diff --git a/recorded_9dtact_force/episode_1/force_data.json b/recorded_9dtact_force/episode_1/force_data.json
new file mode 100644
index 0000000000000000000000000000000000000000..fb036904093d502a23439a3f253261f86f34f001
--- /dev/null
+++ b/recorded_9dtact_force/episode_1/force_data.json
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diff --git a/recorded_9dtact_force/episode_1/image_index.json b/recorded_9dtact_force/episode_1/image_index.json
new file mode 100644
index 0000000000000000000000000000000000000000..a59f74c5a44a5005ad522aae0f993ad8dae671a4
--- /dev/null
+++ b/recorded_9dtact_force/episode_1/image_index.json
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\ No newline at end of file
diff --git a/recorded_9dtact_force/episode_1/session_info.json b/recorded_9dtact_force/episode_1/session_info.json
new file mode 100644
index 0000000000000000000000000000000000000000..2f30e21053410565fe94f38338b9f04301c33641
--- /dev/null
+++ b/recorded_9dtact_force/episode_1/session_info.json
@@ -0,0 +1,12 @@
+{
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+  "start_time": "2025-12-20T17:39:28.944292",
+  "ros_start_time": 1766223568.9443243,
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+}
\ No newline at end of file
diff --git a/recorded_9dtact_force/episode_100/force_data.json b/recorded_9dtact_force/episode_100/force_data.json
new file mode 100644
index 0000000000000000000000000000000000000000..cb4648149626e641f129364fd9f081e150099709
--- /dev/null
+++ b/recorded_9dtact_force/episode_100/force_data.json
@@ -0,0 +1,142 @@
+[
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\ No newline at end of file
diff --git a/recorded_9dtact_force/episode_100/image_index.json b/recorded_9dtact_force/episode_100/image_index.json
new file mode 100644
index 0000000000000000000000000000000000000000..79bf23764d4c811124969a96bf8fbeb790f58a27
--- /dev/null
+++ b/recorded_9dtact_force/episode_100/image_index.json
@@ -0,0 +1,142 @@
+[
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\ No newline at end of file
diff --git a/recorded_9dtact_force/episode_100/session_info.json b/recorded_9dtact_force/episode_100/session_info.json
new file mode 100644
index 0000000000000000000000000000000000000000..ebef2cdef224c8505b9aced9ac04107d163179d6
--- /dev/null
+++ b/recorded_9dtact_force/episode_100/session_info.json
@@ -0,0 +1,12 @@
+{
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+  "start_time": "2025-12-20T17:50:46.689083",
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+}
\ No newline at end of file
diff --git a/recorded_9dtact_force/episode_18/force_data.json b/recorded_9dtact_force/episode_18/force_data.json
new file mode 100644
index 0000000000000000000000000000000000000000..f6f9b507dabc958cb9f2376ee6b2b3cb0fc98585
--- /dev/null
+++ b/recorded_9dtact_force/episode_18/force_data.json
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diff --git a/recorded_9dtact_force/episode_18/image_index.json b/recorded_9dtact_force/episode_18/image_index.json
new file mode 100644
index 0000000000000000000000000000000000000000..893382269d871c74b56aaa9ce6d2f497c712a79b
--- /dev/null
+++ b/recorded_9dtact_force/episode_18/image_index.json
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diff --git a/recorded_9dtact_force/episode_18/session_info.json b/recorded_9dtact_force/episode_18/session_info.json
new file mode 100644
index 0000000000000000000000000000000000000000..28e6dd2d44ebb15e8a3a341d14d548df6c11a83b
--- /dev/null
+++ b/recorded_9dtact_force/episode_18/session_info.json
@@ -0,0 +1,12 @@
+{
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+  "start_time": "2025-12-20T17:41:05.780814",
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+}
\ No newline at end of file
diff --git a/recorded_9dtact_force/episode_20/force_data.json b/recorded_9dtact_force/episode_20/force_data.json
new file mode 100644
index 0000000000000000000000000000000000000000..3ac6a4e9bc9c147ec6242fb75b1e9221c37842f7
--- /dev/null
+++ b/recorded_9dtact_force/episode_20/force_data.json
@@ -0,0 +1,134 @@
+[
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diff --git a/recorded_9dtact_force/episode_20/image_index.json b/recorded_9dtact_force/episode_20/image_index.json
new file mode 100644
index 0000000000000000000000000000000000000000..85f40d7eb3e327973c6927a73cac900cd9b390e7
--- /dev/null
+++ b/recorded_9dtact_force/episode_20/image_index.json
@@ -0,0 +1,134 @@
+[
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\ No newline at end of file
diff --git a/recorded_9dtact_force/episode_20/session_info.json b/recorded_9dtact_force/episode_20/session_info.json
new file mode 100644
index 0000000000000000000000000000000000000000..1c0945532ce71361ce6863dd06de7a128ad6efa3
--- /dev/null
+++ b/recorded_9dtact_force/episode_20/session_info.json
@@ -0,0 +1,12 @@
+{
+  "session_id": 21,
+  "start_time": "2025-12-20T17:41:14.852195",
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+  "image_topic": "/camera/raw_image",
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+  "total_force_frames": 33
+}
\ No newline at end of file
diff --git a/recorded_9dtact_force/episode_21/force_data.json b/recorded_9dtact_force/episode_21/force_data.json
new file mode 100644
index 0000000000000000000000000000000000000000..078763c2f0721a2ee0d87c42e06ed26c7eabf501
--- /dev/null
+++ b/recorded_9dtact_force/episode_21/force_data.json
@@ -0,0 +1,122 @@
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\ No newline at end of file
diff --git a/recorded_9dtact_force/episode_21/image_index.json b/recorded_9dtact_force/episode_21/image_index.json
new file mode 100644
index 0000000000000000000000000000000000000000..6c28d153edc58353385bdc5b566969b4bd2694c7
--- /dev/null
+++ b/recorded_9dtact_force/episode_21/image_index.json
@@ -0,0 +1,122 @@
+[
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diff --git a/recorded_9dtact_force/episode_21/session_info.json b/recorded_9dtact_force/episode_21/session_info.json
new file mode 100644
index 0000000000000000000000000000000000000000..3d732a81bd40f4337b3c094c09980cad44bc12c7
--- /dev/null
+++ b/recorded_9dtact_force/episode_21/session_info.json
@@ -0,0 +1,12 @@
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+}
\ No newline at end of file
diff --git a/recorded_9dtact_force/episode_23/force_data.json b/recorded_9dtact_force/episode_23/force_data.json
new file mode 100644
index 0000000000000000000000000000000000000000..4296b620e11b85883f94e3cd073200c59930e3a9
--- /dev/null
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diff --git a/recorded_9dtact_force/episode_23/image_index.json b/recorded_9dtact_force/episode_23/image_index.json
new file mode 100644
index 0000000000000000000000000000000000000000..677aa91a7d0a6a079107be677eb6937d49f64aaf
--- /dev/null
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diff --git a/recorded_9dtact_force/episode_23/session_info.json b/recorded_9dtact_force/episode_23/session_info.json
new file mode 100644
index 0000000000000000000000000000000000000000..ac0cf1156b024cb8eeae9d4bf0b0a5b6045b6380
--- /dev/null
+++ b/recorded_9dtact_force/episode_23/session_info.json
@@ -0,0 +1,12 @@
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+}
\ No newline at end of file
diff --git a/recorded_9dtact_force/episode_27/force_data.json b/recorded_9dtact_force/episode_27/force_data.json
new file mode 100644
index 0000000000000000000000000000000000000000..856403def6905c1ee969f2ff592eff77a50568cf
--- /dev/null
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diff --git a/recorded_9dtact_force/episode_27/image_index.json b/recorded_9dtact_force/episode_27/image_index.json
new file mode 100644
index 0000000000000000000000000000000000000000..e69c5ec29fdd9807a596def1c3efcebee22a36e8
--- /dev/null
+++ b/recorded_9dtact_force/episode_27/image_index.json
@@ -0,0 +1,142 @@
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\ No newline at end of file
diff --git a/recorded_9dtact_force/episode_27/session_info.json b/recorded_9dtact_force/episode_27/session_info.json
new file mode 100644
index 0000000000000000000000000000000000000000..81677f8be640462e84b05931d90b8f8a046ef0db
--- /dev/null
+++ b/recorded_9dtact_force/episode_27/session_info.json
@@ -0,0 +1,12 @@
+{
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+}
\ No newline at end of file
diff --git a/recorded_9dtact_force/episode_28/force_data.json b/recorded_9dtact_force/episode_28/force_data.json
new file mode 100644
index 0000000000000000000000000000000000000000..778552b7e3f8663d45f135be3929939430d3c7e5
--- /dev/null
+++ b/recorded_9dtact_force/episode_28/force_data.json
@@ -0,0 +1,146 @@
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diff --git a/recorded_9dtact_force/episode_28/image_index.json b/recorded_9dtact_force/episode_28/image_index.json
new file mode 100644
index 0000000000000000000000000000000000000000..bd9eb6a2d3c38ddbcd7e211a2afe230f655bd77c
--- /dev/null
+++ b/recorded_9dtact_force/episode_28/image_index.json
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diff --git a/recorded_9dtact_force/episode_28/session_info.json b/recorded_9dtact_force/episode_28/session_info.json
new file mode 100644
index 0000000000000000000000000000000000000000..426aba89f7720b0e7de9048f736457a6f4e07ad0
--- /dev/null
+++ b/recorded_9dtact_force/episode_28/session_info.json
@@ -0,0 +1,12 @@
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+}
\ No newline at end of file
diff --git a/recorded_9dtact_force/episode_29/force_data.json b/recorded_9dtact_force/episode_29/force_data.json
new file mode 100644
index 0000000000000000000000000000000000000000..a58073d992af10b981d19578b5ad7507f69a8d1d
--- /dev/null
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diff --git a/recorded_9dtact_force/episode_29/image_index.json b/recorded_9dtact_force/episode_29/image_index.json
new file mode 100644
index 0000000000000000000000000000000000000000..451da1863608725156f140024c905ff3afa31d72
--- /dev/null
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diff --git a/recorded_9dtact_force/episode_29/session_info.json b/recorded_9dtact_force/episode_29/session_info.json
new file mode 100644
index 0000000000000000000000000000000000000000..0c0b4bfbf3ea1e0b8cf9534c94d46e77f04dfcd3
--- /dev/null
+++ b/recorded_9dtact_force/episode_29/session_info.json
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+}
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diff --git a/recorded_9dtact_force/episode_30/force_data.json b/recorded_9dtact_force/episode_30/force_data.json
new file mode 100644
index 0000000000000000000000000000000000000000..1c64443624303ee352213cd7d2d23ffecaa9adfb
--- /dev/null
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diff --git a/recorded_9dtact_force/episode_30/image_index.json b/recorded_9dtact_force/episode_30/image_index.json
new file mode 100644
index 0000000000000000000000000000000000000000..ee0931c6d39242e8348b48047753d6bdbdf7863b
--- /dev/null
+++ b/recorded_9dtact_force/episode_30/image_index.json
@@ -0,0 +1,150 @@
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diff --git a/recorded_9dtact_force/episode_30/session_info.json b/recorded_9dtact_force/episode_30/session_info.json
new file mode 100644
index 0000000000000000000000000000000000000000..a36dd8efb4aaadadf1e83e5e2b2ae6aba693f288
--- /dev/null
+++ b/recorded_9dtact_force/episode_30/session_info.json
@@ -0,0 +1,12 @@
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+}
\ No newline at end of file
diff --git a/recorded_9dtact_force/episode_31/force_data.json b/recorded_9dtact_force/episode_31/force_data.json
new file mode 100644
index 0000000000000000000000000000000000000000..b088193f8aaf8d880f7a7c216ce4e713a04968a2
--- /dev/null
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diff --git a/recorded_9dtact_force/episode_31/image_index.json b/recorded_9dtact_force/episode_31/image_index.json
new file mode 100644
index 0000000000000000000000000000000000000000..155c1f79f7810d1d652e7a5c61d837ec603af826
--- /dev/null
+++ b/recorded_9dtact_force/episode_31/image_index.json
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diff --git a/recorded_9dtact_force/episode_31/session_info.json b/recorded_9dtact_force/episode_31/session_info.json
new file mode 100644
index 0000000000000000000000000000000000000000..81fd97f3c1a6f74ef4dd1a1109de34510c4c6886
--- /dev/null
+++ b/recorded_9dtact_force/episode_31/session_info.json
@@ -0,0 +1,12 @@
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+}
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diff --git a/recorded_9dtact_force/episode_34/force_data.json b/recorded_9dtact_force/episode_34/force_data.json
new file mode 100644
index 0000000000000000000000000000000000000000..5c141f163a358f7810ea108c57831cf434714483
--- /dev/null
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diff --git a/recorded_9dtact_force/episode_34/image_index.json b/recorded_9dtact_force/episode_34/image_index.json
new file mode 100644
index 0000000000000000000000000000000000000000..45315c132c3ebd15968cb3fb9b539dc616fdc2aa
--- /dev/null
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diff --git a/recorded_9dtact_force/episode_34/session_info.json b/recorded_9dtact_force/episode_34/session_info.json
new file mode 100644
index 0000000000000000000000000000000000000000..28ee1ee5946348361906971811376c6524be24f4
--- /dev/null
+++ b/recorded_9dtact_force/episode_34/session_info.json
@@ -0,0 +1,12 @@
+{
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+}
\ No newline at end of file
diff --git a/recorded_9dtact_force/episode_35/force_data.json b/recorded_9dtact_force/episode_35/force_data.json
new file mode 100644
index 0000000000000000000000000000000000000000..77224b04d79285ee47546efe44706e5e2cbb11e5
--- /dev/null
+++ b/recorded_9dtact_force/episode_35/force_data.json
@@ -0,0 +1,142 @@
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diff --git a/recorded_9dtact_force/episode_35/image_index.json b/recorded_9dtact_force/episode_35/image_index.json
new file mode 100644
index 0000000000000000000000000000000000000000..53b1ad6ff2530bbdc59379ae89b6db1446d35527
--- /dev/null
+++ b/recorded_9dtact_force/episode_35/image_index.json
@@ -0,0 +1,146 @@
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\ No newline at end of file
diff --git a/recorded_9dtact_force/episode_35/session_info.json b/recorded_9dtact_force/episode_35/session_info.json
new file mode 100644
index 0000000000000000000000000000000000000000..20c53c690e92a46214fc0b87ffd3e85e07d57b90
--- /dev/null
+++ b/recorded_9dtact_force/episode_35/session_info.json
@@ -0,0 +1,12 @@
+{
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+}
\ No newline at end of file
diff --git a/recorded_9dtact_force/episode_36/force_data.json b/recorded_9dtact_force/episode_36/force_data.json
new file mode 100644
index 0000000000000000000000000000000000000000..a3a1540622dd19675be225bd0348ed4999712757
--- /dev/null
+++ b/recorded_9dtact_force/episode_36/force_data.json
@@ -0,0 +1,150 @@
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diff --git a/recorded_9dtact_force/episode_36/image_index.json b/recorded_9dtact_force/episode_36/image_index.json
new file mode 100644
index 0000000000000000000000000000000000000000..da715859c92c6b533bc935d54f762cc52860917b
--- /dev/null
+++ b/recorded_9dtact_force/episode_36/image_index.json
@@ -0,0 +1,150 @@
+[
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\ No newline at end of file
diff --git a/recorded_9dtact_force/episode_36/session_info.json b/recorded_9dtact_force/episode_36/session_info.json
new file mode 100644
index 0000000000000000000000000000000000000000..4659ebad03136254a37ae7dfdcbf2762491e0504
--- /dev/null
+++ b/recorded_9dtact_force/episode_36/session_info.json
@@ -0,0 +1,12 @@
+{
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+}
\ No newline at end of file
diff --git a/recorded_9dtact_force/episode_38/force_data.json b/recorded_9dtact_force/episode_38/force_data.json
new file mode 100644
index 0000000000000000000000000000000000000000..01f944e6e15d0a1cdbf8d27b07022e48353bae03
--- /dev/null
+++ b/recorded_9dtact_force/episode_38/force_data.json
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diff --git a/recorded_9dtact_force/episode_38/image_index.json b/recorded_9dtact_force/episode_38/image_index.json
new file mode 100644
index 0000000000000000000000000000000000000000..a1bf30429cc7aeed59e4ed175184927616cb553f
--- /dev/null
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diff --git a/recorded_9dtact_force/episode_38/session_info.json b/recorded_9dtact_force/episode_38/session_info.json
new file mode 100644
index 0000000000000000000000000000000000000000..84b5863b16976e4d3de401beb7cf5bdf8e33995a
--- /dev/null
+++ b/recorded_9dtact_force/episode_38/session_info.json
@@ -0,0 +1,12 @@
+{
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+}
\ No newline at end of file
diff --git a/recorded_9dtact_force/episode_4/force_data.json b/recorded_9dtact_force/episode_4/force_data.json
new file mode 100644
index 0000000000000000000000000000000000000000..5295a45e845ae99b4d35cc6a834809438e534e88
--- /dev/null
+++ b/recorded_9dtact_force/episode_4/force_data.json
@@ -0,0 +1,106 @@
+[
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diff --git a/recorded_9dtact_force/episode_4/image_index.json b/recorded_9dtact_force/episode_4/image_index.json
new file mode 100644
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--- /dev/null
+++ b/recorded_9dtact_force/episode_4/image_index.json
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\ No newline at end of file
diff --git a/recorded_9dtact_force/episode_4/session_info.json b/recorded_9dtact_force/episode_4/session_info.json
new file mode 100644
index 0000000000000000000000000000000000000000..f0524095d5f47057eb5d0a6ac15417f165e91a67
--- /dev/null
+++ b/recorded_9dtact_force/episode_4/session_info.json
@@ -0,0 +1,12 @@
+{
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+}
\ No newline at end of file
diff --git a/recorded_9dtact_force/episode_40/force_data.json b/recorded_9dtact_force/episode_40/force_data.json
new file mode 100644
index 0000000000000000000000000000000000000000..55fc92227639aabd0fb943d891a897d8294e135e
--- /dev/null
+++ b/recorded_9dtact_force/episode_40/force_data.json
@@ -0,0 +1,158 @@
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diff --git a/recorded_9dtact_force/episode_40/image_index.json b/recorded_9dtact_force/episode_40/image_index.json
new file mode 100644
index 0000000000000000000000000000000000000000..91308fd4908c43ca91403f00b3f0d717db701180
--- /dev/null
+++ b/recorded_9dtact_force/episode_40/image_index.json
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diff --git a/recorded_9dtact_force/episode_40/session_info.json b/recorded_9dtact_force/episode_40/session_info.json
new file mode 100644
index 0000000000000000000000000000000000000000..d096ca8636f1a6d5e1eba1a6bb8f1aba0bff23ec
--- /dev/null
+++ b/recorded_9dtact_force/episode_40/session_info.json
@@ -0,0 +1,12 @@
+{
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+}
\ No newline at end of file
diff --git a/recorded_9dtact_force/episode_42/force_data.json b/recorded_9dtact_force/episode_42/force_data.json
new file mode 100644
index 0000000000000000000000000000000000000000..0a826e3a1128852b96244a08a1df58612999a1aa
--- /dev/null
+++ b/recorded_9dtact_force/episode_42/force_data.json
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diff --git a/recorded_9dtact_force/episode_42/image_index.json b/recorded_9dtact_force/episode_42/image_index.json
new file mode 100644
index 0000000000000000000000000000000000000000..79b93bc833a85ff6ae96befa281742225fc8a104
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diff --git a/recorded_9dtact_force/episode_42/session_info.json b/recorded_9dtact_force/episode_42/session_info.json
new file mode 100644
index 0000000000000000000000000000000000000000..cf5155a218c9bc5f559c3ae232a7e4d25ba69ee3
--- /dev/null
+++ b/recorded_9dtact_force/episode_42/session_info.json
@@ -0,0 +1,12 @@
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diff --git a/recorded_9dtact_force/episode_46/force_data.json b/recorded_9dtact_force/episode_46/force_data.json
new file mode 100644
index 0000000000000000000000000000000000000000..16bf68eae23111f8219793433f924e8361ccc7ae
--- /dev/null
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diff --git a/recorded_9dtact_force/episode_46/image_index.json b/recorded_9dtact_force/episode_46/image_index.json
new file mode 100644
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--- /dev/null
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diff --git a/recorded_9dtact_force/episode_46/session_info.json b/recorded_9dtact_force/episode_46/session_info.json
new file mode 100644
index 0000000000000000000000000000000000000000..c16ec3a62a41903eab643cfb0d60b1ef378c93ab
--- /dev/null
+++ b/recorded_9dtact_force/episode_46/session_info.json
@@ -0,0 +1,12 @@
+{
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+}
\ No newline at end of file
diff --git a/recorded_9dtact_force/episode_51/force_data.json b/recorded_9dtact_force/episode_51/force_data.json
new file mode 100644
index 0000000000000000000000000000000000000000..a2e9f0d43e4b0c15b8758cb111b3ff1cf67c445c
--- /dev/null
+++ b/recorded_9dtact_force/episode_51/force_data.json
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diff --git a/recorded_9dtact_force/episode_51/image_index.json b/recorded_9dtact_force/episode_51/image_index.json
new file mode 100644
index 0000000000000000000000000000000000000000..d458d32de6a7d159888e211ba6c8352b67e5ad15
--- /dev/null
+++ b/recorded_9dtact_force/episode_51/image_index.json
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diff --git a/recorded_9dtact_force/episode_51/session_info.json b/recorded_9dtact_force/episode_51/session_info.json
new file mode 100644
index 0000000000000000000000000000000000000000..45cf86026c2a09e86869536659c590cc3640bf26
--- /dev/null
+++ b/recorded_9dtact_force/episode_51/session_info.json
@@ -0,0 +1,12 @@
+{
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+}
\ No newline at end of file
diff --git a/recorded_9dtact_force/episode_53/force_data.json b/recorded_9dtact_force/episode_53/force_data.json
new file mode 100644
index 0000000000000000000000000000000000000000..89a69699eea98830f551746547b04dc067b3892a
--- /dev/null
+++ b/recorded_9dtact_force/episode_53/force_data.json
@@ -0,0 +1,174 @@
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diff --git a/recorded_9dtact_force/episode_53/image_index.json b/recorded_9dtact_force/episode_53/image_index.json
new file mode 100644
index 0000000000000000000000000000000000000000..20c1c4e9a5ff1b51b0a9ce4ce1fad30b890b3859
--- /dev/null
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diff --git a/recorded_9dtact_force/episode_53/session_info.json b/recorded_9dtact_force/episode_53/session_info.json
new file mode 100644
index 0000000000000000000000000000000000000000..86d1c67a74b048ba37530555febbc4f481bf06dd
--- /dev/null
+++ b/recorded_9dtact_force/episode_53/session_info.json
@@ -0,0 +1,12 @@
+{
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+}
\ No newline at end of file
diff --git a/recorded_9dtact_force/episode_54/force_data.json b/recorded_9dtact_force/episode_54/force_data.json
new file mode 100644
index 0000000000000000000000000000000000000000..39a376d83cdcfc0ef926e050e8643e59760eaa09
--- /dev/null
+++ b/recorded_9dtact_force/episode_54/force_data.json
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diff --git a/recorded_9dtact_force/episode_54/image_index.json b/recorded_9dtact_force/episode_54/image_index.json
new file mode 100644
index 0000000000000000000000000000000000000000..5cda2225d7e23cf1448a3607f3bde1b97156893c
--- /dev/null
+++ b/recorded_9dtact_force/episode_54/image_index.json
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diff --git a/recorded_9dtact_force/episode_54/session_info.json b/recorded_9dtact_force/episode_54/session_info.json
new file mode 100644
index 0000000000000000000000000000000000000000..21b2d51f8debc417ee4ba5ddffd02e11210d1a2d
--- /dev/null
+++ b/recorded_9dtact_force/episode_54/session_info.json
@@ -0,0 +1,12 @@
+{
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+}
\ No newline at end of file
diff --git a/recorded_9dtact_force/episode_55/force_data.json b/recorded_9dtact_force/episode_55/force_data.json
new file mode 100644
index 0000000000000000000000000000000000000000..2ef07b361c07c3fdc4937741bd884fa55fe45fe5
--- /dev/null
+++ b/recorded_9dtact_force/episode_55/force_data.json
@@ -0,0 +1,186 @@
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diff --git a/recorded_9dtact_force/episode_55/image_index.json b/recorded_9dtact_force/episode_55/image_index.json
new file mode 100644
index 0000000000000000000000000000000000000000..d9921dec313be66c19e9266ec7f5529f2aea3a37
--- /dev/null
+++ b/recorded_9dtact_force/episode_55/image_index.json
@@ -0,0 +1,186 @@
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diff --git a/recorded_9dtact_force/episode_55/session_info.json b/recorded_9dtact_force/episode_55/session_info.json
new file mode 100644
index 0000000000000000000000000000000000000000..973e5ccea1a83284887223dea47f200243078aef
--- /dev/null
+++ b/recorded_9dtact_force/episode_55/session_info.json
@@ -0,0 +1,12 @@
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+}
\ No newline at end of file
diff --git a/recorded_9dtact_force/episode_57/image_index.json b/recorded_9dtact_force/episode_57/image_index.json
new file mode 100644
index 0000000000000000000000000000000000000000..184c31a066963165acc3b0cb161c986c95aef186
--- /dev/null
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diff --git a/recorded_9dtact_force/episode_57/session_info.json b/recorded_9dtact_force/episode_57/session_info.json
new file mode 100644
index 0000000000000000000000000000000000000000..32e9f0324a48161976670c196993b510dcab463a
--- /dev/null
+++ b/recorded_9dtact_force/episode_57/session_info.json
@@ -0,0 +1,12 @@
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+}
\ No newline at end of file
diff --git a/recorded_9dtact_force/episode_58/force_data.json b/recorded_9dtact_force/episode_58/force_data.json
new file mode 100644
index 0000000000000000000000000000000000000000..1f3dc64ac41c16a2ef898b67932ae9e0de31efdc
--- /dev/null
+++ b/recorded_9dtact_force/episode_58/force_data.json
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diff --git a/recorded_9dtact_force/episode_58/image_index.json b/recorded_9dtact_force/episode_58/image_index.json
new file mode 100644
index 0000000000000000000000000000000000000000..4959f47fa96133637d6078fc79a72b07eb672e45
--- /dev/null
+++ b/recorded_9dtact_force/episode_58/image_index.json
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\ No newline at end of file
diff --git a/recorded_9dtact_force/episode_58/session_info.json b/recorded_9dtact_force/episode_58/session_info.json
new file mode 100644
index 0000000000000000000000000000000000000000..ffcf0af1f2e52a89a466529fe790852d5a8f0095
--- /dev/null
+++ b/recorded_9dtact_force/episode_58/session_info.json
@@ -0,0 +1,12 @@
+{
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+}
\ No newline at end of file
diff --git a/recorded_9dtact_force/episode_61/force_data.json b/recorded_9dtact_force/episode_61/force_data.json
new file mode 100644
index 0000000000000000000000000000000000000000..7996f2c42140a4953cb0c30077bdfbb81f806675
--- /dev/null
+++ b/recorded_9dtact_force/episode_61/force_data.json
@@ -0,0 +1,162 @@
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new file mode 100644
index 0000000000000000000000000000000000000000..75285eecc6a909a8ffe51a4aa689249237a861fe
--- /dev/null
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diff --git a/recorded_9dtact_force/episode_61/session_info.json b/recorded_9dtact_force/episode_61/session_info.json
new file mode 100644
index 0000000000000000000000000000000000000000..81487a9f6bea2186be32189b70fded663e17651b
--- /dev/null
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new file mode 100644
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new file mode 100644
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--- /dev/null
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diff --git a/recorded_9dtact_force/episode_65/session_info.json b/recorded_9dtact_force/episode_65/session_info.json
new file mode 100644
index 0000000000000000000000000000000000000000..1ef5c8bdd85e00af1b3dd1fca58de1e25005490a
--- /dev/null
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@@ -0,0 +1,12 @@
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diff --git a/recorded_9dtact_force/episode_66/force_data.json b/recorded_9dtact_force/episode_66/force_data.json
new file mode 100644
index 0000000000000000000000000000000000000000..da1b0ff1a83e9c42640b011485e7ea90d7487d1d
--- /dev/null
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diff --git a/recorded_9dtact_force/episode_66/image_index.json b/recorded_9dtact_force/episode_66/image_index.json
new file mode 100644
index 0000000000000000000000000000000000000000..59e54cd86e10e826719b2f207f9b334ec1d58876
--- /dev/null
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diff --git a/recorded_9dtact_force/episode_66/session_info.json b/recorded_9dtact_force/episode_66/session_info.json
new file mode 100644
index 0000000000000000000000000000000000000000..24febd578a9891813c25d2882279f76cb572e976
--- /dev/null
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diff --git a/recorded_9dtact_force/episode_67/force_data.json b/recorded_9dtact_force/episode_67/force_data.json
new file mode 100644
index 0000000000000000000000000000000000000000..6868c544c192b5afaa50774cfda8e8d06b86f050
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diff --git a/recorded_9dtact_force/episode_67/image_index.json b/recorded_9dtact_force/episode_67/image_index.json
new file mode 100644
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diff --git a/recorded_9dtact_force/episode_67/session_info.json b/recorded_9dtact_force/episode_67/session_info.json
new file mode 100644
index 0000000000000000000000000000000000000000..e265029ebc47eca69bd4aad481c1119b69ddc050
--- /dev/null
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diff --git a/recorded_9dtact_force/episode_7/force_data.json b/recorded_9dtact_force/episode_7/force_data.json
new file mode 100644
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diff --git a/recorded_9dtact_force/episode_7/image_index.json b/recorded_9dtact_force/episode_7/image_index.json
new file mode 100644
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--- /dev/null
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diff --git a/recorded_9dtact_force/episode_7/session_info.json b/recorded_9dtact_force/episode_7/session_info.json
new file mode 100644
index 0000000000000000000000000000000000000000..3a793dc97dc41ba82e698e46c9474658a73498e4
--- /dev/null
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diff --git a/recorded_9dtact_force/episode_74/force_data.json b/recorded_9dtact_force/episode_74/force_data.json
new file mode 100644
index 0000000000000000000000000000000000000000..bbc99ddf1ed9e25af4660fd845002446363281dc
--- /dev/null
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new file mode 100644
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diff --git a/recorded_9dtact_force/episode_74/session_info.json b/recorded_9dtact_force/episode_74/session_info.json
new file mode 100644
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--- /dev/null
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new file mode 100644
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diff --git a/recorded_9dtact_force/episode_81/image_index.json b/recorded_9dtact_force/episode_81/image_index.json
new file mode 100644
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diff --git a/recorded_9dtact_force/episode_81/session_info.json b/recorded_9dtact_force/episode_81/session_info.json
new file mode 100644
index 0000000000000000000000000000000000000000..0873d4716a58553715bd5a3735b39f85c4c680a6
--- /dev/null
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@@ -0,0 +1,12 @@
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\ No newline at end of file
diff --git a/recorded_9dtact_force/episode_83/force_data.json b/recorded_9dtact_force/episode_83/force_data.json
new file mode 100644
index 0000000000000000000000000000000000000000..fb655d82ceda65abc2d2172dc21cd9decdd7c6a4
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diff --git a/recorded_9dtact_force/episode_83/image_index.json b/recorded_9dtact_force/episode_83/image_index.json
new file mode 100644
index 0000000000000000000000000000000000000000..7e558ce319a8ceaa420a82c9a9d8337f49a4cd03
--- /dev/null
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diff --git a/recorded_9dtact_force/episode_83/session_info.json b/recorded_9dtact_force/episode_83/session_info.json
new file mode 100644
index 0000000000000000000000000000000000000000..05cfef8812d6f6d6c98f3cb88db7196cdf043f2a
--- /dev/null
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@@ -0,0 +1,12 @@
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\ No newline at end of file
diff --git a/recorded_9dtact_force/episode_85/force_data.json b/recorded_9dtact_force/episode_85/force_data.json
new file mode 100644
index 0000000000000000000000000000000000000000..4afe226bbb82cc79ef9549cbeba1b7de2474bc9f
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diff --git a/recorded_9dtact_force/episode_85/image_index.json b/recorded_9dtact_force/episode_85/image_index.json
new file mode 100644
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--- /dev/null
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diff --git a/recorded_9dtact_force/episode_85/session_info.json b/recorded_9dtact_force/episode_85/session_info.json
new file mode 100644
index 0000000000000000000000000000000000000000..d126376bea4287bd2290154c0b581ad132b42713
--- /dev/null
+++ b/recorded_9dtact_force/episode_85/session_info.json
@@ -0,0 +1,12 @@
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\ No newline at end of file
diff --git a/recorded_9dtact_force/episode_86/force_data.json b/recorded_9dtact_force/episode_86/force_data.json
new file mode 100644
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--- /dev/null
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new file mode 100644
index 0000000000000000000000000000000000000000..b77c34beac6df52beaa9bf6e76233bc8ba972f19
--- /dev/null
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diff --git a/recorded_9dtact_force/episode_86/session_info.json b/recorded_9dtact_force/episode_86/session_info.json
new file mode 100644
index 0000000000000000000000000000000000000000..7de82f67ecfed131e452963b01d56293c20404e3
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new file mode 100644
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new file mode 100644
index 0000000000000000000000000000000000000000..55735b1a1e2571e93eed791dd7b3452121bf43e4
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diff --git a/recorded_9dtact_force/episode_87/session_info.json b/recorded_9dtact_force/episode_87/session_info.json
new file mode 100644
index 0000000000000000000000000000000000000000..fe2bc3f1faca4d098b507a3631fdb985111485c5
--- /dev/null
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diff --git a/recorded_9dtact_force/episode_89/force_data.json b/recorded_9dtact_force/episode_89/force_data.json
new file mode 100644
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diff --git a/recorded_9dtact_force/episode_89/image_index.json b/recorded_9dtact_force/episode_89/image_index.json
new file mode 100644
index 0000000000000000000000000000000000000000..d5b8c15b60838531f5d1a53057814185c25ee820
--- /dev/null
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diff --git a/recorded_9dtact_force/episode_89/session_info.json b/recorded_9dtact_force/episode_89/session_info.json
new file mode 100644
index 0000000000000000000000000000000000000000..32beded35503b6c82d24e1a87d23f87d5e1febab
--- /dev/null
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diff --git a/recorded_9dtact_force/episode_92/force_data.json b/recorded_9dtact_force/episode_92/force_data.json
new file mode 100644
index 0000000000000000000000000000000000000000..9e82a303c048fb95fcbf17bbcd86e74b7b6966c3
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new file mode 100644
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diff --git a/recorded_9dtact_force/episode_92/session_info.json b/recorded_9dtact_force/episode_92/session_info.json
new file mode 100644
index 0000000000000000000000000000000000000000..657e44c3e3555099c6634448fbe8110cefb07b63
--- /dev/null
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diff --git a/recorded_9dtact_force/episode_93/force_data.json b/recorded_9dtact_force/episode_93/force_data.json
new file mode 100644
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diff --git a/recorded_9dtact_force/episode_93/image_index.json b/recorded_9dtact_force/episode_93/image_index.json
new file mode 100644
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diff --git a/recorded_9dtact_force/episode_93/session_info.json b/recorded_9dtact_force/episode_93/session_info.json
new file mode 100644
index 0000000000000000000000000000000000000000..8f29f50f8eaf9e3c296b40727abea86472caf387
--- /dev/null
+++ b/recorded_9dtact_force/episode_93/session_info.json
@@ -0,0 +1,12 @@
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+}
\ No newline at end of file
diff --git a/recorded_9dtact_force/episode_96/force_data.json b/recorded_9dtact_force/episode_96/force_data.json
new file mode 100644
index 0000000000000000000000000000000000000000..d0d3f1f3fdd3a79b2df80e761a448e43a892c8c1
--- /dev/null
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diff --git a/recorded_9dtact_force/episode_96/image_index.json b/recorded_9dtact_force/episode_96/image_index.json
new file mode 100644
index 0000000000000000000000000000000000000000..ff4dbed5df9203cae3fa725d7e6800fa1e2f7142
--- /dev/null
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diff --git a/recorded_9dtact_force/episode_96/session_info.json b/recorded_9dtact_force/episode_96/session_info.json
new file mode 100644
index 0000000000000000000000000000000000000000..e88f0ef47463f6b97a2ee2507875603f0d2d1a44
--- /dev/null
+++ b/recorded_9dtact_force/episode_96/session_info.json
@@ -0,0 +1,12 @@
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+}
\ No newline at end of file
diff --git a/recorded_9dtact_force/episode_97/force_data.json b/recorded_9dtact_force/episode_97/force_data.json
new file mode 100644
index 0000000000000000000000000000000000000000..f0c0537af675b36e821367664207f1d3681ed37b
--- /dev/null
+++ b/recorded_9dtact_force/episode_97/force_data.json
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diff --git a/recorded_9dtact_force/episode_97/image_index.json b/recorded_9dtact_force/episode_97/image_index.json
new file mode 100644
index 0000000000000000000000000000000000000000..c2e9495e6bc83d347940077f113c992262072bb7
--- /dev/null
+++ b/recorded_9dtact_force/episode_97/image_index.json
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+]
\ No newline at end of file
diff --git a/recorded_9dtact_force/episode_97/session_info.json b/recorded_9dtact_force/episode_97/session_info.json
new file mode 100644
index 0000000000000000000000000000000000000000..4c20ee4adfa0bddbd34de3c642af9023f53e103f
--- /dev/null
+++ b/recorded_9dtact_force/episode_97/session_info.json
@@ -0,0 +1,12 @@
+{
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+  "start_time": "2025-12-20T17:50:10.424682",
+  "ros_start_time": 1766224210.4246979,
+  "image_topic": "/camera/raw_image",
+  "force_topic": "force_sensor/force",
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+  "end_time": "2025-12-20T17:50:14.235082",
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+  "total_images": 39,
+  "total_force_frames": 38
+}
\ No newline at end of file
diff --git a/recorded_9dtact_force/episode_98/force_data.json b/recorded_9dtact_force/episode_98/force_data.json
new file mode 100644
index 0000000000000000000000000000000000000000..f76270c6d69526799d233cf0d1be05586369f4d0
--- /dev/null
+++ b/recorded_9dtact_force/episode_98/force_data.json
@@ -0,0 +1,154 @@
+[
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\ No newline at end of file
diff --git a/recorded_9dtact_force/episode_98/image_index.json b/recorded_9dtact_force/episode_98/image_index.json
new file mode 100644
index 0000000000000000000000000000000000000000..8f57542ac727b7639111170fd34cdebd2292b9d4
--- /dev/null
+++ b/recorded_9dtact_force/episode_98/image_index.json
@@ -0,0 +1,150 @@
+[
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+    "filename": "img_000000.png"
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+]
\ No newline at end of file
diff --git a/recorded_9dtact_force/episode_98/session_info.json b/recorded_9dtact_force/episode_98/session_info.json
new file mode 100644
index 0000000000000000000000000000000000000000..746e4d27b94f6a54cf6e9a7afedb912dae7894d4
--- /dev/null
+++ b/recorded_9dtact_force/episode_98/session_info.json
@@ -0,0 +1,12 @@
+{
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+  "start_time": "2025-12-20T17:50:35.823809",
+  "ros_start_time": 1766224235.8238304,
+  "image_topic": "/camera/raw_image",
+  "force_topic": "force_sensor/force",
+  "image_format": "png",
+  "end_time": "2025-12-20T17:50:39.587298",
+  "ros_end_time": 1766224239.5873058,
+  "total_images": 37,
+  "total_force_frames": 38
+}
\ No newline at end of file