 1766150963.9482756,
+  "image_topic": "/gelsight_img",
+  "pose_topic": "/pose",
+  "image_format": "png",
+  "end_time": "2025-12-19T21:29:27.924556",
+  "ros_end_time": 1766150967.9245648,
+  "total_images": 99,
+  "total_pose_frames": 30
+}
\ No newline at end of file
diff --git a/recorded_gelsight_pose/episode_148/image_index.json b/recorded_gelsight_pose/episode_148/image_index.json
new file mode 100644
index 0000000000000000000000000000000000000000..3cf157ad8b566e91cfe0f37feb81ce205887e4bb
--- /dev/null
+++ b/recorded_gelsight_pose/episode_148/image_index.json
@@ -0,0 +1,450 @@
+[
+  {
+    "timestamp": 1766150968.8396363,
+    "filename": "img_000000.png"
+  },
+  {
+    "timestamp": 1766150968.880141,
+    "filename": "img_000001.png"
+  },
+  {
+    "timestamp": 1766150968.9172297,
+    "filename": "img_000002.png"
+  },
+  {
+    "timestamp": 1766150968.9573286,
+    "filename": "img_000003.png"
+  },
+  {
+    "timestamp": 1766150969.0011635,
+    "filename": "img_000004.png"
+  },
+  {
+    "timestamp": 1766150969.0388396,
+    "filename": "img_000005.png"
+  },
+  {
+    "timestamp": 1766150969.0766249,
+    "filename": "img_000006.png"
+  },
+  {
+    "timestamp": 1766150969.1162138,
+    "filename": "img_000007.png"
+  },
+  {
+    "timestamp": 1766150969.1549473,
+    "filename": "img_000008.png"
+  },
+  {
+    "timestamp": 1766150969.2002053,
+    "filename": "img_000009.png"
+  },
+  {
+    "timestamp": 1766150969.2369692,
+    "filename": "img_000010.png"
+  },
+  {
+    "timestamp": 1766150969.2760775,
+    "filename": "img_000011.png"
+  },
+  {
+    "timestamp": 1766150969.3161187,
+    "filename": "img_000012.png"
+  },
+  {
+    "timestamp": 1766150969.3564517,
+    "filename": "img_000013.png"
+  },
+  {
+    "timestamp": 1766150969.3955715,
+    "filename": "img_000014.png"
+  },
+  {
+    "timestamp": 1766150969.4370105,
+    "filename": "img_000015.png"
+  },
+  {
+    "timestamp": 1766150969.477816,
+    "filename": "img_000016.png"
+  },
+  {
+    "timestamp": 1766150969.5181456,
+    "filename": "img_000017.png"
+  },
+  {
+    "timestamp": 1766150969.5570817,
+    "filename": "img_000018.png"
+  },
+  {
+    "timestamp": 1766150969.5956807,
+    "filename": "img_000019.png"
+  },
+  {
+    "timestamp": 1766150969.6362429,
+    "filename": "img_000020.png"
+  },
+  {
+    "timestamp": 1766150969.675971,
+    "filename": "img_000021.png"
+  },
+  {
+    "timestamp": 1766150969.7148454,
+    "filename": "img_000022.png"
+  },
+  {
+    "timestamp": 1766150969.7542434,
+    "filename": "img_000023.png"
+  },
+  {
+    "timestamp": 1766150969.7944906,
+    "filename": "img_000024.png"
+  },
+  {
+    "timestamp": 1766150969.8380094,
+    "filename": "img_000025.png"
+  },
+  {
+    "timestamp": 1766150969.8757153,
+    "filename": "img_000026.png"
+  },
+  {
+    "timestamp": 1766150969.9159214,
+    "filename": "img_000027.png"
+  },
+  {
+    "timestamp": 1766150969.9603121,
+    "filename": "img_000028.png"
+  },
+  {
+    "timestamp": 1766150969.9980524,
+    "filename": "img_000029.png"
+  },
+  {
+    "timestamp": 1766150970.038825,
+    "filename": "img_000030.png"
+  },
+  {
+    "timestamp": 1766150970.078937,
+    "filename": "img_000031.png"
+  },
+  {
+    "timestamp": 1766150970.1192517,
+    "filename": "img_000032.png"
+  },
+  {
+    "timestamp": 1766150970.1572764,
+    "filename": "img_000033.png"
+  },
+  {
+    "timestamp": 1766150970.1987867,
+    "filename": "img_000034.png"
+  },
+  {
+    "timestamp": 1766150970.2393835,
+    "filename": "img_000035.png"
+  },
+  {
+    "timestamp": 1766150970.28016,
+    "filename": "img_000036.png"
+  },
+  {
+    "timestamp": 1766150970.3183055,
+    "filename": "img_000037.png"
+  },
+  {
+    "timestamp": 1766150970.3584085,
+    "filename": "img_000038.png"
+  },
+  {
+    "timestamp": 1766150970.4007397,
+    "filename": "img_000039.png"
+  },
+  {
+    "timestamp": 1766150970.4419794,
+    "filename": "img_000040.png"
+  },
+  {
+    "timestamp": 1766150970.4799793,
+    "filename": "img_000041.png"
+  },
+  {
+    "timestamp": 1766150970.5182605,
+    "filename": "img_000042.png"
+  },
+  {
+    "timestamp": 1766150970.5595188,
+    "filename": "img_000043.png"
+  },
+  {
+    "timestamp": 1766150970.599894,
+    "filename": "img_000044.png"
+  },
+  {
+    "timestamp": 1766150970.642247,
+    "filename": "img_000045.png"
+  },
+  {
+    "timestamp": 1766150970.67978,
+    "filename": "img_000046.png"
+  },
+  {
+    "timestamp": 1766150970.719032,
+    "filename": "img_000047.png"
+  },
+  {
+    "timestamp": 1766150970.7586114,
+    "filename": "img_000048.png"
+  },
+  {
+    "timestamp": 1766150970.7966795,
+    "filename": "img_000049.png"
+  },
+  {
+    "timestamp": 1766150970.836976,
+    "filename": "img_000050.png"
+  },
+  {
+    "timestamp": 1766150970.8762262,
+    "filename": "img_000051.png"
+  },
+  {
+    "timestamp": 1766150970.9176748,
+    "filename": "img_000052.png"
+  },
+  {
+    "timestamp": 1766150970.9554503,
+    "filename": "img_000053.png"
+  },
+  {
+    "timestamp": 1766150970.9975026,
+    "filename": "img_000054.png"
+  },
+  {
+    "timestamp": 1766150971.0374596,
+    "filename": "img_000055.png"
+  },
+  {
+    "timestamp": 1766150971.076367,
+    "filename": "img_000056.png"
+  },
+  {
+    "timestamp": 1766150971.1162133,
+    "filename": "img_000057.png"
+  },
+  {
+    "timestamp": 1766150971.1541808,
+    "filename": "img_000058.png"
+  },
+  {
+    "timestamp": 1766150971.1995313,
+    "filename": "img_000059.png"
+  },
+  {
+    "timestamp": 1766150971.2425792,
+    "filename": "img_000060.png"
+  },
+  {
+    "timestamp": 1766150971.2778242,
+    "filename": "img_000061.png"
+  },
+  {
+    "timestamp": 1766150971.3172324,
+    "filename": "img_000062.png"
+  },
+  {
+    "timestamp": 1766150971.354493,
+    "filename": "img_000063.png"
+  },
+  {
+    "timestamp": 1766150971.3974302,
+    "filename": "img_000064.png"
+  },
+  {
+    "timestamp": 1766150971.4366834,
+    "filename": "img_000065.png"
+  },
+  {
+    "timestamp": 1766150971.4755468,
+    "filename": "img_000066.png"
+  },
+  {
+    "timestamp": 1766150971.5149202,
+    "filename": "img_000067.png"
+  },
+  {
+    "timestamp": 1766150971.5584917,
+    "filename": "img_000068.png"
+  },
+  {
+    "timestamp": 1766150971.5968077,
+    "filename": "img_000069.png"
+  },
+  {
+    "timestamp": 1766150971.6362894,
+    "filename": "img_000070.png"
+  },
+  {
+    "timestamp": 1766150971.6761246,
+    "filename": "img_000071.png"
+  },
+  {
+    "timestamp": 1766150971.716622,
+    "filename": "img_000072.png"
+  },
+  {
+    "timestamp": 1766150971.7551665,
+    "filename": "img_000073.png"
+  },
+  {
+    "timestamp": 1766150971.794115,
+    "filename": "img_000074.png"
+  },
+  {
+    "timestamp": 1766150971.8362365,
+    "filename": "img_000075.png"
+  },
+  {
+    "timestamp": 1766150971.875988,
+    "filename": "img_000076.png"
+  },
+  {
+    "timestamp": 1766150971.9163742,
+    "filename": "img_000077.png"
+  },
+  {
+    "timestamp": 1766150971.955078,
+    "filename": "img_000078.png"
+  },
+  {
+    "timestamp": 1766150971.9974713,
+    "filename": "img_000079.png"
+  },
+  {
+    "timestamp": 1766150972.0347915,
+    "filename": "img_000080.png"
+  },
+  {
+    "timestamp": 1766150972.07608,
+    "filename": "img_000081.png"
+  },
+  {
+    "timestamp": 1766150972.1150053,
+    "filename": "img_000082.png"
+  },
+  {
+    "timestamp": 1766150972.1534593,
+    "filename": "img_000083.png"
+  },
+  {
+    "timestamp": 1766150972.1946452,
+    "filename": "img_000084.png"
+  },
+  {
+    "timestamp": 1766150972.236842,
+    "filename": "img_000085.png"
+  },
+  {
+    "timestamp": 1766150972.2752066,
+    "filename": "img_000086.png"
+  },
+  {
+    "timestamp": 1766150972.3150709,
+    "filename": "img_000087.png"
+  },
+  {
+    "timestamp": 1766150972.3539546,
+    "filename": "img_000088.png"
+  },
+  {
+    "timestamp": 1766150972.396155,
+    "filename": "img_000089.png"
+  },
+  {
+    "timestamp": 1766150972.4366853,
+    "filename": "img_000090.png"
+  },
+  {
+    "timestamp": 1766150972.4777763,
+    "filename": "img_000091.png"
+  },
+  {
+    "timestamp": 1766150972.5170648,
+    "filename": "img_000092.png"
+  },
+  {
+    "timestamp": 1766150972.554913,
+    "filename": "img_000093.png"
+  },
+  {
+    "timestamp": 1766150972.595822,
+    "filename": "img_000094.png"
+  },
+  {
+    "timestamp": 1766150972.6354523,
+    "filename": "img_000095.png"
+  },
+  {
+    "timestamp": 1766150972.6759927,
+    "filename": "img_000096.png"
+  },
+  {
+    "timestamp": 1766150972.716358,
+    "filename": "img_000097.png"
+  },
+  {
+    "timestamp": 1766150972.754799,
+    "filename": "img_000098.png"
+  },
+  {
+    "timestamp": 1766150972.796295,
+    "filename": "img_000099.png"
+  },
+  {
+    "timestamp": 1766150972.8432758,
+    "filename": "img_000100.png"
+  },
+  {
+    "timestamp": 1766150972.8779914,
+    "filename": "img_000101.png"
+  },
+  {
+    "timestamp": 1766150972.9156125,
+    "filename": "img_000102.png"
+  },
+  {
+    "timestamp": 1766150972.9548292,
+    "filename": "img_000103.png"
+  },
+  {
+    "timestamp": 1766150972.99911,
+    "filename": "img_000104.png"
+  },
+  {
+    "timestamp": 1766150973.0366058,
+    "filename": "img_000105.png"
+  },
+  {
+    "timestamp": 1766150973.0770261,
+    "filename": "img_000106.png"
+  },
+  {
+    "timestamp": 1766150973.115677,
+    "filename": "img_000107.png"
+  },
+  {
+    "timestamp": 1766150973.1542273,
+    "filename": "img_000108.png"
+  },
+  {
+    "timestamp": 1766150973.1965632,
+    "filename": "img_000109.png"
+  },
+  {
+    "timestamp": 1766150973.2362902,
+    "filename": "img_000110.png"
+  },
+  {
+    "timestamp": 1766150973.2750568,
+    "filename": "img_000111.png"
+  }
+]
\ No newline at end of file
diff --git a/recorded_gelsight_pose/episode_148/pose_data.json b/recorded_gelsight_pose/episode_148/pose_data.json
new file mode 100644
index 0000000000000000000000000000000000000000..3f13b8e5eafd5443533bd76561c0438e688476b7
--- /dev/null
+++ b/recorded_gelsight_pose/episode_148/pose_data.json
@@ -0,0 +1,464 @@
+[
+  {
+    "timestamp": 1766138023.6278288,
+    "position": {
+      "x": 0.1818992723483947,
+      "y": 0.009401448022032105,
+      "z": -0.046935028825685635
+    },
+    "orientation": {
+      "x": 0.4911304065008384,
+      "y": 0.26751432960540433,
+      "z": 0.42877549533276954,
+      "w": 0.7094917771674528
+    }
+  },
+  {
+    "timestamp": 1766138023.7605188,
+    "position": {
+      "x": 0.17907189514022825,
+      "y": 0.0034067061097209084,
+      "z": -0.04868728834333673
+    },
+    "orientation": {
+      "x": 0.4801895396194445,
+      "y": 0.26354862252567735,
+      "z": 0.43075434924409745,
+      "w": 0.7172243862363982
+    }
+  },
+  {
+    "timestamp": 1766138023.8932087,
+    "position": {
+      "x": 0.17763623400847406,
+      "y": 0.007934057905721381,
+      "z": -0.04416220672325413
+    },
+    "orientation": {
+      "x": 0.4863716609118488,
+      "y": 0.2617761303401789,
+      "z": 0.4152069404700376,
+      "w": 0.7228547998259968
+    }
+  },
+  {
+    "timestamp": 1766138024.0258987,
+    "position": {
+      "x": 0.17668468356899386,
+      "y": 0.007274007929590515,
+      "z": -0.042754480593215446
+    },
+    "orientation": {
+      "x": 0.4848142144041946,
+      "y": 0.26631308281003635,
+      "z": 0.41146027865609874,
+      "w": 0.724384537745046
+    }
+  },
+  {
+    "timestamp": 1766138024.158589,
+    "position": {
+      "x": 0.1785051169189694,
+      "y": 0.004588948507737639,
+      "z": -0.0409445503567947
+    },
+    "orientation": {
+      "x": 0.45860446601437865,
+      "y": 0.25295562594687776,
+      "z": 0.408786303343091,
+      "w": 0.7473882212428693
+    }
+  },
+  {
+    "timestamp": 1766138024.2912788,
+    "position": {
+      "x": 0.18365152066287366,
+      "y": 0.000932760123750459,
+      "z": -0.03844543426132681
+    },
+    "orientation": {
+      "x": 0.4181993691702746,
+      "y": 0.22957587249924555,
+      "z": 0.4089168305921567,
+      "w": 0.777940378210477
+    }
+  },
+  {
+    "timestamp": 1766138024.4239688,
+    "position": {
+      "x": 0.18528734809595795,
+      "y": -0.0011808996928975857,
+      "z": -0.03708167641516477
+    },
+    "orientation": {
+      "x": 0.37692367354070566,
+      "y": 0.1910889218501346,
+      "z": 0.3997049389990155,
+      "w": 0.8134184224681206
+    }
+  },
+  {
+    "timestamp": 1766138024.5566587,
+    "position": {
+      "x": 0.18651419242457862,
+      "y": -0.004024377829666831,
+      "z": -0.0326002494546906
+    },
+    "orientation": {
+      "x": 0.3283365362449021,
+      "y": 0.1583666121377817,
+      "z": 0.38535055230358006,
+      "w": 0.8477146259007374
+    }
+  },
+  {
+    "timestamp": 1766138024.6893487,
+    "position": {
+      "x": 0.18700582172285368,
+      "y": -0.006758105106658419,
+      "z": -0.02879983093219507
+    },
+    "orientation": {
+      "x": 0.28266715978358986,
+      "y": 0.1282217166551761,
+      "z": 0.3710128884467407,
+      "w": 0.8752187753723547
+    }
+  },
+  {
+    "timestamp": 1766138024.8220398,
+    "position": {
+      "x": 0.18549374422425827,
+      "y": -0.008866361440005827,
+      "z": -0.025250869542189983
+    },
+    "orientation": {
+      "x": 0.23306177328734426,
+      "y": 0.09085821816412078,
+      "z": 0.3503355386040014,
+      "w": 0.902602905166632
+    }
+  },
+  {
+    "timestamp": 1766138024.9547298,
+    "position": {
+      "x": 0.18668433097249698,
+      "y": -0.01179356926443123,
+      "z": -0.02019158544833606
+    },
+    "orientation": {
+      "x": 0.18154324819073578,
+      "y": 0.06114151885405004,
+      "z": 0.33792990099470893,
+      "w": 0.9214701002866468
+    }
+  },
+  {
+    "timestamp": 1766138025.0874197,
+    "position": {
+      "x": 0.18745969220568348,
+      "y": -0.013238715527012973,
+      "z": -0.01837833826458231
+    },
+    "orientation": {
+      "x": 0.15501794772747854,
+      "y": 0.04171994518158139,
+      "z": 0.33248339707181074,
+      "w": 0.9293458305324208
+    }
+  },
+  {
+    "timestamp": 1766138025.2201097,
+    "position": {
+      "x": 0.18781769211532584,
+      "y": -0.011971875087774503,
+      "z": -0.01987937917506942
+    },
+    "orientation": {
+      "x": 0.17440469165867228,
+      "y": 0.053889565631853625,
+      "z": 0.33678668671395884,
+      "w": 0.9237172976055429
+    }
+  },
+  {
+    "timestamp": 1766138025.3528,
+    "position": {
+      "x": 0.1892119933053642,
+      "y": -0.010304871811669586,
+      "z": -0.023278540177128965
+    },
+    "orientation": {
+      "x": 0.21521899706576572,
+      "y": 0.08270189628895505,
+      "z": 0.3550119692871661,
+      "w": 0.9059843714518839
+    }
+  },
+  {
+    "timestamp": 1766138025.4854898,
+    "position": {
+      "x": 0.18881224586713086,
+      "y": -0.007754871935240326,
+      "z": -0.029213671217096338
+    },
+    "orientation": {
+      "x": 0.2676667514833573,
+      "y": 0.11232501737165797,
+      "z": 0.3702404704056647,
+      "w": 0.88241690526451
+    }
+  },
+  {
+    "timestamp": 1766138025.6181798,
+    "position": {
+      "x": 0.18790263066978727,
+      "y": -0.004900202131363662,
+      "z": -0.03221052988054182
+    },
+    "orientation": {
+      "x": 0.31464859885042346,
+      "y": 0.1470628143149229,
+      "z": 0.38329653485288706,
+      "w": 0.8558344198833144
+    }
+  },
+  {
+    "timestamp": 1766138025.7508698,
+    "position": {
+      "x": 0.18597587616015904,
+      "y": -0.0022206119459361184,
+      "z": -0.036213649490460395
+    },
+    "orientation": {
+      "x": 0.36176163777777415,
+      "y": 0.17844205643320962,
+      "z": 0.39477009190342777,
+      "w": 0.8254959263780705
+    }
+  },
+  {
+    "timestamp": 1766138025.8835597,
+    "position": {
+      "x": 0.18279259098071862,
+      "y": 0.0012021126586805042,
+      "z": -0.04281850902481661
+    },
+    "orientation": {
+      "x": 0.41503469593645564,
+      "y": 0.20672514561984112,
+      "z": 0.407781755619497,
+      "w": 0.7865907163965707
+    }
+  },
+  {
+    "timestamp": 1766138026.0162508,
+    "position": {
+      "x": 0.1826326483797279,
+      "y": 0.0031781144100503644,
+      "z": -0.041564068411026805
+    },
+    "orientation": {
+      "x": 0.44255295799860844,
+      "y": 0.24089101590492312,
+      "z": 0.41389628992609595,
+      "w": 0.7581611035976383
+    }
+  },
+  {
+    "timestamp": 1766138026.1489408,
+    "position": {
+      "x": 0.18179572151497025,
+      "y": 0.0033595218429365303,
+      "z": -0.04283353698895122
+    },
+    "orientation": {
+      "x": 0.4528017034021406,
+      "y": 0.24796401591859873,
+      "z": 0.41824116182811377,
+      "w": 0.7473679112447298
+    }
+  },
+  {
+    "timestamp": 1766138026.2816308,
+    "position": {
+      "x": 0.18281095145097265,
+      "y": 0.0023385133835518435,
+      "z": -0.04130339796673364
+    },
+    "orientation": {
+      "x": 0.43758926060454634,
+      "y": 0.23866892271786805,
+      "z": 0.4145528218753788,
+      "w": 0.7613794994662118
+    }
+  },
+  {
+    "timestamp": 1766138026.4143207,
+    "position": {
+      "x": 0.18477908370369928,
+      "y": 9.690977329473993e-05,
+      "z": -0.038732797855327225
+    },
+    "orientation": {
+      "x": 0.4045570543458838,
+      "y": 0.21412042891430788,
+      "z": 0.40738518288099546,
+      "w": 0.7902678941153768
+    }
+  },
+  {
+    "timestamp": 1766138026.5470107,
+    "position": {
+      "x": 0.18485268441273828,
+      "y": -0.0019758471783235254,
+      "z": -0.03461169261694211
+    },
+    "orientation": {
+      "x": 0.362609905478849,
+      "y": 0.18494421486958176,
+      "z": 0.39166291794412433,
+      "w": 0.8251726198453196
+    }
+  },
+  {
+    "timestamp": 1766138026.6797009,
+    "position": {
+      "x": 0.18625369845738793,
+      "y": -0.004678156303013992,
+      "z": -0.029785152229903925
+    },
+    "orientation": {
+      "x": 0.31758207270904065,
+      "y": 0.15869171408914118,
+      "z": 0.3795438413584932,
+      "w": 0.8543448012717809
+    }
+  },
+  {
+    "timestamp": 1766138026.8123908,
+    "position": {
+      "x": 0.1852273113650072,
+      "y": -0.006743740652032482,
+      "z": -0.02746852278446131
+    },
+    "orientation": {
+      "x": 0.27223852739014015,
+      "y": 0.11977693435343757,
+      "z": 0.36169011376013765,
+      "w": 0.8835835737549215
+    }
+  },
+  {
+    "timestamp": 1766138026.9450808,
+    "position": {
+      "x": 0.1861680569348878,
+      "y": -0.009614974421892852,
+      "z": -0.023301879957508126
+    },
+    "orientation": {
+      "x": 0.2240570639393443,
+      "y": 0.09152160234831945,
+      "z": 0.3501858234459192,
+      "w": 0.904871326465802
+    }
+  },
+  {
+    "timestamp": 1766138027.0777707,
+    "position": {
+      "x": 0.18808964576781756,
+      "y": -0.010553765941906046,
+      "z": -0.020585911681668692
+    },
+    "orientation": {
+      "x": 0.1971211899266597,
+      "y": 0.07253610141946884,
+      "z": 0.3460949234296622,
+      "w": 0.9143850690212404
+    }
+  },
+  {
+    "timestamp": 1766138027.2104619,
+    "position": {
+      "x": 0.18714503697828488,
+      "y": -0.012064207354722745,
+      "z": -0.01972441389175611
+    },
+    "orientation": {
+      "x": 0.17562459878262768,
+      "y": 0.05665143049602078,
+      "z": 0.3376078835264782,
+      "w": 0.9230208733858444
+    }
+  },
+  {
+    "timestamp": 1766138027.3431518,
+    "position": {
+      "x": 0.18675684361754674,
+      "y": -0.011902411510282151,
+      "z": -0.01922136493976348
+    },
+    "orientation": {
+      "x": 0.17956807323498494,
+      "y": 0.06223700652362349,
+      "z": 0.33775848770996963,
+      "w": 0.9218465523467168
+    }
+  },
+  {
+    "timestamp": 1766138027.4758418,
+    "position": {
+      "x": 0.18802654300112495,
+      "y": -0.010117542358924786,
+      "z": -0.02159251499128384
+    },
+    "orientation": {
+      "x": 0.21482606138331428,
+      "y": 0.08851395464611272,
+      "z": 0.35167912888152364,
+      "w": 0.9068278962915572
+    }
+  },
+  {
+    "timestamp": 1766138027.6085317,
+    "position": {
+      "x": 0.1865945648087674,
+      "y": -0.007253711083726078,
+      "z": -0.025462743056305054
+    },
+    "orientation": {
+      "x": 0.265346871742411,
+      "y": 0.12171977833740835,
+      "z": 0.36223224477989524,
+      "w": 0.8851910155778394
+    }
+  },
+  {
+    "timestamp": 1766138027.7412217,
+    "position": {
+      "x": 0.18663342213078588,
+      "y": -0.0058857735086859375,
+      "z": -0.02880148459740775
+    },
+    "orientation": {
+      "x": 0.2954626532004898,
+      "y": 0.14053190590573442,
+      "z": 0.37473423152942914,
+      "w": 0.867483060184046
+    }
+  },
+  {
+    "timestamp": 1766138027.8739119,
+    "position": {
+      "x": 0.18660535378720716,
+      "y": -0.005045973275847521,
+      "z": -0.029026690905672475
+    },
+    "orientation": {
+      "x": 0.31020635888831394,
+      "y": 0.15451414691681656,
+      "z": 0.3784171979251325,
+      "w": 0.8583110261567853
+    }
+  }
+]
\ No newline at end of file
diff --git a/recorded_gelsight_pose/episode_148/session_info.json b/recorded_gelsight_pose/episode_148/session_info.json
new file mode 100644
index 0000000000000000000000000000000000000000..e1f7cbe9ba4929939ab69b385a6e3cbf6f19541c
--- /dev/null
+++ b/recorded_gelsight_pose/episode_148/session_info.json
@@ -0,0 +1,12 @@
+{
+  "session_id": 14,
+  "start_time": "2025-12-19T21:29:28.827007",
+  "ros_start_time": 1766150968.827033,
+  "image_topic": "/gelsight_img",
+  "pose_topic": "/pose",
+  "image_format": "png",
+  "end_time": "2025-12-19T21:29:33.306666",
+  "ros_end_time": 1766150973.3066747,
+  "total_images": 112,
+  "total_pose_frames": 33
+}
\ No newline at end of file
diff --git a/recorded_gelsight_pose/episode_15/image_index.json b/recorded_gelsight_pose/episode_15/image_index.json
new file mode 100644
index 0000000000000000000000000000000000000000..a0bf69a786a97bfd6bd5c86b8b9118cdef042aff
--- /dev/null
+++ b/recorded_gelsight_pose/episode_15/image_index.json
@@ -0,0 +1,390 @@
+[
+  {
+    "timestamp": 1766147928.9093845,
+    "filename": "img_000000.png"
+  },
+  {
+    "timestamp": 1766147928.944819,
+    "filename": "img_000001.png"
+  },
+  {
+    "timestamp": 1766147928.98455,
+    "filename": "img_000002.png"
+  },
+  {
+    "timestamp": 1766147929.0228014,
+    "filename": "img_000003.png"
+  },
+  {
+    "timestamp": 1766147929.0621977,
+    "filename": "img_000004.png"
+  },
+  {
+    "timestamp": 1766147929.1018057,
+    "filename": "img_000005.png"
+  },
+  {
+    "timestamp": 1766147929.1436334,
+    "filename": "img_000006.png"
+  },
+  {
+    "timestamp": 1766147929.1822326,
+    "filename": "img_000007.png"
+  },
+  {
+    "timestamp": 1766147929.2216318,
+    "filename": "img_000008.png"
+  },
+  {
+    "timestamp": 1766147929.2623854,
+    "filename": "img_000009.png"
+  },
+  {
+    "timestamp": 1766147929.304964,
+    "filename": "img_000010.png"
+  },
+  {
+    "timestamp": 1766147929.3451965,
+    "filename": "img_000011.png"
+  },
+  {
+    "timestamp": 1766147929.383897,
+    "filename": "img_000012.png"
+  },
+  {
+    "timestamp": 1766147929.423692,
+    "filename": "img_000013.png"
+  },
+  {
+    "timestamp": 1766147929.4645665,
+    "filename": "img_000014.png"
+  },
+  {
+    "timestamp": 1766147929.5084727,
+    "filename": "img_000015.png"
+  },
+  {
+    "timestamp": 1766147929.544771,
+    "filename": "img_000016.png"
+  },
+  {
+    "timestamp": 1766147929.5833642,
+    "filename": "img_000017.png"
+  },
+  {
+    "timestamp": 1766147929.62495,
+    "filename": "img_000018.png"
+  },
+  {
+    "timestamp": 1766147929.662569,
+    "filename": "img_000019.png"
+  },
+  {
+    "timestamp": 1766147929.7016532,
+    "filename": "img_000020.png"
+  },
+  {
+    "timestamp": 1766147929.743136,
+    "filename": "img_000021.png"
+  },
+  {
+    "timestamp": 1766147929.7842891,
+    "filename": "img_000022.png"
+  },
+  {
+    "timestamp": 1766147929.8239968,
+    "filename": "img_000023.png"
+  },
+  {
+    "timestamp": 1766147929.8640997,
+    "filename": "img_000024.png"
+  },
+  {
+    "timestamp": 1766147929.9023414,
+    "filename": "img_000025.png"
+  },
+  {
+    "timestamp": 1766147929.9460921,
+    "filename": "img_000026.png"
+  },
+  {
+    "timestamp": 1766147929.9832563,
+    "filename": "img_000027.png"
+  },
+  {
+    "timestamp": 1766147930.0238001,
+    "filename": "img_000028.png"
+  },
+  {
+    "timestamp": 1766147930.0622346,
+    "filename": "img_000029.png"
+  },
+  {
+    "timestamp": 1766147930.105386,
+    "filename": "img_000030.png"
+  },
+  {
+    "timestamp": 1766147930.1420176,
+    "filename": "img_000031.png"
+  },
+  {
+    "timestamp": 1766147930.1837046,
+    "filename": "img_000032.png"
+  },
+  {
+    "timestamp": 1766147930.2271664,
+    "filename": "img_000033.png"
+  },
+  {
+    "timestamp": 1766147930.2633998,
+    "filename": "img_000034.png"
+  },
+  {
+    "timestamp": 1766147930.3025265,
+    "filename": "img_000035.png"
+  },
+  {
+    "timestamp": 1766147930.343673,
+    "filename": "img_000036.png"
+  },
+  {
+    "timestamp": 1766147930.381837,
+    "filename": "img_000037.png"
+  },
+  {
+    "timestamp": 1766147930.4237537,
+    "filename": "img_000038.png"
+  },
+  {
+    "timestamp": 1766147930.4623184,
+    "filename": "img_000039.png"
+  },
+  {
+    "timestamp": 1766147930.500704,
+    "filename": "img_000040.png"
+  },
+  {
+    "timestamp": 1766147930.5433006,
+    "filename": "img_000041.png"
+  },
+  {
+    "timestamp": 1766147930.5889864,
+    "filename": "img_000042.png"
+  },
+  {
+    "timestamp": 1766147930.624238,
+    "filename": "img_000043.png"
+  },
+  {
+    "timestamp": 1766147930.6617544,
+    "filename": "img_000044.png"
+  },
+  {
+    "timestamp": 1766147930.7009914,
+    "filename": "img_000045.png"
+  },
+  {
+    "timestamp": 1766147930.7448242,
+    "filename": "img_000046.png"
+  },
+  {
+    "timestamp": 1766147930.7837653,
+    "filename": "img_000047.png"
+  },
+  {
+    "timestamp": 1766147930.8227866,
+    "filename": "img_000048.png"
+  },
+  {
+    "timestamp": 1766147930.8622108,
+    "filename": "img_000049.png"
+  },
+  {
+    "timestamp": 1766147930.9032116,
+    "filename": "img_000050.png"
+  },
+  {
+    "timestamp": 1766147930.9445603,
+    "filename": "img_000051.png"
+  },
+  {
+    "timestamp": 1766147930.9831655,
+    "filename": "img_000052.png"
+  },
+  {
+    "timestamp": 1766147931.0229058,
+    "filename": "img_000053.png"
+  },
+  {
+    "timestamp": 1766147931.0635097,
+    "filename": "img_000054.png"
+  },
+  {
+    "timestamp": 1766147931.104749,
+    "filename": "img_000055.png"
+  },
+  {
+    "timestamp": 1766147931.143012,
+    "filename": "img_000056.png"
+  },
+  {
+    "timestamp": 1766147931.1833265,
+    "filename": "img_000057.png"
+  },
+  {
+    "timestamp": 1766147931.2240334,
+    "filename": "img_000058.png"
+  },
+  {
+    "timestamp": 1766147931.263232,
+    "filename": "img_000059.png"
+  },
+  {
+    "timestamp": 1766147931.3014271,
+    "filename": "img_000060.png"
+  },
+  {
+    "timestamp": 1766147931.3423417,
+    "filename": "img_000061.png"
+  },
+  {
+    "timestamp": 1766147931.3840137,
+    "filename": "img_000062.png"
+  },
+  {
+    "timestamp": 1766147931.4247,
+    "filename": "img_000063.png"
+  },
+  {
+    "timestamp": 1766147931.4621754,
+    "filename": "img_000064.png"
+  },
+  {
+    "timestamp": 1766147931.5008547,
+    "filename": "img_000065.png"
+  },
+  {
+    "timestamp": 1766147931.5454807,
+    "filename": "img_000066.png"
+  },
+  {
+    "timestamp": 1766147931.583998,
+    "filename": "img_000067.png"
+  },
+  {
+    "timestamp": 1766147931.6226668,
+    "filename": "img_000068.png"
+  },
+  {
+    "timestamp": 1766147931.6652024,
+    "filename": "img_000069.png"
+  },
+  {
+    "timestamp": 1766147931.7029865,
+    "filename": "img_000070.png"
+  },
+  {
+    "timestamp": 1766147931.742707,
+    "filename": "img_000071.png"
+  },
+  {
+    "timestamp": 1766147931.7823946,
+    "filename": "img_000072.png"
+  },
+  {
+    "timestamp": 1766147931.8228943,
+    "filename": "img_000073.png"
+  },
+  {
+    "timestamp": 1766147931.8640623,
+    "filename": "img_000074.png"
+  },
+  {
+    "timestamp": 1766147931.9046712,
+    "filename": "img_000075.png"
+  },
+  {
+    "timestamp": 1766147931.9450305,
+    "filename": "img_000076.png"
+  },
+  {
+    "timestamp": 1766147931.9822114,
+    "filename": "img_000077.png"
+  },
+  {
+    "timestamp": 1766147932.0236018,
+    "filename": "img_000078.png"
+  },
+  {
+    "timestamp": 1766147932.0625186,
+    "filename": "img_000079.png"
+  },
+  {
+    "timestamp": 1766147932.101542,
+    "filename": "img_000080.png"
+  },
+  {
+    "timestamp": 1766147932.1425047,
+    "filename": "img_000081.png"
+  },
+  {
+    "timestamp": 1766147932.1840377,
+    "filename": "img_000082.png"
+  },
+  {
+    "timestamp": 1766147932.2232008,
+    "filename": "img_000083.png"
+  },
+  {
+    "timestamp": 1766147932.261289,
+    "filename": "img_000084.png"
+  },
+  {
+    "timestamp": 1766147932.3039806,
+    "filename": "img_000085.png"
+  },
+  {
+    "timestamp": 1766147932.3447573,
+    "filename": "img_000086.png"
+  },
+  {
+    "timestamp": 1766147932.3826196,
+    "filename": "img_000087.png"
+  },
+  {
+    "timestamp": 1766147932.422289,
+    "filename": "img_000088.png"
+  },
+  {
+    "timestamp": 1766147932.4620657,
+    "filename": "img_000089.png"
+  },
+  {
+    "timestamp": 1766147932.504441,
+    "filename": "img_000090.png"
+  },
+  {
+    "timestamp": 1766147932.5421638,
+    "filename": "img_000091.png"
+  },
+  {
+    "timestamp": 1766147932.5827198,
+    "filename": "img_000092.png"
+  },
+  {
+    "timestamp": 1766147932.6225302,
+    "filename": "img_000093.png"
+  },
+  {
+    "timestamp": 1766147932.6632366,
+    "filename": "img_000094.png"
+  },
+  {
+    "timestamp": 1766147932.7072,
+    "filename": "img_000095.png"
+  },
+  {
+    "timestamp": 1766147932.7430034,
+    "filename": "img_000096.png"
+  }
+]
\ No newline at end of file
diff --git a/recorded_gelsight_pose/episode_15/pose_data.json b/recorded_gelsight_pose/episode_15/pose_data.json
new file mode 100644
index 0000000000000000000000000000000000000000..82522d13e453b37e31bb6a6136c93501f1833ad5
--- /dev/null
+++ b/recorded_gelsight_pose/episode_15/pose_data.json
@@ -0,0 +1,408 @@
+[
+  {
+    "timestamp": 1766139290.8390677,
+    "position": {
+      "x": 0.059179547027610635,
+      "y": 0.03831223563898878,
+      "z": -0.069657278622625
+    },
+    "orientation": {
+      "x": -0.28590457886836623,
+      "y": 0.876395042253104,
+      "z": 0.21443552256919074,
+      "w": -0.3228121874352949
+    }
+  },
+  {
+    "timestamp": 1766139290.971758,
+    "position": {
+      "x": 0.058867784483982166,
+      "y": 0.03768937276940239,
+      "z": -0.06914000888986349
+    },
+    "orientation": {
+      "x": -0.28586245418131645,
+      "y": 0.8778333047546123,
+      "z": 0.20946949877544477,
+      "w": -0.3222016068175244
+    }
+  },
+  {
+    "timestamp": 1766139291.1044478,
+    "position": {
+      "x": 0.05885115982564265,
+      "y": 0.03814112111763607,
+      "z": -0.06918067901279698
+    },
+    "orientation": {
+      "x": -0.2873796876361348,
+      "y": 0.8768804754342656,
+      "z": 0.21153375540252004,
+      "w": -0.3220978380269585
+    }
+  },
+  {
+    "timestamp": 1766139291.2371378,
+    "position": {
+      "x": 0.05906005577954135,
+      "y": 0.038309647272034494,
+      "z": -0.06957847525918226
+    },
+    "orientation": {
+      "x": -0.2861603950445905,
+      "y": 0.8765224802330273,
+      "z": 0.2139542733100449,
+      "w": -0.3225587371106797
+    }
+  },
+  {
+    "timestamp": 1766139291.3698277,
+    "position": {
+      "x": 0.05848658197871667,
+      "y": 0.037310466989205704,
+      "z": -0.07076448023326065
+    },
+    "orientation": {
+      "x": -0.2825165506986141,
+      "y": 0.8750740365837695,
+      "z": 0.22109686935391773,
+      "w": -0.32487844409908434
+    }
+  },
+  {
+    "timestamp": 1766139291.5025177,
+    "position": {
+      "x": 0.056648902498681764,
+      "y": 0.03306452586325834,
+      "z": -0.07336526450611254
+    },
+    "orientation": {
+      "x": -0.27556459140071304,
+      "y": 0.8769851497217309,
+      "z": 0.21154861587588727,
+      "w": -0.3319764844905547
+    }
+  },
+  {
+    "timestamp": 1766139291.635208,
+    "position": {
+      "x": 0.056014557278227906,
+      "y": 0.032062565365190546,
+      "z": -0.07362502174348734
+    },
+    "orientation": {
+      "x": -0.27315493252685397,
+      "y": 0.878086660919174,
+      "z": 0.21138669499861854,
+      "w": -0.33115836684225036
+    }
+  },
+  {
+    "timestamp": 1766139291.7678988,
+    "position": {
+      "x": 0.057055827581886126,
+      "y": 0.032283151310466954,
+      "z": -0.0736776726709037
+    },
+    "orientation": {
+      "x": -0.27528273502169126,
+      "y": 0.8781111948417737,
+      "z": 0.20561303460943814,
+      "w": -0.3329615973220151
+    }
+  },
+  {
+    "timestamp": 1766139291.9005888,
+    "position": {
+      "x": 0.056154845711596346,
+      "y": 0.032302174600875415,
+      "z": -0.07364645659205363
+    },
+    "orientation": {
+      "x": -0.2750332928374672,
+      "y": 0.8778694620686713,
+      "z": 0.207447609242465,
+      "w": -0.3326670780492521
+    }
+  },
+  {
+    "timestamp": 1766139292.0332787,
+    "position": {
+      "x": 0.055199954110100896,
+      "y": 0.033428454911907775,
+      "z": -0.07481259243936564
+    },
+    "orientation": {
+      "x": -0.2767322638534819,
+      "y": 0.8756951243325226,
+      "z": 0.2087003836744455,
+      "w": -0.33618663450070996
+    }
+  },
+  {
+    "timestamp": 1766139292.1659687,
+    "position": {
+      "x": 0.05249416108312474,
+      "y": 0.03560893375186554,
+      "z": -0.07672250484862521
+    },
+    "orientation": {
+      "x": -0.28209951993545057,
+      "y": 0.8728919898183528,
+      "z": 0.20266284182392935,
+      "w": -0.3426473515248497
+    }
+  },
+  {
+    "timestamp": 1766139292.2986588,
+    "position": {
+      "x": 0.04991133225212885,
+      "y": 0.039290426508828455,
+      "z": -0.07959466977028984
+    },
+    "orientation": {
+      "x": -0.28796034882529975,
+      "y": 0.8669601116768368,
+      "z": 0.2051827024019691,
+      "w": -0.3512250858078381
+    }
+  },
+  {
+    "timestamp": 1766139292.4313488,
+    "position": {
+      "x": 0.048036534455535324,
+      "y": 0.0411147765192378,
+      "z": -0.08073550356683734
+    },
+    "orientation": {
+      "x": -0.28981953357963025,
+      "y": 0.8637309265525605,
+      "z": 0.21041761598075237,
+      "w": -0.3545390688729768
+    }
+  },
+  {
+    "timestamp": 1766139292.5640388,
+    "position": {
+      "x": 0.047637740978946186,
+      "y": 0.039836735501997164,
+      "z": -0.08084753065212863
+    },
+    "orientation": {
+      "x": -0.28592051903439136,
+      "y": 0.865213393540813,
+      "z": 0.21157284909488228,
+      "w": -0.3534008629850367
+    }
+  },
+  {
+    "timestamp": 1766139292.6967287,
+    "position": {
+      "x": 0.046383855955389935,
+      "y": 0.03773537674684023,
+      "z": -0.08289230825305113
+    },
+    "orientation": {
+      "x": -0.2824127995982444,
+      "y": 0.864973273953921,
+      "z": 0.20761937518290258,
+      "w": -0.3591078403727465
+    }
+  },
+  {
+    "timestamp": 1766139292.8294187,
+    "position": {
+      "x": 0.04581301742997618,
+      "y": 0.03685085287834859,
+      "z": -0.08363040616814871
+    },
+    "orientation": {
+      "x": -0.2800692719858143,
+      "y": 0.8649017379734412,
+      "z": 0.20915065714098666,
+      "w": -0.3602251922858118
+    }
+  },
+  {
+    "timestamp": 1766139292.9621089,
+    "position": {
+      "x": 0.04608313903792485,
+      "y": 0.03730550890201029,
+      "z": -0.08360119990400205
+    },
+    "orientation": {
+      "x": -0.28162440010165,
+      "y": 0.8650388002802638,
+      "z": 0.20619685306193852,
+      "w": -0.36038649955904406
+    }
+  },
+  {
+    "timestamp": 1766139293.0947998,
+    "position": {
+      "x": 0.046212234718732675,
+      "y": 0.03836772271752155,
+      "z": -0.08389024951708335
+    },
+    "orientation": {
+      "x": -0.28365646770859393,
+      "y": 0.8640303764750485,
+      "z": 0.20657448267017703,
+      "w": -0.36099515227357
+    }
+  },
+  {
+    "timestamp": 1766139293.2274897,
+    "position": {
+      "x": 0.04306232991824774,
+      "y": 0.03990767667384468,
+      "z": -0.0852433280984693
+    },
+    "orientation": {
+      "x": -0.2876486470836899,
+      "y": 0.8609931548177746,
+      "z": 0.20337489524661923,
+      "w": -0.3668619565603458
+    }
+  },
+  {
+    "timestamp": 1766139293.3601797,
+    "position": {
+      "x": 0.040094164379659875,
+      "y": 0.0428640192382673,
+      "z": -0.08939460409704894
+    },
+    "orientation": {
+      "x": -0.2902273830048093,
+      "y": 0.8551336352333364,
+      "z": 0.2068802628986915,
+      "w": -0.37645064599462036
+    }
+  },
+  {
+    "timestamp": 1766139293.4928699,
+    "position": {
+      "x": 0.03881725884539683,
+      "y": 0.042933770223690076,
+      "z": -0.08949562506532857
+    },
+    "orientation": {
+      "x": -0.2898559143846539,
+      "y": 0.8537090834487813,
+      "z": 0.21211852517455143,
+      "w": -0.37705448016308113
+    }
+  },
+  {
+    "timestamp": 1766139293.6255598,
+    "position": {
+      "x": 0.04020921213499523,
+      "y": 0.04313251757633537,
+      "z": -0.08951913084724308
+    },
+    "orientation": {
+      "x": -0.290130252328439,
+      "y": 0.8546235003912036,
+      "z": 0.20791521688652317,
+      "w": -0.3771132082676934
+    }
+  },
+  {
+    "timestamp": 1766139293.7582498,
+    "position": {
+      "x": 0.04044913730978236,
+      "y": 0.044429501877587346,
+      "z": -0.08851795280470204
+    },
+    "orientation": {
+      "x": -0.29444237994629935,
+      "y": 0.8544757547183265,
+      "z": 0.20967232423544546,
+      "w": -0.3731117606559882
+    }
+  },
+  {
+    "timestamp": 1766139293.8909397,
+    "position": {
+      "x": 0.04120174633181106,
+      "y": 0.048712552023603924,
+      "z": -0.08671500741067151
+    },
+    "orientation": {
+      "x": -0.30206878219922,
+      "y": 0.8527831643553541,
+      "z": 0.2110686699783281,
+      "w": -0.37008828942068506
+    }
+  },
+  {
+    "timestamp": 1766139294.0236297,
+    "position": {
+      "x": 0.04374903273574429,
+      "y": 0.05328180057076523,
+      "z": -0.08541141957391554
+    },
+    "orientation": {
+      "x": -0.31235930471096224,
+      "y": 0.8511172244628646,
+      "z": 0.20689758592165494,
+      "w": -0.36772887284370975
+    }
+  },
+  {
+    "timestamp": 1766139294.1563199,
+    "position": {
+      "x": 0.042629472983088224,
+      "y": 0.05238238018276471,
+      "z": -0.08467552333530051
+    },
+    "orientation": {
+      "x": -0.31107869887209105,
+      "y": 0.8523386899943596,
+      "z": 0.20716435997973393,
+      "w": -0.3658301909369059
+    }
+  },
+  {
+    "timestamp": 1766139294.2890108,
+    "position": {
+      "x": 0.04325781371721554,
+      "y": 0.05146571499399798,
+      "z": -0.08453995794727717
+    },
+    "orientation": {
+      "x": -0.30873515036511656,
+      "y": 0.8534248214107826,
+      "z": 0.20564535922967275,
+      "w": -0.36614022908757454
+    }
+  },
+  {
+    "timestamp": 1766139294.4217007,
+    "position": {
+      "x": 0.04495075399515011,
+      "y": 0.049858477561351686,
+      "z": -0.08274885225084536
+    },
+    "orientation": {
+      "x": -0.30592160849518385,
+      "y": 0.8561456499139373,
+      "z": 0.20773200715625167,
+      "w": -0.3609349093562386
+    }
+  },
+  {
+    "timestamp": 1766139294.5543907,
+    "position": {
+      "x": 0.04945066392457009,
+      "y": 0.04687929721161983,
+      "z": -0.07914286565739795
+    },
+    "orientation": {
+      "x": -0.3002240812584554,
+      "y": 0.8624607515821834,
+      "z": 0.208170604119347,
+      "w": -0.35027411065249725
+    }
+  }
+]
\ No newline at end of file
diff --git a/recorded_gelsight_pose/episode_15/session_info.json b/recorded_gelsight_pose/episode_15/session_info.json
new file mode 100644
index 0000000000000000000000000000000000000000..eb5872c99258e8770d0400c8dcd75409098b9cd4
--- /dev/null
+++ b/recorded_gelsight_pose/episode_15/session_info.json
@@ -0,0 +1,12 @@
+{
+  "session_id": 18,
+  "start_time": "2025-12-19T20:38:48.880164",
+  "ros_start_time": 1766147928.880181,
+  "image_topic": "/gelsight_img",
+  "pose_topic": "/pose",
+  "image_format": "png",
+  "end_time": "2025-12-19T20:38:52.761539",
+  "ros_end_time": 1766147932.7615457,
+  "total_images": 97,
+  "total_pose_frames": 29
+}
\ No newline at end of file
diff --git a/recorded_gelsight_pose/episode_17/image_index.json b/recorded_gelsight_pose/episode_17/image_index.json
new file mode 100644
index 0000000000000000000000000000000000000000..f391b27eec886889aaecf573b22683e15e4499e5
--- /dev/null
+++ b/recorded_gelsight_pose/episode_17/image_index.json
@@ -0,0 +1,386 @@
+[
+  {
+    "timestamp": 1766147938.784238,
+    "filename": "img_000000.png"
+  },
+  {
+    "timestamp": 1766147938.8232906,
+    "filename": "img_000001.png"
+  },
+  {
+    "timestamp": 1766147938.8629417,
+    "filename": "img_000002.png"
+  },
+  {
+    "timestamp": 1766147938.9027328,
+    "filename": "img_000003.png"
+  },
+  {
+    "timestamp": 1766147938.9468672,
+    "filename": "img_000004.png"
+  },
+  {
+    "timestamp": 1766147938.9836712,
+    "filename": "img_000005.png"
+  },
+  {
+    "timestamp": 1766147939.0239246,
+    "filename": "img_000006.png"
+  },
+  {
+    "timestamp": 1766147939.0631375,
+    "filename": "img_000007.png"
+  },
+  {
+    "timestamp": 1766147939.102718,
+    "filename": "img_000008.png"
+  },
+  {
+    "timestamp": 1766147939.1431472,
+    "filename": "img_000009.png"
+  },
+  {
+    "timestamp": 1766147939.1838202,
+    "filename": "img_000010.png"
+  },
+  {
+    "timestamp": 1766147939.2242706,
+    "filename": "img_000011.png"
+  },
+  {
+    "timestamp": 1766147939.2640853,
+    "filename": "img_000012.png"
+  },
+  {
+    "timestamp": 1766147939.3029087,
+    "filename": "img_000013.png"
+  },
+  {
+    "timestamp": 1766147939.3441973,
+    "filename": "img_000014.png"
+  },
+  {
+    "timestamp": 1766147939.385573,
+    "filename": "img_000015.png"
+  },
+  {
+    "timestamp": 1766147939.4297125,
+    "filename": "img_000016.png"
+  },
+  {
+    "timestamp": 1766147939.4668431,
+    "filename": "img_000017.png"
+  },
+  {
+    "timestamp": 1766147939.5030653,
+    "filename": "img_000018.png"
+  },
+  {
+    "timestamp": 1766147939.5461643,
+    "filename": "img_000019.png"
+  },
+  {
+    "timestamp": 1766147939.582296,
+    "filename": "img_000020.png"
+  },
+  {
+    "timestamp": 1766147939.6226583,
+    "filename": "img_000021.png"
+  },
+  {
+    "timestamp": 1766147939.6628478,
+    "filename": "img_000022.png"
+  },
+  {
+    "timestamp": 1766147939.70285,
+    "filename": "img_000023.png"
+  },
+  {
+    "timestamp": 1766147939.7429252,
+    "filename": "img_000024.png"
+  },
+  {
+    "timestamp": 1766147939.7853463,
+    "filename": "img_000025.png"
+  },
+  {
+    "timestamp": 1766147939.8231463,
+    "filename": "img_000026.png"
+  },
+  {
+    "timestamp": 1766147939.8634984,
+    "filename": "img_000027.png"
+  },
+  {
+    "timestamp": 1766147939.9025173,
+    "filename": "img_000028.png"
+  },
+  {
+    "timestamp": 1766147939.9431312,
+    "filename": "img_000029.png"
+  },
+  {
+    "timestamp": 1766147939.982769,
+    "filename": "img_000030.png"
+  },
+  {
+    "timestamp": 1766147940.0233085,
+    "filename": "img_000031.png"
+  },
+  {
+    "timestamp": 1766147940.0658667,
+    "filename": "img_000032.png"
+  },
+  {
+    "timestamp": 1766147940.1023898,
+    "filename": "img_000033.png"
+  },
+  {
+    "timestamp": 1766147940.1427393,
+    "filename": "img_000034.png"
+  },
+  {
+    "timestamp": 1766147940.185042,
+    "filename": "img_000035.png"
+  },
+  {
+    "timestamp": 1766147940.2222612,
+    "filename": "img_000036.png"
+  },
+  {
+    "timestamp": 1766147940.2621932,
+    "filename": "img_000037.png"
+  },
+  {
+    "timestamp": 1766147940.3017974,
+    "filename": "img_000038.png"
+  },
+  {
+    "timestamp": 1766147940.3445632,
+    "filename": "img_000039.png"
+  },
+  {
+    "timestamp": 1766147940.3818665,
+    "filename": "img_000040.png"
+  },
+  {
+    "timestamp": 1766147940.421422,
+    "filename": "img_000041.png"
+  },
+  {
+    "timestamp": 1766147940.4627006,
+    "filename": "img_000042.png"
+  },
+  {
+    "timestamp": 1766147940.5046344,
+    "filename": "img_000043.png"
+  },
+  {
+    "timestamp": 1766147940.5421202,
+    "filename": "img_000044.png"
+  },
+  {
+    "timestamp": 1766147940.5818715,
+    "filename": "img_000045.png"
+  },
+  {
+    "timestamp": 1766147940.6225028,
+    "filename": "img_000046.png"
+  },
+  {
+    "timestamp": 1766147940.662913,
+    "filename": "img_000047.png"
+  },
+  {
+    "timestamp": 1766147940.702379,
+    "filename": "img_000048.png"
+  },
+  {
+    "timestamp": 1766147940.743314,
+    "filename": "img_000049.png"
+  },
+  {
+    "timestamp": 1766147940.7816496,
+    "filename": "img_000050.png"
+  },
+  {
+    "timestamp": 1766147940.8237195,
+    "filename": "img_000051.png"
+  },
+  {
+    "timestamp": 1766147940.8635187,
+    "filename": "img_000052.png"
+  },
+  {
+    "timestamp": 1766147940.9013615,
+    "filename": "img_000053.png"
+  },
+  {
+    "timestamp": 1766147940.9427757,
+    "filename": "img_000054.png"
+  },
+  {
+    "timestamp": 1766147940.9824069,
+    "filename": "img_000055.png"
+  },
+  {
+    "timestamp": 1766147941.0231194,
+    "filename": "img_000056.png"
+  },
+  {
+    "timestamp": 1766147941.061736,
+    "filename": "img_000057.png"
+  },
+  {
+    "timestamp": 1766147941.1014247,
+    "filename": "img_000058.png"
+  },
+  {
+    "timestamp": 1766147941.1431327,
+    "filename": "img_000059.png"
+  },
+  {
+    "timestamp": 1766147941.182736,
+    "filename": "img_000060.png"
+  },
+  {
+    "timestamp": 1766147941.2234395,
+    "filename": "img_000061.png"
+  },
+  {
+    "timestamp": 1766147941.2629607,
+    "filename": "img_000062.png"
+  },
+  {
+    "timestamp": 1766147941.3033736,
+    "filename": "img_000063.png"
+  },
+  {
+    "timestamp": 1766147941.3440926,
+    "filename": "img_000064.png"
+  },
+  {
+    "timestamp": 1766147941.3840623,
+    "filename": "img_000065.png"
+  },
+  {
+    "timestamp": 1766147941.422741,
+    "filename": "img_000066.png"
+  },
+  {
+    "timestamp": 1766147941.4635048,
+    "filename": "img_000067.png"
+  },
+  {
+    "timestamp": 1766147941.5024564,
+    "filename": "img_000068.png"
+  },
+  {
+    "timestamp": 1766147941.542964,
+    "filename": "img_000069.png"
+  },
+  {
+    "timestamp": 1766147941.5813634,
+    "filename": "img_000070.png"
+  },
+  {
+    "timestamp": 1766147941.6222157,
+    "filename": "img_000071.png"
+  },
+  {
+    "timestamp": 1766147941.6634405,
+    "filename": "img_000072.png"
+  },
+  {
+    "timestamp": 1766147941.7018485,
+    "filename": "img_000073.png"
+  },
+  {
+    "timestamp": 1766147941.7441518,
+    "filename": "img_000074.png"
+  },
+  {
+    "timestamp": 1766147941.7836468,
+    "filename": "img_000075.png"
+  },
+  {
+    "timestamp": 1766147941.8243058,
+    "filename": "img_000076.png"
+  },
+  {
+    "timestamp": 1766147941.8627222,
+    "filename": "img_000077.png"
+  },
+  {
+    "timestamp": 1766147941.9015985,
+    "filename": "img_000078.png"
+  },
+  {
+    "timestamp": 1766147941.944586,
+    "filename": "img_000079.png"
+  },
+  {
+    "timestamp": 1766147941.9835405,
+    "filename": "img_000080.png"
+  },
+  {
+    "timestamp": 1766147942.021938,
+    "filename": "img_000081.png"
+  },
+  {
+    "timestamp": 1766147942.0626318,
+    "filename": "img_000082.png"
+  },
+  {
+    "timestamp": 1766147942.1031628,
+    "filename": "img_000083.png"
+  },
+  {
+    "timestamp": 1766147942.1480918,
+    "filename": "img_000084.png"
+  },
+  {
+    "timestamp": 1766147942.18185,
+    "filename": "img_000085.png"
+  },
+  {
+    "timestamp": 1766147942.22225,
+    "filename": "img_000086.png"
+  },
+  {
+    "timestamp": 1766147942.2636793,
+    "filename": "img_000087.png"
+  },
+  {
+    "timestamp": 1766147942.3027368,
+    "filename": "img_000088.png"
+  },
+  {
+    "timestamp": 1766147942.3434632,
+    "filename": "img_000089.png"
+  },
+  {
+    "timestamp": 1766147942.3817277,
+    "filename": "img_000090.png"
+  },
+  {
+    "timestamp": 1766147942.4234388,
+    "filename": "img_000091.png"
+  },
+  {
+    "timestamp": 1766147942.4640694,
+    "filename": "img_000092.png"
+  },
+  {
+    "timestamp": 1766147942.5019836,
+    "filename": "img_000093.png"
+  },
+  {
+    "timestamp": 1766147942.5424879,
+    "filename": "img_000094.png"
+  },
+  {
+    "timestamp": 1766147942.582656,
+    "filename": "img_000095.png"
+  }
+]
\ No newline at end of file
diff --git a/recorded_gelsight_pose/episode_17/pose_data.json b/recorded_gelsight_pose/episode_17/pose_data.json
new file mode 100644
index 0000000000000000000000000000000000000000..691402ebf96b0c0e278d725c07fb6ff5beab1715
--- /dev/null
+++ b/recorded_gelsight_pose/episode_17/pose_data.json
@@ -0,0 +1,408 @@
+[
+  {
+    "timestamp": 1766139300.6913078,
+    "position": {
+      "x": 0.04710846638660762,
+      "y": 0.05021108374064491,
+      "z": -0.08111161645357079
+    },
+    "orientation": {
+      "x": -0.30570942442506666,
+      "y": 0.8571573795700921,
+      "z": 0.21177978473706088,
+      "w": -0.35633172359888454
+    }
+  },
+  {
+    "timestamp": 1766139300.8239977,
+    "position": {
+      "x": 0.04751881069692687,
+      "y": 0.0498840605647619,
+      "z": -0.08106110277166967
+    },
+    "orientation": {
+      "x": -0.30510340146401715,
+      "y": 0.8575820407023106,
+      "z": 0.21057278101506174,
+      "w": -0.3565446140043767
+    }
+  },
+  {
+    "timestamp": 1766139300.9566877,
+    "position": {
+      "x": 0.047865893322718456,
+      "y": 0.04898940840244733,
+      "z": -0.08050137561985798
+    },
+    "orientation": {
+      "x": -0.30536810275061294,
+      "y": 0.8590254113205131,
+      "z": 0.20641392465649575,
+      "w": -0.3552730727708151
+    }
+  },
+  {
+    "timestamp": 1766139301.0893788,
+    "position": {
+      "x": 0.04974594909764424,
+      "y": 0.046636535567125624,
+      "z": -0.07836842364533436
+    },
+    "orientation": {
+      "x": -0.3012936603191584,
+      "y": 0.8624141446297787,
+      "z": 0.2085985844997652,
+      "w": -0.349214266516511
+    }
+  },
+  {
+    "timestamp": 1766139301.2220688,
+    "position": {
+      "x": 0.05314269808741437,
+      "y": 0.04284538534429447,
+      "z": -0.07504015817756968
+    },
+    "orientation": {
+      "x": -0.29618203174319346,
+      "y": 0.8691411250057962,
+      "z": 0.20376128370392732,
+      "w": -0.3396339914664906
+    }
+  },
+  {
+    "timestamp": 1766139301.3547587,
+    "position": {
+      "x": 0.05532187135386443,
+      "y": 0.038864816072679956,
+      "z": -0.07276887066570242
+    },
+    "orientation": {
+      "x": -0.2897419996610827,
+      "y": 0.874541050730066,
+      "z": 0.20069689348933434,
+      "w": -0.3330889988637866
+    }
+  },
+  {
+    "timestamp": 1766139301.4874487,
+    "position": {
+      "x": 0.056415076904393985,
+      "y": 0.035965715940134826,
+      "z": -0.07175764960194042
+    },
+    "orientation": {
+      "x": -0.28535491491780596,
+      "y": 0.8776431997891322,
+      "z": 0.19627387485159395,
+      "w": -0.33134808351171424
+    }
+  },
+  {
+    "timestamp": 1766139301.620139,
+    "position": {
+      "x": 0.05605014925898255,
+      "y": 0.03319617115060454,
+      "z": -0.0730741294481426
+    },
+    "orientation": {
+      "x": -0.27816861621369704,
+      "y": 0.8787815202491177,
+      "z": 0.19555875590989813,
+      "w": -0.33484628355318413
+    }
+  },
+  {
+    "timestamp": 1766139301.7528288,
+    "position": {
+      "x": 0.054454534500612495,
+      "y": 0.032335757528537484,
+      "z": -0.07395570331833028
+    },
+    "orientation": {
+      "x": -0.276506351589801,
+      "y": 0.8786499515973505,
+      "z": 0.1970145728087898,
+      "w": -0.335713803990007
+    }
+  },
+  {
+    "timestamp": 1766139301.8855188,
+    "position": {
+      "x": 0.053459230095828036,
+      "y": 0.03324095956729348,
+      "z": -0.07540150539973017
+    },
+    "orientation": {
+      "x": -0.2796310494063828,
+      "y": 0.8757559514199544,
+      "z": 0.19798197747452115,
+      "w": -0.340089879819576
+    }
+  },
+  {
+    "timestamp": 1766139302.0182087,
+    "position": {
+      "x": 0.05173280506705877,
+      "y": 0.03486701152452713,
+      "z": -0.07751569972663361
+    },
+    "orientation": {
+      "x": -0.2807192686711374,
+      "y": 0.8731583002184351,
+      "z": 0.19816264583528748,
+      "w": -0.3457207554543888
+    }
+  },
+  {
+    "timestamp": 1766139302.1508987,
+    "position": {
+      "x": 0.048829723768783945,
+      "y": 0.03719772599430702,
+      "z": -0.07990097668309745
+    },
+    "orientation": {
+      "x": -0.2850635264933634,
+      "y": 0.8688511744352555,
+      "z": 0.19793884637874012,
+      "w": -0.35306746613062223
+    }
+  },
+  {
+    "timestamp": 1766139302.2835898,
+    "position": {
+      "x": 0.04670781600406715,
+      "y": 0.04082826689068546,
+      "z": -0.08380652655756718
+    },
+    "orientation": {
+      "x": -0.2900800476756609,
+      "y": 0.8621246827075617,
+      "z": 0.203233160206487,
+      "w": -0.36234083402144535
+    }
+  },
+  {
+    "timestamp": 1766139302.4162798,
+    "position": {
+      "x": 0.04327401597531644,
+      "y": 0.04392498289381015,
+      "z": -0.08590892441431461
+    },
+    "orientation": {
+      "x": -0.2950370924399576,
+      "y": 0.858045618537367,
+      "z": 0.20351447224868838,
+      "w": -0.3678215466482911
+    }
+  },
+  {
+    "timestamp": 1766139302.5489697,
+    "position": {
+      "x": 0.04166216808676354,
+      "y": 0.047058300112338365,
+      "z": -0.08652873631806207
+    },
+    "orientation": {
+      "x": -0.3010665753341488,
+      "y": 0.854701120811731,
+      "z": 0.20503383513626638,
+      "w": -0.36987300219001173
+    }
+  },
+  {
+    "timestamp": 1766139302.6816597,
+    "position": {
+      "x": 0.042115096982863254,
+      "y": 0.05058223589205804,
+      "z": -0.08631760615564366
+    },
+    "orientation": {
+      "x": -0.3081820258990007,
+      "y": 0.8521300587221278,
+      "z": 0.20532647181664904,
+      "w": -0.36978269552040643
+    }
+  },
+  {
+    "timestamp": 1766139302.81435,
+    "position": {
+      "x": 0.04320239834484374,
+      "y": 0.052937960916366,
+      "z": -0.08508345962191088
+    },
+    "orientation": {
+      "x": -0.3118178497441583,
+      "y": 0.8515437052480979,
+      "z": 0.20662681744881956,
+      "w": -0.36735310662119386
+    }
+  },
+  {
+    "timestamp": 1766139302.9470398,
+    "position": {
+      "x": 0.045263334359807283,
+      "y": 0.05330033479896906,
+      "z": -0.08307288688916553
+    },
+    "orientation": {
+      "x": -0.31277268618665244,
+      "y": 0.8540370580109744,
+      "z": 0.20496164663879346,
+      "w": -0.36164163715847186
+    }
+  },
+  {
+    "timestamp": 1766139303.0797298,
+    "position": {
+      "x": 0.04750255436084619,
+      "y": 0.05195291234640308,
+      "z": -0.08007521243284585
+    },
+    "orientation": {
+      "x": -0.3123831247558471,
+      "y": 0.8582578370442799,
+      "z": 0.2006508584438433,
+      "w": -0.35432965092635943
+    }
+  },
+  {
+    "timestamp": 1766139303.2124197,
+    "position": {
+      "x": 0.049786053685206,
+      "y": 0.049525016438635466,
+      "z": -0.07760414728879325
+    },
+    "orientation": {
+      "x": -0.30901228826096827,
+      "y": 0.8621280295735375,
+      "z": 0.19734518946118726,
+      "w": -0.34971637440059616
+    }
+  },
+  {
+    "timestamp": 1766139303.3451097,
+    "position": {
+      "x": 0.05197792618147243,
+      "y": 0.04686539864235442,
+      "z": -0.07587681881568022
+    },
+    "orientation": {
+      "x": -0.30457839014011323,
+      "y": 0.8664789956437835,
+      "z": 0.1955638945217487,
+      "w": -0.343803603133073
+    }
+  },
+  {
+    "timestamp": 1766139303.4778008,
+    "position": {
+      "x": 0.05419039773785009,
+      "y": 0.044586374948382655,
+      "z": -0.07442788463033341
+    },
+    "orientation": {
+      "x": -0.3016106283934903,
+      "y": 0.8696191330373817,
+      "z": 0.19270845149071858,
+      "w": -0.3400838793877854
+    }
+  },
+  {
+    "timestamp": 1766139303.6104908,
+    "position": {
+      "x": 0.05737259114906382,
+      "y": 0.041147978038642855,
+      "z": -0.07141256451003403
+    },
+    "orientation": {
+      "x": -0.29521050300870966,
+      "y": 0.8749497836052729,
+      "z": 0.19368205164011576,
+      "w": -0.3313621854631365
+    }
+  },
+  {
+    "timestamp": 1766139303.7431808,
+    "position": {
+      "x": 0.059484823954568056,
+      "y": 0.03855724228465021,
+      "z": -0.0689647660623265
+    },
+    "orientation": {
+      "x": -0.290288146767162,
+      "y": 0.8799943392562986,
+      "z": 0.18988802885828812,
+      "w": -0.32447695021321776
+    }
+  },
+  {
+    "timestamp": 1766139303.8758707,
+    "position": {
+      "x": 0.060477408540117766,
+      "y": 0.03731679979432111,
+      "z": -0.06778749427825329
+    },
+    "orientation": {
+      "x": -0.28914076783949294,
+      "y": 0.8819417133261295,
+      "z": 0.18769310530574237,
+      "w": -0.3214774158307971
+    }
+  },
+  {
+    "timestamp": 1766139304.0085607,
+    "position": {
+      "x": 0.06077075253591244,
+      "y": 0.03688505946385528,
+      "z": -0.0679981217867377
+    },
+    "orientation": {
+      "x": -0.2880129950949074,
+      "y": 0.8810824592565853,
+      "z": 0.18981398152550036,
+      "w": -0.32359367587186466
+    }
+  },
+  {
+    "timestamp": 1766139304.1412508,
+    "position": {
+      "x": 0.06059838384837049,
+      "y": 0.03496478584809319,
+      "z": -0.06812431478849547
+    },
+    "orientation": {
+      "x": -0.2848847898745414,
+      "y": 0.8827507522173196,
+      "z": 0.1874548010177885,
+      "w": -0.32319106351085275
+    }
+  },
+  {
+    "timestamp": 1766139304.2739408,
+    "position": {
+      "x": 0.060079753611526676,
+      "y": 0.031513608755257994,
+      "z": -0.06792752295037893
+    },
+    "orientation": {
+      "x": -0.27837218035931127,
+      "y": 0.8860624334706401,
+      "z": 0.18359398218259732,
+      "w": -0.3220179232596016
+    }
+  },
+  {
+    "timestamp": 1766139304.4066308,
+    "position": {
+      "x": 0.060471553288940355,
+      "y": 0.028714075566028424,
+      "z": -0.06783693354442676
+    },
+    "orientation": {
+      "x": -0.27333380527626,
+      "y": 0.8883996856016221,
+      "z": 0.1793078621518961,
+      "w": -0.32230935463721044
+    }
+  }
+]
\ No newline at end of file
diff --git a/recorded_gelsight_pose/episode_17/session_info.json b/recorded_gelsight_pose/episode_17/session_info.json
new file mode 100644
index 0000000000000000000000000000000000000000..6ea167c2d8db1373f938948cfdee192d992c9f0a
--- /dev/null
+++ b/recorded_gelsight_pose/episode_17/session_info.json
@@ -0,0 +1,12 @@
+{
+  "session_id": 20,
+  "start_time": "2025-12-19T20:38:58.771178",
+  "ros_start_time": 1766147938.7711997,
+  "image_topic": "/gelsight_img",
+  "pose_topic": "/pose",
+  "image_format": "png",
+  "end_time": "2025-12-19T20:39:02.594752",
+  "ros_end_time": 1766147942.5947616,
+  "total_images": 96,
+  "total_pose_frames": 29
+}
\ No newline at end of file
diff --git a/recorded_gelsight_pose/episode_19/image_index.json b/recorded_gelsight_pose/episode_19/image_index.json
new file mode 100644
index 0000000000000000000000000000000000000000..c8793cf1e089bcc57014c2d18174d8d299fa37fc
--- /dev/null
+++ b/recorded_gelsight_pose/episode_19/image_index.json
@@ -0,0 +1,390 @@
+[
+  {
+    "timestamp": 1766147949.0702546,
+    "filename": "img_000000.png"
+  },
+  {
+    "timestamp": 1766147949.1065047,
+    "filename": "img_000001.png"
+  },
+  {
+    "timestamp": 1766147949.1440957,
+    "filename": "img_000002.png"
+  },
+  {
+    "timestamp": 1766147949.182664,
+    "filename": "img_000003.png"
+  },
+  {
+    "timestamp": 1766147949.2222207,
+    "filename": "img_000004.png"
+  },
+  {
+    "timestamp": 1766147949.2628093,
+    "filename": "img_000005.png"
+  },
+  {
+    "timestamp": 1766147949.304416,
+    "filename": "img_000006.png"
+  },
+  {
+    "timestamp": 1766147949.3447697,
+    "filename": "img_000007.png"
+  },
+  {
+    "timestamp": 1766147949.3813214,
+    "filename": "img_000008.png"
+  },
+  {
+    "timestamp": 1766147949.423061,
+    "filename": "img_000009.png"
+  },
+  {
+    "timestamp": 1766147949.4635937,
+    "filename": "img_000010.png"
+  },
+  {
+    "timestamp": 1766147949.502376,
+    "filename": "img_000011.png"
+  },
+  {
+    "timestamp": 1766147949.5437188,
+    "filename": "img_000012.png"
+  },
+  {
+    "timestamp": 1766147949.581069,
+    "filename": "img_000013.png"
+  },
+  {
+    "timestamp": 1766147949.6248925,
+    "filename": "img_000014.png"
+  },
+  {
+    "timestamp": 1766147949.6696155,
+    "filename": "img_000015.png"
+  },
+  {
+    "timestamp": 1766147949.70443,
+    "filename": "img_000016.png"
+  },
+  {
+    "timestamp": 1766147949.744958,
+    "filename": "img_000017.png"
+  },
+  {
+    "timestamp": 1766147949.7846832,
+    "filename": "img_000018.png"
+  },
+  {
+    "timestamp": 1766147949.8251023,
+    "filename": "img_000019.png"
+  },
+  {
+    "timestamp": 1766147949.8633232,
+    "filename": "img_000020.png"
+  },
+  {
+    "timestamp": 1766147949.9014192,
+    "filename": "img_000021.png"
+  },
+  {
+    "timestamp": 1766147949.9431412,
+    "filename": "img_000022.png"
+  },
+  {
+    "timestamp": 1766147949.9821253,
+    "filename": "img_000023.png"
+  },
+  {
+    "timestamp": 1766147950.0230136,
+    "filename": "img_000024.png"
+  },
+  {
+    "timestamp": 1766147950.0651774,
+    "filename": "img_000025.png"
+  },
+  {
+    "timestamp": 1766147950.1049082,
+    "filename": "img_000026.png"
+  },
+  {
+    "timestamp": 1766147950.1428046,
+    "filename": "img_000027.png"
+  },
+  {
+    "timestamp": 1766147950.1825187,
+    "filename": "img_000028.png"
+  },
+  {
+    "timestamp": 1766147950.2235274,
+    "filename": "img_000029.png"
+  },
+  {
+    "timestamp": 1766147950.263187,
+    "filename": "img_000030.png"
+  },
+  {
+    "timestamp": 1766147950.303006,
+    "filename": "img_000031.png"
+  },
+  {
+    "timestamp": 1766147950.3422797,
+    "filename": "img_000032.png"
+  },
+  {
+    "timestamp": 1766147950.3816407,
+    "filename": "img_000033.png"
+  },
+  {
+    "timestamp": 1766147950.4265459,
+    "filename": "img_000034.png"
+  },
+  {
+    "timestamp": 1766147950.4646776,
+    "filename": "img_000035.png"
+  },
+  {
+    "timestamp": 1766147950.5028167,
+    "filename": "img_000036.png"
+  },
+  {
+    "timestamp": 1766147950.5426953,
+    "filename": "img_000037.png"
+  },
+  {
+    "timestamp": 1766147950.5820556,
+    "filename": "img_000038.png"
+  },
+  {
+    "timestamp": 1766147950.62549,
+    "filename": "img_000039.png"
+  },
+  {
+    "timestamp": 1766147950.6629524,
+    "filename": "img_000040.png"
+  },
+  {
+    "timestamp": 1766147950.7028992,
+    "filename": "img_000041.png"
+  },
+  {
+    "timestamp": 1766147950.744937,
+    "filename": "img_000042.png"
+  },
+  {
+    "timestamp": 1766147950.7827032,
+    "filename": "img_000043.png"
+  },
+  {
+    "timestamp": 1766147950.823364,
+    "filename": "img_000044.png"
+  },
+  {
+    "timestamp": 1766147950.8646524,
+    "filename": "img_000045.png"
+  },
+  {
+    "timestamp": 1766147950.9033146,
+    "filename": "img_000046.png"
+  },
+  {
+    "timestamp": 1766147950.9421995,
+    "filename": "img_000047.png"
+  },
+  {
+    "timestamp": 1766147950.9808023,
+    "filename": "img_000048.png"
+  },
+  {
+    "timestamp": 1766147951.0225694,
+    "filename": "img_000049.png"
+  },
+  {
+    "timestamp": 1766147951.0642066,
+    "filename": "img_000050.png"
+  },
+  {
+    "timestamp": 1766147951.1021242,
+    "filename": "img_000051.png"
+  },
+  {
+    "timestamp": 1766147951.1426551,
+    "filename": "img_000052.png"
+  },
+  {
+    "timestamp": 1766147951.1821432,
+    "filename": "img_000053.png"
+  },
+  {
+    "timestamp": 1766147951.2246637,
+    "filename": "img_000054.png"
+  },
+  {
+    "timestamp": 1766147951.2649448,
+    "filename": "img_000055.png"
+  },
+  {
+    "timestamp": 1766147951.3030226,
+    "filename": "img_000056.png"
+  },
+  {
+    "timestamp": 1766147951.341463,
+    "filename": "img_000057.png"
+  },
+  {
+    "timestamp": 1766147951.3838813,
+    "filename": "img_000058.png"
+  },
+  {
+    "timestamp": 1766147951.423862,
+    "filename": "img_000059.png"
+  },
+  {
+    "timestamp": 1766147951.4631784,
+    "filename": "img_000060.png"
+  },
+  {
+    "timestamp": 1766147951.5019836,
+    "filename": "img_000061.png"
+  },
+  {
+    "timestamp": 1766147951.548158,
+    "filename": "img_000062.png"
+  },
+  {
+    "timestamp": 1766147951.5910301,
+    "filename": "img_000063.png"
+  },
+  {
+    "timestamp": 1766147951.6268203,
+    "filename": "img_000064.png"
+  },
+  {
+    "timestamp": 1766147951.6663172,
+    "filename": "img_000065.png"
+  },
+  {
+    "timestamp": 1766147951.703174,
+    "filename": "img_000066.png"
+  },
+  {
+    "timestamp": 1766147951.7417457,
+    "filename": "img_000067.png"
+  },
+  {
+    "timestamp": 1766147951.783172,
+    "filename": "img_000068.png"
+  },
+  {
+    "timestamp": 1766147951.823237,
+    "filename": "img_000069.png"
+  },
+  {
+    "timestamp": 1766147951.86424,
+    "filename": "img_000070.png"
+  },
+  {
+    "timestamp": 1766147951.9028106,
+    "filename": "img_000071.png"
+  },
+  {
+    "timestamp": 1766147951.9426138,
+    "filename": "img_000072.png"
+  },
+  {
+    "timestamp": 1766147951.9805791,
+    "filename": "img_000073.png"
+  },
+  {
+    "timestamp": 1766147952.0239894,
+    "filename": "img_000074.png"
+  },
+  {
+    "timestamp": 1766147952.064352,
+    "filename": "img_000075.png"
+  },
+  {
+    "timestamp": 1766147952.1020067,
+    "filename": "img_000076.png"
+  },
+  {
+    "timestamp": 1766147952.1417763,
+    "filename": "img_000077.png"
+  },
+  {
+    "timestamp": 1766147952.185911,
+    "filename": "img_000078.png"
+  },
+  {
+    "timestamp": 1766147952.2246113,
+    "filename": "img_000079.png"
+  },
+  {
+    "timestamp": 1766147952.2626631,
+    "filename": "img_000080.png"
+  },
+  {
+    "timestamp": 1766147952.3027446,
+    "filename": "img_000081.png"
+  },
+  {
+    "timestamp": 1766147952.3427572,
+    "filename": "img_000082.png"
+  },
+  {
+    "timestamp": 1766147952.3817313,
+    "filename": "img_000083.png"
+  },
+  {
+    "timestamp": 1766147952.42288,
+    "filename": "img_000084.png"
+  },
+  {
+    "timestamp": 1766147952.4630606,
+    "filename": "img_000085.png"
+  },
+  {
+    "timestamp": 1766147952.5052233,
+    "filename": "img_000086.png"
+  },
+  {
+    "timestamp": 1766147952.5452197,
+    "filename": "img_000087.png"
+  },
+  {
+    "timestamp": 1766147952.5808558,
+    "filename": "img_000088.png"
+  },
+  {
+    "timestamp": 1766147952.623969,
+    "filename": "img_000089.png"
+  },
+  {
+    "timestamp": 1766147952.665277,
+    "filename": "img_000090.png"
+  },
+  {
+    "timestamp": 1766147952.7033565,
+    "filename": "img_000091.png"
+  },
+  {
+    "timestamp": 1766147952.7428102,
+    "filename": "img_000092.png"
+  },
+  {
+    "timestamp": 1766147952.7824874,
+    "filename": "img_000093.png"
+  },
+  {
+    "timestamp": 1766147952.8240871,
+    "filename": "img_000094.png"
+  },
+  {
+    "timestamp": 1766147952.8642693,
+    "filename": "img_000095.png"
+  },
+  {
+    "timestamp": 1766147952.9016812,
+    "filename": "img_000096.png"
+  }
+]
\ No newline at end of file
diff --git a/recorded_gelsight_pose/episode_19/pose_data.json b/recorded_gelsight_pose/episode_19/pose_data.json
new file mode 100644
index 0000000000000000000000000000000000000000..f82a1db02b064b42ef3458329e10c085bc4f2f3f
--- /dev/null
+++ b/recorded_gelsight_pose/episode_19/pose_data.json
@@ -0,0 +1,408 @@
+[
+  {
+    "timestamp": 1766139310.9084468,
+    "position": {
+      "x": 0.04174909755145498,
+      "y": 0.06095792769577919,
+      "z": -0.08749971477532376
+    },
+    "orientation": {
+      "x": -0.2840205642062309,
+      "y": 0.8141599497718762,
+      "z": 0.36789746069545015,
+      "w": -0.34803355256249335
+    }
+  },
+  {
+    "timestamp": 1766139311.0411367,
+    "position": {
+      "x": 0.04460939240211825,
+      "y": 0.05584636923931642,
+      "z": -0.0829447330115328
+    },
+    "orientation": {
+      "x": -0.28604014620498386,
+      "y": 0.8247983474995996,
+      "z": 0.3490972773826362,
+      "w": -0.3406168105731013
+    }
+  },
+  {
+    "timestamp": 1766139311.1738267,
+    "position": {
+      "x": 0.05232617812420687,
+      "y": 0.044982831498902226,
+      "z": -0.07292599535017358
+    },
+    "orientation": {
+      "x": -0.2879593398404508,
+      "y": 0.8514979291002517,
+      "z": 0.2982062065067516,
+      "w": -0.321097732376744
+    }
+  },
+  {
+    "timestamp": 1766139311.306517,
+    "position": {
+      "x": 0.059731907009559354,
+      "y": 0.03473558934283662,
+      "z": -0.06360490438393816
+    },
+    "orientation": {
+      "x": -0.27740735824436874,
+      "y": 0.8724401954943258,
+      "z": 0.26913082977082875,
+      "w": -0.2991017541649798
+    }
+  },
+  {
+    "timestamp": 1766139311.4392068,
+    "position": {
+      "x": 0.06688396395693,
+      "y": 0.032432371161212115,
+      "z": -0.06022626762545705
+    },
+    "orientation": {
+      "x": -0.27836422792736853,
+      "y": 0.8797047280748255,
+      "z": 0.25141017988790776,
+      "w": -0.2922770423107622
+    }
+  },
+  {
+    "timestamp": 1766139311.5718968,
+    "position": {
+      "x": 0.07088646923195072,
+      "y": 0.033015576511197464,
+      "z": -0.06269422622081493
+    },
+    "orientation": {
+      "x": -0.2762362643551819,
+      "y": 0.8788997635645431,
+      "z": 0.25418600762938803,
+      "w": -0.29430970997695055
+    }
+  },
+  {
+    "timestamp": 1766139311.7045867,
+    "position": {
+      "x": 0.07051360168380469,
+      "y": 0.032742633036047825,
+      "z": -0.06261981711881788
+    },
+    "orientation": {
+      "x": -0.2750561570509858,
+      "y": 0.8796865165785034,
+      "z": 0.25583837952368543,
+      "w": -0.29162041523359916
+    }
+  },
+  {
+    "timestamp": 1766139311.8372767,
+    "position": {
+      "x": 0.0715847977347614,
+      "y": 0.03311274587001664,
+      "z": -0.06318372504968396
+    },
+    "orientation": {
+      "x": -0.27597321747061526,
+      "y": 0.8792022401988452,
+      "z": 0.25706743486688394,
+      "w": -0.29113319631950085
+    }
+  },
+  {
+    "timestamp": 1766139311.969967,
+    "position": {
+      "x": 0.06983113199990376,
+      "y": 0.03168452217811553,
+      "z": -0.06382981763446535
+    },
+    "orientation": {
+      "x": -0.2697998258526009,
+      "y": 0.8786262069889955,
+      "z": 0.2648387510464394,
+      "w": -0.29169243786255233
+    }
+  },
+  {
+    "timestamp": 1766139312.1026578,
+    "position": {
+      "x": 0.06886752320604198,
+      "y": 0.029324924109196453,
+      "z": -0.06437257080386112
+    },
+    "orientation": {
+      "x": -0.2674649763552921,
+      "y": 0.8807718368095726,
+      "z": 0.25900193582832365,
+      "w": -0.29261144055476634
+    }
+  },
+  {
+    "timestamp": 1766139312.2353477,
+    "position": {
+      "x": 0.06849049352827741,
+      "y": 0.02478939777968387,
+      "z": -0.06639552863421991
+    },
+    "orientation": {
+      "x": -0.2605869081770406,
+      "y": 0.8857586237121537,
+      "z": 0.24083702133733592,
+      "w": -0.29920503498377377
+    }
+  },
+  {
+    "timestamp": 1766139312.3680377,
+    "position": {
+      "x": 0.06638663332983497,
+      "y": 0.023618953450271624,
+      "z": -0.06696419436894958
+    },
+    "orientation": {
+      "x": -0.2564935273391851,
+      "y": 0.8846634303045038,
+      "z": 0.2480047687895258,
+      "w": -0.3001255073675424
+    }
+  },
+  {
+    "timestamp": 1766139312.500728,
+    "position": {
+      "x": 0.06645695826074743,
+      "y": 0.02369980468350969,
+      "z": -0.06765875506152727
+    },
+    "orientation": {
+      "x": -0.25364117505469747,
+      "y": 0.8840668514813877,
+      "z": 0.25131995078963815,
+      "w": -0.30154641228797957
+    }
+  },
+  {
+    "timestamp": 1766139312.6334178,
+    "position": {
+      "x": 0.06388732709566822,
+      "y": 0.02357250221825729,
+      "z": -0.06818421874110824
+    },
+    "orientation": {
+      "x": -0.25602983407318236,
+      "y": 0.8850673472823805,
+      "z": 0.23825327771093016,
+      "w": -0.30714799445704855
+    }
+  },
+  {
+    "timestamp": 1766139312.7661078,
+    "position": {
+      "x": 0.0627844698706469,
+      "y": 0.025148728630473335,
+      "z": -0.07112301735292395
+    },
+    "orientation": {
+      "x": -0.258497576409331,
+      "y": 0.8824039387554206,
+      "z": 0.23383968833330487,
+      "w": -0.31600837333780385
+    }
+  },
+  {
+    "timestamp": 1766139312.8987978,
+    "position": {
+      "x": 0.05987959650523786,
+      "y": 0.02537168916450095,
+      "z": -0.07141402888684739
+    },
+    "orientation": {
+      "x": -0.2597118303492919,
+      "y": 0.8821515262175288,
+      "z": 0.23031634523872324,
+      "w": -0.3182967657463436
+    }
+  },
+  {
+    "timestamp": 1766139313.0314877,
+    "position": {
+      "x": 0.06073379093838854,
+      "y": 0.02686360251505185,
+      "z": -0.07198833343802155
+    },
+    "orientation": {
+      "x": -0.2634687530927017,
+      "y": 0.8818649938495156,
+      "z": 0.22340933946952482,
+      "w": -0.32091527823455435
+    }
+  },
+  {
+    "timestamp": 1766139313.1641777,
+    "position": {
+      "x": 0.05858837204485029,
+      "y": 0.029280999667988507,
+      "z": -0.07158786879620663
+    },
+    "orientation": {
+      "x": -0.26964197736983286,
+      "y": 0.8805106268007563,
+      "z": 0.2192885754365765,
+      "w": -0.32234571629544384
+    }
+  },
+  {
+    "timestamp": 1766139313.2968688,
+    "position": {
+      "x": 0.060032673627271105,
+      "y": 0.033618621329620124,
+      "z": -0.0708401241042431
+    },
+    "orientation": {
+      "x": -0.2794497240967422,
+      "y": 0.8797176004462397,
+      "z": 0.20730789462556953,
+      "w": -0.3240805949039198
+    }
+  },
+  {
+    "timestamp": 1766139313.4295588,
+    "position": {
+      "x": 0.06019578440296533,
+      "y": 0.03676347339868253,
+      "z": -0.06836262970112954
+    },
+    "orientation": {
+      "x": -0.2896056945951227,
+      "y": 0.8800417838443165,
+      "z": 0.19572677538156338,
+      "w": -0.32147477310813183
+    }
+  },
+  {
+    "timestamp": 1766139313.5622487,
+    "position": {
+      "x": 0.06220619383848075,
+      "y": 0.03907665519308676,
+      "z": -0.06580729810485023
+    },
+    "orientation": {
+      "x": -0.2966500439381938,
+      "y": 0.8818003580469531,
+      "z": 0.18105993897809872,
+      "w": -0.3188168415830321
+    }
+  },
+  {
+    "timestamp": 1766139313.6949387,
+    "position": {
+      "x": 0.06357559548208674,
+      "y": 0.03882878261661696,
+      "z": -0.06402933292615295
+    },
+    "orientation": {
+      "x": -0.2972828890559526,
+      "y": 0.8853465651271717,
+      "z": 0.16452213050823314,
+      "w": -0.3173591216037391
+    }
+  },
+  {
+    "timestamp": 1766139313.8276289,
+    "position": {
+      "x": 0.06485070825826789,
+      "y": 0.03753337030613661,
+      "z": -0.0628409936213579
+    },
+    "orientation": {
+      "x": -0.2953362197511817,
+      "y": 0.8882372483000229,
+      "z": 0.15648045493336743,
+      "w": -0.3151586509352574
+    }
+  },
+  {
+    "timestamp": 1766139313.9603188,
+    "position": {
+      "x": 0.06444230391308758,
+      "y": 0.03448016334251994,
+      "z": -0.062005122366140655
+    },
+    "orientation": {
+      "x": -0.2891842052590827,
+      "y": 0.8908620730959164,
+      "z": 0.15337666350209428,
+      "w": -0.31498073153906436
+    }
+  },
+  {
+    "timestamp": 1766139314.0930088,
+    "position": {
+      "x": 0.06558524804326082,
+      "y": 0.03126574956445215,
+      "z": -0.061935600366752205
+    },
+    "orientation": {
+      "x": -0.2837117074599839,
+      "y": 0.892924993625002,
+      "z": 0.15452517309280217,
+      "w": -0.313551580590132
+    }
+  },
+  {
+    "timestamp": 1766139314.2256987,
+    "position": {
+      "x": 0.06584415946094874,
+      "y": 0.02832154257484694,
+      "z": -0.06194188934128236
+    },
+    "orientation": {
+      "x": -0.277184735052087,
+      "y": 0.8951737837668314,
+      "z": 0.1524480882834265,
+      "w": -0.31399378957139734
+    }
+  },
+  {
+    "timestamp": 1766139314.3583887,
+    "position": {
+      "x": 0.06559630280493231,
+      "y": 0.02738346615442501,
+      "z": -0.06300290593292757
+    },
+    "orientation": {
+      "x": -0.2742319993206229,
+      "y": 0.8945639259733432,
+      "z": 0.16012192906037406,
+      "w": -0.3145046275172387
+    }
+  },
+  {
+    "timestamp": 1766139314.4910798,
+    "position": {
+      "x": 0.0630900305995695,
+      "y": 0.027762430381181973,
+      "z": -0.06487140657395432
+    },
+    "orientation": {
+      "x": -0.2755830197807032,
+      "y": 0.8925483733841442,
+      "z": 0.15665245197289,
+      "w": -0.3207357318241114
+    }
+  },
+  {
+    "timestamp": 1766139314.6237698,
+    "position": {
+      "x": 0.06051951855104082,
+      "y": 0.02950047735852593,
+      "z": -0.06916616791489147
+    },
+    "orientation": {
+      "x": -0.2787595367644986,
+      "y": 0.8875481599618077,
+      "z": 0.15625696936227554,
+      "w": -0.3318661536477743
+    }
+  }
+]
\ No newline at end of file
diff --git a/recorded_gelsight_pose/episode_19/session_info.json b/recorded_gelsight_pose/episode_19/session_info.json
new file mode 100644
index 0000000000000000000000000000000000000000..0ce7e689e656ced51a93cedfb43e3cf6b994f72c
--- /dev/null
+++ b/recorded_gelsight_pose/episode_19/session_info.json
@@ -0,0 +1,12 @@
+{
+  "session_id": 22,
+  "start_time": "2025-12-19T20:39:09.040832",
+  "ros_start_time": 1766147949.040865,
+  "image_topic": "/gelsight_img",
+  "pose_topic": "/pose",
+  "image_format": "png",
+  "end_time": "2025-12-19T20:39:12.941266",
+  "ros_end_time": 1766147952.941275,
+  "total_images": 97,
+  "total_pose_frames": 29
+}
\ No newline at end of file
diff --git a/recorded_gelsight_pose/episode_2/image_index.json b/recorded_gelsight_pose/episode_2/image_index.json
new file mode 100644
index 0000000000000000000000000000000000000000..af1185f9dffc9dbe661fd87277f7d0f638f4419d
--- /dev/null
+++ b/recorded_gelsight_pose/episode_2/image_index.json
@@ -0,0 +1,334 @@
+[
+  {
+    "timestamp": 1766147862.2303276,
+    "filename": "img_000000.png"
+  },
+  {
+    "timestamp": 1766147862.2659469,
+    "filename": "img_000001.png"
+  },
+  {
+    "timestamp": 1766147862.303804,
+    "filename": "img_000002.png"
+  },
+  {
+    "timestamp": 1766147862.3428476,
+    "filename": "img_000003.png"
+  },
+  {
+    "timestamp": 1766147862.3828511,
+    "filename": "img_000004.png"
+  },
+  {
+    "timestamp": 1766147862.424518,
+    "filename": "img_000005.png"
+  },
+  {
+    "timestamp": 1766147862.4643116,
+    "filename": "img_000006.png"
+  },
+  {
+    "timestamp": 1766147862.5019414,
+    "filename": "img_000007.png"
+  },
+  {
+    "timestamp": 1766147862.5451558,
+    "filename": "img_000008.png"
+  },
+  {
+    "timestamp": 1766147862.582017,
+    "filename": "img_000009.png"
+  },
+  {
+    "timestamp": 1766147862.6229997,
+    "filename": "img_000010.png"
+  },
+  {
+    "timestamp": 1766147862.6632094,
+    "filename": "img_000011.png"
+  },
+  {
+    "timestamp": 1766147862.7038605,
+    "filename": "img_000012.png"
+  },
+  {
+    "timestamp": 1766147862.744512,
+    "filename": "img_000013.png"
+  },
+  {
+    "timestamp": 1766147862.7838607,
+    "filename": "img_000014.png"
+  },
+  {
+    "timestamp": 1766147862.8240006,
+    "filename": "img_000015.png"
+  },
+  {
+    "timestamp": 1766147862.8629901,
+    "filename": "img_000016.png"
+  },
+  {
+    "timestamp": 1766147862.9089277,
+    "filename": "img_000017.png"
+  },
+  {
+    "timestamp": 1766147862.947891,
+    "filename": "img_000018.png"
+  },
+  {
+    "timestamp": 1766147862.9817271,
+    "filename": "img_000019.png"
+  },
+  {
+    "timestamp": 1766147863.0253935,
+    "filename": "img_000020.png"
+  },
+  {
+    "timestamp": 1766147863.0641694,
+    "filename": "img_000021.png"
+  },
+  {
+    "timestamp": 1766147863.1038601,
+    "filename": "img_000022.png"
+  },
+  {
+    "timestamp": 1766147863.1420999,
+    "filename": "img_000023.png"
+  },
+  {
+    "timestamp": 1766147863.182915,
+    "filename": "img_000024.png"
+  },
+  {
+    "timestamp": 1766147863.2235088,
+    "filename": "img_000025.png"
+  },
+  {
+    "timestamp": 1766147863.264027,
+    "filename": "img_000026.png"
+  },
+  {
+    "timestamp": 1766147863.3022537,
+    "filename": "img_000027.png"
+  },
+  {
+    "timestamp": 1766147863.3454673,
+    "filename": "img_000028.png"
+  },
+  {
+    "timestamp": 1766147863.382023,
+    "filename": "img_000029.png"
+  },
+  {
+    "timestamp": 1766147863.4232364,
+    "filename": "img_000030.png"
+  },
+  {
+    "timestamp": 1766147863.4630744,
+    "filename": "img_000031.png"
+  },
+  {
+    "timestamp": 1766147863.5050166,
+    "filename": "img_000032.png"
+  },
+  {
+    "timestamp": 1766147863.54691,
+    "filename": "img_000033.png"
+  },
+  {
+    "timestamp": 1766147863.5814252,
+    "filename": "img_000034.png"
+  },
+  {
+    "timestamp": 1766147863.6235268,
+    "filename": "img_000035.png"
+  },
+  {
+    "timestamp": 1766147863.6641574,
+    "filename": "img_000036.png"
+  },
+  {
+    "timestamp": 1766147863.7034144,
+    "filename": "img_000037.png"
+  },
+  {
+    "timestamp": 1766147863.7446923,
+    "filename": "img_000038.png"
+  },
+  {
+    "timestamp": 1766147863.7826586,
+    "filename": "img_000039.png"
+  },
+  {
+    "timestamp": 1766147863.8235707,
+    "filename": "img_000040.png"
+  },
+  {
+    "timestamp": 1766147863.8636272,
+    "filename": "img_000041.png"
+  },
+  {
+    "timestamp": 1766147863.9017735,
+    "filename": "img_000042.png"
+  },
+  {
+    "timestamp": 1766147863.9422257,
+    "filename": "img_000043.png"
+  },
+  {
+    "timestamp": 1766147863.9823601,
+    "filename": "img_000044.png"
+  },
+  {
+    "timestamp": 1766147864.0241542,
+    "filename": "img_000045.png"
+  },
+  {
+    "timestamp": 1766147864.0627444,
+    "filename": "img_000046.png"
+  },
+  {
+    "timestamp": 1766147864.1017125,
+    "filename": "img_000047.png"
+  },
+  {
+    "timestamp": 1766147864.144019,
+    "filename": "img_000048.png"
+  },
+  {
+    "timestamp": 1766147864.1828897,
+    "filename": "img_000049.png"
+  },
+  {
+    "timestamp": 1766147864.2237864,
+    "filename": "img_000050.png"
+  },
+  {
+    "timestamp": 1766147864.2648609,
+    "filename": "img_000051.png"
+  },
+  {
+    "timestamp": 1766147864.3045347,
+    "filename": "img_000052.png"
+  },
+  {
+    "timestamp": 1766147864.3466723,
+    "filename": "img_000053.png"
+  },
+  {
+    "timestamp": 1766147864.3820558,
+    "filename": "img_000054.png"
+  },
+  {
+    "timestamp": 1766147864.4229732,
+    "filename": "img_000055.png"
+  },
+  {
+    "timestamp": 1766147864.4631922,
+    "filename": "img_000056.png"
+  },
+  {
+    "timestamp": 1766147864.502947,
+    "filename": "img_000057.png"
+  },
+  {
+    "timestamp": 1766147864.5446599,
+    "filename": "img_000058.png"
+  },
+  {
+    "timestamp": 1766147864.5812895,
+    "filename": "img_000059.png"
+  },
+  {
+    "timestamp": 1766147864.6231856,
+    "filename": "img_000060.png"
+  },
+  {
+    "timestamp": 1766147864.663981,
+    "filename": "img_000061.png"
+  },
+  {
+    "timestamp": 1766147864.7025406,
+    "filename": "img_000062.png"
+  },
+  {
+    "timestamp": 1766147864.745276,
+    "filename": "img_000063.png"
+  },
+  {
+    "timestamp": 1766147864.7849932,
+    "filename": "img_000064.png"
+  },
+  {
+    "timestamp": 1766147864.8249993,
+    "filename": "img_000065.png"
+  },
+  {
+    "timestamp": 1766147864.8640375,
+    "filename": "img_000066.png"
+  },
+  {
+    "timestamp": 1766147864.9020114,
+    "filename": "img_000067.png"
+  },
+  {
+    "timestamp": 1766147864.947238,
+    "filename": "img_000068.png"
+  },
+  {
+    "timestamp": 1766147864.9827924,
+    "filename": "img_000069.png"
+  },
+  {
+    "timestamp": 1766147865.0229883,
+    "filename": "img_000070.png"
+  },
+  {
+    "timestamp": 1766147865.0631907,
+    "filename": "img_000071.png"
+  },
+  {
+    "timestamp": 1766147865.1030173,
+    "filename": "img_000072.png"
+  },
+  {
+    "timestamp": 1766147865.1425283,
+    "filename": "img_000073.png"
+  },
+  {
+    "timestamp": 1766147865.1838677,
+    "filename": "img_000074.png"
+  },
+  {
+    "timestamp": 1766147865.2239165,
+    "filename": "img_000075.png"
+  },
+  {
+    "timestamp": 1766147865.2637224,
+    "filename": "img_000076.png"
+  },
+  {
+    "timestamp": 1766147865.3030853,
+    "filename": "img_000077.png"
+  },
+  {
+    "timestamp": 1766147865.3442338,
+    "filename": "img_000078.png"
+  },
+  {
+    "timestamp": 1766147865.381561,
+    "filename": "img_000079.png"
+  },
+  {
+    "timestamp": 1766147865.424677,
+    "filename": "img_000080.png"
+  },
+  {
+    "timestamp": 1766147865.4639466,
+    "filename": "img_000081.png"
+  },
+  {
+    "timestamp": 1766147865.5020962,
+    "filename": "img_000082.png"
+  }
+]
\ No newline at end of file
diff --git a/recorded_gelsight_pose/episode_2/pose_data.json b/recorded_gelsight_pose/episode_2/pose_data.json
new file mode 100644
index 0000000000000000000000000000000000000000..17356aace48834271099965764c00783bed643e5
--- /dev/null
+++ b/recorded_gelsight_pose/episode_2/pose_data.json
@@ -0,0 +1,352 @@
+[
+  {
+    "timestamp": 1766139224.3944957,
+    "position": {
+      "x": 0.05968176980319301,
+      "y": 0.029050799975235034,
+      "z": -0.0645614935338947
+    },
+    "orientation": {
+      "x": -0.2975058425204882,
+      "y": 0.8881828341555069,
+      "z": -0.024939040048949583,
+      "w": -0.34928436990381145
+    }
+  },
+  {
+    "timestamp": 1766139224.5271857,
+    "position": {
+      "x": 0.058997159424386825,
+      "y": 0.0286043088532143,
+      "z": -0.06437495743604862
+    },
+    "orientation": {
+      "x": -0.2966275086455805,
+      "y": 0.888651693485799,
+      "z": -0.02289221820474388,
+      "w": -0.34897884624315595
+    }
+  },
+  {
+    "timestamp": 1766139224.6598759,
+    "position": {
+      "x": 0.05945379986085611,
+      "y": 0.0284937011845324,
+      "z": -0.06479004026318574
+    },
+    "orientation": {
+      "x": -0.29482856736254276,
+      "y": 0.8892073597183104,
+      "z": -0.020907189933393716,
+      "w": -0.34921236618829904
+    }
+  },
+  {
+    "timestamp": 1766139224.7925658,
+    "position": {
+      "x": 0.05987823083859889,
+      "y": 0.028660465634047477,
+      "z": -0.0650062663038091
+    },
+    "orientation": {
+      "x": -0.2952985786885163,
+      "y": 0.8886284835775166,
+      "z": -0.021815442652578374,
+      "w": -0.35023171481340426
+    }
+  },
+  {
+    "timestamp": 1766139224.9252567,
+    "position": {
+      "x": 0.06035223298031339,
+      "y": 0.029603818125321424,
+      "z": -0.06519233364210339
+    },
+    "orientation": {
+      "x": -0.2965498664175632,
+      "y": 0.8888426681613675,
+      "z": -0.01734705902817139,
+      "w": -0.3488781557027893
+    }
+  },
+  {
+    "timestamp": 1766139225.0579467,
+    "position": {
+      "x": 0.05978144832314525,
+      "y": 0.03138077234065752,
+      "z": -0.06463928481435655
+    },
+    "orientation": {
+      "x": -0.2991003313630722,
+      "y": 0.8886401596187955,
+      "z": -0.013764474356795547,
+      "w": -0.34737328299232095
+    }
+  },
+  {
+    "timestamp": 1766139225.1906369,
+    "position": {
+      "x": 0.05908492305141416,
+      "y": 0.03465589234571706,
+      "z": -0.06402424685666783
+    },
+    "orientation": {
+      "x": -0.3063948751252429,
+      "y": 0.8868197913892125,
+      "z": -0.012891868523679479,
+      "w": -0.3456973211110384
+    }
+  },
+  {
+    "timestamp": 1766139225.3233268,
+    "position": {
+      "x": 0.05891410283948148,
+      "y": 0.03629388228884886,
+      "z": -0.06386642328663722
+    },
+    "orientation": {
+      "x": -0.3102081798045458,
+      "y": 0.8856038293052133,
+      "z": -0.0139585764126841,
+      "w": -0.34537211938259316
+    }
+  },
+  {
+    "timestamp": 1766139225.4560168,
+    "position": {
+      "x": 0.05883194184481402,
+      "y": 0.03628364710034063,
+      "z": -0.06386781395141745
+    },
+    "orientation": {
+      "x": -0.31035436219222234,
+      "y": 0.8854685152508285,
+      "z": -0.01348309134396104,
+      "w": -0.34560654596746615
+    }
+  },
+  {
+    "timestamp": 1766139225.5887067,
+    "position": {
+      "x": 0.05943600412500899,
+      "y": 0.03588474873888414,
+      "z": -0.06368987887126622
+    },
+    "orientation": {
+      "x": -0.3094560014488179,
+      "y": 0.8859972310969314,
+      "z": -0.018729508961714613,
+      "w": -0.3448116807040227
+    }
+  },
+  {
+    "timestamp": 1766139225.7213967,
+    "position": {
+      "x": 0.05898683164943916,
+      "y": 0.035268946931808,
+      "z": -0.06361795835047979
+    },
+    "orientation": {
+      "x": -0.30921743388141304,
+      "y": 0.8861249944120104,
+      "z": -0.018106925941801695,
+      "w": -0.3447306370125035
+    }
+  },
+  {
+    "timestamp": 1766139225.8540869,
+    "position": {
+      "x": 0.05891759542279429,
+      "y": 0.033459248171773114,
+      "z": -0.0641664651639892
+    },
+    "orientation": {
+      "x": -0.30522594402270303,
+      "y": 0.8868708188910063,
+      "z": -0.015580885253224003,
+      "w": -0.3464888305700079
+    }
+  },
+  {
+    "timestamp": 1766139225.9867768,
+    "position": {
+      "x": 0.05903620262389839,
+      "y": 0.030736400032699993,
+      "z": -0.06496680202630159
+    },
+    "orientation": {
+      "x": -0.2999006009451816,
+      "y": 0.8878966412050954,
+      "z": -0.010992923245340692,
+      "w": -0.34868085655503217
+    }
+  },
+  {
+    "timestamp": 1766139226.1194677,
+    "position": {
+      "x": 0.05912889905907115,
+      "y": 0.0286336404030694,
+      "z": -0.06507936238108614
+    },
+    "orientation": {
+      "x": -0.29586025348304074,
+      "y": 0.888945848133788,
+      "z": -0.013581628624181876,
+      "w": -0.34936732654695407
+    }
+  },
+  {
+    "timestamp": 1766139226.2521577,
+    "position": {
+      "x": 0.06017357796524103,
+      "y": 0.028312664565165527,
+      "z": -0.06571001064022933
+    },
+    "orientation": {
+      "x": -0.2954290978107478,
+      "y": 0.8886163274199724,
+      "z": -0.014785539591356022,
+      "w": -0.3505196979177637
+    }
+  },
+  {
+    "timestamp": 1766139226.3848479,
+    "position": {
+      "x": 0.05890244559956437,
+      "y": 0.028169390289091115,
+      "z": -0.06512779637989499
+    },
+    "orientation": {
+      "x": -0.29599496065423603,
+      "y": 0.8887621706285174,
+      "z": -0.013186154910426939,
+      "w": -0.34973548954268546
+    }
+  },
+  {
+    "timestamp": 1766139226.5175378,
+    "position": {
+      "x": 0.059618482011822044,
+      "y": 0.029218628024017992,
+      "z": -0.06524948441365903
+    },
+    "orientation": {
+      "x": -0.29800693228625785,
+      "y": 0.8883279712850934,
+      "z": -0.013773951132160461,
+      "w": -0.34910680602367644
+    }
+  },
+  {
+    "timestamp": 1766139226.6502278,
+    "position": {
+      "x": 0.059219935851795136,
+      "y": 0.029906514607123194,
+      "z": -0.06458457939737536
+    },
+    "orientation": {
+      "x": -0.2989806152470703,
+      "y": 0.8885672086377947,
+      "z": -0.01624145036121838,
+      "w": -0.3475559274854699
+    }
+  },
+  {
+    "timestamp": 1766139226.7829177,
+    "position": {
+      "x": 0.05894152079270193,
+      "y": 0.032393091186019796,
+      "z": -0.06404412615237746
+    },
+    "orientation": {
+      "x": -0.3032471572702068,
+      "y": 0.8871151239835664,
+      "z": -0.01743647731368747,
+      "w": -0.34751098927379176
+    }
+  },
+  {
+    "timestamp": 1766139226.9156077,
+    "position": {
+      "x": 0.05961198819365898,
+      "y": 0.0352515882462547,
+      "z": -0.0637448281214178
+    },
+    "orientation": {
+      "x": -0.31055060600875206,
+      "y": 0.8854869527194887,
+      "z": -0.019997110034561272,
+      "w": -0.34506708516086637
+    }
+  },
+  {
+    "timestamp": 1766139227.048298,
+    "position": {
+      "x": 0.05943639722530583,
+      "y": 0.037311389981456035,
+      "z": -0.06391167669967301
+    },
+    "orientation": {
+      "x": -0.31314628248881626,
+      "y": 0.884633288479359,
+      "z": -0.01710726785471875,
+      "w": -0.3450662140288104
+    }
+  },
+  {
+    "timestamp": 1766139227.1809878,
+    "position": {
+      "x": 0.05924603483843355,
+      "y": 0.03722858790361888,
+      "z": -0.06373105454283377
+    },
+    "orientation": {
+      "x": -0.313658617938594,
+      "y": 0.8844069550344024,
+      "z": -0.018473715391112016,
+      "w": -0.34511060708021707
+    }
+  },
+  {
+    "timestamp": 1766139227.3136787,
+    "position": {
+      "x": 0.06001284469902313,
+      "y": 0.03711707054651758,
+      "z": -0.06416995648379409
+    },
+    "orientation": {
+      "x": -0.31238144152808167,
+      "y": 0.8846644035808121,
+      "z": -0.018175209411853945,
+      "w": -0.3456246371262885
+    }
+  },
+  {
+    "timestamp": 1766139227.4463687,
+    "position": {
+      "x": 0.059041252762377955,
+      "y": 0.03606515269968463,
+      "z": -0.0640890201798622
+    },
+    "orientation": {
+      "x": -0.3094744326333071,
+      "y": 0.8856897018364173,
+      "z": -0.014420945716751945,
+      "w": -0.3457909251727776
+    }
+  },
+  {
+    "timestamp": 1766139227.579059,
+    "position": {
+      "x": 0.05841044008607599,
+      "y": 0.0339725429079689,
+      "z": -0.06384533640125517
+    },
+    "orientation": {
+      "x": -0.3060993103148459,
+      "y": 0.8865405400252654,
+      "z": -0.0164958313665504,
+      "w": -0.346521241288341
+    }
+  }
+]
\ No newline at end of file
diff --git a/recorded_gelsight_pose/episode_2/session_info.json b/recorded_gelsight_pose/episode_2/session_info.json
new file mode 100644
index 0000000000000000000000000000000000000000..84099ff7c93a2e91d4b2877627882e74a8ca4232
--- /dev/null
+++ b/recorded_gelsight_pose/episode_2/session_info.json
@@ -0,0 +1,12 @@
+{
+  "session_id": 5,
+  "start_time": "2025-12-19T20:37:42.194186",
+  "ros_start_time": 1766147862.1942077,
+  "image_topic": "/gelsight_img",
+  "pose_topic": "/pose",
+  "image_format": "png",
+  "end_time": "2025-12-19T20:37:45.549912",
+  "ros_end_time": 1766147865.5499215,
+  "total_images": 83,
+  "total_pose_frames": 25
+}
\ No newline at end of file
diff --git a/recorded_gelsight_pose/episode_25/image_index.json b/recorded_gelsight_pose/episode_25/image_index.json
new file mode 100644
index 0000000000000000000000000000000000000000..80706afcbf255d28ebbadec98676e03c017e0796
--- /dev/null
+++ b/recorded_gelsight_pose/episode_25/image_index.json
@@ -0,0 +1,414 @@
+[
+  {
+    "timestamp": 1766148216.2767324,
+    "filename": "img_000000.png"
+  },
+  {
+    "timestamp": 1766148216.323148,
+    "filename": "img_000001.png"
+  },
+  {
+    "timestamp": 1766148216.3551354,
+    "filename": "img_000002.png"
+  },
+  {
+    "timestamp": 1766148216.3969202,
+    "filename": "img_000003.png"
+  },
+  {
+    "timestamp": 1766148216.4369588,
+    "filename": "img_000004.png"
+  },
+  {
+    "timestamp": 1766148216.4731724,
+    "filename": "img_000005.png"
+  },
+  {
+    "timestamp": 1766148216.5144598,
+    "filename": "img_000006.png"
+  },
+  {
+    "timestamp": 1766148216.5547388,
+    "filename": "img_000007.png"
+  },
+  {
+    "timestamp": 1766148216.5955083,
+    "filename": "img_000008.png"
+  },
+  {
+    "timestamp": 1766148216.6329093,
+    "filename": "img_000009.png"
+  },
+  {
+    "timestamp": 1766148216.6724353,
+    "filename": "img_000010.png"
+  },
+  {
+    "timestamp": 1766148216.7176778,
+    "filename": "img_000011.png"
+  },
+  {
+    "timestamp": 1766148216.7556324,
+    "filename": "img_000012.png"
+  },
+  {
+    "timestamp": 1766148216.7985022,
+    "filename": "img_000013.png"
+  },
+  {
+    "timestamp": 1766148216.836901,
+    "filename": "img_000014.png"
+  },
+  {
+    "timestamp": 1766148216.8770413,
+    "filename": "img_000015.png"
+  },
+  {
+    "timestamp": 1766148216.9181428,
+    "filename": "img_000016.png"
+  },
+  {
+    "timestamp": 1766148216.9558525,
+    "filename": "img_000017.png"
+  },
+  {
+    "timestamp": 1766148216.9949503,
+    "filename": "img_000018.png"
+  },
+  {
+    "timestamp": 1766148217.0334847,
+    "filename": "img_000019.png"
+  },
+  {
+    "timestamp": 1766148217.080659,
+    "filename": "img_000020.png"
+  },
+  {
+    "timestamp": 1766148217.1178534,
+    "filename": "img_000021.png"
+  },
+  {
+    "timestamp": 1766148217.1542208,
+    "filename": "img_000022.png"
+  },
+  {
+    "timestamp": 1766148217.1956892,
+    "filename": "img_000023.png"
+  },
+  {
+    "timestamp": 1766148217.2366486,
+    "filename": "img_000024.png"
+  },
+  {
+    "timestamp": 1766148217.2746453,
+    "filename": "img_000025.png"
+  },
+  {
+    "timestamp": 1766148217.3176022,
+    "filename": "img_000026.png"
+  },
+  {
+    "timestamp": 1766148217.3549058,
+    "filename": "img_000027.png"
+  },
+  {
+    "timestamp": 1766148217.397049,
+    "filename": "img_000028.png"
+  },
+  {
+    "timestamp": 1766148217.4358318,
+    "filename": "img_000029.png"
+  },
+  {
+    "timestamp": 1766148217.472383,
+    "filename": "img_000030.png"
+  },
+  {
+    "timestamp": 1766148217.5154352,
+    "filename": "img_000031.png"
+  },
+  {
+    "timestamp": 1766148217.5563967,
+    "filename": "img_000032.png"
+  },
+  {
+    "timestamp": 1766148217.5949845,
+    "filename": "img_000033.png"
+  },
+  {
+    "timestamp": 1766148217.6337152,
+    "filename": "img_000034.png"
+  },
+  {
+    "timestamp": 1766148217.67355,
+    "filename": "img_000035.png"
+  },
+  {
+    "timestamp": 1766148217.715523,
+    "filename": "img_000036.png"
+  },
+  {
+    "timestamp": 1766148217.7543428,
+    "filename": "img_000037.png"
+  },
+  {
+    "timestamp": 1766148217.7949388,
+    "filename": "img_000038.png"
+  },
+  {
+    "timestamp": 1766148217.8333309,
+    "filename": "img_000039.png"
+  },
+  {
+    "timestamp": 1766148217.8752105,
+    "filename": "img_000040.png"
+  },
+  {
+    "timestamp": 1766148217.9151666,
+    "filename": "img_000041.png"
+  },
+  {
+    "timestamp": 1766148217.9542933,
+    "filename": "img_000042.png"
+  },
+  {
+    "timestamp": 1766148217.994878,
+    "filename": "img_000043.png"
+  },
+  {
+    "timestamp": 1766148218.0333543,
+    "filename": "img_000044.png"
+  },
+  {
+    "timestamp": 1766148218.074925,
+    "filename": "img_000045.png"
+  },
+  {
+    "timestamp": 1766148218.1135483,
+    "filename": "img_000046.png"
+  },
+  {
+    "timestamp": 1766148218.154597,
+    "filename": "img_000047.png"
+  },
+  {
+    "timestamp": 1766148218.1959422,
+    "filename": "img_000048.png"
+  },
+  {
+    "timestamp": 1766148218.2330086,
+    "filename": "img_000049.png"
+  },
+  {
+    "timestamp": 1766148218.2732613,
+    "filename": "img_000050.png"
+  },
+  {
+    "timestamp": 1766148218.3146849,
+    "filename": "img_000051.png"
+  },
+  {
+    "timestamp": 1766148218.3551464,
+    "filename": "img_000052.png"
+  },
+  {
+    "timestamp": 1766148218.395199,
+    "filename": "img_000053.png"
+  },
+  {
+    "timestamp": 1766148218.433643,
+    "filename": "img_000054.png"
+  },
+  {
+    "timestamp": 1766148218.4755824,
+    "filename": "img_000055.png"
+  },
+  {
+    "timestamp": 1766148218.5162435,
+    "filename": "img_000056.png"
+  },
+  {
+    "timestamp": 1766148218.555873,
+    "filename": "img_000057.png"
+  },
+  {
+    "timestamp": 1766148218.5944157,
+    "filename": "img_000058.png"
+  },
+  {
+    "timestamp": 1766148218.6337843,
+    "filename": "img_000059.png"
+  },
+  {
+    "timestamp": 1766148218.6752903,
+    "filename": "img_000060.png"
+  },
+  {
+    "timestamp": 1766148218.7147093,
+    "filename": "img_000061.png"
+  },
+  {
+    "timestamp": 1766148218.7541013,
+    "filename": "img_000062.png"
+  },
+  {
+    "timestamp": 1766148218.7965233,
+    "filename": "img_000063.png"
+  },
+  {
+    "timestamp": 1766148218.834429,
+    "filename": "img_000064.png"
+  },
+  {
+    "timestamp": 1766148218.8743207,
+    "filename": "img_000065.png"
+  },
+  {
+    "timestamp": 1766148218.9162464,
+    "filename": "img_000066.png"
+  },
+  {
+    "timestamp": 1766148218.9554634,
+    "filename": "img_000067.png"
+  },
+  {
+    "timestamp": 1766148218.9971256,
+    "filename": "img_000068.png"
+  },
+  {
+    "timestamp": 1766148219.0330508,
+    "filename": "img_000069.png"
+  },
+  {
+    "timestamp": 1766148219.0742626,
+    "filename": "img_000070.png"
+  },
+  {
+    "timestamp": 1766148219.1158822,
+    "filename": "img_000071.png"
+  },
+  {
+    "timestamp": 1766148219.1558046,
+    "filename": "img_000072.png"
+  },
+  {
+    "timestamp": 1766148219.1973324,
+    "filename": "img_000073.png"
+  },
+  {
+    "timestamp": 1766148219.233067,
+    "filename": "img_000074.png"
+  },
+  {
+    "timestamp": 1766148219.275009,
+    "filename": "img_000075.png"
+  },
+  {
+    "timestamp": 1766148219.3162518,
+    "filename": "img_000076.png"
+  },
+  {
+    "timestamp": 1766148219.354692,
+    "filename": "img_000077.png"
+  },
+  {
+    "timestamp": 1766148219.395588,
+    "filename": "img_000078.png"
+  },
+  {
+    "timestamp": 1766148219.4331317,
+    "filename": "img_000079.png"
+  },
+  {
+    "timestamp": 1766148219.4749455,
+    "filename": "img_000080.png"
+  },
+  {
+    "timestamp": 1766148219.514403,
+    "filename": "img_000081.png"
+  },
+  {
+    "timestamp": 1766148219.554368,
+    "filename": "img_000082.png"
+  },
+  {
+    "timestamp": 1766148219.5949428,
+    "filename": "img_000083.png"
+  },
+  {
+    "timestamp": 1766148219.6334536,
+    "filename": "img_000084.png"
+  },
+  {
+    "timestamp": 1766148219.6751196,
+    "filename": "img_000085.png"
+  },
+  {
+    "timestamp": 1766148219.713735,
+    "filename": "img_000086.png"
+  },
+  {
+    "timestamp": 1766148219.7546265,
+    "filename": "img_000087.png"
+  },
+  {
+    "timestamp": 1766148219.7960482,
+    "filename": "img_000088.png"
+  },
+  {
+    "timestamp": 1766148219.8329163,
+    "filename": "img_000089.png"
+  },
+  {
+    "timestamp": 1766148219.8729637,
+    "filename": "img_000090.png"
+  },
+  {
+    "timestamp": 1766148219.916116,
+    "filename": "img_000091.png"
+  },
+  {
+    "timestamp": 1766148219.9554083,
+    "filename": "img_000092.png"
+  },
+  {
+    "timestamp": 1766148219.9942315,
+    "filename": "img_000093.png"
+  },
+  {
+    "timestamp": 1766148220.0331075,
+    "filename": "img_000094.png"
+  },
+  {
+    "timestamp": 1766148220.0741863,
+    "filename": "img_000095.png"
+  },
+  {
+    "timestamp": 1766148220.1163783,
+    "filename": "img_000096.png"
+  },
+  {
+    "timestamp": 1766148220.1549718,
+    "filename": "img_000097.png"
+  },
+  {
+    "timestamp": 1766148220.193887,
+    "filename": "img_000098.png"
+  },
+  {
+    "timestamp": 1766148220.2339392,
+    "filename": "img_000099.png"
+  },
+  {
+    "timestamp": 1766148220.2847974,
+    "filename": "img_000100.png"
+  },
+  {
+    "timestamp": 1766148220.3173711,
+    "filename": "img_000101.png"
+  },
+  {
+    "timestamp": 1766148220.3545344,
+    "filename": "img_000102.png"
+  }
+]
\ No newline at end of file
diff --git a/recorded_gelsight_pose/episode_25/pose_data.json b/recorded_gelsight_pose/episode_25/pose_data.json
new file mode 100644
index 0000000000000000000000000000000000000000..f8e4cc206a8c957c65761edd70cab8fcf513c95c
--- /dev/null
+++ b/recorded_gelsight_pose/episode_25/pose_data.json
@@ -0,0 +1,436 @@
+[
+  {
+    "timestamp": 1766139576.9852858,
+    "position": {
+      "x": 0.042221413421734744,
+      "y": 0.05680817395150892,
+      "z": -0.08969445359307085
+    },
+    "orientation": {
+      "x": -0.2523718203629902,
+      "y": 0.7869460937583683,
+      "z": 0.4570979623907436,
+      "w": -0.32876399222443176
+    }
+  },
+  {
+    "timestamp": 1766139577.1179757,
+    "position": {
+      "x": 0.04123931273638265,
+      "y": 0.055359693451821804,
+      "z": -0.08932419808318098
+    },
+    "orientation": {
+      "x": -0.25263720231567655,
+      "y": 0.791837699405224,
+      "z": 0.4475789934870817,
+      "w": -0.329909906483332
+    }
+  },
+  {
+    "timestamp": 1766139577.2506657,
+    "position": {
+      "x": 0.040887131386078995,
+      "y": 0.05452430628354135,
+      "z": -0.08873990414175353
+    },
+    "orientation": {
+      "x": -0.25444888873995725,
+      "y": 0.795618650751333,
+      "z": 0.43894715266706963,
+      "w": -0.33101680132751793
+    }
+  },
+  {
+    "timestamp": 1766139577.3833559,
+    "position": {
+      "x": 0.043363162968352686,
+      "y": 0.054426843927525836,
+      "z": -0.0891853839948677
+    },
+    "orientation": {
+      "x": -0.2577424459654782,
+      "y": 0.8010595540222868,
+      "z": 0.4250525864585995,
+      "w": -0.3334707201572607
+    }
+  },
+  {
+    "timestamp": 1766139577.5160458,
+    "position": {
+      "x": 0.04410416879962964,
+      "y": 0.055104058809082646,
+      "z": -0.08865569514554333
+    },
+    "orientation": {
+      "x": -0.26293786151634924,
+      "y": 0.8029566622529777,
+      "z": 0.4178830225026652,
+      "w": -0.3339132507535509
+    }
+  },
+  {
+    "timestamp": 1766139577.6487358,
+    "position": {
+      "x": 0.045340108193704376,
+      "y": 0.05708584678503183,
+      "z": -0.08706664660995464
+    },
+    "orientation": {
+      "x": -0.2687647639610104,
+      "y": 0.8052099719425273,
+      "z": 0.4107740908929277,
+      "w": -0.3326665732958235
+    }
+  },
+  {
+    "timestamp": 1766139577.7814257,
+    "position": {
+      "x": 0.04855535936116093,
+      "y": 0.058677643708690067,
+      "z": -0.08587149760681967
+    },
+    "orientation": {
+      "x": -0.2781178015643823,
+      "y": 0.8112617800456923,
+      "z": 0.39204342514978746,
+      "w": -0.3328765018545359
+    }
+  },
+  {
+    "timestamp": 1766139577.9141157,
+    "position": {
+      "x": 0.04990487794826684,
+      "y": 0.059175529652893646,
+      "z": -0.08595798849598754
+    },
+    "orientation": {
+      "x": -0.2824019248511922,
+      "y": 0.813140423916041,
+      "z": 0.38276925952883,
+      "w": -0.33546907129232356
+    }
+  },
+  {
+    "timestamp": 1766139578.0468068,
+    "position": {
+      "x": 0.04748809657739725,
+      "y": 0.05914238389274917,
+      "z": -0.08616752538435254
+    },
+    "orientation": {
+      "x": -0.2812763091028216,
+      "y": 0.8128162693295097,
+      "z": 0.3842117795925577,
+      "w": -0.33555127577327415
+    }
+  },
+  {
+    "timestamp": 1766139578.1794968,
+    "position": {
+      "x": 0.04479224237811316,
+      "y": 0.06019495891944039,
+      "z": -0.0878254476153893
+    },
+    "orientation": {
+      "x": -0.28123363679253616,
+      "y": 0.8107501609678187,
+      "z": 0.38137481520246236,
+      "w": -0.3437223710444051
+    }
+  },
+  {
+    "timestamp": 1766139578.3121867,
+    "position": {
+      "x": 0.04155611970410275,
+      "y": 0.06192765789826647,
+      "z": -0.08998807212596052
+    },
+    "orientation": {
+      "x": -0.2820262964123171,
+      "y": 0.807619977107707,
+      "z": 0.38049812640841885,
+      "w": -0.35132935617192806
+    }
+  },
+  {
+    "timestamp": 1766139578.4448767,
+    "position": {
+      "x": 0.041122636005568924,
+      "y": 0.0636505116692186,
+      "z": -0.09134534920641402
+    },
+    "orientation": {
+      "x": -0.2839984259027827,
+      "y": 0.80467459025689,
+      "z": 0.3836747210354208,
+      "w": -0.3530402332851597
+    }
+  },
+  {
+    "timestamp": 1766139578.5775669,
+    "position": {
+      "x": 0.03974684246074997,
+      "y": 0.06166726053983225,
+      "z": -0.09087134427105548
+    },
+    "orientation": {
+      "x": -0.28261432022018534,
+      "y": 0.8067308364789006,
+      "z": 0.38003854914576657,
+      "w": -0.35339100815345664
+    }
+  },
+  {
+    "timestamp": 1766139578.7102568,
+    "position": {
+      "x": 0.038736472020107576,
+      "y": 0.05937974755568748,
+      "z": -0.09243647310588166
+    },
+    "orientation": {
+      "x": -0.27512678958274767,
+      "y": 0.8065179954970388,
+      "z": 0.386300148868299,
+      "w": -0.35299598804754
+    }
+  },
+  {
+    "timestamp": 1766139578.8429468,
+    "position": {
+      "x": 0.03713625471353002,
+      "y": 0.057942066996569994,
+      "z": -0.0932141773942233
+    },
+    "orientation": {
+      "x": -0.26897352010194747,
+      "y": 0.8045223096370069,
+      "z": 0.3937169681999458,
+      "w": -0.3540960995714949
+    }
+  },
+  {
+    "timestamp": 1766139578.9756367,
+    "position": {
+      "x": 0.03966068176616186,
+      "y": 0.05869640968559933,
+      "z": -0.09319300046758702
+    },
+    "orientation": {
+      "x": -0.27376502219185367,
+      "y": 0.805960583721358,
+      "z": 0.3880656740039399,
+      "w": -0.35339111869384837
+    }
+  },
+  {
+    "timestamp": 1766139579.1083267,
+    "position": {
+      "x": 0.041825381238562054,
+      "y": 0.05750396372706072,
+      "z": -0.09197849207460973
+    },
+    "orientation": {
+      "x": -0.2715630553080027,
+      "y": 0.8065310346529427,
+      "z": 0.39428564265413385,
+      "w": -0.34684294591392945
+    }
+  },
+  {
+    "timestamp": 1766139579.2410169,
+    "position": {
+      "x": 0.04375869805899438,
+      "y": 0.053366847101157605,
+      "z": -0.08970887556602322
+    },
+    "orientation": {
+      "x": -0.26464381012886645,
+      "y": 0.8114159355206376,
+      "z": 0.3954445900106085,
+      "w": -0.33939859984240744
+    }
+  },
+  {
+    "timestamp": 1766139579.3737078,
+    "position": {
+      "x": 0.04500363950175937,
+      "y": 0.050566120027526834,
+      "z": -0.08874560767266093
+    },
+    "orientation": {
+      "x": -0.2618846784331966,
+      "y": 0.8148033164724491,
+      "z": 0.3917409977337173,
+      "w": -0.3377143191545645
+    }
+  },
+  {
+    "timestamp": 1766139579.5063977,
+    "position": {
+      "x": 0.045941520996888335,
+      "y": 0.05147693268775333,
+      "z": -0.08871003092702603
+    },
+    "orientation": {
+      "x": -0.26557289605153517,
+      "y": 0.8149699311826503,
+      "z": 0.38931329065128073,
+      "w": -0.33723909896869647
+    }
+  },
+  {
+    "timestamp": 1766139579.6390877,
+    "position": {
+      "x": 0.04832377216632658,
+      "y": 0.05398323377423567,
+      "z": -0.08745861938088623
+    },
+    "orientation": {
+      "x": -0.26972480420687617,
+      "y": 0.8139203290415598,
+      "z": 0.3920221834731828,
+      "w": -0.3333179197603387
+    }
+  },
+  {
+    "timestamp": 1766139579.7717779,
+    "position": {
+      "x": 0.05133157817487402,
+      "y": 0.05598029712205818,
+      "z": -0.08425627193527835
+    },
+    "orientation": {
+      "x": -0.2771774220993976,
+      "y": 0.8160285385504074,
+      "z": 0.38744399736570284,
+      "w": -0.32734881984651204
+    }
+  },
+  {
+    "timestamp": 1766139579.9044678,
+    "position": {
+      "x": 0.05116538288409461,
+      "y": 0.05459475104556091,
+      "z": -0.08374997428462022
+    },
+    "orientation": {
+      "x": -0.2754645831726676,
+      "y": 0.8190989772021758,
+      "z": 0.3814915279165719,
+      "w": -0.32811635602593375
+    }
+  },
+  {
+    "timestamp": 1766139580.0371578,
+    "position": {
+      "x": 0.05224067247213182,
+      "y": 0.05160537654221825,
+      "z": -0.08322467845310388
+    },
+    "orientation": {
+      "x": -0.27066559179994654,
+      "y": 0.8214427307596415,
+      "z": 0.3840739274393004,
+      "w": -0.32320147858430154
+    }
+  },
+  {
+    "timestamp": 1766139580.1698477,
+    "position": {
+      "x": 0.05453803260145462,
+      "y": 0.04495094414526926,
+      "z": -0.08120296202884325
+    },
+    "orientation": {
+      "x": -0.26196842184610464,
+      "y": 0.8301618642280842,
+      "z": 0.3793267047687273,
+      "w": -0.31355234999296633
+    }
+  },
+  {
+    "timestamp": 1766139580.3025377,
+    "position": {
+      "x": 0.055016928051415614,
+      "y": 0.042051624056635095,
+      "z": -0.08078004167591935
+    },
+    "orientation": {
+      "x": -0.2582354436832136,
+      "y": 0.8338685261962644,
+      "z": 0.3746093399112481,
+      "w": -0.3124829260875906
+    }
+  },
+  {
+    "timestamp": 1766139580.4352279,
+    "position": {
+      "x": 0.05320238498025828,
+      "y": 0.04093747044452693,
+      "z": -0.08119664398880302
+    },
+    "orientation": {
+      "x": -0.2565628739373728,
+      "y": 0.8347012336003169,
+      "z": 0.37124238305155627,
+      "w": -0.31563972400397666
+    }
+  },
+  {
+    "timestamp": 1766139580.5679188,
+    "position": {
+      "x": 0.05099220390453582,
+      "y": 0.0404571550940519,
+      "z": -0.08377189259506465
+    },
+    "orientation": {
+      "x": -0.2530953116387599,
+      "y": 0.8336006754532712,
+      "z": 0.3701686085727939,
+      "w": -0.32253353056327444
+    }
+  },
+  {
+    "timestamp": 1766139580.7006087,
+    "position": {
+      "x": 0.05154434195382829,
+      "y": 0.040809288298370716,
+      "z": -0.08422730505776169
+    },
+    "orientation": {
+      "x": -0.25374373790158056,
+      "y": 0.8320618607193504,
+      "z": 0.3739149305668432,
+      "w": -0.32167499142951606
+    }
+  },
+  {
+    "timestamp": 1766139580.8332987,
+    "position": {
+      "x": 0.052464514390499456,
+      "y": 0.041312829291725875,
+      "z": -0.08365612114976015
+    },
+    "orientation": {
+      "x": -0.25686503059276505,
+      "y": 0.8356352539210449,
+      "z": 0.36418174239329837,
+      "w": -0.32110082056928796
+    }
+  },
+  {
+    "timestamp": 1766139580.9659889,
+    "position": {
+      "x": 0.05030820907568015,
+      "y": 0.043913193717514454,
+      "z": -0.0846334107894815
+    },
+    "orientation": {
+      "x": -0.2634736044119445,
+      "y": 0.833977241154491,
+      "z": 0.35552183984813485,
+      "w": -0.3296480583979214
+    }
+  }
+]
\ No newline at end of file
diff --git a/recorded_gelsight_pose/episode_25/session_info.json b/recorded_gelsight_pose/episode_25/session_info.json
new file mode 100644
index 0000000000000000000000000000000000000000..2c159a1e6af233dbab7ed4cabbf7d709d215e6c1
--- /dev/null
+++ b/recorded_gelsight_pose/episode_25/session_info.json
@@ -0,0 +1,12 @@
+{
+  "session_id": 3,
+  "start_time": "2025-12-19T20:43:36.265969",
+  "ros_start_time": 1766148216.2659883,
+  "image_topic": "/gelsight_img",
+  "pose_topic": "/pose",
+  "image_format": "png",
+  "end_time": "2025-12-19T20:43:40.378081",
+  "ros_end_time": 1766148220.3780892,
+  "total_images": 103,
+  "total_pose_frames": 31
+}
\ No newline at end of file
diff --git a/recorded_gelsight_pose/episode_26/image_index.json b/recorded_gelsight_pose/episode_26/image_index.json
new file mode 100644
index 0000000000000000000000000000000000000000..85280d3bf1ead05759d71adfea50c5a1f81a38ff
--- /dev/null
+++ b/recorded_gelsight_pose/episode_26/image_index.json
@@ -0,0 +1,398 @@
+[
+  {
+    "timestamp": 1766148227.8340254,
+    "filename": "img_000000.png"
+  },
+  {
+    "timestamp": 1766148227.8827963,
+    "filename": "img_000001.png"
+  },
+  {
+    "timestamp": 1766148227.9142315,
+    "filename": "img_000002.png"
+  },
+  {
+    "timestamp": 1766148227.9555264,
+    "filename": "img_000003.png"
+  },
+  {
+    "timestamp": 1766148227.9995406,
+    "filename": "img_000004.png"
+  },
+  {
+    "timestamp": 1766148228.0336313,
+    "filename": "img_000005.png"
+  },
+  {
+    "timestamp": 1766148228.075319,
+    "filename": "img_000006.png"
+  },
+  {
+    "timestamp": 1766148228.115331,
+    "filename": "img_000007.png"
+  },
+  {
+    "timestamp": 1766148228.1544445,
+    "filename": "img_000008.png"
+  },
+  {
+    "timestamp": 1766148228.1926186,
+    "filename": "img_000009.png"
+  },
+  {
+    "timestamp": 1766148228.2337987,
+    "filename": "img_000010.png"
+  },
+  {
+    "timestamp": 1766148228.2735157,
+    "filename": "img_000011.png"
+  },
+  {
+    "timestamp": 1766148228.3154829,
+    "filename": "img_000012.png"
+  },
+  {
+    "timestamp": 1766148228.3557513,
+    "filename": "img_000013.png"
+  },
+  {
+    "timestamp": 1766148228.3934128,
+    "filename": "img_000014.png"
+  },
+  {
+    "timestamp": 1766148228.4352417,
+    "filename": "img_000015.png"
+  },
+  {
+    "timestamp": 1766148228.4767118,
+    "filename": "img_000016.png"
+  },
+  {
+    "timestamp": 1766148228.5150645,
+    "filename": "img_000017.png"
+  },
+  {
+    "timestamp": 1766148228.5547469,
+    "filename": "img_000018.png"
+  },
+  {
+    "timestamp": 1766148228.5944893,
+    "filename": "img_000019.png"
+  },
+  {
+    "timestamp": 1766148228.632424,
+    "filename": "img_000020.png"
+  },
+  {
+    "timestamp": 1766148228.6723232,
+    "filename": "img_000021.png"
+  },
+  {
+    "timestamp": 1766148228.7144601,
+    "filename": "img_000022.png"
+  },
+  {
+    "timestamp": 1766148228.7543197,
+    "filename": "img_000023.png"
+  },
+  {
+    "timestamp": 1766148228.7934904,
+    "filename": "img_000024.png"
+  },
+  {
+    "timestamp": 1766148228.832818,
+    "filename": "img_000025.png"
+  },
+  {
+    "timestamp": 1766148228.8740442,
+    "filename": "img_000026.png"
+  },
+  {
+    "timestamp": 1766148228.9135928,
+    "filename": "img_000027.png"
+  },
+  {
+    "timestamp": 1766148228.9539814,
+    "filename": "img_000028.png"
+  },
+  {
+    "timestamp": 1766148228.9927058,
+    "filename": "img_000029.png"
+  },
+  {
+    "timestamp": 1766148229.0330026,
+    "filename": "img_000030.png"
+  },
+  {
+    "timestamp": 1766148229.0740786,
+    "filename": "img_000031.png"
+  },
+  {
+    "timestamp": 1766148229.1140773,
+    "filename": "img_000032.png"
+  },
+  {
+    "timestamp": 1766148229.1529024,
+    "filename": "img_000033.png"
+  },
+  {
+    "timestamp": 1766148229.193228,
+    "filename": "img_000034.png"
+  },
+  {
+    "timestamp": 1766148229.236017,
+    "filename": "img_000035.png"
+  },
+  {
+    "timestamp": 1766148229.2726786,
+    "filename": "img_000036.png"
+  },
+  {
+    "timestamp": 1766148229.3141127,
+    "filename": "img_000037.png"
+  },
+  {
+    "timestamp": 1766148229.353343,
+    "filename": "img_000038.png"
+  },
+  {
+    "timestamp": 1766148229.393439,
+    "filename": "img_000039.png"
+  },
+  {
+    "timestamp": 1766148229.4329054,
+    "filename": "img_000040.png"
+  },
+  {
+    "timestamp": 1766148229.4724364,
+    "filename": "img_000041.png"
+  },
+  {
+    "timestamp": 1766148229.513848,
+    "filename": "img_000042.png"
+  },
+  {
+    "timestamp": 1766148229.5539498,
+    "filename": "img_000043.png"
+  },
+  {
+    "timestamp": 1766148229.5930228,
+    "filename": "img_000044.png"
+  },
+  {
+    "timestamp": 1766148229.6320384,
+    "filename": "img_000045.png"
+  },
+  {
+    "timestamp": 1766148229.673619,
+    "filename": "img_000046.png"
+  },
+  {
+    "timestamp": 1766148229.717407,
+    "filename": "img_000047.png"
+  },
+  {
+    "timestamp": 1766148229.7531612,
+    "filename": "img_000048.png"
+  },
+  {
+    "timestamp": 1766148229.7927485,
+    "filename": "img_000049.png"
+  },
+  {
+    "timestamp": 1766148229.8339598,
+    "filename": "img_000050.png"
+  },
+  {
+    "timestamp": 1766148229.8758914,
+    "filename": "img_000051.png"
+  },
+  {
+    "timestamp": 1766148229.9153807,
+    "filename": "img_000052.png"
+  },
+  {
+    "timestamp": 1766148229.9537516,
+    "filename": "img_000053.png"
+  },
+  {
+    "timestamp": 1766148229.9937925,
+    "filename": "img_000054.png"
+  },
+  {
+    "timestamp": 1766148230.0344172,
+    "filename": "img_000055.png"
+  },
+  {
+    "timestamp": 1766148230.0741646,
+    "filename": "img_000056.png"
+  },
+  {
+    "timestamp": 1766148230.1148021,
+    "filename": "img_000057.png"
+  },
+  {
+    "timestamp": 1766148230.1530306,
+    "filename": "img_000058.png"
+  },
+  {
+    "timestamp": 1766148230.1932619,
+    "filename": "img_000059.png"
+  },
+  {
+    "timestamp": 1766148230.232887,
+    "filename": "img_000060.png"
+  },
+  {
+    "timestamp": 1766148230.2722657,
+    "filename": "img_000061.png"
+  },
+  {
+    "timestamp": 1766148230.3141606,
+    "filename": "img_000062.png"
+  },
+  {
+    "timestamp": 1766148230.3538518,
+    "filename": "img_000063.png"
+  },
+  {
+    "timestamp": 1766148230.3932364,
+    "filename": "img_000064.png"
+  },
+  {
+    "timestamp": 1766148230.4322093,
+    "filename": "img_000065.png"
+  },
+  {
+    "timestamp": 1766148230.4738638,
+    "filename": "img_000066.png"
+  },
+  {
+    "timestamp": 1766148230.5150368,
+    "filename": "img_000067.png"
+  },
+  {
+    "timestamp": 1766148230.5533068,
+    "filename": "img_000068.png"
+  },
+  {
+    "timestamp": 1766148230.592589,
+    "filename": "img_000069.png"
+  },
+  {
+    "timestamp": 1766148230.6332538,
+    "filename": "img_000070.png"
+  },
+  {
+    "timestamp": 1766148230.673422,
+    "filename": "img_000071.png"
+  },
+  {
+    "timestamp": 1766148230.7147675,
+    "filename": "img_000072.png"
+  },
+  {
+    "timestamp": 1766148230.7529585,
+    "filename": "img_000073.png"
+  },
+  {
+    "timestamp": 1766148230.7925751,
+    "filename": "img_000074.png"
+  },
+  {
+    "timestamp": 1766148230.8342323,
+    "filename": "img_000075.png"
+  },
+  {
+    "timestamp": 1766148230.8724525,
+    "filename": "img_000076.png"
+  },
+  {
+    "timestamp": 1766148230.9134865,
+    "filename": "img_000077.png"
+  },
+  {
+    "timestamp": 1766148230.952727,
+    "filename": "img_000078.png"
+  },
+  {
+    "timestamp": 1766148230.9934278,
+    "filename": "img_000079.png"
+  },
+  {
+    "timestamp": 1766148231.0326703,
+    "filename": "img_000080.png"
+  },
+  {
+    "timestamp": 1766148231.0720744,
+    "filename": "img_000081.png"
+  },
+  {
+    "timestamp": 1766148231.1138847,
+    "filename": "img_000082.png"
+  },
+  {
+    "timestamp": 1766148231.1540563,
+    "filename": "img_000083.png"
+  },
+  {
+    "timestamp": 1766148231.1936421,
+    "filename": "img_000084.png"
+  },
+  {
+    "timestamp": 1766148231.231636,
+    "filename": "img_000085.png"
+  },
+  {
+    "timestamp": 1766148231.2724164,
+    "filename": "img_000086.png"
+  },
+  {
+    "timestamp": 1766148231.3153427,
+    "filename": "img_000087.png"
+  },
+  {
+    "timestamp": 1766148231.3532224,
+    "filename": "img_000088.png"
+  },
+  {
+    "timestamp": 1766148231.3952775,
+    "filename": "img_000089.png"
+  },
+  {
+    "timestamp": 1766148231.4333313,
+    "filename": "img_000090.png"
+  },
+  {
+    "timestamp": 1766148231.4739695,
+    "filename": "img_000091.png"
+  },
+  {
+    "timestamp": 1766148231.5149279,
+    "filename": "img_000092.png"
+  },
+  {
+    "timestamp": 1766148231.552817,
+    "filename": "img_000093.png"
+  },
+  {
+    "timestamp": 1766148231.5940773,
+    "filename": "img_000094.png"
+  },
+  {
+    "timestamp": 1766148231.6346066,
+    "filename": "img_000095.png"
+  },
+  {
+    "timestamp": 1766148231.672864,
+    "filename": "img_000096.png"
+  },
+  {
+    "timestamp": 1766148231.7145216,
+    "filename": "img_000097.png"
+  },
+  {
+    "timestamp": 1766148231.7530346,
+    "filename": "img_000098.png"
+  }
+]
\ No newline at end of file
diff --git a/recorded_gelsight_pose/episode_26/pose_data.json b/recorded_gelsight_pose/episode_26/pose_data.json
new file mode 100644
index 0000000000000000000000000000000000000000..dea9bcc82550e97a069b5ea162a738899174a84b
--- /dev/null
+++ b/recorded_gelsight_pose/episode_26/pose_data.json
@@ -0,0 +1,408 @@
+[
+  {
+    "timestamp": 1766139588.6288428,
+    "position": {
+      "x": 0.05235742515606817,
+      "y": 0.0377064661827058,
+      "z": -0.07669975000042517
+    },
+    "orientation": {
+      "x": -0.2814188566734132,
+      "y": 0.8686810442737742,
+      "z": 0.2270153739276142,
+      "w": -0.3386158449165657
+    }
+  },
+  {
+    "timestamp": 1766139588.7615328,
+    "position": {
+      "x": 0.05249520575727645,
+      "y": 0.03766730255393792,
+      "z": -0.07659000191551137
+    },
+    "orientation": {
+      "x": -0.2827547222100573,
+      "y": 0.8690777850968442,
+      "z": 0.2243484552287427,
+      "w": -0.338262237259132
+    }
+  },
+  {
+    "timestamp": 1766139588.8942227,
+    "position": {
+      "x": 0.05309876244234504,
+      "y": 0.03742528987172683,
+      "z": -0.07620599520445236
+    },
+    "orientation": {
+      "x": -0.28434513714831305,
+      "y": 0.8706839295407758,
+      "z": 0.21503991454263516,
+      "w": -0.33884387698914714
+    }
+  },
+  {
+    "timestamp": 1766139589.0269127,
+    "position": {
+      "x": 0.05348922956953611,
+      "y": 0.037161242524337806,
+      "z": -0.07582778566458825
+    },
+    "orientation": {
+      "x": -0.28540188653188225,
+      "y": 0.8721522402090727,
+      "z": 0.20570541019878655,
+      "w": -0.33997281843889726
+    }
+  },
+  {
+    "timestamp": 1766139589.1596029,
+    "position": {
+      "x": 0.054155018360385776,
+      "y": 0.03640837501944488,
+      "z": -0.07496327556664362
+    },
+    "orientation": {
+      "x": -0.28609298828516744,
+      "y": 0.8755687820197832,
+      "z": 0.18857497221641825,
+      "w": -0.3405430807695755
+    }
+  },
+  {
+    "timestamp": 1766139589.2922928,
+    "position": {
+      "x": 0.05456566169036883,
+      "y": 0.03541591754722673,
+      "z": -0.07372765920874895
+    },
+    "orientation": {
+      "x": -0.28890502851729705,
+      "y": 0.8785822898516745,
+      "z": 0.16738022157644622,
+      "w": -0.3414833903448711
+    }
+  },
+  {
+    "timestamp": 1766139589.4249828,
+    "position": {
+      "x": 0.05482851288761731,
+      "y": 0.03472110575044591,
+      "z": -0.0728702846973159
+    },
+    "orientation": {
+      "x": -0.28928353938417956,
+      "y": 0.8809733232819117,
+      "z": 0.15201989474017233,
+      "w": -0.3421856062288026
+    }
+  },
+  {
+    "timestamp": 1766139589.5576727,
+    "position": {
+      "x": 0.05540672952430439,
+      "y": 0.03428271879361951,
+      "z": -0.07225217448361745
+    },
+    "orientation": {
+      "x": -0.2896529356996103,
+      "y": 0.8825425064257191,
+      "z": 0.13933344570373732,
+      "w": -0.343228920839621
+    }
+  },
+  {
+    "timestamp": 1766139589.6903627,
+    "position": {
+      "x": 0.056266364772237204,
+      "y": 0.03395978459857269,
+      "z": -0.07106453837554859
+    },
+    "orientation": {
+      "x": -0.29262062173834646,
+      "y": 0.8846650278776665,
+      "z": 0.11833166829171855,
+      "w": -0.3431305530887185
+    }
+  },
+  {
+    "timestamp": 1766139589.8230538,
+    "position": {
+      "x": 0.055716541601353864,
+      "y": 0.03262416533825803,
+      "z": -0.06889147602484001
+    },
+    "orientation": {
+      "x": -0.2932567653795828,
+      "y": 0.8877743739609516,
+      "z": 0.09463272846128896,
+      "w": -0.34190901889437875
+    }
+  },
+  {
+    "timestamp": 1766139589.9557438,
+    "position": {
+      "x": 0.05744409708013676,
+      "y": 0.032349254372788544,
+      "z": -0.06840543879651054
+    },
+    "orientation": {
+      "x": -0.2941054509938203,
+      "y": 0.8883564682310813,
+      "z": 0.0741879366547192,
+      "w": -0.34470410369277094
+    }
+  },
+  {
+    "timestamp": 1766139590.0884337,
+    "position": {
+      "x": 0.05762187061761728,
+      "y": 0.031793821097657174,
+      "z": -0.06701889377429321
+    },
+    "orientation": {
+      "x": -0.2967768573785756,
+      "y": 0.8892219808269041,
+      "z": 0.055225916647051,
+      "w": -0.34374098369159667
+    }
+  },
+  {
+    "timestamp": 1766139590.2211237,
+    "position": {
+      "x": 0.05852522405038374,
+      "y": 0.03162454133457859,
+      "z": -0.06594018585210892
+    },
+    "orientation": {
+      "x": -0.2974362853584838,
+      "y": 0.8893561007033848,
+      "z": 0.03420642903309379,
+      "w": -0.34555361741214835
+    }
+  },
+  {
+    "timestamp": 1766139590.353814,
+    "position": {
+      "x": 0.059919192148602474,
+      "y": 0.03138217952026452,
+      "z": -0.06500691540012216
+    },
+    "orientation": {
+      "x": -0.2983748207997467,
+      "y": 0.8898165731136635,
+      "z": 0.01481010975889166,
+      "w": -0.34493418672828724
+    }
+  },
+  {
+    "timestamp": 1766139590.4865038,
+    "position": {
+      "x": 0.0606771926827242,
+      "y": 0.03088499072690365,
+      "z": -0.06363300781270725
+    },
+    "orientation": {
+      "x": -0.2983071514553334,
+      "y": 0.8904770437677608,
+      "z": -0.006060958120271078,
+      "w": -0.3435502040457818
+    }
+  },
+  {
+    "timestamp": 1766139590.6191938,
+    "position": {
+      "x": 0.06082950538859211,
+      "y": 0.030400684663927008,
+      "z": -0.06189998372562269
+    },
+    "orientation": {
+      "x": -0.29915048780916753,
+      "y": 0.8896967550582604,
+      "z": -0.029832953052942552,
+      "w": -0.3435966597545436
+    }
+  },
+  {
+    "timestamp": 1766139590.7518837,
+    "position": {
+      "x": 0.06227596404825894,
+      "y": 0.030461433738869163,
+      "z": -0.06109060839328029
+    },
+    "orientation": {
+      "x": -0.29981662617463656,
+      "y": 0.8879834891882468,
+      "z": -0.05096498686876914,
+      "w": -0.34496069879305286
+    }
+  },
+  {
+    "timestamp": 1766139590.8845737,
+    "position": {
+      "x": 0.06275321107930343,
+      "y": 0.029867333957740105,
+      "z": -0.05931465902605039
+    },
+    "orientation": {
+      "x": -0.29893353386395816,
+      "y": 0.8885257839563079,
+      "z": -0.07093491102509823,
+      "w": -0.34077692406366933
+    }
+  },
+  {
+    "timestamp": 1766139591.0172648,
+    "position": {
+      "x": 0.06380445399038132,
+      "y": 0.02989570893535258,
+      "z": -0.058433865672118473
+    },
+    "orientation": {
+      "x": -0.2990683621962942,
+      "y": 0.8866153643681465,
+      "z": -0.08918709431653937,
+      "w": -0.3413458255302643
+    }
+  },
+  {
+    "timestamp": 1766139591.1499548,
+    "position": {
+      "x": 0.06344594552031546,
+      "y": 0.029621223971091168,
+      "z": -0.05644380739645234
+    },
+    "orientation": {
+      "x": -0.30068792247368653,
+      "y": 0.8842391383707427,
+      "z": -0.1110884786987701,
+      "w": -0.33965757661535756
+    }
+  },
+  {
+    "timestamp": 1766139591.2826447,
+    "position": {
+      "x": 0.06411390924211119,
+      "y": 0.029681340229989195,
+      "z": -0.05533187268895616
+    },
+    "orientation": {
+      "x": -0.2997141971134553,
+      "y": 0.8823787889106991,
+      "z": -0.1278953740284943,
+      "w": -0.3394434359819561
+    }
+  },
+  {
+    "timestamp": 1766139591.4153347,
+    "position": {
+      "x": 0.06486129829196297,
+      "y": 0.029812536598130136,
+      "z": -0.054182802972079516
+    },
+    "orientation": {
+      "x": -0.29981237513890374,
+      "y": 0.880532603777416,
+      "z": -0.1451707597239811,
+      "w": -0.33719478631748645
+    }
+  },
+  {
+    "timestamp": 1766139591.548025,
+    "position": {
+      "x": 0.0651925993762539,
+      "y": 0.02944904430775421,
+      "z": -0.053120651265819746
+    },
+    "orientation": {
+      "x": -0.2988352091292208,
+      "y": 0.8784419407340254,
+      "z": -0.16002394046247304,
+      "w": -0.33679313090233404
+    }
+  },
+  {
+    "timestamp": 1766139591.6807148,
+    "position": {
+      "x": 0.06633453670643963,
+      "y": 0.029637601349253424,
+      "z": -0.05212872784351323
+    },
+    "orientation": {
+      "x": -0.2989305508182635,
+      "y": 0.8756614721474513,
+      "z": -0.17768590100079898,
+      "w": -0.3350898872982923
+    }
+  },
+  {
+    "timestamp": 1766139591.8134048,
+    "position": {
+      "x": 0.06721212804795315,
+      "y": 0.02975649264742726,
+      "z": -0.05182966907969992
+    },
+    "orientation": {
+      "x": -0.2974250464225046,
+      "y": 0.8736832173888248,
+      "z": -0.18766354711635205,
+      "w": -0.33615230253174094
+    }
+  },
+  {
+    "timestamp": 1766139591.9460948,
+    "position": {
+      "x": 0.06707478752955595,
+      "y": 0.02973207005130514,
+      "z": -0.052974013784651386
+    },
+    "orientation": {
+      "x": -0.29706279762887655,
+      "y": 0.8764783144445568,
+      "z": -0.17268710101816465,
+      "w": -0.33722192057349404
+    }
+  },
+  {
+    "timestamp": 1766139592.0787847,
+    "position": {
+      "x": 0.06552512819424192,
+      "y": 0.029585420547293323,
+      "z": -0.054023206047875943
+    },
+    "orientation": {
+      "x": -0.29876655080940834,
+      "y": 0.8804015235213406,
+      "z": -0.1484822889771352,
+      "w": -0.33702331574961086
+    }
+  },
+  {
+    "timestamp": 1766139592.2114758,
+    "position": {
+      "x": 0.06413134386925093,
+      "y": 0.02971084946279262,
+      "z": -0.05576785545610395
+    },
+    "orientation": {
+      "x": -0.29956140948359367,
+      "y": 0.8844250433901392,
+      "z": -0.118201262270478,
+      "w": -0.33776288453620656
+    }
+  },
+  {
+    "timestamp": 1766139592.3441658,
+    "position": {
+      "x": 0.06300414090193132,
+      "y": 0.029533580181459976,
+      "z": -0.0575133018394358
+    },
+    "orientation": {
+      "x": -0.2995615062448549,
+      "y": 0.8867290017881884,
+      "z": -0.09133441010760648,
+      "w": -0.34004794793430615
+    }
+  }
+]
\ No newline at end of file
diff --git a/recorded_gelsight_pose/episode_26/session_info.json b/recorded_gelsight_pose/episode_26/session_info.json
new file mode 100644
index 0000000000000000000000000000000000000000..1498cf34590f4fd431b9f2653c862de2fe60b041
--- /dev/null
+++ b/recorded_gelsight_pose/episode_26/session_info.json
@@ -0,0 +1,12 @@
+{
+  "session_id": 4,
+  "start_time": "2025-12-19T20:43:47.832385",
+  "ros_start_time": 1766148227.832407,
+  "image_topic": "/gelsight_img",
+  "pose_topic": "/pose",
+  "image_format": "png",
+  "end_time": "2025-12-19T20:43:51.774676",
+  "ros_end_time": 1766148231.7746859,
+  "total_images": 99,
+  "total_pose_frames": 29
+}
\ No newline at end of file
diff --git a/recorded_gelsight_pose/episode_3/image_index.json b/recorded_gelsight_pose/episode_3/image_index.json
new file mode 100644
index 0000000000000000000000000000000000000000..75f4e5f1c4d775b7b523e5cd2357081d6e3c455c
--- /dev/null
+++ b/recorded_gelsight_pose/episode_3/image_index.json
@@ -0,0 +1,426 @@
+[
+  {
+    "timestamp": 1766147867.0643644,
+    "filename": "img_000000.png"
+  },
+  {
+    "timestamp": 1766147867.1060376,
+    "filename": "img_000001.png"
+  },
+  {
+    "timestamp": 1766147867.1436596,
+    "filename": "img_000002.png"
+  },
+  {
+    "timestamp": 1766147867.1828527,
+    "filename": "img_000003.png"
+  },
+  {
+    "timestamp": 1766147867.224419,
+    "filename": "img_000004.png"
+  },
+  {
+    "timestamp": 1766147867.2626863,
+    "filename": "img_000005.png"
+  },
+  {
+    "timestamp": 1766147867.3016443,
+    "filename": "img_000006.png"
+  },
+  {
+    "timestamp": 1766147867.3458333,
+    "filename": "img_000007.png"
+  },
+  {
+    "timestamp": 1766147867.382096,
+    "filename": "img_000008.png"
+  },
+  {
+    "timestamp": 1766147867.4232397,
+    "filename": "img_000009.png"
+  },
+  {
+    "timestamp": 1766147867.4628413,
+    "filename": "img_000010.png"
+  },
+  {
+    "timestamp": 1766147867.5032513,
+    "filename": "img_000011.png"
+  },
+  {
+    "timestamp": 1766147867.5488274,
+    "filename": "img_000012.png"
+  },
+  {
+    "timestamp": 1766147867.586822,
+    "filename": "img_000013.png"
+  },
+  {
+    "timestamp": 1766147867.6235645,
+    "filename": "img_000014.png"
+  },
+  {
+    "timestamp": 1766147867.664198,
+    "filename": "img_000015.png"
+  },
+  {
+    "timestamp": 1766147867.7063005,
+    "filename": "img_000016.png"
+  },
+  {
+    "timestamp": 1766147867.7449849,
+    "filename": "img_000017.png"
+  },
+  {
+    "timestamp": 1766147867.7842808,
+    "filename": "img_000018.png"
+  },
+  {
+    "timestamp": 1766147867.8262432,
+    "filename": "img_000019.png"
+  },
+  {
+    "timestamp": 1766147867.864852,
+    "filename": "img_000020.png"
+  },
+  {
+    "timestamp": 1766147867.9020934,
+    "filename": "img_000021.png"
+  },
+  {
+    "timestamp": 1766147867.942322,
+    "filename": "img_000022.png"
+  },
+  {
+    "timestamp": 1766147867.981934,
+    "filename": "img_000023.png"
+  },
+  {
+    "timestamp": 1766147868.023708,
+    "filename": "img_000024.png"
+  },
+  {
+    "timestamp": 1766147868.0640059,
+    "filename": "img_000025.png"
+  },
+  {
+    "timestamp": 1766147868.1010463,
+    "filename": "img_000026.png"
+  },
+  {
+    "timestamp": 1766147868.1440072,
+    "filename": "img_000027.png"
+  },
+  {
+    "timestamp": 1766147868.1846356,
+    "filename": "img_000028.png"
+  },
+  {
+    "timestamp": 1766147868.2242455,
+    "filename": "img_000029.png"
+  },
+  {
+    "timestamp": 1766147868.2647674,
+    "filename": "img_000030.png"
+  },
+  {
+    "timestamp": 1766147868.3044176,
+    "filename": "img_000031.png"
+  },
+  {
+    "timestamp": 1766147868.3436854,
+    "filename": "img_000032.png"
+  },
+  {
+    "timestamp": 1766147868.3839698,
+    "filename": "img_000033.png"
+  },
+  {
+    "timestamp": 1766147868.422482,
+    "filename": "img_000034.png"
+  },
+  {
+    "timestamp": 1766147868.463294,
+    "filename": "img_000035.png"
+  },
+  {
+    "timestamp": 1766147868.5072315,
+    "filename": "img_000036.png"
+  },
+  {
+    "timestamp": 1766147868.5432482,
+    "filename": "img_000037.png"
+  },
+  {
+    "timestamp": 1766147868.5819223,
+    "filename": "img_000038.png"
+  },
+  {
+    "timestamp": 1766147868.6239464,
+    "filename": "img_000039.png"
+  },
+  {
+    "timestamp": 1766147868.6650875,
+    "filename": "img_000040.png"
+  },
+  {
+    "timestamp": 1766147868.7018638,
+    "filename": "img_000041.png"
+  },
+  {
+    "timestamp": 1766147868.742786,
+    "filename": "img_000042.png"
+  },
+  {
+    "timestamp": 1766147868.7835598,
+    "filename": "img_000043.png"
+  },
+  {
+    "timestamp": 1766147868.8244278,
+    "filename": "img_000044.png"
+  },
+  {
+    "timestamp": 1766147868.8625243,
+    "filename": "img_000045.png"
+  },
+  {
+    "timestamp": 1766147868.9013305,
+    "filename": "img_000046.png"
+  },
+  {
+    "timestamp": 1766147868.9446247,
+    "filename": "img_000047.png"
+  },
+  {
+    "timestamp": 1766147868.9829068,
+    "filename": "img_000048.png"
+  },
+  {
+    "timestamp": 1766147869.0237188,
+    "filename": "img_000049.png"
+  },
+  {
+    "timestamp": 1766147869.0632465,
+    "filename": "img_000050.png"
+  },
+  {
+    "timestamp": 1766147869.1019378,
+    "filename": "img_000051.png"
+  },
+  {
+    "timestamp": 1766147869.143327,
+    "filename": "img_000052.png"
+  },
+  {
+    "timestamp": 1766147869.1817863,
+    "filename": "img_000053.png"
+  },
+  {
+    "timestamp": 1766147869.2237482,
+    "filename": "img_000054.png"
+  },
+  {
+    "timestamp": 1766147869.2632847,
+    "filename": "img_000055.png"
+  },
+  {
+    "timestamp": 1766147869.302846,
+    "filename": "img_000056.png"
+  },
+  {
+    "timestamp": 1766147869.3423793,
+    "filename": "img_000057.png"
+  },
+  {
+    "timestamp": 1766147869.3815484,
+    "filename": "img_000058.png"
+  },
+  {
+    "timestamp": 1766147869.4240947,
+    "filename": "img_000059.png"
+  },
+  {
+    "timestamp": 1766147869.4641256,
+    "filename": "img_000060.png"
+  },
+  {
+    "timestamp": 1766147869.5019116,
+    "filename": "img_000061.png"
+  },
+  {
+    "timestamp": 1766147869.5453432,
+    "filename": "img_000062.png"
+  },
+  {
+    "timestamp": 1766147869.5825195,
+    "filename": "img_000063.png"
+  },
+  {
+    "timestamp": 1766147869.6244724,
+    "filename": "img_000064.png"
+  },
+  {
+    "timestamp": 1766147869.663381,
+    "filename": "img_000065.png"
+  },
+  {
+    "timestamp": 1766147869.7017293,
+    "filename": "img_000066.png"
+  },
+  {
+    "timestamp": 1766147869.743104,
+    "filename": "img_000067.png"
+  },
+  {
+    "timestamp": 1766147869.7838867,
+    "filename": "img_000068.png"
+  },
+  {
+    "timestamp": 1766147869.8242,
+    "filename": "img_000069.png"
+  },
+  {
+    "timestamp": 1766147869.8627222,
+    "filename": "img_000070.png"
+  },
+  {
+    "timestamp": 1766147869.9042144,
+    "filename": "img_000071.png"
+  },
+  {
+    "timestamp": 1766147869.9443314,
+    "filename": "img_000072.png"
+  },
+  {
+    "timestamp": 1766147869.9824307,
+    "filename": "img_000073.png"
+  },
+  {
+    "timestamp": 1766147870.024696,
+    "filename": "img_000074.png"
+  },
+  {
+    "timestamp": 1766147870.0645242,
+    "filename": "img_000075.png"
+  },
+  {
+    "timestamp": 1766147870.1036537,
+    "filename": "img_000076.png"
+  },
+  {
+    "timestamp": 1766147870.1446261,
+    "filename": "img_000077.png"
+  },
+  {
+    "timestamp": 1766147870.1840754,
+    "filename": "img_000078.png"
+  },
+  {
+    "timestamp": 1766147870.2265403,
+    "filename": "img_000079.png"
+  },
+  {
+    "timestamp": 1766147870.2638836,
+    "filename": "img_000080.png"
+  },
+  {
+    "timestamp": 1766147870.3023741,
+    "filename": "img_000081.png"
+  },
+  {
+    "timestamp": 1766147870.3435292,
+    "filename": "img_000082.png"
+  },
+  {
+    "timestamp": 1766147870.3822916,
+    "filename": "img_000083.png"
+  },
+  {
+    "timestamp": 1766147870.4244215,
+    "filename": "img_000084.png"
+  },
+  {
+    "timestamp": 1766147870.4632246,
+    "filename": "img_000085.png"
+  },
+  {
+    "timestamp": 1766147870.502093,
+    "filename": "img_000086.png"
+  },
+  {
+    "timestamp": 1766147870.5424528,
+    "filename": "img_000087.png"
+  },
+  {
+    "timestamp": 1766147870.582856,
+    "filename": "img_000088.png"
+  },
+  {
+    "timestamp": 1766147870.6232984,
+    "filename": "img_000089.png"
+  },
+  {
+    "timestamp": 1766147870.6634564,
+    "filename": "img_000090.png"
+  },
+  {
+    "timestamp": 1766147870.7023263,
+    "filename": "img_000091.png"
+  },
+  {
+    "timestamp": 1766147870.743483,
+    "filename": "img_000092.png"
+  },
+  {
+    "timestamp": 1766147870.782235,
+    "filename": "img_000093.png"
+  },
+  {
+    "timestamp": 1766147870.8232265,
+    "filename": "img_000094.png"
+  },
+  {
+    "timestamp": 1766147870.8631742,
+    "filename": "img_000095.png"
+  },
+  {
+    "timestamp": 1766147870.902983,
+    "filename": "img_000096.png"
+  },
+  {
+    "timestamp": 1766147870.942743,
+    "filename": "img_000097.png"
+  },
+  {
+    "timestamp": 1766147870.9808426,
+    "filename": "img_000098.png"
+  },
+  {
+    "timestamp": 1766147871.02382,
+    "filename": "img_000099.png"
+  },
+  {
+    "timestamp": 1766147871.0708907,
+    "filename": "img_000100.png"
+  },
+  {
+    "timestamp": 1766147871.10455,
+    "filename": "img_000101.png"
+  },
+  {
+    "timestamp": 1766147871.1419432,
+    "filename": "img_000102.png"
+  },
+  {
+    "timestamp": 1766147871.184913,
+    "filename": "img_000103.png"
+  },
+  {
+    "timestamp": 1766147871.2247853,
+    "filename": "img_000104.png"
+  },
+  {
+    "timestamp": 1766147871.2631547,
+    "filename": "img_000105.png"
+  }
+]
\ No newline at end of file
diff --git a/recorded_gelsight_pose/episode_3/pose_data.json b/recorded_gelsight_pose/episode_3/pose_data.json
new file mode 100644
index 0000000000000000000000000000000000000000..b0b60ce98ad813555869f88d7a33e6e7b2678023
--- /dev/null
+++ b/recorded_gelsight_pose/episode_3/pose_data.json
@@ -0,0 +1,436 @@
+[
+  {
+    "timestamp": 1766139229.3040297,
+    "position": {
+      "x": 0.054462700426820804,
+      "y": 0.02639225356289608,
+      "z": -0.06658426989942477
+    },
+    "orientation": {
+      "x": -0.288222904569167,
+      "y": 0.8903559603274236,
+      "z": 0.05843031719371905,
+      "w": -0.34753376702672434
+    }
+  },
+  {
+    "timestamp": 1766139229.4367197,
+    "position": {
+      "x": 0.05021751334400357,
+      "y": 0.027473634934567975,
+      "z": -0.07143296071604907
+    },
+    "orientation": {
+      "x": -0.28051308125973307,
+      "y": 0.8848546021416068,
+      "z": 0.12838036220027796,
+      "w": -0.3490891389205834
+    }
+  },
+  {
+    "timestamp": 1766139229.5694098,
+    "position": {
+      "x": 0.048140035684038546,
+      "y": 0.02959722067780332,
+      "z": -0.07665397589407955
+    },
+    "orientation": {
+      "x": -0.27593472755962595,
+      "y": 0.8769564547064344,
+      "z": 0.17771809140404668,
+      "w": -0.3510323099986944
+    }
+  },
+  {
+    "timestamp": 1766139229.7020998,
+    "position": {
+      "x": 0.04912354135705002,
+      "y": 0.031954384296072405,
+      "z": -0.08207364626409525
+    },
+    "orientation": {
+      "x": -0.27134870678128453,
+      "y": 0.8698467256675063,
+      "z": 0.21159101980583855,
+      "w": -0.35350501200289597
+    }
+  },
+  {
+    "timestamp": 1766139229.8347907,
+    "position": {
+      "x": 0.04772075731551054,
+      "y": 0.03248273526267792,
+      "z": -0.08372716982264572
+    },
+    "orientation": {
+      "x": -0.2681540587913157,
+      "y": 0.8658860672578771,
+      "z": 0.22950594726541446,
+      "w": -0.3544879962033065
+    }
+  },
+  {
+    "timestamp": 1766139229.9674807,
+    "position": {
+      "x": 0.04846316147492147,
+      "y": 0.03257437274576283,
+      "z": -0.08404036302680562
+    },
+    "orientation": {
+      "x": -0.2681995089672058,
+      "y": 0.8657786183410675,
+      "z": 0.22982172802927803,
+      "w": -0.35451146771129793
+    }
+  },
+  {
+    "timestamp": 1766139230.1001709,
+    "position": {
+      "x": 0.048722682387155714,
+      "y": 0.03313391877202605,
+      "z": -0.08311768187946594
+    },
+    "orientation": {
+      "x": -0.27034518061964535,
+      "y": 0.8670902129191198,
+      "z": 0.22580255198760493,
+      "w": -0.3522516905445474
+    }
+  },
+  {
+    "timestamp": 1766139230.2328608,
+    "position": {
+      "x": 0.04972240707903988,
+      "y": 0.03367439630895515,
+      "z": -0.08261785047585293
+    },
+    "orientation": {
+      "x": -0.2724308584299244,
+      "y": 0.8679492338727661,
+      "z": 0.21906960008938645,
+      "w": -0.3527804772255533
+    }
+  },
+  {
+    "timestamp": 1766139230.3655508,
+    "position": {
+      "x": 0.05001329577044311,
+      "y": 0.035386395176197113,
+      "z": -0.0819023150042589
+    },
+    "orientation": {
+      "x": -0.2763944196412582,
+      "y": 0.8670609955584276,
+      "z": 0.2194348816744805,
+      "w": -0.35165279392734367
+    }
+  },
+  {
+    "timestamp": 1766139230.4982407,
+    "position": {
+      "x": 0.05031785438190356,
+      "y": 0.038251794755634894,
+      "z": -0.0797654717225196
+    },
+    "orientation": {
+      "x": -0.28481467269918886,
+      "y": 0.8661543737918171,
+      "z": 0.21585025827394422,
+      "w": -0.349379262377764
+    }
+  },
+  {
+    "timestamp": 1766139230.6309307,
+    "position": {
+      "x": 0.051362475200272095,
+      "y": 0.04212330045809709,
+      "z": -0.07690317985900924
+    },
+    "orientation": {
+      "x": -0.29317726854271914,
+      "y": 0.8661416605295946,
+      "z": 0.21486793817129676,
+      "w": -0.3430415168035534
+    }
+  },
+  {
+    "timestamp": 1766139230.7636209,
+    "position": {
+      "x": 0.053853920832042684,
+      "y": 0.04539379763017383,
+      "z": -0.0755644524673652
+    },
+    "orientation": {
+      "x": -0.29903883507501583,
+      "y": 0.8660130076271663,
+      "z": 0.2109551659108331,
+      "w": -0.34072740381874234
+    }
+  },
+  {
+    "timestamp": 1766139230.8963108,
+    "position": {
+      "x": 0.05505562186873286,
+      "y": 0.0464293455030595,
+      "z": -0.0751128445262747
+    },
+    "orientation": {
+      "x": -0.30290047216911825,
+      "y": 0.8660743098675169,
+      "z": 0.2059086263956087,
+      "w": -0.34024730906078204
+    }
+  },
+  {
+    "timestamp": 1766139231.0290017,
+    "position": {
+      "x": 0.05411637846802381,
+      "y": 0.04557779568537301,
+      "z": -0.07547263805020875
+    },
+    "orientation": {
+      "x": -0.2994169975450358,
+      "y": 0.865981575202505,
+      "z": 0.21010806725606693,
+      "w": -0.3409984942266229
+    }
+  },
+  {
+    "timestamp": 1766139231.1616917,
+    "position": {
+      "x": 0.053382540935355854,
+      "y": 0.044041422042414555,
+      "z": -0.0755215144104216
+    },
+    "orientation": {
+      "x": -0.29758814834693575,
+      "y": 0.8673872491216202,
+      "z": 0.2081941887595134,
+      "w": -0.3401996969302562
+    }
+  },
+  {
+    "timestamp": 1766139231.2943819,
+    "position": {
+      "x": 0.05238608984856025,
+      "y": 0.04164698599358853,
+      "z": -0.07727733591699962
+    },
+    "orientation": {
+      "x": -0.2927192385878754,
+      "y": 0.8670933947682585,
+      "z": 0.20795466542145336,
+      "w": -0.3452815506789247
+    }
+  },
+  {
+    "timestamp": 1766139231.4270718,
+    "position": {
+      "x": 0.0510279786129024,
+      "y": 0.03799900302682298,
+      "z": -0.07947771971850215
+    },
+    "orientation": {
+      "x": -0.28483365277907874,
+      "y": 0.8681485832471353,
+      "z": 0.20813022610087223,
+      "w": -0.34909831943697317
+    }
+  },
+  {
+    "timestamp": 1766139231.5597618,
+    "position": {
+      "x": 0.04934003777257842,
+      "y": 0.03560070928779814,
+      "z": -0.08090502158161053
+    },
+    "orientation": {
+      "x": -0.2783627771111848,
+      "y": 0.8677532587173454,
+      "z": 0.21431666837272279,
+      "w": -0.3515491600928565
+    }
+  },
+  {
+    "timestamp": 1766139231.6924517,
+    "position": {
+      "x": 0.049862607165306494,
+      "y": 0.03518052133075255,
+      "z": -0.0810081573401015
+    },
+    "orientation": {
+      "x": -0.27919878393791386,
+      "y": 0.8687754968049377,
+      "z": 0.20934121359880178,
+      "w": -0.35135940500846785
+    }
+  },
+  {
+    "timestamp": 1766139231.8251417,
+    "position": {
+      "x": 0.05016865213425897,
+      "y": 0.036113417071275154,
+      "z": -0.08064070970389892
+    },
+    "orientation": {
+      "x": -0.2817457500948695,
+      "y": 0.8681983484142483,
+      "z": 0.2093810948023112,
+      "w": -0.3507285520935478
+    }
+  },
+  {
+    "timestamp": 1766139231.9578319,
+    "position": {
+      "x": 0.051103614635809286,
+      "y": 0.037580379149417226,
+      "z": -0.07981137363025556
+    },
+    "orientation": {
+      "x": -0.28622398334959803,
+      "y": 0.8681971487636164,
+      "z": 0.2072261460020063,
+      "w": -0.3483774772389438
+    }
+  },
+  {
+    "timestamp": 1766139232.0905218,
+    "position": {
+      "x": 0.05104053820433113,
+      "y": 0.03988848702586307,
+      "z": -0.07800954120870623
+    },
+    "orientation": {
+      "x": -0.28971936978632845,
+      "y": 0.8676462490526045,
+      "z": 0.20890951067577498,
+      "w": -0.3458460490229238
+    }
+  },
+  {
+    "timestamp": 1766139232.2232127,
+    "position": {
+      "x": 0.054069319938240545,
+      "y": 0.04381955241466878,
+      "z": -0.07684617583257447
+    },
+    "orientation": {
+      "x": -0.2980997269820437,
+      "y": 0.8664015690585147,
+      "z": 0.20600699907163544,
+      "w": -0.34357821560697654
+    }
+  },
+  {
+    "timestamp": 1766139232.3559027,
+    "position": {
+      "x": 0.05502188817694212,
+      "y": 0.046110569847141944,
+      "z": -0.07559950845801011
+    },
+    "orientation": {
+      "x": -0.30198363471758316,
+      "y": 0.86607022360214,
+      "z": 0.20673545087388515,
+      "w": -0.34057114602453886
+    }
+  },
+  {
+    "timestamp": 1766139232.4885929,
+    "position": {
+      "x": 0.055582178900612234,
+      "y": 0.046643388117609874,
+      "z": -0.07593155517381699
+    },
+    "orientation": {
+      "x": -0.30282617570472425,
+      "y": 0.865192787022968,
+      "z": 0.20729155590022819,
+      "w": -0.34171327080454905
+    }
+  },
+  {
+    "timestamp": 1766139232.6212828,
+    "position": {
+      "x": 0.05379881576889242,
+      "y": 0.044738580534065944,
+      "z": -0.07540082563480358
+    },
+    "orientation": {
+      "x": -0.2994065727693341,
+      "y": 0.8673307540344792,
+      "z": 0.20451838106894654,
+      "w": -0.3409769773656868
+    }
+  },
+  {
+    "timestamp": 1766139232.7539728,
+    "position": {
+      "x": 0.052668242047408886,
+      "y": 0.043470939186316115,
+      "z": -0.07589594262462004
+    },
+    "orientation": {
+      "x": -0.2962329695203374,
+      "y": 0.8666298964908413,
+      "z": 0.2087074943158525,
+      "w": -0.342986635444932
+    }
+  },
+  {
+    "timestamp": 1766139232.8866627,
+    "position": {
+      "x": 0.05153337502426672,
+      "y": 0.040753395168394865,
+      "z": -0.077669455319859
+    },
+    "orientation": {
+      "x": -0.28994323284960843,
+      "y": 0.8668733135708558,
+      "z": 0.211671578582567,
+      "w": -0.3459172195247969
+    }
+  },
+  {
+    "timestamp": 1766139233.0193527,
+    "position": {
+      "x": 0.04996561838997271,
+      "y": 0.036719348674742594,
+      "z": -0.0799969889790505
+    },
+    "orientation": {
+      "x": -0.281519753162835,
+      "y": 0.8684329705595532,
+      "z": 0.21132591367160591,
+      "w": -0.34915922218252765
+    }
+  },
+  {
+    "timestamp": 1766139233.1520429,
+    "position": {
+      "x": 0.04946684734711165,
+      "y": 0.03570907434491225,
+      "z": -0.08046227684918444
+    },
+    "orientation": {
+      "x": -0.27963034153334915,
+      "y": 0.8684868870364875,
+      "z": 0.21012870719696577,
+      "w": -0.3512596269874261
+    }
+  },
+  {
+    "timestamp": 1766139233.2847328,
+    "position": {
+      "x": 0.04953053376550168,
+      "y": 0.03563459985309625,
+      "z": -0.08045035457330804
+    },
+    "orientation": {
+      "x": -0.278971144407139,
+      "y": 0.8688769648784772,
+      "z": 0.21005496125686468,
+      "w": -0.3508629842874761
+    }
+  }
+]
\ No newline at end of file
diff --git a/recorded_gelsight_pose/episode_3/session_info.json b/recorded_gelsight_pose/episode_3/session_info.json
new file mode 100644
index 0000000000000000000000000000000000000000..6097506e64e316ccd962b865eeaf2177fe78a988
--- /dev/null
+++ b/recorded_gelsight_pose/episode_3/session_info.json
@@ -0,0 +1,12 @@
+{
+  "session_id": 6,
+  "start_time": "2025-12-19T20:37:47.064434",
+  "ros_start_time": 1766147867.064453,
+  "image_topic": "/gelsight_img",
+  "pose_topic": "/pose",
+  "image_format": "png",
+  "end_time": "2025-12-19T20:37:51.277330",
+  "ros_end_time": 1766147871.2773383,
+  "total_images": 106,
+  "total_pose_frames": 31
+}
\ No newline at end of file
diff --git a/recorded_gelsight_pose/episode_33/image_index.json b/recorded_gelsight_pose/episode_33/image_index.json
new file mode 100644
index 0000000000000000000000000000000000000000..1cff19dcc4d2e86d3f9e87e4a73605bc4f56b80f
--- /dev/null
+++ b/recorded_gelsight_pose/episode_33/image_index.json
@@ -0,0 +1,386 @@
+[
+  {
+    "timestamp": 1766148276.7999005,
+    "filename": "img_000000.png"
+  },
+  {
+    "timestamp": 1766148276.832815,
+    "filename": "img_000001.png"
+  },
+  {
+    "timestamp": 1766148276.8727517,
+    "filename": "img_000002.png"
+  },
+  {
+    "timestamp": 1766148276.9153628,
+    "filename": "img_000003.png"
+  },
+  {
+    "timestamp": 1766148276.953311,
+    "filename": "img_000004.png"
+  },
+  {
+    "timestamp": 1766148276.9921138,
+    "filename": "img_000005.png"
+  },
+  {
+    "timestamp": 1766148277.0315974,
+    "filename": "img_000006.png"
+  },
+  {
+    "timestamp": 1766148277.0731115,
+    "filename": "img_000007.png"
+  },
+  {
+    "timestamp": 1766148277.1137853,
+    "filename": "img_000008.png"
+  },
+  {
+    "timestamp": 1766148277.1519914,
+    "filename": "img_000009.png"
+  },
+  {
+    "timestamp": 1766148277.192159,
+    "filename": "img_000010.png"
+  },
+  {
+    "timestamp": 1766148277.2321403,
+    "filename": "img_000011.png"
+  },
+  {
+    "timestamp": 1766148277.27249,
+    "filename": "img_000012.png"
+  },
+  {
+    "timestamp": 1766148277.313113,
+    "filename": "img_000013.png"
+  },
+  {
+    "timestamp": 1766148277.3531082,
+    "filename": "img_000014.png"
+  },
+  {
+    "timestamp": 1766148277.4030757,
+    "filename": "img_000015.png"
+  },
+  {
+    "timestamp": 1766148277.441016,
+    "filename": "img_000016.png"
+  },
+  {
+    "timestamp": 1766148277.4741464,
+    "filename": "img_000017.png"
+  },
+  {
+    "timestamp": 1766148277.515977,
+    "filename": "img_000018.png"
+  },
+  {
+    "timestamp": 1766148277.5552568,
+    "filename": "img_000019.png"
+  },
+  {
+    "timestamp": 1766148277.5948734,
+    "filename": "img_000020.png"
+  },
+  {
+    "timestamp": 1766148277.632367,
+    "filename": "img_000021.png"
+  },
+  {
+    "timestamp": 1766148277.671216,
+    "filename": "img_000022.png"
+  },
+  {
+    "timestamp": 1766148277.715873,
+    "filename": "img_000023.png"
+  },
+  {
+    "timestamp": 1766148277.7540817,
+    "filename": "img_000024.png"
+  },
+  {
+    "timestamp": 1766148277.7923944,
+    "filename": "img_000025.png"
+  },
+  {
+    "timestamp": 1766148277.8313596,
+    "filename": "img_000026.png"
+  },
+  {
+    "timestamp": 1766148277.8732417,
+    "filename": "img_000027.png"
+  },
+  {
+    "timestamp": 1766148277.918102,
+    "filename": "img_000028.png"
+  },
+  {
+    "timestamp": 1766148277.952412,
+    "filename": "img_000029.png"
+  },
+  {
+    "timestamp": 1766148277.9937518,
+    "filename": "img_000030.png"
+  },
+  {
+    "timestamp": 1766148278.0315683,
+    "filename": "img_000031.png"
+  },
+  {
+    "timestamp": 1766148278.0726602,
+    "filename": "img_000032.png"
+  },
+  {
+    "timestamp": 1766148278.1131535,
+    "filename": "img_000033.png"
+  },
+  {
+    "timestamp": 1766148278.1512842,
+    "filename": "img_000034.png"
+  },
+  {
+    "timestamp": 1766148278.1930406,
+    "filename": "img_000035.png"
+  },
+  {
+    "timestamp": 1766148278.2325425,
+    "filename": "img_000036.png"
+  },
+  {
+    "timestamp": 1766148278.27188,
+    "filename": "img_000037.png"
+  },
+  {
+    "timestamp": 1766148278.3123047,
+    "filename": "img_000038.png"
+  },
+  {
+    "timestamp": 1766148278.352054,
+    "filename": "img_000039.png"
+  },
+  {
+    "timestamp": 1766148278.3936381,
+    "filename": "img_000040.png"
+  },
+  {
+    "timestamp": 1766148278.4315763,
+    "filename": "img_000041.png"
+  },
+  {
+    "timestamp": 1766148278.4716618,
+    "filename": "img_000042.png"
+  },
+  {
+    "timestamp": 1766148278.5126667,
+    "filename": "img_000043.png"
+  },
+  {
+    "timestamp": 1766148278.5526905,
+    "filename": "img_000044.png"
+  },
+  {
+    "timestamp": 1766148278.5910702,
+    "filename": "img_000045.png"
+  },
+  {
+    "timestamp": 1766148278.631124,
+    "filename": "img_000046.png"
+  },
+  {
+    "timestamp": 1766148278.6732187,
+    "filename": "img_000047.png"
+  },
+  {
+    "timestamp": 1766148278.7144911,
+    "filename": "img_000048.png"
+  },
+  {
+    "timestamp": 1766148278.751572,
+    "filename": "img_000049.png"
+  },
+  {
+    "timestamp": 1766148278.792731,
+    "filename": "img_000050.png"
+  },
+  {
+    "timestamp": 1766148278.8317897,
+    "filename": "img_000051.png"
+  },
+  {
+    "timestamp": 1766148278.8728647,
+    "filename": "img_000052.png"
+  },
+  {
+    "timestamp": 1766148278.9122076,
+    "filename": "img_000053.png"
+  },
+  {
+    "timestamp": 1766148278.951428,
+    "filename": "img_000054.png"
+  },
+  {
+    "timestamp": 1766148278.9928594,
+    "filename": "img_000055.png"
+  },
+  {
+    "timestamp": 1766148279.033057,
+    "filename": "img_000056.png"
+  },
+  {
+    "timestamp": 1766148279.0723019,
+    "filename": "img_000057.png"
+  },
+  {
+    "timestamp": 1766148279.1119642,
+    "filename": "img_000058.png"
+  },
+  {
+    "timestamp": 1766148279.1531506,
+    "filename": "img_000059.png"
+  },
+  {
+    "timestamp": 1766148279.1934266,
+    "filename": "img_000060.png"
+  },
+  {
+    "timestamp": 1766148279.2363071,
+    "filename": "img_000061.png"
+  },
+  {
+    "timestamp": 1766148279.2718694,
+    "filename": "img_000062.png"
+  },
+  {
+    "timestamp": 1766148279.3126853,
+    "filename": "img_000063.png"
+  },
+  {
+    "timestamp": 1766148279.3528163,
+    "filename": "img_000064.png"
+  },
+  {
+    "timestamp": 1766148279.3916254,
+    "filename": "img_000065.png"
+  },
+  {
+    "timestamp": 1766148279.4317486,
+    "filename": "img_000066.png"
+  },
+  {
+    "timestamp": 1766148279.4725423,
+    "filename": "img_000067.png"
+  },
+  {
+    "timestamp": 1766148279.5154,
+    "filename": "img_000068.png"
+  },
+  {
+    "timestamp": 1766148279.5537183,
+    "filename": "img_000069.png"
+  },
+  {
+    "timestamp": 1766148279.5914173,
+    "filename": "img_000070.png"
+  },
+  {
+    "timestamp": 1766148279.6328368,
+    "filename": "img_000071.png"
+  },
+  {
+    "timestamp": 1766148279.6734934,
+    "filename": "img_000072.png"
+  },
+  {
+    "timestamp": 1766148279.7132576,
+    "filename": "img_000073.png"
+  },
+  {
+    "timestamp": 1766148279.7520924,
+    "filename": "img_000074.png"
+  },
+  {
+    "timestamp": 1766148279.793855,
+    "filename": "img_000075.png"
+  },
+  {
+    "timestamp": 1766148279.832482,
+    "filename": "img_000076.png"
+  },
+  {
+    "timestamp": 1766148279.8730056,
+    "filename": "img_000077.png"
+  },
+  {
+    "timestamp": 1766148279.9115484,
+    "filename": "img_000078.png"
+  },
+  {
+    "timestamp": 1766148279.9518566,
+    "filename": "img_000079.png"
+  },
+  {
+    "timestamp": 1766148279.9923322,
+    "filename": "img_000080.png"
+  },
+  {
+    "timestamp": 1766148280.0311673,
+    "filename": "img_000081.png"
+  },
+  {
+    "timestamp": 1766148280.0716658,
+    "filename": "img_000082.png"
+  },
+  {
+    "timestamp": 1766148280.1119328,
+    "filename": "img_000083.png"
+  },
+  {
+    "timestamp": 1766148280.1529114,
+    "filename": "img_000084.png"
+  },
+  {
+    "timestamp": 1766148280.192642,
+    "filename": "img_000085.png"
+  },
+  {
+    "timestamp": 1766148280.2324176,
+    "filename": "img_000086.png"
+  },
+  {
+    "timestamp": 1766148280.2745934,
+    "filename": "img_000087.png"
+  },
+  {
+    "timestamp": 1766148280.3145685,
+    "filename": "img_000088.png"
+  },
+  {
+    "timestamp": 1766148280.3519516,
+    "filename": "img_000089.png"
+  },
+  {
+    "timestamp": 1766148280.3924026,
+    "filename": "img_000090.png"
+  },
+  {
+    "timestamp": 1766148280.4332376,
+    "filename": "img_000091.png"
+  },
+  {
+    "timestamp": 1766148280.4739797,
+    "filename": "img_000092.png"
+  },
+  {
+    "timestamp": 1766148280.5124214,
+    "filename": "img_000093.png"
+  },
+  {
+    "timestamp": 1766148280.5521836,
+    "filename": "img_000094.png"
+  },
+  {
+    "timestamp": 1766148280.5930197,
+    "filename": "img_000095.png"
+  }
+]
\ No newline at end of file
diff --git a/recorded_gelsight_pose/episode_33/pose_data.json b/recorded_gelsight_pose/episode_33/pose_data.json
new file mode 100644
index 0000000000000000000000000000000000000000..59641c5a652b5ca961beb97d92857fefb2de6c24
--- /dev/null
+++ b/recorded_gelsight_pose/episode_33/pose_data.json
@@ -0,0 +1,408 @@
+[
+  {
+    "timestamp": 1766139637.2597668,
+    "position": {
+      "x": 0.05512583196981541,
+      "y": 0.04039353514361655,
+      "z": -0.0747204160495906
+    },
+    "orientation": {
+      "x": -0.2940993304853783,
+      "y": 0.8714097919869007,
+      "z": 0.19620863274141087,
+      "w": -0.3400775362695174
+    }
+  },
+  {
+    "timestamp": 1766139637.3924568,
+    "position": {
+      "x": 0.05411627821294804,
+      "y": 0.04034331217828807,
+      "z": -0.07507439085640147
+    },
+    "orientation": {
+      "x": -0.2916062088214515,
+      "y": 0.8703048757956893,
+      "z": 0.20712724223808907,
+      "w": -0.33857576355355656
+    }
+  },
+  {
+    "timestamp": 1766139637.5251467,
+    "position": {
+      "x": 0.05368310185887215,
+      "y": 0.04014884399253787,
+      "z": -0.07508955285933094
+    },
+    "orientation": {
+      "x": -0.2894386313153669,
+      "y": 0.8702083830458566,
+      "z": 0.21101900792921705,
+      "w": -0.33828039711395025
+    }
+  },
+  {
+    "timestamp": 1766139637.6578379,
+    "position": {
+      "x": 0.053527120424851166,
+      "y": 0.03970835629293421,
+      "z": -0.07474111365283484
+    },
+    "orientation": {
+      "x": -0.29044112179474,
+      "y": 0.871166944666628,
+      "z": 0.20425123972332704,
+      "w": -0.3391069748063422
+    }
+  },
+  {
+    "timestamp": 1766139637.7905278,
+    "position": {
+      "x": 0.054573022819966316,
+      "y": 0.03898996304316614,
+      "z": -0.07372276912822676
+    },
+    "orientation": {
+      "x": -0.2933430403758624,
+      "y": 0.8748745011980247,
+      "z": 0.1822909200705589,
+      "w": -0.3395798702461347
+    }
+  },
+  {
+    "timestamp": 1766139637.9232178,
+    "position": {
+      "x": 0.055239673320846366,
+      "y": 0.03736832629568283,
+      "z": -0.0712889582019512
+    },
+    "orientation": {
+      "x": -0.2956746962873482,
+      "y": 0.8809419119758245,
+      "z": 0.1439917595362118,
+      "w": -0.3402707670156648
+    }
+  },
+  {
+    "timestamp": 1766139638.0559077,
+    "position": {
+      "x": 0.05728694443090049,
+      "y": 0.03641877154816017,
+      "z": -0.06957634918499658
+    },
+    "orientation": {
+      "x": -0.2993348979991828,
+      "y": 0.8843626172361874,
+      "z": 0.10709621340799522,
+      "w": -0.34180664292644863
+    }
+  },
+  {
+    "timestamp": 1766139638.1885977,
+    "position": {
+      "x": 0.05782296574691881,
+      "y": 0.035140703382498015,
+      "z": -0.067707312771777
+    },
+    "orientation": {
+      "x": -0.3001027479393217,
+      "y": 0.8872028348562692,
+      "z": 0.07807479526818122,
+      "w": -0.34163401008403566
+    }
+  },
+  {
+    "timestamp": 1766139638.3212879,
+    "position": {
+      "x": 0.05884590040245302,
+      "y": 0.034447418210338705,
+      "z": -0.06615569338710126
+    },
+    "orientation": {
+      "x": -0.3013264604827726,
+      "y": 0.888315722000917,
+      "z": 0.049297405445275805,
+      "w": -0.3430266871181854
+    }
+  },
+  {
+    "timestamp": 1766139638.4539778,
+    "position": {
+      "x": 0.0601770120349395,
+      "y": 0.03400270548353199,
+      "z": -0.06482780884685749
+    },
+    "orientation": {
+      "x": -0.30160523304241715,
+      "y": 0.889048106666653,
+      "z": 0.021523102848044498,
+      "w": -0.3437506414214542
+    }
+  },
+  {
+    "timestamp": 1766139638.5866678,
+    "position": {
+      "x": 0.05986988832133014,
+      "y": 0.03331019366689209,
+      "z": -0.06294109353290935
+    },
+    "orientation": {
+      "x": -0.30245033820629064,
+      "y": 0.8898971267938813,
+      "z": 0.0002320575596067717,
+      "w": -0.34147744111754136
+    }
+  },
+  {
+    "timestamp": 1766139638.7193577,
+    "position": {
+      "x": 0.061469378927393986,
+      "y": 0.0330793572523178,
+      "z": -0.06082722367934722
+    },
+    "orientation": {
+      "x": -0.3053980801632288,
+      "y": 0.887795723631905,
+      "z": -0.03833108603839059,
+      "w": -0.34217173111850363
+    }
+  },
+  {
+    "timestamp": 1766139638.8520489,
+    "position": {
+      "x": 0.06269726514277063,
+      "y": 0.03294058546166542,
+      "z": -0.05842443391386966
+    },
+    "orientation": {
+      "x": -0.3059204796897626,
+      "y": 0.8862121011232557,
+      "z": -0.07389672501164207,
+      "w": -0.3399706545595423
+    }
+  },
+  {
+    "timestamp": 1766139638.9847388,
+    "position": {
+      "x": 0.06329386371278539,
+      "y": 0.032932954110627057,
+      "z": -0.056390757438335326
+    },
+    "orientation": {
+      "x": -0.3066670395541584,
+      "y": 0.8837738491311778,
+      "z": -0.10269713395099414,
+      "w": -0.33816033049605637
+    }
+  },
+  {
+    "timestamp": 1766139639.1174288,
+    "position": {
+      "x": 0.06420759741080531,
+      "y": 0.03317105523171149,
+      "z": -0.055218522570758
+    },
+    "orientation": {
+      "x": -0.30740594088315665,
+      "y": 0.8808094562940219,
+      "z": -0.12519318026306336,
+      "w": -0.33764323897923826
+    }
+  },
+  {
+    "timestamp": 1766139639.2501187,
+    "position": {
+      "x": 0.06426974497651883,
+      "y": 0.03293995469559888,
+      "z": -0.054523571740617144
+    },
+    "orientation": {
+      "x": -0.3053150459830473,
+      "y": 0.8804057310941137,
+      "z": -0.1333503490231177,
+      "w": -0.3374702294550166
+    }
+  },
+  {
+    "timestamp": 1766139639.3828087,
+    "position": {
+      "x": 0.0645957677313802,
+      "y": 0.03296116359716375,
+      "z": -0.055235792533326
+    },
+    "orientation": {
+      "x": -0.30420471621637224,
+      "y": 0.8816807097634419,
+      "z": -0.1258651950862791,
+      "w": -0.3380185931700247
+    }
+  },
+  {
+    "timestamp": 1766139639.5154989,
+    "position": {
+      "x": 0.06358925616722638,
+      "y": 0.032831159556986955,
+      "z": -0.05591434274190711
+    },
+    "orientation": {
+      "x": -0.305805850501839,
+      "y": 0.882945834230233,
+      "z": -0.11001053597925645,
+      "w": -0.3388024757699999
+    }
+  },
+  {
+    "timestamp": 1766139639.6481888,
+    "position": {
+      "x": 0.06240241969764154,
+      "y": 0.03267294983670132,
+      "z": -0.05694879588594526
+    },
+    "orientation": {
+      "x": -0.305709231141728,
+      "y": 0.8859670962637938,
+      "z": -0.08737041988991226,
+      "w": -0.33759529034169794
+    }
+  },
+  {
+    "timestamp": 1766139639.7808788,
+    "position": {
+      "x": 0.062383864775281184,
+      "y": 0.03319018249716594,
+      "z": -0.05862641132736178
+    },
+    "orientation": {
+      "x": -0.30670959463083486,
+      "y": 0.8872585415649858,
+      "z": -0.06498791776375219,
+      "w": -0.3383460883859827
+    }
+  },
+  {
+    "timestamp": 1766139639.9135687,
+    "position": {
+      "x": 0.06130316797295873,
+      "y": 0.03330182095073757,
+      "z": -0.06135159068897994
+    },
+    "orientation": {
+      "x": -0.3042492061073412,
+      "y": 0.8892741678774541,
+      "z": -0.025292272009017694,
+      "w": -0.3405644959556652
+    }
+  },
+  {
+    "timestamp": 1766139640.0462587,
+    "position": {
+      "x": 0.06001389042905672,
+      "y": 0.034119598767157915,
+      "z": -0.0639898851332102
+    },
+    "orientation": {
+      "x": -0.30344971350817057,
+      "y": 0.8898557157331232,
+      "z": 0.01796177207710212,
+      "w": -0.34022411921077916
+    }
+  },
+  {
+    "timestamp": 1766139640.1789498,
+    "position": {
+      "x": 0.059103964303427625,
+      "y": 0.035697921990787654,
+      "z": -0.06699065513452324
+    },
+    "orientation": {
+      "x": -0.302650189335523,
+      "y": 0.8881674128526671,
+      "z": 0.06564377652305452,
+      "w": -0.3394884449367359
+    }
+  },
+  {
+    "timestamp": 1766139640.3116398,
+    "position": {
+      "x": 0.056326036779579564,
+      "y": 0.03714845241391494,
+      "z": -0.06965043520795629
+    },
+    "orientation": {
+      "x": -0.30005313898976566,
+      "y": 0.8834833605981435,
+      "z": 0.11677076452157159,
+      "w": -0.34027908234513454
+    }
+  },
+  {
+    "timestamp": 1766139640.4443297,
+    "position": {
+      "x": 0.05608166131043901,
+      "y": 0.039416756811300774,
+      "z": -0.0725864265902659
+    },
+    "orientation": {
+      "x": -0.2974677634217152,
+      "y": 0.877699218372207,
+      "z": 0.16384762515955992,
+      "w": -0.3380990498704066
+    }
+  },
+  {
+    "timestamp": 1766139640.5770197,
+    "position": {
+      "x": 0.054881048327918985,
+      "y": 0.04182579283754677,
+      "z": -0.07538952366942413
+    },
+    "orientation": {
+      "x": -0.29359294381312184,
+      "y": 0.8689598819913493,
+      "z": 0.2125468649718705,
+      "w": -0.33695064478845377
+    }
+  },
+  {
+    "timestamp": 1766139640.70971,
+    "position": {
+      "x": 0.0545305488330568,
+      "y": 0.0442560920322403,
+      "z": -0.07727580506134366
+    },
+    "orientation": {
+      "x": -0.29061278933779044,
+      "y": 0.8608454196539719,
+      "z": 0.2497471827724085,
+      "w": -0.33483684807877884
+    }
+  },
+  {
+    "timestamp": 1766139640.8423998,
+    "position": {
+      "x": 0.05388684432861229,
+      "y": 0.04620388051504755,
+      "z": -0.07880857578660672
+    },
+    "orientation": {
+      "x": -0.2873825047276771,
+      "y": 0.8530924748354676,
+      "z": 0.28081527518608507,
+      "w": -0.3328472721500165
+    }
+  },
+  {
+    "timestamp": 1766139640.9750898,
+    "position": {
+      "x": 0.05251645204762062,
+      "y": 0.04736262383957051,
+      "z": -0.0792307618865124
+    },
+    "orientation": {
+      "x": -0.283250064784717,
+      "y": 0.8468969096769257,
+      "z": 0.3068992701609113,
+      "w": -0.32916236594396214
+    }
+  }
+]
\ No newline at end of file
diff --git a/recorded_gelsight_pose/episode_33/session_info.json b/recorded_gelsight_pose/episode_33/session_info.json
new file mode 100644
index 0000000000000000000000000000000000000000..cd63607bd273ec24f14f0bff1584f7ee3220460a
--- /dev/null
+++ b/recorded_gelsight_pose/episode_33/session_info.json
@@ -0,0 +1,12 @@
+{
+  "session_id": 12,
+  "start_time": "2025-12-19T20:44:36.759025",
+  "ros_start_time": 1766148276.7590442,
+  "image_topic": "/gelsight_img",
+  "pose_topic": "/pose",
+  "image_format": "png",
+  "end_time": "2025-12-19T20:44:40.608027",
+  "ros_end_time": 1766148280.6080356,
+  "total_images": 96,
+  "total_pose_frames": 29
+}
\ No newline at end of file
diff --git a/recorded_gelsight_pose/episode_41/image_index.json b/recorded_gelsight_pose/episode_41/image_index.json
new file mode 100644
index 0000000000000000000000000000000000000000..f80258776e2dd28b3f50efc67ad2d32b5a0bd86d
--- /dev/null
+++ b/recorded_gelsight_pose/episode_41/image_index.json
@@ -0,0 +1,422 @@
+[
+  {
+    "timestamp": 1766148331.0753157,
+    "filename": "img_000000.png"
+  },
+  {
+    "timestamp": 1766148331.1151168,
+    "filename": "img_000001.png"
+  },
+  {
+    "timestamp": 1766148331.1561282,
+    "filename": "img_000002.png"
+  },
+  {
+    "timestamp": 1766148331.1984713,
+    "filename": "img_000003.png"
+  },
+  {
+    "timestamp": 1766148331.2345717,
+    "filename": "img_000004.png"
+  },
+  {
+    "timestamp": 1766148331.2719278,
+    "filename": "img_000005.png"
+  },
+  {
+    "timestamp": 1766148331.3119876,
+    "filename": "img_000006.png"
+  },
+  {
+    "timestamp": 1766148331.35439,
+    "filename": "img_000007.png"
+  },
+  {
+    "timestamp": 1766148331.3941247,
+    "filename": "img_000008.png"
+  },
+  {
+    "timestamp": 1766148331.4331126,
+    "filename": "img_000009.png"
+  },
+  {
+    "timestamp": 1766148331.4714322,
+    "filename": "img_000010.png"
+  },
+  {
+    "timestamp": 1766148331.5169067,
+    "filename": "img_000011.png"
+  },
+  {
+    "timestamp": 1766148331.5540338,
+    "filename": "img_000012.png"
+  },
+  {
+    "timestamp": 1766148331.594452,
+    "filename": "img_000013.png"
+  },
+  {
+    "timestamp": 1766148331.6328828,
+    "filename": "img_000014.png"
+  },
+  {
+    "timestamp": 1766148331.68417,
+    "filename": "img_000015.png"
+  },
+  {
+    "timestamp": 1766148331.7194262,
+    "filename": "img_000016.png"
+  },
+  {
+    "timestamp": 1766148331.7540343,
+    "filename": "img_000017.png"
+  },
+  {
+    "timestamp": 1766148331.7939112,
+    "filename": "img_000018.png"
+  },
+  {
+    "timestamp": 1766148331.8345,
+    "filename": "img_000019.png"
+  },
+  {
+    "timestamp": 1766148331.872196,
+    "filename": "img_000020.png"
+  },
+  {
+    "timestamp": 1766148331.9138713,
+    "filename": "img_000021.png"
+  },
+  {
+    "timestamp": 1766148331.954337,
+    "filename": "img_000022.png"
+  },
+  {
+    "timestamp": 1766148331.9951546,
+    "filename": "img_000023.png"
+  },
+  {
+    "timestamp": 1766148332.0344417,
+    "filename": "img_000024.png"
+  },
+  {
+    "timestamp": 1766148332.0727968,
+    "filename": "img_000025.png"
+  },
+  {
+    "timestamp": 1766148332.1143117,
+    "filename": "img_000026.png"
+  },
+  {
+    "timestamp": 1766148332.1566203,
+    "filename": "img_000027.png"
+  },
+  {
+    "timestamp": 1766148332.1945434,
+    "filename": "img_000028.png"
+  },
+  {
+    "timestamp": 1766148332.233482,
+    "filename": "img_000029.png"
+  },
+  {
+    "timestamp": 1766148332.272395,
+    "filename": "img_000030.png"
+  },
+  {
+    "timestamp": 1766148332.3178906,
+    "filename": "img_000031.png"
+  },
+  {
+    "timestamp": 1766148332.3542361,
+    "filename": "img_000032.png"
+  },
+  {
+    "timestamp": 1766148332.3935997,
+    "filename": "img_000033.png"
+  },
+  {
+    "timestamp": 1766148332.4359202,
+    "filename": "img_000034.png"
+  },
+  {
+    "timestamp": 1766148332.4736536,
+    "filename": "img_000035.png"
+  },
+  {
+    "timestamp": 1766148332.512314,
+    "filename": "img_000036.png"
+  },
+  {
+    "timestamp": 1766148332.553998,
+    "filename": "img_000037.png"
+  },
+  {
+    "timestamp": 1766148332.5935473,
+    "filename": "img_000038.png"
+  },
+  {
+    "timestamp": 1766148332.6343615,
+    "filename": "img_000039.png"
+  },
+  {
+    "timestamp": 1766148332.6726816,
+    "filename": "img_000040.png"
+  },
+  {
+    "timestamp": 1766148332.7133648,
+    "filename": "img_000041.png"
+  },
+  {
+    "timestamp": 1766148332.7537854,
+    "filename": "img_000042.png"
+  },
+  {
+    "timestamp": 1766148332.7956712,
+    "filename": "img_000043.png"
+  },
+  {
+    "timestamp": 1766148332.8344626,
+    "filename": "img_000044.png"
+  },
+  {
+    "timestamp": 1766148332.872544,
+    "filename": "img_000045.png"
+  },
+  {
+    "timestamp": 1766148332.9132156,
+    "filename": "img_000046.png"
+  },
+  {
+    "timestamp": 1766148332.955225,
+    "filename": "img_000047.png"
+  },
+  {
+    "timestamp": 1766148332.995405,
+    "filename": "img_000048.png"
+  },
+  {
+    "timestamp": 1766148333.033146,
+    "filename": "img_000049.png"
+  },
+  {
+    "timestamp": 1766148333.0721788,
+    "filename": "img_000050.png"
+  },
+  {
+    "timestamp": 1766148333.1155195,
+    "filename": "img_000051.png"
+  },
+  {
+    "timestamp": 1766148333.154571,
+    "filename": "img_000052.png"
+  },
+  {
+    "timestamp": 1766148333.1940217,
+    "filename": "img_000053.png"
+  },
+  {
+    "timestamp": 1766148333.234036,
+    "filename": "img_000054.png"
+  },
+  {
+    "timestamp": 1766148333.2733703,
+    "filename": "img_000055.png"
+  },
+  {
+    "timestamp": 1766148333.3141062,
+    "filename": "img_000056.png"
+  },
+  {
+    "timestamp": 1766148333.3540576,
+    "filename": "img_000057.png"
+  },
+  {
+    "timestamp": 1766148333.3934746,
+    "filename": "img_000058.png"
+  },
+  {
+    "timestamp": 1766148333.4336562,
+    "filename": "img_000059.png"
+  },
+  {
+    "timestamp": 1766148333.4747038,
+    "filename": "img_000060.png"
+  },
+  {
+    "timestamp": 1766148333.5126855,
+    "filename": "img_000061.png"
+  },
+  {
+    "timestamp": 1766148333.5535562,
+    "filename": "img_000062.png"
+  },
+  {
+    "timestamp": 1766148333.594953,
+    "filename": "img_000063.png"
+  },
+  {
+    "timestamp": 1766148333.6341023,
+    "filename": "img_000064.png"
+  },
+  {
+    "timestamp": 1766148333.672079,
+    "filename": "img_000065.png"
+  },
+  {
+    "timestamp": 1766148333.7133667,
+    "filename": "img_000066.png"
+  },
+  {
+    "timestamp": 1766148333.754625,
+    "filename": "img_000067.png"
+  },
+  {
+    "timestamp": 1766148333.7963538,
+    "filename": "img_000068.png"
+  },
+  {
+    "timestamp": 1766148333.8346913,
+    "filename": "img_000069.png"
+  },
+  {
+    "timestamp": 1766148333.8742206,
+    "filename": "img_000070.png"
+  },
+  {
+    "timestamp": 1766148333.9172382,
+    "filename": "img_000071.png"
+  },
+  {
+    "timestamp": 1766148333.9557228,
+    "filename": "img_000072.png"
+  },
+  {
+    "timestamp": 1766148333.9950178,
+    "filename": "img_000073.png"
+  },
+  {
+    "timestamp": 1766148334.0342963,
+    "filename": "img_000074.png"
+  },
+  {
+    "timestamp": 1766148334.072789,
+    "filename": "img_000075.png"
+  },
+  {
+    "timestamp": 1766148334.1140397,
+    "filename": "img_000076.png"
+  },
+  {
+    "timestamp": 1766148334.153428,
+    "filename": "img_000077.png"
+  },
+  {
+    "timestamp": 1766148334.193144,
+    "filename": "img_000078.png"
+  },
+  {
+    "timestamp": 1766148334.2345335,
+    "filename": "img_000079.png"
+  },
+  {
+    "timestamp": 1766148334.2727478,
+    "filename": "img_000080.png"
+  },
+  {
+    "timestamp": 1766148334.3144033,
+    "filename": "img_000081.png"
+  },
+  {
+    "timestamp": 1766148334.35383,
+    "filename": "img_000082.png"
+  },
+  {
+    "timestamp": 1766148334.3947198,
+    "filename": "img_000083.png"
+  },
+  {
+    "timestamp": 1766148334.434439,
+    "filename": "img_000084.png"
+  },
+  {
+    "timestamp": 1766148334.4717202,
+    "filename": "img_000085.png"
+  },
+  {
+    "timestamp": 1766148334.512727,
+    "filename": "img_000086.png"
+  },
+  {
+    "timestamp": 1766148334.5552804,
+    "filename": "img_000087.png"
+  },
+  {
+    "timestamp": 1766148334.5944126,
+    "filename": "img_000088.png"
+  },
+  {
+    "timestamp": 1766148334.6343658,
+    "filename": "img_000089.png"
+  },
+  {
+    "timestamp": 1766148334.6714227,
+    "filename": "img_000090.png"
+  },
+  {
+    "timestamp": 1766148334.7148035,
+    "filename": "img_000091.png"
+  },
+  {
+    "timestamp": 1766148334.7539444,
+    "filename": "img_000092.png"
+  },
+  {
+    "timestamp": 1766148334.793477,
+    "filename": "img_000093.png"
+  },
+  {
+    "timestamp": 1766148334.8337495,
+    "filename": "img_000094.png"
+  },
+  {
+    "timestamp": 1766148334.8722107,
+    "filename": "img_000095.png"
+  },
+  {
+    "timestamp": 1766148334.9132655,
+    "filename": "img_000096.png"
+  },
+  {
+    "timestamp": 1766148334.9556289,
+    "filename": "img_000097.png"
+  },
+  {
+    "timestamp": 1766148334.9938319,
+    "filename": "img_000098.png"
+  },
+  {
+    "timestamp": 1766148335.03489,
+    "filename": "img_000099.png"
+  },
+  {
+    "timestamp": 1766148335.0768354,
+    "filename": "img_000100.png"
+  },
+  {
+    "timestamp": 1766148335.1162448,
+    "filename": "img_000101.png"
+  },
+  {
+    "timestamp": 1766148335.155164,
+    "filename": "img_000102.png"
+  },
+  {
+    "timestamp": 1766148335.1959662,
+    "filename": "img_000103.png"
+  },
+  {
+    "timestamp": 1766148335.2343633,
+    "filename": "img_000104.png"
+  }
+]
\ No newline at end of file
diff --git a/recorded_gelsight_pose/episode_41/pose_data.json b/recorded_gelsight_pose/episode_41/pose_data.json
new file mode 100644
index 0000000000000000000000000000000000000000..72fff1ae9ef85768292099e3a619923fa0d172d4
--- /dev/null
+++ b/recorded_gelsight_pose/episode_41/pose_data.json
@@ -0,0 +1,450 @@
+[
+  {
+    "timestamp": 1766139691.3309858,
+    "position": {
+      "x": 0.04952209627005519,
+      "y": 0.051167497536352455,
+      "z": -0.08313279975424395
+    },
+    "orientation": {
+      "x": -0.28120208432636834,
+      "y": 0.8334457849971489,
+      "z": 0.3372895689540787,
+      "w": -0.33545380891527243
+    }
+  },
+  {
+    "timestamp": 1766139691.4636757,
+    "position": {
+      "x": 0.05105289753321496,
+      "y": 0.05213139656644536,
+      "z": -0.08384469959919383
+    },
+    "orientation": {
+      "x": -0.2824240905986609,
+      "y": 0.8323498919636011,
+      "z": 0.33868811325287107,
+      "w": -0.33573896458247293
+    }
+  },
+  {
+    "timestamp": 1766139691.5963657,
+    "position": {
+      "x": 0.05004025677123175,
+      "y": 0.05226940186078406,
+      "z": -0.08392378659399757
+    },
+    "orientation": {
+      "x": -0.28009490088273803,
+      "y": 0.8296812854585067,
+      "z": 0.34788941014506497,
+      "w": -0.33488620361001414
+    }
+  },
+  {
+    "timestamp": 1766139691.7290568,
+    "position": {
+      "x": 0.049555749184172215,
+      "y": 0.05309713033810233,
+      "z": -0.08436964704092517
+    },
+    "orientation": {
+      "x": -0.2770640978373419,
+      "y": 0.8254065518223893,
+      "z": 0.35985209699916365,
+      "w": -0.33532965598580383
+    }
+  },
+  {
+    "timestamp": 1766139691.8617468,
+    "position": {
+      "x": 0.04983808884301871,
+      "y": 0.05552013650653034,
+      "z": -0.08554878606825417
+    },
+    "orientation": {
+      "x": -0.27374443965555534,
+      "y": 0.8150208923170238,
+      "z": 0.38829976268771976,
+      "w": -0.331705021278076
+    }
+  },
+  {
+    "timestamp": 1766139691.9944367,
+    "position": {
+      "x": 0.04969985922499262,
+      "y": 0.05870555494182393,
+      "z": -0.08657326954141159
+    },
+    "orientation": {
+      "x": -0.26858662621520185,
+      "y": 0.8001736654546225,
+      "z": 0.4246468606086574,
+      "w": -0.32750324136786885
+    }
+  },
+  {
+    "timestamp": 1766139692.1271267,
+    "position": {
+      "x": 0.04772063442300478,
+      "y": 0.06163122859576378,
+      "z": -0.08731980495885894
+    },
+    "orientation": {
+      "x": -0.25892332385886657,
+      "y": 0.7813866166426604,
+      "z": 0.46717230697405127,
+      "w": -0.32271303551321784
+    }
+  },
+  {
+    "timestamp": 1766139692.259817,
+    "position": {
+      "x": 0.04568694350517588,
+      "y": 0.06125244528641709,
+      "z": -0.08672938910701444
+    },
+    "orientation": {
+      "x": -0.256560525460819,
+      "y": 0.7787057413601748,
+      "z": 0.4748279225370834,
+      "w": -0.3198945281293299
+    }
+  },
+  {
+    "timestamp": 1766139692.3925068,
+    "position": {
+      "x": 0.04683004920143413,
+      "y": 0.05958745664953584,
+      "z": -0.08638938023885118
+    },
+    "orientation": {
+      "x": -0.26200132785662095,
+      "y": 0.7894287196752934,
+      "z": 0.45156315437050476,
+      "w": -0.32287508167734813
+    }
+  },
+  {
+    "timestamp": 1766139692.5251968,
+    "position": {
+      "x": 0.04579488402039922,
+      "y": 0.057026722565346466,
+      "z": -0.08544996366799873
+    },
+    "orientation": {
+      "x": -0.26398050101941234,
+      "y": 0.8002392495138544,
+      "z": 0.4289761894239214,
+      "w": -0.3254394990261246
+    }
+  },
+  {
+    "timestamp": 1766139692.6578867,
+    "position": {
+      "x": 0.0465392598957696,
+      "y": 0.054712650205556324,
+      "z": -0.08498775985413903
+    },
+    "orientation": {
+      "x": -0.2696969565795201,
+      "y": 0.8119741738689522,
+      "z": 0.39897987670004675,
+      "w": -0.32981290237040845
+    }
+  },
+  {
+    "timestamp": 1766139692.7905767,
+    "position": {
+      "x": 0.04830486238427523,
+      "y": 0.0523390145338892,
+      "z": -0.08393535810117247
+    },
+    "orientation": {
+      "x": -0.2775128888956778,
+      "y": 0.8263944170961632,
+      "z": 0.3586050725568047,
+      "w": -0.3338581522527142
+    }
+  },
+  {
+    "timestamp": 1766139692.9232678,
+    "position": {
+      "x": 0.04973046485041194,
+      "y": 0.049383536549278614,
+      "z": -0.08255314199668537
+    },
+    "orientation": {
+      "x": -0.2826422846920684,
+      "y": 0.8410321815713281,
+      "z": 0.31387042564090606,
+      "w": -0.33802894014184137
+    }
+  },
+  {
+    "timestamp": 1766139693.0559578,
+    "position": {
+      "x": 0.04976766959429291,
+      "y": 0.04575375751872725,
+      "z": -0.08018101574821751
+    },
+    "orientation": {
+      "x": -0.287653623008872,
+      "y": 0.8544933383208262,
+      "z": 0.26520955649206135,
+      "w": -0.34170223745314243
+    }
+  },
+  {
+    "timestamp": 1766139693.1886477,
+    "position": {
+      "x": 0.05089007364511061,
+      "y": 0.04311161577436444,
+      "z": -0.07796986882110116
+    },
+    "orientation": {
+      "x": -0.2924577863517022,
+      "y": 0.8644794298962909,
+      "z": 0.21864606620423804,
+      "w": -0.3454528277809548
+    }
+  },
+  {
+    "timestamp": 1766139693.3213377,
+    "position": {
+      "x": 0.051940015072836215,
+      "y": 0.04114176394466168,
+      "z": -0.07649075492195256
+    },
+    "orientation": {
+      "x": -0.2957652930187514,
+      "y": 0.8708975543781386,
+      "z": 0.18112968158734505,
+      "w": -0.34821312392237036
+    }
+  },
+  {
+    "timestamp": 1766139693.454028,
+    "position": {
+      "x": 0.053461307950431414,
+      "y": 0.03942483864600999,
+      "z": -0.07328378279814907
+    },
+    "orientation": {
+      "x": -0.30089228013602,
+      "y": 0.8785443525722704,
+      "z": 0.12625142851481552,
+      "w": -0.3488326720877586
+    }
+  },
+  {
+    "timestamp": 1766139693.5867178,
+    "position": {
+      "x": 0.05459536995804812,
+      "y": 0.037255356971703235,
+      "z": -0.07159525005866141
+    },
+    "orientation": {
+      "x": -0.3005561714735266,
+      "y": 0.8824202313331624,
+      "z": 0.09477615811008878,
+      "w": -0.3493107541673968
+    }
+  },
+  {
+    "timestamp": 1766139693.7194078,
+    "position": {
+      "x": 0.054061166028920776,
+      "y": 0.0364905465339071,
+      "z": -0.07092641322313914
+    },
+    "orientation": {
+      "x": -0.2991305404628568,
+      "y": 0.8838301502761325,
+      "z": 0.09075170997254808,
+      "w": -0.348036366436507
+    }
+  },
+  {
+    "timestamp": 1766139693.8520977,
+    "position": {
+      "x": 0.054175958193874524,
+      "y": 0.036574906238607194,
+      "z": -0.07072544658614685
+    },
+    "orientation": {
+      "x": -0.3002255215185689,
+      "y": 0.8838577090513648,
+      "z": 0.09044368091156252,
+      "w": -0.34710247328785176
+    }
+  },
+  {
+    "timestamp": 1766139693.9847877,
+    "position": {
+      "x": 0.05422239743778218,
+      "y": 0.03818369854375504,
+      "z": -0.07298142704071037
+    },
+    "orientation": {
+      "x": -0.30001109926650016,
+      "y": 0.8800340592116002,
+      "z": 0.12052504185528608,
+      "w": -0.3478607612684157
+    }
+  },
+  {
+    "timestamp": 1766139694.117478,
+    "position": {
+      "x": 0.052418731929819634,
+      "y": 0.04093303411946453,
+      "z": -0.07574095214504264
+    },
+    "orientation": {
+      "x": -0.29723607391022455,
+      "y": 0.8723501808116434,
+      "z": 0.1769370159860628,
+      "w": -0.34546949326717147
+    }
+  },
+  {
+    "timestamp": 1766139694.2501688,
+    "position": {
+      "x": 0.05113215337600677,
+      "y": 0.044500482697552426,
+      "z": -0.07876673731329314
+    },
+    "orientation": {
+      "x": -0.2931081177939799,
+      "y": 0.8603334359050904,
+      "z": 0.23621710882858746,
+      "w": -0.34367933869186174
+    }
+  },
+  {
+    "timestamp": 1766139694.3828588,
+    "position": {
+      "x": 0.04878590081673942,
+      "y": 0.047221672105453916,
+      "z": -0.0807720972233803
+    },
+    "orientation": {
+      "x": -0.2856523590299633,
+      "y": 0.8477362204522535,
+      "z": 0.291034952635354,
+      "w": -0.3391823796403384
+    }
+  },
+  {
+    "timestamp": 1766139694.5155487,
+    "position": {
+      "x": 0.049177747994086723,
+      "y": 0.05123719420587891,
+      "z": -0.0826679265424223
+    },
+    "orientation": {
+      "x": -0.28227066683277724,
+      "y": 0.8346965900330867,
+      "z": 0.33223973504198606,
+      "w": -0.3364842220552805
+    }
+  },
+  {
+    "timestamp": 1766139694.6482387,
+    "position": {
+      "x": 0.049209702067428696,
+      "y": 0.05478146486029048,
+      "z": -0.08441317826122025
+    },
+    "orientation": {
+      "x": -0.27649221747782965,
+      "y": 0.8198909245830699,
+      "z": 0.37583855628932494,
+      "w": -0.33177749330969875
+    }
+  },
+  {
+    "timestamp": 1766139694.7809289,
+    "position": {
+      "x": 0.04886423965575773,
+      "y": 0.056622149420921294,
+      "z": -0.08530212843648596
+    },
+    "orientation": {
+      "x": -0.27277605832992163,
+      "y": 0.8117936532775214,
+      "z": 0.39628874503059364,
+      "w": -0.3309675468416862
+    }
+  },
+  {
+    "timestamp": 1766139694.9136188,
+    "position": {
+      "x": 0.04735617384827143,
+      "y": 0.05390743099533081,
+      "z": -0.08431423676741542
+    },
+    "orientation": {
+      "x": -0.27310554808390125,
+      "y": 0.8196667350872571,
+      "z": 0.37805952596455916,
+      "w": -0.33261208310078144
+    }
+  },
+  {
+    "timestamp": 1766139695.0463088,
+    "position": {
+      "x": 0.047901125297796,
+      "y": 0.04963729551922838,
+      "z": -0.08215941717051434
+    },
+    "orientation": {
+      "x": -0.2808599070806482,
+      "y": 0.8379100476258995,
+      "z": 0.32512984559622343,
+      "w": -0.33662300602422973
+    }
+  },
+  {
+    "timestamp": 1766139695.1789987,
+    "position": {
+      "x": 0.04960601228454001,
+      "y": 0.0471276269070941,
+      "z": -0.08060424176722591
+    },
+    "orientation": {
+      "x": -0.2875930539526249,
+      "y": 0.8505758164853665,
+      "z": 0.2789374008837626,
+      "w": -0.34059498251833636
+    }
+  },
+  {
+    "timestamp": 1766139695.3116887,
+    "position": {
+      "x": 0.05067266456370875,
+      "y": 0.04577041682539285,
+      "z": -0.07955529608890974
+    },
+    "orientation": {
+      "x": -0.2917302522202556,
+      "y": 0.8567658832191551,
+      "z": 0.25052913946750704,
+      "w": -0.34362891550170443
+    }
+  },
+  {
+    "timestamp": 1766139695.4443798,
+    "position": {
+      "x": 0.0507294574862745,
+      "y": 0.04487081927597531,
+      "z": -0.07865700016981542
+    },
+    "orientation": {
+      "x": -0.2939279733014402,
+      "y": 0.8602746858382189,
+      "z": 0.2347979169668243,
+      "w": -0.3440984591725196
+    }
+  }
+]
\ No newline at end of file
diff --git a/recorded_gelsight_pose/episode_41/session_info.json b/recorded_gelsight_pose/episode_41/session_info.json
new file mode 100644
index 0000000000000000000000000000000000000000..db4830600cedd4f4f0fadb525e1143b464e29c41
--- /dev/null
+++ b/recorded_gelsight_pose/episode_41/session_info.json
@@ -0,0 +1,12 @@
+{
+  "session_id": 21,
+  "start_time": "2025-12-19T20:45:31.062085",
+  "ros_start_time": 1766148331.0621061,
+  "image_topic": "/gelsight_img",
+  "pose_topic": "/pose",
+  "image_format": "png",
+  "end_time": "2025-12-19T20:45:35.254184",
+  "ros_end_time": 1766148335.25419,
+  "total_images": 105,
+  "total_pose_frames": 32
+}
\ No newline at end of file
diff --git a/recorded_gelsight_pose/episode_43/image_index.json b/recorded_gelsight_pose/episode_43/image_index.json
new file mode 100644
index 0000000000000000000000000000000000000000..df360c0acadd54dd4cd096e7a05eff88affd39e6
--- /dev/null
+++ b/recorded_gelsight_pose/episode_43/image_index.json
@@ -0,0 +1,386 @@
+[
+  {
+    "timestamp": 1766148341.157815,
+    "filename": "img_000000.png"
+  },
+  {
+    "timestamp": 1766148341.194468,
+    "filename": "img_000001.png"
+  },
+  {
+    "timestamp": 1766148341.2327342,
+    "filename": "img_000002.png"
+  },
+  {
+    "timestamp": 1766148341.272251,
+    "filename": "img_000003.png"
+  },
+  {
+    "timestamp": 1766148341.3145182,
+    "filename": "img_000004.png"
+  },
+  {
+    "timestamp": 1766148341.3539846,
+    "filename": "img_000005.png"
+  },
+  {
+    "timestamp": 1766148341.3936684,
+    "filename": "img_000006.png"
+  },
+  {
+    "timestamp": 1766148341.4363494,
+    "filename": "img_000007.png"
+  },
+  {
+    "timestamp": 1766148341.4714787,
+    "filename": "img_000008.png"
+  },
+  {
+    "timestamp": 1766148341.5134475,
+    "filename": "img_000009.png"
+  },
+  {
+    "timestamp": 1766148341.5532548,
+    "filename": "img_000010.png"
+  },
+  {
+    "timestamp": 1766148341.594274,
+    "filename": "img_000011.png"
+  },
+  {
+    "timestamp": 1766148341.6328754,
+    "filename": "img_000012.png"
+  },
+  {
+    "timestamp": 1766148341.6713617,
+    "filename": "img_000013.png"
+  },
+  {
+    "timestamp": 1766148341.7133625,
+    "filename": "img_000014.png"
+  },
+  {
+    "timestamp": 1766148341.7573636,
+    "filename": "img_000015.png"
+  },
+  {
+    "timestamp": 1766148341.7951186,
+    "filename": "img_000016.png"
+  },
+  {
+    "timestamp": 1766148341.833719,
+    "filename": "img_000017.png"
+  },
+  {
+    "timestamp": 1766148341.872497,
+    "filename": "img_000018.png"
+  },
+  {
+    "timestamp": 1766148341.9157667,
+    "filename": "img_000019.png"
+  },
+  {
+    "timestamp": 1766148341.95805,
+    "filename": "img_000020.png"
+  },
+  {
+    "timestamp": 1766148341.9948862,
+    "filename": "img_000021.png"
+  },
+  {
+    "timestamp": 1766148342.032273,
+    "filename": "img_000022.png"
+  },
+  {
+    "timestamp": 1766148342.071335,
+    "filename": "img_000023.png"
+  },
+  {
+    "timestamp": 1766148342.1133337,
+    "filename": "img_000024.png"
+  },
+  {
+    "timestamp": 1766148342.1549134,
+    "filename": "img_000025.png"
+  },
+  {
+    "timestamp": 1766148342.1934962,
+    "filename": "img_000026.png"
+  },
+  {
+    "timestamp": 1766148342.235379,
+    "filename": "img_000027.png"
+  },
+  {
+    "timestamp": 1766148342.27131,
+    "filename": "img_000028.png"
+  },
+  {
+    "timestamp": 1766148342.313792,
+    "filename": "img_000029.png"
+  },
+  {
+    "timestamp": 1766148342.3529449,
+    "filename": "img_000030.png"
+  },
+  {
+    "timestamp": 1766148342.3941417,
+    "filename": "img_000031.png"
+  },
+  {
+    "timestamp": 1766148342.4328232,
+    "filename": "img_000032.png"
+  },
+  {
+    "timestamp": 1766148342.4707625,
+    "filename": "img_000033.png"
+  },
+  {
+    "timestamp": 1766148342.5124042,
+    "filename": "img_000034.png"
+  },
+  {
+    "timestamp": 1766148342.5559692,
+    "filename": "img_000035.png"
+  },
+  {
+    "timestamp": 1766148342.594127,
+    "filename": "img_000036.png"
+  },
+  {
+    "timestamp": 1766148342.633477,
+    "filename": "img_000037.png"
+  },
+  {
+    "timestamp": 1766148342.6708558,
+    "filename": "img_000038.png"
+  },
+  {
+    "timestamp": 1766148342.7151797,
+    "filename": "img_000039.png"
+  },
+  {
+    "timestamp": 1766148342.7545059,
+    "filename": "img_000040.png"
+  },
+  {
+    "timestamp": 1766148342.7943225,
+    "filename": "img_000041.png"
+  },
+  {
+    "timestamp": 1766148342.8326364,
+    "filename": "img_000042.png"
+  },
+  {
+    "timestamp": 1766148342.8769298,
+    "filename": "img_000043.png"
+  },
+  {
+    "timestamp": 1766148342.9182007,
+    "filename": "img_000044.png"
+  },
+  {
+    "timestamp": 1766148342.9548903,
+    "filename": "img_000045.png"
+  },
+  {
+    "timestamp": 1766148342.9937913,
+    "filename": "img_000046.png"
+  },
+  {
+    "timestamp": 1766148343.0347047,
+    "filename": "img_000047.png"
+  },
+  {
+    "timestamp": 1766148343.071803,
+    "filename": "img_000048.png"
+  },
+  {
+    "timestamp": 1766148343.114837,
+    "filename": "img_000049.png"
+  },
+  {
+    "timestamp": 1766148343.1542876,
+    "filename": "img_000050.png"
+  },
+  {
+    "timestamp": 1766148343.1940112,
+    "filename": "img_000051.png"
+  },
+  {
+    "timestamp": 1766148343.2350698,
+    "filename": "img_000052.png"
+  },
+  {
+    "timestamp": 1766148343.270728,
+    "filename": "img_000053.png"
+  },
+  {
+    "timestamp": 1766148343.313487,
+    "filename": "img_000054.png"
+  },
+  {
+    "timestamp": 1766148343.355589,
+    "filename": "img_000055.png"
+  },
+  {
+    "timestamp": 1766148343.3939154,
+    "filename": "img_000056.png"
+  },
+  {
+    "timestamp": 1766148343.4335563,
+    "filename": "img_000057.png"
+  },
+  {
+    "timestamp": 1766148343.471147,
+    "filename": "img_000058.png"
+  },
+  {
+    "timestamp": 1766148343.5150096,
+    "filename": "img_000059.png"
+  },
+  {
+    "timestamp": 1766148343.5569725,
+    "filename": "img_000060.png"
+  },
+  {
+    "timestamp": 1766148343.5951614,
+    "filename": "img_000061.png"
+  },
+  {
+    "timestamp": 1766148343.6324859,
+    "filename": "img_000062.png"
+  },
+  {
+    "timestamp": 1766148343.672053,
+    "filename": "img_000063.png"
+  },
+  {
+    "timestamp": 1766148343.7148,
+    "filename": "img_000064.png"
+  },
+  {
+    "timestamp": 1766148343.75388,
+    "filename": "img_000065.png"
+  },
+  {
+    "timestamp": 1766148343.7940001,
+    "filename": "img_000066.png"
+  },
+  {
+    "timestamp": 1766148343.832749,
+    "filename": "img_000067.png"
+  },
+  {
+    "timestamp": 1766148343.87169,
+    "filename": "img_000068.png"
+  },
+  {
+    "timestamp": 1766148343.9144754,
+    "filename": "img_000069.png"
+  },
+  {
+    "timestamp": 1766148343.954017,
+    "filename": "img_000070.png"
+  },
+  {
+    "timestamp": 1766148343.9942186,
+    "filename": "img_000071.png"
+  },
+  {
+    "timestamp": 1766148344.035095,
+    "filename": "img_000072.png"
+  },
+  {
+    "timestamp": 1766148344.07212,
+    "filename": "img_000073.png"
+  },
+  {
+    "timestamp": 1766148344.112897,
+    "filename": "img_000074.png"
+  },
+  {
+    "timestamp": 1766148344.1544337,
+    "filename": "img_000075.png"
+  },
+  {
+    "timestamp": 1766148344.1941698,
+    "filename": "img_000076.png"
+  },
+  {
+    "timestamp": 1766148344.2316637,
+    "filename": "img_000077.png"
+  },
+  {
+    "timestamp": 1766148344.270778,
+    "filename": "img_000078.png"
+  },
+  {
+    "timestamp": 1766148344.3157282,
+    "filename": "img_000079.png"
+  },
+  {
+    "timestamp": 1766148344.354041,
+    "filename": "img_000080.png"
+  },
+  {
+    "timestamp": 1766148344.394313,
+    "filename": "img_000081.png"
+  },
+  {
+    "timestamp": 1766148344.4326215,
+    "filename": "img_000082.png"
+  },
+  {
+    "timestamp": 1766148344.4747229,
+    "filename": "img_000083.png"
+  },
+  {
+    "timestamp": 1766148344.517176,
+    "filename": "img_000084.png"
+  },
+  {
+    "timestamp": 1766148344.555827,
+    "filename": "img_000085.png"
+  },
+  {
+    "timestamp": 1766148344.5948355,
+    "filename": "img_000086.png"
+  },
+  {
+    "timestamp": 1766148344.634357,
+    "filename": "img_000087.png"
+  },
+  {
+    "timestamp": 1766148344.673193,
+    "filename": "img_000088.png"
+  },
+  {
+    "timestamp": 1766148344.713978,
+    "filename": "img_000089.png"
+  },
+  {
+    "timestamp": 1766148344.753384,
+    "filename": "img_000090.png"
+  },
+  {
+    "timestamp": 1766148344.7946422,
+    "filename": "img_000091.png"
+  },
+  {
+    "timestamp": 1766148344.8334138,
+    "filename": "img_000092.png"
+  },
+  {
+    "timestamp": 1766148344.8729835,
+    "filename": "img_000093.png"
+  },
+  {
+    "timestamp": 1766148344.9139962,
+    "filename": "img_000094.png"
+  },
+  {
+    "timestamp": 1766148344.9544272,
+    "filename": "img_000095.png"
+  }
+]
\ No newline at end of file
diff --git a/recorded_gelsight_pose/episode_43/pose_data.json b/recorded_gelsight_pose/episode_43/pose_data.json
new file mode 100644
index 0000000000000000000000000000000000000000..4abe31d9c4833eff633985170832ecd3f84743b8
--- /dev/null
+++ b/recorded_gelsight_pose/episode_43/pose_data.json
@@ -0,0 +1,408 @@
+[
+  {
+    "timestamp": 1766139701.415434,
+    "position": {
+      "x": 0.05068595508742421,
+      "y": 0.0490531334300934,
+      "z": -0.0827314350837211
+    },
+    "orientation": {
+      "x": -0.284324467615501,
+      "y": 0.8430108309093967,
+      "z": 0.30656202440063807,
+      "w": -0.33839630801767523
+    }
+  },
+  {
+    "timestamp": 1766139701.5481248,
+    "position": {
+      "x": 0.052298844566919245,
+      "y": 0.04981740945170447,
+      "z": -0.08303831847120874
+    },
+    "orientation": {
+      "x": -0.28752980577274045,
+      "y": 0.8430920268850313,
+      "z": 0.3001592409099916,
+      "w": -0.3412138260556235
+    }
+  },
+  {
+    "timestamp": 1766139701.6808147,
+    "position": {
+      "x": 0.05168581458608287,
+      "y": 0.04973445380976259,
+      "z": -0.08315784933545628
+    },
+    "orientation": {
+      "x": -0.2848014526107954,
+      "y": 0.8420479542697703,
+      "z": 0.30717196655589546,
+      "w": -0.33983636983563015
+    }
+  },
+  {
+    "timestamp": 1766139701.8135047,
+    "position": {
+      "x": 0.05241948432856239,
+      "y": 0.049761856581669706,
+      "z": -0.08293993518628398
+    },
+    "orientation": {
+      "x": -0.28844233734966923,
+      "y": 0.8438344414390831,
+      "z": 0.29790998040968997,
+      "w": -0.34057906136130606
+    }
+  },
+  {
+    "timestamp": 1766139701.946195,
+    "position": {
+      "x": 0.05128977607741658,
+      "y": 0.04695461549580547,
+      "z": -0.08078837413959569
+    },
+    "orientation": {
+      "x": -0.29109387015183713,
+      "y": 0.852907374016563,
+      "z": 0.2666656302009603,
+      "w": -0.3416179324592326
+    }
+  },
+  {
+    "timestamp": 1766139702.0788848,
+    "position": {
+      "x": 0.0511475526975074,
+      "y": 0.04425308726629876,
+      "z": -0.07918262005389443
+    },
+    "orientation": {
+      "x": -0.2916480167380671,
+      "y": 0.8612844473621996,
+      "z": 0.2331417007220536,
+      "w": -0.3446381906422605
+    }
+  },
+  {
+    "timestamp": 1766139702.2115748,
+    "position": {
+      "x": 0.05243115734926593,
+      "y": 0.04162937631937141,
+      "z": -0.07651523763449684
+    },
+    "orientation": {
+      "x": -0.29763517353926,
+      "y": 0.8710308070997421,
+      "z": 0.18101223650490683,
+      "w": -0.3463426147486301
+    }
+  },
+  {
+    "timestamp": 1766139702.3442647,
+    "position": {
+      "x": 0.05366442428370016,
+      "y": 0.03958252255654554,
+      "z": -0.07415608609039284
+    },
+    "orientation": {
+      "x": -0.30150661574916804,
+      "y": 0.8771459867889964,
+      "z": 0.13288849966847488,
+      "w": -0.34935558557908186
+    }
+  },
+  {
+    "timestamp": 1766139702.4769547,
+    "position": {
+      "x": 0.05460242289832254,
+      "y": 0.0374871167595677,
+      "z": -0.07205406793985347
+    },
+    "orientation": {
+      "x": -0.3027154436308238,
+      "y": 0.8814096442146734,
+      "z": 0.09464248046792949,
+      "w": -0.35003314152181947
+    }
+  },
+  {
+    "timestamp": 1766139702.609645,
+    "position": {
+      "x": 0.055892212696699806,
+      "y": 0.035798187861809466,
+      "z": -0.0701256000236628
+    },
+    "orientation": {
+      "x": -0.303014028490296,
+      "y": 0.8841254766822295,
+      "z": 0.057821185072673295,
+      "w": -0.35094351479446656
+    }
+  },
+  {
+    "timestamp": 1766139702.7423358,
+    "position": {
+      "x": 0.056684330478169925,
+      "y": 0.034471320987795276,
+      "z": -0.06790166199635506
+    },
+    "orientation": {
+      "x": -0.3044642934033058,
+      "y": 0.8856135308331573,
+      "z": 0.022746870393977412,
+      "w": -0.34996106631300233
+    }
+  },
+  {
+    "timestamp": 1766139702.8750257,
+    "position": {
+      "x": 0.057710012894747226,
+      "y": 0.034212796597776596,
+      "z": -0.0669903299723288
+    },
+    "orientation": {
+      "x": -0.3047477938456878,
+      "y": 0.8857302535776527,
+      "z": 0.0039020270079958164,
+      "w": -0.3501363651903098
+    }
+  },
+  {
+    "timestamp": 1766139703.0077157,
+    "position": {
+      "x": 0.056582602548842176,
+      "y": 0.03420959395008924,
+      "z": -0.06719903696100253
+    },
+    "orientation": {
+      "x": -0.30303033306095223,
+      "y": 0.886698807792027,
+      "z": 0.017903772319131057,
+      "w": -0.34873671507587367
+    }
+  },
+  {
+    "timestamp": 1766139703.140406,
+    "position": {
+      "x": 0.05602766214122895,
+      "y": 0.03524922779022293,
+      "z": -0.0681512708622571
+    },
+    "orientation": {
+      "x": -0.30573405194803305,
+      "y": 0.8856068208797785,
+      "z": 0.03555401951132616,
+      "w": -0.34779758479212797
+    }
+  },
+  {
+    "timestamp": 1766139703.2730958,
+    "position": {
+      "x": 0.056198645770977496,
+      "y": 0.03669612583601933,
+      "z": -0.07008774547860265
+    },
+    "orientation": {
+      "x": -0.30576188158497336,
+      "y": 0.8838696068528105,
+      "z": 0.06298255464662013,
+      "w": -0.34830645653168774
+    }
+  },
+  {
+    "timestamp": 1766139703.4057858,
+    "position": {
+      "x": 0.05486341901323405,
+      "y": 0.038577307232835235,
+      "z": -0.07222405564849718
+    },
+    "orientation": {
+      "x": -0.30411984038648004,
+      "y": 0.8810564192438033,
+      "z": 0.10773881831420382,
+      "w": -0.34589457327464446
+    }
+  },
+  {
+    "timestamp": 1766139703.5384758,
+    "position": {
+      "x": 0.05325671585570979,
+      "y": 0.041336881240565906,
+      "z": -0.0758107857993659
+    },
+    "orientation": {
+      "x": -0.29911268215886533,
+      "y": 0.8729945588497404,
+      "z": 0.1676786152450892,
+      "w": -0.3468371167853381
+    }
+  },
+  {
+    "timestamp": 1766139703.6711657,
+    "position": {
+      "x": 0.05217390241476,
+      "y": 0.044984902922220404,
+      "z": -0.07906038142751204
+    },
+    "orientation": {
+      "x": -0.29577726276481237,
+      "y": 0.8611850119709552,
+      "z": 0.22908462604159155,
+      "w": -0.3440878087048784
+    }
+  },
+  {
+    "timestamp": 1766139703.8038557,
+    "position": {
+      "x": 0.051970189811702816,
+      "y": 0.04915424626863154,
+      "z": -0.08188430204293415
+    },
+    "orientation": {
+      "x": -0.29060671265798294,
+      "y": 0.8470897844573854,
+      "z": 0.2871224987082284,
+      "w": -0.3399225005226988
+    }
+  },
+  {
+    "timestamp": 1766139703.9365458,
+    "position": {
+      "x": 0.05182652425188847,
+      "y": 0.053693489314411216,
+      "z": -0.08428373966712469
+    },
+    "orientation": {
+      "x": -0.28418121372147287,
+      "y": 0.8295794813433199,
+      "z": 0.3438632741955736,
+      "w": -0.33585260243362486
+    }
+  },
+  {
+    "timestamp": 1766139704.0692368,
+    "position": {
+      "x": 0.04918669982640686,
+      "y": 0.055269677521437785,
+      "z": -0.08448845895394522
+    },
+    "orientation": {
+      "x": -0.2762150479367877,
+      "y": 0.8179307046702251,
+      "z": 0.38140558376883477,
+      "w": -0.3304911350110641
+    }
+  },
+  {
+    "timestamp": 1766139704.2019267,
+    "position": {
+      "x": 0.04927766236269229,
+      "y": 0.05650108852202346,
+      "z": -0.08521715631690646
+    },
+    "orientation": {
+      "x": -0.27415331211026206,
+      "y": 0.8131045722843165,
+      "z": 0.39289623338183705,
+      "w": -0.3306561140878492
+    }
+  },
+  {
+    "timestamp": 1766139704.3346167,
+    "position": {
+      "x": 0.048110651225154455,
+      "y": 0.05427108805620598,
+      "z": -0.08403959321523283
+    },
+    "orientation": {
+      "x": -0.27735848502609695,
+      "y": 0.8205476816274964,
+      "z": 0.37227462698629027,
+      "w": -0.33344471065228776
+    }
+  },
+  {
+    "timestamp": 1766139704.4673069,
+    "position": {
+      "x": 0.05008032520797573,
+      "y": 0.05156145456919886,
+      "z": -0.08302056190084262
+    },
+    "orientation": {
+      "x": -0.2839191874763048,
+      "y": 0.8358640067999566,
+      "z": 0.3273935866358547,
+      "w": -0.33694910082804486
+    }
+  },
+  {
+    "timestamp": 1766139704.5999968,
+    "position": {
+      "x": 0.04996719235318123,
+      "y": 0.04783423696986311,
+      "z": -0.08124617713471055
+    },
+    "orientation": {
+      "x": -0.28731635456207344,
+      "y": 0.8488113779742503,
+      "z": 0.2839813587146914,
+      "w": -0.3410617904796325
+    }
+  },
+  {
+    "timestamp": 1766139704.7326868,
+    "position": {
+      "x": 0.04973538621275861,
+      "y": 0.04423686031755765,
+      "z": -0.07868947994835063
+    },
+    "orientation": {
+      "x": -0.2914960302908971,
+      "y": 0.8605359549178154,
+      "z": 0.23614968579659215,
+      "w": -0.3445885379935072
+    }
+  },
+  {
+    "timestamp": 1766139704.8653767,
+    "position": {
+      "x": 0.050657442898242255,
+      "y": 0.04144393557654019,
+      "z": -0.07680203718294154
+    },
+    "orientation": {
+      "x": -0.29515056103318843,
+      "y": 0.8690014195001218,
+      "z": 0.19133452756250532,
+      "w": -0.34801404826673354
+    }
+  },
+  {
+    "timestamp": 1766139704.9980667,
+    "position": {
+      "x": 0.053224964955730814,
+      "y": 0.03943688375505334,
+      "z": -0.07441524725471882
+    },
+    "orientation": {
+      "x": -0.29989270788059597,
+      "y": 0.8771644693142887,
+      "z": 0.1411596163333533,
+      "w": -0.3474490182015861
+    }
+  },
+  {
+    "timestamp": 1766139705.1307569,
+    "position": {
+      "x": 0.05357018722630369,
+      "y": 0.036863132619463314,
+      "z": -0.07185807234456619
+    },
+    "orientation": {
+      "x": -0.30155937627349866,
+      "y": 0.8820576450108116,
+      "z": 0.0975963739922041,
+      "w": -0.3485845682801999
+    }
+  }
+]
\ No newline at end of file
diff --git a/recorded_gelsight_pose/episode_43/session_info.json b/recorded_gelsight_pose/episode_43/session_info.json
new file mode 100644
index 0000000000000000000000000000000000000000..660840ca7475f3bf5e67e3c6be9e0b3e68fbd8d6
--- /dev/null
+++ b/recorded_gelsight_pose/episode_43/session_info.json
@@ -0,0 +1,12 @@
+{
+  "session_id": 23,
+  "start_time": "2025-12-19T20:45:41.121377",
+  "ros_start_time": 1766148341.12139,
+  "image_topic": "/gelsight_img",
+  "pose_topic": "/pose",
+  "image_format": "png",
+  "end_time": "2025-12-19T20:45:44.966008",
+  "ros_end_time": 1766148344.9660153,
+  "total_images": 96,
+  "total_pose_frames": 29
+}
\ No newline at end of file
diff --git a/recorded_gelsight_pose/episode_45/image_index.json b/recorded_gelsight_pose/episode_45/image_index.json
new file mode 100644
index 0000000000000000000000000000000000000000..71ff52e8cdbe655270f860405990c925198fb68c
--- /dev/null
+++ b/recorded_gelsight_pose/episode_45/image_index.json
@@ -0,0 +1,402 @@
+[
+  {
+    "timestamp": 1766148351.4725542,
+    "filename": "img_000000.png"
+  },
+  {
+    "timestamp": 1766148351.5169759,
+    "filename": "img_000001.png"
+  },
+  {
+    "timestamp": 1766148351.5544786,
+    "filename": "img_000002.png"
+  },
+  {
+    "timestamp": 1766148351.5948222,
+    "filename": "img_000003.png"
+  },
+  {
+    "timestamp": 1766148351.6318915,
+    "filename": "img_000004.png"
+  },
+  {
+    "timestamp": 1766148351.67317,
+    "filename": "img_000005.png"
+  },
+  {
+    "timestamp": 1766148351.7170537,
+    "filename": "img_000006.png"
+  },
+  {
+    "timestamp": 1766148351.7526386,
+    "filename": "img_000007.png"
+  },
+  {
+    "timestamp": 1766148351.792747,
+    "filename": "img_000008.png"
+  },
+  {
+    "timestamp": 1766148351.8324332,
+    "filename": "img_000009.png"
+  },
+  {
+    "timestamp": 1766148351.8745277,
+    "filename": "img_000010.png"
+  },
+  {
+    "timestamp": 1766148351.915367,
+    "filename": "img_000011.png"
+  },
+  {
+    "timestamp": 1766148351.9530683,
+    "filename": "img_000012.png"
+  },
+  {
+    "timestamp": 1766148351.9943147,
+    "filename": "img_000013.png"
+  },
+  {
+    "timestamp": 1766148352.0325744,
+    "filename": "img_000014.png"
+  },
+  {
+    "timestamp": 1766148352.0740669,
+    "filename": "img_000015.png"
+  },
+  {
+    "timestamp": 1766148352.114511,
+    "filename": "img_000016.png"
+  },
+  {
+    "timestamp": 1766148352.154628,
+    "filename": "img_000017.png"
+  },
+  {
+    "timestamp": 1766148352.1961124,
+    "filename": "img_000018.png"
+  },
+  {
+    "timestamp": 1766148352.232906,
+    "filename": "img_000019.png"
+  },
+  {
+    "timestamp": 1766148352.272787,
+    "filename": "img_000020.png"
+  },
+  {
+    "timestamp": 1766148352.3188632,
+    "filename": "img_000021.png"
+  },
+  {
+    "timestamp": 1766148352.3536575,
+    "filename": "img_000022.png"
+  },
+  {
+    "timestamp": 1766148352.3934498,
+    "filename": "img_000023.png"
+  },
+  {
+    "timestamp": 1766148352.4311686,
+    "filename": "img_000024.png"
+  },
+  {
+    "timestamp": 1766148352.4737127,
+    "filename": "img_000025.png"
+  },
+  {
+    "timestamp": 1766148352.5163727,
+    "filename": "img_000026.png"
+  },
+  {
+    "timestamp": 1766148352.5529304,
+    "filename": "img_000027.png"
+  },
+  {
+    "timestamp": 1766148352.5924006,
+    "filename": "img_000028.png"
+  },
+  {
+    "timestamp": 1766148352.631958,
+    "filename": "img_000029.png"
+  },
+  {
+    "timestamp": 1766148352.6724823,
+    "filename": "img_000030.png"
+  },
+  {
+    "timestamp": 1766148352.714666,
+    "filename": "img_000031.png"
+  },
+  {
+    "timestamp": 1766148352.7521787,
+    "filename": "img_000032.png"
+  },
+  {
+    "timestamp": 1766148352.795222,
+    "filename": "img_000033.png"
+  },
+  {
+    "timestamp": 1766148352.8347683,
+    "filename": "img_000034.png"
+  },
+  {
+    "timestamp": 1766148352.8721545,
+    "filename": "img_000035.png"
+  },
+  {
+    "timestamp": 1766148352.9128904,
+    "filename": "img_000036.png"
+  },
+  {
+    "timestamp": 1766148352.9527707,
+    "filename": "img_000037.png"
+  },
+  {
+    "timestamp": 1766148352.9921575,
+    "filename": "img_000038.png"
+  },
+  {
+    "timestamp": 1766148353.0330455,
+    "filename": "img_000039.png"
+  },
+  {
+    "timestamp": 1766148353.0726516,
+    "filename": "img_000040.png"
+  },
+  {
+    "timestamp": 1766148353.1148434,
+    "filename": "img_000041.png"
+  },
+  {
+    "timestamp": 1766148353.153923,
+    "filename": "img_000042.png"
+  },
+  {
+    "timestamp": 1766148353.1928654,
+    "filename": "img_000043.png"
+  },
+  {
+    "timestamp": 1766148353.2332397,
+    "filename": "img_000044.png"
+  },
+  {
+    "timestamp": 1766148353.2732656,
+    "filename": "img_000045.png"
+  },
+  {
+    "timestamp": 1766148353.3141189,
+    "filename": "img_000046.png"
+  },
+  {
+    "timestamp": 1766148353.3527522,
+    "filename": "img_000047.png"
+  },
+  {
+    "timestamp": 1766148353.3918457,
+    "filename": "img_000048.png"
+  },
+  {
+    "timestamp": 1766148353.4331365,
+    "filename": "img_000049.png"
+  },
+  {
+    "timestamp": 1766148353.4740396,
+    "filename": "img_000050.png"
+  },
+  {
+    "timestamp": 1766148353.5135655,
+    "filename": "img_000051.png"
+  },
+  {
+    "timestamp": 1766148353.5534623,
+    "filename": "img_000052.png"
+  },
+  {
+    "timestamp": 1766148353.593664,
+    "filename": "img_000053.png"
+  },
+  {
+    "timestamp": 1766148353.6326814,
+    "filename": "img_000054.png"
+  },
+  {
+    "timestamp": 1766148353.6727219,
+    "filename": "img_000055.png"
+  },
+  {
+    "timestamp": 1766148353.7136452,
+    "filename": "img_000056.png"
+  },
+  {
+    "timestamp": 1766148353.7542768,
+    "filename": "img_000057.png"
+  },
+  {
+    "timestamp": 1766148353.7934453,
+    "filename": "img_000058.png"
+  },
+  {
+    "timestamp": 1766148353.8322058,
+    "filename": "img_000059.png"
+  },
+  {
+    "timestamp": 1766148353.87203,
+    "filename": "img_000060.png"
+  },
+  {
+    "timestamp": 1766148353.9138958,
+    "filename": "img_000061.png"
+  },
+  {
+    "timestamp": 1766148353.953289,
+    "filename": "img_000062.png"
+  },
+  {
+    "timestamp": 1766148353.9926052,
+    "filename": "img_000063.png"
+  },
+  {
+    "timestamp": 1766148354.0325708,
+    "filename": "img_000064.png"
+  },
+  {
+    "timestamp": 1766148354.0733001,
+    "filename": "img_000065.png"
+  },
+  {
+    "timestamp": 1766148354.114093,
+    "filename": "img_000066.png"
+  },
+  {
+    "timestamp": 1766148354.1534004,
+    "filename": "img_000067.png"
+  },
+  {
+    "timestamp": 1766148354.1925392,
+    "filename": "img_000068.png"
+  },
+  {
+    "timestamp": 1766148354.233709,
+    "filename": "img_000069.png"
+  },
+  {
+    "timestamp": 1766148354.2732723,
+    "filename": "img_000070.png"
+  },
+  {
+    "timestamp": 1766148354.3132515,
+    "filename": "img_000071.png"
+  },
+  {
+    "timestamp": 1766148354.3529897,
+    "filename": "img_000072.png"
+  },
+  {
+    "timestamp": 1766148354.393232,
+    "filename": "img_000073.png"
+  },
+  {
+    "timestamp": 1766148354.4343712,
+    "filename": "img_000074.png"
+  },
+  {
+    "timestamp": 1766148354.472475,
+    "filename": "img_000075.png"
+  },
+  {
+    "timestamp": 1766148354.5132594,
+    "filename": "img_000076.png"
+  },
+  {
+    "timestamp": 1766148354.5545986,
+    "filename": "img_000077.png"
+  },
+  {
+    "timestamp": 1766148354.5938504,
+    "filename": "img_000078.png"
+  },
+  {
+    "timestamp": 1766148354.6328506,
+    "filename": "img_000079.png"
+  },
+  {
+    "timestamp": 1766148354.672714,
+    "filename": "img_000080.png"
+  },
+  {
+    "timestamp": 1766148354.7147577,
+    "filename": "img_000081.png"
+  },
+  {
+    "timestamp": 1766148354.7542336,
+    "filename": "img_000082.png"
+  },
+  {
+    "timestamp": 1766148354.7923777,
+    "filename": "img_000083.png"
+  },
+  {
+    "timestamp": 1766148354.8336062,
+    "filename": "img_000084.png"
+  },
+  {
+    "timestamp": 1766148354.8729877,
+    "filename": "img_000085.png"
+  },
+  {
+    "timestamp": 1766148354.9138813,
+    "filename": "img_000086.png"
+  },
+  {
+    "timestamp": 1766148354.954278,
+    "filename": "img_000087.png"
+  },
+  {
+    "timestamp": 1766148354.9922488,
+    "filename": "img_000088.png"
+  },
+  {
+    "timestamp": 1766148355.033421,
+    "filename": "img_000089.png"
+  },
+  {
+    "timestamp": 1766148355.0740197,
+    "filename": "img_000090.png"
+  },
+  {
+    "timestamp": 1766148355.1141033,
+    "filename": "img_000091.png"
+  },
+  {
+    "timestamp": 1766148355.1536684,
+    "filename": "img_000092.png"
+  },
+  {
+    "timestamp": 1766148355.1941187,
+    "filename": "img_000093.png"
+  },
+  {
+    "timestamp": 1766148355.2351131,
+    "filename": "img_000094.png"
+  },
+  {
+    "timestamp": 1766148355.2736092,
+    "filename": "img_000095.png"
+  },
+  {
+    "timestamp": 1766148355.3153229,
+    "filename": "img_000096.png"
+  },
+  {
+    "timestamp": 1766148355.3544557,
+    "filename": "img_000097.png"
+  },
+  {
+    "timestamp": 1766148355.395205,
+    "filename": "img_000098.png"
+  },
+  {
+    "timestamp": 1766148355.4334826,
+    "filename": "img_000099.png"
+  }
+]
\ No newline at end of file
diff --git a/recorded_gelsight_pose/episode_45/pose_data.json b/recorded_gelsight_pose/episode_45/pose_data.json
new file mode 100644
index 0000000000000000000000000000000000000000..c7b4672f43e645dbeea2994c14dac813ac3770bb
--- /dev/null
+++ b/recorded_gelsight_pose/episode_45/pose_data.json
@@ -0,0 +1,422 @@
+[
+  {
+    "timestamp": 1766139711.7652628,
+    "position": {
+      "x": 0.05289623025133869,
+      "y": 0.04978709411047999,
+      "z": -0.0776272331488373
+    },
+    "orientation": {
+      "x": -0.2874550415762299,
+      "y": 0.8446930179716862,
+      "z": 0.31027667237196344,
+      "w": -0.32801172394302247
+    }
+  },
+  {
+    "timestamp": 1766139711.8979528,
+    "position": {
+      "x": 0.054948520679239,
+      "y": 0.05028714238188786,
+      "z": -0.07785658296020143
+    },
+    "orientation": {
+      "x": -0.2900142598870239,
+      "y": 0.8469928903411584,
+      "z": 0.3013489636791483,
+      "w": -0.32815175584356604
+    }
+  },
+  {
+    "timestamp": 1766139712.0306427,
+    "position": {
+      "x": 0.05640303990983184,
+      "y": 0.05008912016192886,
+      "z": -0.07770830542955093
+    },
+    "orientation": {
+      "x": -0.29295235032304423,
+      "y": 0.8501611719789329,
+      "z": 0.28821307027964876,
+      "w": -0.3291475781767047
+    }
+  },
+  {
+    "timestamp": 1766139712.1633327,
+    "position": {
+      "x": 0.055347366102313444,
+      "y": 0.04745668258502287,
+      "z": -0.07574760869124739
+    },
+    "orientation": {
+      "x": -0.2949057586670547,
+      "y": 0.8579893272367104,
+      "z": 0.2608336171106257,
+      "w": -0.32992534312764377
+    }
+  },
+  {
+    "timestamp": 1766139712.296023,
+    "position": {
+      "x": 0.05442592688968809,
+      "y": 0.04398303238278415,
+      "z": -0.0729547221415073
+    },
+    "orientation": {
+      "x": -0.2968176758451372,
+      "y": 0.8687314604459865,
+      "z": 0.2187049251117725,
+      "w": -0.33071600001984863
+    }
+  },
+  {
+    "timestamp": 1766139712.4287128,
+    "position": {
+      "x": 0.05671903809523074,
+      "y": 0.041933631274144734,
+      "z": -0.07094747769769047
+    },
+    "orientation": {
+      "x": -0.30195154646679084,
+      "y": 0.8769199612470215,
+      "z": 0.16753021098251394,
+      "w": -0.33432061492075266
+    }
+  },
+  {
+    "timestamp": 1766139712.5614038,
+    "position": {
+      "x": 0.058474145645957376,
+      "y": 0.04030993750396137,
+      "z": -0.06741634927677839
+    },
+    "orientation": {
+      "x": -0.30710904409590845,
+      "y": 0.8843461848604641,
+      "z": 0.10957832634293073,
+      "w": -0.3340785098642553
+    }
+  },
+  {
+    "timestamp": 1766139712.6940937,
+    "position": {
+      "x": 0.06000304675350682,
+      "y": 0.03898032385809339,
+      "z": -0.06505873313875497
+    },
+    "orientation": {
+      "x": -0.30950177777088633,
+      "y": 0.8868979577875373,
+      "z": 0.06544780994472349,
+      "w": -0.3366559760384418
+    }
+  },
+  {
+    "timestamp": 1766139712.8267837,
+    "position": {
+      "x": 0.06065828362206524,
+      "y": 0.03814784936866576,
+      "z": -0.06265682587894006
+    },
+    "orientation": {
+      "x": -0.30990182541456196,
+      "y": 0.8891840995663082,
+      "z": 0.03300071118345267,
+      "w": -0.334997684685376
+    }
+  },
+  {
+    "timestamp": 1766139712.9594738,
+    "position": {
+      "x": 0.06147861754389794,
+      "y": 0.0383185547202457,
+      "z": -0.061239139200081935
+    },
+    "orientation": {
+      "x": -0.31414091363587854,
+      "y": 0.8878292619140049,
+      "z": 0.006129456244130205,
+      "w": -0.336209931196864
+    }
+  },
+  {
+    "timestamp": 1766139713.0921638,
+    "position": {
+      "x": 0.06229744010541119,
+      "y": 0.03843489624212702,
+      "z": -0.06018469823592215
+    },
+    "orientation": {
+      "x": -0.313997930355996,
+      "y": 0.8885638461480402,
+      "z": -0.009016733315212654,
+      "w": -0.3343326032128418
+    }
+  },
+  {
+    "timestamp": 1766139713.2248538,
+    "position": {
+      "x": 0.061675691769211255,
+      "y": 0.0383304175412135,
+      "z": -0.06036802687508716
+    },
+    "orientation": {
+      "x": -0.3138252008712198,
+      "y": 0.8889999123514875,
+      "z": -0.0016951682050015899,
+      "w": -0.3334516839692714
+    }
+  },
+  {
+    "timestamp": 1766139713.3575437,
+    "position": {
+      "x": 0.06112437370286786,
+      "y": 0.038912072756751376,
+      "z": -0.0625480940686356
+    },
+    "orientation": {
+      "x": -0.31137862556922413,
+      "y": 0.8890733236505137,
+      "z": 0.03148059968164417,
+      "w": -0.33406728147984466
+    }
+  },
+  {
+    "timestamp": 1766139713.4902337,
+    "position": {
+      "x": 0.05937175566565844,
+      "y": 0.04006602031469776,
+      "z": -0.0654776367772382
+    },
+    "orientation": {
+      "x": -0.3094716083178221,
+      "y": 0.886448914444268,
+      "z": 0.08134785303498587,
+      "w": -0.33439224352899916
+    }
+  },
+  {
+    "timestamp": 1766139713.6229239,
+    "position": {
+      "x": 0.05853951912275643,
+      "y": 0.04174713288260433,
+      "z": -0.06813364189079131
+    },
+    "orientation": {
+      "x": -0.3074821989726217,
+      "y": 0.8820517794432619,
+      "z": 0.12609340988237477,
+      "w": -0.33397575912058625
+    }
+  },
+  {
+    "timestamp": 1766139713.7556138,
+    "position": {
+      "x": 0.05698905404792834,
+      "y": 0.04327018362942447,
+      "z": -0.07059332438087013
+    },
+    "orientation": {
+      "x": -0.30268181759738455,
+      "y": 0.8761930353120818,
+      "z": 0.17298634428050616,
+      "w": -0.33278402434463517
+    }
+  },
+  {
+    "timestamp": 1766139713.8883047,
+    "position": {
+      "x": 0.05543456811961189,
+      "y": 0.04509468477833073,
+      "z": -0.07266876628491725
+    },
+    "orientation": {
+      "x": -0.30023658269644654,
+      "y": 0.8681702840268997,
+      "z": 0.21524743507557556,
+      "w": -0.33137123296508125
+    }
+  },
+  {
+    "timestamp": 1766139714.0209947,
+    "position": {
+      "x": 0.05463547501877633,
+      "y": 0.04777723015532773,
+      "z": -0.07491630881251403
+    },
+    "orientation": {
+      "x": -0.29497904111293366,
+      "y": 0.8580001738921548,
+      "z": 0.26240347800002894,
+      "w": -0.3285840556670616
+    }
+  },
+  {
+    "timestamp": 1766139714.1536849,
+    "position": {
+      "x": 0.05480750252164501,
+      "y": 0.04990860824524604,
+      "z": -0.07684968354195061
+    },
+    "orientation": {
+      "x": -0.2915012163448659,
+      "y": 0.849817443110448,
+      "z": 0.2919405588637877,
+      "w": -0.32803668140161313
+    }
+  },
+  {
+    "timestamp": 1766139714.2863748,
+    "position": {
+      "x": 0.05521528654741262,
+      "y": 0.05046001782215258,
+      "z": -0.07702495515613911
+    },
+    "orientation": {
+      "x": -0.29339767921019144,
+      "y": 0.8488577643001136,
+      "z": 0.2924793602026865,
+      "w": -0.32835060785220666
+    }
+  },
+  {
+    "timestamp": 1766139714.4190648,
+    "position": {
+      "x": 0.054750192845633955,
+      "y": 0.048759052816320064,
+      "z": -0.07594999482490897
+    },
+    "orientation": {
+      "x": -0.29354348507516154,
+      "y": 0.8547063597161328,
+      "z": 0.2746540480354645,
+      "w": -0.32844240732350255
+    }
+  },
+  {
+    "timestamp": 1766139714.5517547,
+    "position": {
+      "x": 0.0569090485478537,
+      "y": 0.04696664087615696,
+      "z": -0.07437941156987919
+    },
+    "orientation": {
+      "x": -0.29874492816690634,
+      "y": 0.8640639257108971,
+      "z": 0.23260579398461953,
+      "w": -0.3317220896841331
+    }
+  },
+  {
+    "timestamp": 1766139714.6844447,
+    "position": {
+      "x": 0.05721063136303814,
+      "y": 0.04434326656165953,
+      "z": -0.07151004009567972
+    },
+    "orientation": {
+      "x": -0.30309606639091885,
+      "y": 0.8736662165247643,
+      "z": 0.1832017055180034,
+      "w": -0.3335824511825375
+    }
+  },
+  {
+    "timestamp": 1766139714.8171349,
+    "position": {
+      "x": 0.059028862203029636,
+      "y": 0.04289685488548266,
+      "z": -0.06906699352917427
+    },
+    "orientation": {
+      "x": -0.30862222800876715,
+      "y": 0.8799045371294598,
+      "z": 0.1347346861343879,
+      "w": -0.33521170962566865
+    }
+  },
+  {
+    "timestamp": 1766139714.9498248,
+    "position": {
+      "x": 0.05930069223077564,
+      "y": 0.04103168713882214,
+      "z": -0.06655233436424006
+    },
+    "orientation": {
+      "x": -0.3100716706024219,
+      "y": 0.8845685569791527,
+      "z": 0.10068246180948466,
+      "w": -0.33355219828030575
+    }
+  },
+  {
+    "timestamp": 1766139715.0825157,
+    "position": {
+      "x": 0.060412761893998745,
+      "y": 0.0398586704364518,
+      "z": -0.06489623774001263
+    },
+    "orientation": {
+      "x": -0.3105886343950369,
+      "y": 0.8866424033140516,
+      "z": 0.06521470362143382,
+      "w": -0.3363732915403323
+    }
+  },
+  {
+    "timestamp": 1766139715.2152057,
+    "position": {
+      "x": 0.06221929630268036,
+      "y": 0.03943570330368176,
+      "z": -0.06195949227009433
+    },
+    "orientation": {
+      "x": -0.3141823299249421,
+      "y": 0.888272483735087,
+      "z": 0.017578959863504686,
+      "w": -0.3345929442952309
+    }
+  },
+  {
+    "timestamp": 1766139715.3478959,
+    "position": {
+      "x": 0.06262710612664893,
+      "y": 0.03866820284044879,
+      "z": -0.06018362165864784
+    },
+    "orientation": {
+      "x": -0.3146484725266089,
+      "y": 0.888125219059227,
+      "z": -0.0107178684659726,
+      "w": -0.33483587218698346
+    }
+  },
+  {
+    "timestamp": 1766139715.4805858,
+    "position": {
+      "x": 0.06292912355256577,
+      "y": 0.038806267892036846,
+      "z": -0.05783539627324495
+    },
+    "orientation": {
+      "x": -0.3183017296440858,
+      "y": 0.8870813714678815,
+      "z": -0.04097740601227788,
+      "w": -0.3318003940575575
+    }
+  },
+  {
+    "timestamp": 1766139715.6132758,
+    "position": {
+      "x": 0.06380798759530348,
+      "y": 0.03922712832182257,
+      "z": -0.05787462416966986
+    },
+    "orientation": {
+      "x": -0.3179227513973155,
+      "y": 0.8873846295292688,
+      "z": -0.042508587727302996,
+      "w": -0.3311595739044751
+    }
+  }
+]
\ No newline at end of file
diff --git a/recorded_gelsight_pose/episode_45/session_info.json b/recorded_gelsight_pose/episode_45/session_info.json
new file mode 100644
index 0000000000000000000000000000000000000000..1975ba1020110bf5543d9904227eb0f41ac2d5b0
--- /dev/null
+++ b/recorded_gelsight_pose/episode_45/session_info.json
@@ -0,0 +1,12 @@
+{
+  "session_id": 25,
+  "start_time": "2025-12-19T20:45:51.459155",
+  "ros_start_time": 1766148351.4591722,
+  "image_topic": "/gelsight_img",
+  "pose_topic": "/pose",
+  "image_format": "png",
+  "end_time": "2025-12-19T20:45:55.481860",
+  "ros_end_time": 1766148355.4818714,
+  "total_images": 100,
+  "total_pose_frames": 30
+}
\ No newline at end of file
diff --git a/recorded_gelsight_pose/episode_49/image_index.json b/recorded_gelsight_pose/episode_49/image_index.json
new file mode 100644
index 0000000000000000000000000000000000000000..f7fbc05d65d087975dc2c84d635add14b56bd8b5
--- /dev/null
+++ b/recorded_gelsight_pose/episode_49/image_index.json
@@ -0,0 +1,406 @@
+[
+  {
+    "timestamp": 1766148405.0341442,
+    "filename": "img_000000.png"
+  },
+  {
+    "timestamp": 1766148405.0783896,
+    "filename": "img_000001.png"
+  },
+  {
+    "timestamp": 1766148405.1141944,
+    "filename": "img_000002.png"
+  },
+  {
+    "timestamp": 1766148405.1532469,
+    "filename": "img_000003.png"
+  },
+  {
+    "timestamp": 1766148405.1944146,
+    "filename": "img_000004.png"
+  },
+  {
+    "timestamp": 1766148405.233278,
+    "filename": "img_000005.png"
+  },
+  {
+    "timestamp": 1766148405.274035,
+    "filename": "img_000006.png"
+  },
+  {
+    "timestamp": 1766148405.3142045,
+    "filename": "img_000007.png"
+  },
+  {
+    "timestamp": 1766148405.3526797,
+    "filename": "img_000008.png"
+  },
+  {
+    "timestamp": 1766148405.393769,
+    "filename": "img_000009.png"
+  },
+  {
+    "timestamp": 1766148405.4341893,
+    "filename": "img_000010.png"
+  },
+  {
+    "timestamp": 1766148405.4746087,
+    "filename": "img_000011.png"
+  },
+  {
+    "timestamp": 1766148405.5149493,
+    "filename": "img_000012.png"
+  },
+  {
+    "timestamp": 1766148405.5522776,
+    "filename": "img_000013.png"
+  },
+  {
+    "timestamp": 1766148405.59426,
+    "filename": "img_000014.png"
+  },
+  {
+    "timestamp": 1766148405.6351821,
+    "filename": "img_000015.png"
+  },
+  {
+    "timestamp": 1766148405.6746187,
+    "filename": "img_000016.png"
+  },
+  {
+    "timestamp": 1766148405.7129726,
+    "filename": "img_000017.png"
+  },
+  {
+    "timestamp": 1766148405.7530787,
+    "filename": "img_000018.png"
+  },
+  {
+    "timestamp": 1766148405.7941835,
+    "filename": "img_000019.png"
+  },
+  {
+    "timestamp": 1766148405.8329246,
+    "filename": "img_000020.png"
+  },
+  {
+    "timestamp": 1766148405.8726346,
+    "filename": "img_000021.png"
+  },
+  {
+    "timestamp": 1766148405.9130573,
+    "filename": "img_000022.png"
+  },
+  {
+    "timestamp": 1766148405.954726,
+    "filename": "img_000023.png"
+  },
+  {
+    "timestamp": 1766148405.9941645,
+    "filename": "img_000024.png"
+  },
+  {
+    "timestamp": 1766148406.0329022,
+    "filename": "img_000025.png"
+  },
+  {
+    "timestamp": 1766148406.0731466,
+    "filename": "img_000026.png"
+  },
+  {
+    "timestamp": 1766148406.114056,
+    "filename": "img_000027.png"
+  },
+  {
+    "timestamp": 1766148406.1527212,
+    "filename": "img_000028.png"
+  },
+  {
+    "timestamp": 1766148406.1928217,
+    "filename": "img_000029.png"
+  },
+  {
+    "timestamp": 1766148406.2342052,
+    "filename": "img_000030.png"
+  },
+  {
+    "timestamp": 1766148406.2739913,
+    "filename": "img_000031.png"
+  },
+  {
+    "timestamp": 1766148406.3134496,
+    "filename": "img_000032.png"
+  },
+  {
+    "timestamp": 1766148406.351972,
+    "filename": "img_000033.png"
+  },
+  {
+    "timestamp": 1766148406.3933034,
+    "filename": "img_000034.png"
+  },
+  {
+    "timestamp": 1766148406.4350178,
+    "filename": "img_000035.png"
+  },
+  {
+    "timestamp": 1766148406.4732716,
+    "filename": "img_000036.png"
+  },
+  {
+    "timestamp": 1766148406.5140529,
+    "filename": "img_000037.png"
+  },
+  {
+    "timestamp": 1766148406.5536928,
+    "filename": "img_000038.png"
+  },
+  {
+    "timestamp": 1766148406.5938358,
+    "filename": "img_000039.png"
+  },
+  {
+    "timestamp": 1766148406.6329,
+    "filename": "img_000040.png"
+  },
+  {
+    "timestamp": 1766148406.6729012,
+    "filename": "img_000041.png"
+  },
+  {
+    "timestamp": 1766148406.7139153,
+    "filename": "img_000042.png"
+  },
+  {
+    "timestamp": 1766148406.753741,
+    "filename": "img_000043.png"
+  },
+  {
+    "timestamp": 1766148406.7939658,
+    "filename": "img_000044.png"
+  },
+  {
+    "timestamp": 1766148406.833891,
+    "filename": "img_000045.png"
+  },
+  {
+    "timestamp": 1766148406.873424,
+    "filename": "img_000046.png"
+  },
+  {
+    "timestamp": 1766148406.9217327,
+    "filename": "img_000047.png"
+  },
+  {
+    "timestamp": 1766148406.9588513,
+    "filename": "img_000048.png"
+  },
+  {
+    "timestamp": 1766148406.9958608,
+    "filename": "img_000049.png"
+  },
+  {
+    "timestamp": 1766148407.0376275,
+    "filename": "img_000050.png"
+  },
+  {
+    "timestamp": 1766148407.07756,
+    "filename": "img_000051.png"
+  },
+  {
+    "timestamp": 1766148407.1171823,
+    "filename": "img_000052.png"
+  },
+  {
+    "timestamp": 1766148407.1533294,
+    "filename": "img_000053.png"
+  },
+  {
+    "timestamp": 1766148407.1958194,
+    "filename": "img_000054.png"
+  },
+  {
+    "timestamp": 1766148407.2399814,
+    "filename": "img_000055.png"
+  },
+  {
+    "timestamp": 1766148407.2803028,
+    "filename": "img_000056.png"
+  },
+  {
+    "timestamp": 1766148407.3164692,
+    "filename": "img_000057.png"
+  },
+  {
+    "timestamp": 1766148407.3550436,
+    "filename": "img_000058.png"
+  },
+  {
+    "timestamp": 1766148407.3961701,
+    "filename": "img_000059.png"
+  },
+  {
+    "timestamp": 1766148407.437193,
+    "filename": "img_000060.png"
+  },
+  {
+    "timestamp": 1766148407.4736009,
+    "filename": "img_000061.png"
+  },
+  {
+    "timestamp": 1766148407.5142457,
+    "filename": "img_000062.png"
+  },
+  {
+    "timestamp": 1766148407.5563679,
+    "filename": "img_000063.png"
+  },
+  {
+    "timestamp": 1766148407.5997806,
+    "filename": "img_000064.png"
+  },
+  {
+    "timestamp": 1766148407.6369593,
+    "filename": "img_000065.png"
+  },
+  {
+    "timestamp": 1766148407.6743112,
+    "filename": "img_000066.png"
+  },
+  {
+    "timestamp": 1766148407.7148368,
+    "filename": "img_000067.png"
+  },
+  {
+    "timestamp": 1766148407.7562428,
+    "filename": "img_000068.png"
+  },
+  {
+    "timestamp": 1766148407.7955112,
+    "filename": "img_000069.png"
+  },
+  {
+    "timestamp": 1766148407.8363228,
+    "filename": "img_000070.png"
+  },
+  {
+    "timestamp": 1766148407.8816152,
+    "filename": "img_000071.png"
+  },
+  {
+    "timestamp": 1766148407.9156048,
+    "filename": "img_000072.png"
+  },
+  {
+    "timestamp": 1766148407.9582584,
+    "filename": "img_000073.png"
+  },
+  {
+    "timestamp": 1766148407.996545,
+    "filename": "img_000074.png"
+  },
+  {
+    "timestamp": 1766148408.0361898,
+    "filename": "img_000075.png"
+  },
+  {
+    "timestamp": 1766148408.0741386,
+    "filename": "img_000076.png"
+  },
+  {
+    "timestamp": 1766148408.114432,
+    "filename": "img_000077.png"
+  },
+  {
+    "timestamp": 1766148408.1556711,
+    "filename": "img_000078.png"
+  },
+  {
+    "timestamp": 1766148408.1959252,
+    "filename": "img_000079.png"
+  },
+  {
+    "timestamp": 1766148408.2385356,
+    "filename": "img_000080.png"
+  },
+  {
+    "timestamp": 1766148408.2768047,
+    "filename": "img_000081.png"
+  },
+  {
+    "timestamp": 1766148408.3161318,
+    "filename": "img_000082.png"
+  },
+  {
+    "timestamp": 1766148408.3609953,
+    "filename": "img_000083.png"
+  },
+  {
+    "timestamp": 1766148408.4032655,
+    "filename": "img_000084.png"
+  },
+  {
+    "timestamp": 1766148408.4409218,
+    "filename": "img_000085.png"
+  },
+  {
+    "timestamp": 1766148408.4819853,
+    "filename": "img_000086.png"
+  },
+  {
+    "timestamp": 1766148408.5199416,
+    "filename": "img_000087.png"
+  },
+  {
+    "timestamp": 1766148408.5556202,
+    "filename": "img_000088.png"
+  },
+  {
+    "timestamp": 1766148408.5965118,
+    "filename": "img_000089.png"
+  },
+  {
+    "timestamp": 1766148408.636495,
+    "filename": "img_000090.png"
+  },
+  {
+    "timestamp": 1766148408.6743097,
+    "filename": "img_000091.png"
+  },
+  {
+    "timestamp": 1766148408.71493,
+    "filename": "img_000092.png"
+  },
+  {
+    "timestamp": 1766148408.7571893,
+    "filename": "img_000093.png"
+  },
+  {
+    "timestamp": 1766148408.7961109,
+    "filename": "img_000094.png"
+  },
+  {
+    "timestamp": 1766148408.8352401,
+    "filename": "img_000095.png"
+  },
+  {
+    "timestamp": 1766148408.8747442,
+    "filename": "img_000096.png"
+  },
+  {
+    "timestamp": 1766148408.913857,
+    "filename": "img_000097.png"
+  },
+  {
+    "timestamp": 1766148408.957102,
+    "filename": "img_000098.png"
+  },
+  {
+    "timestamp": 1766148408.996601,
+    "filename": "img_000099.png"
+  },
+  {
+    "timestamp": 1766148409.040364,
+    "filename": "img_000100.png"
+  }
+]
\ No newline at end of file
diff --git a/recorded_gelsight_pose/episode_49/pose_data.json b/recorded_gelsight_pose/episode_49/pose_data.json
new file mode 100644
index 0000000000000000000000000000000000000000..f8c1c4f2ef4c05c2fd1a5139776651bbd5f68a41
--- /dev/null
+++ b/recorded_gelsight_pose/episode_49/pose_data.json
@@ -0,0 +1,422 @@
+[
+  {
+    "timestamp": 1766139765.1066859,
+    "position": {
+      "x": 0.042159462401350184,
+      "y": 0.07127255357679856,
+      "z": -0.08800799545208973
+    },
+    "orientation": {
+      "x": -0.23519603239649492,
+      "y": 0.7208213269799014,
+      "z": 0.575272556518335,
+      "w": -0.30685652450736656
+    }
+  },
+  {
+    "timestamp": 1766139765.2393758,
+    "position": {
+      "x": 0.04214219484919832,
+      "y": 0.07129182446584563,
+      "z": -0.08806270633970284
+    },
+    "orientation": {
+      "x": -0.23431723402780535,
+      "y": 0.7206339105186581,
+      "z": 0.5758468421865935,
+      "w": -0.3068918623748008
+    }
+  },
+  {
+    "timestamp": 1766139765.3720658,
+    "position": {
+      "x": 0.041707474951974716,
+      "y": 0.07116711158147714,
+      "z": -0.0878599610983625
+    },
+    "orientation": {
+      "x": -0.2350067466509193,
+      "y": 0.7206454586629004,
+      "z": 0.5764012341799559,
+      "w": -0.30529259600080705
+    }
+  },
+  {
+    "timestamp": 1766139765.5047567,
+    "position": {
+      "x": 0.04148987002845536,
+      "y": 0.06938372228024564,
+      "z": -0.08775675961423055
+    },
+    "orientation": {
+      "x": -0.23801952139388227,
+      "y": 0.731108344815322,
+      "z": 0.5600033223684427,
+      "w": -0.30858317276405917
+    }
+  },
+  {
+    "timestamp": 1766139765.6374469,
+    "position": {
+      "x": 0.04229207134632884,
+      "y": 0.06660243534898527,
+      "z": -0.088142860739224
+    },
+    "orientation": {
+      "x": -0.24503461791492795,
+      "y": 0.7501068098972533,
+      "z": 0.5266190202924249,
+      "w": -0.31618067182435095
+    }
+  },
+  {
+    "timestamp": 1766139765.7701368,
+    "position": {
+      "x": 0.04163104967589029,
+      "y": 0.0626643986451927,
+      "z": -0.0873665655499154
+    },
+    "orientation": {
+      "x": -0.25224745538216514,
+      "y": 0.7693187902067318,
+      "z": 0.4916931534502056,
+      "w": -0.32055836151669126
+    }
+  },
+  {
+    "timestamp": 1766139765.9028268,
+    "position": {
+      "x": 0.04204424166390536,
+      "y": 0.058885731705951586,
+      "z": -0.0871664864710211
+    },
+    "orientation": {
+      "x": -0.25766342649845386,
+      "y": 0.7883319376495511,
+      "z": 0.45213132099629694,
+      "w": -0.32820661678418905
+    }
+  },
+  {
+    "timestamp": 1766139766.0355167,
+    "position": {
+      "x": 0.04433001952733323,
+      "y": 0.05648184555584529,
+      "z": -0.08695832520056435
+    },
+    "orientation": {
+      "x": -0.26644752009097206,
+      "y": 0.8039565157364534,
+      "z": 0.4137244714659405,
+      "w": -0.3339037309652305
+    }
+  },
+  {
+    "timestamp": 1766139766.1682067,
+    "position": {
+      "x": 0.04465007316556696,
+      "y": 0.05386453777222042,
+      "z": -0.08608088415642515
+    },
+    "orientation": {
+      "x": -0.27052190820682676,
+      "y": 0.816634542689503,
+      "z": 0.38300537369979826,
+      "w": -0.33650082404582804
+    }
+  },
+  {
+    "timestamp": 1766139766.300897,
+    "position": {
+      "x": 0.04604931812888363,
+      "y": 0.051574433837583034,
+      "z": -0.08559336010752946
+    },
+    "orientation": {
+      "x": -0.2758518629417033,
+      "y": 0.8281144705149845,
+      "z": 0.34954823381101546,
+      "w": -0.34051168214156474
+    }
+  },
+  {
+    "timestamp": 1766139766.4335868,
+    "position": {
+      "x": 0.04670531818721657,
+      "y": 0.048216947694432175,
+      "z": -0.08411512014746392
+    },
+    "orientation": {
+      "x": -0.281747716153074,
+      "y": 0.8415117161131317,
+      "z": 0.30532859623912023,
+      "w": -0.34532695290913396
+    }
+  },
+  {
+    "timestamp": 1766139766.5662768,
+    "position": {
+      "x": 0.04635020286704103,
+      "y": 0.04444481172457014,
+      "z": -0.08192911724770219
+    },
+    "orientation": {
+      "x": -0.2853177432332257,
+      "y": 0.8537205222704662,
+      "z": 0.26390023554248665,
+      "w": -0.3465713792729592
+    }
+  },
+  {
+    "timestamp": 1766139766.6989677,
+    "position": {
+      "x": 0.04840047598357117,
+      "y": 0.04242005934699308,
+      "z": -0.08099875933313994
+    },
+    "orientation": {
+      "x": -0.2885925901395529,
+      "y": 0.861766072792152,
+      "z": 0.22618355814419938,
+      "w": -0.3505917151419367
+    }
+  },
+  {
+    "timestamp": 1766139766.831658,
+    "position": {
+      "x": 0.04888300859499284,
+      "y": 0.04025897229657728,
+      "z": -0.07963625053751369
+    },
+    "orientation": {
+      "x": -0.2909852050598321,
+      "y": 0.8675257052358517,
+      "z": 0.19413796545935302,
+      "w": -0.353606011768223
+    }
+  },
+  {
+    "timestamp": 1766139766.9643478,
+    "position": {
+      "x": 0.04961457356966664,
+      "y": 0.03824618526190441,
+      "z": -0.07884760273325181
+    },
+    "orientation": {
+      "x": -0.29107579846291826,
+      "y": 0.8721022552016626,
+      "z": 0.17036593585425025,
+      "w": -0.3545250117013668
+    }
+  },
+  {
+    "timestamp": 1766139767.0970378,
+    "position": {
+      "x": 0.0504849493358758,
+      "y": 0.03598984219470594,
+      "z": -0.0766653730190884
+    },
+    "orientation": {
+      "x": -0.2937327474290512,
+      "y": 0.8775021442595311,
+      "z": 0.13030469594272417,
+      "w": -0.3559940254034896
+    }
+  },
+  {
+    "timestamp": 1766139767.2297277,
+    "position": {
+      "x": 0.051305755869848396,
+      "y": 0.034565894737749056,
+      "z": -0.07514383197946158
+    },
+    "orientation": {
+      "x": -0.29524853505338045,
+      "y": 0.8807165074556506,
+      "z": 0.10225783020895415,
+      "w": -0.3559635826947898
+    }
+  },
+  {
+    "timestamp": 1766139767.3624177,
+    "position": {
+      "x": 0.05294795465452623,
+      "y": 0.03401747188805708,
+      "z": -0.07418732865832708
+    },
+    "orientation": {
+      "x": -0.2977768458788543,
+      "y": 0.8818739348616628,
+      "z": 0.07545687588554108,
+      "w": -0.35767802973015084
+    }
+  },
+  {
+    "timestamp": 1766139767.495108,
+    "position": {
+      "x": 0.05330743028487417,
+      "y": 0.03310823626041315,
+      "z": -0.07245865496037263
+    },
+    "orientation": {
+      "x": -0.29967382551771354,
+      "y": 0.8831540950145854,
+      "z": 0.050341488573753666,
+      "w": -0.35735161576062086
+    }
+  },
+  {
+    "timestamp": 1766139767.6277978,
+    "position": {
+      "x": 0.054765518476735914,
+      "y": 0.0320897636204442,
+      "z": -0.0705137665130946
+    },
+    "orientation": {
+      "x": -0.30042740735023804,
+      "y": 0.8841181836238095,
+      "z": 0.014711419645544154,
+      "w": -0.3575779417561476
+    }
+  },
+  {
+    "timestamp": 1766139767.7604878,
+    "position": {
+      "x": 0.05619495793057261,
+      "y": 0.031163051085946802,
+      "z": -0.06808917309963111
+    },
+    "orientation": {
+      "x": -0.3027179204075969,
+      "y": 0.8830823636375388,
+      "z": -0.025839249547993784,
+      "w": -0.357574793405847
+    }
+  },
+  {
+    "timestamp": 1766139767.8931787,
+    "position": {
+      "x": 0.05734413268807251,
+      "y": 0.03036890625201833,
+      "z": -0.06571607922357647
+    },
+    "orientation": {
+      "x": -0.3025561423819382,
+      "y": 0.881829635948484,
+      "z": -0.06247206727996144,
+      "w": -0.3562773002587906
+    }
+  },
+  {
+    "timestamp": 1766139768.025869,
+    "position": {
+      "x": 0.05880069703005539,
+      "y": 0.029777425707912808,
+      "z": -0.06394181423718676
+    },
+    "orientation": {
+      "x": -0.3032246950498429,
+      "y": 0.8796763582274181,
+      "z": -0.0917323320031272,
+      "w": -0.3546963043970789
+    }
+  },
+  {
+    "timestamp": 1766139768.1585588,
+    "position": {
+      "x": 0.059682646901873,
+      "y": 0.02902418993176452,
+      "z": -0.06190335996506394
+    },
+    "orientation": {
+      "x": -0.300044478468631,
+      "y": 0.8782283259389185,
+      "z": -0.11868213476836025,
+      "w": -0.3529913162470665
+    }
+  },
+  {
+    "timestamp": 1766139768.2912488,
+    "position": {
+      "x": 0.058666312150504246,
+      "y": 0.029228576941666654,
+      "z": -0.06281079351731575
+    },
+    "orientation": {
+      "x": -0.3018929315099716,
+      "y": 0.8793533242088011,
+      "z": -0.10177953609403359,
+      "w": -0.35389167147550943
+    }
+  },
+  {
+    "timestamp": 1766139768.4239388,
+    "position": {
+      "x": 0.058222785541944405,
+      "y": 0.030341630523253685,
+      "z": -0.06581163243922758
+    },
+    "orientation": {
+      "x": -0.3021879782824663,
+      "y": 0.8821092708128077,
+      "z": -0.06094612312010136,
+      "w": -0.35616180340441017
+    }
+  },
+  {
+    "timestamp": 1766139768.5566287,
+    "position": {
+      "x": 0.05608794575244205,
+      "y": 0.030946204989041187,
+      "z": -0.06850659448351488
+    },
+    "orientation": {
+      "x": -0.3006935091051398,
+      "y": 0.8845634808848275,
+      "z": -0.011421017117361204,
+      "w": -0.3563711860335505
+    }
+  },
+  {
+    "timestamp": 1766139768.6893187,
+    "position": {
+      "x": 0.05376114828466247,
+      "y": 0.03193508529414828,
+      "z": -0.0714603006969337
+    },
+    "orientation": {
+      "x": -0.29673565130181107,
+      "y": 0.8844617985012186,
+      "z": 0.040463096580119755,
+      "w": -0.357824004300477
+    }
+  },
+  {
+    "timestamp": 1766139768.8220088,
+    "position": {
+      "x": 0.05233588025649402,
+      "y": 0.03355457184683168,
+      "z": -0.07386588201842148
+    },
+    "orientation": {
+      "x": -0.29606736007511214,
+      "y": 0.882048277103991,
+      "z": 0.08296950434039833,
+      "w": -0.3570028242262846
+    }
+  },
+  {
+    "timestamp": 1766139768.9546988,
+    "position": {
+      "x": 0.05258364797921086,
+      "y": 0.03573493316051042,
+      "z": -0.07620461784178759
+    },
+    "orientation": {
+      "x": -0.29491328251092935,
+      "y": 0.8788108930304686,
+      "z": 0.11789515663613849,
+      "w": -0.35611557412076106
+    }
+  }
+]
\ No newline at end of file
diff --git a/recorded_gelsight_pose/episode_49/session_info.json b/recorded_gelsight_pose/episode_49/session_info.json
new file mode 100644
index 0000000000000000000000000000000000000000..1fda10b368ff0ea23d62b13a7f12caf08fbf394f
--- /dev/null
+++ b/recorded_gelsight_pose/episode_49/session_info.json
@@ -0,0 +1,12 @@
+{
+  "session_id": 30,
+  "start_time": "2025-12-19T20:46:45.033015",
+  "ros_start_time": 1766148405.0330296,
+  "image_topic": "/gelsight_img",
+  "pose_topic": "/pose",
+  "image_format": "png",
+  "end_time": "2025-12-19T20:46:49.055846",
+  "ros_end_time": 1766148409.0558553,
+  "total_images": 101,
+  "total_pose_frames": 30
+}
\ No newline at end of file
diff --git a/recorded_gelsight_pose/episode_5/image_index.json b/recorded_gelsight_pose/episode_5/image_index.json
new file mode 100644
index 0000000000000000000000000000000000000000..05a472e414859724551b16ebd381eb1e2b451f0e
--- /dev/null
+++ b/recorded_gelsight_pose/episode_5/image_index.json
@@ -0,0 +1,450 @@
+[
+  {
+    "timestamp": 1766147878.3060071,
+    "filename": "img_000000.png"
+  },
+  {
+    "timestamp": 1766147878.3463697,
+    "filename": "img_000001.png"
+  },
+  {
+    "timestamp": 1766147878.3869946,
+    "filename": "img_000002.png"
+  },
+  {
+    "timestamp": 1766147878.425235,
+    "filename": "img_000003.png"
+  },
+  {
+    "timestamp": 1766147878.463895,
+    "filename": "img_000004.png"
+  },
+  {
+    "timestamp": 1766147878.502796,
+    "filename": "img_000005.png"
+  },
+  {
+    "timestamp": 1766147878.542023,
+    "filename": "img_000006.png"
+  },
+  {
+    "timestamp": 1766147878.5836823,
+    "filename": "img_000007.png"
+  },
+  {
+    "timestamp": 1766147878.624424,
+    "filename": "img_000008.png"
+  },
+  {
+    "timestamp": 1766147878.6639345,
+    "filename": "img_000009.png"
+  },
+  {
+    "timestamp": 1766147878.7030597,
+    "filename": "img_000010.png"
+  },
+  {
+    "timestamp": 1766147878.7431283,
+    "filename": "img_000011.png"
+  },
+  {
+    "timestamp": 1766147878.7827873,
+    "filename": "img_000012.png"
+  },
+  {
+    "timestamp": 1766147878.8233585,
+    "filename": "img_000013.png"
+  },
+  {
+    "timestamp": 1766147878.8646305,
+    "filename": "img_000014.png"
+  },
+  {
+    "timestamp": 1766147878.9030867,
+    "filename": "img_000015.png"
+  },
+  {
+    "timestamp": 1766147878.9438791,
+    "filename": "img_000016.png"
+  },
+  {
+    "timestamp": 1766147878.98524,
+    "filename": "img_000017.png"
+  },
+  {
+    "timestamp": 1766147879.0285232,
+    "filename": "img_000018.png"
+  },
+  {
+    "timestamp": 1766147879.064693,
+    "filename": "img_000019.png"
+  },
+  {
+    "timestamp": 1766147879.1032457,
+    "filename": "img_000020.png"
+  },
+  {
+    "timestamp": 1766147879.1415248,
+    "filename": "img_000021.png"
+  },
+  {
+    "timestamp": 1766147879.1852202,
+    "filename": "img_000022.png"
+  },
+  {
+    "timestamp": 1766147879.2261932,
+    "filename": "img_000023.png"
+  },
+  {
+    "timestamp": 1766147879.2629795,
+    "filename": "img_000024.png"
+  },
+  {
+    "timestamp": 1766147879.301817,
+    "filename": "img_000025.png"
+  },
+  {
+    "timestamp": 1766147879.3431923,
+    "filename": "img_000026.png"
+  },
+  {
+    "timestamp": 1766147879.3848836,
+    "filename": "img_000027.png"
+  },
+  {
+    "timestamp": 1766147879.4251988,
+    "filename": "img_000028.png"
+  },
+  {
+    "timestamp": 1766147879.4651845,
+    "filename": "img_000029.png"
+  },
+  {
+    "timestamp": 1766147879.502021,
+    "filename": "img_000030.png"
+  },
+  {
+    "timestamp": 1766147879.5430095,
+    "filename": "img_000031.png"
+  },
+  {
+    "timestamp": 1766147879.5825274,
+    "filename": "img_000032.png"
+  },
+  {
+    "timestamp": 1766147879.6239758,
+    "filename": "img_000033.png"
+  },
+  {
+    "timestamp": 1766147879.6637907,
+    "filename": "img_000034.png"
+  },
+  {
+    "timestamp": 1766147879.70198,
+    "filename": "img_000035.png"
+  },
+  {
+    "timestamp": 1766147879.7456439,
+    "filename": "img_000036.png"
+  },
+  {
+    "timestamp": 1766147879.7856529,
+    "filename": "img_000037.png"
+  },
+  {
+    "timestamp": 1766147879.8257682,
+    "filename": "img_000038.png"
+  },
+  {
+    "timestamp": 1766147879.8646755,
+    "filename": "img_000039.png"
+  },
+  {
+    "timestamp": 1766147879.901412,
+    "filename": "img_000040.png"
+  },
+  {
+    "timestamp": 1766147879.942184,
+    "filename": "img_000041.png"
+  },
+  {
+    "timestamp": 1766147879.9844894,
+    "filename": "img_000042.png"
+  },
+  {
+    "timestamp": 1766147880.0261812,
+    "filename": "img_000043.png"
+  },
+  {
+    "timestamp": 1766147880.0636942,
+    "filename": "img_000044.png"
+  },
+  {
+    "timestamp": 1766147880.1014593,
+    "filename": "img_000045.png"
+  },
+  {
+    "timestamp": 1766147880.142174,
+    "filename": "img_000046.png"
+  },
+  {
+    "timestamp": 1766147880.186291,
+    "filename": "img_000047.png"
+  },
+  {
+    "timestamp": 1766147880.2242787,
+    "filename": "img_000048.png"
+  },
+  {
+    "timestamp": 1766147880.2622676,
+    "filename": "img_000049.png"
+  },
+  {
+    "timestamp": 1766147880.3017414,
+    "filename": "img_000050.png"
+  },
+  {
+    "timestamp": 1766147880.3452759,
+    "filename": "img_000051.png"
+  },
+  {
+    "timestamp": 1766147880.3840833,
+    "filename": "img_000052.png"
+  },
+  {
+    "timestamp": 1766147880.4238992,
+    "filename": "img_000053.png"
+  },
+  {
+    "timestamp": 1766147880.4652,
+    "filename": "img_000054.png"
+  },
+  {
+    "timestamp": 1766147880.5018344,
+    "filename": "img_000055.png"
+  },
+  {
+    "timestamp": 1766147880.5416834,
+    "filename": "img_000056.png"
+  },
+  {
+    "timestamp": 1766147880.5850565,
+    "filename": "img_000057.png"
+  },
+  {
+    "timestamp": 1766147880.6256618,
+    "filename": "img_000058.png"
+  },
+  {
+    "timestamp": 1766147880.6661947,
+    "filename": "img_000059.png"
+  },
+  {
+    "timestamp": 1766147880.701761,
+    "filename": "img_000060.png"
+  },
+  {
+    "timestamp": 1766147880.742707,
+    "filename": "img_000061.png"
+  },
+  {
+    "timestamp": 1766147880.7846444,
+    "filename": "img_000062.png"
+  },
+  {
+    "timestamp": 1766147880.825963,
+    "filename": "img_000063.png"
+  },
+  {
+    "timestamp": 1766147880.8624897,
+    "filename": "img_000064.png"
+  },
+  {
+    "timestamp": 1766147880.900123,
+    "filename": "img_000065.png"
+  },
+  {
+    "timestamp": 1766147880.9432755,
+    "filename": "img_000066.png"
+  },
+  {
+    "timestamp": 1766147880.98292,
+    "filename": "img_000067.png"
+  },
+  {
+    "timestamp": 1766147881.0245275,
+    "filename": "img_000068.png"
+  },
+  {
+    "timestamp": 1766147881.0619845,
+    "filename": "img_000069.png"
+  },
+  {
+    "timestamp": 1766147881.1017087,
+    "filename": "img_000070.png"
+  },
+  {
+    "timestamp": 1766147881.1427445,
+    "filename": "img_000071.png"
+  },
+  {
+    "timestamp": 1766147881.1828578,
+    "filename": "img_000072.png"
+  },
+  {
+    "timestamp": 1766147881.223485,
+    "filename": "img_000073.png"
+  },
+  {
+    "timestamp": 1766147881.2641497,
+    "filename": "img_000074.png"
+  },
+  {
+    "timestamp": 1766147881.3021853,
+    "filename": "img_000075.png"
+  },
+  {
+    "timestamp": 1766147881.3421395,
+    "filename": "img_000076.png"
+  },
+  {
+    "timestamp": 1766147881.3825495,
+    "filename": "img_000077.png"
+  },
+  {
+    "timestamp": 1766147881.4248104,
+    "filename": "img_000078.png"
+  },
+  {
+    "timestamp": 1766147881.463135,
+    "filename": "img_000079.png"
+  },
+  {
+    "timestamp": 1766147881.5014033,
+    "filename": "img_000080.png"
+  },
+  {
+    "timestamp": 1766147881.5417001,
+    "filename": "img_000081.png"
+  },
+  {
+    "timestamp": 1766147881.5841813,
+    "filename": "img_000082.png"
+  },
+  {
+    "timestamp": 1766147881.6270952,
+    "filename": "img_000083.png"
+  },
+  {
+    "timestamp": 1766147881.6626647,
+    "filename": "img_000084.png"
+  },
+  {
+    "timestamp": 1766147881.700806,
+    "filename": "img_000085.png"
+  },
+  {
+    "timestamp": 1766147881.7451942,
+    "filename": "img_000086.png"
+  },
+  {
+    "timestamp": 1766147881.78473,
+    "filename": "img_000087.png"
+  },
+  {
+    "timestamp": 1766147881.823312,
+    "filename": "img_000088.png"
+  },
+  {
+    "timestamp": 1766147881.8620613,
+    "filename": "img_000089.png"
+  },
+  {
+    "timestamp": 1766147881.9019475,
+    "filename": "img_000090.png"
+  },
+  {
+    "timestamp": 1766147881.9452436,
+    "filename": "img_000091.png"
+  },
+  {
+    "timestamp": 1766147881.9822178,
+    "filename": "img_000092.png"
+  },
+  {
+    "timestamp": 1766147882.023977,
+    "filename": "img_000093.png"
+  },
+  {
+    "timestamp": 1766147882.0632625,
+    "filename": "img_000094.png"
+  },
+  {
+    "timestamp": 1766147882.1010299,
+    "filename": "img_000095.png"
+  },
+  {
+    "timestamp": 1766147882.144428,
+    "filename": "img_000096.png"
+  },
+  {
+    "timestamp": 1766147882.18315,
+    "filename": "img_000097.png"
+  },
+  {
+    "timestamp": 1766147882.2253795,
+    "filename": "img_000098.png"
+  },
+  {
+    "timestamp": 1766147882.263843,
+    "filename": "img_000099.png"
+  },
+  {
+    "timestamp": 1766147882.306446,
+    "filename": "img_000100.png"
+  },
+  {
+    "timestamp": 1766147882.345097,
+    "filename": "img_000101.png"
+  },
+  {
+    "timestamp": 1766147882.3861666,
+    "filename": "img_000102.png"
+  },
+  {
+    "timestamp": 1766147882.4253302,
+    "filename": "img_000103.png"
+  },
+  {
+    "timestamp": 1766147882.463067,
+    "filename": "img_000104.png"
+  },
+  {
+    "timestamp": 1766147882.5002844,
+    "filename": "img_000105.png"
+  },
+  {
+    "timestamp": 1766147882.542168,
+    "filename": "img_000106.png"
+  },
+  {
+    "timestamp": 1766147882.5840316,
+    "filename": "img_000107.png"
+  },
+  {
+    "timestamp": 1766147882.6240377,
+    "filename": "img_000108.png"
+  },
+  {
+    "timestamp": 1766147882.6626287,
+    "filename": "img_000109.png"
+  },
+  {
+    "timestamp": 1766147882.7018044,
+    "filename": "img_000110.png"
+  },
+  {
+    "timestamp": 1766147882.7441487,
+    "filename": "img_000111.png"
+  }
+]
\ No newline at end of file
diff --git a/recorded_gelsight_pose/episode_5/pose_data.json b/recorded_gelsight_pose/episode_5/pose_data.json
new file mode 100644
index 0000000000000000000000000000000000000000..e0652eb90ab9dbb17bdbb81064fa28849026be01
--- /dev/null
+++ b/recorded_gelsight_pose/episode_5/pose_data.json
@@ -0,0 +1,464 @@
+[
+  {
+    "timestamp": 1766139240.4831717,
+    "position": {
+      "x": 0.04114715426415988,
+      "y": 0.0573302077266149,
+      "z": -0.09001052173644764
+    },
+    "orientation": {
+      "x": -0.2955306263878226,
+      "y": 0.830007009443242,
+      "z": 0.301527480536935,
+      "w": -0.3644601372207326
+    }
+  },
+  {
+    "timestamp": 1766139240.615862,
+    "position": {
+      "x": 0.04113684770246981,
+      "y": 0.05733330634481826,
+      "z": -0.09008420026522601
+    },
+    "orientation": {
+      "x": -0.2944177831802655,
+      "y": 0.8297779117281134,
+      "z": 0.3030570500221452,
+      "w": -0.36461378277188605
+    }
+  },
+  {
+    "timestamp": 1766139240.7485518,
+    "position": {
+      "x": 0.04049126250377971,
+      "y": 0.05680683068720911,
+      "z": -0.08964710850365984
+    },
+    "orientation": {
+      "x": -0.2941810546784419,
+      "y": 0.8305278243851535,
+      "z": 0.30291840530702885,
+      "w": -0.36320996643345266
+    }
+  },
+  {
+    "timestamp": 1766139240.8812418,
+    "position": {
+      "x": 0.040335975704797494,
+      "y": 0.056750649180118254,
+      "z": -0.08958748259872412
+    },
+    "orientation": {
+      "x": -0.29378526381109576,
+      "y": 0.8303906653237327,
+      "z": 0.30374030056019846,
+      "w": -0.36315752990438377
+    }
+  },
+  {
+    "timestamp": 1766139241.0139318,
+    "position": {
+      "x": 0.0403708632348285,
+      "y": 0.05667457712719422,
+      "z": -0.08964017337283997
+    },
+    "orientation": {
+      "x": -0.2940082398345089,
+      "y": 0.8304577752390385,
+      "z": 0.30281076556034137,
+      "w": -0.3635996131945143
+    }
+  },
+  {
+    "timestamp": 1766139241.1466217,
+    "position": {
+      "x": 0.040847500575670465,
+      "y": 0.056755516780461465,
+      "z": -0.08946900243023842
+    },
+    "orientation": {
+      "x": -0.29488583504571775,
+      "y": 0.8315725606969315,
+      "z": 0.30078019616944357,
+      "w": -0.3620230575220436
+    }
+  },
+  {
+    "timestamp": 1766139241.2793117,
+    "position": {
+      "x": 0.041690850825340214,
+      "y": 0.05774014851747529,
+      "z": -0.08938502344618351
+    },
+    "orientation": {
+      "x": -0.29655041687181705,
+      "y": 0.830727327879951,
+      "z": 0.2999272289967604,
+      "w": -0.36330925431774086
+    }
+  },
+  {
+    "timestamp": 1766139241.4120028,
+    "position": {
+      "x": 0.04253125921809009,
+      "y": 0.05955649516963821,
+      "z": -0.08813631030184366
+    },
+    "orientation": {
+      "x": -0.3014663449295526,
+      "y": 0.8303428076828642,
+      "z": 0.2995353261043484,
+      "w": -0.3604545089462962
+    }
+  },
+  {
+    "timestamp": 1766139241.5446928,
+    "position": {
+      "x": 0.04403095000695226,
+      "y": 0.061564460673521504,
+      "z": -0.08630821447750475
+    },
+    "orientation": {
+      "x": -0.30638367822000906,
+      "y": 0.8312928681003809,
+      "z": 0.2968752547987547,
+      "w": -0.3562952318709797
+    }
+  },
+  {
+    "timestamp": 1766139241.6773827,
+    "position": {
+      "x": 0.04552202644965658,
+      "y": 0.06357744601505137,
+      "z": -0.0854781181251617
+    },
+    "orientation": {
+      "x": -0.309908521633777,
+      "y": 0.830743826907746,
+      "z": 0.2973538420025546,
+      "w": -0.35412158211518197
+    }
+  },
+  {
+    "timestamp": 1766139241.8100727,
+    "position": {
+      "x": 0.04563024705458235,
+      "y": 0.06411099790602813,
+      "z": -0.08527392640235312
+    },
+    "orientation": {
+      "x": -0.30971579163781815,
+      "y": 0.8301803099009958,
+      "z": 0.29835887291642493,
+      "w": -0.3547657881122228
+    }
+  },
+  {
+    "timestamp": 1766139241.9427629,
+    "position": {
+      "x": 0.044308607955870216,
+      "y": 0.06229510540414336,
+      "z": -0.08555525884512039
+    },
+    "orientation": {
+      "x": -0.30703486522557644,
+      "y": 0.8307251887670497,
+      "z": 0.29744169751640687,
+      "w": -0.35658615910102276
+    }
+  },
+  {
+    "timestamp": 1766139242.0754528,
+    "position": {
+      "x": 0.043679666519448934,
+      "y": 0.06031287804009182,
+      "z": -0.08585216766707213
+    },
+    "orientation": {
+      "x": -0.3041480613800676,
+      "y": 0.8330467819044906,
+      "z": 0.2927092598787692,
+      "w": -0.35755881348184093
+    }
+  },
+  {
+    "timestamp": 1766139242.2081428,
+    "position": {
+      "x": 0.04143572218757377,
+      "y": 0.058440222198730477,
+      "z": -0.08535899919000545
+    },
+    "orientation": {
+      "x": -0.3001888341462802,
+      "y": 0.8344933985036054,
+      "z": 0.2925632952092963,
+      "w": -0.35765087725892425
+    }
+  },
+  {
+    "timestamp": 1766139242.3408327,
+    "position": {
+      "x": 0.04054113927465447,
+      "y": 0.056558924322965456,
+      "z": -0.08565287735242327
+    },
+    "orientation": {
+      "x": -0.2975894222777583,
+      "y": 0.8355800904058016,
+      "z": 0.29291903405055025,
+      "w": -0.35699424050916434
+    }
+  },
+  {
+    "timestamp": 1766139242.4735227,
+    "position": {
+      "x": 0.0397987863141481,
+      "y": 0.05280527723400591,
+      "z": -0.08784359336279335
+    },
+    "orientation": {
+      "x": -0.2883127707156948,
+      "y": 0.836046987241947,
+      "z": 0.29797287131961314,
+      "w": -0.3593234605803636
+    }
+  },
+  {
+    "timestamp": 1766139242.6062129,
+    "position": {
+      "x": 0.039342231972896186,
+      "y": 0.0490619220433964,
+      "z": -0.0897877632843993
+    },
+    "orientation": {
+      "x": -0.2817797251546723,
+      "y": 0.8383099885184351,
+      "z": 0.2931484398666219,
+      "w": -0.3631811419192137
+    }
+  },
+  {
+    "timestamp": 1766139242.7389038,
+    "position": {
+      "x": 0.039236641659746996,
+      "y": 0.049064285321530954,
+      "z": -0.0896412628745776
+    },
+    "orientation": {
+      "x": -0.28315953789383286,
+      "y": 0.8380961400299681,
+      "z": 0.29175147634501464,
+      "w": -0.3637260125659468
+    }
+  },
+  {
+    "timestamp": 1766139242.8715937,
+    "position": {
+      "x": 0.04040853630954133,
+      "y": 0.050383473415568356,
+      "z": -0.08957276441200476
+    },
+    "orientation": {
+      "x": -0.28635931844944174,
+      "y": 0.837542271240419,
+      "z": 0.2908239751152698,
+      "w": -0.36323917756867113
+    }
+  },
+  {
+    "timestamp": 1766139243.0042837,
+    "position": {
+      "x": 0.041832792345963904,
+      "y": 0.05281193015598877,
+      "z": -0.08873466739222602
+    },
+    "orientation": {
+      "x": -0.2905418775993986,
+      "y": 0.836150386342694,
+      "z": 0.2934697221374653,
+      "w": -0.3609895718279663
+    }
+  },
+  {
+    "timestamp": 1766139243.1369739,
+    "position": {
+      "x": 0.04501534976267099,
+      "y": 0.05694692597090524,
+      "z": -0.08600707481557829
+    },
+    "orientation": {
+      "x": -0.3011599868891754,
+      "y": 0.8365118945206687,
+      "z": 0.2886391547918025,
+      "w": -0.3552998043109895
+    }
+  },
+  {
+    "timestamp": 1766139243.2696638,
+    "position": {
+      "x": 0.04802897921656199,
+      "y": 0.059927183647545,
+      "z": -0.08482434463671223
+    },
+    "orientation": {
+      "x": -0.30655728841943436,
+      "y": 0.8367824917936758,
+      "z": 0.2849580297740833,
+      "w": -0.3530107811551419
+    }
+  },
+  {
+    "timestamp": 1766139243.4023538,
+    "position": {
+      "x": 0.04794783861803317,
+      "y": 0.06079049630355743,
+      "z": -0.08374023158727811
+    },
+    "orientation": {
+      "x": -0.3083257037262499,
+      "y": 0.836990289699429,
+      "z": 0.28419068412622883,
+      "w": -0.3515937576613734
+    }
+  },
+  {
+    "timestamp": 1766139243.5350437,
+    "position": {
+      "x": 0.04684177247784216,
+      "y": 0.05914603919980618,
+      "z": -0.08395373608552906
+    },
+    "orientation": {
+      "x": -0.3065667811592437,
+      "y": 0.837664329271393,
+      "z": 0.28450088515700606,
+      "w": -0.3512755706007003
+    }
+  },
+  {
+    "timestamp": 1766139243.6677337,
+    "position": {
+      "x": 0.04660117770713176,
+      "y": 0.0574200548672302,
+      "z": -0.08498326296161901
+    },
+    "orientation": {
+      "x": -0.30238984931707524,
+      "y": 0.8388288224131947,
+      "z": 0.28304551761358687,
+      "w": -0.3532871646093956
+    }
+  },
+  {
+    "timestamp": 1766139243.8004239,
+    "position": {
+      "x": 0.04480153040478663,
+      "y": 0.05260508249269984,
+      "z": -0.08702858183963094
+    },
+    "orientation": {
+      "x": -0.2935399862083642,
+      "y": 0.8405708926843962,
+      "z": 0.2819703803176411,
+      "w": -0.3574458777102843
+    }
+  },
+  {
+    "timestamp": 1766139243.9331148,
+    "position": {
+      "x": 0.043700581903413055,
+      "y": 0.04820024669355401,
+      "z": -0.08883437464533392
+    },
+    "orientation": {
+      "x": -0.2861713277629608,
+      "y": 0.8432786188451202,
+      "z": 0.2773007491332099,
+      "w": -0.36068190513971077
+    }
+  },
+  {
+    "timestamp": 1766139244.0658047,
+    "position": {
+      "x": 0.04346606338523637,
+      "y": 0.04797238021705725,
+      "z": -0.08863566308030607
+    },
+    "orientation": {
+      "x": -0.2861164352902504,
+      "y": 0.8436496718637025,
+      "z": 0.2766154887238433,
+      "w": -0.3603838065439901
+    }
+  },
+  {
+    "timestamp": 1766139244.1984947,
+    "position": {
+      "x": 0.043921079037271465,
+      "y": 0.049336312901702886,
+      "z": -0.08816942261997501
+    },
+    "orientation": {
+      "x": -0.28888673222722855,
+      "y": 0.8419699510916442,
+      "z": 0.2807672298746612,
+      "w": -0.358888311359282
+    }
+  },
+  {
+    "timestamp": 1766139244.3311849,
+    "position": {
+      "x": 0.045968111018457186,
+      "y": 0.051915444763449156,
+      "z": -0.08765711145556065
+    },
+    "orientation": {
+      "x": -0.29221815053882766,
+      "y": 0.839742370481836,
+      "z": 0.2856561411116223,
+      "w": -0.35754981856858864
+    }
+  },
+  {
+    "timestamp": 1766139244.4638748,
+    "position": {
+      "x": 0.04939455418926844,
+      "y": 0.05516875974852717,
+      "z": -0.0854245813339124
+    },
+    "orientation": {
+      "x": -0.29851665590165605,
+      "y": 0.8401953339266848,
+      "z": 0.2852490998549611,
+      "w": -0.3515573324922317
+    }
+  },
+  {
+    "timestamp": 1766139244.5965648,
+    "position": {
+      "x": 0.05046818654839266,
+      "y": 0.05803067312606998,
+      "z": -0.08420230028837189
+    },
+    "orientation": {
+      "x": -0.302323788570177,
+      "y": 0.8379482040866643,
+      "z": 0.289496045055183,
+      "w": -0.3501930525152039
+    }
+  },
+  {
+    "timestamp": 1766139244.7292547,
+    "position": {
+      "x": 0.0522712628208592,
+      "y": 0.0590282801323334,
+      "z": -0.08437258993733665
+    },
+    "orientation": {
+      "x": -0.3058191801400569,
+      "y": 0.838098057399128,
+      "z": 0.2863972097478661,
+      "w": -0.3493464090139015
+    }
+  }
+]
\ No newline at end of file
diff --git a/recorded_gelsight_pose/episode_5/session_info.json b/recorded_gelsight_pose/episode_5/session_info.json
new file mode 100644
index 0000000000000000000000000000000000000000..a4c7370feec561272275d85be1d3e9b107848e9a
--- /dev/null
+++ b/recorded_gelsight_pose/episode_5/session_info.json
@@ -0,0 +1,12 @@
+{
+  "session_id": 8,
+  "start_time": "2025-12-19T20:37:58.276497",
+  "ros_start_time": 1766147878.2765172,
+  "image_topic": "/gelsight_img",
+  "pose_topic": "/pose",
+  "image_format": "png",
+  "end_time": "2025-12-19T20:38:02.796592",
+  "ros_end_time": 1766147882.7965975,
+  "total_images": 112,
+  "total_pose_frames": 33
+}
\ No newline at end of file
diff --git a/recorded_gelsight_pose/episode_52/image_index.json b/recorded_gelsight_pose/episode_52/image_index.json
new file mode 100644
index 0000000000000000000000000000000000000000..d2cd734462fae95f460b4eadbe3155367ceea0e9
--- /dev/null
+++ b/recorded_gelsight_pose/episode_52/image_index.json
@@ -0,0 +1,434 @@
+[
+  {
+    "timestamp": 1766149831.1824217,
+    "filename": "img_000000.png"
+  },
+  {
+    "timestamp": 1766149831.2187362,
+    "filename": "img_000001.png"
+  },
+  {
+    "timestamp": 1766149831.257334,
+    "filename": "img_000002.png"
+  },
+  {
+    "timestamp": 1766149831.2977254,
+    "filename": "img_000003.png"
+  },
+  {
+    "timestamp": 1766149831.3367405,
+    "filename": "img_000004.png"
+  },
+  {
+    "timestamp": 1766149831.3808181,
+    "filename": "img_000005.png"
+  },
+  {
+    "timestamp": 1766149831.4155896,
+    "filename": "img_000006.png"
+  },
+  {
+    "timestamp": 1766149831.4562662,
+    "filename": "img_000007.png"
+  },
+  {
+    "timestamp": 1766149831.497071,
+    "filename": "img_000008.png"
+  },
+  {
+    "timestamp": 1766149831.5361757,
+    "filename": "img_000009.png"
+  },
+  {
+    "timestamp": 1766149831.5765824,
+    "filename": "img_000010.png"
+  },
+  {
+    "timestamp": 1766149831.615753,
+    "filename": "img_000011.png"
+  },
+  {
+    "timestamp": 1766149831.6573782,
+    "filename": "img_000012.png"
+  },
+  {
+    "timestamp": 1766149831.6967876,
+    "filename": "img_000013.png"
+  },
+  {
+    "timestamp": 1766149831.7365403,
+    "filename": "img_000014.png"
+  },
+  {
+    "timestamp": 1766149831.7783916,
+    "filename": "img_000015.png"
+  },
+  {
+    "timestamp": 1766149831.8196585,
+    "filename": "img_000016.png"
+  },
+  {
+    "timestamp": 1766149831.8609412,
+    "filename": "img_000017.png"
+  },
+  {
+    "timestamp": 1766149831.8982642,
+    "filename": "img_000018.png"
+  },
+  {
+    "timestamp": 1766149831.9361732,
+    "filename": "img_000019.png"
+  },
+  {
+    "timestamp": 1766149831.977489,
+    "filename": "img_000020.png"
+  },
+  {
+    "timestamp": 1766149832.016247,
+    "filename": "img_000021.png"
+  },
+  {
+    "timestamp": 1766149832.0564086,
+    "filename": "img_000022.png"
+  },
+  {
+    "timestamp": 1766149832.095476,
+    "filename": "img_000023.png"
+  },
+  {
+    "timestamp": 1766149832.1370997,
+    "filename": "img_000024.png"
+  },
+  {
+    "timestamp": 1766149832.1818986,
+    "filename": "img_000025.png"
+  },
+  {
+    "timestamp": 1766149832.2187085,
+    "filename": "img_000026.png"
+  },
+  {
+    "timestamp": 1766149832.2579339,
+    "filename": "img_000027.png"
+  },
+  {
+    "timestamp": 1766149832.3024077,
+    "filename": "img_000028.png"
+  },
+  {
+    "timestamp": 1766149832.340717,
+    "filename": "img_000029.png"
+  },
+  {
+    "timestamp": 1766149832.3767393,
+    "filename": "img_000030.png"
+  },
+  {
+    "timestamp": 1766149832.4169815,
+    "filename": "img_000031.png"
+  },
+  {
+    "timestamp": 1766149832.4586298,
+    "filename": "img_000032.png"
+  },
+  {
+    "timestamp": 1766149832.4980145,
+    "filename": "img_000033.png"
+  },
+  {
+    "timestamp": 1766149832.5364645,
+    "filename": "img_000034.png"
+  },
+  {
+    "timestamp": 1766149832.578176,
+    "filename": "img_000035.png"
+  },
+  {
+    "timestamp": 1766149832.617377,
+    "filename": "img_000036.png"
+  },
+  {
+    "timestamp": 1766149832.6605806,
+    "filename": "img_000037.png"
+  },
+  {
+    "timestamp": 1766149832.6986792,
+    "filename": "img_000038.png"
+  },
+  {
+    "timestamp": 1766149832.7361205,
+    "filename": "img_000039.png"
+  },
+  {
+    "timestamp": 1766149832.780564,
+    "filename": "img_000040.png"
+  },
+  {
+    "timestamp": 1766149832.8209732,
+    "filename": "img_000041.png"
+  },
+  {
+    "timestamp": 1766149832.857249,
+    "filename": "img_000042.png"
+  },
+  {
+    "timestamp": 1766149832.8984678,
+    "filename": "img_000043.png"
+  },
+  {
+    "timestamp": 1766149832.9425886,
+    "filename": "img_000044.png"
+  },
+  {
+    "timestamp": 1766149832.9811292,
+    "filename": "img_000045.png"
+  },
+  {
+    "timestamp": 1766149833.0176375,
+    "filename": "img_000046.png"
+  },
+  {
+    "timestamp": 1766149833.0590549,
+    "filename": "img_000047.png"
+  },
+  {
+    "timestamp": 1766149833.0967095,
+    "filename": "img_000048.png"
+  },
+  {
+    "timestamp": 1766149833.1371384,
+    "filename": "img_000049.png"
+  },
+  {
+    "timestamp": 1766149833.1775668,
+    "filename": "img_000050.png"
+  },
+  {
+    "timestamp": 1766149833.2161324,
+    "filename": "img_000051.png"
+  },
+  {
+    "timestamp": 1766149833.2568166,
+    "filename": "img_000052.png"
+  },
+  {
+    "timestamp": 1766149833.297031,
+    "filename": "img_000053.png"
+  },
+  {
+    "timestamp": 1766149833.3380854,
+    "filename": "img_000054.png"
+  },
+  {
+    "timestamp": 1766149833.376957,
+    "filename": "img_000055.png"
+  },
+  {
+    "timestamp": 1766149833.41681,
+    "filename": "img_000056.png"
+  },
+  {
+    "timestamp": 1766149833.4571824,
+    "filename": "img_000057.png"
+  },
+  {
+    "timestamp": 1766149833.4949567,
+    "filename": "img_000058.png"
+  },
+  {
+    "timestamp": 1766149833.5359344,
+    "filename": "img_000059.png"
+  },
+  {
+    "timestamp": 1766149833.5779283,
+    "filename": "img_000060.png"
+  },
+  {
+    "timestamp": 1766149833.616746,
+    "filename": "img_000061.png"
+  },
+  {
+    "timestamp": 1766149833.6570113,
+    "filename": "img_000062.png"
+  },
+  {
+    "timestamp": 1766149833.6958954,
+    "filename": "img_000063.png"
+  },
+  {
+    "timestamp": 1766149833.735849,
+    "filename": "img_000064.png"
+  },
+  {
+    "timestamp": 1766149833.7763155,
+    "filename": "img_000065.png"
+  },
+  {
+    "timestamp": 1766149833.8156533,
+    "filename": "img_000066.png"
+  },
+  {
+    "timestamp": 1766149833.855082,
+    "filename": "img_000067.png"
+  },
+  {
+    "timestamp": 1766149833.8976834,
+    "filename": "img_000068.png"
+  },
+  {
+    "timestamp": 1766149833.9350474,
+    "filename": "img_000069.png"
+  },
+  {
+    "timestamp": 1766149833.9758713,
+    "filename": "img_000070.png"
+  },
+  {
+    "timestamp": 1766149834.016587,
+    "filename": "img_000071.png"
+  },
+  {
+    "timestamp": 1766149834.0560687,
+    "filename": "img_000072.png"
+  },
+  {
+    "timestamp": 1766149834.0950606,
+    "filename": "img_000073.png"
+  },
+  {
+    "timestamp": 1766149834.137249,
+    "filename": "img_000074.png"
+  },
+  {
+    "timestamp": 1766149834.1762042,
+    "filename": "img_000075.png"
+  },
+  {
+    "timestamp": 1766149834.2185297,
+    "filename": "img_000076.png"
+  },
+  {
+    "timestamp": 1766149834.2579205,
+    "filename": "img_000077.png"
+  },
+  {
+    "timestamp": 1766149834.299895,
+    "filename": "img_000078.png"
+  },
+  {
+    "timestamp": 1766149834.3370135,
+    "filename": "img_000079.png"
+  },
+  {
+    "timestamp": 1766149834.3775406,
+    "filename": "img_000080.png"
+  },
+  {
+    "timestamp": 1766149834.417564,
+    "filename": "img_000081.png"
+  },
+  {
+    "timestamp": 1766149834.4559147,
+    "filename": "img_000082.png"
+  },
+  {
+    "timestamp": 1766149834.4951508,
+    "filename": "img_000083.png"
+  },
+  {
+    "timestamp": 1766149834.5362325,
+    "filename": "img_000084.png"
+  },
+  {
+    "timestamp": 1766149834.5768688,
+    "filename": "img_000085.png"
+  },
+  {
+    "timestamp": 1766149834.6165645,
+    "filename": "img_000086.png"
+  },
+  {
+    "timestamp": 1766149834.6568205,
+    "filename": "img_000087.png"
+  },
+  {
+    "timestamp": 1766149834.69767,
+    "filename": "img_000088.png"
+  },
+  {
+    "timestamp": 1766149834.735358,
+    "filename": "img_000089.png"
+  },
+  {
+    "timestamp": 1766149834.7762685,
+    "filename": "img_000090.png"
+  },
+  {
+    "timestamp": 1766149834.816086,
+    "filename": "img_000091.png"
+  },
+  {
+    "timestamp": 1766149834.856822,
+    "filename": "img_000092.png"
+  },
+  {
+    "timestamp": 1766149834.8960347,
+    "filename": "img_000093.png"
+  },
+  {
+    "timestamp": 1766149834.935303,
+    "filename": "img_000094.png"
+  },
+  {
+    "timestamp": 1766149834.9794295,
+    "filename": "img_000095.png"
+  },
+  {
+    "timestamp": 1766149835.0165615,
+    "filename": "img_000096.png"
+  },
+  {
+    "timestamp": 1766149835.0579205,
+    "filename": "img_000097.png"
+  },
+  {
+    "timestamp": 1766149835.095416,
+    "filename": "img_000098.png"
+  },
+  {
+    "timestamp": 1766149835.1348858,
+    "filename": "img_000099.png"
+  },
+  {
+    "timestamp": 1766149835.1809828,
+    "filename": "img_000100.png"
+  },
+  {
+    "timestamp": 1766149835.2180076,
+    "filename": "img_000101.png"
+  },
+  {
+    "timestamp": 1766149835.2564905,
+    "filename": "img_000102.png"
+  },
+  {
+    "timestamp": 1766149835.2958276,
+    "filename": "img_000103.png"
+  },
+  {
+    "timestamp": 1766149835.3370557,
+    "filename": "img_000104.png"
+  },
+  {
+    "timestamp": 1766149835.376685,
+    "filename": "img_000105.png"
+  },
+  {
+    "timestamp": 1766149835.4151416,
+    "filename": "img_000106.png"
+  },
+  {
+    "timestamp": 1766149835.4568524,
+    "filename": "img_000107.png"
+  }
+]
\ No newline at end of file
diff --git a/recorded_gelsight_pose/episode_52/pose_data.json b/recorded_gelsight_pose/episode_52/pose_data.json
new file mode 100644
index 0000000000000000000000000000000000000000..1f7bcf2fd768f978ed4550f5f2321c88c03fb481
--- /dev/null
+++ b/recorded_gelsight_pose/episode_52/pose_data.json
@@ -0,0 +1,464 @@
+[
+  {
+    "timestamp": 1766136890.454306,
+    "position": {
+      "x": 0.13441693040338076,
+      "y": 0.021561830320961567,
+      "z": 0.011046157304895839
+    },
+    "orientation": {
+      "x": -0.6901869972023863,
+      "y": -0.49002044060533206,
+      "z": -0.15163260900010675,
+      "w": 0.5104208347721808
+    }
+  },
+  {
+    "timestamp": 1766136890.5869958,
+    "position": {
+      "x": 0.13426771221171713,
+      "y": 0.02112277767989873,
+      "z": 0.011009855878327465
+    },
+    "orientation": {
+      "x": -0.6901031624617859,
+      "y": -0.4900361700141571,
+      "z": -0.1494647344885963,
+      "w": 0.5111579700859135
+    }
+  },
+  {
+    "timestamp": 1766136890.7196867,
+    "position": {
+      "x": 0.13427125490096184,
+      "y": 0.02093640306011721,
+      "z": 0.010786418128415735
+    },
+    "orientation": {
+      "x": -0.6885576912310034,
+      "y": -0.4905399224024818,
+      "z": -0.15043211603767195,
+      "w": 0.5124734811094384
+    }
+  },
+  {
+    "timestamp": 1766136890.8523767,
+    "position": {
+      "x": 0.13352940564599808,
+      "y": 0.02217018971096721,
+      "z": 0.01154637184468784
+    },
+    "orientation": {
+      "x": -0.689300425416925,
+      "y": -0.4875963592445889,
+      "z": -0.14935450686111537,
+      "w": 0.5145949331772914
+    }
+  },
+  {
+    "timestamp": 1766136890.985067,
+    "position": {
+      "x": 0.13254084510952824,
+      "y": 0.023071654354083454,
+      "z": 0.01314819323889814
+    },
+    "orientation": {
+      "x": -0.6902958368677067,
+      "y": -0.48475524123872743,
+      "z": -0.14779317308827278,
+      "w": 0.5163924783371613
+    }
+  },
+  {
+    "timestamp": 1766136891.1177568,
+    "position": {
+      "x": 0.130376777182921,
+      "y": 0.024042316734007946,
+      "z": 0.014839225099749241
+    },
+    "orientation": {
+      "x": -0.6943176874465916,
+      "y": -0.4807904774970091,
+      "z": -0.1474535608977887,
+      "w": 0.514801819174697
+    }
+  },
+  {
+    "timestamp": 1766136891.2504468,
+    "position": {
+      "x": 0.12725986503157138,
+      "y": 0.02555551909661402,
+      "z": 0.016521447726037662
+    },
+    "orientation": {
+      "x": -0.699639860797244,
+      "y": -0.4738192531631708,
+      "z": -0.14663138760363256,
+      "w": 0.5142942899594953
+    }
+  },
+  {
+    "timestamp": 1766136891.3831367,
+    "position": {
+      "x": 0.12616894262398434,
+      "y": 0.02590411085292571,
+      "z": 0.016543889477685578
+    },
+    "orientation": {
+      "x": -0.7008586814569379,
+      "y": -0.4704857351057366,
+      "z": -0.1470510198308489,
+      "w": 0.5155737379416879
+    }
+  },
+  {
+    "timestamp": 1766136891.5158267,
+    "position": {
+      "x": 0.12703324318641357,
+      "y": 0.025590598207257703,
+      "z": 0.015898046969538317
+    },
+    "orientation": {
+      "x": -0.6992764747984686,
+      "y": -0.47265651023753413,
+      "z": -0.1473785322809951,
+      "w": 0.5156430968666237
+    }
+  },
+  {
+    "timestamp": 1766136891.648517,
+    "position": {
+      "x": 0.12854725196435998,
+      "y": 0.02464099690249552,
+      "z": 0.013264766733387189
+    },
+    "orientation": {
+      "x": -0.6981031986482391,
+      "y": -0.47698209310098727,
+      "z": -0.1518928618690612,
+      "w": 0.5119263281091574
+    }
+  },
+  {
+    "timestamp": 1766136891.7812068,
+    "position": {
+      "x": 0.12991445538286614,
+      "y": 0.0240451128295347,
+      "z": 0.011481204867840884
+    },
+    "orientation": {
+      "x": -0.6955512370466187,
+      "y": -0.4801708353398834,
+      "z": -0.15426656999517258,
+      "w": 0.5117091663375215
+    }
+  },
+  {
+    "timestamp": 1766136891.9138968,
+    "position": {
+      "x": 0.1327070778031122,
+      "y": 0.02264761511891908,
+      "z": 0.008199631654521318
+    },
+    "orientation": {
+      "x": -0.6882484056608462,
+      "y": -0.48640149132903265,
+      "z": -0.15581542958459216,
+      "w": 0.5152176950004389
+    }
+  },
+  {
+    "timestamp": 1766136892.0465877,
+    "position": {
+      "x": 0.1339863582100649,
+      "y": 0.02163943814400357,
+      "z": 0.0056752324598806775
+    },
+    "orientation": {
+      "x": -0.6859162882390356,
+      "y": -0.49130486909300297,
+      "z": -0.16071974731259087,
+      "w": 0.512159676231611
+    }
+  },
+  {
+    "timestamp": 1766136892.1792777,
+    "position": {
+      "x": 0.13321360603866983,
+      "y": 0.02213220306273586,
+      "z": 0.007148892763328155
+    },
+    "orientation": {
+      "x": -0.6856442952781199,
+      "y": -0.48900937480116524,
+      "z": -0.15819612540358452,
+      "w": 0.5154956038769269
+    }
+  },
+  {
+    "timestamp": 1766136892.3119678,
+    "position": {
+      "x": 0.13193471079782523,
+      "y": 0.02397219254191965,
+      "z": 0.008184786032165381
+    },
+    "orientation": {
+      "x": -0.6871319866993411,
+      "y": -0.48506966626715237,
+      "z": -0.157448262976428,
+      "w": 0.517462168866281
+    }
+  },
+  {
+    "timestamp": 1766136892.4446578,
+    "position": {
+      "x": 0.1282900900620544,
+      "y": 0.025942980010121547,
+      "z": 0.009124151392208152
+    },
+    "orientation": {
+      "x": -0.693387201398617,
+      "y": -0.4785853470656547,
+      "z": -0.1590340913435385,
+      "w": 0.5146633970870432
+    }
+  },
+  {
+    "timestamp": 1766136892.5773478,
+    "position": {
+      "x": 0.12552738729964166,
+      "y": 0.027800495778010692,
+      "z": 0.011058965978627183
+    },
+    "orientation": {
+      "x": -0.6962864530069367,
+      "y": -0.47107853989532705,
+      "z": -0.15767219293407783,
+      "w": 0.5180826808381696
+    }
+  },
+  {
+    "timestamp": 1766136892.7100377,
+    "position": {
+      "x": 0.12495761798904353,
+      "y": 0.027405569147957165,
+      "z": 0.010440703657286096
+    },
+    "orientation": {
+      "x": -0.6976597209081684,
+      "y": -0.47027417463590626,
+      "z": -0.15957654535760188,
+      "w": 0.5163801319421448
+    }
+  },
+  {
+    "timestamp": 1766136892.8427277,
+    "position": {
+      "x": 0.12605563698446315,
+      "y": 0.026752922553654412,
+      "z": 0.00853742340363732
+    },
+    "orientation": {
+      "x": -0.6964742875999532,
+      "y": -0.4729240282588988,
+      "z": -0.16184914530754244,
+      "w": 0.5148507398952941
+    }
+  },
+  {
+    "timestamp": 1766136892.9754179,
+    "position": {
+      "x": 0.12849395393664467,
+      "y": 0.02613112339680515,
+      "z": 0.007131884154255794
+    },
+    "orientation": {
+      "x": -0.6946929270209966,
+      "y": -0.4776455789183343,
+      "z": -0.16286563401002288,
+      "w": 0.5125731395081902
+    }
+  },
+  {
+    "timestamp": 1766136893.1081078,
+    "position": {
+      "x": 0.13082349138653288,
+      "y": 0.024443339823923188,
+      "z": 0.0026231077377100592
+    },
+    "orientation": {
+      "x": -0.6878601393535113,
+      "y": -0.48556847258515523,
+      "z": -0.16954211275235845,
+      "w": 0.5121788350989855
+    }
+  },
+  {
+    "timestamp": 1766136893.2407987,
+    "position": {
+      "x": 0.1317875476523798,
+      "y": 0.02315059316615964,
+      "z": -0.0007316960271503969
+    },
+    "orientation": {
+      "x": -0.683983711793434,
+      "y": -0.48951435480568356,
+      "z": -0.1740916860069144,
+      "w": 0.51208794489201
+    }
+  },
+  {
+    "timestamp": 1766136893.3734887,
+    "position": {
+      "x": 0.13154103795743055,
+      "y": 0.02399843171902663,
+      "z": 0.0004017443075165772
+    },
+    "orientation": {
+      "x": -0.683971864977217,
+      "y": -0.4874079801973933,
+      "z": -0.1713224515137011,
+      "w": 0.5150384125158244
+    }
+  },
+  {
+    "timestamp": 1766136893.5061789,
+    "position": {
+      "x": 0.1292816088523853,
+      "y": 0.02501562566105059,
+      "z": 0.001504347448747806
+    },
+    "orientation": {
+      "x": -0.6863141984336633,
+      "y": -0.48312008784494614,
+      "z": -0.17035419740489208,
+      "w": 0.5162821410581472
+    }
+  },
+  {
+    "timestamp": 1766136893.6388688,
+    "position": {
+      "x": 0.12703362325669476,
+      "y": 0.026854956302105687,
+      "z": 0.003228944541663295
+    },
+    "orientation": {
+      "x": -0.6908675325705065,
+      "y": -0.4761004900822705,
+      "z": -0.1703404414439392,
+      "w": 0.516734467393115
+    }
+  },
+  {
+    "timestamp": 1766136893.7715588,
+    "position": {
+      "x": 0.12440605636098201,
+      "y": 0.028533169823961813,
+      "z": 0.004428330755651508
+    },
+    "orientation": {
+      "x": -0.6939976058166698,
+      "y": -0.4703565223814156,
+      "z": -0.16959633571813573,
+      "w": 0.5180435772065632
+    }
+  },
+  {
+    "timestamp": 1766136893.9042487,
+    "position": {
+      "x": 0.12191311757482226,
+      "y": 0.029132348905358457,
+      "z": 0.003623542073437999
+    },
+    "orientation": {
+      "x": -0.6943534077044743,
+      "y": -0.46697196755522685,
+      "z": -0.17292802620942785,
+      "w": 0.5195251913796823
+    }
+  },
+  {
+    "timestamp": 1766136894.0369387,
+    "position": {
+      "x": 0.12295249187142399,
+      "y": 0.02887676631289246,
+      "z": 0.0025298392931917407
+    },
+    "orientation": {
+      "x": -0.6949939286845122,
+      "y": -0.4682476519018064,
+      "z": -0.17441604929407067,
+      "w": 0.5170170377548118
+    }
+  },
+  {
+    "timestamp": 1766136894.1696289,
+    "position": {
+      "x": 0.1247961260577086,
+      "y": 0.027691108093172545,
+      "z": -0.0008684896252796198
+    },
+    "orientation": {
+      "x": -0.6928231110497697,
+      "y": -0.4740992449842898,
+      "z": -0.17813685101018395,
+      "w": 0.5133159894381046
+    }
+  },
+  {
+    "timestamp": 1766136894.3023188,
+    "position": {
+      "x": 0.12692445307531283,
+      "y": 0.025979133869478366,
+      "z": -0.0037761559141118173
+    },
+    "orientation": {
+      "x": -0.686605148660835,
+      "y": -0.47946330905610945,
+      "z": -0.1818889133295562,
+      "w": 0.5153685363981694
+    }
+  },
+  {
+    "timestamp": 1766136894.4350097,
+    "position": {
+      "x": 0.12888249149420836,
+      "y": 0.02486314812370538,
+      "z": -0.006134016399574935
+    },
+    "orientation": {
+      "x": -0.6840454493339164,
+      "y": -0.48508812391331135,
+      "z": -0.18406748245000576,
+      "w": 0.5127284829111227
+    }
+  },
+  {
+    "timestamp": 1766136894.5676997,
+    "position": {
+      "x": 0.12864231159431205,
+      "y": 0.025088468875641617,
+      "z": -0.0060298781198415835
+    },
+    "orientation": {
+      "x": -0.6830145005553354,
+      "y": -0.48514287248254157,
+      "z": -0.18402986387821005,
+      "w": 0.5140628312876762
+    }
+  },
+  {
+    "timestamp": 1766136894.7003899,
+    "position": {
+      "x": 0.1288047959383208,
+      "y": 0.02496628009268706,
+      "z": -0.0050158344847499176
+    },
+    "orientation": {
+      "x": -0.6823073339610379,
+      "y": -0.4836457716659824,
+      "z": -0.18265500976157661,
+      "w": 0.5168951702053285
+    }
+  }
+]
\ No newline at end of file
diff --git a/recorded_gelsight_pose/episode_52/session_info.json b/recorded_gelsight_pose/episode_52/session_info.json
new file mode 100644
index 0000000000000000000000000000000000000000..15e72b167c1eead99c990f95045af545a45de1fe
--- /dev/null
+++ b/recorded_gelsight_pose/episode_52/session_info.json
@@ -0,0 +1,12 @@
+{
+  "session_id": 2,
+  "start_time": "2025-12-19T21:10:31.149697",
+  "ros_start_time": 1766149831.1497304,
+  "image_topic": "/gelsight_img",
+  "pose_topic": "/pose",
+  "image_format": "png",
+  "end_time": "2025-12-19T21:10:35.467137",
+  "ros_end_time": 1766149835.4671483,
+  "total_images": 107,
+  "total_pose_frames": 33
+}
\ No newline at end of file
diff --git a/recorded_gelsight_pose/episode_56/image_index.json b/recorded_gelsight_pose/episode_56/image_index.json
new file mode 100644
index 0000000000000000000000000000000000000000..6352793b26eff82296d7b9cd12abc0af3e1d14ed
--- /dev/null
+++ b/recorded_gelsight_pose/episode_56/image_index.json
@@ -0,0 +1,378 @@
+[
+  {
+    "timestamp": 1766149851.379932,
+    "filename": "img_000000.png"
+  },
+  {
+    "timestamp": 1766149851.420023,
+    "filename": "img_000001.png"
+  },
+  {
+    "timestamp": 1766149851.4550035,
+    "filename": "img_000002.png"
+  },
+  {
+    "timestamp": 1766149851.4982383,
+    "filename": "img_000003.png"
+  },
+  {
+    "timestamp": 1766149851.5382304,
+    "filename": "img_000004.png"
+  },
+  {
+    "timestamp": 1766149851.5788314,
+    "filename": "img_000005.png"
+  },
+  {
+    "timestamp": 1766149851.6152453,
+    "filename": "img_000006.png"
+  },
+  {
+    "timestamp": 1766149851.6547477,
+    "filename": "img_000007.png"
+  },
+  {
+    "timestamp": 1766149851.6962488,
+    "filename": "img_000008.png"
+  },
+  {
+    "timestamp": 1766149851.7360692,
+    "filename": "img_000009.png"
+  },
+  {
+    "timestamp": 1766149851.776654,
+    "filename": "img_000010.png"
+  },
+  {
+    "timestamp": 1766149851.8166995,
+    "filename": "img_000011.png"
+  },
+  {
+    "timestamp": 1766149851.8543537,
+    "filename": "img_000012.png"
+  },
+  {
+    "timestamp": 1766149851.897077,
+    "filename": "img_000013.png"
+  },
+  {
+    "timestamp": 1766149851.9365504,
+    "filename": "img_000014.png"
+  },
+  {
+    "timestamp": 1766149851.9775412,
+    "filename": "img_000015.png"
+  },
+  {
+    "timestamp": 1766149852.0171146,
+    "filename": "img_000016.png"
+  },
+  {
+    "timestamp": 1766149852.0578928,
+    "filename": "img_000017.png"
+  },
+  {
+    "timestamp": 1766149852.0973988,
+    "filename": "img_000018.png"
+  },
+  {
+    "timestamp": 1766149852.137556,
+    "filename": "img_000019.png"
+  },
+  {
+    "timestamp": 1766149852.1775918,
+    "filename": "img_000020.png"
+  },
+  {
+    "timestamp": 1766149852.214872,
+    "filename": "img_000021.png"
+  },
+  {
+    "timestamp": 1766149852.2561145,
+    "filename": "img_000022.png"
+  },
+  {
+    "timestamp": 1766149852.301,
+    "filename": "img_000023.png"
+  },
+  {
+    "timestamp": 1766149852.338992,
+    "filename": "img_000024.png"
+  },
+  {
+    "timestamp": 1766149852.3770835,
+    "filename": "img_000025.png"
+  },
+  {
+    "timestamp": 1766149852.415448,
+    "filename": "img_000026.png"
+  },
+  {
+    "timestamp": 1766149852.4565804,
+    "filename": "img_000027.png"
+  },
+  {
+    "timestamp": 1766149852.4968283,
+    "filename": "img_000028.png"
+  },
+  {
+    "timestamp": 1766149852.5372996,
+    "filename": "img_000029.png"
+  },
+  {
+    "timestamp": 1766149852.5775502,
+    "filename": "img_000030.png"
+  },
+  {
+    "timestamp": 1766149852.6168466,
+    "filename": "img_000031.png"
+  },
+  {
+    "timestamp": 1766149852.6562006,
+    "filename": "img_000032.png"
+  },
+  {
+    "timestamp": 1766149852.6997228,
+    "filename": "img_000033.png"
+  },
+  {
+    "timestamp": 1766149852.7398398,
+    "filename": "img_000034.png"
+  },
+  {
+    "timestamp": 1766149852.782093,
+    "filename": "img_000035.png"
+  },
+  {
+    "timestamp": 1766149852.8170338,
+    "filename": "img_000036.png"
+  },
+  {
+    "timestamp": 1766149852.856795,
+    "filename": "img_000037.png"
+  },
+  {
+    "timestamp": 1766149852.8964155,
+    "filename": "img_000038.png"
+  },
+  {
+    "timestamp": 1766149852.939103,
+    "filename": "img_000039.png"
+  },
+  {
+    "timestamp": 1766149852.9780638,
+    "filename": "img_000040.png"
+  },
+  {
+    "timestamp": 1766149853.0149693,
+    "filename": "img_000041.png"
+  },
+  {
+    "timestamp": 1766149853.0553222,
+    "filename": "img_000042.png"
+  },
+  {
+    "timestamp": 1766149853.0982225,
+    "filename": "img_000043.png"
+  },
+  {
+    "timestamp": 1766149853.1384773,
+    "filename": "img_000044.png"
+  },
+  {
+    "timestamp": 1766149853.181491,
+    "filename": "img_000045.png"
+  },
+  {
+    "timestamp": 1766149853.2192116,
+    "filename": "img_000046.png"
+  },
+  {
+    "timestamp": 1766149853.2582042,
+    "filename": "img_000047.png"
+  },
+  {
+    "timestamp": 1766149853.2971015,
+    "filename": "img_000048.png"
+  },
+  {
+    "timestamp": 1766149853.335895,
+    "filename": "img_000049.png"
+  },
+  {
+    "timestamp": 1766149853.375592,
+    "filename": "img_000050.png"
+  },
+  {
+    "timestamp": 1766149853.4186327,
+    "filename": "img_000051.png"
+  },
+  {
+    "timestamp": 1766149853.4593608,
+    "filename": "img_000052.png"
+  },
+  {
+    "timestamp": 1766149853.4959583,
+    "filename": "img_000053.png"
+  },
+  {
+    "timestamp": 1766149853.53661,
+    "filename": "img_000054.png"
+  },
+  {
+    "timestamp": 1766149853.5772655,
+    "filename": "img_000055.png"
+  },
+  {
+    "timestamp": 1766149853.615346,
+    "filename": "img_000056.png"
+  },
+  {
+    "timestamp": 1766149853.6530662,
+    "filename": "img_000057.png"
+  },
+  {
+    "timestamp": 1766149853.6947312,
+    "filename": "img_000058.png"
+  },
+  {
+    "timestamp": 1766149853.7368147,
+    "filename": "img_000059.png"
+  },
+  {
+    "timestamp": 1766149853.7800517,
+    "filename": "img_000060.png"
+  },
+  {
+    "timestamp": 1766149853.81463,
+    "filename": "img_000061.png"
+  },
+  {
+    "timestamp": 1766149853.853202,
+    "filename": "img_000062.png"
+  },
+  {
+    "timestamp": 1766149853.8978455,
+    "filename": "img_000063.png"
+  },
+  {
+    "timestamp": 1766149853.9389575,
+    "filename": "img_000064.png"
+  },
+  {
+    "timestamp": 1766149853.9776106,
+    "filename": "img_000065.png"
+  },
+  {
+    "timestamp": 1766149854.0165544,
+    "filename": "img_000066.png"
+  },
+  {
+    "timestamp": 1766149854.054767,
+    "filename": "img_000067.png"
+  },
+  {
+    "timestamp": 1766149854.0977967,
+    "filename": "img_000068.png"
+  },
+  {
+    "timestamp": 1766149854.1366727,
+    "filename": "img_000069.png"
+  },
+  {
+    "timestamp": 1766149854.175951,
+    "filename": "img_000070.png"
+  },
+  {
+    "timestamp": 1766149854.214847,
+    "filename": "img_000071.png"
+  },
+  {
+    "timestamp": 1766149854.254371,
+    "filename": "img_000072.png"
+  },
+  {
+    "timestamp": 1766149854.2954063,
+    "filename": "img_000073.png"
+  },
+  {
+    "timestamp": 1766149854.3383656,
+    "filename": "img_000074.png"
+  },
+  {
+    "timestamp": 1766149854.3761454,
+    "filename": "img_000075.png"
+  },
+  {
+    "timestamp": 1766149854.4157941,
+    "filename": "img_000076.png"
+  },
+  {
+    "timestamp": 1766149854.4542584,
+    "filename": "img_000077.png"
+  },
+  {
+    "timestamp": 1766149854.496924,
+    "filename": "img_000078.png"
+  },
+  {
+    "timestamp": 1766149854.538042,
+    "filename": "img_000079.png"
+  },
+  {
+    "timestamp": 1766149854.57665,
+    "filename": "img_000080.png"
+  },
+  {
+    "timestamp": 1766149854.6141195,
+    "filename": "img_000081.png"
+  },
+  {
+    "timestamp": 1766149854.6532187,
+    "filename": "img_000082.png"
+  },
+  {
+    "timestamp": 1766149854.6954367,
+    "filename": "img_000083.png"
+  },
+  {
+    "timestamp": 1766149854.7368634,
+    "filename": "img_000084.png"
+  },
+  {
+    "timestamp": 1766149854.776931,
+    "filename": "img_000085.png"
+  },
+  {
+    "timestamp": 1766149854.816041,
+    "filename": "img_000086.png"
+  },
+  {
+    "timestamp": 1766149854.8544252,
+    "filename": "img_000087.png"
+  },
+  {
+    "timestamp": 1766149854.8962822,
+    "filename": "img_000088.png"
+  },
+  {
+    "timestamp": 1766149854.936454,
+    "filename": "img_000089.png"
+  },
+  {
+    "timestamp": 1766149854.9767678,
+    "filename": "img_000090.png"
+  },
+  {
+    "timestamp": 1766149855.0153852,
+    "filename": "img_000091.png"
+  },
+  {
+    "timestamp": 1766149855.0552418,
+    "filename": "img_000092.png"
+  },
+  {
+    "timestamp": 1766149855.0972402,
+    "filename": "img_000093.png"
+  }
+]
\ No newline at end of file
diff --git a/recorded_gelsight_pose/episode_56/pose_data.json b/recorded_gelsight_pose/episode_56/pose_data.json
new file mode 100644
index 0000000000000000000000000000000000000000..16c3ec08b5e0bd70a8b6016964ae470ea5182749
--- /dev/null
+++ b/recorded_gelsight_pose/episode_56/pose_data.json
@@ -0,0 +1,394 @@
+[
+  {
+    "timestamp": 1766136910.6232028,
+    "position": {
+      "x": 0.1315462066045111,
+      "y": 0.023195219313515064,
+      "z": 0.006374458605057559
+    },
+    "orientation": {
+      "x": -0.6889132033370541,
+      "y": -0.48507200304529363,
+      "z": -0.16086712833238345,
+      "w": 0.5140287123805422
+    }
+  },
+  {
+    "timestamp": 1766136910.7558928,
+    "position": {
+      "x": 0.13142239780739934,
+      "y": 0.023049843890738775,
+      "z": 0.00622841684748833
+    },
+    "orientation": {
+      "x": -0.6887301862299842,
+      "y": -0.48511393563013167,
+      "z": -0.160776360295856,
+      "w": 0.5142627363547476
+    }
+  },
+  {
+    "timestamp": 1766136910.8885827,
+    "position": {
+      "x": 0.13110474151138327,
+      "y": 0.02372778255906316,
+      "z": 0.006426426874979449
+    },
+    "orientation": {
+      "x": -0.6888795101351008,
+      "y": -0.4836910311047825,
+      "z": -0.16146643187856546,
+      "w": 0.5151859842049475
+    }
+  },
+  {
+    "timestamp": 1766136911.0212727,
+    "position": {
+      "x": 0.1299015181163679,
+      "y": 0.024851533362829553,
+      "z": 0.005280787940454605
+    },
+    "orientation": {
+      "x": -0.6895456280725675,
+      "y": -0.4830740515417994,
+      "z": -0.16277064235921365,
+      "w": 0.5144628320092409
+    }
+  },
+  {
+    "timestamp": 1766136911.1539629,
+    "position": {
+      "x": 0.1273905331548838,
+      "y": 0.02631996668678044,
+      "z": 0.0028644035056483858
+    },
+    "orientation": {
+      "x": -0.6890602350617695,
+      "y": -0.4771713637675507,
+      "z": -0.16782724871679508,
+      "w": 0.5189773565821401
+    }
+  },
+  {
+    "timestamp": 1766136911.2866528,
+    "position": {
+      "x": 0.12609224941809888,
+      "y": 0.02690987401685105,
+      "z": 0.002348721334468215
+    },
+    "orientation": {
+      "x": -0.6880539056349859,
+      "y": -0.4747365435271723,
+      "z": -0.16896792553716483,
+      "w": 0.5221655650461665
+    }
+  },
+  {
+    "timestamp": 1766136911.4193428,
+    "position": {
+      "x": 0.1275256569280262,
+      "y": 0.026386298904307076,
+      "z": 0.00348164634325146
+    },
+    "orientation": {
+      "x": -0.6883417282885522,
+      "y": -0.47552638892888077,
+      "z": -0.16740515233636438,
+      "w": 0.5215705450849638
+    }
+  },
+  {
+    "timestamp": 1766136911.5520327,
+    "position": {
+      "x": 0.1283893930252932,
+      "y": 0.025707571468069318,
+      "z": 0.002927675092169721
+    },
+    "orientation": {
+      "x": -0.6887181137999653,
+      "y": -0.47848390990683504,
+      "z": -0.16718592901602872,
+      "w": 0.5184297183062843
+    }
+  },
+  {
+    "timestamp": 1766136911.6847239,
+    "position": {
+      "x": 0.12999507312534755,
+      "y": 0.02467232053042881,
+      "z": 0.0008767109427652298
+    },
+    "orientation": {
+      "x": -0.6853314034548371,
+      "y": -0.482367409767107,
+      "z": -0.16959055777445647,
+      "w": 0.5185379370373435
+    }
+  },
+  {
+    "timestamp": 1766136911.8174138,
+    "position": {
+      "x": 0.1312816954698913,
+      "y": 0.02313209536668387,
+      "z": -0.0016778215043749545
+    },
+    "orientation": {
+      "x": -0.6817285460582712,
+      "y": -0.48629129768869783,
+      "z": -0.1733339674806184,
+      "w": 0.5183843159268477
+    }
+  },
+  {
+    "timestamp": 1766136911.9501038,
+    "position": {
+      "x": 0.13086353529210962,
+      "y": 0.023447605488271295,
+      "z": -0.001627981444617413
+    },
+    "orientation": {
+      "x": -0.6822808720232624,
+      "y": -0.485411878878741,
+      "z": -0.17377516169071455,
+      "w": 0.5183341708723759
+    }
+  },
+  {
+    "timestamp": 1766136912.0827937,
+    "position": {
+      "x": 0.1312124904187454,
+      "y": 0.02397406004727065,
+      "z": -0.0005165996153464608
+    },
+    "orientation": {
+      "x": -0.6820195546302124,
+      "y": -0.4857308282965477,
+      "z": -0.17104990637437595,
+      "w": 0.5192849112709453
+    }
+  },
+  {
+    "timestamp": 1766136912.2154837,
+    "position": {
+      "x": 0.13223352420069237,
+      "y": 0.022376578933982483,
+      "z": 0.001979699069151006
+    },
+    "orientation": {
+      "x": -0.6799902460750615,
+      "y": -0.4857585050129775,
+      "z": -0.1659387528401884,
+      "w": 0.523561142901359
+    }
+  },
+  {
+    "timestamp": 1766136912.3481739,
+    "position": {
+      "x": 0.13295191681621057,
+      "y": 0.02240667686382819,
+      "z": 0.002734013640780769
+    },
+    "orientation": {
+      "x": -0.6803655492965158,
+      "y": -0.48768470259344654,
+      "z": -0.1645277610347392,
+      "w": 0.521724990809993
+    }
+  },
+  {
+    "timestamp": 1766136912.4808638,
+    "position": {
+      "x": 0.13474226535308,
+      "y": 0.021089589637772133,
+      "z": 0.005631571726072308
+    },
+    "orientation": {
+      "x": -0.6814908557681438,
+      "y": -0.48997283605269387,
+      "z": -0.15897566555907766,
+      "w": 0.5198303292372726
+    }
+  },
+  {
+    "timestamp": 1766136912.6135538,
+    "position": {
+      "x": 0.13618273178377954,
+      "y": 0.01990276819596834,
+      "z": 0.007780469067276308
+    },
+    "orientation": {
+      "x": -0.6833052109315781,
+      "y": -0.4932401089066021,
+      "z": -0.15293951517275886,
+      "w": 0.5161566510065295
+    }
+  },
+  {
+    "timestamp": 1766136912.7462437,
+    "position": {
+      "x": 0.1354149935930522,
+      "y": 0.020217884492152227,
+      "z": 0.006167433211503204
+    },
+    "orientation": {
+      "x": -0.6841563218206356,
+      "y": -0.4924581306729904,
+      "z": -0.15669423578151412,
+      "w": 0.5146474845170917
+    }
+  },
+  {
+    "timestamp": 1766136912.8789349,
+    "position": {
+      "x": 0.13504730327658243,
+      "y": 0.021382573880466577,
+      "z": 0.0073466035606764915
+    },
+    "orientation": {
+      "x": -0.6845984599201286,
+      "y": -0.491313971570743,
+      "z": -0.15509818575967702,
+      "w": 0.5156356104735477
+    }
+  },
+  {
+    "timestamp": 1766136913.0116248,
+    "position": {
+      "x": 0.13198810628460222,
+      "y": 0.023068054577246533,
+      "z": 0.008268534232590365
+    },
+    "orientation": {
+      "x": -0.6893359748259272,
+      "y": -0.48543755267919303,
+      "z": -0.15672534532714083,
+      "w": 0.5143962114865475
+    }
+  },
+  {
+    "timestamp": 1766136913.1443148,
+    "position": {
+      "x": 0.12918083341440684,
+      "y": 0.0252335548174763,
+      "z": 0.011300118975465505
+    },
+    "orientation": {
+      "x": -0.6940842386427527,
+      "y": -0.47626683797221175,
+      "z": -0.15347249847645877,
+      "w": 0.5175549834820014
+    }
+  },
+  {
+    "timestamp": 1766136913.2770047,
+    "position": {
+      "x": 0.12932263870544608,
+      "y": 0.025022644944824063,
+      "z": 0.011325780311143965
+    },
+    "orientation": {
+      "x": -0.6941852097445846,
+      "y": -0.47686346603777746,
+      "z": -0.15290163421500697,
+      "w": 0.5170388956207115
+    }
+  },
+  {
+    "timestamp": 1766136913.4096947,
+    "position": {
+      "x": 0.12886235109282496,
+      "y": 0.024713840335843867,
+      "z": 0.009861922375095582
+    },
+    "orientation": {
+      "x": -0.6943313953142723,
+      "y": -0.47640278464913105,
+      "z": -0.1558110281133147,
+      "w": 0.5163983189145385
+    }
+  },
+  {
+    "timestamp": 1766136913.5423849,
+    "position": {
+      "x": 0.12816770799577976,
+      "y": 0.025255396328707574,
+      "z": 0.00701279241319705
+    },
+    "orientation": {
+      "x": -0.6918542341632633,
+      "y": -0.4775224581797566,
+      "z": -0.1606330791402447,
+      "w": 0.5172108220931296
+    }
+  },
+  {
+    "timestamp": 1766136913.6750748,
+    "position": {
+      "x": 0.1265613858996014,
+      "y": 0.026658212996267916,
+      "z": 0.003996175837138641
+    },
+    "orientation": {
+      "x": -0.690782186806505,
+      "y": -0.47444503258494897,
+      "z": -0.16550913362147743,
+      "w": 0.5199313494435179
+    }
+  },
+  {
+    "timestamp": 1766136913.8077648,
+    "position": {
+      "x": 0.12468055586424798,
+      "y": 0.028011273996565028,
+      "z": 0.0008116025006919131
+    },
+    "orientation": {
+      "x": -0.6879302570090245,
+      "y": -0.4700574476890401,
+      "z": -0.17180705787604328,
+      "w": 0.5256237173373561
+    }
+  },
+  {
+    "timestamp": 1766136913.9404547,
+    "position": {
+      "x": 0.12289104921047533,
+      "y": 0.02827973304305731,
+      "z": -0.003550197867846952
+    },
+    "orientation": {
+      "x": -0.6840259385034826,
+      "y": -0.46870133999087443,
+      "z": -0.178348735916133,
+      "w": 0.5297351203595116
+    }
+  },
+  {
+    "timestamp": 1766136914.0731459,
+    "position": {
+      "x": 0.12287785453756839,
+      "y": 0.02748609767768259,
+      "z": -0.005570815349567271
+    },
+    "orientation": {
+      "x": -0.6825425913038303,
+      "y": -0.46974900873714903,
+      "z": -0.18191957007314713,
+      "w": 0.5295061377086383
+    }
+  },
+  {
+    "timestamp": 1766136914.2058358,
+    "position": {
+      "x": 0.1250022290265942,
+      "y": 0.026623383170446796,
+      "z": -0.004862335843457313
+    },
+    "orientation": {
+      "x": -0.683024438803882,
+      "y": -0.47339815356091,
+      "z": -0.18054251083498307,
+      "w": 0.5260952442126459
+    }
+  }
+]
\ No newline at end of file
diff --git a/recorded_gelsight_pose/episode_56/session_info.json b/recorded_gelsight_pose/episode_56/session_info.json
new file mode 100644
index 0000000000000000000000000000000000000000..aff37287855c0e58e563644a037d9fa4830814c6
--- /dev/null
+++ b/recorded_gelsight_pose/episode_56/session_info.json
@@ -0,0 +1,12 @@
+{
+  "session_id": 6,
+  "start_time": "2025-12-19T21:10:51.368441",
+  "ros_start_time": 1766149851.3684578,
+  "image_topic": "/gelsight_img",
+  "pose_topic": "/pose",
+  "image_format": "png",
+  "end_time": "2025-12-19T21:10:55.127111",
+  "ros_end_time": 1766149855.1271195,
+  "total_images": 94,
+  "total_pose_frames": 28
+}
\ No newline at end of file
diff --git a/recorded_gelsight_pose/episode_59/image_index.json b/recorded_gelsight_pose/episode_59/image_index.json
new file mode 100644
index 0000000000000000000000000000000000000000..215e1ee42cf11751da77833c328801bfcfe55169
--- /dev/null
+++ b/recorded_gelsight_pose/episode_59/image_index.json
@@ -0,0 +1,422 @@
+[
+  {
+    "timestamp": 1766149866.2954473,
+    "filename": "img_000000.png"
+  },
+  {
+    "timestamp": 1766149866.3389707,
+    "filename": "img_000001.png"
+  },
+  {
+    "timestamp": 1766149866.3778048,
+    "filename": "img_000002.png"
+  },
+  {
+    "timestamp": 1766149866.415912,
+    "filename": "img_000003.png"
+  },
+  {
+    "timestamp": 1766149866.4557283,
+    "filename": "img_000004.png"
+  },
+  {
+    "timestamp": 1766149866.495964,
+    "filename": "img_000005.png"
+  },
+  {
+    "timestamp": 1766149866.5360577,
+    "filename": "img_000006.png"
+  },
+  {
+    "timestamp": 1766149866.576869,
+    "filename": "img_000007.png"
+  },
+  {
+    "timestamp": 1766149866.6134374,
+    "filename": "img_000008.png"
+  },
+  {
+    "timestamp": 1766149866.655758,
+    "filename": "img_000009.png"
+  },
+  {
+    "timestamp": 1766149866.6966357,
+    "filename": "img_000010.png"
+  },
+  {
+    "timestamp": 1766149866.736518,
+    "filename": "img_000011.png"
+  },
+  {
+    "timestamp": 1766149866.7757754,
+    "filename": "img_000012.png"
+  },
+  {
+    "timestamp": 1766149866.8144784,
+    "filename": "img_000013.png"
+  },
+  {
+    "timestamp": 1766149866.8548977,
+    "filename": "img_000014.png"
+  },
+  {
+    "timestamp": 1766149866.8991356,
+    "filename": "img_000015.png"
+  },
+  {
+    "timestamp": 1766149866.9380546,
+    "filename": "img_000016.png"
+  },
+  {
+    "timestamp": 1766149866.9762368,
+    "filename": "img_000017.png"
+  },
+  {
+    "timestamp": 1766149867.020197,
+    "filename": "img_000018.png"
+  },
+  {
+    "timestamp": 1766149867.0565088,
+    "filename": "img_000019.png"
+  },
+  {
+    "timestamp": 1766149867.09752,
+    "filename": "img_000020.png"
+  },
+  {
+    "timestamp": 1766149867.1359787,
+    "filename": "img_000021.png"
+  },
+  {
+    "timestamp": 1766149867.177273,
+    "filename": "img_000022.png"
+  },
+  {
+    "timestamp": 1766149867.2158322,
+    "filename": "img_000023.png"
+  },
+  {
+    "timestamp": 1766149867.2545812,
+    "filename": "img_000024.png"
+  },
+  {
+    "timestamp": 1766149867.2983289,
+    "filename": "img_000025.png"
+  },
+  {
+    "timestamp": 1766149867.3357463,
+    "filename": "img_000026.png"
+  },
+  {
+    "timestamp": 1766149867.3759453,
+    "filename": "img_000027.png"
+  },
+  {
+    "timestamp": 1766149867.4160063,
+    "filename": "img_000028.png"
+  },
+  {
+    "timestamp": 1766149867.456273,
+    "filename": "img_000029.png"
+  },
+  {
+    "timestamp": 1766149867.4961367,
+    "filename": "img_000030.png"
+  },
+  {
+    "timestamp": 1766149867.5382946,
+    "filename": "img_000031.png"
+  },
+  {
+    "timestamp": 1766149867.577403,
+    "filename": "img_000032.png"
+  },
+  {
+    "timestamp": 1766149867.618528,
+    "filename": "img_000033.png"
+  },
+  {
+    "timestamp": 1766149867.656224,
+    "filename": "img_000034.png"
+  },
+  {
+    "timestamp": 1766149867.6969707,
+    "filename": "img_000035.png"
+  },
+  {
+    "timestamp": 1766149867.736334,
+    "filename": "img_000036.png"
+  },
+  {
+    "timestamp": 1766149867.776198,
+    "filename": "img_000037.png"
+  },
+  {
+    "timestamp": 1766149867.8152392,
+    "filename": "img_000038.png"
+  },
+  {
+    "timestamp": 1766149867.8577478,
+    "filename": "img_000039.png"
+  },
+  {
+    "timestamp": 1766149867.897919,
+    "filename": "img_000040.png"
+  },
+  {
+    "timestamp": 1766149867.9368234,
+    "filename": "img_000041.png"
+  },
+  {
+    "timestamp": 1766149867.9779768,
+    "filename": "img_000042.png"
+  },
+  {
+    "timestamp": 1766149868.0161717,
+    "filename": "img_000043.png"
+  },
+  {
+    "timestamp": 1766149868.0564783,
+    "filename": "img_000044.png"
+  },
+  {
+    "timestamp": 1766149868.0959618,
+    "filename": "img_000045.png"
+  },
+  {
+    "timestamp": 1766149868.1364973,
+    "filename": "img_000046.png"
+  },
+  {
+    "timestamp": 1766149868.176811,
+    "filename": "img_000047.png"
+  },
+  {
+    "timestamp": 1766149868.2153788,
+    "filename": "img_000048.png"
+  },
+  {
+    "timestamp": 1766149868.2546558,
+    "filename": "img_000049.png"
+  },
+  {
+    "timestamp": 1766149868.2974505,
+    "filename": "img_000050.png"
+  },
+  {
+    "timestamp": 1766149868.340567,
+    "filename": "img_000051.png"
+  },
+  {
+    "timestamp": 1766149868.3750196,
+    "filename": "img_000052.png"
+  },
+  {
+    "timestamp": 1766149868.4149992,
+    "filename": "img_000053.png"
+  },
+  {
+    "timestamp": 1766149868.4551127,
+    "filename": "img_000054.png"
+  },
+  {
+    "timestamp": 1766149868.4955244,
+    "filename": "img_000055.png"
+  },
+  {
+    "timestamp": 1766149868.5355065,
+    "filename": "img_000056.png"
+  },
+  {
+    "timestamp": 1766149868.5740523,
+    "filename": "img_000057.png"
+  },
+  {
+    "timestamp": 1766149868.6183124,
+    "filename": "img_000058.png"
+  },
+  {
+    "timestamp": 1766149868.6559882,
+    "filename": "img_000059.png"
+  },
+  {
+    "timestamp": 1766149868.6969392,
+    "filename": "img_000060.png"
+  },
+  {
+    "timestamp": 1766149868.7372208,
+    "filename": "img_000061.png"
+  },
+  {
+    "timestamp": 1766149868.7771618,
+    "filename": "img_000062.png"
+  },
+  {
+    "timestamp": 1766149868.8149877,
+    "filename": "img_000063.png"
+  },
+  {
+    "timestamp": 1766149868.8547223,
+    "filename": "img_000064.png"
+  },
+  {
+    "timestamp": 1766149868.894852,
+    "filename": "img_000065.png"
+  },
+  {
+    "timestamp": 1766149868.9366024,
+    "filename": "img_000066.png"
+  },
+  {
+    "timestamp": 1766149868.9762995,
+    "filename": "img_000067.png"
+  },
+  {
+    "timestamp": 1766149869.0160766,
+    "filename": "img_000068.png"
+  },
+  {
+    "timestamp": 1766149869.0560772,
+    "filename": "img_000069.png"
+  },
+  {
+    "timestamp": 1766149869.0975628,
+    "filename": "img_000070.png"
+  },
+  {
+    "timestamp": 1766149869.1357183,
+    "filename": "img_000071.png"
+  },
+  {
+    "timestamp": 1766149869.174645,
+    "filename": "img_000072.png"
+  },
+  {
+    "timestamp": 1766149869.2144845,
+    "filename": "img_000073.png"
+  },
+  {
+    "timestamp": 1766149869.2550473,
+    "filename": "img_000074.png"
+  },
+  {
+    "timestamp": 1766149869.2970688,
+    "filename": "img_000075.png"
+  },
+  {
+    "timestamp": 1766149869.3357809,
+    "filename": "img_000076.png"
+  },
+  {
+    "timestamp": 1766149869.3752131,
+    "filename": "img_000077.png"
+  },
+  {
+    "timestamp": 1766149869.415231,
+    "filename": "img_000078.png"
+  },
+  {
+    "timestamp": 1766149869.456361,
+    "filename": "img_000079.png"
+  },
+  {
+    "timestamp": 1766149869.4962132,
+    "filename": "img_000080.png"
+  },
+  {
+    "timestamp": 1766149869.5371292,
+    "filename": "img_000081.png"
+  },
+  {
+    "timestamp": 1766149869.5778573,
+    "filename": "img_000082.png"
+  },
+  {
+    "timestamp": 1766149869.615809,
+    "filename": "img_000083.png"
+  },
+  {
+    "timestamp": 1766149869.6558018,
+    "filename": "img_000084.png"
+  },
+  {
+    "timestamp": 1766149869.6958404,
+    "filename": "img_000085.png"
+  },
+  {
+    "timestamp": 1766149869.7351298,
+    "filename": "img_000086.png"
+  },
+  {
+    "timestamp": 1766149869.7755337,
+    "filename": "img_000087.png"
+  },
+  {
+    "timestamp": 1766149869.815568,
+    "filename": "img_000088.png"
+  },
+  {
+    "timestamp": 1766149869.8552265,
+    "filename": "img_000089.png"
+  },
+  {
+    "timestamp": 1766149869.8961647,
+    "filename": "img_000090.png"
+  },
+  {
+    "timestamp": 1766149869.936107,
+    "filename": "img_000091.png"
+  },
+  {
+    "timestamp": 1766149869.9753053,
+    "filename": "img_000092.png"
+  },
+  {
+    "timestamp": 1766149870.0155776,
+    "filename": "img_000093.png"
+  },
+  {
+    "timestamp": 1766149870.0573912,
+    "filename": "img_000094.png"
+  },
+  {
+    "timestamp": 1766149870.0961802,
+    "filename": "img_000095.png"
+  },
+  {
+    "timestamp": 1766149870.1358018,
+    "filename": "img_000096.png"
+  },
+  {
+    "timestamp": 1766149870.1742458,
+    "filename": "img_000097.png"
+  },
+  {
+    "timestamp": 1766149870.2158716,
+    "filename": "img_000098.png"
+  },
+  {
+    "timestamp": 1766149870.2553747,
+    "filename": "img_000099.png"
+  },
+  {
+    "timestamp": 1766149870.2993312,
+    "filename": "img_000100.png"
+  },
+  {
+    "timestamp": 1766149870.3347933,
+    "filename": "img_000101.png"
+  },
+  {
+    "timestamp": 1766149870.3761315,
+    "filename": "img_000102.png"
+  },
+  {
+    "timestamp": 1766149870.4157836,
+    "filename": "img_000103.png"
+  },
+  {
+    "timestamp": 1766149870.4545271,
+    "filename": "img_000104.png"
+  }
+]
\ No newline at end of file
diff --git a/recorded_gelsight_pose/episode_59/pose_data.json b/recorded_gelsight_pose/episode_59/pose_data.json
new file mode 100644
index 0000000000000000000000000000000000000000..df48b6e0313175fa162d713269c3d4204c9b5eea
--- /dev/null
+++ b/recorded_gelsight_pose/episode_59/pose_data.json
@@ -0,0 +1,436 @@
+[
+  {
+    "timestamp": 1766136925.4844947,
+    "position": {
+      "x": 0.12872463060861877,
+      "y": 0.025222693408786995,
+      "z": 0.010726244416803692
+    },
+    "orientation": {
+      "x": -0.6913035347857356,
+      "y": -0.4749700571251072,
+      "z": -0.1542247253347627,
+      "w": 0.5222237085031055
+    }
+  },
+  {
+    "timestamp": 1766136925.6171849,
+    "position": {
+      "x": 0.1278498465326066,
+      "y": 0.025752475903308786,
+      "z": 0.0100775239601643
+    },
+    "orientation": {
+      "x": -0.6928891459803332,
+      "y": -0.4738785848815887,
+      "z": -0.1548490177914842,
+      "w": 0.5209275380149144
+    }
+  },
+  {
+    "timestamp": 1766136925.7498748,
+    "position": {
+      "x": 0.12796250535989795,
+      "y": 0.026054124376169552,
+      "z": 0.01077532538676474
+    },
+    "orientation": {
+      "x": -0.6928681662479539,
+      "y": -0.4731154540840227,
+      "z": -0.15419880764817,
+      "w": 0.5218411626414203
+    }
+  },
+  {
+    "timestamp": 1766136925.8825648,
+    "position": {
+      "x": 0.12801900163248903,
+      "y": 0.025351208933822866,
+      "z": 0.009340055972600243
+    },
+    "orientation": {
+      "x": -0.6928180287757854,
+      "y": -0.4739735562403383,
+      "z": -0.15698278978011326,
+      "w": 0.5202966948780037
+    }
+  },
+  {
+    "timestamp": 1766136926.0152547,
+    "position": {
+      "x": 0.12892185290518793,
+      "y": 0.025206826627498236,
+      "z": 0.008483086306149142
+    },
+    "orientation": {
+      "x": -0.6912354201749151,
+      "y": -0.4772695785290741,
+      "z": -0.15773185817078744,
+      "w": 0.519160865459136
+    }
+  },
+  {
+    "timestamp": 1766136926.1479447,
+    "position": {
+      "x": 0.12989519446494208,
+      "y": 0.024094554767908893,
+      "z": 0.007641435416848176
+    },
+    "orientation": {
+      "x": -0.6905586501023897,
+      "y": -0.4786925901560959,
+      "z": -0.1581064723368065,
+      "w": 0.5186371547658576
+    }
+  },
+  {
+    "timestamp": 1766136926.2806349,
+    "position": {
+      "x": 0.1322064760725453,
+      "y": 0.022124688833077444,
+      "z": 0.005113092937862523
+    },
+    "orientation": {
+      "x": -0.6848125225619471,
+      "y": -0.48536774993285536,
+      "z": -0.15930224362708692,
+      "w": 0.5196852426640917
+    }
+  },
+  {
+    "timestamp": 1766136926.4133258,
+    "position": {
+      "x": 0.13292880012641062,
+      "y": 0.021498657118643905,
+      "z": 0.0038549144901297155
+    },
+    "orientation": {
+      "x": -0.684009013619351,
+      "y": -0.4883164003275033,
+      "z": -0.1625884990725865,
+      "w": 0.5169562287350792
+    }
+  },
+  {
+    "timestamp": 1766136926.5460157,
+    "position": {
+      "x": 0.13337063614864927,
+      "y": 0.02194941962100916,
+      "z": 0.004478650868294784
+    },
+    "orientation": {
+      "x": -0.683288301241095,
+      "y": -0.4872355399792841,
+      "z": -0.16113754115534706,
+      "w": 0.5193778189320015
+    }
+  },
+  {
+    "timestamp": 1766136926.6787057,
+    "position": {
+      "x": 0.1344526895532846,
+      "y": 0.021545745029430047,
+      "z": 0.007364052020956857
+    },
+    "orientation": {
+      "x": -0.6826717058103156,
+      "y": -0.4870027689968518,
+      "z": -0.1555379797386652,
+      "w": 0.5221068683078662
+    }
+  },
+  {
+    "timestamp": 1766136926.811396,
+    "position": {
+      "x": 0.13645005777367225,
+      "y": 0.01958269049926395,
+      "z": 0.011401712783363604
+    },
+    "orientation": {
+      "x": -0.6838397161709349,
+      "y": -0.4922665797905134,
+      "z": -0.1465383625064803,
+      "w": 0.5182309961035956
+    }
+  },
+  {
+    "timestamp": 1766136926.9440858,
+    "position": {
+      "x": 0.13716003268310348,
+      "y": 0.01883944307564253,
+      "z": 0.012078066532536125
+    },
+    "orientation": {
+      "x": -0.6853723359421601,
+      "y": -0.494197622972787,
+      "z": -0.14422198834944558,
+      "w": 0.5150082413415987
+    }
+  },
+  {
+    "timestamp": 1766136927.0767758,
+    "position": {
+      "x": 0.13659115908302383,
+      "y": 0.01937850432960672,
+      "z": 0.0123045870480325
+    },
+    "orientation": {
+      "x": -0.685919494230779,
+      "y": -0.4914707281843346,
+      "z": -0.14428677893867276,
+      "w": 0.5168677743830182
+    }
+  },
+  {
+    "timestamp": 1766136927.2094657,
+    "position": {
+      "x": 0.13550155670010886,
+      "y": 0.02041944197388293,
+      "z": 0.01355915248472224
+    },
+    "orientation": {
+      "x": -0.6879858630238874,
+      "y": -0.48905019495893753,
+      "z": -0.14323755628270246,
+      "w": 0.5167091653532587
+    }
+  },
+  {
+    "timestamp": 1766136927.3421557,
+    "position": {
+      "x": 0.13229407040945587,
+      "y": 0.020978811583447,
+      "z": 0.015449198958790739
+    },
+    "orientation": {
+      "x": -0.6922280834282103,
+      "y": -0.48332938298588934,
+      "z": -0.14272448163566195,
+      "w": 0.516568204981315
+    }
+  },
+  {
+    "timestamp": 1766136927.474846,
+    "position": {
+      "x": 0.1320163331247075,
+      "y": 0.022489968154154383,
+      "z": 0.0174516287675138
+    },
+    "orientation": {
+      "x": -0.6960637678053017,
+      "y": -0.4794434787798647,
+      "z": -0.14031827380817635,
+      "w": 0.5156936724836191
+    }
+  },
+  {
+    "timestamp": 1766136927.6075368,
+    "position": {
+      "x": 0.13194802708055295,
+      "y": 0.02253103463913561,
+      "z": 0.017084948585526526
+    },
+    "orientation": {
+      "x": -0.6958034238386431,
+      "y": -0.479663109634311,
+      "z": -0.13996804756963566,
+      "w": 0.5159358897090882
+    }
+  },
+  {
+    "timestamp": 1766136927.7402267,
+    "position": {
+      "x": 0.1312987744253421,
+      "y": 0.02266008454015947,
+      "z": 0.015087640248286904
+    },
+    "orientation": {
+      "x": -0.694026951592607,
+      "y": -0.47973334619229974,
+      "z": -0.14330544358300049,
+      "w": 0.5173452008607904
+    }
+  },
+  {
+    "timestamp": 1766136927.8729167,
+    "position": {
+      "x": 0.13058224946118402,
+      "y": 0.023737239177635427,
+      "z": 0.013106741561120641
+    },
+    "orientation": {
+      "x": -0.6958620790588821,
+      "y": -0.4798807767088852,
+      "z": -0.1480156399918453,
+      "w": 0.5134021595113637
+    }
+  },
+  {
+    "timestamp": 1766136928.005607,
+    "position": {
+      "x": 0.12862301287500952,
+      "y": 0.02452578967636465,
+      "z": 0.010489651344301229
+    },
+    "orientation": {
+      "x": -0.6943333046090336,
+      "y": -0.47596050343028357,
+      "z": -0.15430921692561622,
+      "w": 0.5172538321335987
+    }
+  },
+  {
+    "timestamp": 1766136928.1382968,
+    "position": {
+      "x": 0.12719262211842353,
+      "y": 0.026175570887041477,
+      "z": 0.008936724908529231
+    },
+    "orientation": {
+      "x": -0.6926740190753572,
+      "y": -0.472872062867715,
+      "z": -0.15725454742987233,
+      "w": 0.5214074441066695
+    }
+  },
+  {
+    "timestamp": 1766136928.2709868,
+    "position": {
+      "x": 0.1277558706398983,
+      "y": 0.02531939526137375,
+      "z": 0.00969091957757548
+    },
+    "orientation": {
+      "x": -0.6925696188598458,
+      "y": -0.4729030619712163,
+      "z": -0.1564281934271214,
+      "w": 0.521766458592063
+    }
+  },
+  {
+    "timestamp": 1766136928.4036767,
+    "position": {
+      "x": 0.12838050039066715,
+      "y": 0.02426208955379272,
+      "z": 0.007544863220766612
+    },
+    "orientation": {
+      "x": -0.6911739595719997,
+      "y": -0.4758211858002387,
+      "z": -0.15911462048157105,
+      "w": 0.5201493000112798
+    }
+  },
+  {
+    "timestamp": 1766136928.5363667,
+    "position": {
+      "x": 0.13002431441052867,
+      "y": 0.022797312480259374,
+      "z": 0.005217970597265503
+    },
+    "orientation": {
+      "x": -0.6873252697169256,
+      "y": -0.47924735678048475,
+      "z": -0.16157315672949132,
+      "w": 0.521344473119205
+    }
+  },
+  {
+    "timestamp": 1766136928.669057,
+    "position": {
+      "x": 0.13127478232849288,
+      "y": 0.022039746438931085,
+      "z": 0.003026569759288847
+    },
+    "orientation": {
+      "x": -0.685766102476208,
+      "y": -0.48300298375512163,
+      "z": -0.1644663498935629,
+      "w": 0.5190219553457531
+    }
+  },
+  {
+    "timestamp": 1766136928.8017478,
+    "position": {
+      "x": 0.13182287690575298,
+      "y": 0.02242411040475842,
+      "z": 0.0034314911931373343
+    },
+    "orientation": {
+      "x": -0.6840920466276765,
+      "y": -0.48453302819236443,
+      "z": -0.1635102079955965,
+      "w": 0.5201059778667527
+    }
+  },
+  {
+    "timestamp": 1766136928.9344378,
+    "position": {
+      "x": 0.13054978220655614,
+      "y": 0.023445432289263324,
+      "z": 0.003964527393288453
+    },
+    "orientation": {
+      "x": -0.6859423152954626,
+      "y": -0.48143036417901086,
+      "z": -0.1629135807528403,
+      "w": 0.5207370831233868
+    }
+  },
+  {
+    "timestamp": 1766136929.0671277,
+    "position": {
+      "x": 0.1292436454591957,
+      "y": 0.024778088100952417,
+      "z": 0.005111836335811443
+    },
+    "orientation": {
+      "x": -0.6870106117683207,
+      "y": -0.47829795565698674,
+      "z": -0.16145608196202726,
+      "w": 0.5226656852420445
+    }
+  },
+  {
+    "timestamp": 1766136929.1998177,
+    "position": {
+      "x": 0.1262360076012694,
+      "y": 0.02637107012468312,
+      "z": 0.0058631452947672455
+    },
+    "orientation": {
+      "x": -0.6908398674508017,
+      "y": -0.4721173240244161,
+      "z": -0.16303887990181148,
+      "w": 0.5227464333086798
+    }
+  },
+  {
+    "timestamp": 1766136929.3325078,
+    "position": {
+      "x": 0.12414241171565149,
+      "y": 0.027585810926203352,
+      "z": 0.006060798231428466
+    },
+    "orientation": {
+      "x": -0.6932158945327592,
+      "y": -0.46721452993206564,
+      "z": -0.1646346821342253,
+      "w": 0.5235052320904425
+    }
+  },
+  {
+    "timestamp": 1766136929.4651978,
+    "position": {
+      "x": 0.12426109098639598,
+      "y": 0.027951447304199684,
+      "z": 0.005024822648385649
+    },
+    "orientation": {
+      "x": -0.6936958346434158,
+      "y": -0.46701379414245164,
+      "z": -0.16588866473481237,
+      "w": 0.5226520410287783
+    }
+  }
+]
\ No newline at end of file
diff --git a/recorded_gelsight_pose/episode_59/session_info.json b/recorded_gelsight_pose/episode_59/session_info.json
new file mode 100644
index 0000000000000000000000000000000000000000..73c30497ae5d074fe7de6e49ac547fad7e79eaa1
--- /dev/null
+++ b/recorded_gelsight_pose/episode_59/session_info.json
@@ -0,0 +1,12 @@
+{
+  "session_id": 9,
+  "start_time": "2025-12-19T21:11:06.284137",
+  "ros_start_time": 1766149866.2841682,
+  "image_topic": "/gelsight_img",
+  "pose_topic": "/pose",
+  "image_format": "png",
+  "end_time": "2025-12-19T21:11:10.485938",
+  "ros_end_time": 1766149870.4859505,
+  "total_images": 105,
+  "total_pose_frames": 31
+}
\ No newline at end of file
diff --git a/recorded_gelsight_pose/episode_62/image_index.json b/recorded_gelsight_pose/episode_62/image_index.json
new file mode 100644
index 0000000000000000000000000000000000000000..dbc9bed1187779bb9beffe15e3b7fb9642043493
--- /dev/null
+++ b/recorded_gelsight_pose/episode_62/image_index.json
@@ -0,0 +1,426 @@
+[
+  {
+    "timestamp": 1766149882.0573554,
+    "filename": "img_000000.png"
+  },
+  {
+    "timestamp": 1766149882.1028385,
+    "filename": "img_000001.png"
+  },
+  {
+    "timestamp": 1766149882.1377158,
+    "filename": "img_000002.png"
+  },
+  {
+    "timestamp": 1766149882.1761093,
+    "filename": "img_000003.png"
+  },
+  {
+    "timestamp": 1766149882.2163537,
+    "filename": "img_000004.png"
+  },
+  {
+    "timestamp": 1766149882.2551363,
+    "filename": "img_000005.png"
+  },
+  {
+    "timestamp": 1766149882.29451,
+    "filename": "img_000006.png"
+  },
+  {
+    "timestamp": 1766149882.3364325,
+    "filename": "img_000007.png"
+  },
+  {
+    "timestamp": 1766149882.376584,
+    "filename": "img_000008.png"
+  },
+  {
+    "timestamp": 1766149882.4167151,
+    "filename": "img_000009.png"
+  },
+  {
+    "timestamp": 1766149882.4552467,
+    "filename": "img_000010.png"
+  },
+  {
+    "timestamp": 1766149882.4953032,
+    "filename": "img_000011.png"
+  },
+  {
+    "timestamp": 1766149882.5364344,
+    "filename": "img_000012.png"
+  },
+  {
+    "timestamp": 1766149882.5785086,
+    "filename": "img_000013.png"
+  },
+  {
+    "timestamp": 1766149882.6170344,
+    "filename": "img_000014.png"
+  },
+  {
+    "timestamp": 1766149882.6571665,
+    "filename": "img_000015.png"
+  },
+  {
+    "timestamp": 1766149882.6973073,
+    "filename": "img_000016.png"
+  },
+  {
+    "timestamp": 1766149882.738264,
+    "filename": "img_000017.png"
+  },
+  {
+    "timestamp": 1766149882.7778554,
+    "filename": "img_000018.png"
+  },
+  {
+    "timestamp": 1766149882.8158405,
+    "filename": "img_000019.png"
+  },
+  {
+    "timestamp": 1766149882.8547785,
+    "filename": "img_000020.png"
+  },
+  {
+    "timestamp": 1766149882.8967288,
+    "filename": "img_000021.png"
+  },
+  {
+    "timestamp": 1766149882.9371862,
+    "filename": "img_000022.png"
+  },
+  {
+    "timestamp": 1766149882.975757,
+    "filename": "img_000023.png"
+  },
+  {
+    "timestamp": 1766149883.0160074,
+    "filename": "img_000024.png"
+  },
+  {
+    "timestamp": 1766149883.0609887,
+    "filename": "img_000025.png"
+  },
+  {
+    "timestamp": 1766149883.0961668,
+    "filename": "img_000026.png"
+  },
+  {
+    "timestamp": 1766149883.1360128,
+    "filename": "img_000027.png"
+  },
+  {
+    "timestamp": 1766149883.1773353,
+    "filename": "img_000028.png"
+  },
+  {
+    "timestamp": 1766149883.2174551,
+    "filename": "img_000029.png"
+  },
+  {
+    "timestamp": 1766149883.2565117,
+    "filename": "img_000030.png"
+  },
+  {
+    "timestamp": 1766149883.295676,
+    "filename": "img_000031.png"
+  },
+  {
+    "timestamp": 1766149883.3383174,
+    "filename": "img_000032.png"
+  },
+  {
+    "timestamp": 1766149883.3799055,
+    "filename": "img_000033.png"
+  },
+  {
+    "timestamp": 1766149883.420163,
+    "filename": "img_000034.png"
+  },
+  {
+    "timestamp": 1766149883.4626045,
+    "filename": "img_000035.png"
+  },
+  {
+    "timestamp": 1766149883.4979692,
+    "filename": "img_000036.png"
+  },
+  {
+    "timestamp": 1766149883.5389946,
+    "filename": "img_000037.png"
+  },
+  {
+    "timestamp": 1766149883.5789726,
+    "filename": "img_000038.png"
+  },
+  {
+    "timestamp": 1766149883.6175284,
+    "filename": "img_000039.png"
+  },
+  {
+    "timestamp": 1766149883.6586428,
+    "filename": "img_000040.png"
+  },
+  {
+    "timestamp": 1766149883.7028165,
+    "filename": "img_000041.png"
+  },
+  {
+    "timestamp": 1766149883.7368946,
+    "filename": "img_000042.png"
+  },
+  {
+    "timestamp": 1766149883.7789826,
+    "filename": "img_000043.png"
+  },
+  {
+    "timestamp": 1766149883.8165984,
+    "filename": "img_000044.png"
+  },
+  {
+    "timestamp": 1766149883.8582075,
+    "filename": "img_000045.png"
+  },
+  {
+    "timestamp": 1766149883.896296,
+    "filename": "img_000046.png"
+  },
+  {
+    "timestamp": 1766149883.9390574,
+    "filename": "img_000047.png"
+  },
+  {
+    "timestamp": 1766149883.9784238,
+    "filename": "img_000048.png"
+  },
+  {
+    "timestamp": 1766149884.0175734,
+    "filename": "img_000049.png"
+  },
+  {
+    "timestamp": 1766149884.0556006,
+    "filename": "img_000050.png"
+  },
+  {
+    "timestamp": 1766149884.0945218,
+    "filename": "img_000051.png"
+  },
+  {
+    "timestamp": 1766149884.1373322,
+    "filename": "img_000052.png"
+  },
+  {
+    "timestamp": 1766149884.1778598,
+    "filename": "img_000053.png"
+  },
+  {
+    "timestamp": 1766149884.2184553,
+    "filename": "img_000054.png"
+  },
+  {
+    "timestamp": 1766149884.256259,
+    "filename": "img_000055.png"
+  },
+  {
+    "timestamp": 1766149884.298389,
+    "filename": "img_000056.png"
+  },
+  {
+    "timestamp": 1766149884.3378243,
+    "filename": "img_000057.png"
+  },
+  {
+    "timestamp": 1766149884.377112,
+    "filename": "img_000058.png"
+  },
+  {
+    "timestamp": 1766149884.4160774,
+    "filename": "img_000059.png"
+  },
+  {
+    "timestamp": 1766149884.4545434,
+    "filename": "img_000060.png"
+  },
+  {
+    "timestamp": 1766149884.4955375,
+    "filename": "img_000061.png"
+  },
+  {
+    "timestamp": 1766149884.537064,
+    "filename": "img_000062.png"
+  },
+  {
+    "timestamp": 1766149884.5759635,
+    "filename": "img_000063.png"
+  },
+  {
+    "timestamp": 1766149884.614955,
+    "filename": "img_000064.png"
+  },
+  {
+    "timestamp": 1766149884.6563885,
+    "filename": "img_000065.png"
+  },
+  {
+    "timestamp": 1766149884.6945858,
+    "filename": "img_000066.png"
+  },
+  {
+    "timestamp": 1766149884.735418,
+    "filename": "img_000067.png"
+  },
+  {
+    "timestamp": 1766149884.7799559,
+    "filename": "img_000068.png"
+  },
+  {
+    "timestamp": 1766149884.8178818,
+    "filename": "img_000069.png"
+  },
+  {
+    "timestamp": 1766149884.855978,
+    "filename": "img_000070.png"
+  },
+  {
+    "timestamp": 1766149884.8966818,
+    "filename": "img_000071.png"
+  },
+  {
+    "timestamp": 1766149884.9381886,
+    "filename": "img_000072.png"
+  },
+  {
+    "timestamp": 1766149884.9783034,
+    "filename": "img_000073.png"
+  },
+  {
+    "timestamp": 1766149885.0165124,
+    "filename": "img_000074.png"
+  },
+  {
+    "timestamp": 1766149885.0597584,
+    "filename": "img_000075.png"
+  },
+  {
+    "timestamp": 1766149885.0960722,
+    "filename": "img_000076.png"
+  },
+  {
+    "timestamp": 1766149885.1375048,
+    "filename": "img_000077.png"
+  },
+  {
+    "timestamp": 1766149885.1774175,
+    "filename": "img_000078.png"
+  },
+  {
+    "timestamp": 1766149885.214947,
+    "filename": "img_000079.png"
+  },
+  {
+    "timestamp": 1766149885.2576451,
+    "filename": "img_000080.png"
+  },
+  {
+    "timestamp": 1766149885.2983916,
+    "filename": "img_000081.png"
+  },
+  {
+    "timestamp": 1766149885.3359087,
+    "filename": "img_000082.png"
+  },
+  {
+    "timestamp": 1766149885.3769343,
+    "filename": "img_000083.png"
+  },
+  {
+    "timestamp": 1766149885.4153802,
+    "filename": "img_000084.png"
+  },
+  {
+    "timestamp": 1766149885.4553022,
+    "filename": "img_000085.png"
+  },
+  {
+    "timestamp": 1766149885.4952917,
+    "filename": "img_000086.png"
+  },
+  {
+    "timestamp": 1766149885.5357537,
+    "filename": "img_000087.png"
+  },
+  {
+    "timestamp": 1766149885.5771465,
+    "filename": "img_000088.png"
+  },
+  {
+    "timestamp": 1766149885.615732,
+    "filename": "img_000089.png"
+  },
+  {
+    "timestamp": 1766149885.6552758,
+    "filename": "img_000090.png"
+  },
+  {
+    "timestamp": 1766149885.6989176,
+    "filename": "img_000091.png"
+  },
+  {
+    "timestamp": 1766149885.7372508,
+    "filename": "img_000092.png"
+  },
+  {
+    "timestamp": 1766149885.7777803,
+    "filename": "img_000093.png"
+  },
+  {
+    "timestamp": 1766149885.8155239,
+    "filename": "img_000094.png"
+  },
+  {
+    "timestamp": 1766149885.854024,
+    "filename": "img_000095.png"
+  },
+  {
+    "timestamp": 1766149885.8967278,
+    "filename": "img_000096.png"
+  },
+  {
+    "timestamp": 1766149885.9391897,
+    "filename": "img_000097.png"
+  },
+  {
+    "timestamp": 1766149885.9773493,
+    "filename": "img_000098.png"
+  },
+  {
+    "timestamp": 1766149886.0142448,
+    "filename": "img_000099.png"
+  },
+  {
+    "timestamp": 1766149886.0598156,
+    "filename": "img_000100.png"
+  },
+  {
+    "timestamp": 1766149886.098282,
+    "filename": "img_000101.png"
+  },
+  {
+    "timestamp": 1766149886.1373923,
+    "filename": "img_000102.png"
+  },
+  {
+    "timestamp": 1766149886.1777732,
+    "filename": "img_000103.png"
+  },
+  {
+    "timestamp": 1766149886.216607,
+    "filename": "img_000104.png"
+  },
+  {
+    "timestamp": 1766149886.2555299,
+    "filename": "img_000105.png"
+  }
+]
\ No newline at end of file
diff --git a/recorded_gelsight_pose/episode_62/pose_data.json b/recorded_gelsight_pose/episode_62/pose_data.json
new file mode 100644
index 0000000000000000000000000000000000000000..833f122dabbe2935ed340623bf8c514dcbbd5a49
--- /dev/null
+++ b/recorded_gelsight_pose/episode_62/pose_data.json
@@ -0,0 +1,450 @@
+[
+  {
+    "timestamp": 1766136941.1419277,
+    "position": {
+      "x": 0.12897588784018227,
+      "y": 0.023826749781458822,
+      "z": 0.018212857727761683
+    },
+    "orientation": {
+      "x": -0.7016145866393161,
+      "y": -0.4745904901413725,
+      "z": -0.14236062372635527,
+      "w": 0.5120881675010238
+    }
+  },
+  {
+    "timestamp": 1766136941.2746177,
+    "position": {
+      "x": 0.12910037482897352,
+      "y": 0.023839697287277167,
+      "z": 0.018526363767708054
+    },
+    "orientation": {
+      "x": -0.7006789285958308,
+      "y": -0.47471468706125886,
+      "z": -0.14150322902098347,
+      "w": 0.5134898646387919
+    }
+  },
+  {
+    "timestamp": 1766136941.4073079,
+    "position": {
+      "x": 0.12879744434647428,
+      "y": 0.02375809310302643,
+      "z": 0.017510855027233298
+    },
+    "orientation": {
+      "x": -0.70139073344409,
+      "y": -0.47539543397579187,
+      "z": -0.14403610627950605,
+      "w": 0.511178853711271
+    }
+  },
+  {
+    "timestamp": 1766136941.5399978,
+    "position": {
+      "x": 0.12854041202639474,
+      "y": 0.02424647150556189,
+      "z": 0.016621866431145813
+    },
+    "orientation": {
+      "x": -0.7005939518285086,
+      "y": -0.4745665691558172,
+      "z": -0.14575384956986343,
+      "w": 0.5125529254979979
+    }
+  },
+  {
+    "timestamp": 1766136941.6726878,
+    "position": {
+      "x": 0.12830444223881382,
+      "y": 0.0246003805456195,
+      "z": 0.01601175725782116
+    },
+    "orientation": {
+      "x": -0.7010682839628134,
+      "y": -0.4746216297136148,
+      "z": -0.14581820377014218,
+      "w": 0.5118345643649692
+    }
+  },
+  {
+    "timestamp": 1766136941.8053777,
+    "position": {
+      "x": 0.12832966931983666,
+      "y": 0.025083464243698922,
+      "z": 0.015474977391454918
+    },
+    "orientation": {
+      "x": -0.7009621713053927,
+      "y": -0.4745811902743131,
+      "z": -0.14716304485896722,
+      "w": 0.5116324525130155
+    }
+  },
+  {
+    "timestamp": 1766136941.9380677,
+    "position": {
+      "x": 0.12778797199791286,
+      "y": 0.025870966272494716,
+      "z": 0.014142846713091003
+    },
+    "orientation": {
+      "x": -0.699615038665488,
+      "y": -0.4728513755640762,
+      "z": -0.14884847150225983,
+      "w": 0.5145818757318311
+    }
+  },
+  {
+    "timestamp": 1766136942.0707579,
+    "position": {
+      "x": 0.12630925909428015,
+      "y": 0.026425317661843417,
+      "z": 0.011504972005736427
+    },
+    "orientation": {
+      "x": -0.696933169566726,
+      "y": -0.47047352411428395,
+      "z": -0.153807569114979,
+      "w": 0.518923936572697
+    }
+  },
+  {
+    "timestamp": 1766136942.2034478,
+    "position": {
+      "x": 0.1253370181507723,
+      "y": 0.02732210294118631,
+      "z": 0.009515215891637847
+    },
+    "orientation": {
+      "x": -0.6953004212262741,
+      "y": -0.4691031644528495,
+      "z": -0.1587043340900826,
+      "w": 0.5208766453623275
+    }
+  },
+  {
+    "timestamp": 1766136942.3361387,
+    "position": {
+      "x": 0.12479371240291295,
+      "y": 0.02794411289403423,
+      "z": 0.008607880847846604
+    },
+    "orientation": {
+      "x": -0.6965246677513593,
+      "y": -0.4675753944982098,
+      "z": -0.16089396249708027,
+      "w": 0.5199420837994269
+    }
+  },
+  {
+    "timestamp": 1766136942.4688287,
+    "position": {
+      "x": 0.1263711957689283,
+      "y": 0.026326183271562498,
+      "z": 0.010411114799399435
+    },
+    "orientation": {
+      "x": -0.6956460306803933,
+      "y": -0.4705759418486321,
+      "z": -0.1575421603179983,
+      "w": 0.5194375329856558
+    }
+  },
+  {
+    "timestamp": 1766136942.6015189,
+    "position": {
+      "x": 0.12758093785649194,
+      "y": 0.02608458329732488,
+      "z": 0.011706365869991298
+    },
+    "orientation": {
+      "x": -0.6955267280102516,
+      "y": -0.4710369615330167,
+      "z": -0.15338734335032458,
+      "w": 0.52042201566904
+    }
+  },
+  {
+    "timestamp": 1766136942.7342088,
+    "position": {
+      "x": 0.128050135482991,
+      "y": 0.025028987093438787,
+      "z": 0.012032931954279819
+    },
+    "orientation": {
+      "x": -0.694799464952487,
+      "y": -0.4727390002468242,
+      "z": -0.15410317441198912,
+      "w": 0.5196380978946012
+    }
+  },
+  {
+    "timestamp": 1766136942.8668988,
+    "position": {
+      "x": 0.13036666640123334,
+      "y": 0.02396750219081878,
+      "z": 0.014545792595719004
+    },
+    "orientation": {
+      "x": -0.696036291169598,
+      "y": -0.4781837845119672,
+      "z": -0.14825687733658116,
+      "w": 0.5146781984182826
+    }
+  },
+  {
+    "timestamp": 1766136942.9995887,
+    "position": {
+      "x": 0.13000320849990624,
+      "y": 0.023441039471955805,
+      "z": 0.014004956023571255
+    },
+    "orientation": {
+      "x": -0.6980022729525384,
+      "y": -0.4789351180343028,
+      "z": -0.14814836266917086,
+      "w": 0.5113375033233947
+    }
+  },
+  {
+    "timestamp": 1766136943.1322787,
+    "position": {
+      "x": 0.1290440699046797,
+      "y": 0.024417821585761196,
+      "z": 0.010986636573205893
+    },
+    "orientation": {
+      "x": -0.6961613233405831,
+      "y": -0.477573607768825,
+      "z": -0.15368901664941514,
+      "w": 0.5134808148399435
+    }
+  },
+  {
+    "timestamp": 1766136943.2649689,
+    "position": {
+      "x": 0.12758138516732082,
+      "y": 0.02535741814157616,
+      "z": 0.0073344337544883065
+    },
+    "orientation": {
+      "x": -0.6926605302541529,
+      "y": -0.475058663991969,
+      "z": -0.1591298529274267,
+      "w": 0.5188625497195734
+    }
+  },
+  {
+    "timestamp": 1766136943.3976588,
+    "position": {
+      "x": 0.12634966087164573,
+      "y": 0.026475777056547495,
+      "z": 0.00445245946951027
+    },
+    "orientation": {
+      "x": -0.6902611022547909,
+      "y": -0.47174684719814297,
+      "z": -0.1652707980213315,
+      "w": 0.5231444219276409
+    }
+  },
+  {
+    "timestamp": 1766136943.5303497,
+    "position": {
+      "x": 0.12635645068747992,
+      "y": 0.026263991280198407,
+      "z": 0.004800031549662534
+    },
+    "orientation": {
+      "x": -0.6893354228922712,
+      "y": -0.47197399766437154,
+      "z": -0.16504689103012812,
+      "w": 0.5242296672603854
+    }
+  },
+  {
+    "timestamp": 1766136943.6630397,
+    "position": {
+      "x": 0.1283809102561131,
+      "y": 0.025692908178157087,
+      "z": 0.0074552743343783145
+    },
+    "orientation": {
+      "x": -0.689007645708435,
+      "y": -0.47322785246839366,
+      "z": -0.16010760431155807,
+      "w": 0.5250613476967101
+    }
+  },
+  {
+    "timestamp": 1766136943.7957299,
+    "position": {
+      "x": 0.13023880959325013,
+      "y": 0.024257344798189556,
+      "z": 0.01057290499327089
+    },
+    "orientation": {
+      "x": -0.6892866819719842,
+      "y": -0.4770279972552909,
+      "z": -0.15354020143610417,
+      "w": 0.5232146466161086
+    }
+  },
+  {
+    "timestamp": 1766136943.9284198,
+    "position": {
+      "x": 0.13172151831615858,
+      "y": 0.022392649664189773,
+      "z": 0.013850460486010505
+    },
+    "orientation": {
+      "x": -0.6915763292207777,
+      "y": -0.4793714927131915,
+      "z": -0.14701232130942818,
+      "w": 0.5199158876382355
+    }
+  },
+  {
+    "timestamp": 1766136944.0611098,
+    "position": {
+      "x": 0.13358560495502464,
+      "y": 0.02101721753267599,
+      "z": 0.015975190334341874
+    },
+    "orientation": {
+      "x": -0.6935004786419383,
+      "y": -0.4844123598122742,
+      "z": -0.14132978277462305,
+      "w": 0.5142252855367814
+    }
+  },
+  {
+    "timestamp": 1766136944.1937997,
+    "position": {
+      "x": 0.13326895280801726,
+      "y": 0.02139636688467947,
+      "z": 0.014036249039103041
+    },
+    "orientation": {
+      "x": -0.6937994946305436,
+      "y": -0.4851850391274764,
+      "z": -0.14462991515388568,
+      "w": 0.5121717746028684
+    }
+  },
+  {
+    "timestamp": 1766136944.3264897,
+    "position": {
+      "x": 0.13243216935432278,
+      "y": 0.022317268941396906,
+      "z": 0.01185957339891617
+    },
+    "orientation": {
+      "x": -0.6908935092369536,
+      "y": -0.48354182234726184,
+      "z": -0.14824911778280084,
+      "w": 0.5166001006697133
+    }
+  },
+  {
+    "timestamp": 1766136944.4591799,
+    "position": {
+      "x": 0.13123637120024562,
+      "y": 0.023794507609921994,
+      "z": 0.009185850250780038
+    },
+    "orientation": {
+      "x": -0.6875379485694583,
+      "y": -0.4812891396499769,
+      "z": -0.15225333408840186,
+      "w": 0.5219877925688027
+    }
+  },
+  {
+    "timestamp": 1766136944.5918698,
+    "position": {
+      "x": 0.13013927676892426,
+      "y": 0.024489837423925354,
+      "z": 0.005676570480136513
+    },
+    "orientation": {
+      "x": -0.6843964553761972,
+      "y": -0.479013774058338,
+      "z": -0.15813151606123024,
+      "w": 0.5264425132519801
+    }
+  },
+  {
+    "timestamp": 1766136944.7245598,
+    "position": {
+      "x": 0.13016392827348905,
+      "y": 0.024456708649811254,
+      "z": 0.004882744566366684
+    },
+    "orientation": {
+      "x": -0.681157502532104,
+      "y": -0.48002600120117184,
+      "z": -0.15960224174323062,
+      "w": 0.5292698927254171
+    }
+  },
+  {
+    "timestamp": 1766136944.8572507,
+    "position": {
+      "x": 0.13178381658798868,
+      "y": 0.023487551275994722,
+      "z": 0.0068768899370593994
+    },
+    "orientation": {
+      "x": -0.6822626346325065,
+      "y": -0.4821516918244845,
+      "z": -0.15594289937409433,
+      "w": 0.527000242495105
+    }
+  },
+  {
+    "timestamp": 1766136944.989941,
+    "position": {
+      "x": 0.13296990415642262,
+      "y": 0.022732000133850655,
+      "z": 0.008575223966102802
+    },
+    "orientation": {
+      "x": -0.6833629722326564,
+      "y": -0.48327621419422107,
+      "z": -0.1527926059928661,
+      "w": 0.5254650973464934
+    }
+  },
+  {
+    "timestamp": 1766136945.1226308,
+    "position": {
+      "x": 0.13447127064084882,
+      "y": 0.020923085449992523,
+      "z": 0.011913380664709608
+    },
+    "orientation": {
+      "x": -0.6846361899110145,
+      "y": -0.4860058530782622,
+      "z": -0.1468516242777805,
+      "w": 0.5229782009651815
+    }
+  },
+  {
+    "timestamp": 1766136945.2553208,
+    "position": {
+      "x": 0.13609574919617964,
+      "y": 0.019487188099240077,
+      "z": 0.014629188353801559
+    },
+    "orientation": {
+      "x": -0.6873422689258905,
+      "y": -0.48969062566810967,
+      "z": -0.14084349781929156,
+      "w": 0.5176164657375298
+    }
+  }
+]
\ No newline at end of file
diff --git a/recorded_gelsight_pose/episode_62/session_info.json b/recorded_gelsight_pose/episode_62/session_info.json
new file mode 100644
index 0000000000000000000000000000000000000000..4e0b9e1dbb8b3e305190c5138e60a27a9100e8fe
--- /dev/null
+++ b/recorded_gelsight_pose/episode_62/session_info.json
@@ -0,0 +1,12 @@
+{
+  "session_id": 12,
+  "start_time": "2025-12-19T21:11:22.057696",
+  "ros_start_time": 1766149882.0577157,
+  "image_topic": "/gelsight_img",
+  "pose_topic": "/pose",
+  "image_format": "png",
+  "end_time": "2025-12-19T21:11:26.289916",
+  "ros_end_time": 1766149886.2899253,
+  "total_images": 106,
+  "total_pose_frames": 32
+}
\ No newline at end of file
diff --git a/recorded_gelsight_pose/episode_71/image_index.json b/recorded_gelsight_pose/episode_71/image_index.json
new file mode 100644
index 0000000000000000000000000000000000000000..0e0037c59cb57d46a6d2f490ea8fef0a50eee3cc
--- /dev/null
+++ b/recorded_gelsight_pose/episode_71/image_index.json
@@ -0,0 +1,414 @@
+[
+  {
+    "timestamp": 1766149929.8208714,
+    "filename": "img_000000.png"
+  },
+  {
+    "timestamp": 1766149929.8589737,
+    "filename": "img_000001.png"
+  },
+  {
+    "timestamp": 1766149929.8973968,
+    "filename": "img_000002.png"
+  },
+  {
+    "timestamp": 1766149929.938331,
+    "filename": "img_000003.png"
+  },
+  {
+    "timestamp": 1766149929.9769566,
+    "filename": "img_000004.png"
+  },
+  {
+    "timestamp": 1766149930.0171216,
+    "filename": "img_000005.png"
+  },
+  {
+    "timestamp": 1766149930.0561213,
+    "filename": "img_000006.png"
+  },
+  {
+    "timestamp": 1766149930.0975435,
+    "filename": "img_000007.png"
+  },
+  {
+    "timestamp": 1766149930.1402543,
+    "filename": "img_000008.png"
+  },
+  {
+    "timestamp": 1766149930.1799834,
+    "filename": "img_000009.png"
+  },
+  {
+    "timestamp": 1766149930.2169838,
+    "filename": "img_000010.png"
+  },
+  {
+    "timestamp": 1766149930.2584686,
+    "filename": "img_000011.png"
+  },
+  {
+    "timestamp": 1766149930.297573,
+    "filename": "img_000012.png"
+  },
+  {
+    "timestamp": 1766149930.3372564,
+    "filename": "img_000013.png"
+  },
+  {
+    "timestamp": 1766149930.3766065,
+    "filename": "img_000014.png"
+  },
+  {
+    "timestamp": 1766149930.4194367,
+    "filename": "img_000015.png"
+  },
+  {
+    "timestamp": 1766149930.4593205,
+    "filename": "img_000016.png"
+  },
+  {
+    "timestamp": 1766149930.4988503,
+    "filename": "img_000017.png"
+  },
+  {
+    "timestamp": 1766149930.5397878,
+    "filename": "img_000018.png"
+  },
+  {
+    "timestamp": 1766149930.577616,
+    "filename": "img_000019.png"
+  },
+  {
+    "timestamp": 1766149930.617839,
+    "filename": "img_000020.png"
+  },
+  {
+    "timestamp": 1766149930.6566913,
+    "filename": "img_000021.png"
+  },
+  {
+    "timestamp": 1766149930.696346,
+    "filename": "img_000022.png"
+  },
+  {
+    "timestamp": 1766149930.7376478,
+    "filename": "img_000023.png"
+  },
+  {
+    "timestamp": 1766149930.7834282,
+    "filename": "img_000024.png"
+  },
+  {
+    "timestamp": 1766149930.8199923,
+    "filename": "img_000025.png"
+  },
+  {
+    "timestamp": 1766149930.8552866,
+    "filename": "img_000026.png"
+  },
+  {
+    "timestamp": 1766149930.899338,
+    "filename": "img_000027.png"
+  },
+  {
+    "timestamp": 1766149930.9422705,
+    "filename": "img_000028.png"
+  },
+  {
+    "timestamp": 1766149930.981377,
+    "filename": "img_000029.png"
+  },
+  {
+    "timestamp": 1766149931.0187733,
+    "filename": "img_000030.png"
+  },
+  {
+    "timestamp": 1766149931.0607927,
+    "filename": "img_000031.png"
+  },
+  {
+    "timestamp": 1766149931.100606,
+    "filename": "img_000032.png"
+  },
+  {
+    "timestamp": 1766149931.1404169,
+    "filename": "img_000033.png"
+  },
+  {
+    "timestamp": 1766149931.1792989,
+    "filename": "img_000034.png"
+  },
+  {
+    "timestamp": 1766149931.220908,
+    "filename": "img_000035.png"
+  },
+  {
+    "timestamp": 1766149931.257496,
+    "filename": "img_000036.png"
+  },
+  {
+    "timestamp": 1766149931.3003383,
+    "filename": "img_000037.png"
+  },
+  {
+    "timestamp": 1766149931.3383486,
+    "filename": "img_000038.png"
+  },
+  {
+    "timestamp": 1766149931.3806481,
+    "filename": "img_000039.png"
+  },
+  {
+    "timestamp": 1766149931.42003,
+    "filename": "img_000040.png"
+  },
+  {
+    "timestamp": 1766149931.4571936,
+    "filename": "img_000041.png"
+  },
+  {
+    "timestamp": 1766149931.498685,
+    "filename": "img_000042.png"
+  },
+  {
+    "timestamp": 1766149931.5397673,
+    "filename": "img_000043.png"
+  },
+  {
+    "timestamp": 1766149931.5792444,
+    "filename": "img_000044.png"
+  },
+  {
+    "timestamp": 1766149931.617118,
+    "filename": "img_000045.png"
+  },
+  {
+    "timestamp": 1766149931.6569068,
+    "filename": "img_000046.png"
+  },
+  {
+    "timestamp": 1766149931.7019165,
+    "filename": "img_000047.png"
+  },
+  {
+    "timestamp": 1766149931.7399676,
+    "filename": "img_000048.png"
+  },
+  {
+    "timestamp": 1766149931.7780256,
+    "filename": "img_000049.png"
+  },
+  {
+    "timestamp": 1766149931.8169615,
+    "filename": "img_000050.png"
+  },
+  {
+    "timestamp": 1766149931.8558571,
+    "filename": "img_000051.png"
+  },
+  {
+    "timestamp": 1766149931.8977904,
+    "filename": "img_000052.png"
+  },
+  {
+    "timestamp": 1766149931.938057,
+    "filename": "img_000053.png"
+  },
+  {
+    "timestamp": 1766149931.9770024,
+    "filename": "img_000054.png"
+  },
+  {
+    "timestamp": 1766149932.0172427,
+    "filename": "img_000055.png"
+  },
+  {
+    "timestamp": 1766149932.0567267,
+    "filename": "img_000056.png"
+  },
+  {
+    "timestamp": 1766149932.098439,
+    "filename": "img_000057.png"
+  },
+  {
+    "timestamp": 1766149932.138024,
+    "filename": "img_000058.png"
+  },
+  {
+    "timestamp": 1766149932.1790884,
+    "filename": "img_000059.png"
+  },
+  {
+    "timestamp": 1766149932.2175875,
+    "filename": "img_000060.png"
+  },
+  {
+    "timestamp": 1766149932.2555573,
+    "filename": "img_000061.png"
+  },
+  {
+    "timestamp": 1766149932.2985601,
+    "filename": "img_000062.png"
+  },
+  {
+    "timestamp": 1766149932.33834,
+    "filename": "img_000063.png"
+  },
+  {
+    "timestamp": 1766149932.3776958,
+    "filename": "img_000064.png"
+  },
+  {
+    "timestamp": 1766149932.4162133,
+    "filename": "img_000065.png"
+  },
+  {
+    "timestamp": 1766149932.4566982,
+    "filename": "img_000066.png"
+  },
+  {
+    "timestamp": 1766149932.4993782,
+    "filename": "img_000067.png"
+  },
+  {
+    "timestamp": 1766149932.5386164,
+    "filename": "img_000068.png"
+  },
+  {
+    "timestamp": 1766149932.5772424,
+    "filename": "img_000069.png"
+  },
+  {
+    "timestamp": 1766149932.6168084,
+    "filename": "img_000070.png"
+  },
+  {
+    "timestamp": 1766149932.6575224,
+    "filename": "img_000071.png"
+  },
+  {
+    "timestamp": 1766149932.697957,
+    "filename": "img_000072.png"
+  },
+  {
+    "timestamp": 1766149932.7365067,
+    "filename": "img_000073.png"
+  },
+  {
+    "timestamp": 1766149932.776888,
+    "filename": "img_000074.png"
+  },
+  {
+    "timestamp": 1766149932.8167179,
+    "filename": "img_000075.png"
+  },
+  {
+    "timestamp": 1766149932.856989,
+    "filename": "img_000076.png"
+  },
+  {
+    "timestamp": 1766149932.8978286,
+    "filename": "img_000077.png"
+  },
+  {
+    "timestamp": 1766149932.9374025,
+    "filename": "img_000078.png"
+  },
+  {
+    "timestamp": 1766149932.9783387,
+    "filename": "img_000079.png"
+  },
+  {
+    "timestamp": 1766149933.017306,
+    "filename": "img_000080.png"
+  },
+  {
+    "timestamp": 1766149933.056211,
+    "filename": "img_000081.png"
+  },
+  {
+    "timestamp": 1766149933.0985048,
+    "filename": "img_000082.png"
+  },
+  {
+    "timestamp": 1766149933.1384034,
+    "filename": "img_000083.png"
+  },
+  {
+    "timestamp": 1766149933.1772263,
+    "filename": "img_000084.png"
+  },
+  {
+    "timestamp": 1766149933.2169235,
+    "filename": "img_000085.png"
+  },
+  {
+    "timestamp": 1766149933.2560065,
+    "filename": "img_000086.png"
+  },
+  {
+    "timestamp": 1766149933.2999523,
+    "filename": "img_000087.png"
+  },
+  {
+    "timestamp": 1766149933.3393023,
+    "filename": "img_000088.png"
+  },
+  {
+    "timestamp": 1766149933.378805,
+    "filename": "img_000089.png"
+  },
+  {
+    "timestamp": 1766149933.4165874,
+    "filename": "img_000090.png"
+  },
+  {
+    "timestamp": 1766149933.4572797,
+    "filename": "img_000091.png"
+  },
+  {
+    "timestamp": 1766149933.496739,
+    "filename": "img_000092.png"
+  },
+  {
+    "timestamp": 1766149933.5378506,
+    "filename": "img_000093.png"
+  },
+  {
+    "timestamp": 1766149933.576579,
+    "filename": "img_000094.png"
+  },
+  {
+    "timestamp": 1766149933.6172967,
+    "filename": "img_000095.png"
+  },
+  {
+    "timestamp": 1766149933.656958,
+    "filename": "img_000096.png"
+  },
+  {
+    "timestamp": 1766149933.6974497,
+    "filename": "img_000097.png"
+  },
+  {
+    "timestamp": 1766149933.737018,
+    "filename": "img_000098.png"
+  },
+  {
+    "timestamp": 1766149933.7785842,
+    "filename": "img_000099.png"
+  },
+  {
+    "timestamp": 1766149933.8230064,
+    "filename": "img_000100.png"
+  },
+  {
+    "timestamp": 1766149933.857076,
+    "filename": "img_000101.png"
+  },
+  {
+    "timestamp": 1766149933.8968816,
+    "filename": "img_000102.png"
+  }
+]
\ No newline at end of file
diff --git a/recorded_gelsight_pose/episode_71/pose_data.json b/recorded_gelsight_pose/episode_71/pose_data.json
new file mode 100644
index 0000000000000000000000000000000000000000..8063067d3c94785d8e30ea04bd1a3d058bd6f1d4
--- /dev/null
+++ b/recorded_gelsight_pose/episode_71/pose_data.json
@@ -0,0 +1,422 @@
+[
+  {
+    "timestamp": 1766136988.7776759,
+    "position": {
+      "x": 0.13259192276706405,
+      "y": 0.02256993445310085,
+      "z": 0.012209181458987903
+    },
+    "orientation": {
+      "x": -0.6891330739461818,
+      "y": -0.48175708636332526,
+      "z": -0.1477070683835725,
+      "w": 0.520757465699472
+    }
+  },
+  {
+    "timestamp": 1766136988.9103658,
+    "position": {
+      "x": 0.13182567331412348,
+      "y": 0.022619934603346298,
+      "z": 0.011746511020959992
+    },
+    "orientation": {
+      "x": -0.6886564562415367,
+      "y": -0.4807498652444716,
+      "z": -0.14947013618199137,
+      "w": 0.5218146517049975
+    }
+  },
+  {
+    "timestamp": 1766136989.0430567,
+    "position": {
+      "x": 0.13121631339047002,
+      "y": 0.023533685579474356,
+      "z": 0.01129264323015948
+    },
+    "orientation": {
+      "x": -0.6895443933631302,
+      "y": -0.47972068501289666,
+      "z": -0.1510616915553041,
+      "w": 0.5211304628369751
+    }
+  },
+  {
+    "timestamp": 1766136989.1757467,
+    "position": {
+      "x": 0.12944518942088168,
+      "y": 0.024607310732590537,
+      "z": 0.009053559815823335
+    },
+    "orientation": {
+      "x": -0.6906341184425578,
+      "y": -0.4764238040357002,
+      "z": -0.15515801862335135,
+      "w": 0.5215082575071075
+    }
+  },
+  {
+    "timestamp": 1766136989.3084369,
+    "position": {
+      "x": 0.12738711292388935,
+      "y": 0.02557741919425552,
+      "z": 0.0033021899568758395
+    },
+    "orientation": {
+      "x": -0.6870526734604724,
+      "y": -0.4742183961232127,
+      "z": -0.1656001592254104,
+      "w": 0.5250258316822741
+    }
+  },
+  {
+    "timestamp": 1766136989.4411268,
+    "position": {
+      "x": 0.12901523858603964,
+      "y": 0.02455932789602064,
+      "z": -0.0020363860577304466
+    },
+    "orientation": {
+      "x": -0.678208470485111,
+      "y": -0.47806125686068657,
+      "z": -0.17258637925064793,
+      "w": 0.5307585580545814
+    }
+  },
+  {
+    "timestamp": 1766136989.5738168,
+    "position": {
+      "x": 0.13160676640762847,
+      "y": 0.021837316435008164,
+      "z": -0.0038810506158872132
+    },
+    "orientation": {
+      "x": -0.6719849280467396,
+      "y": -0.4844794813180873,
+      "z": -0.17204206994529517,
+      "w": 0.5330266548951503
+    }
+  },
+  {
+    "timestamp": 1766136989.7065067,
+    "position": {
+      "x": 0.13386047336790038,
+      "y": 0.020376585653475165,
+      "z": -0.00305368785131295
+    },
+    "orientation": {
+      "x": -0.6686792656003322,
+      "y": -0.4892497166634477,
+      "z": -0.1689405731123934,
+      "w": 0.5338181687217031
+    }
+  },
+  {
+    "timestamp": 1766136989.8391967,
+    "position": {
+      "x": 0.13631368786897882,
+      "y": 0.019258635029847315,
+      "z": -0.0013830285107566676
+    },
+    "orientation": {
+      "x": -0.6679519443117452,
+      "y": -0.49284936959442044,
+      "z": -0.16457936568769002,
+      "w": 0.5327788766180387
+    }
+  },
+  {
+    "timestamp": 1766136989.9718869,
+    "position": {
+      "x": 0.13849906461476544,
+      "y": 0.017937772381176303,
+      "z": 0.0018486655251783585
+    },
+    "orientation": {
+      "x": -0.6699373261330263,
+      "y": -0.49710555146639734,
+      "z": -0.15831901954816832,
+      "w": 0.5282093692886626
+    }
+  },
+  {
+    "timestamp": 1766136990.1045768,
+    "position": {
+      "x": 0.13963570550484766,
+      "y": 0.01733476465313813,
+      "z": 0.00501394643176345
+    },
+    "orientation": {
+      "x": -0.6716348814962586,
+      "y": -0.4988433469957004,
+      "z": -0.15159360162759497,
+      "w": 0.5263851071802925
+    }
+  },
+  {
+    "timestamp": 1766136990.2372677,
+    "position": {
+      "x": 0.13891741319903617,
+      "y": 0.017815341319843664,
+      "z": 0.006852122802840796
+    },
+    "orientation": {
+      "x": -0.6748170374373108,
+      "y": -0.49641668672856293,
+      "z": -0.14928725277767058,
+      "w": 0.525267317924752
+    }
+  },
+  {
+    "timestamp": 1766136990.3699577,
+    "position": {
+      "x": 0.13743821829853836,
+      "y": 0.01971561556279497,
+      "z": 0.009451045326097099
+    },
+    "orientation": {
+      "x": -0.6790918004163452,
+      "y": -0.4930868966816803,
+      "z": -0.14624263397879528,
+      "w": 0.5237487288147445
+    }
+  },
+  {
+    "timestamp": 1766136990.5026479,
+    "position": {
+      "x": 0.13369124415371203,
+      "y": 0.020890375825518087,
+      "z": 0.011269499544238018
+    },
+    "orientation": {
+      "x": -0.68355129535796,
+      "y": -0.4848296927006673,
+      "z": -0.14554434365893437,
+      "w": 0.5258465933322396
+    }
+  },
+  {
+    "timestamp": 1766136990.6353378,
+    "position": {
+      "x": 0.1310278188848661,
+      "y": 0.023734303133655377,
+      "z": 0.01193279941106154
+    },
+    "orientation": {
+      "x": -0.6908044694176874,
+      "y": -0.4795726565662051,
+      "z": -0.14931244380080014,
+      "w": 0.5201009961851769
+    }
+  },
+  {
+    "timestamp": 1766136990.7680278,
+    "position": {
+      "x": 0.12814097771482796,
+      "y": 0.025152226082464618,
+      "z": 0.010126243321184156
+    },
+    "orientation": {
+      "x": -0.6923771425253635,
+      "y": -0.47383061547672517,
+      "z": -0.15462497952639162,
+      "w": 0.5217178893346706
+    }
+  },
+  {
+    "timestamp": 1766136990.9007177,
+    "position": {
+      "x": 0.127340403870333,
+      "y": 0.026271516255171434,
+      "z": 0.006887776498327038
+    },
+    "orientation": {
+      "x": -0.688856846332179,
+      "y": -0.47235664292992774,
+      "z": -0.15945486891655342,
+      "w": 0.5262410017473538
+    }
+  },
+  {
+    "timestamp": 1766136991.0334077,
+    "position": {
+      "x": 0.1284845749405057,
+      "y": 0.025091143211051103,
+      "z": 0.0028128289337577272
+    },
+    "orientation": {
+      "x": -0.6845462386742722,
+      "y": -0.475313183304412,
+      "z": -0.1654501161868761,
+      "w": 0.5273519545310154
+    }
+  },
+  {
+    "timestamp": 1766136991.1660979,
+    "position": {
+      "x": 0.1313597098829845,
+      "y": 0.022650716251919584,
+      "z": 0.0005126730907824006
+    },
+    "orientation": {
+      "x": -0.6767436289840213,
+      "y": -0.48147284774101495,
+      "z": -0.16603240417145831,
+      "w": 0.5316344592694687
+    }
+  },
+  {
+    "timestamp": 1766136991.2987878,
+    "position": {
+      "x": 0.1338804327436459,
+      "y": 0.02107697179480375,
+      "z": 0.00020932153645195073
+    },
+    "orientation": {
+      "x": -0.6735217904744634,
+      "y": -0.4872526103085575,
+      "z": -0.16449022962671722,
+      "w": 0.5309390321505099
+    }
+  },
+  {
+    "timestamp": 1766136991.4314778,
+    "position": {
+      "x": 0.13643619553689512,
+      "y": 0.019346331246246906,
+      "z": 0.0029221640166887247
+    },
+    "orientation": {
+      "x": -0.6717659497140774,
+      "y": -0.4920756187308097,
+      "z": -0.1579472778167833,
+      "w": 0.5307021308471473
+    }
+  },
+  {
+    "timestamp": 1766136991.5641687,
+    "position": {
+      "x": 0.13820500929658774,
+      "y": 0.01884693137999871,
+      "z": 0.007234054147919944
+    },
+    "orientation": {
+      "x": -0.6756256910282722,
+      "y": -0.4941782275372659,
+      "z": -0.1508378723152569,
+      "w": 0.52589518093067
+    }
+  },
+  {
+    "timestamp": 1766136991.696859,
+    "position": {
+      "x": 0.13767346032009514,
+      "y": 0.01921283857112066,
+      "z": 0.010429966541543795
+    },
+    "orientation": {
+      "x": -0.6796219055125673,
+      "y": -0.49327070477320945,
+      "z": -0.1447009473965169,
+      "w": 0.5233160738813196
+    }
+  },
+  {
+    "timestamp": 1766136991.8295488,
+    "position": {
+      "x": 0.13541166151317277,
+      "y": 0.020461217452425545,
+      "z": 0.012621950294678747
+    },
+    "orientation": {
+      "x": -0.686693241655405,
+      "y": -0.4873879831528729,
+      "z": -0.14450884816546133,
+      "w": 0.5196369295429822
+    }
+  },
+  {
+    "timestamp": 1766136991.9622388,
+    "position": {
+      "x": 0.13233450151201914,
+      "y": 0.022875407442844137,
+      "z": 0.015141406046564145
+    },
+    "orientation": {
+      "x": -0.6940047187954269,
+      "y": -0.48179249245005235,
+      "z": -0.14302450145052029,
+      "w": 0.5155360671119693
+    }
+  },
+  {
+    "timestamp": 1766136992.0949287,
+    "position": {
+      "x": 0.12826048203575796,
+      "y": 0.025100397779240696,
+      "z": 0.014398610466761705
+    },
+    "orientation": {
+      "x": -0.6970278141331574,
+      "y": -0.4734714882924075,
+      "z": -0.14790951854660214,
+      "w": 0.5177834976341347
+    }
+  },
+  {
+    "timestamp": 1766136992.2276187,
+    "position": {
+      "x": 0.1253522375200966,
+      "y": 0.02684579142811319,
+      "z": 0.011170371403844685
+    },
+    "orientation": {
+      "x": -0.6982375456933189,
+      "y": -0.4689470807609336,
+      "z": -0.1559915050426058,
+      "w": 0.5178992330410538
+    }
+  },
+  {
+    "timestamp": 1766136992.360309,
+    "position": {
+      "x": 0.12507663735327465,
+      "y": 0.027245885420030147,
+      "z": 0.00659446202875516
+    },
+    "orientation": {
+      "x": -0.6932891791212786,
+      "y": -0.4691032546263734,
+      "z": -0.16336005418233748,
+      "w": 0.5221165993433187
+    }
+  },
+  {
+    "timestamp": 1766136992.4929988,
+    "position": {
+      "x": 0.12701923635462747,
+      "y": 0.02631125700738593,
+      "z": 0.0023491648039011964
+    },
+    "orientation": {
+      "x": -0.6864180517283393,
+      "y": -0.47316945248487596,
+      "z": -0.16775573999409685,
+      "w": 0.5261168493744205
+    }
+  },
+  {
+    "timestamp": 1766136992.6256888,
+    "position": {
+      "x": 0.13036102286110374,
+      "y": 0.023469209416117104,
+      "z": -9.076452119904932e-05
+    },
+    "orientation": {
+      "x": -0.6786899976424584,
+      "y": -0.4805635154868133,
+      "z": -0.169411361727208,
+      "w": 0.5289030016938533
+    }
+  }
+]
\ No newline at end of file
diff --git a/recorded_gelsight_pose/episode_71/session_info.json b/recorded_gelsight_pose/episode_71/session_info.json
new file mode 100644
index 0000000000000000000000000000000000000000..0390c807e3f530b18c16b2be0e356eb1bc56ea37
--- /dev/null
+++ b/recorded_gelsight_pose/episode_71/session_info.json
@@ -0,0 +1,12 @@
+{
+  "session_id": 21,
+  "start_time": "2025-12-19T21:12:09.803344",
+  "ros_start_time": 1766149929.8033698,
+  "image_topic": "/gelsight_img",
+  "pose_topic": "/pose",
+  "image_format": "png",
+  "end_time": "2025-12-19T21:12:13.926738",
+  "ros_end_time": 1766149933.926749,
+  "total_images": 103,
+  "total_pose_frames": 30
+}
\ No newline at end of file
diff --git a/recorded_gelsight_pose/episode_72/image_index.json b/recorded_gelsight_pose/episode_72/image_index.json
new file mode 100644
index 0000000000000000000000000000000000000000..db3d1fae3ad660b486ade17755a56ea03c760091
--- /dev/null
+++ b/recorded_gelsight_pose/episode_72/image_index.json
@@ -0,0 +1,402 @@
+[
+  {
+    "timestamp": 1766149934.7785144,
+    "filename": "img_000000.png"
+  },
+  {
+    "timestamp": 1766149934.8224876,
+    "filename": "img_000001.png"
+  },
+  {
+    "timestamp": 1766149934.8559132,
+    "filename": "img_000002.png"
+  },
+  {
+    "timestamp": 1766149934.898457,
+    "filename": "img_000003.png"
+  },
+  {
+    "timestamp": 1766149934.9381068,
+    "filename": "img_000004.png"
+  },
+  {
+    "timestamp": 1766149934.9767535,
+    "filename": "img_000005.png"
+  },
+  {
+    "timestamp": 1766149935.0170138,
+    "filename": "img_000006.png"
+  },
+  {
+    "timestamp": 1766149935.0559852,
+    "filename": "img_000007.png"
+  },
+  {
+    "timestamp": 1766149935.097609,
+    "filename": "img_000008.png"
+  },
+  {
+    "timestamp": 1766149935.1382911,
+    "filename": "img_000009.png"
+  },
+  {
+    "timestamp": 1766149935.1771984,
+    "filename": "img_000010.png"
+  },
+  {
+    "timestamp": 1766149935.2164311,
+    "filename": "img_000011.png"
+  },
+  {
+    "timestamp": 1766149935.2555447,
+    "filename": "img_000012.png"
+  },
+  {
+    "timestamp": 1766149935.2987783,
+    "filename": "img_000013.png"
+  },
+  {
+    "timestamp": 1766149935.3375862,
+    "filename": "img_000014.png"
+  },
+  {
+    "timestamp": 1766149935.3853028,
+    "filename": "img_000015.png"
+  },
+  {
+    "timestamp": 1766149935.4310567,
+    "filename": "img_000016.png"
+  },
+  {
+    "timestamp": 1766149935.4622834,
+    "filename": "img_000017.png"
+  },
+  {
+    "timestamp": 1766149935.5003605,
+    "filename": "img_000018.png"
+  },
+  {
+    "timestamp": 1766149935.540713,
+    "filename": "img_000019.png"
+  },
+  {
+    "timestamp": 1766149935.5788777,
+    "filename": "img_000020.png"
+  },
+  {
+    "timestamp": 1766149935.623145,
+    "filename": "img_000021.png"
+  },
+  {
+    "timestamp": 1766149935.6565506,
+    "filename": "img_000022.png"
+  },
+  {
+    "timestamp": 1766149935.6997545,
+    "filename": "img_000023.png"
+  },
+  {
+    "timestamp": 1766149935.738898,
+    "filename": "img_000024.png"
+  },
+  {
+    "timestamp": 1766149935.7783804,
+    "filename": "img_000025.png"
+  },
+  {
+    "timestamp": 1766149935.8171504,
+    "filename": "img_000026.png"
+  },
+  {
+    "timestamp": 1766149935.8587072,
+    "filename": "img_000027.png"
+  },
+  {
+    "timestamp": 1766149935.9008255,
+    "filename": "img_000028.png"
+  },
+  {
+    "timestamp": 1766149935.940338,
+    "filename": "img_000029.png"
+  },
+  {
+    "timestamp": 1766149935.979454,
+    "filename": "img_000030.png"
+  },
+  {
+    "timestamp": 1766149936.0204685,
+    "filename": "img_000031.png"
+  },
+  {
+    "timestamp": 1766149936.0603158,
+    "filename": "img_000032.png"
+  },
+  {
+    "timestamp": 1766149936.1002698,
+    "filename": "img_000033.png"
+  },
+  {
+    "timestamp": 1766149936.1403148,
+    "filename": "img_000034.png"
+  },
+  {
+    "timestamp": 1766149936.1802034,
+    "filename": "img_000035.png"
+  },
+  {
+    "timestamp": 1766149936.2224126,
+    "filename": "img_000036.png"
+  },
+  {
+    "timestamp": 1766149936.261606,
+    "filename": "img_000037.png"
+  },
+  {
+    "timestamp": 1766149936.299718,
+    "filename": "img_000038.png"
+  },
+  {
+    "timestamp": 1766149936.340192,
+    "filename": "img_000039.png"
+  },
+  {
+    "timestamp": 1766149936.3804004,
+    "filename": "img_000040.png"
+  },
+  {
+    "timestamp": 1766149936.4219954,
+    "filename": "img_000041.png"
+  },
+  {
+    "timestamp": 1766149936.4603477,
+    "filename": "img_000042.png"
+  },
+  {
+    "timestamp": 1766149936.5000618,
+    "filename": "img_000043.png"
+  },
+  {
+    "timestamp": 1766149936.5408573,
+    "filename": "img_000044.png"
+  },
+  {
+    "timestamp": 1766149936.579987,
+    "filename": "img_000045.png"
+  },
+  {
+    "timestamp": 1766149936.6174717,
+    "filename": "img_000046.png"
+  },
+  {
+    "timestamp": 1766149936.6643345,
+    "filename": "img_000047.png"
+  },
+  {
+    "timestamp": 1766149936.7006423,
+    "filename": "img_000048.png"
+  },
+  {
+    "timestamp": 1766149936.7389574,
+    "filename": "img_000049.png"
+  },
+  {
+    "timestamp": 1766149936.777532,
+    "filename": "img_000050.png"
+  },
+  {
+    "timestamp": 1766149936.8180306,
+    "filename": "img_000051.png"
+  },
+  {
+    "timestamp": 1766149936.8605275,
+    "filename": "img_000052.png"
+  },
+  {
+    "timestamp": 1766149936.899007,
+    "filename": "img_000053.png"
+  },
+  {
+    "timestamp": 1766149936.9386306,
+    "filename": "img_000054.png"
+  },
+  {
+    "timestamp": 1766149936.9791546,
+    "filename": "img_000055.png"
+  },
+  {
+    "timestamp": 1766149937.017645,
+    "filename": "img_000056.png"
+  },
+  {
+    "timestamp": 1766149937.0562208,
+    "filename": "img_000057.png"
+  },
+  {
+    "timestamp": 1766149937.098383,
+    "filename": "img_000058.png"
+  },
+  {
+    "timestamp": 1766149937.1397066,
+    "filename": "img_000059.png"
+  },
+  {
+    "timestamp": 1766149937.1783888,
+    "filename": "img_000060.png"
+  },
+  {
+    "timestamp": 1766149937.2168734,
+    "filename": "img_000061.png"
+  },
+  {
+    "timestamp": 1766149937.2561426,
+    "filename": "img_000062.png"
+  },
+  {
+    "timestamp": 1766149937.3042347,
+    "filename": "img_000063.png"
+  },
+  {
+    "timestamp": 1766149937.3387036,
+    "filename": "img_000064.png"
+  },
+  {
+    "timestamp": 1766149937.3781505,
+    "filename": "img_000065.png"
+  },
+  {
+    "timestamp": 1766149937.418082,
+    "filename": "img_000066.png"
+  },
+  {
+    "timestamp": 1766149937.4593978,
+    "filename": "img_000067.png"
+  },
+  {
+    "timestamp": 1766149937.4992146,
+    "filename": "img_000068.png"
+  },
+  {
+    "timestamp": 1766149937.5388956,
+    "filename": "img_000069.png"
+  },
+  {
+    "timestamp": 1766149937.5785408,
+    "filename": "img_000070.png"
+  },
+  {
+    "timestamp": 1766149937.6188598,
+    "filename": "img_000071.png"
+  },
+  {
+    "timestamp": 1766149937.662334,
+    "filename": "img_000072.png"
+  },
+  {
+    "timestamp": 1766149937.6997554,
+    "filename": "img_000073.png"
+  },
+  {
+    "timestamp": 1766149937.7399337,
+    "filename": "img_000074.png"
+  },
+  {
+    "timestamp": 1766149937.780717,
+    "filename": "img_000075.png"
+  },
+  {
+    "timestamp": 1766149937.8179684,
+    "filename": "img_000076.png"
+  },
+  {
+    "timestamp": 1766149937.858802,
+    "filename": "img_000077.png"
+  },
+  {
+    "timestamp": 1766149937.8986773,
+    "filename": "img_000078.png"
+  },
+  {
+    "timestamp": 1766149937.9391167,
+    "filename": "img_000079.png"
+  },
+  {
+    "timestamp": 1766149937.978704,
+    "filename": "img_000080.png"
+  },
+  {
+    "timestamp": 1766149938.0168347,
+    "filename": "img_000081.png"
+  },
+  {
+    "timestamp": 1766149938.0575783,
+    "filename": "img_000082.png"
+  },
+  {
+    "timestamp": 1766149938.1025698,
+    "filename": "img_000083.png"
+  },
+  {
+    "timestamp": 1766149938.1438062,
+    "filename": "img_000084.png"
+  },
+  {
+    "timestamp": 1766149938.1785045,
+    "filename": "img_000085.png"
+  },
+  {
+    "timestamp": 1766149938.2176952,
+    "filename": "img_000086.png"
+  },
+  {
+    "timestamp": 1766149938.2604887,
+    "filename": "img_000087.png"
+  },
+  {
+    "timestamp": 1766149938.3007832,
+    "filename": "img_000088.png"
+  },
+  {
+    "timestamp": 1766149938.339964,
+    "filename": "img_000089.png"
+  },
+  {
+    "timestamp": 1766149938.3779888,
+    "filename": "img_000090.png"
+  },
+  {
+    "timestamp": 1766149938.4175057,
+    "filename": "img_000091.png"
+  },
+  {
+    "timestamp": 1766149938.4606438,
+    "filename": "img_000092.png"
+  },
+  {
+    "timestamp": 1766149938.4980998,
+    "filename": "img_000093.png"
+  },
+  {
+    "timestamp": 1766149938.5376725,
+    "filename": "img_000094.png"
+  },
+  {
+    "timestamp": 1766149938.5783978,
+    "filename": "img_000095.png"
+  },
+  {
+    "timestamp": 1766149938.6167796,
+    "filename": "img_000096.png"
+  },
+  {
+    "timestamp": 1766149938.657983,
+    "filename": "img_000097.png"
+  },
+  {
+    "timestamp": 1766149938.6976109,
+    "filename": "img_000098.png"
+  },
+  {
+    "timestamp": 1766149938.7397974,
+    "filename": "img_000099.png"
+  }
+]
\ No newline at end of file
diff --git a/recorded_gelsight_pose/episode_72/pose_data.json b/recorded_gelsight_pose/episode_72/pose_data.json
new file mode 100644
index 0000000000000000000000000000000000000000..1469ccbe9949eb051ca784fdb7b9efa33d7898b6
--- /dev/null
+++ b/recorded_gelsight_pose/episode_72/pose_data.json
@@ -0,0 +1,422 @@
+[
+  {
+    "timestamp": 1766136993.6872098,
+    "position": {
+      "x": 0.13690613743399302,
+      "y": 0.01859235788591848,
+      "z": 0.004515852195492512
+    },
+    "orientation": {
+      "x": -0.680147405270511,
+      "y": -0.49585648401983407,
+      "z": -0.1575789091393791,
+      "w": 0.51642496236503
+    }
+  },
+  {
+    "timestamp": 1766136993.8198998,
+    "position": {
+      "x": 0.13650856676840037,
+      "y": 0.018717347642049492,
+      "z": 0.00453814641849791
+    },
+    "orientation": {
+      "x": -0.6808248457266202,
+      "y": -0.49526806512187205,
+      "z": -0.15854517248947378,
+      "w": 0.515800835005183
+    }
+  },
+  {
+    "timestamp": 1766136993.9525907,
+    "position": {
+      "x": 0.13515860880128738,
+      "y": 0.020661785217925138,
+      "z": 0.0059668262484503035
+    },
+    "orientation": {
+      "x": -0.6823363626658717,
+      "y": -0.49236952037085047,
+      "z": -0.1563234948688832,
+      "w": 0.5172545877473343
+    }
+  },
+  {
+    "timestamp": 1766136994.0852807,
+    "position": {
+      "x": 0.13176923270072755,
+      "y": 0.02337237155365554,
+      "z": 0.008255910273617897
+    },
+    "orientation": {
+      "x": -0.6884727115328352,
+      "y": -0.48315013059773404,
+      "z": -0.15697216419722057,
+      "w": 0.5176205332531344
+    }
+  },
+  {
+    "timestamp": 1766136994.2179708,
+    "position": {
+      "x": 0.12856789969902965,
+      "y": 0.02485540471829467,
+      "z": 0.009734195676582492
+    },
+    "orientation": {
+      "x": -0.6906619758760872,
+      "y": -0.47496912750128883,
+      "z": -0.15601051025416818,
+      "w": 0.5225429012912122
+    }
+  },
+  {
+    "timestamp": 1766136994.3506608,
+    "position": {
+      "x": 0.128763921463564,
+      "y": 0.025366522779822348,
+      "z": 0.009005408056681471
+    },
+    "orientation": {
+      "x": -0.6893317109264059,
+      "y": -0.4755830939455718,
+      "z": -0.1559221575554792,
+      "w": 0.5237659724033968
+    }
+  },
+  {
+    "timestamp": 1766136994.4833508,
+    "position": {
+      "x": 0.12995934182740265,
+      "y": 0.02453616604926928,
+      "z": 0.006814270569312081
+    },
+    "orientation": {
+      "x": -0.6878854479194046,
+      "y": -0.4776092540107447,
+      "z": -0.15806280048433066,
+      "w": 0.5231817677701227
+    }
+  },
+  {
+    "timestamp": 1766136994.6160407,
+    "position": {
+      "x": 0.13134009884137626,
+      "y": 0.023220295377571976,
+      "z": 0.0021037575235065414
+    },
+    "orientation": {
+      "x": -0.6834833607155443,
+      "y": -0.4822398109932243,
+      "z": -0.16449980094532027,
+      "w": 0.5227189261994963
+    }
+  },
+  {
+    "timestamp": 1766136994.7487307,
+    "position": {
+      "x": 0.13370258286243317,
+      "y": 0.020701658667035105,
+      "z": -0.0028485457962682537
+    },
+    "orientation": {
+      "x": -0.6740495991602915,
+      "y": -0.49062100276706283,
+      "z": -0.1695395116905866,
+      "w": 0.5255516373215952
+    }
+  },
+  {
+    "timestamp": 1766136994.8814209,
+    "position": {
+      "x": 0.13434860813593788,
+      "y": 0.02116595589732309,
+      "z": -0.0034400433830897026
+    },
+    "orientation": {
+      "x": -0.6745725396768694,
+      "y": -0.4916443802212411,
+      "z": -0.17197781992151948,
+      "w": 0.5231264871575627
+    }
+  },
+  {
+    "timestamp": 1766136995.0141108,
+    "position": {
+      "x": 0.13309333467239987,
+      "y": 0.022585372371819484,
+      "z": -0.001422487931574845
+    },
+    "orientation": {
+      "x": -0.6756391833995846,
+      "y": -0.4898704813955612,
+      "z": -0.1694080518667296,
+      "w": 0.5242513874804174
+    }
+  },
+  {
+    "timestamp": 1766136995.1468017,
+    "position": {
+      "x": 0.1308474362120408,
+      "y": 0.024637719010618148,
+      "z": 0.0006915613101957513
+    },
+    "orientation": {
+      "x": -0.6786410254010985,
+      "y": -0.4824626322018416,
+      "z": -0.16788883280685174,
+      "w": 0.5277210503572592
+    }
+  },
+  {
+    "timestamp": 1766136995.2794917,
+    "position": {
+      "x": 0.12766427282410733,
+      "y": 0.026587238550163927,
+      "z": 0.0030024929330480093
+    },
+    "orientation": {
+      "x": -0.6841749651919403,
+      "y": -0.4746690593696642,
+      "z": -0.1672402653472858,
+      "w": 0.5278490264538668
+    }
+  },
+  {
+    "timestamp": 1766136995.4121819,
+    "position": {
+      "x": 0.12543548753438663,
+      "y": 0.02785294078589287,
+      "z": 0.00400999532687088
+    },
+    "orientation": {
+      "x": -0.6875076544713461,
+      "y": -0.46936711994030533,
+      "z": -0.16610160484042402,
+      "w": 0.528618944639413
+    }
+  },
+  {
+    "timestamp": 1766136995.5448718,
+    "position": {
+      "x": 0.12542953938897727,
+      "y": 0.027578816454487204,
+      "z": 0.002266942936270444
+    },
+    "orientation": {
+      "x": -0.6870044664297442,
+      "y": -0.46982309536335876,
+      "z": -0.1682507611527445,
+      "w": 0.5281882273776054
+    }
+  },
+  {
+    "timestamp": 1766136995.6775618,
+    "position": {
+      "x": 0.12717104462935364,
+      "y": 0.025711923980523993,
+      "z": -0.0002517623486327225
+    },
+    "orientation": {
+      "x": -0.683831590396478,
+      "y": -0.4742453405563128,
+      "z": -0.17160657847297728,
+      "w": 0.5272730745650194
+    }
+  },
+  {
+    "timestamp": 1766136995.8102517,
+    "position": {
+      "x": 0.1303155275684435,
+      "y": 0.023126443802027358,
+      "z": -0.0038816965019841526
+    },
+    "orientation": {
+      "x": -0.6743956676244104,
+      "y": -0.4820130789750473,
+      "z": -0.17252997827832192,
+      "w": 0.5320594720345673
+    }
+  },
+  {
+    "timestamp": 1766136995.9429417,
+    "position": {
+      "x": 0.13271459909080846,
+      "y": 0.021556298093133835,
+      "z": -0.0063315317771417134
+    },
+    "orientation": {
+      "x": -0.6704740217276179,
+      "y": -0.48822050441824544,
+      "z": -0.17471634664727298,
+      "w": 0.5306406726479019
+    }
+  },
+  {
+    "timestamp": 1766136996.0756319,
+    "position": {
+      "x": 0.13281507376294943,
+      "y": 0.021402264149069122,
+      "z": -0.004561243766311479
+    },
+    "orientation": {
+      "x": -0.6690969403998063,
+      "y": -0.488175533465047,
+      "z": -0.17142141333340266,
+      "w": 0.5334872368899877
+    }
+  },
+  {
+    "timestamp": 1766136996.2083218,
+    "position": {
+      "x": 0.13391699744929758,
+      "y": 0.02167778725347594,
+      "z": -0.0005412333556101129
+    },
+    "orientation": {
+      "x": -0.6711300839167765,
+      "y": -0.48733171766452654,
+      "z": -0.16471065168786875,
+      "w": 0.5338188912361198
+    }
+  },
+  {
+    "timestamp": 1766136996.3410118,
+    "position": {
+      "x": 0.13648134000982684,
+      "y": 0.019397799047177672,
+      "z": 0.003403366799758667
+    },
+    "orientation": {
+      "x": -0.6736500535835099,
+      "y": -0.49241323971707057,
+      "z": -0.1590051186416833,
+      "w": 0.5276762064979027
+    }
+  },
+  {
+    "timestamp": 1766136996.4737027,
+    "position": {
+      "x": 0.13865380840992397,
+      "y": 0.01796946625484458,
+      "z": 0.005567049631124463
+    },
+    "orientation": {
+      "x": -0.6756071771235973,
+      "y": -0.49771684191840276,
+      "z": -0.15334389960724573,
+      "w": 0.5218414854561669
+    }
+  },
+  {
+    "timestamp": 1766136996.6063929,
+    "position": {
+      "x": 0.13700903897542688,
+      "y": 0.018918105101986882,
+      "z": 0.005516200233315421
+    },
+    "orientation": {
+      "x": -0.6753123985470929,
+      "y": -0.49397270698210455,
+      "z": -0.15380202116643016,
+      "w": 0.5256320646711589
+    }
+  },
+  {
+    "timestamp": 1766136996.7390828,
+    "position": {
+      "x": 0.13553152073254582,
+      "y": 0.020684291192395066,
+      "z": 0.008368345211051648
+    },
+    "orientation": {
+      "x": -0.67872026739233,
+      "y": -0.48966574222473364,
+      "z": -0.1513610387402759,
+      "w": 0.5259810790074574
+    }
+  },
+  {
+    "timestamp": 1766136996.8717728,
+    "position": {
+      "x": 0.13236723912901907,
+      "y": 0.022875265535810513,
+      "z": 0.01214353183252416
+    },
+    "orientation": {
+      "x": -0.6874838403299139,
+      "y": -0.4818662982386881,
+      "z": -0.14739888726654785,
+      "w": 0.5229191217956756
+    }
+  },
+  {
+    "timestamp": 1766136997.0044627,
+    "position": {
+      "x": 0.12896700387676668,
+      "y": 0.02433157377792941,
+      "z": 0.014597519029568823
+    },
+    "orientation": {
+      "x": -0.6935201335920769,
+      "y": -0.4739453331508912,
+      "z": -0.14631306690278917,
+      "w": 0.52249223146418
+    }
+  },
+  {
+    "timestamp": 1766136997.1371527,
+    "position": {
+      "x": 0.12804388302019282,
+      "y": 0.024635090285215794,
+      "z": 0.013873488939514969
+    },
+    "orientation": {
+      "x": -0.6927203772498253,
+      "y": -0.4733166123760094,
+      "z": -0.14720218316427333,
+      "w": 0.5238715306861313
+    }
+  },
+  {
+    "timestamp": 1766136997.2698429,
+    "position": {
+      "x": 0.12849065555037262,
+      "y": 0.025211787436061867,
+      "z": 0.010668850918548405
+    },
+    "orientation": {
+      "x": -0.6936571272993359,
+      "y": -0.4747101985978842,
+      "z": -0.1523502868097478,
+      "w": 0.5198840324562566
+    }
+  },
+  {
+    "timestamp": 1766136997.4025328,
+    "position": {
+      "x": 0.1271773418501406,
+      "y": 0.025048636479714392,
+      "z": 0.006576171495124482
+    },
+    "orientation": {
+      "x": -0.6895407589931893,
+      "y": -0.4738893160035202,
+      "z": -0.16011121963216352,
+      "w": 0.5237622124711875
+    }
+  },
+  {
+    "timestamp": 1766136997.5352228,
+    "position": {
+      "x": 0.12622235994386288,
+      "y": 0.026457617082008444,
+      "z": 0.0030932675510702834
+    },
+    "orientation": {
+      "x": -0.6869021864484269,
+      "y": -0.4724252708635456,
+      "z": -0.16642572292064103,
+      "w": 0.5265759474683762
+    }
+  }
+]
\ No newline at end of file
diff --git a/recorded_gelsight_pose/episode_72/session_info.json b/recorded_gelsight_pose/episode_72/session_info.json
new file mode 100644
index 0000000000000000000000000000000000000000..08bfc490a7c1d75c7e1949a2830cf49ff464714a
--- /dev/null
+++ b/recorded_gelsight_pose/episode_72/session_info.json
@@ -0,0 +1,12 @@
+{
+  "session_id": 22,
+  "start_time": "2025-12-19T21:12:14.774645",
+  "ros_start_time": 1766149934.7746644,
+  "image_topic": "/gelsight_img",
+  "pose_topic": "/pose",
+  "image_format": "png",
+  "end_time": "2025-12-19T21:12:18.788649",
+  "ros_end_time": 1766149938.7886736,
+  "total_images": 100,
+  "total_pose_frames": 30
+}
\ No newline at end of file
diff --git a/recorded_gelsight_pose/episode_75/image_index.json b/recorded_gelsight_pose/episode_75/image_index.json
new file mode 100644
index 0000000000000000000000000000000000000000..4a75b0eaf326dc62dad99dd64ff07015ca697941
--- /dev/null
+++ b/recorded_gelsight_pose/episode_75/image_index.json
@@ -0,0 +1,374 @@
+[
+  {
+    "timestamp": 1766149949.8564024,
+    "filename": "img_000000.png"
+  },
+  {
+    "timestamp": 1766149949.8985896,
+    "filename": "img_000001.png"
+  },
+  {
+    "timestamp": 1766149949.9367368,
+    "filename": "img_000002.png"
+  },
+  {
+    "timestamp": 1766149949.9817808,
+    "filename": "img_000003.png"
+  },
+  {
+    "timestamp": 1766149950.0158834,
+    "filename": "img_000004.png"
+  },
+  {
+    "timestamp": 1766149950.0573115,
+    "filename": "img_000005.png"
+  },
+  {
+    "timestamp": 1766149950.0976841,
+    "filename": "img_000006.png"
+  },
+  {
+    "timestamp": 1766149950.1371117,
+    "filename": "img_000007.png"
+  },
+  {
+    "timestamp": 1766149950.1761384,
+    "filename": "img_000008.png"
+  },
+  {
+    "timestamp": 1766149950.2145057,
+    "filename": "img_000009.png"
+  },
+  {
+    "timestamp": 1766149950.258377,
+    "filename": "img_000010.png"
+  },
+  {
+    "timestamp": 1766149950.299551,
+    "filename": "img_000011.png"
+  },
+  {
+    "timestamp": 1766149950.336674,
+    "filename": "img_000012.png"
+  },
+  {
+    "timestamp": 1766149950.3759038,
+    "filename": "img_000013.png"
+  },
+  {
+    "timestamp": 1766149950.416856,
+    "filename": "img_000014.png"
+  },
+  {
+    "timestamp": 1766149950.4589808,
+    "filename": "img_000015.png"
+  },
+  {
+    "timestamp": 1766149950.5060687,
+    "filename": "img_000016.png"
+  },
+  {
+    "timestamp": 1766149950.5369952,
+    "filename": "img_000017.png"
+  },
+  {
+    "timestamp": 1766149950.5816863,
+    "filename": "img_000018.png"
+  },
+  {
+    "timestamp": 1766149950.618718,
+    "filename": "img_000019.png"
+  },
+  {
+    "timestamp": 1766149950.6586924,
+    "filename": "img_000020.png"
+  },
+  {
+    "timestamp": 1766149950.6973886,
+    "filename": "img_000021.png"
+  },
+  {
+    "timestamp": 1766149950.7373867,
+    "filename": "img_000022.png"
+  },
+  {
+    "timestamp": 1766149950.7776651,
+    "filename": "img_000023.png"
+  },
+  {
+    "timestamp": 1766149950.8167741,
+    "filename": "img_000024.png"
+  },
+  {
+    "timestamp": 1766149950.857712,
+    "filename": "img_000025.png"
+  },
+  {
+    "timestamp": 1766149950.899265,
+    "filename": "img_000026.png"
+  },
+  {
+    "timestamp": 1766149950.938004,
+    "filename": "img_000027.png"
+  },
+  {
+    "timestamp": 1766149950.9781375,
+    "filename": "img_000028.png"
+  },
+  {
+    "timestamp": 1766149951.0179904,
+    "filename": "img_000029.png"
+  },
+  {
+    "timestamp": 1766149951.0589638,
+    "filename": "img_000030.png"
+  },
+  {
+    "timestamp": 1766149951.0997856,
+    "filename": "img_000031.png"
+  },
+  {
+    "timestamp": 1766149951.13804,
+    "filename": "img_000032.png"
+  },
+  {
+    "timestamp": 1766149951.1784384,
+    "filename": "img_000033.png"
+  },
+  {
+    "timestamp": 1766149951.2196126,
+    "filename": "img_000034.png"
+  },
+  {
+    "timestamp": 1766149951.2627153,
+    "filename": "img_000035.png"
+  },
+  {
+    "timestamp": 1766149951.3012018,
+    "filename": "img_000036.png"
+  },
+  {
+    "timestamp": 1766149951.337996,
+    "filename": "img_000037.png"
+  },
+  {
+    "timestamp": 1766149951.3791082,
+    "filename": "img_000038.png"
+  },
+  {
+    "timestamp": 1766149951.4189534,
+    "filename": "img_000039.png"
+  },
+  {
+    "timestamp": 1766149951.4609892,
+    "filename": "img_000040.png"
+  },
+  {
+    "timestamp": 1766149951.498968,
+    "filename": "img_000041.png"
+  },
+  {
+    "timestamp": 1766149951.5389962,
+    "filename": "img_000042.png"
+  },
+  {
+    "timestamp": 1766149951.5822272,
+    "filename": "img_000043.png"
+  },
+  {
+    "timestamp": 1766149951.6192698,
+    "filename": "img_000044.png"
+  },
+  {
+    "timestamp": 1766149951.6600533,
+    "filename": "img_000045.png"
+  },
+  {
+    "timestamp": 1766149951.703778,
+    "filename": "img_000046.png"
+  },
+  {
+    "timestamp": 1766149951.7399187,
+    "filename": "img_000047.png"
+  },
+  {
+    "timestamp": 1766149951.7780826,
+    "filename": "img_000048.png"
+  },
+  {
+    "timestamp": 1766149951.81643,
+    "filename": "img_000049.png"
+  },
+  {
+    "timestamp": 1766149951.8574123,
+    "filename": "img_000050.png"
+  },
+  {
+    "timestamp": 1766149951.899672,
+    "filename": "img_000051.png"
+  },
+  {
+    "timestamp": 1766149951.9387913,
+    "filename": "img_000052.png"
+  },
+  {
+    "timestamp": 1766149951.9759798,
+    "filename": "img_000053.png"
+  },
+  {
+    "timestamp": 1766149952.0181642,
+    "filename": "img_000054.png"
+  },
+  {
+    "timestamp": 1766149952.0607173,
+    "filename": "img_000055.png"
+  },
+  {
+    "timestamp": 1766149952.0968742,
+    "filename": "img_000056.png"
+  },
+  {
+    "timestamp": 1766149952.1368816,
+    "filename": "img_000057.png"
+  },
+  {
+    "timestamp": 1766149952.1774013,
+    "filename": "img_000058.png"
+  },
+  {
+    "timestamp": 1766149952.218021,
+    "filename": "img_000059.png"
+  },
+  {
+    "timestamp": 1766149952.257271,
+    "filename": "img_000060.png"
+  },
+  {
+    "timestamp": 1766149952.2972403,
+    "filename": "img_000061.png"
+  },
+  {
+    "timestamp": 1766149952.3371024,
+    "filename": "img_000062.png"
+  },
+  {
+    "timestamp": 1766149952.3772562,
+    "filename": "img_000063.png"
+  },
+  {
+    "timestamp": 1766149952.4165976,
+    "filename": "img_000064.png"
+  },
+  {
+    "timestamp": 1766149952.4572678,
+    "filename": "img_000065.png"
+  },
+  {
+    "timestamp": 1766149952.4985425,
+    "filename": "img_000066.png"
+  },
+  {
+    "timestamp": 1766149952.5382216,
+    "filename": "img_000067.png"
+  },
+  {
+    "timestamp": 1766149952.5784793,
+    "filename": "img_000068.png"
+  },
+  {
+    "timestamp": 1766149952.618394,
+    "filename": "img_000069.png"
+  },
+  {
+    "timestamp": 1766149952.6586947,
+    "filename": "img_000070.png"
+  },
+  {
+    "timestamp": 1766149952.6981087,
+    "filename": "img_000071.png"
+  },
+  {
+    "timestamp": 1766149952.7368846,
+    "filename": "img_000072.png"
+  },
+  {
+    "timestamp": 1766149952.777325,
+    "filename": "img_000073.png"
+  },
+  {
+    "timestamp": 1766149952.8176875,
+    "filename": "img_000074.png"
+  },
+  {
+    "timestamp": 1766149952.858343,
+    "filename": "img_000075.png"
+  },
+  {
+    "timestamp": 1766149952.8999462,
+    "filename": "img_000076.png"
+  },
+  {
+    "timestamp": 1766149952.9370272,
+    "filename": "img_000077.png"
+  },
+  {
+    "timestamp": 1766149952.9781597,
+    "filename": "img_000078.png"
+  },
+  {
+    "timestamp": 1766149953.0184262,
+    "filename": "img_000079.png"
+  },
+  {
+    "timestamp": 1766149953.0606105,
+    "filename": "img_000080.png"
+  },
+  {
+    "timestamp": 1766149953.0972738,
+    "filename": "img_000081.png"
+  },
+  {
+    "timestamp": 1766149953.1386328,
+    "filename": "img_000082.png"
+  },
+  {
+    "timestamp": 1766149953.1788127,
+    "filename": "img_000083.png"
+  },
+  {
+    "timestamp": 1766149953.217939,
+    "filename": "img_000084.png"
+  },
+  {
+    "timestamp": 1766149953.2577503,
+    "filename": "img_000085.png"
+  },
+  {
+    "timestamp": 1766149953.2986434,
+    "filename": "img_000086.png"
+  },
+  {
+    "timestamp": 1766149953.3372304,
+    "filename": "img_000087.png"
+  },
+  {
+    "timestamp": 1766149953.3782408,
+    "filename": "img_000088.png"
+  },
+  {
+    "timestamp": 1766149953.4179618,
+    "filename": "img_000089.png"
+  },
+  {
+    "timestamp": 1766149953.4606953,
+    "filename": "img_000090.png"
+  },
+  {
+    "timestamp": 1766149953.4994364,
+    "filename": "img_000091.png"
+  },
+  {
+    "timestamp": 1766149953.5393598,
+    "filename": "img_000092.png"
+  }
+]
\ No newline at end of file
diff --git a/recorded_gelsight_pose/episode_75/pose_data.json b/recorded_gelsight_pose/episode_75/pose_data.json
new file mode 100644
index 0000000000000000000000000000000000000000..8c07a2c23ce518d6ad1d206dc8d0c689d987181b
--- /dev/null
+++ b/recorded_gelsight_pose/episode_75/pose_data.json
@@ -0,0 +1,394 @@
+[
+  {
+    "timestamp": 1766137008.6811929,
+    "position": {
+      "x": 0.14062283923489713,
+      "y": 0.01690588462443887,
+      "z": 0.008984377908271508
+    },
+    "orientation": {
+      "x": -0.6771526520325942,
+      "y": -0.4983088849559366,
+      "z": -0.14419457926488405,
+      "w": 0.5218816573992792
+    }
+  },
+  {
+    "timestamp": 1766137008.8138828,
+    "position": {
+      "x": 0.14253139220751815,
+      "y": 0.017386560502722526,
+      "z": 0.007143297902709504
+    },
+    "orientation": {
+      "x": -0.6707835940344093,
+      "y": -0.5016611520934022,
+      "z": -0.14662658045524016,
+      "w": 0.5261996810704129
+    }
+  },
+  {
+    "timestamp": 1766137008.9465728,
+    "position": {
+      "x": 0.14431942640351558,
+      "y": 0.017911166449740334,
+      "z": 0.006238279593635571
+    },
+    "orientation": {
+      "x": -0.6677784455996406,
+      "y": -0.5041576417148252,
+      "z": -0.14743320394793086,
+      "w": 0.5274092057091169
+    }
+  },
+  {
+    "timestamp": 1766137009.0792627,
+    "position": {
+      "x": 0.14367548853354994,
+      "y": 0.016009425345350187,
+      "z": 0.006683698022186456
+    },
+    "orientation": {
+      "x": -0.6670801184188369,
+      "y": -0.5057688892797556,
+      "z": -0.1464520537128644,
+      "w": 0.5270234740600436
+    }
+  },
+  {
+    "timestamp": 1766137009.2119527,
+    "position": {
+      "x": 0.14294003878187334,
+      "y": 0.013686040434554098,
+      "z": 0.0076369214561753385
+    },
+    "orientation": {
+      "x": -0.672856263374906,
+      "y": -0.5080585255640472,
+      "z": -0.14461721751421183,
+      "w": 0.5179062114295336
+    }
+  },
+  {
+    "timestamp": 1766137009.3446429,
+    "position": {
+      "x": 0.14221403457056814,
+      "y": 0.014202532045689858,
+      "z": 0.007106702427206887
+    },
+    "orientation": {
+      "x": -0.6737408079606185,
+      "y": -0.5073904221897099,
+      "z": -0.14695572262895526,
+      "w": 0.516751679963716
+    }
+  },
+  {
+    "timestamp": 1766137009.4773328,
+    "position": {
+      "x": 0.14118931195881704,
+      "y": 0.01461477929486521,
+      "z": 0.006657909658717133
+    },
+    "orientation": {
+      "x": -0.674631308087177,
+      "y": -0.5054632075982761,
+      "z": -0.14850766113179212,
+      "w": 0.5170348329640964
+    }
+  },
+  {
+    "timestamp": 1766137009.6100228,
+    "position": {
+      "x": 0.14017303493927774,
+      "y": 0.01636039407768919,
+      "z": 0.007464906945722653
+    },
+    "orientation": {
+      "x": -0.674400940778953,
+      "y": -0.5015720549178582,
+      "z": -0.14790747149396324,
+      "w": 0.521279411331584
+    }
+  },
+  {
+    "timestamp": 1766137009.7427127,
+    "position": {
+      "x": 0.13844292207621095,
+      "y": 0.019023904307811534,
+      "z": 0.008633995379539183
+    },
+    "orientation": {
+      "x": -0.6786584958208189,
+      "y": -0.498120858118335,
+      "z": -0.14848031481691976,
+      "w": 0.518894837967719
+    }
+  },
+  {
+    "timestamp": 1766137009.875404,
+    "position": {
+      "x": 0.13555779074109214,
+      "y": 0.0214058292911061,
+      "z": 0.010037476055316963
+    },
+    "orientation": {
+      "x": -0.6836067103211021,
+      "y": -0.49013325885573605,
+      "z": -0.14910650607293233,
+      "w": 0.5198254553349028
+    }
+  },
+  {
+    "timestamp": 1766137010.0080938,
+    "position": {
+      "x": 0.13364557515281322,
+      "y": 0.0220100645114516,
+      "z": 0.009830184307306679
+    },
+    "orientation": {
+      "x": -0.6848718120194182,
+      "y": -0.4850719309471954,
+      "z": -0.1501217383679971,
+      "w": 0.5226081577795822
+    }
+  },
+  {
+    "timestamp": 1766137010.1407838,
+    "position": {
+      "x": 0.13429752962592542,
+      "y": 0.020827027961683148,
+      "z": 0.007886938251596802
+    },
+    "orientation": {
+      "x": -0.6837930550785415,
+      "y": -0.48858870766033924,
+      "z": -0.1530214574061043,
+      "w": 0.5198966879548916
+    }
+  },
+  {
+    "timestamp": 1766137010.2734737,
+    "position": {
+      "x": 0.13561712511181817,
+      "y": 0.020307320376305005,
+      "z": 0.006296950982458777
+    },
+    "orientation": {
+      "x": -0.6814362370905277,
+      "y": -0.4916449497041136,
+      "z": -0.15519518284707803,
+      "w": 0.5194654496994039
+    }
+  },
+  {
+    "timestamp": 1766137010.4061637,
+    "position": {
+      "x": 0.13658716992596306,
+      "y": 0.018384265411751588,
+      "z": 0.0029025394261505827
+    },
+    "orientation": {
+      "x": -0.6737420809418279,
+      "y": -0.4938920477854705,
+      "z": -0.15727920868939083,
+      "w": 0.5266929883874373
+    }
+  },
+  {
+    "timestamp": 1766137010.538854,
+    "position": {
+      "x": 0.13701428699964557,
+      "y": 0.018869127693706383,
+      "z": 0.0019928880266241733
+    },
+    "orientation": {
+      "x": -0.6744206652820081,
+      "y": -0.49575016434090197,
+      "z": -0.15947591683293147,
+      "w": 0.5234080365707412
+    }
+  },
+  {
+    "timestamp": 1766137010.6715438,
+    "position": {
+      "x": 0.13642181650407414,
+      "y": 0.019697494388623754,
+      "z": 0.0034236093579893545
+    },
+    "orientation": {
+      "x": -0.6751799184181599,
+      "y": -0.49384666576864555,
+      "z": -0.15707607911503912,
+      "w": 0.5249520490900903
+    }
+  },
+  {
+    "timestamp": 1766137010.8042338,
+    "position": {
+      "x": 0.1351483313689458,
+      "y": 0.02107926061871268,
+      "z": 0.004979147516366925
+    },
+    "orientation": {
+      "x": -0.6759324913614131,
+      "y": -0.48957381589100984,
+      "z": -0.1549675201394338,
+      "w": 0.5285998615377258
+    }
+  },
+  {
+    "timestamp": 1766137010.9369237,
+    "position": {
+      "x": 0.1323286013675699,
+      "y": 0.023393677609761687,
+      "z": 0.00678017018108238
+    },
+    "orientation": {
+      "x": -0.6812953190489838,
+      "y": -0.48227102901197033,
+      "z": -0.15667533967771458,
+      "w": 0.5279244081822237
+    }
+  },
+  {
+    "timestamp": 1766137011.0696137,
+    "position": {
+      "x": 0.1291545641160304,
+      "y": 0.024869484128133917,
+      "z": 0.008439746554457471
+    },
+    "orientation": {
+      "x": -0.6858804396256821,
+      "y": -0.4749827244587139,
+      "z": -0.15441819839881074,
+      "w": 0.5292584000352986
+    }
+  },
+  {
+    "timestamp": 1766137011.2023048,
+    "position": {
+      "x": 0.12853841716180875,
+      "y": 0.02503313769201962,
+      "z": 0.008281904553940206
+    },
+    "orientation": {
+      "x": -0.6852263855786153,
+      "y": -0.4728979135958563,
+      "z": -0.15431836143955907,
+      "w": 0.5319945555606397
+    }
+  },
+  {
+    "timestamp": 1766137011.3349948,
+    "position": {
+      "x": 0.12932380952079622,
+      "y": 0.023946084104119553,
+      "z": 0.006182267693637569
+    },
+    "orientation": {
+      "x": -0.6830821577080602,
+      "y": -0.47599634583898237,
+      "z": -0.15716360278689145,
+      "w": 0.5311552000384456
+    }
+  },
+  {
+    "timestamp": 1766137011.4676847,
+    "position": {
+      "x": 0.13084725141320985,
+      "y": 0.022355600179086887,
+      "z": 0.00378559792370968
+    },
+    "orientation": {
+      "x": -0.680790170194686,
+      "y": -0.480276519179219,
+      "z": -0.1605786994081071,
+      "w": 0.529219888692578
+    }
+  },
+  {
+    "timestamp": 1766137011.6003747,
+    "position": {
+      "x": 0.1332441737068898,
+      "y": 0.0209218473220118,
+      "z": 0.0003562312112125321
+    },
+    "orientation": {
+      "x": -0.6760016291480659,
+      "y": -0.48574315814464675,
+      "z": -0.16304375562114912,
+      "w": 0.5296150634732517
+    }
+  },
+  {
+    "timestamp": 1766137011.733065,
+    "position": {
+      "x": 0.13355963284698733,
+      "y": 0.02070208306554347,
+      "z": -3.475755936925562e-05
+    },
+    "orientation": {
+      "x": -0.6735394727001583,
+      "y": -0.4880099139917026,
+      "z": -0.16283693066185131,
+      "w": 0.5307306629291653
+    }
+  },
+  {
+    "timestamp": 1766137011.8657548,
+    "position": {
+      "x": 0.13264301212431934,
+      "y": 0.02226927651508734,
+      "z": 0.0017582296995533597
+    },
+    "orientation": {
+      "x": -0.6746294140325556,
+      "y": -0.4845955338055341,
+      "z": -0.1612634556329445,
+      "w": 0.5329506733414842
+    }
+  },
+  {
+    "timestamp": 1766137011.9984448,
+    "position": {
+      "x": 0.1312440596961262,
+      "y": 0.023522331665122964,
+      "z": 0.003947997389444929
+    },
+    "orientation": {
+      "x": -0.6777757740645972,
+      "y": -0.4803373944738331,
+      "z": -0.15957052282210776,
+      "w": 0.5333228251326814
+    }
+  },
+  {
+    "timestamp": 1766137012.1311347,
+    "position": {
+      "x": 0.1288284072376446,
+      "y": 0.024903715202589494,
+      "z": 0.0074699014231180555
+    },
+    "orientation": {
+      "x": -0.6819885204345187,
+      "y": -0.47392012661625255,
+      "z": -0.1553176766954915,
+      "w": 0.5349465308696615
+    }
+  },
+  {
+    "timestamp": 1766137012.2638247,
+    "position": {
+      "x": 0.12768587166497292,
+      "y": 0.025515188820073337,
+      "z": 0.009313117084463883
+    },
+    "orientation": {
+      "x": -0.685596322361269,
+      "y": -0.47014267986979036,
+      "z": -0.15342109979523355,
+      "w": 0.5342148532820628
+    }
+  }
+]
\ No newline at end of file
diff --git a/recorded_gelsight_pose/episode_75/session_info.json b/recorded_gelsight_pose/episode_75/session_info.json
new file mode 100644
index 0000000000000000000000000000000000000000..eacf3ebc17a0aff396ce4c97d1319cea4ed4979a
--- /dev/null
+++ b/recorded_gelsight_pose/episode_75/session_info.json
@@ -0,0 +1,12 @@
+{
+  "session_id": 25,
+  "start_time": "2025-12-19T21:12:29.849521",
+  "ros_start_time": 1766149949.8495417,
+  "image_topic": "/gelsight_img",
+  "pose_topic": "/pose",
+  "image_format": "png",
+  "end_time": "2025-12-19T21:12:33.572165",
+  "ros_end_time": 1766149953.5721734,
+  "total_images": 93,
+  "total_pose_frames": 28
+}
\ No newline at end of file
diff --git a/recorded_gelsight_pose/episode_77/image_index.json b/recorded_gelsight_pose/episode_77/image_index.json
new file mode 100644
index 0000000000000000000000000000000000000000..7341ea94b40a6cfd97487daa394dede88ea9c381
--- /dev/null
+++ b/recorded_gelsight_pose/episode_77/image_index.json
@@ -0,0 +1,406 @@
+[
+  {
+    "timestamp": 1766149968.8221943,
+    "filename": "img_000000.png"
+  },
+  {
+    "timestamp": 1766149968.8597217,
+    "filename": "img_000001.png"
+  },
+  {
+    "timestamp": 1766149968.8974028,
+    "filename": "img_000002.png"
+  },
+  {
+    "timestamp": 1766149968.938782,
+    "filename": "img_000003.png"
+  },
+  {
+    "timestamp": 1766149968.9779384,
+    "filename": "img_000004.png"
+  },
+  {
+    "timestamp": 1766149969.019202,
+    "filename": "img_000005.png"
+  },
+  {
+    "timestamp": 1766149969.0577607,
+    "filename": "img_000006.png"
+  },
+  {
+    "timestamp": 1766149969.0962944,
+    "filename": "img_000007.png"
+  },
+  {
+    "timestamp": 1766149969.1393492,
+    "filename": "img_000008.png"
+  },
+  {
+    "timestamp": 1766149969.1805725,
+    "filename": "img_000009.png"
+  },
+  {
+    "timestamp": 1766149969.2173598,
+    "filename": "img_000010.png"
+  },
+  {
+    "timestamp": 1766149969.2568467,
+    "filename": "img_000011.png"
+  },
+  {
+    "timestamp": 1766149969.2985651,
+    "filename": "img_000012.png"
+  },
+  {
+    "timestamp": 1766149969.338794,
+    "filename": "img_000013.png"
+  },
+  {
+    "timestamp": 1766149969.384231,
+    "filename": "img_000014.png"
+  },
+  {
+    "timestamp": 1766149969.4249609,
+    "filename": "img_000015.png"
+  },
+  {
+    "timestamp": 1766149969.460612,
+    "filename": "img_000016.png"
+  },
+  {
+    "timestamp": 1766149969.5008078,
+    "filename": "img_000017.png"
+  },
+  {
+    "timestamp": 1766149969.5395217,
+    "filename": "img_000018.png"
+  },
+  {
+    "timestamp": 1766149969.5781353,
+    "filename": "img_000019.png"
+  },
+  {
+    "timestamp": 1766149969.6175406,
+    "filename": "img_000020.png"
+  },
+  {
+    "timestamp": 1766149969.6571844,
+    "filename": "img_000021.png"
+  },
+  {
+    "timestamp": 1766149969.6960595,
+    "filename": "img_000022.png"
+  },
+  {
+    "timestamp": 1766149969.737218,
+    "filename": "img_000023.png"
+  },
+  {
+    "timestamp": 1766149969.7780063,
+    "filename": "img_000024.png"
+  },
+  {
+    "timestamp": 1766149969.8202865,
+    "filename": "img_000025.png"
+  },
+  {
+    "timestamp": 1766149969.8563313,
+    "filename": "img_000026.png"
+  },
+  {
+    "timestamp": 1766149969.8964982,
+    "filename": "img_000027.png"
+  },
+  {
+    "timestamp": 1766149969.940994,
+    "filename": "img_000028.png"
+  },
+  {
+    "timestamp": 1766149969.9800014,
+    "filename": "img_000029.png"
+  },
+  {
+    "timestamp": 1766149970.018389,
+    "filename": "img_000030.png"
+  },
+  {
+    "timestamp": 1766149970.0591319,
+    "filename": "img_000031.png"
+  },
+  {
+    "timestamp": 1766149970.099775,
+    "filename": "img_000032.png"
+  },
+  {
+    "timestamp": 1766149970.1391544,
+    "filename": "img_000033.png"
+  },
+  {
+    "timestamp": 1766149970.180391,
+    "filename": "img_000034.png"
+  },
+  {
+    "timestamp": 1766149970.218699,
+    "filename": "img_000035.png"
+  },
+  {
+    "timestamp": 1766149970.2607095,
+    "filename": "img_000036.png"
+  },
+  {
+    "timestamp": 1766149970.2994506,
+    "filename": "img_000037.png"
+  },
+  {
+    "timestamp": 1766149970.3395038,
+    "filename": "img_000038.png"
+  },
+  {
+    "timestamp": 1766149970.3791888,
+    "filename": "img_000039.png"
+  },
+  {
+    "timestamp": 1766149970.4193637,
+    "filename": "img_000040.png"
+  },
+  {
+    "timestamp": 1766149970.4593284,
+    "filename": "img_000041.png"
+  },
+  {
+    "timestamp": 1766149970.5010698,
+    "filename": "img_000042.png"
+  },
+  {
+    "timestamp": 1766149970.5418806,
+    "filename": "img_000043.png"
+  },
+  {
+    "timestamp": 1766149970.579853,
+    "filename": "img_000044.png"
+  },
+  {
+    "timestamp": 1766149970.6195054,
+    "filename": "img_000045.png"
+  },
+  {
+    "timestamp": 1766149970.6594505,
+    "filename": "img_000046.png"
+  },
+  {
+    "timestamp": 1766149970.6989365,
+    "filename": "img_000047.png"
+  },
+  {
+    "timestamp": 1766149970.7402802,
+    "filename": "img_000048.png"
+  },
+  {
+    "timestamp": 1766149970.7810545,
+    "filename": "img_000049.png"
+  },
+  {
+    "timestamp": 1766149970.8212996,
+    "filename": "img_000050.png"
+  },
+  {
+    "timestamp": 1766149970.8569005,
+    "filename": "img_000051.png"
+  },
+  {
+    "timestamp": 1766149970.8997989,
+    "filename": "img_000052.png"
+  },
+  {
+    "timestamp": 1766149970.9388697,
+    "filename": "img_000053.png"
+  },
+  {
+    "timestamp": 1766149970.9776201,
+    "filename": "img_000054.png"
+  },
+  {
+    "timestamp": 1766149971.0179825,
+    "filename": "img_000055.png"
+  },
+  {
+    "timestamp": 1766149971.0575294,
+    "filename": "img_000056.png"
+  },
+  {
+    "timestamp": 1766149971.0978937,
+    "filename": "img_000057.png"
+  },
+  {
+    "timestamp": 1766149971.1382394,
+    "filename": "img_000058.png"
+  },
+  {
+    "timestamp": 1766149971.1780415,
+    "filename": "img_000059.png"
+  },
+  {
+    "timestamp": 1766149971.2175531,
+    "filename": "img_000060.png"
+  },
+  {
+    "timestamp": 1766149971.257334,
+    "filename": "img_000061.png"
+  },
+  {
+    "timestamp": 1766149971.2998815,
+    "filename": "img_000062.png"
+  },
+  {
+    "timestamp": 1766149971.3380814,
+    "filename": "img_000063.png"
+  },
+  {
+    "timestamp": 1766149971.3798862,
+    "filename": "img_000064.png"
+  },
+  {
+    "timestamp": 1766149971.4186497,
+    "filename": "img_000065.png"
+  },
+  {
+    "timestamp": 1766149971.4565,
+    "filename": "img_000066.png"
+  },
+  {
+    "timestamp": 1766149971.4971173,
+    "filename": "img_000067.png"
+  },
+  {
+    "timestamp": 1766149971.5392225,
+    "filename": "img_000068.png"
+  },
+  {
+    "timestamp": 1766149971.5817122,
+    "filename": "img_000069.png"
+  },
+  {
+    "timestamp": 1766149971.6175516,
+    "filename": "img_000070.png"
+  },
+  {
+    "timestamp": 1766149971.657126,
+    "filename": "img_000071.png"
+  },
+  {
+    "timestamp": 1766149971.6975598,
+    "filename": "img_000072.png"
+  },
+  {
+    "timestamp": 1766149971.7387893,
+    "filename": "img_000073.png"
+  },
+  {
+    "timestamp": 1766149971.7779,
+    "filename": "img_000074.png"
+  },
+  {
+    "timestamp": 1766149971.8166857,
+    "filename": "img_000075.png"
+  },
+  {
+    "timestamp": 1766149971.8568633,
+    "filename": "img_000076.png"
+  },
+  {
+    "timestamp": 1766149971.8980827,
+    "filename": "img_000077.png"
+  },
+  {
+    "timestamp": 1766149971.9382331,
+    "filename": "img_000078.png"
+  },
+  {
+    "timestamp": 1766149971.9776425,
+    "filename": "img_000079.png"
+  },
+  {
+    "timestamp": 1766149972.0174322,
+    "filename": "img_000080.png"
+  },
+  {
+    "timestamp": 1766149972.0590365,
+    "filename": "img_000081.png"
+  },
+  {
+    "timestamp": 1766149972.0977497,
+    "filename": "img_000082.png"
+  },
+  {
+    "timestamp": 1766149972.137767,
+    "filename": "img_000083.png"
+  },
+  {
+    "timestamp": 1766149972.177332,
+    "filename": "img_000084.png"
+  },
+  {
+    "timestamp": 1766149972.2182477,
+    "filename": "img_000085.png"
+  },
+  {
+    "timestamp": 1766149972.2588377,
+    "filename": "img_000086.png"
+  },
+  {
+    "timestamp": 1766149972.2997057,
+    "filename": "img_000087.png"
+  },
+  {
+    "timestamp": 1766149972.341274,
+    "filename": "img_000088.png"
+  },
+  {
+    "timestamp": 1766149972.379631,
+    "filename": "img_000089.png"
+  },
+  {
+    "timestamp": 1766149972.4171119,
+    "filename": "img_000090.png"
+  },
+  {
+    "timestamp": 1766149972.4566832,
+    "filename": "img_000091.png"
+  },
+  {
+    "timestamp": 1766149972.4985046,
+    "filename": "img_000092.png"
+  },
+  {
+    "timestamp": 1766149972.5380685,
+    "filename": "img_000093.png"
+  },
+  {
+    "timestamp": 1766149972.5775476,
+    "filename": "img_000094.png"
+  },
+  {
+    "timestamp": 1766149972.6169705,
+    "filename": "img_000095.png"
+  },
+  {
+    "timestamp": 1766149972.657219,
+    "filename": "img_000096.png"
+  },
+  {
+    "timestamp": 1766149972.6972086,
+    "filename": "img_000097.png"
+  },
+  {
+    "timestamp": 1766149972.7382874,
+    "filename": "img_000098.png"
+  },
+  {
+    "timestamp": 1766149972.7781217,
+    "filename": "img_000099.png"
+  },
+  {
+    "timestamp": 1766149972.825427,
+    "filename": "img_000100.png"
+  }
+]
\ No newline at end of file
diff --git a/recorded_gelsight_pose/episode_77/pose_data.json b/recorded_gelsight_pose/episode_77/pose_data.json
new file mode 100644
index 0000000000000000000000000000000000000000..b31a12513c02bea60c539f7f70d618ee54c3fb44
--- /dev/null
+++ b/recorded_gelsight_pose/episode_77/pose_data.json
@@ -0,0 +1,422 @@
+[
+  {
+    "timestamp": 1766137027.5563598,
+    "position": {
+      "x": 0.13457358834545147,
+      "y": 0.02458183841838174,
+      "z": 0.0037529572605532607
+    },
+    "orientation": {
+      "x": 0.717179972344527,
+      "y": 0.5130318284080572,
+      "z": 0.19398933513803407,
+      "w": -0.4299062318237461
+    }
+  },
+  {
+    "timestamp": 1766137027.6890507,
+    "position": {
+      "x": 0.13503644558821346,
+      "y": 0.02384571761419363,
+      "z": 0.0053368543417302156
+    },
+    "orientation": {
+      "x": 0.7152872714661956,
+      "y": 0.5114947139954755,
+      "z": 0.1862275109732967,
+      "w": -0.43824261658335123
+    }
+  },
+  {
+    "timestamp": 1766137027.8217409,
+    "position": {
+      "x": 0.13359404102253833,
+      "y": 0.023912127667569838,
+      "z": 0.0042945639327263
+    },
+    "orientation": {
+      "x": 0.7128758671930404,
+      "y": 0.5084102555842299,
+      "z": 0.18694090356418266,
+      "w": -0.445398819671938
+    }
+  },
+  {
+    "timestamp": 1766137027.9544308,
+    "position": {
+      "x": 0.13392877520036728,
+      "y": 0.02386080107195862,
+      "z": 0.003571270611159888
+    },
+    "orientation": {
+      "x": 0.7112096714852726,
+      "y": 0.5071536293875136,
+      "z": 0.18664384687864247,
+      "w": -0.4495999041450353
+    }
+  },
+  {
+    "timestamp": 1766137028.0871208,
+    "position": {
+      "x": 0.1340582258186985,
+      "y": 0.023258075412650597,
+      "z": 0.004157082555120248
+    },
+    "orientation": {
+      "x": 0.7040039875083131,
+      "y": 0.5025261155344606,
+      "z": 0.17821894318928144,
+      "w": -0.4691310020311348
+    }
+  },
+  {
+    "timestamp": 1766137028.2198107,
+    "position": {
+      "x": 0.13404229640948218,
+      "y": 0.02139001099759924,
+      "z": 0.005786862821278119
+    },
+    "orientation": {
+      "x": -0.6881937080827856,
+      "y": -0.4916863833543846,
+      "z": -0.16114484303050686,
+      "w": 0.5085924302856113
+    }
+  },
+  {
+    "timestamp": 1766137028.3525007,
+    "position": {
+      "x": 0.1344143833140123,
+      "y": 0.0187957505491958,
+      "z": 0.005619602969250417
+    },
+    "orientation": {
+      "x": -0.6752214644010762,
+      "y": -0.48416060978980624,
+      "z": -0.15009122345391995,
+      "w": 0.5358517542960313
+    }
+  },
+  {
+    "timestamp": 1766137028.4851909,
+    "position": {
+      "x": 0.13577236310138058,
+      "y": 0.01705845363456132,
+      "z": 0.008239258692948379
+    },
+    "orientation": {
+      "x": -0.6606293303736568,
+      "y": -0.475510735411173,
+      "z": -0.1332935351300213,
+      "w": 0.5654124705481133
+    }
+  },
+  {
+    "timestamp": 1766137028.6178808,
+    "position": {
+      "x": 0.13625915568143387,
+      "y": 0.014450234177603688,
+      "z": 0.009350634649642878
+    },
+    "orientation": {
+      "x": -0.6446503860597883,
+      "y": -0.46585988844469456,
+      "z": -0.11699577453155686,
+      "w": 0.5947372805138614
+    }
+  },
+  {
+    "timestamp": 1766137028.7505708,
+    "position": {
+      "x": 0.13720958162398184,
+      "y": 0.012340022088618341,
+      "z": 0.010657422481413395
+    },
+    "orientation": {
+      "x": -0.627176152500627,
+      "y": -0.45398534739370866,
+      "z": -0.10159161749126373,
+      "w": 0.6246811357339301
+    }
+  },
+  {
+    "timestamp": 1766137028.8832607,
+    "position": {
+      "x": 0.13781068420974685,
+      "y": 0.00933670738106318,
+      "z": 0.010836440420920773
+    },
+    "orientation": {
+      "x": -0.6098282286197473,
+      "y": -0.4432893035504948,
+      "z": -0.08638272742804232,
+      "w": 0.651261966752482
+    }
+  },
+  {
+    "timestamp": 1766137029.0159519,
+    "position": {
+      "x": 0.13783794882638511,
+      "y": 0.008556273646283308,
+      "z": 0.010905209361303951
+    },
+    "orientation": {
+      "x": -0.5969303230644638,
+      "y": -0.4333306130900298,
+      "z": -0.07699817357606285,
+      "w": 0.670798069787864
+    }
+  },
+  {
+    "timestamp": 1766137029.1486418,
+    "position": {
+      "x": 0.13800096614351712,
+      "y": 0.006962485085659997,
+      "z": 0.01148251977512546
+    },
+    "orientation": {
+      "x": -0.5867663696391143,
+      "y": -0.425328475044847,
+      "z": -0.06811956195476343,
+      "w": 0.6856826095619243
+    }
+  },
+  {
+    "timestamp": 1766137029.2813318,
+    "position": {
+      "x": 0.13864931609987088,
+      "y": 0.005780066228734032,
+      "z": 0.011601996136508072
+    },
+    "orientation": {
+      "x": -0.5800602067476341,
+      "y": -0.42321954330397915,
+      "z": -0.06300567468684971,
+      "w": 0.6931418755714578
+    }
+  },
+  {
+    "timestamp": 1766137029.4140217,
+    "position": {
+      "x": 0.1393332680692905,
+      "y": 0.007302213263566448,
+      "z": 0.01280589887591943
+    },
+    "orientation": {
+      "x": -0.5828010886703199,
+      "y": -0.4250950489191999,
+      "z": -0.06411388045707449,
+      "w": 0.6895842956171557
+    }
+  },
+  {
+    "timestamp": 1766137029.5467117,
+    "position": {
+      "x": 0.13802968451750783,
+      "y": 0.008531042557948176,
+      "z": 0.011721019741812569
+    },
+    "orientation": {
+      "x": -0.5961507255187493,
+      "y": -0.4344898062638794,
+      "z": -0.07707090820017895,
+      "w": 0.6707331778177108
+    }
+  },
+  {
+    "timestamp": 1766137029.6794019,
+    "position": {
+      "x": 0.13707580470950517,
+      "y": 0.01117424181818022,
+      "z": 0.010967784229818832
+    },
+    "orientation": {
+      "x": -0.6141167945469435,
+      "y": -0.4442809288349656,
+      "z": -0.0903709516488979,
+      "w": 0.6459938931808876
+    }
+  },
+  {
+    "timestamp": 1766137029.8120918,
+    "position": {
+      "x": 0.13640093876757547,
+      "y": 0.01322419855717144,
+      "z": 0.009671775291911835
+    },
+    "orientation": {
+      "x": -0.6306224325893715,
+      "y": -0.4560859103043485,
+      "z": -0.10731155721577483,
+      "w": 0.6186963872731462
+    }
+  },
+  {
+    "timestamp": 1766137029.9447818,
+    "position": {
+      "x": 0.1360746849316133,
+      "y": 0.015914349199587424,
+      "z": 0.009195545402166355
+    },
+    "orientation": {
+      "x": -0.6500721706060958,
+      "y": -0.4691090115900182,
+      "z": -0.12320742931765072,
+      "w": 0.5849468673387792
+    }
+  },
+  {
+    "timestamp": 1766137030.0774717,
+    "position": {
+      "x": 0.13525523762983357,
+      "y": 0.018236231147694237,
+      "z": 0.006819621204168333
+    },
+    "orientation": {
+      "x": -0.6684182220999534,
+      "y": -0.4814949203931538,
+      "z": -0.14268768856902056,
+      "w": 0.5486528460977471
+    }
+  },
+  {
+    "timestamp": 1766137030.2101629,
+    "position": {
+      "x": 0.134071813781027,
+      "y": 0.020257910420207303,
+      "z": 0.004528530971049383
+    },
+    "orientation": {
+      "x": -0.6841724945134786,
+      "y": -0.49257186271330244,
+      "z": -0.16063263255008162,
+      "w": 0.513301193427779
+    }
+  },
+  {
+    "timestamp": 1766137030.3428528,
+    "position": {
+      "x": 0.13372708530277655,
+      "y": 0.022431031267437423,
+      "z": 0.0016796506602323735
+    },
+    "orientation": {
+      "x": 0.7016446595953727,
+      "y": 0.5044533178591918,
+      "z": 0.18190877056512755,
+      "w": -0.46918101086215197
+    }
+  },
+  {
+    "timestamp": 1766137030.4755428,
+    "position": {
+      "x": 0.13392471118822669,
+      "y": 0.024796230164671973,
+      "z": -0.0007026858654930745
+    },
+    "orientation": {
+      "x": 0.7146075926042933,
+      "y": 0.5127677181585575,
+      "z": 0.19844937850950184,
+      "w": -0.4324616745747013
+    }
+  },
+  {
+    "timestamp": 1766137030.6082327,
+    "position": {
+      "x": 0.13333562503116292,
+      "y": 0.026062523966720402,
+      "z": -0.004572398826137566
+    },
+    "orientation": {
+      "x": 0.7233596801871489,
+      "y": 0.5189545690824119,
+      "z": 0.21573086390331472,
+      "w": -0.4011198357941966
+    }
+  },
+  {
+    "timestamp": 1766137030.7409227,
+    "position": {
+      "x": 0.13257483613704696,
+      "y": 0.027427239267725306,
+      "z": -0.0042994997813263075
+    },
+    "orientation": {
+      "x": 0.7318649083564204,
+      "y": 0.5215386988751872,
+      "z": 0.22382117455995476,
+      "w": -0.37719388026667056
+    }
+  },
+  {
+    "timestamp": 1766137030.8736129,
+    "position": {
+      "x": 0.13309656586288074,
+      "y": 0.028206689083017267,
+      "z": -0.0050926761740366505
+    },
+    "orientation": {
+      "x": 0.7366329387607711,
+      "y": 0.5253722022654554,
+      "z": 0.23089750335904918,
+      "w": -0.3578299953357364
+    }
+  },
+  {
+    "timestamp": 1766137031.0063028,
+    "position": {
+      "x": 0.13320960601538911,
+      "y": 0.028933227002988893,
+      "z": -0.005837929468126987
+    },
+    "orientation": {
+      "x": 0.7416028323863496,
+      "y": 0.52841539277462,
+      "z": 0.23699602340124262,
+      "w": -0.33857834627658256
+    }
+  },
+  {
+    "timestamp": 1766137031.1389928,
+    "position": {
+      "x": 0.13273569188110232,
+      "y": 0.028730943756437116,
+      "z": -0.006191081984138425
+    },
+    "orientation": {
+      "x": 0.7435143207039457,
+      "y": 0.5296552609088084,
+      "z": 0.2402107838694628,
+      "w": -0.33007656507633226
+    }
+  },
+  {
+    "timestamp": 1766137031.2716827,
+    "position": {
+      "x": 0.13293493398169662,
+      "y": 0.02883187864270051,
+      "z": -0.006986044844256106
+    },
+    "orientation": {
+      "x": 0.7437653155754904,
+      "y": 0.5308466638757239,
+      "z": 0.24415033253947496,
+      "w": -0.3246622705516749
+    }
+  },
+  {
+    "timestamp": 1766137031.404374,
+    "position": {
+      "x": 0.13334647679866507,
+      "y": 0.02893242222213241,
+      "z": -0.006061070917960987
+    },
+    "orientation": {
+      "x": 0.7443560341376698,
+      "y": 0.5308239864828376,
+      "z": 0.2416459363826677,
+      "w": -0.3252187436896158
+    }
+  }
+]
\ No newline at end of file
diff --git a/recorded_gelsight_pose/episode_77/session_info.json b/recorded_gelsight_pose/episode_77/session_info.json
new file mode 100644
index 0000000000000000000000000000000000000000..a22fe7a3ba76eb44f3211620fdee8a1466e7e0f0
--- /dev/null
+++ b/recorded_gelsight_pose/episode_77/session_info.json
@@ -0,0 +1,12 @@
+{
+  "session_id": 27,
+  "start_time": "2025-12-19T21:12:48.790970",
+  "ros_start_time": 1766149968.7909908,
+  "image_topic": "/gelsight_img",
+  "pose_topic": "/pose",
+  "image_format": "png",
+  "end_time": "2025-12-19T21:12:52.842676",
+  "ros_end_time": 1766149972.8426826,
+  "total_images": 101,
+  "total_pose_frames": 30
+}
\ No newline at end of file
diff --git a/recorded_gelsight_pose/episode_78/image_index.json b/recorded_gelsight_pose/episode_78/image_index.json
new file mode 100644
index 0000000000000000000000000000000000000000..e768870f92388265f428521ee0e23e363692131e
--- /dev/null
+++ b/recorded_gelsight_pose/episode_78/image_index.json
@@ -0,0 +1,426 @@
+[
+  {
+    "timestamp": 1766149973.856495,
+    "filename": "img_000000.png"
+  },
+  {
+    "timestamp": 1766149973.9027927,
+    "filename": "img_000001.png"
+  },
+  {
+    "timestamp": 1766149973.9413772,
+    "filename": "img_000002.png"
+  },
+  {
+    "timestamp": 1766149973.9810085,
+    "filename": "img_000003.png"
+  },
+  {
+    "timestamp": 1766149974.0178852,
+    "filename": "img_000004.png"
+  },
+  {
+    "timestamp": 1766149974.0573392,
+    "filename": "img_000005.png"
+  },
+  {
+    "timestamp": 1766149974.0977821,
+    "filename": "img_000006.png"
+  },
+  {
+    "timestamp": 1766149974.1384377,
+    "filename": "img_000007.png"
+  },
+  {
+    "timestamp": 1766149974.1787028,
+    "filename": "img_000008.png"
+  },
+  {
+    "timestamp": 1766149974.2163699,
+    "filename": "img_000009.png"
+  },
+  {
+    "timestamp": 1766149974.256546,
+    "filename": "img_000010.png"
+  },
+  {
+    "timestamp": 1766149974.2997134,
+    "filename": "img_000011.png"
+  },
+  {
+    "timestamp": 1766149974.3376174,
+    "filename": "img_000012.png"
+  },
+  {
+    "timestamp": 1766149974.3777368,
+    "filename": "img_000013.png"
+  },
+  {
+    "timestamp": 1766149974.41656,
+    "filename": "img_000014.png"
+  },
+  {
+    "timestamp": 1766149974.465775,
+    "filename": "img_000015.png"
+  },
+  {
+    "timestamp": 1766149974.5000203,
+    "filename": "img_000016.png"
+  },
+  {
+    "timestamp": 1766149974.5390317,
+    "filename": "img_000017.png"
+  },
+  {
+    "timestamp": 1766149974.5798838,
+    "filename": "img_000018.png"
+  },
+  {
+    "timestamp": 1766149974.6184335,
+    "filename": "img_000019.png"
+  },
+  {
+    "timestamp": 1766149974.6629975,
+    "filename": "img_000020.png"
+  },
+  {
+    "timestamp": 1766149974.6971917,
+    "filename": "img_000021.png"
+  },
+  {
+    "timestamp": 1766149974.7387936,
+    "filename": "img_000022.png"
+  },
+  {
+    "timestamp": 1766149974.7785523,
+    "filename": "img_000023.png"
+  },
+  {
+    "timestamp": 1766149974.8165343,
+    "filename": "img_000024.png"
+  },
+  {
+    "timestamp": 1766149974.8556695,
+    "filename": "img_000025.png"
+  },
+  {
+    "timestamp": 1766149974.9012825,
+    "filename": "img_000026.png"
+  },
+  {
+    "timestamp": 1766149974.9399476,
+    "filename": "img_000027.png"
+  },
+  {
+    "timestamp": 1766149974.9794598,
+    "filename": "img_000028.png"
+  },
+  {
+    "timestamp": 1766149975.0183897,
+    "filename": "img_000029.png"
+  },
+  {
+    "timestamp": 1766149975.0597816,
+    "filename": "img_000030.png"
+  },
+  {
+    "timestamp": 1766149975.1019654,
+    "filename": "img_000031.png"
+  },
+  {
+    "timestamp": 1766149975.14144,
+    "filename": "img_000032.png"
+  },
+  {
+    "timestamp": 1766149975.1803885,
+    "filename": "img_000033.png"
+  },
+  {
+    "timestamp": 1766149975.2208483,
+    "filename": "img_000034.png"
+  },
+  {
+    "timestamp": 1766149975.2620974,
+    "filename": "img_000035.png"
+  },
+  {
+    "timestamp": 1766149975.30184,
+    "filename": "img_000036.png"
+  },
+  {
+    "timestamp": 1766149975.3403285,
+    "filename": "img_000037.png"
+  },
+  {
+    "timestamp": 1766149975.3805618,
+    "filename": "img_000038.png"
+  },
+  {
+    "timestamp": 1766149975.4196396,
+    "filename": "img_000039.png"
+  },
+  {
+    "timestamp": 1766149975.462346,
+    "filename": "img_000040.png"
+  },
+  {
+    "timestamp": 1766149975.49919,
+    "filename": "img_000041.png"
+  },
+  {
+    "timestamp": 1766149975.539298,
+    "filename": "img_000042.png"
+  },
+  {
+    "timestamp": 1766149975.5802927,
+    "filename": "img_000043.png"
+  },
+  {
+    "timestamp": 1766149975.6200116,
+    "filename": "img_000044.png"
+  },
+  {
+    "timestamp": 1766149975.6577897,
+    "filename": "img_000045.png"
+  },
+  {
+    "timestamp": 1766149975.7004151,
+    "filename": "img_000046.png"
+  },
+  {
+    "timestamp": 1766149975.7410355,
+    "filename": "img_000047.png"
+  },
+  {
+    "timestamp": 1766149975.780416,
+    "filename": "img_000048.png"
+  },
+  {
+    "timestamp": 1766149975.816381,
+    "filename": "img_000049.png"
+  },
+  {
+    "timestamp": 1766149975.857374,
+    "filename": "img_000050.png"
+  },
+  {
+    "timestamp": 1766149975.9022691,
+    "filename": "img_000051.png"
+  },
+  {
+    "timestamp": 1766149975.9394681,
+    "filename": "img_000052.png"
+  },
+  {
+    "timestamp": 1766149975.9787204,
+    "filename": "img_000053.png"
+  },
+  {
+    "timestamp": 1766149976.0171156,
+    "filename": "img_000054.png"
+  },
+  {
+    "timestamp": 1766149976.0611582,
+    "filename": "img_000055.png"
+  },
+  {
+    "timestamp": 1766149976.0980492,
+    "filename": "img_000056.png"
+  },
+  {
+    "timestamp": 1766149976.1369643,
+    "filename": "img_000057.png"
+  },
+  {
+    "timestamp": 1766149976.1787093,
+    "filename": "img_000058.png"
+  },
+  {
+    "timestamp": 1766149976.219887,
+    "filename": "img_000059.png"
+  },
+  {
+    "timestamp": 1766149976.257804,
+    "filename": "img_000060.png"
+  },
+  {
+    "timestamp": 1766149976.2969203,
+    "filename": "img_000061.png"
+  },
+  {
+    "timestamp": 1766149976.3394055,
+    "filename": "img_000062.png"
+  },
+  {
+    "timestamp": 1766149976.3801985,
+    "filename": "img_000063.png"
+  },
+  {
+    "timestamp": 1766149976.4158132,
+    "filename": "img_000064.png"
+  },
+  {
+    "timestamp": 1766149976.4571493,
+    "filename": "img_000065.png"
+  },
+  {
+    "timestamp": 1766149976.4980106,
+    "filename": "img_000066.png"
+  },
+  {
+    "timestamp": 1766149976.5386105,
+    "filename": "img_000067.png"
+  },
+  {
+    "timestamp": 1766149976.5786421,
+    "filename": "img_000068.png"
+  },
+  {
+    "timestamp": 1766149976.616446,
+    "filename": "img_000069.png"
+  },
+  {
+    "timestamp": 1766149976.6630898,
+    "filename": "img_000070.png"
+  },
+  {
+    "timestamp": 1766149976.69904,
+    "filename": "img_000071.png"
+  },
+  {
+    "timestamp": 1766149976.7399728,
+    "filename": "img_000072.png"
+  },
+  {
+    "timestamp": 1766149976.779374,
+    "filename": "img_000073.png"
+  },
+  {
+    "timestamp": 1766149976.8170524,
+    "filename": "img_000074.png"
+  },
+  {
+    "timestamp": 1766149976.857406,
+    "filename": "img_000075.png"
+  },
+  {
+    "timestamp": 1766149976.898727,
+    "filename": "img_000076.png"
+  },
+  {
+    "timestamp": 1766149976.9379158,
+    "filename": "img_000077.png"
+  },
+  {
+    "timestamp": 1766149976.9770157,
+    "filename": "img_000078.png"
+  },
+  {
+    "timestamp": 1766149977.0170186,
+    "filename": "img_000079.png"
+  },
+  {
+    "timestamp": 1766149977.0551014,
+    "filename": "img_000080.png"
+  },
+  {
+    "timestamp": 1766149977.097104,
+    "filename": "img_000081.png"
+  },
+  {
+    "timestamp": 1766149977.138444,
+    "filename": "img_000082.png"
+  },
+  {
+    "timestamp": 1766149977.1797824,
+    "filename": "img_000083.png"
+  },
+  {
+    "timestamp": 1766149977.2164936,
+    "filename": "img_000084.png"
+  },
+  {
+    "timestamp": 1766149977.2578814,
+    "filename": "img_000085.png"
+  },
+  {
+    "timestamp": 1766149977.298549,
+    "filename": "img_000086.png"
+  },
+  {
+    "timestamp": 1766149977.3402853,
+    "filename": "img_000087.png"
+  },
+  {
+    "timestamp": 1766149977.3787901,
+    "filename": "img_000088.png"
+  },
+  {
+    "timestamp": 1766149977.416082,
+    "filename": "img_000089.png"
+  },
+  {
+    "timestamp": 1766149977.462918,
+    "filename": "img_000090.png"
+  },
+  {
+    "timestamp": 1766149977.4994967,
+    "filename": "img_000091.png"
+  },
+  {
+    "timestamp": 1766149977.5398095,
+    "filename": "img_000092.png"
+  },
+  {
+    "timestamp": 1766149977.5781748,
+    "filename": "img_000093.png"
+  },
+  {
+    "timestamp": 1766149977.617156,
+    "filename": "img_000094.png"
+  },
+  {
+    "timestamp": 1766149977.656925,
+    "filename": "img_000095.png"
+  },
+  {
+    "timestamp": 1766149977.6981552,
+    "filename": "img_000096.png"
+  },
+  {
+    "timestamp": 1766149977.7374752,
+    "filename": "img_000097.png"
+  },
+  {
+    "timestamp": 1766149977.777839,
+    "filename": "img_000098.png"
+  },
+  {
+    "timestamp": 1766149977.8175733,
+    "filename": "img_000099.png"
+  },
+  {
+    "timestamp": 1766149977.865643,
+    "filename": "img_000100.png"
+  },
+  {
+    "timestamp": 1766149977.900442,
+    "filename": "img_000101.png"
+  },
+  {
+    "timestamp": 1766149977.9409096,
+    "filename": "img_000102.png"
+  },
+  {
+    "timestamp": 1766149977.9812293,
+    "filename": "img_000103.png"
+  },
+  {
+    "timestamp": 1766149978.016551,
+    "filename": "img_000104.png"
+  },
+  {
+    "timestamp": 1766149978.055696,
+    "filename": "img_000105.png"
+  }
+]
\ No newline at end of file
diff --git a/recorded_gelsight_pose/episode_78/pose_data.json b/recorded_gelsight_pose/episode_78/pose_data.json
new file mode 100644
index 0000000000000000000000000000000000000000..26e746c42b16985c8e1af69c88e467421a1e65db
--- /dev/null
+++ b/recorded_gelsight_pose/episode_78/pose_data.json
@@ -0,0 +1,450 @@
+[
+  {
+    "timestamp": 1766137032.5985837,
+    "position": {
+      "x": 0.12655508925469636,
+      "y": 0.03200286991830645,
+      "z": -0.0021003882895001824
+    },
+    "orientation": {
+      "x": 0.7350902733270447,
+      "y": 0.5047003937102982,
+      "z": 0.22126752329323363,
+      "w": -0.3949183279924078
+    }
+  },
+  {
+    "timestamp": 1766137032.7312748,
+    "position": {
+      "x": 0.126389883161111,
+      "y": 0.030499595339400803,
+      "z": 0.0018170767924096526
+    },
+    "orientation": {
+      "x": 0.7210785107362779,
+      "y": 0.49668386495423356,
+      "z": 0.1995073451866032,
+      "w": -0.4399406083382955
+    }
+  },
+  {
+    "timestamp": 1766137032.8639648,
+    "position": {
+      "x": 0.12284506127481246,
+      "y": 0.032444139470917704,
+      "z": -0.0012825029201896376
+    },
+    "orientation": {
+      "x": 0.7274533014838638,
+      "y": 0.4980917428498216,
+      "z": 0.21108274692049836,
+      "w": -0.42209049245102725
+    }
+  },
+  {
+    "timestamp": 1766137032.9966547,
+    "position": {
+      "x": 0.12182314335541011,
+      "y": 0.03368126520117376,
+      "z": -0.005508221540102651
+    },
+    "orientation": {
+      "x": 0.7302395886926707,
+      "y": 0.5007020558710009,
+      "z": 0.221494864610457,
+      "w": -0.40864118649948566
+    }
+  },
+  {
+    "timestamp": 1766137033.1293447,
+    "position": {
+      "x": 0.12261737485334073,
+      "y": 0.03275303880960309,
+      "z": -0.0020514240489189622
+    },
+    "orientation": {
+      "x": 0.7290166687772325,
+      "y": 0.4974746336312595,
+      "z": 0.21537822438209758,
+      "w": -0.41793050379268304
+    }
+  },
+  {
+    "timestamp": 1766137033.262035,
+    "position": {
+      "x": 0.12456143422772775,
+      "y": 0.03213943711589792,
+      "z": -0.0021600991721780066
+    },
+    "orientation": {
+      "x": 0.7370955188474317,
+      "y": 0.5041489633744054,
+      "z": 0.22064228315988185,
+      "w": -0.39222570250500194
+    }
+  },
+  {
+    "timestamp": 1766137033.3947248,
+    "position": {
+      "x": 0.12428599629715653,
+      "y": 0.03403855593061772,
+      "z": -0.008820726169533347
+    },
+    "orientation": {
+      "x": 0.749563017551735,
+      "y": 0.5146785309279952,
+      "z": 0.24702901570242,
+      "w": -0.3350193396232991
+    }
+  },
+  {
+    "timestamp": 1766137033.5274148,
+    "position": {
+      "x": 0.1235411504409697,
+      "y": 0.03561761025673224,
+      "z": -0.014620451291798203
+    },
+    "orientation": {
+      "x": 0.7615267639999813,
+      "y": 0.5210621933803117,
+      "z": 0.27248272836900633,
+      "w": -0.2726249091370733
+    }
+  },
+  {
+    "timestamp": 1766137033.6601048,
+    "position": {
+      "x": 0.12371428934695086,
+      "y": 0.035227238574234765,
+      "z": -0.01857394369710068
+    },
+    "orientation": {
+      "x": 0.7683959333003182,
+      "y": 0.52448080594885,
+      "z": 0.2891970043896473,
+      "w": -0.22550535809783287
+    }
+  },
+  {
+    "timestamp": 1766137033.7927947,
+    "position": {
+      "x": 0.12447034493094361,
+      "y": 0.035650181720429,
+      "z": -0.02267156420785356
+    },
+    "orientation": {
+      "x": 0.7728593532540525,
+      "y": 0.526396104101699,
+      "z": 0.305242148267101,
+      "w": -0.18006330163463596
+    }
+  },
+  {
+    "timestamp": 1766137033.9254858,
+    "position": {
+      "x": 0.12474293669577455,
+      "y": 0.035079280347053654,
+      "z": -0.02576711322039285
+    },
+    "orientation": {
+      "x": 0.7760448756139702,
+      "y": 0.5257126149375558,
+      "z": 0.3190587970977477,
+      "w": -0.13993599080777178
+    }
+  },
+  {
+    "timestamp": 1766137034.0581758,
+    "position": {
+      "x": 0.12572660813815276,
+      "y": 0.03472913414534631,
+      "z": -0.02772416516421801
+    },
+    "orientation": {
+      "x": 0.7754490445498249,
+      "y": 0.526667831586903,
+      "z": 0.32517503517430146,
+      "w": -0.1247436209900326
+    }
+  },
+  {
+    "timestamp": 1766137034.1908658,
+    "position": {
+      "x": 0.12581291715604198,
+      "y": 0.0351189373268716,
+      "z": -0.02705536960330926
+    },
+    "orientation": {
+      "x": 0.7738618416728756,
+      "y": 0.527409880644029,
+      "z": 0.32074048074934897,
+      "w": -0.1417822690268165
+    }
+  },
+  {
+    "timestamp": 1766137034.3235557,
+    "position": {
+      "x": 0.12576267591521517,
+      "y": 0.03558116415648052,
+      "z": -0.024572180176205327
+    },
+    "orientation": {
+      "x": 0.7715077673606744,
+      "y": 0.5270678372615453,
+      "z": 0.3101250394792722,
+      "w": -0.175492791061526
+    }
+  },
+  {
+    "timestamp": 1766137034.4562457,
+    "position": {
+      "x": 0.12496200628346626,
+      "y": 0.03546596653900033,
+      "z": -0.020066614910876426
+    },
+    "orientation": {
+      "x": 0.7694442797357279,
+      "y": 0.5247700333334522,
+      "z": 0.2957137727183785,
+      "w": -0.2124271101386014
+    }
+  },
+  {
+    "timestamp": 1766137034.5889359,
+    "position": {
+      "x": 0.12455820528277461,
+      "y": 0.035063530864337916,
+      "z": -0.01785139460270345
+    },
+    "orientation": {
+      "x": 0.7643083550999998,
+      "y": 0.5232956619719866,
+      "z": 0.2827754629766884,
+      "w": -0.2490630964714612
+    }
+  },
+  {
+    "timestamp": 1766137034.7216258,
+    "position": {
+      "x": 0.12461142711983919,
+      "y": 0.035376128124933376,
+      "z": -0.01515299239656645
+    },
+    "orientation": {
+      "x": 0.7574748633660991,
+      "y": 0.5199678456376386,
+      "z": 0.26920736109452625,
+      "w": -0.2887778862793749
+    }
+  },
+  {
+    "timestamp": 1766137034.8543158,
+    "position": {
+      "x": 0.12447906468222927,
+      "y": 0.034800249998356625,
+      "z": -0.011689573125859457
+    },
+    "orientation": {
+      "x": 0.7506309939807015,
+      "y": 0.5140295869619941,
+      "z": 0.2529725354001373,
+      "w": -0.32913764740067625
+    }
+  },
+  {
+    "timestamp": 1766137034.9870057,
+    "position": {
+      "x": 0.12326646149249779,
+      "y": 0.03350016880838244,
+      "z": -0.007759148151639431
+    },
+    "orientation": {
+      "x": 0.7392340127226529,
+      "y": 0.50772658608659,
+      "z": 0.23492178010948353,
+      "w": -0.3749113834561611
+    }
+  },
+  {
+    "timestamp": 1766137035.1196969,
+    "position": {
+      "x": 0.1232678779607384,
+      "y": 0.032971169933304734,
+      "z": -0.004879833882041024
+    },
+    "orientation": {
+      "x": 0.7297324769099727,
+      "y": 0.5002100631978439,
+      "z": 0.2191976520920708,
+      "w": -0.41137913672884374
+    }
+  },
+  {
+    "timestamp": 1766137035.2523868,
+    "position": {
+      "x": 0.12332115586353493,
+      "y": 0.03188432041111089,
+      "z": -0.0038349003732904147
+    },
+    "orientation": {
+      "x": 0.7204180782833095,
+      "y": 0.4939921265574593,
+      "z": 0.20719003587331122,
+      "w": -0.44050182793790826
+    }
+  },
+  {
+    "timestamp": 1766137035.3850768,
+    "position": {
+      "x": 0.12316667869631831,
+      "y": 0.030333977360114228,
+      "z": -0.0015489844013599208
+    },
+    "orientation": {
+      "x": 0.7091515142225826,
+      "y": 0.4861961072557778,
+      "z": 0.19406487059013808,
+      "w": -0.4722883665388967
+    }
+  },
+  {
+    "timestamp": 1766137035.5177667,
+    "position": {
+      "x": 0.12420158387374597,
+      "y": 0.028377906462406538,
+      "z": 0.00037860072369355624
+    },
+    "orientation": {
+      "x": -0.69762905557631,
+      "y": -0.4781948928129343,
+      "z": -0.1787534320098693,
+      "w": 0.5026833554515459
+    }
+  },
+  {
+    "timestamp": 1766137035.6504567,
+    "position": {
+      "x": 0.12492098154716336,
+      "y": 0.02652850137817092,
+      "z": 0.0036115020742528564
+    },
+    "orientation": {
+      "x": -0.6839491346169863,
+      "y": -0.46875154295821414,
+      "z": -0.16405166159909643,
+      "w": 0.5343899555170781
+    }
+  },
+  {
+    "timestamp": 1766137035.7831469,
+    "position": {
+      "x": 0.12560030979030667,
+      "y": 0.024967536098428528,
+      "z": 0.004235008312021671
+    },
+    "orientation": {
+      "x": -0.6741400799173971,
+      "y": -0.4619941113897504,
+      "z": -0.15227581136897214,
+      "w": 0.5557955298147707
+    }
+  },
+  {
+    "timestamp": 1766137035.9158368,
+    "position": {
+      "x": 0.1256509707869201,
+      "y": 0.022975073981503308,
+      "z": 0.005079334014958789
+    },
+    "orientation": {
+      "x": -0.6626776870820934,
+      "y": -0.45420729601518517,
+      "z": -0.1405919286477298,
+      "w": 0.5786086111433294
+    }
+  },
+  {
+    "timestamp": 1766137036.0485268,
+    "position": {
+      "x": 0.12603725441642347,
+      "y": 0.021147857946572535,
+      "z": 0.005099918086706498
+    },
+    "orientation": {
+      "x": -0.6509632139599032,
+      "y": -0.4472035926575137,
+      "z": -0.13101300062897464,
+      "w": 0.5992423837241473
+    }
+  },
+  {
+    "timestamp": 1766137036.1812167,
+    "position": {
+      "x": 0.12656224853922526,
+      "y": 0.019267400220362996,
+      "z": 0.005753632325369566
+    },
+    "orientation": {
+      "x": -0.6407681698887441,
+      "y": -0.4415252712390018,
+      "z": -0.12139598129112787,
+      "w": 0.6162260973385657
+    }
+  },
+  {
+    "timestamp": 1766137036.3139079,
+    "position": {
+      "x": 0.1275426854866485,
+      "y": 0.017299370156514948,
+      "z": 0.007176219535779987
+    },
+    "orientation": {
+      "x": -0.6300993403191321,
+      "y": -0.4341787972436284,
+      "z": -0.11095535532084916,
+      "w": 0.6341549514740816
+    }
+  },
+  {
+    "timestamp": 1766137036.4465978,
+    "position": {
+      "x": 0.1280351634669691,
+      "y": 0.01635375369585984,
+      "z": 0.008167899815097149
+    },
+    "orientation": {
+      "x": -0.6209545964725993,
+      "y": -0.4284201074382632,
+      "z": -0.10300083137375038,
+      "w": 0.6482765068999914
+    }
+  },
+  {
+    "timestamp": 1766137036.5792878,
+    "position": {
+      "x": 0.12740453327984508,
+      "y": 0.016007172710594902,
+      "z": 0.008404424362147334
+    },
+    "orientation": {
+      "x": -0.6164002587963404,
+      "y": -0.4228136994787689,
+      "z": -0.09770960239301713,
+      "w": 0.6570632618622655
+    }
+  },
+  {
+    "timestamp": 1766137036.7119777,
+    "position": {
+      "x": 0.12693957481535145,
+      "y": 0.01514526563406865,
+      "z": 0.008170846733821457
+    },
+    "orientation": {
+      "x": -0.6127117502696542,
+      "y": -0.42031306066066354,
+      "z": -0.09549425708733306,
+      "w": 0.6624213832470242
+    }
+  }
+]
\ No newline at end of file
diff --git a/recorded_gelsight_pose/episode_78/session_info.json b/recorded_gelsight_pose/episode_78/session_info.json
new file mode 100644
index 0000000000000000000000000000000000000000..a3a1de51b32e27720204655969cf0a766bbb098c
--- /dev/null
+++ b/recorded_gelsight_pose/episode_78/session_info.json
@@ -0,0 +1,12 @@
+{
+  "session_id": 28,
+  "start_time": "2025-12-19T21:12:53.850634",
+  "ros_start_time": 1766149973.8506496,
+  "image_topic": "/gelsight_img",
+  "pose_topic": "/pose",
+  "image_format": "png",
+  "end_time": "2025-12-19T21:12:58.078681",
+  "ros_end_time": 1766149978.078689,
+  "total_images": 106,
+  "total_pose_frames": 32
+}
\ No newline at end of file
diff --git a/recorded_gelsight_pose/episode_79/image_index.json b/recorded_gelsight_pose/episode_79/image_index.json
new file mode 100644
index 0000000000000000000000000000000000000000..3215c99bab0e88ec2a82ae8ef245459122c25d83
--- /dev/null
+++ b/recorded_gelsight_pose/episode_79/image_index.json
@@ -0,0 +1,422 @@
+[
+  {
+    "timestamp": 1766149978.8188894,
+    "filename": "img_000000.png"
+  },
+  {
+    "timestamp": 1766149978.8603299,
+    "filename": "img_000001.png"
+  },
+  {
+    "timestamp": 1766149978.8986156,
+    "filename": "img_000002.png"
+  },
+  {
+    "timestamp": 1766149978.940634,
+    "filename": "img_000003.png"
+  },
+  {
+    "timestamp": 1766149978.9810236,
+    "filename": "img_000004.png"
+  },
+  {
+    "timestamp": 1766149979.016373,
+    "filename": "img_000005.png"
+  },
+  {
+    "timestamp": 1766149979.0567813,
+    "filename": "img_000006.png"
+  },
+  {
+    "timestamp": 1766149979.101087,
+    "filename": "img_000007.png"
+  },
+  {
+    "timestamp": 1766149979.1392634,
+    "filename": "img_000008.png"
+  },
+  {
+    "timestamp": 1766149979.1793723,
+    "filename": "img_000009.png"
+  },
+  {
+    "timestamp": 1766149979.2168167,
+    "filename": "img_000010.png"
+  },
+  {
+    "timestamp": 1766149979.256107,
+    "filename": "img_000011.png"
+  },
+  {
+    "timestamp": 1766149979.2991009,
+    "filename": "img_000012.png"
+  },
+  {
+    "timestamp": 1766149979.337284,
+    "filename": "img_000013.png"
+  },
+  {
+    "timestamp": 1766149979.377588,
+    "filename": "img_000014.png"
+  },
+  {
+    "timestamp": 1766149979.4197626,
+    "filename": "img_000015.png"
+  },
+  {
+    "timestamp": 1766149979.4602063,
+    "filename": "img_000016.png"
+  },
+  {
+    "timestamp": 1766149979.4989796,
+    "filename": "img_000017.png"
+  },
+  {
+    "timestamp": 1766149979.5395198,
+    "filename": "img_000018.png"
+  },
+  {
+    "timestamp": 1766149979.5796177,
+    "filename": "img_000019.png"
+  },
+  {
+    "timestamp": 1766149979.6160476,
+    "filename": "img_000020.png"
+  },
+  {
+    "timestamp": 1766149979.657194,
+    "filename": "img_000021.png"
+  },
+  {
+    "timestamp": 1766149979.7012756,
+    "filename": "img_000022.png"
+  },
+  {
+    "timestamp": 1766149979.7376325,
+    "filename": "img_000023.png"
+  },
+  {
+    "timestamp": 1766149979.7781992,
+    "filename": "img_000024.png"
+  },
+  {
+    "timestamp": 1766149979.8162677,
+    "filename": "img_000025.png"
+  },
+  {
+    "timestamp": 1766149979.8575015,
+    "filename": "img_000026.png"
+  },
+  {
+    "timestamp": 1766149979.8984334,
+    "filename": "img_000027.png"
+  },
+  {
+    "timestamp": 1766149979.9417193,
+    "filename": "img_000028.png"
+  },
+  {
+    "timestamp": 1766149979.9791625,
+    "filename": "img_000029.png"
+  },
+  {
+    "timestamp": 1766149980.0189164,
+    "filename": "img_000030.png"
+  },
+  {
+    "timestamp": 1766149980.0616634,
+    "filename": "img_000031.png"
+  },
+  {
+    "timestamp": 1766149980.100685,
+    "filename": "img_000032.png"
+  },
+  {
+    "timestamp": 1766149980.1404204,
+    "filename": "img_000033.png"
+  },
+  {
+    "timestamp": 1766149980.1806412,
+    "filename": "img_000034.png"
+  },
+  {
+    "timestamp": 1766149980.2226875,
+    "filename": "img_000035.png"
+  },
+  {
+    "timestamp": 1766149980.2644901,
+    "filename": "img_000036.png"
+  },
+  {
+    "timestamp": 1766149980.299326,
+    "filename": "img_000037.png"
+  },
+  {
+    "timestamp": 1766149980.3403249,
+    "filename": "img_000038.png"
+  },
+  {
+    "timestamp": 1766149980.3801568,
+    "filename": "img_000039.png"
+  },
+  {
+    "timestamp": 1766149980.4173677,
+    "filename": "img_000040.png"
+  },
+  {
+    "timestamp": 1766149980.4585867,
+    "filename": "img_000041.png"
+  },
+  {
+    "timestamp": 1766149980.4999087,
+    "filename": "img_000042.png"
+  },
+  {
+    "timestamp": 1766149980.5397158,
+    "filename": "img_000043.png"
+  },
+  {
+    "timestamp": 1766149980.5815787,
+    "filename": "img_000044.png"
+  },
+  {
+    "timestamp": 1766149980.6168745,
+    "filename": "img_000045.png"
+  },
+  {
+    "timestamp": 1766149980.6606488,
+    "filename": "img_000046.png"
+  },
+  {
+    "timestamp": 1766149980.7004223,
+    "filename": "img_000047.png"
+  },
+  {
+    "timestamp": 1766149980.741238,
+    "filename": "img_000048.png"
+  },
+  {
+    "timestamp": 1766149980.7772403,
+    "filename": "img_000049.png"
+  },
+  {
+    "timestamp": 1766149980.8163514,
+    "filename": "img_000050.png"
+  },
+  {
+    "timestamp": 1766149980.8626206,
+    "filename": "img_000051.png"
+  },
+  {
+    "timestamp": 1766149980.8985348,
+    "filename": "img_000052.png"
+  },
+  {
+    "timestamp": 1766149980.9379342,
+    "filename": "img_000053.png"
+  },
+  {
+    "timestamp": 1766149980.9789555,
+    "filename": "img_000054.png"
+  },
+  {
+    "timestamp": 1766149981.016776,
+    "filename": "img_000055.png"
+  },
+  {
+    "timestamp": 1766149981.0581248,
+    "filename": "img_000056.png"
+  },
+  {
+    "timestamp": 1766149981.0975983,
+    "filename": "img_000057.png"
+  },
+  {
+    "timestamp": 1766149981.138254,
+    "filename": "img_000058.png"
+  },
+  {
+    "timestamp": 1766149981.178056,
+    "filename": "img_000059.png"
+  },
+  {
+    "timestamp": 1766149981.2174065,
+    "filename": "img_000060.png"
+  },
+  {
+    "timestamp": 1766149981.2562296,
+    "filename": "img_000061.png"
+  },
+  {
+    "timestamp": 1766149981.297602,
+    "filename": "img_000062.png"
+  },
+  {
+    "timestamp": 1766149981.3396788,
+    "filename": "img_000063.png"
+  },
+  {
+    "timestamp": 1766149981.3776965,
+    "filename": "img_000064.png"
+  },
+  {
+    "timestamp": 1766149981.4155931,
+    "filename": "img_000065.png"
+  },
+  {
+    "timestamp": 1766149981.4571216,
+    "filename": "img_000066.png"
+  },
+  {
+    "timestamp": 1766149981.498121,
+    "filename": "img_000067.png"
+  },
+  {
+    "timestamp": 1766149981.5379963,
+    "filename": "img_000068.png"
+  },
+  {
+    "timestamp": 1766149981.5794668,
+    "filename": "img_000069.png"
+  },
+  {
+    "timestamp": 1766149981.6165586,
+    "filename": "img_000070.png"
+  },
+  {
+    "timestamp": 1766149981.6593149,
+    "filename": "img_000071.png"
+  },
+  {
+    "timestamp": 1766149981.7023022,
+    "filename": "img_000072.png"
+  },
+  {
+    "timestamp": 1766149981.737434,
+    "filename": "img_000073.png"
+  },
+  {
+    "timestamp": 1766149981.7777116,
+    "filename": "img_000074.png"
+  },
+  {
+    "timestamp": 1766149981.8170943,
+    "filename": "img_000075.png"
+  },
+  {
+    "timestamp": 1766149981.8578517,
+    "filename": "img_000076.png"
+  },
+  {
+    "timestamp": 1766149981.8978832,
+    "filename": "img_000077.png"
+  },
+  {
+    "timestamp": 1766149981.9385023,
+    "filename": "img_000078.png"
+  },
+  {
+    "timestamp": 1766149981.9786317,
+    "filename": "img_000079.png"
+  },
+  {
+    "timestamp": 1766149982.0164537,
+    "filename": "img_000080.png"
+  },
+  {
+    "timestamp": 1766149982.0577152,
+    "filename": "img_000081.png"
+  },
+  {
+    "timestamp": 1766149982.0984533,
+    "filename": "img_000082.png"
+  },
+  {
+    "timestamp": 1766149982.1385517,
+    "filename": "img_000083.png"
+  },
+  {
+    "timestamp": 1766149982.177529,
+    "filename": "img_000084.png"
+  },
+  {
+    "timestamp": 1766149982.2162895,
+    "filename": "img_000085.png"
+  },
+  {
+    "timestamp": 1766149982.256774,
+    "filename": "img_000086.png"
+  },
+  {
+    "timestamp": 1766149982.2986867,
+    "filename": "img_000087.png"
+  },
+  {
+    "timestamp": 1766149982.337657,
+    "filename": "img_000088.png"
+  },
+  {
+    "timestamp": 1766149982.3773148,
+    "filename": "img_000089.png"
+  },
+  {
+    "timestamp": 1766149982.4157646,
+    "filename": "img_000090.png"
+  },
+  {
+    "timestamp": 1766149982.4590585,
+    "filename": "img_000091.png"
+  },
+  {
+    "timestamp": 1766149982.4984305,
+    "filename": "img_000092.png"
+  },
+  {
+    "timestamp": 1766149982.5373147,
+    "filename": "img_000093.png"
+  },
+  {
+    "timestamp": 1766149982.5778408,
+    "filename": "img_000094.png"
+  },
+  {
+    "timestamp": 1766149982.616668,
+    "filename": "img_000095.png"
+  },
+  {
+    "timestamp": 1766149982.6580338,
+    "filename": "img_000096.png"
+  },
+  {
+    "timestamp": 1766149982.7009244,
+    "filename": "img_000097.png"
+  },
+  {
+    "timestamp": 1766149982.7372231,
+    "filename": "img_000098.png"
+  },
+  {
+    "timestamp": 1766149982.7788684,
+    "filename": "img_000099.png"
+  },
+  {
+    "timestamp": 1766149982.821069,
+    "filename": "img_000100.png"
+  },
+  {
+    "timestamp": 1766149982.8573623,
+    "filename": "img_000101.png"
+  },
+  {
+    "timestamp": 1766149982.897752,
+    "filename": "img_000102.png"
+  },
+  {
+    "timestamp": 1766149982.9394627,
+    "filename": "img_000103.png"
+  },
+  {
+    "timestamp": 1766149982.9772496,
+    "filename": "img_000104.png"
+  }
+]
\ No newline at end of file
diff --git a/recorded_gelsight_pose/episode_79/pose_data.json b/recorded_gelsight_pose/episode_79/pose_data.json
new file mode 100644
index 0000000000000000000000000000000000000000..af35ab570226488dfd6898237630e57c102ed84a
--- /dev/null
+++ b/recorded_gelsight_pose/episode_79/pose_data.json
@@ -0,0 +1,450 @@
+[
+  {
+    "timestamp": 1766137037.5081177,
+    "position": {
+      "x": 0.13144322156456295,
+      "y": 0.018639202781124853,
+      "z": 0.017026323944047017
+    },
+    "orientation": {
+      "x": -0.6410741567536111,
+      "y": -0.43927831691687286,
+      "z": -0.10277422809621004,
+      "w": 0.6208831966389122
+    }
+  },
+  {
+    "timestamp": 1766137037.6408088,
+    "position": {
+      "x": 0.134697116613705,
+      "y": 0.01718386414100162,
+      "z": 0.018882583372874476
+    },
+    "orientation": {
+      "x": -0.645420355955874,
+      "y": -0.4500579967950552,
+      "z": -0.10024263623339956,
+      "w": 0.6089595861135557
+    }
+  },
+  {
+    "timestamp": 1766137037.7734988,
+    "position": {
+      "x": 0.13404607362488774,
+      "y": 0.01816281568356759,
+      "z": 0.01862262723071139
+    },
+    "orientation": {
+      "x": -0.656615152269305,
+      "y": -0.4563808886473351,
+      "z": -0.10835048782215735,
+      "w": 0.590621027458832
+    }
+  },
+  {
+    "timestamp": 1766137037.9061887,
+    "position": {
+      "x": 0.13255946343992353,
+      "y": 0.019862675933330243,
+      "z": 0.017960600544839347
+    },
+    "orientation": {
+      "x": -0.6624695528657703,
+      "y": -0.45889426452586074,
+      "z": -0.11466843611784781,
+      "w": 0.5808625442128136
+    }
+  },
+  {
+    "timestamp": 1766137038.0388787,
+    "position": {
+      "x": 0.13221626681503384,
+      "y": 0.019638854070631928,
+      "z": 0.018404204240399062
+    },
+    "orientation": {
+      "x": -0.6659822897956881,
+      "y": -0.46206259836615393,
+      "z": -0.11702517454883656,
+      "w": 0.5738212730384129
+    }
+  },
+  {
+    "timestamp": 1766137038.1715689,
+    "position": {
+      "x": 0.1309582470726782,
+      "y": 0.02125542641079184,
+      "z": 0.01569474355270837
+    },
+    "orientation": {
+      "x": -0.6819511666852847,
+      "y": -0.47257530176479384,
+      "z": -0.13375018580748882,
+      "w": 0.5419650156744024
+    }
+  },
+  {
+    "timestamp": 1766137038.3042588,
+    "position": {
+      "x": 0.13045768081473233,
+      "y": 0.02390499021463241,
+      "z": 0.01095054529860192
+    },
+    "orientation": {
+      "x": 0.7018550627039917,
+      "y": 0.4894170521341213,
+      "z": 0.1602898557367752,
+      "w": -0.49211541551246524
+    }
+  },
+  {
+    "timestamp": 1766137038.4369488,
+    "position": {
+      "x": 0.13118221545203776,
+      "y": 0.025345365246745438,
+      "z": 0.008919935421488945
+    },
+    "orientation": {
+      "x": 0.716264202845582,
+      "y": 0.5001691069937328,
+      "z": 0.1768227626869657,
+      "w": -0.45335435006937314
+    }
+  },
+  {
+    "timestamp": 1766137038.5696387,
+    "position": {
+      "x": 0.13071364433847293,
+      "y": 0.02701435061944943,
+      "z": 0.004831089909095337
+    },
+    "orientation": {
+      "x": 0.7290632108714736,
+      "y": 0.5096958456130316,
+      "z": 0.1949729330589646,
+      "w": -0.4131132228493519
+    }
+  },
+  {
+    "timestamp": 1766137038.7023287,
+    "position": {
+      "x": 0.129484313938814,
+      "y": 0.029393976453483933,
+      "z": 0.0009042134273394287
+    },
+    "orientation": {
+      "x": 0.7405693203113511,
+      "y": 0.5160567173746811,
+      "z": 0.21602308545630475,
+      "w": -0.37225874444529844
+    }
+  },
+  {
+    "timestamp": 1766137038.8350198,
+    "position": {
+      "x": 0.1289963511853234,
+      "y": 0.02969561076589347,
+      "z": -0.0015082771143982432
+    },
+    "orientation": {
+      "x": 0.7496258991598128,
+      "y": 0.5220857737683713,
+      "z": 0.23153034902154643,
+      "w": -0.3344864027422999
+    }
+  },
+  {
+    "timestamp": 1766137038.9677098,
+    "position": {
+      "x": 0.12950611632732328,
+      "y": 0.030856529486881168,
+      "z": -0.002684831944610472
+    },
+    "orientation": {
+      "x": 0.7563329761764827,
+      "y": 0.5271043484738248,
+      "z": 0.2403167091732425,
+      "w": -0.3039232045437661
+    }
+  },
+  {
+    "timestamp": 1766137039.1003997,
+    "position": {
+      "x": 0.12888512597764198,
+      "y": 0.03158498736592538,
+      "z": -0.005160735961176402
+    },
+    "orientation": {
+      "x": 0.7608938497190488,
+      "y": 0.529183038604242,
+      "z": 0.25089263954114316,
+      "w": -0.2793899506735787
+    }
+  },
+  {
+    "timestamp": 1766137039.2330897,
+    "position": {
+      "x": 0.12844484319513436,
+      "y": 0.03132767521848159,
+      "z": -0.0070783068724211695
+    },
+    "orientation": {
+      "x": 0.7635193957655275,
+      "y": 0.5312089001129494,
+      "z": 0.25880505162946577,
+      "w": -0.2605286586571691
+    }
+  },
+  {
+    "timestamp": 1766137039.3657799,
+    "position": {
+      "x": 0.1287935897136023,
+      "y": 0.03185214708226716,
+      "z": -0.007352243904014635
+    },
+    "orientation": {
+      "x": 0.7657186092799653,
+      "y": 0.5306978674904242,
+      "z": 0.26112639229642604,
+      "w": -0.2526812064434646
+    }
+  },
+  {
+    "timestamp": 1766137039.4984698,
+    "position": {
+      "x": 0.13019171962712284,
+      "y": 0.031104570873590448,
+      "z": -0.004989053572052302
+    },
+    "orientation": {
+      "x": 0.7650270618624561,
+      "y": 0.5310498949858715,
+      "z": 0.25581493013084267,
+      "w": -0.2593806569036034
+    }
+  },
+  {
+    "timestamp": 1766137039.6311598,
+    "position": {
+      "x": 0.13064554408738044,
+      "y": 0.03087415277520089,
+      "z": -0.003182558202704827
+    },
+    "orientation": {
+      "x": 0.760508218296684,
+      "y": 0.5294618891047146,
+      "z": 0.24686274739304975,
+      "w": -0.28347158912036535
+    }
+  },
+  {
+    "timestamp": 1766137039.7638497,
+    "position": {
+      "x": 0.13094242514009177,
+      "y": 0.029742836894797536,
+      "z": -0.0011350284946763517
+    },
+    "orientation": {
+      "x": 0.7542950572942232,
+      "y": 0.5263939597122569,
+      "z": 0.23535085441316497,
+      "w": -0.31394002778707397
+    }
+  },
+  {
+    "timestamp": 1766137039.8965397,
+    "position": {
+      "x": 0.13062702664920883,
+      "y": 0.02933363286927329,
+      "z": 0.0010662600072918749
+    },
+    "orientation": {
+      "x": 0.7478456831773576,
+      "y": 0.5210107851425543,
+      "z": 0.22340949319328976,
+      "w": -0.3454892100619755
+    }
+  },
+  {
+    "timestamp": 1766137040.0292308,
+    "position": {
+      "x": 0.13101548050537373,
+      "y": 0.027576868197827703,
+      "z": 0.0038463727757545724
+    },
+    "orientation": {
+      "x": 0.736301103913601,
+      "y": 0.5139664621387792,
+      "z": 0.20436261413715504,
+      "w": -0.38978850947044025
+    }
+  },
+  {
+    "timestamp": 1766137040.1619208,
+    "position": {
+      "x": 0.13112412757729563,
+      "y": 0.02548100722521593,
+      "z": 0.008127636247552139
+    },
+    "orientation": {
+      "x": 0.7205892850806904,
+      "y": 0.5014706348396746,
+      "z": 0.181725573769729,
+      "w": -0.4430057566877161
+    }
+  },
+  {
+    "timestamp": 1766137040.2946107,
+    "position": {
+      "x": 0.13157559416255776,
+      "y": 0.02315085279550233,
+      "z": 0.009842317655977838
+    },
+    "orientation": {
+      "x": 0.7041837413393177,
+      "y": 0.4910815737769621,
+      "z": 0.16269124580531405,
+      "w": -0.48630824059275174
+    }
+  },
+  {
+    "timestamp": 1766137040.4273007,
+    "position": {
+      "x": 0.13239897756042385,
+      "y": 0.020935349705920564,
+      "z": 0.010712344856398305
+    },
+    "orientation": {
+      "x": -0.6885100546466401,
+      "y": -0.48294142613337626,
+      "z": -0.14819188147500584,
+      "w": 0.5203466631387574
+    }
+  },
+  {
+    "timestamp": 1766137040.559991,
+    "position": {
+      "x": 0.13437461142923296,
+      "y": 0.018948297499666755,
+      "z": 0.015981247068478886
+    },
+    "orientation": {
+      "x": -0.6701734772599972,
+      "y": -0.4709511820335906,
+      "z": -0.1235494626540905,
+      "w": 0.5601857056336702
+    }
+  },
+  {
+    "timestamp": 1766137040.6926808,
+    "position": {
+      "x": 0.13368918335046875,
+      "y": 0.01820485339330835,
+      "z": 0.018388481378178
+    },
+    "orientation": {
+      "x": -0.6588621951161682,
+      "y": -0.45856862185077535,
+      "z": -0.10956308640461303,
+      "w": 0.5861837229044151
+    }
+  },
+  {
+    "timestamp": 1766137040.8253708,
+    "position": {
+      "x": 0.1351388824740316,
+      "y": 0.016836080835945427,
+      "z": 0.019963024448976033
+    },
+    "orientation": {
+      "x": -0.6494193179328339,
+      "y": -0.4530045755603005,
+      "z": -0.09943006289180843,
+      "w": 0.6026234866070321
+    }
+  },
+  {
+    "timestamp": 1766137040.9580607,
+    "position": {
+      "x": 0.13547423303697007,
+      "y": 0.015301692827897895,
+      "z": 0.021265074584113988
+    },
+    "orientation": {
+      "x": -0.6389779348921606,
+      "y": -0.4446542601243697,
+      "z": -0.0893517395619908,
+      "w": 0.6212938550407892
+    }
+  },
+  {
+    "timestamp": 1766137041.0907507,
+    "position": {
+      "x": 0.13740532373553907,
+      "y": 0.01375749510101626,
+      "z": 0.022745333689901427
+    },
+    "orientation": {
+      "x": -0.6255210802210435,
+      "y": -0.43761770659842775,
+      "z": -0.07559502065198558,
+      "w": 0.641482278728927
+    }
+  },
+  {
+    "timestamp": 1766137041.2234418,
+    "position": {
+      "x": 0.13837314741702866,
+      "y": 0.011769142269061617,
+      "z": 0.023136183042390623
+    },
+    "orientation": {
+      "x": -0.6127617025256906,
+      "y": -0.430047872916564,
+      "z": -0.06524740633780304,
+      "w": 0.6597914055850875
+    }
+  },
+  {
+    "timestamp": 1766137041.3561318,
+    "position": {
+      "x": 0.13996452765263348,
+      "y": 0.009993510027508451,
+      "z": 0.02406721740642377
+    },
+    "orientation": {
+      "x": -0.5995724625507354,
+      "y": -0.421907709372829,
+      "z": -0.053939130720119695,
+      "w": 0.6779360715434585
+    }
+  },
+  {
+    "timestamp": 1766137041.4888217,
+    "position": {
+      "x": 0.1419831398835817,
+      "y": 0.007829680739663947,
+      "z": 0.026058872540922956
+    },
+    "orientation": {
+      "x": -0.5845564388545712,
+      "y": -0.4133414586434881,
+      "z": -0.039118301677571,
+      "w": 0.6970741472999828
+    }
+  },
+  {
+    "timestamp": 1766137041.6215117,
+    "position": {
+      "x": 0.1433811562494655,
+      "y": 0.005747399658429242,
+      "z": 0.026708680287843754
+    },
+    "orientation": {
+      "x": -0.571927250044162,
+      "y": -0.40578413409615055,
+      "z": -0.02794051214128546,
+      "w": 0.7123607126688295
+    }
+  }
+]
\ No newline at end of file
diff --git a/recorded_gelsight_pose/episode_79/session_info.json b/recorded_gelsight_pose/episode_79/session_info.json
new file mode 100644
index 0000000000000000000000000000000000000000..3643bf88fc87bb96e9498add20f31504fc4aa158
--- /dev/null
+++ b/recorded_gelsight_pose/episode_79/session_info.json
@@ -0,0 +1,12 @@
+{
+  "session_id": 29,
+  "start_time": "2025-12-19T21:12:58.808446",
+  "ros_start_time": 1766149978.8084736,
+  "image_topic": "/gelsight_img",
+  "pose_topic": "/pose",
+  "image_format": "png",
+  "end_time": "2025-12-19T21:13:03.022310",
+  "ros_end_time": 1766149983.0223286,
+  "total_images": 105,
+  "total_pose_frames": 32
+}
\ No newline at end of file
diff --git a/recorded_gelsight_pose/episode_82/image_index.json b/recorded_gelsight_pose/episode_82/image_index.json
new file mode 100644
index 0000000000000000000000000000000000000000..7c67f5de67dfd8264ab6d6f217740bf8b53071d1
--- /dev/null
+++ b/recorded_gelsight_pose/episode_82/image_index.json
@@ -0,0 +1,442 @@
+[
+  {
+    "timestamp": 1766149993.2260084,
+    "filename": "img_000000.png"
+  },
+  {
+    "timestamp": 1766149993.2635672,
+    "filename": "img_000001.png"
+  },
+  {
+    "timestamp": 1766149993.299493,
+    "filename": "img_000002.png"
+  },
+  {
+    "timestamp": 1766149993.3385475,
+    "filename": "img_000003.png"
+  },
+  {
+    "timestamp": 1766149993.3777664,
+    "filename": "img_000004.png"
+  },
+  {
+    "timestamp": 1766149993.416484,
+    "filename": "img_000005.png"
+  },
+  {
+    "timestamp": 1766149993.4575768,
+    "filename": "img_000006.png"
+  },
+  {
+    "timestamp": 1766149993.4984381,
+    "filename": "img_000007.png"
+  },
+  {
+    "timestamp": 1766149993.5374854,
+    "filename": "img_000008.png"
+  },
+  {
+    "timestamp": 1766149993.5789099,
+    "filename": "img_000009.png"
+  },
+  {
+    "timestamp": 1766149993.6171482,
+    "filename": "img_000010.png"
+  },
+  {
+    "timestamp": 1766149993.659559,
+    "filename": "img_000011.png"
+  },
+  {
+    "timestamp": 1766149993.697561,
+    "filename": "img_000012.png"
+  },
+  {
+    "timestamp": 1766149993.7368453,
+    "filename": "img_000013.png"
+  },
+  {
+    "timestamp": 1766149993.7772446,
+    "filename": "img_000014.png"
+  },
+  {
+    "timestamp": 1766149993.8322704,
+    "filename": "img_000015.png"
+  },
+  {
+    "timestamp": 1766149993.8697321,
+    "filename": "img_000016.png"
+  },
+  {
+    "timestamp": 1766149993.899919,
+    "filename": "img_000017.png"
+  },
+  {
+    "timestamp": 1766149993.938079,
+    "filename": "img_000018.png"
+  },
+  {
+    "timestamp": 1766149993.9812562,
+    "filename": "img_000019.png"
+  },
+  {
+    "timestamp": 1766149994.022579,
+    "filename": "img_000020.png"
+  },
+  {
+    "timestamp": 1766149994.0586154,
+    "filename": "img_000021.png"
+  },
+  {
+    "timestamp": 1766149994.0973423,
+    "filename": "img_000022.png"
+  },
+  {
+    "timestamp": 1766149994.1401107,
+    "filename": "img_000023.png"
+  },
+  {
+    "timestamp": 1766149994.1785066,
+    "filename": "img_000024.png"
+  },
+  {
+    "timestamp": 1766149994.2179637,
+    "filename": "img_000025.png"
+  },
+  {
+    "timestamp": 1766149994.2567954,
+    "filename": "img_000026.png"
+  },
+  {
+    "timestamp": 1766149994.3004634,
+    "filename": "img_000027.png"
+  },
+  {
+    "timestamp": 1766149994.3385937,
+    "filename": "img_000028.png"
+  },
+  {
+    "timestamp": 1766149994.3783119,
+    "filename": "img_000029.png"
+  },
+  {
+    "timestamp": 1766149994.4198334,
+    "filename": "img_000030.png"
+  },
+  {
+    "timestamp": 1766149994.4622447,
+    "filename": "img_000031.png"
+  },
+  {
+    "timestamp": 1766149994.500183,
+    "filename": "img_000032.png"
+  },
+  {
+    "timestamp": 1766149994.5394993,
+    "filename": "img_000033.png"
+  },
+  {
+    "timestamp": 1766149994.579424,
+    "filename": "img_000034.png"
+  },
+  {
+    "timestamp": 1766149994.6219714,
+    "filename": "img_000035.png"
+  },
+  {
+    "timestamp": 1766149994.6595843,
+    "filename": "img_000036.png"
+  },
+  {
+    "timestamp": 1766149994.7005568,
+    "filename": "img_000037.png"
+  },
+  {
+    "timestamp": 1766149994.7406683,
+    "filename": "img_000038.png"
+  },
+  {
+    "timestamp": 1766149994.7821105,
+    "filename": "img_000039.png"
+  },
+  {
+    "timestamp": 1766149994.8207219,
+    "filename": "img_000040.png"
+  },
+  {
+    "timestamp": 1766149994.8628364,
+    "filename": "img_000041.png"
+  },
+  {
+    "timestamp": 1766149994.9015808,
+    "filename": "img_000042.png"
+  },
+  {
+    "timestamp": 1766149994.9435935,
+    "filename": "img_000043.png"
+  },
+  {
+    "timestamp": 1766149994.9815204,
+    "filename": "img_000044.png"
+  },
+  {
+    "timestamp": 1766149995.0206764,
+    "filename": "img_000045.png"
+  },
+  {
+    "timestamp": 1766149995.0610747,
+    "filename": "img_000046.png"
+  },
+  {
+    "timestamp": 1766149995.1015034,
+    "filename": "img_000047.png"
+  },
+  {
+    "timestamp": 1766149995.1391134,
+    "filename": "img_000048.png"
+  },
+  {
+    "timestamp": 1766149995.1780114,
+    "filename": "img_000049.png"
+  },
+  {
+    "timestamp": 1766149995.2177029,
+    "filename": "img_000050.png"
+  },
+  {
+    "timestamp": 1766149995.2580595,
+    "filename": "img_000051.png"
+  },
+  {
+    "timestamp": 1766149995.298765,
+    "filename": "img_000052.png"
+  },
+  {
+    "timestamp": 1766149995.33901,
+    "filename": "img_000053.png"
+  },
+  {
+    "timestamp": 1766149995.3792255,
+    "filename": "img_000054.png"
+  },
+  {
+    "timestamp": 1766149995.41806,
+    "filename": "img_000055.png"
+  },
+  {
+    "timestamp": 1766149995.4579136,
+    "filename": "img_000056.png"
+  },
+  {
+    "timestamp": 1766149995.499184,
+    "filename": "img_000057.png"
+  },
+  {
+    "timestamp": 1766149995.5371256,
+    "filename": "img_000058.png"
+  },
+  {
+    "timestamp": 1766149995.577815,
+    "filename": "img_000059.png"
+  },
+  {
+    "timestamp": 1766149995.6172829,
+    "filename": "img_000060.png"
+  },
+  {
+    "timestamp": 1766149995.657442,
+    "filename": "img_000061.png"
+  },
+  {
+    "timestamp": 1766149995.6988726,
+    "filename": "img_000062.png"
+  },
+  {
+    "timestamp": 1766149995.7377195,
+    "filename": "img_000063.png"
+  },
+  {
+    "timestamp": 1766149995.7781074,
+    "filename": "img_000064.png"
+  },
+  {
+    "timestamp": 1766149995.816835,
+    "filename": "img_000065.png"
+  },
+  {
+    "timestamp": 1766149995.8562071,
+    "filename": "img_000066.png"
+  },
+  {
+    "timestamp": 1766149995.899929,
+    "filename": "img_000067.png"
+  },
+  {
+    "timestamp": 1766149995.938143,
+    "filename": "img_000068.png"
+  },
+  {
+    "timestamp": 1766149995.978807,
+    "filename": "img_000069.png"
+  },
+  {
+    "timestamp": 1766149996.0179374,
+    "filename": "img_000070.png"
+  },
+  {
+    "timestamp": 1766149996.0579138,
+    "filename": "img_000071.png"
+  },
+  {
+    "timestamp": 1766149996.0980453,
+    "filename": "img_000072.png"
+  },
+  {
+    "timestamp": 1766149996.1371899,
+    "filename": "img_000073.png"
+  },
+  {
+    "timestamp": 1766149996.1774592,
+    "filename": "img_000074.png"
+  },
+  {
+    "timestamp": 1766149996.2179515,
+    "filename": "img_000075.png"
+  },
+  {
+    "timestamp": 1766149996.2580087,
+    "filename": "img_000076.png"
+  },
+  {
+    "timestamp": 1766149996.299151,
+    "filename": "img_000077.png"
+  },
+  {
+    "timestamp": 1766149996.3382287,
+    "filename": "img_000078.png"
+  },
+  {
+    "timestamp": 1766149996.3793247,
+    "filename": "img_000079.png"
+  },
+  {
+    "timestamp": 1766149996.4188082,
+    "filename": "img_000080.png"
+  },
+  {
+    "timestamp": 1766149996.4588647,
+    "filename": "img_000081.png"
+  },
+  {
+    "timestamp": 1766149996.499073,
+    "filename": "img_000082.png"
+  },
+  {
+    "timestamp": 1766149996.538706,
+    "filename": "img_000083.png"
+  },
+  {
+    "timestamp": 1766149996.5812483,
+    "filename": "img_000084.png"
+  },
+  {
+    "timestamp": 1766149996.6177337,
+    "filename": "img_000085.png"
+  },
+  {
+    "timestamp": 1766149996.6575086,
+    "filename": "img_000086.png"
+  },
+  {
+    "timestamp": 1766149996.700708,
+    "filename": "img_000087.png"
+  },
+  {
+    "timestamp": 1766149996.736885,
+    "filename": "img_000088.png"
+  },
+  {
+    "timestamp": 1766149996.7774575,
+    "filename": "img_000089.png"
+  },
+  {
+    "timestamp": 1766149996.817019,
+    "filename": "img_000090.png"
+  },
+  {
+    "timestamp": 1766149996.8570237,
+    "filename": "img_000091.png"
+  },
+  {
+    "timestamp": 1766149996.8982337,
+    "filename": "img_000092.png"
+  },
+  {
+    "timestamp": 1766149996.9377298,
+    "filename": "img_000093.png"
+  },
+  {
+    "timestamp": 1766149996.9775312,
+    "filename": "img_000094.png"
+  },
+  {
+    "timestamp": 1766149997.017818,
+    "filename": "img_000095.png"
+  },
+  {
+    "timestamp": 1766149997.057449,
+    "filename": "img_000096.png"
+  },
+  {
+    "timestamp": 1766149997.097114,
+    "filename": "img_000097.png"
+  },
+  {
+    "timestamp": 1766149997.1370842,
+    "filename": "img_000098.png"
+  },
+  {
+    "timestamp": 1766149997.1780944,
+    "filename": "img_000099.png"
+  },
+  {
+    "timestamp": 1766149997.2241614,
+    "filename": "img_000100.png"
+  },
+  {
+    "timestamp": 1766149997.2569098,
+    "filename": "img_000101.png"
+  },
+  {
+    "timestamp": 1766149997.2977853,
+    "filename": "img_000102.png"
+  },
+  {
+    "timestamp": 1766149997.3383393,
+    "filename": "img_000103.png"
+  },
+  {
+    "timestamp": 1766149997.3782,
+    "filename": "img_000104.png"
+  },
+  {
+    "timestamp": 1766149997.417092,
+    "filename": "img_000105.png"
+  },
+  {
+    "timestamp": 1766149997.4575875,
+    "filename": "img_000106.png"
+  },
+  {
+    "timestamp": 1766149997.4997303,
+    "filename": "img_000107.png"
+  },
+  {
+    "timestamp": 1766149997.5375266,
+    "filename": "img_000108.png"
+  },
+  {
+    "timestamp": 1766149997.579307,
+    "filename": "img_000109.png"
+  }
+]
\ No newline at end of file
diff --git a/recorded_gelsight_pose/episode_82/pose_data.json b/recorded_gelsight_pose/episode_82/pose_data.json
new file mode 100644
index 0000000000000000000000000000000000000000..2670159f61245a654b64ef31bea5fb2efa048bcc
--- /dev/null
+++ b/recorded_gelsight_pose/episode_82/pose_data.json
@@ -0,0 +1,450 @@
+[
+  {
+    "timestamp": 1766137051.9381678,
+    "position": {
+      "x": 0.1369950928712104,
+      "y": 0.014562676491439469,
+      "z": 0.013864261546968626
+    },
+    "orientation": {
+      "x": -0.6363653150530731,
+      "y": -0.4562260062197805,
+      "z": -0.10263560020756182,
+      "w": 0.6134842708792013
+    }
+  },
+  {
+    "timestamp": 1766137052.0708578,
+    "position": {
+      "x": 0.13692952531149166,
+      "y": 0.015738741489534386,
+      "z": 0.013307563966422194
+    },
+    "orientation": {
+      "x": -0.6434272882922838,
+      "y": -0.46178569762288413,
+      "z": -0.11006857236807265,
+      "w": 0.6005332659633761
+    }
+  },
+  {
+    "timestamp": 1766137052.2035477,
+    "position": {
+      "x": 0.13784657196398165,
+      "y": 0.017050407052548705,
+      "z": 0.015257613275447807
+    },
+    "orientation": {
+      "x": -0.6446183733808403,
+      "y": -0.4619123666449808,
+      "z": -0.10867905193081669,
+      "w": 0.5994105286960607
+    }
+  },
+  {
+    "timestamp": 1766137052.3362377,
+    "position": {
+      "x": 0.13938601914558793,
+      "y": 0.01575439406289844,
+      "z": 0.01779607098602308
+    },
+    "orientation": {
+      "x": -0.6446941766203873,
+      "y": -0.46563022122210856,
+      "z": -0.10386908238073302,
+      "w": 0.5973015397952659
+    }
+  },
+  {
+    "timestamp": 1766137052.4689279,
+    "position": {
+      "x": 0.1399276031470556,
+      "y": 0.013990888275863894,
+      "z": 0.02371484002527699
+    },
+    "orientation": {
+      "x": -0.6560641511269094,
+      "y": -0.47130591177028375,
+      "z": -0.09685323902033721,
+      "w": 0.5814378876782786
+    }
+  },
+  {
+    "timestamp": 1766137052.6016178,
+    "position": {
+      "x": 0.14024752338594917,
+      "y": 0.013299606231839872,
+      "z": 0.02382039760708092
+    },
+    "orientation": {
+      "x": -0.6689751568995568,
+      "y": -0.48276947517479685,
+      "z": -0.1036548726851999,
+      "w": 0.5555731640920747
+    }
+  },
+  {
+    "timestamp": 1766137052.7343078,
+    "position": {
+      "x": 0.13828944482130923,
+      "y": 0.01596935097410318,
+      "z": 0.019073959490637886
+    },
+    "orientation": {
+      "x": -0.6777964174895211,
+      "y": -0.48793822393197755,
+      "z": -0.12216711406759215,
+      "w": 0.5362681253858689
+    }
+  },
+  {
+    "timestamp": 1766137052.8669977,
+    "position": {
+      "x": 0.13663317863014043,
+      "y": 0.017884264066666433,
+      "z": 0.016683124432645705
+    },
+    "orientation": {
+      "x": -0.6933777138240893,
+      "y": -0.4972744067041541,
+      "z": -0.14006015690073476,
+      "w": 0.502323265296415
+    }
+  },
+  {
+    "timestamp": 1766137052.9996889,
+    "position": {
+      "x": 0.13482763245806256,
+      "y": 0.020994871610284405,
+      "z": 0.010503717611837542
+    },
+    "orientation": {
+      "x": 0.7078305230670046,
+      "y": 0.5079692718742093,
+      "z": 0.1662598448105854,
+      "w": -0.46184503185574743
+    }
+  },
+  {
+    "timestamp": 1766137053.1323788,
+    "position": {
+      "x": 0.13278353187609493,
+      "y": 0.024584057573273588,
+      "z": 0.006980198250222336
+    },
+    "orientation": {
+      "x": 0.7202228815625425,
+      "y": 0.5121757498441922,
+      "z": 0.1846982145135527,
+      "w": -0.4299320547491113
+    }
+  },
+  {
+    "timestamp": 1766137053.2650688,
+    "position": {
+      "x": 0.13308180410465098,
+      "y": 0.025431027829887293,
+      "z": 0.004716582470572883
+    },
+    "orientation": {
+      "x": 0.7303231589167073,
+      "y": 0.5208805047761121,
+      "z": 0.20017191514692134,
+      "w": -0.39400861371360674
+    }
+  },
+  {
+    "timestamp": 1766137053.3977587,
+    "position": {
+      "x": 0.1324245999070006,
+      "y": 0.02712453233467721,
+      "z": 0.0006840097159303282
+    },
+    "orientation": {
+      "x": 0.7419117813682042,
+      "y": 0.5286303481974406,
+      "z": 0.21989105029591466,
+      "w": -0.3489481188249482
+    }
+  },
+  {
+    "timestamp": 1766137053.5304487,
+    "position": {
+      "x": 0.13219774660704298,
+      "y": 0.02804516814591443,
+      "z": -0.0019172607894124838
+    },
+    "orientation": {
+      "x": 0.751906289368574,
+      "y": 0.5337592828039123,
+      "z": 0.2386606399403701,
+      "w": -0.30459655114903816
+    }
+  },
+  {
+    "timestamp": 1766137053.6631389,
+    "position": {
+      "x": 0.13204553442430672,
+      "y": 0.028462689375792938,
+      "z": -0.005694690853840945
+    },
+    "orientation": {
+      "x": 0.7612665367465291,
+      "y": 0.539621069492426,
+      "z": 0.255206909273369,
+      "w": -0.25328204604537213
+    }
+  },
+  {
+    "timestamp": 1766137053.7958288,
+    "position": {
+      "x": 0.13190933933481236,
+      "y": 0.029662286686696265,
+      "z": -0.010148975813825303
+    },
+    "orientation": {
+      "x": 0.7645348957854582,
+      "y": 0.5428544123084136,
+      "z": 0.27202948568414376,
+      "w": -0.21632253484559974
+    }
+  },
+  {
+    "timestamp": 1766137053.9285188,
+    "position": {
+      "x": 0.13215308969936385,
+      "y": 0.030040196443308714,
+      "z": -0.01128997506125505
+    },
+    "orientation": {
+      "x": 0.766584833504144,
+      "y": 0.5425376960131943,
+      "z": 0.27742554449449547,
+      "w": -0.20257247766676326
+    }
+  },
+  {
+    "timestamp": 1766137054.0612087,
+    "position": {
+      "x": 0.132351181372755,
+      "y": 0.029517947082047274,
+      "z": -0.008757395898588663
+    },
+    "orientation": {
+      "x": 0.7651780117184278,
+      "y": 0.542315801978184,
+      "z": 0.2699837564796992,
+      "w": -0.21795630879720648
+    }
+  },
+  {
+    "timestamp": 1766137054.1938999,
+    "position": {
+      "x": 0.1330322877172902,
+      "y": 0.02914059115563189,
+      "z": -0.0065836292435660915
+    },
+    "orientation": {
+      "x": 0.7617614419583675,
+      "y": 0.5407343929271418,
+      "z": 0.25903477754884857,
+      "w": -0.24541150313594268
+    }
+  },
+  {
+    "timestamp": 1766137054.3265898,
+    "position": {
+      "x": 0.13374702887408538,
+      "y": 0.02859643466449663,
+      "z": -0.004319379990627689
+    },
+    "orientation": {
+      "x": 0.7562067807962354,
+      "y": 0.5386376314871912,
+      "z": 0.24816652169646183,
+      "w": -0.2764673292321223
+    }
+  },
+  {
+    "timestamp": 1766137054.4592798,
+    "position": {
+      "x": 0.13298741823990948,
+      "y": 0.02778010385405566,
+      "z": -0.0019742730847429196
+    },
+    "orientation": {
+      "x": 0.7496341466176285,
+      "y": 0.5329277798843642,
+      "z": 0.23510701336825124,
+      "w": -0.31426313801883204
+    }
+  },
+  {
+    "timestamp": 1766137054.5919697,
+    "position": {
+      "x": 0.13295670956558642,
+      "y": 0.026779017775149516,
+      "z": 0.00031201649078951843
+    },
+    "orientation": {
+      "x": 0.7397709212531614,
+      "y": 0.5272100529309152,
+      "z": 0.21862319138848005,
+      "w": -0.3563599926253599
+    }
+  },
+  {
+    "timestamp": 1766137054.7246597,
+    "position": {
+      "x": 0.13398050918123902,
+      "y": 0.02513879910940761,
+      "z": 0.004109839766482007
+    },
+    "orientation": {
+      "x": 0.7305867178643556,
+      "y": 0.5203259086223413,
+      "z": 0.20079058006348666,
+      "w": -0.39393798935148644
+    }
+  },
+  {
+    "timestamp": 1766137054.8573499,
+    "position": {
+      "x": 0.1336577292107832,
+      "y": 0.023614532273276367,
+      "z": 0.006128966843615885
+    },
+    "orientation": {
+      "x": 0.7194506652189799,
+      "y": 0.5122919403907874,
+      "z": 0.18475737957508437,
+      "w": -0.4310596464750062
+    }
+  },
+  {
+    "timestamp": 1766137054.9900398,
+    "position": {
+      "x": 0.1341602439872001,
+      "y": 0.022825058765410827,
+      "z": 0.007564264483534755
+    },
+    "orientation": {
+      "x": 0.7070402455162245,
+      "y": 0.504531519656719,
+      "z": 0.17104642444337925,
+      "w": -0.4650646810696058
+    }
+  },
+  {
+    "timestamp": 1766137055.1227298,
+    "position": {
+      "x": 0.13468992972386623,
+      "y": 0.02000766435396492,
+      "z": 0.010997523428482363
+    },
+    "orientation": {
+      "x": -0.6929059210959178,
+      "y": -0.49533149638694873,
+      "z": -0.15212152185892489,
+      "w": 0.5013852169585864
+    }
+  },
+  {
+    "timestamp": 1766137055.2554197,
+    "position": {
+      "x": 0.13563061977549742,
+      "y": 0.018956663003366292,
+      "z": 0.012717978682531612
+    },
+    "orientation": {
+      "x": -0.6827855703437481,
+      "y": -0.489035117737707,
+      "z": -0.13907695767977188,
+      "w": 0.5246962153400462
+    }
+  },
+  {
+    "timestamp": 1766137055.3881109,
+    "position": {
+      "x": 0.13653021058488624,
+      "y": 0.017044960193090347,
+      "z": 0.01540891756170941
+    },
+    "orientation": {
+      "x": -0.6680183767698978,
+      "y": -0.47756529719004176,
+      "z": -0.12138490851388863,
+      "w": 0.5576275990323405
+    }
+  },
+  {
+    "timestamp": 1766137055.5208008,
+    "position": {
+      "x": 0.13734004652992818,
+      "y": 0.015269550720036468,
+      "z": 0.015574901593329034
+    },
+    "orientation": {
+      "x": -0.6521236514270538,
+      "y": -0.46667241527423786,
+      "z": -0.10817046437750318,
+      "w": 0.587580420630156
+    }
+  },
+  {
+    "timestamp": 1766137055.6534908,
+    "position": {
+      "x": 0.1379862836084928,
+      "y": 0.013691827357372482,
+      "z": 0.016847442278042996
+    },
+    "orientation": {
+      "x": -0.6361159499941674,
+      "y": -0.45532228742678743,
+      "z": -0.09369832587998586,
+      "w": 0.6158398626775824
+    }
+  },
+  {
+    "timestamp": 1766137055.7861807,
+    "position": {
+      "x": 0.13945646232985615,
+      "y": 0.012061862705415344,
+      "z": 0.019367050710910952
+    },
+    "orientation": {
+      "x": -0.6206615637136994,
+      "y": -0.44372842039720073,
+      "z": -0.07638434530679697,
+      "w": 0.6419110094493805
+    }
+  },
+  {
+    "timestamp": 1766137055.9188707,
+    "position": {
+      "x": 0.13976235473408263,
+      "y": 0.009852833369570047,
+      "z": 0.018797954730884858
+    },
+    "orientation": {
+      "x": -0.6059605197781713,
+      "y": -0.4339549467640668,
+      "z": -0.06628765252241264,
+      "w": 0.6634010097763134
+    }
+  },
+  {
+    "timestamp": 1766137056.0515609,
+    "position": {
+      "x": 0.14161241263227242,
+      "y": 0.007613949375953444,
+      "z": 0.020242498957923752
+    },
+    "orientation": {
+      "x": -0.5909110263035366,
+      "y": -0.42465878666378226,
+      "z": -0.05171783591218209,
+      "w": 0.6839695456310215
+    }
+  }
+]
\ No newline at end of file
diff --git a/recorded_gelsight_pose/episode_82/session_info.json b/recorded_gelsight_pose/episode_82/session_info.json
new file mode 100644
index 0000000000000000000000000000000000000000..fe1f405872098bcdbc70bf53ebd350911bc8f4bd
--- /dev/null
+++ b/recorded_gelsight_pose/episode_82/session_info.json
@@ -0,0 +1,12 @@
+{
+  "session_id": 32,
+  "start_time": "2025-12-19T21:13:13.193445",
+  "ros_start_time": 1766149993.1934721,
+  "image_topic": "/gelsight_img",
+  "pose_topic": "/pose",
+  "image_format": "png",
+  "end_time": "2025-12-19T21:13:17.588028",
+  "ros_end_time": 1766149997.5880353,
+  "total_images": 109,
+  "total_pose_frames": 32
+}
\ No newline at end of file
diff --git a/recorded_gelsight_pose/episode_84/image_index.json b/recorded_gelsight_pose/episode_84/image_index.json
new file mode 100644
index 0000000000000000000000000000000000000000..d4220a3bf8a21d9964aab69f48c1e2c1e7669490
--- /dev/null
+++ b/recorded_gelsight_pose/episode_84/image_index.json
@@ -0,0 +1,478 @@
+[
+  {
+    "timestamp": 1766150003.660287,
+    "filename": "img_000000.png"
+  },
+  {
+    "timestamp": 1766150003.7048535,
+    "filename": "img_000001.png"
+  },
+  {
+    "timestamp": 1766150003.740977,
+    "filename": "img_000002.png"
+  },
+  {
+    "timestamp": 1766150003.7807093,
+    "filename": "img_000003.png"
+  },
+  {
+    "timestamp": 1766150003.8181965,
+    "filename": "img_000004.png"
+  },
+  {
+    "timestamp": 1766150003.8577511,
+    "filename": "img_000005.png"
+  },
+  {
+    "timestamp": 1766150003.899134,
+    "filename": "img_000006.png"
+  },
+  {
+    "timestamp": 1766150003.9393032,
+    "filename": "img_000007.png"
+  },
+  {
+    "timestamp": 1766150003.978901,
+    "filename": "img_000008.png"
+  },
+  {
+    "timestamp": 1766150004.0184212,
+    "filename": "img_000009.png"
+  },
+  {
+    "timestamp": 1766150004.0581276,
+    "filename": "img_000010.png"
+  },
+  {
+    "timestamp": 1766150004.0978181,
+    "filename": "img_000011.png"
+  },
+  {
+    "timestamp": 1766150004.138443,
+    "filename": "img_000012.png"
+  },
+  {
+    "timestamp": 1766150004.1779325,
+    "filename": "img_000013.png"
+  },
+  {
+    "timestamp": 1766150004.219657,
+    "filename": "img_000014.png"
+  },
+  {
+    "timestamp": 1766150004.2622397,
+    "filename": "img_000015.png"
+  },
+  {
+    "timestamp": 1766150004.3004534,
+    "filename": "img_000016.png"
+  },
+  {
+    "timestamp": 1766150004.339839,
+    "filename": "img_000017.png"
+  },
+  {
+    "timestamp": 1766150004.380391,
+    "filename": "img_000018.png"
+  },
+  {
+    "timestamp": 1766150004.4192746,
+    "filename": "img_000019.png"
+  },
+  {
+    "timestamp": 1766150004.456706,
+    "filename": "img_000020.png"
+  },
+  {
+    "timestamp": 1766150004.502443,
+    "filename": "img_000021.png"
+  },
+  {
+    "timestamp": 1766150004.5397115,
+    "filename": "img_000022.png"
+  },
+  {
+    "timestamp": 1766150004.5790317,
+    "filename": "img_000023.png"
+  },
+  {
+    "timestamp": 1766150004.6172445,
+    "filename": "img_000024.png"
+  },
+  {
+    "timestamp": 1766150004.658712,
+    "filename": "img_000025.png"
+  },
+  {
+    "timestamp": 1766150004.697354,
+    "filename": "img_000026.png"
+  },
+  {
+    "timestamp": 1766150004.737575,
+    "filename": "img_000027.png"
+  },
+  {
+    "timestamp": 1766150004.7800052,
+    "filename": "img_000028.png"
+  },
+  {
+    "timestamp": 1766150004.819567,
+    "filename": "img_000029.png"
+  },
+  {
+    "timestamp": 1766150004.8585646,
+    "filename": "img_000030.png"
+  },
+  {
+    "timestamp": 1766150004.900609,
+    "filename": "img_000031.png"
+  },
+  {
+    "timestamp": 1766150004.9401984,
+    "filename": "img_000032.png"
+  },
+  {
+    "timestamp": 1766150004.9800348,
+    "filename": "img_000033.png"
+  },
+  {
+    "timestamp": 1766150005.0199032,
+    "filename": "img_000034.png"
+  },
+  {
+    "timestamp": 1766150005.0604184,
+    "filename": "img_000035.png"
+  },
+  {
+    "timestamp": 1766150005.1009116,
+    "filename": "img_000036.png"
+  },
+  {
+    "timestamp": 1766150005.1398828,
+    "filename": "img_000037.png"
+  },
+  {
+    "timestamp": 1766150005.1810946,
+    "filename": "img_000038.png"
+  },
+  {
+    "timestamp": 1766150005.2186596,
+    "filename": "img_000039.png"
+  },
+  {
+    "timestamp": 1766150005.2580345,
+    "filename": "img_000040.png"
+  },
+  {
+    "timestamp": 1766150005.2984278,
+    "filename": "img_000041.png"
+  },
+  {
+    "timestamp": 1766150005.3404238,
+    "filename": "img_000042.png"
+  },
+  {
+    "timestamp": 1766150005.3851697,
+    "filename": "img_000043.png"
+  },
+  {
+    "timestamp": 1766150005.4232357,
+    "filename": "img_000044.png"
+  },
+  {
+    "timestamp": 1766150005.4607518,
+    "filename": "img_000045.png"
+  },
+  {
+    "timestamp": 1766150005.4998693,
+    "filename": "img_000046.png"
+  },
+  {
+    "timestamp": 1766150005.539987,
+    "filename": "img_000047.png"
+  },
+  {
+    "timestamp": 1766150005.5804663,
+    "filename": "img_000048.png"
+  },
+  {
+    "timestamp": 1766150005.617271,
+    "filename": "img_000049.png"
+  },
+  {
+    "timestamp": 1766150005.65886,
+    "filename": "img_000050.png"
+  },
+  {
+    "timestamp": 1766150005.6969175,
+    "filename": "img_000051.png"
+  },
+  {
+    "timestamp": 1766150005.7392116,
+    "filename": "img_000052.png"
+  },
+  {
+    "timestamp": 1766150005.7790856,
+    "filename": "img_000053.png"
+  },
+  {
+    "timestamp": 1766150005.8180542,
+    "filename": "img_000054.png"
+  },
+  {
+    "timestamp": 1766150005.8569531,
+    "filename": "img_000055.png"
+  },
+  {
+    "timestamp": 1766150005.897538,
+    "filename": "img_000056.png"
+  },
+  {
+    "timestamp": 1766150005.9383793,
+    "filename": "img_000057.png"
+  },
+  {
+    "timestamp": 1766150005.9785535,
+    "filename": "img_000058.png"
+  },
+  {
+    "timestamp": 1766150006.017861,
+    "filename": "img_000059.png"
+  },
+  {
+    "timestamp": 1766150006.0558352,
+    "filename": "img_000060.png"
+  },
+  {
+    "timestamp": 1766150006.0965388,
+    "filename": "img_000061.png"
+  },
+  {
+    "timestamp": 1766150006.1393719,
+    "filename": "img_000062.png"
+  },
+  {
+    "timestamp": 1766150006.178771,
+    "filename": "img_000063.png"
+  },
+  {
+    "timestamp": 1766150006.2168615,
+    "filename": "img_000064.png"
+  },
+  {
+    "timestamp": 1766150006.260728,
+    "filename": "img_000065.png"
+  },
+  {
+    "timestamp": 1766150006.301008,
+    "filename": "img_000066.png"
+  },
+  {
+    "timestamp": 1766150006.3387628,
+    "filename": "img_000067.png"
+  },
+  {
+    "timestamp": 1766150006.3776593,
+    "filename": "img_000068.png"
+  },
+  {
+    "timestamp": 1766150006.4176338,
+    "filename": "img_000069.png"
+  },
+  {
+    "timestamp": 1766150006.4608028,
+    "filename": "img_000070.png"
+  },
+  {
+    "timestamp": 1766150006.4979649,
+    "filename": "img_000071.png"
+  },
+  {
+    "timestamp": 1766150006.5381343,
+    "filename": "img_000072.png"
+  },
+  {
+    "timestamp": 1766150006.578704,
+    "filename": "img_000073.png"
+  },
+  {
+    "timestamp": 1766150006.6173975,
+    "filename": "img_000074.png"
+  },
+  {
+    "timestamp": 1766150006.6578665,
+    "filename": "img_000075.png"
+  },
+  {
+    "timestamp": 1766150006.6973915,
+    "filename": "img_000076.png"
+  },
+  {
+    "timestamp": 1766150006.7383056,
+    "filename": "img_000077.png"
+  },
+  {
+    "timestamp": 1766150006.7810197,
+    "filename": "img_000078.png"
+  },
+  {
+    "timestamp": 1766150006.8175645,
+    "filename": "img_000079.png"
+  },
+  {
+    "timestamp": 1766150006.8559172,
+    "filename": "img_000080.png"
+  },
+  {
+    "timestamp": 1766150006.897161,
+    "filename": "img_000081.png"
+  },
+  {
+    "timestamp": 1766150006.939477,
+    "filename": "img_000082.png"
+  },
+  {
+    "timestamp": 1766150006.9783523,
+    "filename": "img_000083.png"
+  },
+  {
+    "timestamp": 1766150007.0164373,
+    "filename": "img_000084.png"
+  },
+  {
+    "timestamp": 1766150007.0564685,
+    "filename": "img_000085.png"
+  },
+  {
+    "timestamp": 1766150007.097402,
+    "filename": "img_000086.png"
+  },
+  {
+    "timestamp": 1766150007.1414635,
+    "filename": "img_000087.png"
+  },
+  {
+    "timestamp": 1766150007.1790185,
+    "filename": "img_000088.png"
+  },
+  {
+    "timestamp": 1766150007.217531,
+    "filename": "img_000089.png"
+  },
+  {
+    "timestamp": 1766150007.2604449,
+    "filename": "img_000090.png"
+  },
+  {
+    "timestamp": 1766150007.2977211,
+    "filename": "img_000091.png"
+  },
+  {
+    "timestamp": 1766150007.339436,
+    "filename": "img_000092.png"
+  },
+  {
+    "timestamp": 1766150007.3776228,
+    "filename": "img_000093.png"
+  },
+  {
+    "timestamp": 1766150007.4196584,
+    "filename": "img_000094.png"
+  },
+  {
+    "timestamp": 1766150007.4570026,
+    "filename": "img_000095.png"
+  },
+  {
+    "timestamp": 1766150007.4976602,
+    "filename": "img_000096.png"
+  },
+  {
+    "timestamp": 1766150007.538163,
+    "filename": "img_000097.png"
+  },
+  {
+    "timestamp": 1766150007.5809119,
+    "filename": "img_000098.png"
+  },
+  {
+    "timestamp": 1766150007.6174238,
+    "filename": "img_000099.png"
+  },
+  {
+    "timestamp": 1766150007.6621826,
+    "filename": "img_000100.png"
+  },
+  {
+    "timestamp": 1766150007.6985214,
+    "filename": "img_000101.png"
+  },
+  {
+    "timestamp": 1766150007.7398024,
+    "filename": "img_000102.png"
+  },
+  {
+    "timestamp": 1766150007.7793808,
+    "filename": "img_000103.png"
+  },
+  {
+    "timestamp": 1766150007.8167782,
+    "filename": "img_000104.png"
+  },
+  {
+    "timestamp": 1766150007.8578243,
+    "filename": "img_000105.png"
+  },
+  {
+    "timestamp": 1766150007.8981495,
+    "filename": "img_000106.png"
+  },
+  {
+    "timestamp": 1766150007.9388347,
+    "filename": "img_000107.png"
+  },
+  {
+    "timestamp": 1766150007.9783444,
+    "filename": "img_000108.png"
+  },
+  {
+    "timestamp": 1766150008.016944,
+    "filename": "img_000109.png"
+  },
+  {
+    "timestamp": 1766150008.055817,
+    "filename": "img_000110.png"
+  },
+  {
+    "timestamp": 1766150008.097573,
+    "filename": "img_000111.png"
+  },
+  {
+    "timestamp": 1766150008.1388426,
+    "filename": "img_000112.png"
+  },
+  {
+    "timestamp": 1766150008.179196,
+    "filename": "img_000113.png"
+  },
+  {
+    "timestamp": 1766150008.2177296,
+    "filename": "img_000114.png"
+  },
+  {
+    "timestamp": 1766150008.2574782,
+    "filename": "img_000115.png"
+  },
+  {
+    "timestamp": 1766150008.298906,
+    "filename": "img_000116.png"
+  },
+  {
+    "timestamp": 1766150008.3384116,
+    "filename": "img_000117.png"
+  },
+  {
+    "timestamp": 1766150008.3788395,
+    "filename": "img_000118.png"
+  }
+]
\ No newline at end of file
diff --git a/recorded_gelsight_pose/episode_84/pose_data.json b/recorded_gelsight_pose/episode_84/pose_data.json
new file mode 100644
index 0000000000000000000000000000000000000000..095ec133e564d5fc544f876cf90506cb9d4291c0
--- /dev/null
+++ b/recorded_gelsight_pose/episode_84/pose_data.json
@@ -0,0 +1,506 @@
+[
+  {
+    "timestamp": 1766137062.2879958,
+    "position": {
+      "x": 0.1444538222358968,
+      "y": 0.023572470217460673,
+      "z": 0.005159823133155356
+    },
+    "orientation": {
+      "x": -0.6062102532530759,
+      "y": -0.4474608256519334,
+      "z": -0.11486093124623768,
+      "w": 0.6473753971468015
+    }
+  },
+  {
+    "timestamp": 1766137062.4206858,
+    "position": {
+      "x": 0.1434306059690036,
+      "y": 0.025255458809978953,
+      "z": 0.008037847641119492
+    },
+    "orientation": {
+      "x": -0.6106172030165722,
+      "y": -0.44393701106428224,
+      "z": -0.11151033865892272,
+      "w": 0.6462445403712918
+    }
+  },
+  {
+    "timestamp": 1766137062.5533757,
+    "position": {
+      "x": 0.13926728530616594,
+      "y": 0.021638728541334862,
+      "z": 0.010702517920092192
+    },
+    "orientation": {
+      "x": -0.6094759342082202,
+      "y": -0.4352042782644866,
+      "z": -0.10153817288217502,
+      "w": 0.6548483192687097
+    }
+  },
+  {
+    "timestamp": 1766137062.6860657,
+    "position": {
+      "x": 0.1326523818297668,
+      "y": 0.013383980827255698,
+      "z": 0.012284932130605178
+    },
+    "orientation": {
+      "x": -0.6170054433119364,
+      "y": -0.4311402044230132,
+      "z": -0.0918926382534633,
+      "w": 0.6519034821876174
+    }
+  },
+  {
+    "timestamp": 1766137062.8187568,
+    "position": {
+      "x": 0.1338503629126315,
+      "y": 0.013899417913079415,
+      "z": 0.013638817343395504
+    },
+    "orientation": {
+      "x": -0.6211536339468103,
+      "y": -0.4366777378572419,
+      "z": -0.09241612393930056,
+      "w": 0.6441583472490205
+    }
+  },
+  {
+    "timestamp": 1766137062.9514468,
+    "position": {
+      "x": 0.1329591331837662,
+      "y": 0.014638609167662742,
+      "z": 0.013769153881363128
+    },
+    "orientation": {
+      "x": -0.6243007454728468,
+      "y": -0.43778719011960093,
+      "z": -0.09429153224083414,
+      "w": 0.6400781689113509
+    }
+  },
+  {
+    "timestamp": 1766137063.0841367,
+    "position": {
+      "x": 0.13301625038400938,
+      "y": 0.01586673474520625,
+      "z": 0.013810304542827806
+    },
+    "orientation": {
+      "x": -0.6314975264442962,
+      "y": -0.44248318195551656,
+      "z": -0.10034775880615907,
+      "w": 0.6287685067525549
+    }
+  },
+  {
+    "timestamp": 1766137063.2168267,
+    "position": {
+      "x": 0.13105706159008457,
+      "y": 0.01845079239212552,
+      "z": 0.011339096643668375
+    },
+    "orientation": {
+      "x": -0.6508317727487107,
+      "y": -0.4539542587202283,
+      "z": -0.11900363328103097,
+      "w": 0.5968095758585417
+    }
+  },
+  {
+    "timestamp": 1766137063.3495169,
+    "position": {
+      "x": 0.1303177845643783,
+      "y": 0.021001529753943343,
+      "z": 0.010148116379579922
+    },
+    "orientation": {
+      "x": -0.6651769731843201,
+      "y": -0.4633144062114201,
+      "z": -0.13425868975881042,
+      "w": 0.5699596122240179
+    }
+  },
+  {
+    "timestamp": 1766137063.4822068,
+    "position": {
+      "x": 0.12961792648819961,
+      "y": 0.02269029147063839,
+      "z": 0.009723404662989557
+    },
+    "orientation": {
+      "x": -0.6773199067177054,
+      "y": -0.47173972550360843,
+      "z": -0.1438903428318432,
+      "w": 0.5458891321371342
+    }
+  },
+  {
+    "timestamp": 1766137063.6148968,
+    "position": {
+      "x": 0.12923069153244374,
+      "y": 0.023955767727458138,
+      "z": 0.00692726914758595
+    },
+    "orientation": {
+      "x": -0.6939660852727281,
+      "y": -0.484030325183412,
+      "z": -0.16414063069019127,
+      "w": 0.5071326948153818
+    }
+  },
+  {
+    "timestamp": 1766137063.7475867,
+    "position": {
+      "x": 0.12869159324253732,
+      "y": 0.026529585025296065,
+      "z": 0.005023033274089525
+    },
+    "orientation": {
+      "x": 0.7062030016144111,
+      "y": 0.49426582417416814,
+      "z": 0.17990033378789075,
+      "w": -0.47393510681023804
+    }
+  },
+  {
+    "timestamp": 1766137063.8802767,
+    "position": {
+      "x": 0.1281004388251889,
+      "y": 0.028176381179161686,
+      "z": 0.003669918495963917
+    },
+    "orientation": {
+      "x": 0.7176364074581856,
+      "y": 0.4992793861280777,
+      "z": 0.19224647514325585,
+      "w": -0.4458243758175101
+    }
+  },
+  {
+    "timestamp": 1766137064.0129678,
+    "position": {
+      "x": 0.1278413405800687,
+      "y": 0.02878752956643138,
+      "z": 0.0026545330390604083
+    },
+    "orientation": {
+      "x": 0.7256343906558693,
+      "y": 0.5040799582168065,
+      "z": 0.20030048515925727,
+      "w": -0.42336490462317955
+    }
+  },
+  {
+    "timestamp": 1766137064.1456578,
+    "position": {
+      "x": 0.12772730057443127,
+      "y": 0.029668676525153065,
+      "z": 6.461940664645449e-05
+    },
+    "orientation": {
+      "x": 0.732876577343304,
+      "y": 0.5098695696577724,
+      "z": 0.21298311832945901,
+      "w": -0.3969422321008708
+    }
+  },
+  {
+    "timestamp": 1766137064.2783477,
+    "position": {
+      "x": 0.12736475466275257,
+      "y": 0.03070900601950846,
+      "z": -0.0018946117219505454
+    },
+    "orientation": {
+      "x": 0.7436926297988159,
+      "y": 0.5159223470950042,
+      "z": 0.22775047639152257,
+      "w": -0.35899181697406146
+    }
+  },
+  {
+    "timestamp": 1766137064.4110377,
+    "position": {
+      "x": 0.12597516072903692,
+      "y": 0.031253537952472904,
+      "z": -0.0034472295199943215
+    },
+    "orientation": {
+      "x": 0.748662203454031,
+      "y": 0.5179289585079627,
+      "z": 0.23534488502916487,
+      "w": -0.3403928379810912
+    }
+  },
+  {
+    "timestamp": 1766137064.5437279,
+    "position": {
+      "x": 0.12528513705631694,
+      "y": 0.0309783465000395,
+      "z": -0.002788268920481521
+    },
+    "orientation": {
+      "x": 0.748996143369412,
+      "y": 0.5169909578942107,
+      "z": 0.23446542159448386,
+      "w": -0.3416885903127214
+    }
+  },
+  {
+    "timestamp": 1766137064.6764178,
+    "position": {
+      "x": 0.12604146375100256,
+      "y": 0.030911689225676275,
+      "z": -0.0015282871066881615
+    },
+    "orientation": {
+      "x": 0.7453862217834135,
+      "y": 0.5142432164612247,
+      "z": 0.22687830874335246,
+      "w": -0.35844041027877666
+    }
+  },
+  {
+    "timestamp": 1766137064.8091078,
+    "position": {
+      "x": 0.12710517879076316,
+      "y": 0.030448426261464906,
+      "z": -0.00029155978560339857
+    },
+    "orientation": {
+      "x": 0.7380250624176088,
+      "y": 0.510907354102796,
+      "z": 0.218005390110814,
+      "w": -0.3831009431596281
+    }
+  },
+  {
+    "timestamp": 1766137064.9417977,
+    "position": {
+      "x": 0.12764348997856492,
+      "y": 0.02960820659916233,
+      "z": 0.0003482886952927283
+    },
+    "orientation": {
+      "x": 0.7317881176355293,
+      "y": 0.508961386969355,
+      "z": 0.21165683398295768,
+      "w": -0.40080648958068255
+    }
+  },
+  {
+    "timestamp": 1766137065.0744877,
+    "position": {
+      "x": 0.12794534078220235,
+      "y": 0.029024008194235007,
+      "z": 0.0013468211292956417
+    },
+    "orientation": {
+      "x": 0.7277657743425214,
+      "y": 0.5050713710912483,
+      "z": 0.20417172040623063,
+      "w": -0.41662188659022314
+    }
+  },
+  {
+    "timestamp": 1766137065.2071788,
+    "position": {
+      "x": 0.12805231415811624,
+      "y": 0.02798455936429725,
+      "z": 0.0027757783679817766
+    },
+    "orientation": {
+      "x": 0.7202456579734594,
+      "y": 0.49895612116149496,
+      "z": 0.19443491730029303,
+      "w": -0.44100345152876325
+    }
+  },
+  {
+    "timestamp": 1766137065.3398688,
+    "position": {
+      "x": 0.12882779484780366,
+      "y": 0.027286618329999485,
+      "z": 0.003786833924490654
+    },
+    "orientation": {
+      "x": 0.7106084881600975,
+      "y": 0.4944529220464774,
+      "z": 0.1830364324882786,
+      "w": -0.46588576799091463
+    }
+  },
+  {
+    "timestamp": 1766137065.4725587,
+    "position": {
+      "x": 0.12842410311925662,
+      "y": 0.025732086389783693,
+      "z": 0.005128088212470142
+    },
+    "orientation": {
+      "x": 0.7017604001428697,
+      "y": 0.48819447815709016,
+      "z": 0.17377793320942858,
+      "w": -0.48887597836026375
+    }
+  },
+  {
+    "timestamp": 1766137065.6052487,
+    "position": {
+      "x": 0.12886931841463373,
+      "y": 0.024348748635787842,
+      "z": 0.007002964458682058
+    },
+    "orientation": {
+      "x": -0.6939177018580276,
+      "y": -0.4820414850256184,
+      "z": -0.16285680278973522,
+      "w": 0.5095016109370756
+    }
+  },
+  {
+    "timestamp": 1766137065.737939,
+    "position": {
+      "x": 0.12981546880034717,
+      "y": 0.022687938257951096,
+      "z": 0.008149532339119456
+    },
+    "orientation": {
+      "x": -0.6832711201398267,
+      "y": -0.4757444347690764,
+      "z": -0.15129512432758604,
+      "w": 0.5328391826093672
+    }
+  },
+  {
+    "timestamp": 1766137065.8706288,
+    "position": {
+      "x": 0.1304170768008669,
+      "y": 0.021201907729537783,
+      "z": 0.009000620989445401
+    },
+    "orientation": {
+      "x": -0.6718614014599399,
+      "y": -0.46809077399414745,
+      "z": -0.13971466589563764,
+      "w": 0.5567522758494264
+    }
+  },
+  {
+    "timestamp": 1766137066.0033188,
+    "position": {
+      "x": 0.13038156260962788,
+      "y": 0.019720859699078414,
+      "z": 0.008888400040608237
+    },
+    "orientation": {
+      "x": -0.6609477063182964,
+      "y": -0.4605456721419262,
+      "z": -0.1306569099781785,
+      "w": 0.5779053428191149
+    }
+  },
+  {
+    "timestamp": 1766137066.1360087,
+    "position": {
+      "x": 0.13040166135564232,
+      "y": 0.017881583650823873,
+      "z": 0.010082943142271247
+    },
+    "orientation": {
+      "x": -0.6477954812031265,
+      "y": -0.45209939987585807,
+      "z": -0.11769318417975513,
+      "w": 0.6017603024147814
+    }
+  },
+  {
+    "timestamp": 1766137066.2686987,
+    "position": {
+      "x": 0.1311854822096448,
+      "y": 0.01676390734345909,
+      "z": 0.011700579389447213
+    },
+    "orientation": {
+      "x": -0.6355285459394276,
+      "y": -0.44143804185895,
+      "z": -0.10615241438267749,
+      "w": 0.6244738484649145
+    }
+  },
+  {
+    "timestamp": 1766137066.4013898,
+    "position": {
+      "x": 0.13272288018004016,
+      "y": 0.014829780452573993,
+      "z": 0.014082643434087154
+    },
+    "orientation": {
+      "x": -0.6219513035932848,
+      "y": -0.4331543189363098,
+      "z": -0.09199775925985579,
+      "w": 0.6458253047354222
+    }
+  },
+  {
+    "timestamp": 1766137066.5340798,
+    "position": {
+      "x": 0.1323472435069969,
+      "y": 0.013099590718679693,
+      "z": 0.013916611984783278
+    },
+    "orientation": {
+      "x": -0.6097898105863285,
+      "y": -0.42413684617034597,
+      "z": -0.08135417074314742,
+      "w": 0.6645643847878523
+    }
+  },
+  {
+    "timestamp": 1766137066.6667697,
+    "position": {
+      "x": 0.13238089402294967,
+      "y": 0.012103275788036827,
+      "z": 0.013939827868287916
+    },
+    "orientation": {
+      "x": -0.6007461529656754,
+      "y": -0.4175813846797911,
+      "z": -0.07524632529480506,
+      "w": 0.6775454504278499
+    }
+  },
+  {
+    "timestamp": 1766137066.7994597,
+    "position": {
+      "x": 0.13303696716308944,
+      "y": 0.011410966510314646,
+      "z": 0.014342771827769905
+    },
+    "orientation": {
+      "x": -0.5934658873171308,
+      "y": -0.4137473999433072,
+      "z": -0.07116850023316658,
+      "w": 0.6866923431971594
+    }
+  },
+  {
+    "timestamp": 1766137066.93215,
+    "position": {
+      "x": 0.13424441681162547,
+      "y": 0.01021583037014906,
+      "z": 0.014999251145644113
+    },
+    "orientation": {
+      "x": -0.5880641009829394,
+      "y": -0.41220579881440306,
+      "z": -0.06362753706855585,
+      "w": 0.6929780148644664
+    }
+  }
+]
\ No newline at end of file
diff --git a/recorded_gelsight_pose/episode_84/session_info.json b/recorded_gelsight_pose/episode_84/session_info.json
new file mode 100644
index 0000000000000000000000000000000000000000..8ab643f2eed743a61a862123e24b3478810ddcc7
--- /dev/null
+++ b/recorded_gelsight_pose/episode_84/session_info.json
@@ -0,0 +1,12 @@
+{
+  "session_id": 34,
+  "start_time": "2025-12-19T21:13:23.647860",
+  "ros_start_time": 1766150003.647875,
+  "image_topic": "/gelsight_img",
+  "pose_topic": "/pose",
+  "image_format": "png",
+  "end_time": "2025-12-19T21:13:28.408803",
+  "ros_end_time": 1766150008.4088109,
+  "total_images": 119,
+  "total_pose_frames": 36
+}
\ No newline at end of file
diff --git a/recorded_gelsight_pose/episode_9/image_index.json b/recorded_gelsight_pose/episode_9/image_index.json
new file mode 100644
index 0000000000000000000000000000000000000000..29cc5aee40b8f98d09583990d44a38920bdb431a
--- /dev/null
+++ b/recorded_gelsight_pose/episode_9/image_index.json
@@ -0,0 +1,370 @@
+[
+  {
+    "timestamp": 1766147898.6293302,
+    "filename": "img_000000.png"
+  },
+  {
+    "timestamp": 1766147898.6640286,
+    "filename": "img_000001.png"
+  },
+  {
+    "timestamp": 1766147898.7032719,
+    "filename": "img_000002.png"
+  },
+  {
+    "timestamp": 1766147898.7449272,
+    "filename": "img_000003.png"
+  },
+  {
+    "timestamp": 1766147898.7838058,
+    "filename": "img_000004.png"
+  },
+  {
+    "timestamp": 1766147898.82293,
+    "filename": "img_000005.png"
+  },
+  {
+    "timestamp": 1766147898.8637118,
+    "filename": "img_000006.png"
+  },
+  {
+    "timestamp": 1766147898.904091,
+    "filename": "img_000007.png"
+  },
+  {
+    "timestamp": 1766147898.9460485,
+    "filename": "img_000008.png"
+  },
+  {
+    "timestamp": 1766147898.982351,
+    "filename": "img_000009.png"
+  },
+  {
+    "timestamp": 1766147899.0226722,
+    "filename": "img_000010.png"
+  },
+  {
+    "timestamp": 1766147899.0674977,
+    "filename": "img_000011.png"
+  },
+  {
+    "timestamp": 1766147899.1034958,
+    "filename": "img_000012.png"
+  },
+  {
+    "timestamp": 1766147899.1429927,
+    "filename": "img_000013.png"
+  },
+  {
+    "timestamp": 1766147899.1843297,
+    "filename": "img_000014.png"
+  },
+  {
+    "timestamp": 1766147899.228003,
+    "filename": "img_000015.png"
+  },
+  {
+    "timestamp": 1766147899.2657633,
+    "filename": "img_000016.png"
+  },
+  {
+    "timestamp": 1766147899.308005,
+    "filename": "img_000017.png"
+  },
+  {
+    "timestamp": 1766147899.3528814,
+    "filename": "img_000018.png"
+  },
+  {
+    "timestamp": 1766147899.3905199,
+    "filename": "img_000019.png"
+  },
+  {
+    "timestamp": 1766147899.4240975,
+    "filename": "img_000020.png"
+  },
+  {
+    "timestamp": 1766147899.4651597,
+    "filename": "img_000021.png"
+  },
+  {
+    "timestamp": 1766147899.5041945,
+    "filename": "img_000022.png"
+  },
+  {
+    "timestamp": 1766147899.5469253,
+    "filename": "img_000023.png"
+  },
+  {
+    "timestamp": 1766147899.5885189,
+    "filename": "img_000024.png"
+  },
+  {
+    "timestamp": 1766147899.6249073,
+    "filename": "img_000025.png"
+  },
+  {
+    "timestamp": 1766147899.6675856,
+    "filename": "img_000026.png"
+  },
+  {
+    "timestamp": 1766147899.7043757,
+    "filename": "img_000027.png"
+  },
+  {
+    "timestamp": 1766147899.74338,
+    "filename": "img_000028.png"
+  },
+  {
+    "timestamp": 1766147899.7851484,
+    "filename": "img_000029.png"
+  },
+  {
+    "timestamp": 1766147899.8243265,
+    "filename": "img_000030.png"
+  },
+  {
+    "timestamp": 1766147899.8646264,
+    "filename": "img_000031.png"
+  },
+  {
+    "timestamp": 1766147899.903677,
+    "filename": "img_000032.png"
+  },
+  {
+    "timestamp": 1766147899.9452527,
+    "filename": "img_000033.png"
+  },
+  {
+    "timestamp": 1766147899.9851754,
+    "filename": "img_000034.png"
+  },
+  {
+    "timestamp": 1766147900.0231812,
+    "filename": "img_000035.png"
+  },
+  {
+    "timestamp": 1766147900.0638187,
+    "filename": "img_000036.png"
+  },
+  {
+    "timestamp": 1766147900.1026633,
+    "filename": "img_000037.png"
+  },
+  {
+    "timestamp": 1766147900.1456492,
+    "filename": "img_000038.png"
+  },
+  {
+    "timestamp": 1766147900.1857722,
+    "filename": "img_000039.png"
+  },
+  {
+    "timestamp": 1766147900.2235262,
+    "filename": "img_000040.png"
+  },
+  {
+    "timestamp": 1766147900.2639499,
+    "filename": "img_000041.png"
+  },
+  {
+    "timestamp": 1766147900.3053029,
+    "filename": "img_000042.png"
+  },
+  {
+    "timestamp": 1766147900.3459635,
+    "filename": "img_000043.png"
+  },
+  {
+    "timestamp": 1766147900.383035,
+    "filename": "img_000044.png"
+  },
+  {
+    "timestamp": 1766147900.4222467,
+    "filename": "img_000045.png"
+  },
+  {
+    "timestamp": 1766147900.4643936,
+    "filename": "img_000046.png"
+  },
+  {
+    "timestamp": 1766147900.5150735,
+    "filename": "img_000047.png"
+  },
+  {
+    "timestamp": 1766147900.5459714,
+    "filename": "img_000048.png"
+  },
+  {
+    "timestamp": 1766147900.5833719,
+    "filename": "img_000049.png"
+  },
+  {
+    "timestamp": 1766147900.6240084,
+    "filename": "img_000050.png"
+  },
+  {
+    "timestamp": 1766147900.6643975,
+    "filename": "img_000051.png"
+  },
+  {
+    "timestamp": 1766147900.7034345,
+    "filename": "img_000052.png"
+  },
+  {
+    "timestamp": 1766147900.7439501,
+    "filename": "img_000053.png"
+  },
+  {
+    "timestamp": 1766147900.7862124,
+    "filename": "img_000054.png"
+  },
+  {
+    "timestamp": 1766147900.824026,
+    "filename": "img_000055.png"
+  },
+  {
+    "timestamp": 1766147900.8676662,
+    "filename": "img_000056.png"
+  },
+  {
+    "timestamp": 1766147900.9028413,
+    "filename": "img_000057.png"
+  },
+  {
+    "timestamp": 1766147900.9454536,
+    "filename": "img_000058.png"
+  },
+  {
+    "timestamp": 1766147900.9844003,
+    "filename": "img_000059.png"
+  },
+  {
+    "timestamp": 1766147901.0241168,
+    "filename": "img_000060.png"
+  },
+  {
+    "timestamp": 1766147901.0639186,
+    "filename": "img_000061.png"
+  },
+  {
+    "timestamp": 1766147901.1048608,
+    "filename": "img_000062.png"
+  },
+  {
+    "timestamp": 1766147901.1462362,
+    "filename": "img_000063.png"
+  },
+  {
+    "timestamp": 1766147901.185346,
+    "filename": "img_000064.png"
+  },
+  {
+    "timestamp": 1766147901.2238727,
+    "filename": "img_000065.png"
+  },
+  {
+    "timestamp": 1766147901.2649136,
+    "filename": "img_000066.png"
+  },
+  {
+    "timestamp": 1766147901.31028,
+    "filename": "img_000067.png"
+  },
+  {
+    "timestamp": 1766147901.3485932,
+    "filename": "img_000068.png"
+  },
+  {
+    "timestamp": 1766147901.3839595,
+    "filename": "img_000069.png"
+  },
+  {
+    "timestamp": 1766147901.4248762,
+    "filename": "img_000070.png"
+  },
+  {
+    "timestamp": 1766147901.4649484,
+    "filename": "img_000071.png"
+  },
+  {
+    "timestamp": 1766147901.504479,
+    "filename": "img_000072.png"
+  },
+  {
+    "timestamp": 1766147901.545234,
+    "filename": "img_000073.png"
+  },
+  {
+    "timestamp": 1766147901.5844648,
+    "filename": "img_000074.png"
+  },
+  {
+    "timestamp": 1766147901.6232424,
+    "filename": "img_000075.png"
+  },
+  {
+    "timestamp": 1766147901.663843,
+    "filename": "img_000076.png"
+  },
+  {
+    "timestamp": 1766147901.7028377,
+    "filename": "img_000077.png"
+  },
+  {
+    "timestamp": 1766147901.7445483,
+    "filename": "img_000078.png"
+  },
+  {
+    "timestamp": 1766147901.7841196,
+    "filename": "img_000079.png"
+  },
+  {
+    "timestamp": 1766147901.8229659,
+    "filename": "img_000080.png"
+  },
+  {
+    "timestamp": 1766147901.8639839,
+    "filename": "img_000081.png"
+  },
+  {
+    "timestamp": 1766147901.9063115,
+    "filename": "img_000082.png"
+  },
+  {
+    "timestamp": 1766147901.9482148,
+    "filename": "img_000083.png"
+  },
+  {
+    "timestamp": 1766147901.9824533,
+    "filename": "img_000084.png"
+  },
+  {
+    "timestamp": 1766147902.022349,
+    "filename": "img_000085.png"
+  },
+  {
+    "timestamp": 1766147902.0641747,
+    "filename": "img_000086.png"
+  },
+  {
+    "timestamp": 1766147902.1036823,
+    "filename": "img_000087.png"
+  },
+  {
+    "timestamp": 1766147902.1437974,
+    "filename": "img_000088.png"
+  },
+  {
+    "timestamp": 1766147902.1832137,
+    "filename": "img_000089.png"
+  },
+  {
+    "timestamp": 1766147902.2236528,
+    "filename": "img_000090.png"
+  },
+  {
+    "timestamp": 1766147902.2638874,
+    "filename": "img_000091.png"
+  }
+]
\ No newline at end of file
diff --git a/recorded_gelsight_pose/episode_9/pose_data.json b/recorded_gelsight_pose/episode_9/pose_data.json
new file mode 100644
index 0000000000000000000000000000000000000000..88a59b316141338deee10a18dd3ba2609fdc33e6
--- /dev/null
+++ b/recorded_gelsight_pose/episode_9/pose_data.json
@@ -0,0 +1,380 @@
+[
+  {
+    "timestamp": 1766139260.6852407,
+    "position": {
+      "x": 0.05353042885511608,
+      "y": 0.04769530957972172,
+      "z": -0.07576472851608342
+    },
+    "orientation": {
+      "x": -0.30235635870201294,
+      "y": 0.8624953666185058,
+      "z": 0.21820090305573858,
+      "w": -0.34215601824274405
+    }
+  },
+  {
+    "timestamp": 1766139260.8179307,
+    "position": {
+      "x": 0.05301948098962048,
+      "y": 0.048132787671249434,
+      "z": -0.07621109288704693
+    },
+    "orientation": {
+      "x": -0.30246316257081995,
+      "y": 0.8609896956504207,
+      "z": 0.22067488361836365,
+      "w": -0.34426062076786434
+    }
+  },
+  {
+    "timestamp": 1766139260.950621,
+    "position": {
+      "x": 0.048253529663641104,
+      "y": 0.04830829362230134,
+      "z": -0.07634199851490665
+    },
+    "orientation": {
+      "x": -0.30553050736298515,
+      "y": 0.858447309958119,
+      "z": 0.21836186454413262,
+      "w": -0.3493385481291691
+    }
+  },
+  {
+    "timestamp": 1766139261.0833108,
+    "position": {
+      "x": 0.050260903457920836,
+      "y": 0.05007168074619367,
+      "z": -0.07929316767743652
+    },
+    "orientation": {
+      "x": -0.30558487893933545,
+      "y": 0.8577930271459939,
+      "z": 0.21926160423941554,
+      "w": -0.3503332031790619
+    }
+  },
+  {
+    "timestamp": 1766139261.2160008,
+    "position": {
+      "x": 0.049756646603035304,
+      "y": 0.049961738458568536,
+      "z": -0.0794040906835399
+    },
+    "orientation": {
+      "x": -0.3042388840111342,
+      "y": 0.8582891155723285,
+      "z": 0.21850135080961458,
+      "w": -0.3507643870750043
+    }
+  },
+  {
+    "timestamp": 1766139261.3818638,
+    "position": {
+      "x": 0.047085743098817884,
+      "y": 0.05142400377782791,
+      "z": -0.08144391877730942
+    },
+    "orientation": {
+      "x": -0.30585337850246985,
+      "y": 0.8532896701044461,
+      "z": 0.22557135817362686,
+      "w": -0.3570266266308099
+    }
+  },
+  {
+    "timestamp": 1766139261.5145538,
+    "position": {
+      "x": 0.04467799280156548,
+      "y": 0.05401020531312645,
+      "z": -0.08523338430026442
+    },
+    "orientation": {
+      "x": -0.30786378085218274,
+      "y": 0.8484997916930472,
+      "z": 0.22483430344703362,
+      "w": -0.36703886978049355
+    }
+  },
+  {
+    "timestamp": 1766139261.6472437,
+    "position": {
+      "x": 0.04358027424892691,
+      "y": 0.05510941067540405,
+      "z": -0.08636491766555915
+    },
+    "orientation": {
+      "x": -0.30881376479685924,
+      "y": 0.846305024678373,
+      "z": 0.23053637035929223,
+      "w": -0.3677700991348965
+    }
+  },
+  {
+    "timestamp": 1766139261.7799337,
+    "position": {
+      "x": 0.04284872158919906,
+      "y": 0.05349983054676383,
+      "z": -0.08553171668404613
+    },
+    "orientation": {
+      "x": -0.3071867232545212,
+      "y": 0.8487951751539577,
+      "z": 0.2263716570064015,
+      "w": -0.36597669406082234
+    }
+  },
+  {
+    "timestamp": 1766139261.912624,
+    "position": {
+      "x": 0.04277993754767895,
+      "y": 0.05128720986868221,
+      "z": -0.08694238051262412
+    },
+    "orientation": {
+      "x": -0.30314172910370246,
+      "y": 0.8499265659622522,
+      "z": 0.22226672795034194,
+      "w": -0.36922544088114995
+    }
+  },
+  {
+    "timestamp": 1766139262.0453138,
+    "position": {
+      "x": 0.04063110854065119,
+      "y": 0.047159160868376654,
+      "z": -0.08953408265042229
+    },
+    "orientation": {
+      "x": -0.29349007863103405,
+      "y": 0.8495495476876906,
+      "z": 0.2276062809003747,
+      "w": -0.3745991466400976
+    }
+  },
+  {
+    "timestamp": 1766139262.1780038,
+    "position": {
+      "x": 0.04057799494036715,
+      "y": 0.0471914708548041,
+      "z": -0.08964596530737756
+    },
+    "orientation": {
+      "x": -0.2933830412704675,
+      "y": 0.8496665528621834,
+      "z": 0.22706875188830425,
+      "w": -0.3747438084319385
+    }
+  },
+  {
+    "timestamp": 1766139262.3106947,
+    "position": {
+      "x": 0.04073912360288656,
+      "y": 0.04735331737049757,
+      "z": -0.08984715982714334
+    },
+    "orientation": {
+      "x": -0.29377180076087756,
+      "y": 0.8486390853822029,
+      "z": 0.23141658607869398,
+      "w": -0.3741071979086365
+    }
+  },
+  {
+    "timestamp": 1766139262.443385,
+    "position": {
+      "x": 0.042407127154164476,
+      "y": 0.04629217653855319,
+      "z": -0.08873565220334856
+    },
+    "orientation": {
+      "x": -0.2921124375718229,
+      "y": 0.8507725561154938,
+      "z": 0.23255717773669568,
+      "w": -0.36982906951685085
+    }
+  },
+  {
+    "timestamp": 1766139262.5760748,
+    "position": {
+      "x": 0.04636731623217366,
+      "y": 0.04285193144919403,
+      "z": -0.08464758860013699
+    },
+    "orientation": {
+      "x": -0.287384549340398,
+      "y": 0.856695754446979,
+      "z": 0.23402194356090958,
+      "w": -0.358770448957146
+    }
+  },
+  {
+    "timestamp": 1766139262.7087648,
+    "position": {
+      "x": 0.04876032628651414,
+      "y": 0.04066016268233712,
+      "z": -0.08213607678603865
+    },
+    "orientation": {
+      "x": -0.2856565629017917,
+      "y": 0.8618848167208796,
+      "z": 0.2242139227044542,
+      "w": -0.353953397557689
+    }
+  },
+  {
+    "timestamp": 1766139262.8414547,
+    "position": {
+      "x": 0.04723039416098582,
+      "y": 0.041052549622088055,
+      "z": -0.08253226828601246
+    },
+    "orientation": {
+      "x": -0.284085166958156,
+      "y": 0.8595068737604089,
+      "z": 0.23480962036023742,
+      "w": -0.354129911274445
+    }
+  },
+  {
+    "timestamp": 1766139262.9741447,
+    "position": {
+      "x": 0.04875367830138122,
+      "y": 0.04199417237351273,
+      "z": -0.08194024573106282
+    },
+    "orientation": {
+      "x": -0.2886259069021982,
+      "y": 0.860468562809871,
+      "z": 0.22704286260808965,
+      "w": -0.35318617869265867
+    }
+  },
+  {
+    "timestamp": 1766139263.106835,
+    "position": {
+      "x": 0.0505207364602655,
+      "y": 0.045112092267797055,
+      "z": -0.07937901216693322
+    },
+    "orientation": {
+      "x": -0.2942480752813761,
+      "y": 0.8602054349958734,
+      "z": 0.23116720577716962,
+      "w": -0.3464482685336173
+    }
+  },
+  {
+    "timestamp": 1766139263.2395248,
+    "position": {
+      "x": 0.05284025691306346,
+      "y": 0.04851977185922499,
+      "z": -0.07708497655521776
+    },
+    "orientation": {
+      "x": -0.3033476892272457,
+      "y": 0.8600927109447758,
+      "z": 0.22682266755175295,
+      "w": -0.3417194543845338
+    }
+  },
+  {
+    "timestamp": 1766139263.3722148,
+    "position": {
+      "x": 0.053748555647302965,
+      "y": 0.04881008589433602,
+      "z": -0.07768707455776308
+    },
+    "orientation": {
+      "x": -0.3013273359518368,
+      "y": 0.8600413916487478,
+      "z": 0.22835246273485402,
+      "w": -0.3426161029811367
+    }
+  },
+  {
+    "timestamp": 1766139263.5049057,
+    "position": {
+      "x": 0.05304924761056007,
+      "y": 0.04706414157251412,
+      "z": -0.07637675310525151
+    },
+    "orientation": {
+      "x": -0.30121416320224165,
+      "y": 0.8625312696391805,
+      "z": 0.22017287433408456,
+      "w": -0.341809511553532
+    }
+  },
+  {
+    "timestamp": 1766139263.637596,
+    "position": {
+      "x": 0.053600064711953194,
+      "y": 0.04535083636248367,
+      "z": -0.0746133539583754
+    },
+    "orientation": {
+      "x": -0.2980917860537625,
+      "y": 0.8657636290010381,
+      "z": 0.21796684533226043,
+      "w": -0.337764829610978
+    }
+  },
+  {
+    "timestamp": 1766139263.7702858,
+    "position": {
+      "x": 0.05611126509215042,
+      "y": 0.044296211220302195,
+      "z": -0.07339713418766922
+    },
+    "orientation": {
+      "x": -0.2954884485238246,
+      "y": 0.8679616873322775,
+      "z": 0.21842800714611102,
+      "w": -0.3340932381932732
+    }
+  },
+  {
+    "timestamp": 1766139263.9029758,
+    "position": {
+      "x": 0.058170684196017536,
+      "y": 0.04257240091273592,
+      "z": -0.07068274217637971
+    },
+    "orientation": {
+      "x": -0.29504256848823507,
+      "y": 0.8714544209741157,
+      "z": 0.21397742959810911,
+      "w": -0.32822360452459837
+    }
+  },
+  {
+    "timestamp": 1766139264.0356658,
+    "position": {
+      "x": 0.060323613403943516,
+      "y": 0.040997726722180286,
+      "z": -0.06841713874745348
+    },
+    "orientation": {
+      "x": -0.29337590868046487,
+      "y": 0.8748576476436298,
+      "z": 0.2108256023635379,
+      "w": -0.3226565324821694
+    }
+  },
+  {
+    "timestamp": 1766139264.1683557,
+    "position": {
+      "x": 0.06074582031310441,
+      "y": 0.04058211493952666,
+      "z": -0.06759406877525724
+    },
+    "orientation": {
+      "x": -0.2933767741278663,
+      "y": 0.8761254688688981,
+      "z": 0.2082765947934005,
+      "w": -0.3208661578646868
+    }
+  }
+]
\ No newline at end of file
diff --git a/recorded_gelsight_pose/episode_9/session_info.json b/recorded_gelsight_pose/episode_9/session_info.json
new file mode 100644
index 0000000000000000000000000000000000000000..8302bdee553f6d14e7237c8ccbfffa760477e481
--- /dev/null
+++ b/recorded_gelsight_pose/episode_9/session_info.json
@@ -0,0 +1,12 @@
+{
+  "session_id": 12,
+  "start_time": "2025-12-19T20:38:18.600602",
+  "ros_start_time": 1766147898.6006145,
+  "image_topic": "/gelsight_img",
+  "pose_topic": "/pose",
+  "image_format": "png",
+  "end_time": "2025-12-19T20:38:22.287848",
+  "ros_end_time": 1766147902.2878554,
+  "total_images": 92,
+  "total_pose_frames": 27
+}
\ No newline at end of file
diff --git a/recorded_gelsight_pose/episode_99/image_index.json b/recorded_gelsight_pose/episode_99/image_index.json
new file mode 100644
index 0000000000000000000000000000000000000000..bbe2012007f0925fb3678ba76bff03efcc4bc861
--- /dev/null
+++ b/recorded_gelsight_pose/episode_99/image_index.json
@@ -0,0 +1,426 @@
+[
+  {
+    "timestamp": 1766150081.703279,
+    "filename": "img_000000.png"
+  },
+  {
+    "timestamp": 1766150081.7371635,
+    "filename": "img_000001.png"
+  },
+  {
+    "timestamp": 1766150081.7785885,
+    "filename": "img_000002.png"
+  },
+  {
+    "timestamp": 1766150081.8174477,
+    "filename": "img_000003.png"
+  },
+  {
+    "timestamp": 1766150081.8577497,
+    "filename": "img_000004.png"
+  },
+  {
+    "timestamp": 1766150081.899139,
+    "filename": "img_000005.png"
+  },
+  {
+    "timestamp": 1766150081.9372118,
+    "filename": "img_000006.png"
+  },
+  {
+    "timestamp": 1766150081.9790263,
+    "filename": "img_000007.png"
+  },
+  {
+    "timestamp": 1766150082.019258,
+    "filename": "img_000008.png"
+  },
+  {
+    "timestamp": 1766150082.0565047,
+    "filename": "img_000009.png"
+  },
+  {
+    "timestamp": 1766150082.0964227,
+    "filename": "img_000010.png"
+  },
+  {
+    "timestamp": 1766150082.1364734,
+    "filename": "img_000011.png"
+  },
+  {
+    "timestamp": 1766150082.1784837,
+    "filename": "img_000012.png"
+  },
+  {
+    "timestamp": 1766150082.21717,
+    "filename": "img_000013.png"
+  },
+  {
+    "timestamp": 1766150082.2618744,
+    "filename": "img_000014.png"
+  },
+  {
+    "timestamp": 1766150082.3054106,
+    "filename": "img_000015.png"
+  },
+  {
+    "timestamp": 1766150082.340136,
+    "filename": "img_000016.png"
+  },
+  {
+    "timestamp": 1766150082.3801992,
+    "filename": "img_000017.png"
+  },
+  {
+    "timestamp": 1766150082.4186459,
+    "filename": "img_000018.png"
+  },
+  {
+    "timestamp": 1766150082.458306,
+    "filename": "img_000019.png"
+  },
+  {
+    "timestamp": 1766150082.4984026,
+    "filename": "img_000020.png"
+  },
+  {
+    "timestamp": 1766150082.5370085,
+    "filename": "img_000021.png"
+  },
+  {
+    "timestamp": 1766150082.5769198,
+    "filename": "img_000022.png"
+  },
+  {
+    "timestamp": 1766150082.6174135,
+    "filename": "img_000023.png"
+  },
+  {
+    "timestamp": 1766150082.6574848,
+    "filename": "img_000024.png"
+  },
+  {
+    "timestamp": 1766150082.697499,
+    "filename": "img_000025.png"
+  },
+  {
+    "timestamp": 1766150082.736164,
+    "filename": "img_000026.png"
+  },
+  {
+    "timestamp": 1766150082.7778914,
+    "filename": "img_000027.png"
+  },
+  {
+    "timestamp": 1766150082.8199737,
+    "filename": "img_000028.png"
+  },
+  {
+    "timestamp": 1766150082.8596663,
+    "filename": "img_000029.png"
+  },
+  {
+    "timestamp": 1766150082.898898,
+    "filename": "img_000030.png"
+  },
+  {
+    "timestamp": 1766150082.9384966,
+    "filename": "img_000031.png"
+  },
+  {
+    "timestamp": 1766150082.986464,
+    "filename": "img_000032.png"
+  },
+  {
+    "timestamp": 1766150083.0253515,
+    "filename": "img_000033.png"
+  },
+  {
+    "timestamp": 1766150083.059683,
+    "filename": "img_000034.png"
+  },
+  {
+    "timestamp": 1766150083.0980654,
+    "filename": "img_000035.png"
+  },
+  {
+    "timestamp": 1766150083.1385884,
+    "filename": "img_000036.png"
+  },
+  {
+    "timestamp": 1766150083.179701,
+    "filename": "img_000037.png"
+  },
+  {
+    "timestamp": 1766150083.2194984,
+    "filename": "img_000038.png"
+  },
+  {
+    "timestamp": 1766150083.2600882,
+    "filename": "img_000039.png"
+  },
+  {
+    "timestamp": 1766150083.3009088,
+    "filename": "img_000040.png"
+  },
+  {
+    "timestamp": 1766150083.3398833,
+    "filename": "img_000041.png"
+  },
+  {
+    "timestamp": 1766150083.3794858,
+    "filename": "img_000042.png"
+  },
+  {
+    "timestamp": 1766150083.4181297,
+    "filename": "img_000043.png"
+  },
+  {
+    "timestamp": 1766150083.4609692,
+    "filename": "img_000044.png"
+  },
+  {
+    "timestamp": 1766150083.4987752,
+    "filename": "img_000045.png"
+  },
+  {
+    "timestamp": 1766150083.5382907,
+    "filename": "img_000046.png"
+  },
+  {
+    "timestamp": 1766150083.5798438,
+    "filename": "img_000047.png"
+  },
+  {
+    "timestamp": 1766150083.621087,
+    "filename": "img_000048.png"
+  },
+  {
+    "timestamp": 1766150083.6582232,
+    "filename": "img_000049.png"
+  },
+  {
+    "timestamp": 1766150083.6981819,
+    "filename": "img_000050.png"
+  },
+  {
+    "timestamp": 1766150083.7385833,
+    "filename": "img_000051.png"
+  },
+  {
+    "timestamp": 1766150083.7794993,
+    "filename": "img_000052.png"
+  },
+  {
+    "timestamp": 1766150083.8175955,
+    "filename": "img_000053.png"
+  },
+  {
+    "timestamp": 1766150083.8599253,
+    "filename": "img_000054.png"
+  },
+  {
+    "timestamp": 1766150083.899983,
+    "filename": "img_000055.png"
+  },
+  {
+    "timestamp": 1766150083.9401648,
+    "filename": "img_000056.png"
+  },
+  {
+    "timestamp": 1766150083.9806583,
+    "filename": "img_000057.png"
+  },
+  {
+    "timestamp": 1766150084.0190103,
+    "filename": "img_000058.png"
+  },
+  {
+    "timestamp": 1766150084.0607429,
+    "filename": "img_000059.png"
+  },
+  {
+    "timestamp": 1766150084.0985248,
+    "filename": "img_000060.png"
+  },
+  {
+    "timestamp": 1766150084.1368692,
+    "filename": "img_000061.png"
+  },
+  {
+    "timestamp": 1766150084.1790385,
+    "filename": "img_000062.png"
+  },
+  {
+    "timestamp": 1766150084.2188706,
+    "filename": "img_000063.png"
+  },
+  {
+    "timestamp": 1766150084.262121,
+    "filename": "img_000064.png"
+  },
+  {
+    "timestamp": 1766150084.298149,
+    "filename": "img_000065.png"
+  },
+  {
+    "timestamp": 1766150084.3367605,
+    "filename": "img_000066.png"
+  },
+  {
+    "timestamp": 1766150084.3788574,
+    "filename": "img_000067.png"
+  },
+  {
+    "timestamp": 1766150084.419324,
+    "filename": "img_000068.png"
+  },
+  {
+    "timestamp": 1766150084.458976,
+    "filename": "img_000069.png"
+  },
+  {
+    "timestamp": 1766150084.4969113,
+    "filename": "img_000070.png"
+  },
+  {
+    "timestamp": 1766150084.5373597,
+    "filename": "img_000071.png"
+  },
+  {
+    "timestamp": 1766150084.5781562,
+    "filename": "img_000072.png"
+  },
+  {
+    "timestamp": 1766150084.6178722,
+    "filename": "img_000073.png"
+  },
+  {
+    "timestamp": 1766150084.6597707,
+    "filename": "img_000074.png"
+  },
+  {
+    "timestamp": 1766150084.6974587,
+    "filename": "img_000075.png"
+  },
+  {
+    "timestamp": 1766150084.7375925,
+    "filename": "img_000076.png"
+  },
+  {
+    "timestamp": 1766150084.7790613,
+    "filename": "img_000077.png"
+  },
+  {
+    "timestamp": 1766150084.817919,
+    "filename": "img_000078.png"
+  },
+  {
+    "timestamp": 1766150084.8579776,
+    "filename": "img_000079.png"
+  },
+  {
+    "timestamp": 1766150084.8995879,
+    "filename": "img_000080.png"
+  },
+  {
+    "timestamp": 1766150084.9416459,
+    "filename": "img_000081.png"
+  },
+  {
+    "timestamp": 1766150084.9793591,
+    "filename": "img_000082.png"
+  },
+  {
+    "timestamp": 1766150085.0177674,
+    "filename": "img_000083.png"
+  },
+  {
+    "timestamp": 1766150085.061385,
+    "filename": "img_000084.png"
+  },
+  {
+    "timestamp": 1766150085.0984008,
+    "filename": "img_000085.png"
+  },
+  {
+    "timestamp": 1766150085.1388698,
+    "filename": "img_000086.png"
+  },
+  {
+    "timestamp": 1766150085.1786456,
+    "filename": "img_000087.png"
+  },
+  {
+    "timestamp": 1766150085.220593,
+    "filename": "img_000088.png"
+  },
+  {
+    "timestamp": 1766150085.258282,
+    "filename": "img_000089.png"
+  },
+  {
+    "timestamp": 1766150085.2971523,
+    "filename": "img_000090.png"
+  },
+  {
+    "timestamp": 1766150085.339918,
+    "filename": "img_000091.png"
+  },
+  {
+    "timestamp": 1766150085.3785586,
+    "filename": "img_000092.png"
+  },
+  {
+    "timestamp": 1766150085.4176471,
+    "filename": "img_000093.png"
+  },
+  {
+    "timestamp": 1766150085.4594426,
+    "filename": "img_000094.png"
+  },
+  {
+    "timestamp": 1766150085.4973125,
+    "filename": "img_000095.png"
+  },
+  {
+    "timestamp": 1766150085.5384617,
+    "filename": "img_000096.png"
+  },
+  {
+    "timestamp": 1766150085.577718,
+    "filename": "img_000097.png"
+  },
+  {
+    "timestamp": 1766150085.6182666,
+    "filename": "img_000098.png"
+  },
+  {
+    "timestamp": 1766150085.658447,
+    "filename": "img_000099.png"
+  },
+  {
+    "timestamp": 1766150085.7057784,
+    "filename": "img_000100.png"
+  },
+  {
+    "timestamp": 1766150085.7391233,
+    "filename": "img_000101.png"
+  },
+  {
+    "timestamp": 1766150085.7778866,
+    "filename": "img_000102.png"
+  },
+  {
+    "timestamp": 1766150085.8170469,
+    "filename": "img_000103.png"
+  },
+  {
+    "timestamp": 1766150085.8578448,
+    "filename": "img_000104.png"
+  },
+  {
+    "timestamp": 1766150085.897556,
+    "filename": "img_000105.png"
+  }
+]
\ No newline at end of file
diff --git a/recorded_gelsight_pose/episode_99/pose_data.json b/recorded_gelsight_pose/episode_99/pose_data.json
new file mode 100644
index 0000000000000000000000000000000000000000..873ae8f2ac18b90124d1b618398402858bbdecb4
--- /dev/null
+++ b/recorded_gelsight_pose/episode_99/pose_data.json
@@ -0,0 +1,450 @@
+[
+  {
+    "timestamp": 1766137139.9780538,
+    "position": {
+      "x": 0.1394690317502119,
+      "y": 0.00786711099089979,
+      "z": 0.011769657980660472
+    },
+    "orientation": {
+      "x": -0.5671569129134385,
+      "y": -0.41178593020554827,
+      "z": -0.05907902572399519,
+      "w": 0.7108270201242726
+    }
+  },
+  {
+    "timestamp": 1766137140.1107447,
+    "position": {
+      "x": 0.14016435490418558,
+      "y": 0.00712822056970297,
+      "z": 0.009559405493546586
+    },
+    "orientation": {
+      "x": -0.562401590264851,
+      "y": -0.4188629977499512,
+      "z": -0.06157866185959849,
+      "w": 0.7102579170886251
+    }
+  },
+  {
+    "timestamp": 1766137140.2434347,
+    "position": {
+      "x": 0.13680903261530253,
+      "y": 0.0059794011432113825,
+      "z": 0.007817745581996077
+    },
+    "orientation": {
+      "x": -0.5713816855118188,
+      "y": -0.41831544512794905,
+      "z": -0.06662443157661153,
+      "w": 0.7029198695058863
+    }
+  },
+  {
+    "timestamp": 1766137140.3761249,
+    "position": {
+      "x": 0.13414196508795712,
+      "y": 0.00644140896164444,
+      "z": 0.005193591908128042
+    },
+    "orientation": {
+      "x": -0.5779883274583046,
+      "y": -0.41812748139089195,
+      "z": -0.0745531391628451,
+      "w": 0.6968075287112118
+    }
+  },
+  {
+    "timestamp": 1766137140.5088148,
+    "position": {
+      "x": 0.13542343600096407,
+      "y": 0.006201141107171598,
+      "z": 0.00640536574039445
+    },
+    "orientation": {
+      "x": -0.5739846249619021,
+      "y": -0.4182244157670502,
+      "z": -0.06985434898424636,
+      "w": 0.7005357651766548
+    }
+  },
+  {
+    "timestamp": 1766137140.6415048,
+    "position": {
+      "x": 0.1338743037795447,
+      "y": 0.0055896308332006595,
+      "z": 0.004855156213959003
+    },
+    "orientation": {
+      "x": -0.5779005600563323,
+      "y": -0.4185124996658053,
+      "z": -0.07550310720897782,
+      "w": 0.6965468477509941
+    }
+  },
+  {
+    "timestamp": 1766137140.7741947,
+    "position": {
+      "x": 0.13221120193086552,
+      "y": 0.008555651659034103,
+      "z": 0.003486948053451136
+    },
+    "orientation": {
+      "x": -0.5982478743811649,
+      "y": -0.42791636198400296,
+      "z": -0.09025565693295078,
+      "w": 0.67144693337329
+    }
+  },
+  {
+    "timestamp": 1766137140.9068847,
+    "position": {
+      "x": 0.13227965173155776,
+      "y": 0.0127896446512481,
+      "z": 0.0031402403210527285
+    },
+    "orientation": {
+      "x": -0.6231246600210251,
+      "y": -0.44678383406699446,
+      "z": -0.11216652866572771,
+      "w": 0.6320747847661373
+    }
+  },
+  {
+    "timestamp": 1766137141.0395749,
+    "position": {
+      "x": 0.132735270234577,
+      "y": 0.01663327544844559,
+      "z": 0.002509542967470732
+    },
+    "orientation": {
+      "x": -0.6469096370834804,
+      "y": -0.4642770574260703,
+      "z": -0.13275059490061425,
+      "w": 0.5901965900865933
+    }
+  },
+  {
+    "timestamp": 1766137141.1722648,
+    "position": {
+      "x": 0.13171793956803432,
+      "y": 0.020001692569026813,
+      "z": 0.0002703415574513979
+    },
+    "orientation": {
+      "x": -0.6688907351854734,
+      "y": -0.47966131719864014,
+      "z": -0.1573166037100263,
+      "w": 0.5456754450801732
+    }
+  },
+  {
+    "timestamp": 1766137141.3049548,
+    "position": {
+      "x": 0.13076859838725455,
+      "y": 0.024176162536276663,
+      "z": -0.002066941699215827
+    },
+    "orientation": {
+      "x": 0.6950397858870769,
+      "y": 0.4962367216288384,
+      "z": 0.18402690880443934,
+      "w": -0.4866239913701249
+    }
+  },
+  {
+    "timestamp": 1766137141.4376457,
+    "position": {
+      "x": 0.1311954435418908,
+      "y": 0.026410512118712648,
+      "z": -0.005784026014966401
+    },
+    "orientation": {
+      "x": 0.7106067730075364,
+      "y": 0.5070325183923108,
+      "z": 0.20554912047085067,
+      "w": -0.4423862548974893
+    }
+  },
+  {
+    "timestamp": 1766137141.5703359,
+    "position": {
+      "x": 0.13150974284378078,
+      "y": 0.028288805847834525,
+      "z": -0.0061322115335180755
+    },
+    "orientation": {
+      "x": 0.7213399491957592,
+      "y": 0.5145703368413471,
+      "z": 0.2182042273785961,
+      "w": -0.40899017260974857
+    }
+  },
+  {
+    "timestamp": 1766137141.7030258,
+    "position": {
+      "x": 0.13154178494971533,
+      "y": 0.02927189515508566,
+      "z": -0.007434512969863444
+    },
+    "orientation": {
+      "x": 0.732188703983798,
+      "y": 0.5210718363820964,
+      "z": 0.23210539554903645,
+      "w": -0.37217056364648343
+    }
+  },
+  {
+    "timestamp": 1766137141.8357158,
+    "position": {
+      "x": 0.13231610027464222,
+      "y": 0.030133166930805727,
+      "z": -0.010418048658805482
+    },
+    "orientation": {
+      "x": 0.7406103927346009,
+      "y": 0.528560498060343,
+      "z": 0.24790089649834307,
+      "w": -0.3326637815858829
+    }
+  },
+  {
+    "timestamp": 1766137141.9684057,
+    "position": {
+      "x": 0.13166642414514695,
+      "y": 0.030768921091103074,
+      "z": -0.012467756723513287
+    },
+    "orientation": {
+      "x": 0.7502341548500125,
+      "y": 0.5327893877219505,
+      "z": 0.26301507348234804,
+      "w": -0.2900125037794603
+    }
+  },
+  {
+    "timestamp": 1766137142.1010957,
+    "position": {
+      "x": 0.13194754581811968,
+      "y": 0.031055129322009573,
+      "z": -0.01569132923342191
+    },
+    "orientation": {
+      "x": 0.7564007715769713,
+      "y": 0.5361435480065616,
+      "z": 0.27793052028560555,
+      "w": -0.2513216954074417
+    }
+  },
+  {
+    "timestamp": 1766137142.2337859,
+    "position": {
+      "x": 0.1322349680394858,
+      "y": 0.030351222131320188,
+      "z": -0.013540725005093887
+    },
+    "orientation": {
+      "x": 0.7591929077615809,
+      "y": 0.5362253323408784,
+      "z": 0.27662668530022894,
+      "w": -0.24406187481914957
+    }
+  },
+  {
+    "timestamp": 1766137142.3664758,
+    "position": {
+      "x": 0.13230616358152003,
+      "y": 0.030389954372509992,
+      "z": -0.012151141510994792
+    },
+    "orientation": {
+      "x": 0.7587369611272676,
+      "y": 0.5369187668239307,
+      "z": 0.2725648756317456,
+      "w": -0.24848511066758028
+    }
+  },
+  {
+    "timestamp": 1766137142.4991658,
+    "position": {
+      "x": 0.13170388639242142,
+      "y": 0.030089450927290762,
+      "z": -0.011878451221031358
+    },
+    "orientation": {
+      "x": 0.7559617365442644,
+      "y": 0.5343671017854955,
+      "z": 0.26854290543051884,
+      "w": -0.2661923390206514
+    }
+  },
+  {
+    "timestamp": 1766137142.6318567,
+    "position": {
+      "x": 0.13231746389092525,
+      "y": 0.029909556723117126,
+      "z": -0.009627257775460543
+    },
+    "orientation": {
+      "x": 0.7494066190141242,
+      "y": 0.5331099176080529,
+      "z": 0.2562491865366683,
+      "w": -0.2975229226884039
+    }
+  },
+  {
+    "timestamp": 1766137142.7645469,
+    "position": {
+      "x": 0.1322518632535426,
+      "y": 0.029714231763715043,
+      "z": -0.009184017853030649
+    },
+    "orientation": {
+      "x": 0.7430757756244041,
+      "y": 0.5297412177440676,
+      "z": 0.24706536523115075,
+      "w": -0.32583943777023167
+    }
+  },
+  {
+    "timestamp": 1766137142.8972368,
+    "position": {
+      "x": 0.1320575416953117,
+      "y": 0.028318586758578013,
+      "z": -0.006321279345741421
+    },
+    "orientation": {
+      "x": 0.7353275706417667,
+      "y": 0.5251911060027984,
+      "z": 0.2344205071970323,
+      "w": -0.35848945847140484
+    }
+  },
+  {
+    "timestamp": 1766137143.0299268,
+    "position": {
+      "x": 0.13252166617339592,
+      "y": 0.027381260134497376,
+      "z": -0.0043301352893913014
+    },
+    "orientation": {
+      "x": 0.726929706364377,
+      "y": 0.5181252981064615,
+      "z": 0.21935385812142819,
+      "w": -0.39370453692373847
+    }
+  },
+  {
+    "timestamp": 1766137143.1626167,
+    "position": {
+      "x": 0.1329559330739614,
+      "y": 0.025592130904069144,
+      "z": -0.0017403263493347282
+    },
+    "orientation": {
+      "x": 0.7145133440864484,
+      "y": 0.5111355743585676,
+      "z": 0.20245485724338572,
+      "w": -0.4326928893870317
+    }
+  },
+  {
+    "timestamp": 1766137143.2953067,
+    "position": {
+      "x": 0.1333408638742107,
+      "y": 0.024103376719457004,
+      "z": -0.00041132201217494724
+    },
+    "orientation": {
+      "x": 0.7010887608385528,
+      "y": 0.5030937534535312,
+      "z": 0.18708297361463463,
+      "w": -0.4694370944497313
+    }
+  },
+  {
+    "timestamp": 1766137143.4279969,
+    "position": {
+      "x": 0.1329668106646706,
+      "y": 0.021991117343465705,
+      "z": 0.00028568196519010436
+    },
+    "orientation": {
+      "x": -0.688640693486305,
+      "y": -0.49482272908793035,
+      "z": -0.17439049435117776,
+      "w": 0.5005121552296462
+    }
+  },
+  {
+    "timestamp": 1766137143.5606868,
+    "position": {
+      "x": 0.134023491004564,
+      "y": 0.020080598157422913,
+      "z": 0.002722488158820327
+    },
+    "orientation": {
+      "x": -0.6717368788471499,
+      "y": -0.484770373435739,
+      "z": -0.1548889885372439,
+      "w": 0.5383090672332882
+    }
+  },
+  {
+    "timestamp": 1766137143.6933768,
+    "position": {
+      "x": 0.13432390312424253,
+      "y": 0.01764421313590528,
+      "z": 0.004795074224792709
+    },
+    "orientation": {
+      "x": -0.6533757282536986,
+      "y": -0.47141348503665814,
+      "z": -0.13546524870276755,
+      "w": 0.5766443013231285
+    }
+  },
+  {
+    "timestamp": 1766137143.8260677,
+    "position": {
+      "x": 0.13392353312698796,
+      "y": 0.014979686282030336,
+      "z": 0.004527478309197794
+    },
+    "orientation": {
+      "x": -0.6380726371668121,
+      "y": -0.4594487763243904,
+      "z": -0.12248873193055342,
+      "w": 0.6056126172588012
+    }
+  },
+  {
+    "timestamp": 1766137143.9587579,
+    "position": {
+      "x": 0.1343300633936998,
+      "y": 0.011235015839930113,
+      "z": 0.0036940353935725895
+    },
+    "orientation": {
+      "x": -0.6209044845077267,
+      "y": -0.45040581601276414,
+      "z": -0.1084125131333746,
+      "w": 0.6323440116077449
+    }
+  },
+  {
+    "timestamp": 1766137144.0914478,
+    "position": {
+      "x": 0.13641416531813483,
+      "y": 0.009095676461808005,
+      "z": 0.0065258522538384905
+    },
+    "orientation": {
+      "x": -0.5973305647338164,
+      "y": -0.43577655462666826,
+      "z": -0.08633504406418188,
+      "w": 0.6677134497963374
+    }
+  }
+]
\ No newline at end of file
diff --git a/recorded_gelsight_pose/episode_99/session_info.json b/recorded_gelsight_pose/episode_99/session_info.json
new file mode 100644
index 0000000000000000000000000000000000000000..c455bdc999f54a5e0461fbb8056b464f7d7a35da
--- /dev/null
+++ b/recorded_gelsight_pose/episode_99/session_info.json
@@ -0,0 +1,12 @@
+{
+  "session_id": 49,
+  "start_time": "2025-12-19T21:14:41.671044",
+  "ros_start_time": 1766150081.6710653,
+  "image_topic": "/gelsight_img",
+  "pose_topic": "/pose",
+  "image_format": "png",
+  "end_time": "2025-12-19T21:14:45.931253",
+  "ros_end_time": 1766150085.931264,
+  "total_images": 106,
+  "total_pose_frames": 32
+}
\ No newline at end of file