diff --git a/recorded_gelsight_pose/episode_10/image_index.json b/recorded_gelsight_pose/episode_10/image_index.json
new file mode 100644
index 0000000000000000000000000000000000000000..11eefb7937f9de811bdb221acb368ac6f708f8ed
--- /dev/null
+++ b/recorded_gelsight_pose/episode_10/image_index.json
@@ -0,0 +1,374 @@
+[
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+    "filename": "img_000000.png"
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+    "filename": "img_000001.png"
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+    "filename": "img_000092.png"
+  }
+]
\ No newline at end of file
diff --git a/recorded_gelsight_pose/episode_10/pose_data.json b/recorded_gelsight_pose/episode_10/pose_data.json
new file mode 100644
index 0000000000000000000000000000000000000000..6a453a3a3560bb9775c90db30019773360bc913a
--- /dev/null
+++ b/recorded_gelsight_pose/episode_10/pose_data.json
@@ -0,0 +1,394 @@
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diff --git a/recorded_gelsight_pose/episode_10/session_info.json b/recorded_gelsight_pose/episode_10/session_info.json
new file mode 100644
index 0000000000000000000000000000000000000000..44f31d64017eafd15ed04dcf26ec3f7167c208fc
--- /dev/null
+++ b/recorded_gelsight_pose/episode_10/session_info.json
@@ -0,0 +1,12 @@
+{
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+}
\ No newline at end of file
diff --git a/recorded_gelsight_pose/episode_100/image_index.json b/recorded_gelsight_pose/episode_100/image_index.json
new file mode 100644
index 0000000000000000000000000000000000000000..1bce43e2b62da3df05f710cccf656c0f4ab1542d
--- /dev/null
+++ b/recorded_gelsight_pose/episode_100/image_index.json
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diff --git a/recorded_gelsight_pose/episode_100/pose_data.json b/recorded_gelsight_pose/episode_100/pose_data.json
new file mode 100644
index 0000000000000000000000000000000000000000..c14cce2856eb588ef7f1611982fdf6e2ee512a26
--- /dev/null
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diff --git a/recorded_gelsight_pose/episode_100/session_info.json b/recorded_gelsight_pose/episode_100/session_info.json
new file mode 100644
index 0000000000000000000000000000000000000000..0849bfd6f90ce6371250f08835347966f629d065
--- /dev/null
+++ b/recorded_gelsight_pose/episode_100/session_info.json
@@ -0,0 +1,12 @@
+{
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+}
\ No newline at end of file
diff --git a/recorded_gelsight_pose/episode_102/image_index.json b/recorded_gelsight_pose/episode_102/image_index.json
new file mode 100644
index 0000000000000000000000000000000000000000..0e184e2f8f6cff2bd333467513efcf8b2be4f974
--- /dev/null
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diff --git a/recorded_gelsight_pose/episode_102/pose_data.json b/recorded_gelsight_pose/episode_102/pose_data.json
new file mode 100644
index 0000000000000000000000000000000000000000..ef1075a58e895d81ccc4acedc9e4fdbf8292d386
--- /dev/null
+++ b/recorded_gelsight_pose/episode_102/pose_data.json
@@ -0,0 +1,394 @@
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diff --git a/recorded_gelsight_pose/episode_102/session_info.json b/recorded_gelsight_pose/episode_102/session_info.json
new file mode 100644
index 0000000000000000000000000000000000000000..9da92d95fea16fdfab7a9d8e6eae7580d389cc13
--- /dev/null
+++ b/recorded_gelsight_pose/episode_102/session_info.json
@@ -0,0 +1,12 @@
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+}
\ No newline at end of file
diff --git a/recorded_gelsight_pose/episode_104/image_index.json b/recorded_gelsight_pose/episode_104/image_index.json
new file mode 100644
index 0000000000000000000000000000000000000000..1b71a59000d1c3d6e04f15a0c33efbcb1d00c77f
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diff --git a/recorded_gelsight_pose/episode_104/pose_data.json b/recorded_gelsight_pose/episode_104/pose_data.json
new file mode 100644
index 0000000000000000000000000000000000000000..ca0a61f6e84a8df875a31bedf3743615d5aa98d1
--- /dev/null
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diff --git a/recorded_gelsight_pose/episode_104/session_info.json b/recorded_gelsight_pose/episode_104/session_info.json
new file mode 100644
index 0000000000000000000000000000000000000000..1d250863cd9bea005a22fe58d728e46827b56e97
--- /dev/null
+++ b/recorded_gelsight_pose/episode_104/session_info.json
@@ -0,0 +1,12 @@
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\ No newline at end of file
diff --git a/recorded_gelsight_pose/episode_105/image_index.json b/recorded_gelsight_pose/episode_105/image_index.json
new file mode 100644
index 0000000000000000000000000000000000000000..90b86a30082708648e4c5bf324d750e8932e8857
--- /dev/null
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diff --git a/recorded_gelsight_pose/episode_105/pose_data.json b/recorded_gelsight_pose/episode_105/pose_data.json
new file mode 100644
index 0000000000000000000000000000000000000000..7de993712059c1fa67505c04237838171cf0cfa8
--- /dev/null
+++ b/recorded_gelsight_pose/episode_105/pose_data.json
@@ -0,0 +1,422 @@
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diff --git a/recorded_gelsight_pose/episode_105/session_info.json b/recorded_gelsight_pose/episode_105/session_info.json
new file mode 100644
index 0000000000000000000000000000000000000000..b0d4f8e2c13877e5b680be860cf4152c2613da14
--- /dev/null
+++ b/recorded_gelsight_pose/episode_105/session_info.json
@@ -0,0 +1,12 @@
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+}
\ No newline at end of file
diff --git a/recorded_gelsight_pose/episode_106/image_index.json b/recorded_gelsight_pose/episode_106/image_index.json
new file mode 100644
index 0000000000000000000000000000000000000000..cc7a3359abe2a82f513b5066543491498c44d6b5
--- /dev/null
+++ b/recorded_gelsight_pose/episode_106/image_index.json
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diff --git a/recorded_gelsight_pose/episode_106/pose_data.json b/recorded_gelsight_pose/episode_106/pose_data.json
new file mode 100644
index 0000000000000000000000000000000000000000..bda1a053a5f1d66a90ca12b1fc3768d87d4b48ac
--- /dev/null
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diff --git a/recorded_gelsight_pose/episode_106/session_info.json b/recorded_gelsight_pose/episode_106/session_info.json
new file mode 100644
index 0000000000000000000000000000000000000000..f8e43bb8f6a16d5d5769831c15f9d382439950b9
--- /dev/null
+++ b/recorded_gelsight_pose/episode_106/session_info.json
@@ -0,0 +1,12 @@
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\ No newline at end of file
diff --git a/recorded_gelsight_pose/episode_107/image_index.json b/recorded_gelsight_pose/episode_107/image_index.json
new file mode 100644
index 0000000000000000000000000000000000000000..33f6a3accb9a5dc2d51ab354b3f117fb5a55d153
--- /dev/null
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diff --git a/recorded_gelsight_pose/episode_107/pose_data.json b/recorded_gelsight_pose/episode_107/pose_data.json
new file mode 100644
index 0000000000000000000000000000000000000000..6ac7261347689424aff04083e5e4bada0b416c0f
--- /dev/null
+++ b/recorded_gelsight_pose/episode_107/pose_data.json
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diff --git a/recorded_gelsight_pose/episode_107/session_info.json b/recorded_gelsight_pose/episode_107/session_info.json
new file mode 100644
index 0000000000000000000000000000000000000000..be66a10f317cb8bfce22f3a87d93019fe057c2a0
--- /dev/null
+++ b/recorded_gelsight_pose/episode_107/session_info.json
@@ -0,0 +1,12 @@
+{
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+}
\ No newline at end of file
diff --git a/recorded_gelsight_pose/episode_111/image_index.json b/recorded_gelsight_pose/episode_111/image_index.json
new file mode 100644
index 0000000000000000000000000000000000000000..cffe3996216afdab84bd40d545b072f95fce65f1
--- /dev/null
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diff --git a/recorded_gelsight_pose/episode_111/pose_data.json b/recorded_gelsight_pose/episode_111/pose_data.json
new file mode 100644
index 0000000000000000000000000000000000000000..f5855b5279bd1d772188851a20ecfdb2d1a31c58
--- /dev/null
+++ b/recorded_gelsight_pose/episode_111/pose_data.json
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diff --git a/recorded_gelsight_pose/episode_113/image_index.json b/recorded_gelsight_pose/episode_113/image_index.json
new file mode 100644
index 0000000000000000000000000000000000000000..c3ea7d235ec8e930f22c0e1055eedbceca11aaba
--- /dev/null
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diff --git a/recorded_gelsight_pose/episode_113/pose_data.json b/recorded_gelsight_pose/episode_113/pose_data.json
new file mode 100644
index 0000000000000000000000000000000000000000..f4b5f561488ed4852436c4a2fe09ec964013ed5c
--- /dev/null
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\ No newline at end of file
diff --git a/recorded_gelsight_pose/episode_113/session_info.json b/recorded_gelsight_pose/episode_113/session_info.json
new file mode 100644
index 0000000000000000000000000000000000000000..3502167bdb84895ef9c1bee6ad40cfa44203b304
--- /dev/null
+++ b/recorded_gelsight_pose/episode_113/session_info.json
@@ -0,0 +1,12 @@
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+}
\ No newline at end of file
diff --git a/recorded_gelsight_pose/episode_114/image_index.json b/recorded_gelsight_pose/episode_114/image_index.json
new file mode 100644
index 0000000000000000000000000000000000000000..aacc2d46e35d0d6938ba33e32360aa8c221f573b
--- /dev/null
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diff --git a/recorded_gelsight_pose/episode_114/pose_data.json b/recorded_gelsight_pose/episode_114/pose_data.json
new file mode 100644
index 0000000000000000000000000000000000000000..0650be5be5e50c2534465a1571f564ee61ea21d6
--- /dev/null
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\ No newline at end of file
diff --git a/recorded_gelsight_pose/episode_114/session_info.json b/recorded_gelsight_pose/episode_114/session_info.json
new file mode 100644
index 0000000000000000000000000000000000000000..c52cd234c2ca23371059d9b1afb686bc80c01e60
--- /dev/null
+++ b/recorded_gelsight_pose/episode_114/session_info.json
@@ -0,0 +1,12 @@
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+}
\ No newline at end of file
diff --git a/recorded_gelsight_pose/episode_115/image_index.json b/recorded_gelsight_pose/episode_115/image_index.json
new file mode 100644
index 0000000000000000000000000000000000000000..b811f034c2171227eb71dcaf6a12676ca923e9f2
--- /dev/null
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diff --git a/recorded_gelsight_pose/episode_115/pose_data.json b/recorded_gelsight_pose/episode_115/pose_data.json
new file mode 100644
index 0000000000000000000000000000000000000000..26e6b1b8aa854a5a911c2185f16662ad3a4b3c7a
--- /dev/null
+++ b/recorded_gelsight_pose/episode_115/pose_data.json
@@ -0,0 +1,408 @@
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diff --git a/recorded_gelsight_pose/episode_115/session_info.json b/recorded_gelsight_pose/episode_115/session_info.json
new file mode 100644
index 0000000000000000000000000000000000000000..c2b7fc777efcb993907b7b329d9a3640b373116a
--- /dev/null
+++ b/recorded_gelsight_pose/episode_115/session_info.json
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+}
\ No newline at end of file
diff --git a/recorded_gelsight_pose/episode_117/image_index.json b/recorded_gelsight_pose/episode_117/image_index.json
new file mode 100644
index 0000000000000000000000000000000000000000..69f4425f40949582edf7828e0ea546644e51b003
--- /dev/null
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diff --git a/recorded_gelsight_pose/episode_117/pose_data.json b/recorded_gelsight_pose/episode_117/pose_data.json
new file mode 100644
index 0000000000000000000000000000000000000000..833ae80f3f75350a220d1c90d9e7ce80000c19b8
--- /dev/null
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diff --git a/recorded_gelsight_pose/episode_117/session_info.json b/recorded_gelsight_pose/episode_117/session_info.json
new file mode 100644
index 0000000000000000000000000000000000000000..4d51670b36a03d01663139c5baa01bf5764b8590
--- /dev/null
+++ b/recorded_gelsight_pose/episode_117/session_info.json
@@ -0,0 +1,12 @@
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\ No newline at end of file
diff --git a/recorded_gelsight_pose/episode_119/image_index.json b/recorded_gelsight_pose/episode_119/image_index.json
new file mode 100644
index 0000000000000000000000000000000000000000..519135a15dabe2ac4f6d3a2b34184647fe090e99
--- /dev/null
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diff --git a/recorded_gelsight_pose/episode_119/pose_data.json b/recorded_gelsight_pose/episode_119/pose_data.json
new file mode 100644
index 0000000000000000000000000000000000000000..49f24d95ccc37911ac13140ef076cdffd48aec11
--- /dev/null
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diff --git a/recorded_gelsight_pose/episode_119/session_info.json b/recorded_gelsight_pose/episode_119/session_info.json
new file mode 100644
index 0000000000000000000000000000000000000000..bdb6f17ab734ea4a12bb646dd8c4efbca6c8175c
--- /dev/null
+++ b/recorded_gelsight_pose/episode_119/session_info.json
@@ -0,0 +1,12 @@
+{
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+}
\ No newline at end of file
diff --git a/recorded_gelsight_pose/episode_120/image_index.json b/recorded_gelsight_pose/episode_120/image_index.json
new file mode 100644
index 0000000000000000000000000000000000000000..eb0f870ac8fae0a83b1e4bddc35a609ca5e7abc7
--- /dev/null
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diff --git a/recorded_gelsight_pose/episode_120/pose_data.json b/recorded_gelsight_pose/episode_120/pose_data.json
new file mode 100644
index 0000000000000000000000000000000000000000..94e931c3bb9c0d0b8aa31677b423399d2dfd872d
--- /dev/null
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diff --git a/recorded_gelsight_pose/episode_120/session_info.json b/recorded_gelsight_pose/episode_120/session_info.json
new file mode 100644
index 0000000000000000000000000000000000000000..02d3baa78f4fb1a1434efc3b7c35d36e97a4345f
--- /dev/null
+++ b/recorded_gelsight_pose/episode_120/session_info.json
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+}
\ No newline at end of file
diff --git a/recorded_gelsight_pose/episode_13/image_index.json b/recorded_gelsight_pose/episode_13/image_index.json
new file mode 100644
index 0000000000000000000000000000000000000000..0e50a99f1c53f2071ab03ef18ae2b151ca9526af
--- /dev/null
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diff --git a/recorded_gelsight_pose/episode_13/pose_data.json b/recorded_gelsight_pose/episode_13/pose_data.json
new file mode 100644
index 0000000000000000000000000000000000000000..b9f33771b31193b75ae053ca59c278452c5144f4
--- /dev/null
+++ b/recorded_gelsight_pose/episode_13/pose_data.json
@@ -0,0 +1,450 @@
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diff --git a/recorded_gelsight_pose/episode_13/session_info.json b/recorded_gelsight_pose/episode_13/session_info.json
new file mode 100644
index 0000000000000000000000000000000000000000..5c884184c779b3edccc71106dfc9f4fa2f43b768
--- /dev/null
+++ b/recorded_gelsight_pose/episode_13/session_info.json
@@ -0,0 +1,12 @@
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+}
\ No newline at end of file
diff --git a/recorded_gelsight_pose/episode_131/image_index.json b/recorded_gelsight_pose/episode_131/image_index.json
new file mode 100644
index 0000000000000000000000000000000000000000..bd3d6b999671fc719e85a048a17fd9aa6476c944
--- /dev/null
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diff --git a/recorded_gelsight_pose/episode_131/pose_data.json b/recorded_gelsight_pose/episode_131/pose_data.json
new file mode 100644
index 0000000000000000000000000000000000000000..4060f95a224c643f48a3b6571443f2a254581065
--- /dev/null
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diff --git a/recorded_gelsight_pose/episode_131/session_info.json b/recorded_gelsight_pose/episode_131/session_info.json
new file mode 100644
index 0000000000000000000000000000000000000000..b30c27ed1475cddf0fb72cde2d15800c1d52756d
--- /dev/null
+++ b/recorded_gelsight_pose/episode_131/session_info.json
@@ -0,0 +1,12 @@
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+}
\ No newline at end of file
diff --git a/recorded_gelsight_pose/episode_132/image_index.json b/recorded_gelsight_pose/episode_132/image_index.json
new file mode 100644
index 0000000000000000000000000000000000000000..c15f5e3822da49fa890fe618af4a4b285cb3b08c
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diff --git a/recorded_gelsight_pose/episode_132/pose_data.json b/recorded_gelsight_pose/episode_132/pose_data.json
new file mode 100644
index 0000000000000000000000000000000000000000..9633a8f964f14ca3a71bdb7f7e37d0f9353a564c
--- /dev/null
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diff --git a/recorded_gelsight_pose/episode_132/session_info.json b/recorded_gelsight_pose/episode_132/session_info.json
new file mode 100644
index 0000000000000000000000000000000000000000..51657eef46c4a1738c5f2be19b2bcc5616d89862
--- /dev/null
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\ No newline at end of file
diff --git a/recorded_gelsight_pose/episode_134/image_index.json b/recorded_gelsight_pose/episode_134/image_index.json
new file mode 100644
index 0000000000000000000000000000000000000000..a2a15789d048730bbf0e77cd6444575da62a871d
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diff --git a/recorded_gelsight_pose/episode_134/pose_data.json b/recorded_gelsight_pose/episode_134/pose_data.json
new file mode 100644
index 0000000000000000000000000000000000000000..5ba297e9714a566c13287618a393e869f1031fcd
--- /dev/null
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diff --git a/recorded_gelsight_pose/episode_134/session_info.json b/recorded_gelsight_pose/episode_134/session_info.json
new file mode 100644
index 0000000000000000000000000000000000000000..ca6169a35bb828e26806c257cde61c2a7785d472
--- /dev/null
+++ b/recorded_gelsight_pose/episode_134/session_info.json
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\ No newline at end of file
diff --git a/recorded_gelsight_pose/episode_136/image_index.json b/recorded_gelsight_pose/episode_136/image_index.json
new file mode 100644
index 0000000000000000000000000000000000000000..833cf1ecdbb9a1e20a6d11f8dcfd85ef54e6db7f
--- /dev/null
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diff --git a/recorded_gelsight_pose/episode_136/pose_data.json b/recorded_gelsight_pose/episode_136/pose_data.json
new file mode 100644
index 0000000000000000000000000000000000000000..a8e4472be416d5da561c3970880eb24eff82b6dc
--- /dev/null
+++ b/recorded_gelsight_pose/episode_136/pose_data.json
@@ -0,0 +1,422 @@
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diff --git a/recorded_gelsight_pose/episode_136/session_info.json b/recorded_gelsight_pose/episode_136/session_info.json
new file mode 100644
index 0000000000000000000000000000000000000000..6f474395eedd00f371a7aba9dafe30cdf582edb4
--- /dev/null
+++ b/recorded_gelsight_pose/episode_136/session_info.json
@@ -0,0 +1,12 @@
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+}
\ No newline at end of file
diff --git a/recorded_gelsight_pose/episode_137/image_index.json b/recorded_gelsight_pose/episode_137/image_index.json
new file mode 100644
index 0000000000000000000000000000000000000000..08325719cec72826fb7348c939ae0b8c6a973925
--- /dev/null
+++ b/recorded_gelsight_pose/episode_137/image_index.json
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diff --git a/recorded_gelsight_pose/episode_137/pose_data.json b/recorded_gelsight_pose/episode_137/pose_data.json
new file mode 100644
index 0000000000000000000000000000000000000000..7c4d81149692d02829e870333da0cd40e7846aa6
--- /dev/null
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diff --git a/recorded_gelsight_pose/episode_137/session_info.json b/recorded_gelsight_pose/episode_137/session_info.json
new file mode 100644
index 0000000000000000000000000000000000000000..f9343d6f7a8bd20f223f6dd8cdcd714c7221724f
--- /dev/null
+++ b/recorded_gelsight_pose/episode_137/session_info.json
@@ -0,0 +1,12 @@
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\ No newline at end of file
diff --git a/recorded_gelsight_pose/episode_143/image_index.json b/recorded_gelsight_pose/episode_143/image_index.json
new file mode 100644
index 0000000000000000000000000000000000000000..e9ca77f97ca288e857dcf291956e2318d19c99f6
--- /dev/null
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diff --git a/recorded_gelsight_pose/episode_143/pose_data.json b/recorded_gelsight_pose/episode_143/pose_data.json
new file mode 100644
index 0000000000000000000000000000000000000000..ae95587c5b6c701d9ed6d2612e2d6d2fabf6cb19
--- /dev/null
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diff --git a/recorded_gelsight_pose/episode_143/session_info.json b/recorded_gelsight_pose/episode_143/session_info.json
new file mode 100644
index 0000000000000000000000000000000000000000..e72e0f475580a80d23dfb8ed25b8b68bb6265291
--- /dev/null
+++ b/recorded_gelsight_pose/episode_143/session_info.json
@@ -0,0 +1,12 @@
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+}
\ No newline at end of file
diff --git a/recorded_gelsight_pose/episode_145/image_index.json b/recorded_gelsight_pose/episode_145/image_index.json
new file mode 100644
index 0000000000000000000000000000000000000000..36f361c95e3587ea2e38b47863cdcd77fb963d2b
--- /dev/null
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diff --git a/recorded_gelsight_pose/episode_145/pose_data.json b/recorded_gelsight_pose/episode_145/pose_data.json
new file mode 100644
index 0000000000000000000000000000000000000000..6dfd18dd5856a342fda5961d5b7a1207d6eabdbc
--- /dev/null
+++ b/recorded_gelsight_pose/episode_145/pose_data.json
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diff --git a/recorded_gelsight_pose/episode_145/session_info.json b/recorded_gelsight_pose/episode_145/session_info.json
new file mode 100644
index 0000000000000000000000000000000000000000..ee3d9b75a0e74d52f03325f1c0415700203aa829
--- /dev/null
+++ b/recorded_gelsight_pose/episode_145/session_info.json
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\ No newline at end of file
diff --git a/recorded_gelsight_pose/episode_149/image_index.json b/recorded_gelsight_pose/episode_149/image_index.json
new file mode 100644
index 0000000000000000000000000000000000000000..16cc80df41e2ea6dd7f3f594f4e9cab53baa1248
--- /dev/null
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diff --git a/recorded_gelsight_pose/episode_149/pose_data.json b/recorded_gelsight_pose/episode_149/pose_data.json
new file mode 100644
index 0000000000000000000000000000000000000000..1534abcc100031591d96ead1df61a98c6273ce2d
--- /dev/null
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diff --git a/recorded_gelsight_pose/episode_149/session_info.json b/recorded_gelsight_pose/episode_149/session_info.json
new file mode 100644
index 0000000000000000000000000000000000000000..7018cf46386ed6880943c6fb3e2b5caf1ce71b5e
--- /dev/null
+++ b/recorded_gelsight_pose/episode_149/session_info.json
@@ -0,0 +1,12 @@
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+}
\ No newline at end of file
diff --git a/recorded_gelsight_pose/episode_150/image_index.json b/recorded_gelsight_pose/episode_150/image_index.json
new file mode 100644
index 0000000000000000000000000000000000000000..c37bf672935014a404714b20260961ea676a1f26
--- /dev/null
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diff --git a/recorded_gelsight_pose/episode_150/pose_data.json b/recorded_gelsight_pose/episode_150/pose_data.json
new file mode 100644
index 0000000000000000000000000000000000000000..91948b9c7d542bc724be5ad0c08545c3c737a114
--- /dev/null
+++ b/recorded_gelsight_pose/episode_150/pose_data.json
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diff --git a/recorded_gelsight_pose/episode_150/session_info.json b/recorded_gelsight_pose/episode_150/session_info.json
new file mode 100644
index 0000000000000000000000000000000000000000..1be5af5f2392aa2f8f58f63a334483949cea2383
--- /dev/null
+++ b/recorded_gelsight_pose/episode_150/session_info.json
@@ -0,0 +1,12 @@
+{
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+}
\ No newline at end of file
diff --git a/recorded_gelsight_pose/episode_16/image_index.json b/recorded_gelsight_pose/episode_16/image_index.json
new file mode 100644
index 0000000000000000000000000000000000000000..3a44d9ffc6b117eef0ad880d2d9deeae8036c7df
--- /dev/null
+++ b/recorded_gelsight_pose/episode_16/image_index.json
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\ No newline at end of file
diff --git a/recorded_gelsight_pose/episode_16/pose_data.json b/recorded_gelsight_pose/episode_16/pose_data.json
new file mode 100644
index 0000000000000000000000000000000000000000..dee02e0f96d66d639c47f74218bc016ecae6492f
--- /dev/null
+++ b/recorded_gelsight_pose/episode_16/pose_data.json
@@ -0,0 +1,422 @@
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diff --git a/recorded_gelsight_pose/episode_16/session_info.json b/recorded_gelsight_pose/episode_16/session_info.json
new file mode 100644
index 0000000000000000000000000000000000000000..23d2776262abab69959b06e5dcb63e62e77d3fce
--- /dev/null
+++ b/recorded_gelsight_pose/episode_16/session_info.json
@@ -0,0 +1,12 @@
+{
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+}
\ No newline at end of file
diff --git a/recorded_gelsight_pose/episode_18/image_index.json b/recorded_gelsight_pose/episode_18/image_index.json
new file mode 100644
index 0000000000000000000000000000000000000000..ca5f8bf4daa14e7eeec1e51e7d3e4ea72a9ba6a6
--- /dev/null
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diff --git a/recorded_gelsight_pose/episode_18/pose_data.json b/recorded_gelsight_pose/episode_18/pose_data.json
new file mode 100644
index 0000000000000000000000000000000000000000..1d77b2ab4c00a261cccd6684c8e365b7eb392f22
--- /dev/null
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diff --git a/recorded_gelsight_pose/episode_18/session_info.json b/recorded_gelsight_pose/episode_18/session_info.json
new file mode 100644
index 0000000000000000000000000000000000000000..52bcad3e2870b9abe46b73796562819ef3003ec2
--- /dev/null
+++ b/recorded_gelsight_pose/episode_18/session_info.json
@@ -0,0 +1,12 @@
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+}
\ No newline at end of file
diff --git a/recorded_gelsight_pose/episode_20/image_index.json b/recorded_gelsight_pose/episode_20/image_index.json
new file mode 100644
index 0000000000000000000000000000000000000000..08c8d20bca2480986581d60e6c230d1ac6ac3ef9
--- /dev/null
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diff --git a/recorded_gelsight_pose/episode_20/pose_data.json b/recorded_gelsight_pose/episode_20/pose_data.json
new file mode 100644
index 0000000000000000000000000000000000000000..f92383e6a5b54ad0b49e951f61e1b6821edcaec6
--- /dev/null
+++ b/recorded_gelsight_pose/episode_20/pose_data.json
@@ -0,0 +1,464 @@
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diff --git a/recorded_gelsight_pose/episode_20/session_info.json b/recorded_gelsight_pose/episode_20/session_info.json
new file mode 100644
index 0000000000000000000000000000000000000000..b5135e38469d018002a9ac355e152518dfd798db
--- /dev/null
+++ b/recorded_gelsight_pose/episode_20/session_info.json
@@ -0,0 +1,12 @@
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+}
\ No newline at end of file
diff --git a/recorded_gelsight_pose/episode_21/image_index.json b/recorded_gelsight_pose/episode_21/image_index.json
new file mode 100644
index 0000000000000000000000000000000000000000..ef4062f72c1c5ae270d2492c1e040c27092f1b56
--- /dev/null
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diff --git a/recorded_gelsight_pose/episode_21/pose_data.json b/recorded_gelsight_pose/episode_21/pose_data.json
new file mode 100644
index 0000000000000000000000000000000000000000..660c9ba0587b9814cdbc69cf978a268626c45930
--- /dev/null
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diff --git a/recorded_gelsight_pose/episode_21/session_info.json b/recorded_gelsight_pose/episode_21/session_info.json
new file mode 100644
index 0000000000000000000000000000000000000000..4d19fc87f98a1850d11f534d193782140175b5b7
--- /dev/null
+++ b/recorded_gelsight_pose/episode_21/session_info.json
@@ -0,0 +1,12 @@
+{
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+}
\ No newline at end of file
diff --git a/recorded_gelsight_pose/episode_24/image_index.json b/recorded_gelsight_pose/episode_24/image_index.json
new file mode 100644
index 0000000000000000000000000000000000000000..5ef96e1a53d9d457b2b38722077b5a7b63749ce8
--- /dev/null
+++ b/recorded_gelsight_pose/episode_24/image_index.json
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\ No newline at end of file
diff --git a/recorded_gelsight_pose/episode_24/pose_data.json b/recorded_gelsight_pose/episode_24/pose_data.json
new file mode 100644
index 0000000000000000000000000000000000000000..52392969ec5a327a2bf904d6bb6e2e9118961d52
--- /dev/null
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@@ -0,0 +1,394 @@
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diff --git a/recorded_gelsight_pose/episode_24/session_info.json b/recorded_gelsight_pose/episode_24/session_info.json
new file mode 100644
index 0000000000000000000000000000000000000000..a45be38233cf53e4cf1df3e593e42c7bf01cb74c
--- /dev/null
+++ b/recorded_gelsight_pose/episode_24/session_info.json
@@ -0,0 +1,12 @@
+{
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+}
\ No newline at end of file
diff --git a/recorded_gelsight_pose/episode_28/image_index.json b/recorded_gelsight_pose/episode_28/image_index.json
new file mode 100644
index 0000000000000000000000000000000000000000..aa10056ba59c6c8d6c644ae68e51ceedf441cac9
--- /dev/null
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\ No newline at end of file
diff --git a/recorded_gelsight_pose/episode_28/pose_data.json b/recorded_gelsight_pose/episode_28/pose_data.json
new file mode 100644
index 0000000000000000000000000000000000000000..08d2fde362b63207596df94687457c29544a15d8
--- /dev/null
+++ b/recorded_gelsight_pose/episode_28/pose_data.json
@@ -0,0 +1,422 @@
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diff --git a/recorded_gelsight_pose/episode_28/session_info.json b/recorded_gelsight_pose/episode_28/session_info.json
new file mode 100644
index 0000000000000000000000000000000000000000..8acde51cc5c5d15970afe70ae9152947515486cf
--- /dev/null
+++ b/recorded_gelsight_pose/episode_28/session_info.json
@@ -0,0 +1,12 @@
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+}
\ No newline at end of file
diff --git a/recorded_gelsight_pose/episode_30/image_index.json b/recorded_gelsight_pose/episode_30/image_index.json
new file mode 100644
index 0000000000000000000000000000000000000000..49f72cee8fcc64f1c3faabe5db072e1209b1e6cc
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diff --git a/recorded_gelsight_pose/episode_30/pose_data.json b/recorded_gelsight_pose/episode_30/pose_data.json
new file mode 100644
index 0000000000000000000000000000000000000000..9a1eea2c246c43c58e75601c9a97843935f782ef
--- /dev/null
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\ No newline at end of file
diff --git a/recorded_gelsight_pose/episode_30/session_info.json b/recorded_gelsight_pose/episode_30/session_info.json
new file mode 100644
index 0000000000000000000000000000000000000000..e30d57503db839c6f2faad94d445d700bef4a907
--- /dev/null
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\ No newline at end of file
diff --git a/recorded_gelsight_pose/episode_34/image_index.json b/recorded_gelsight_pose/episode_34/image_index.json
new file mode 100644
index 0000000000000000000000000000000000000000..5258b43cfe02d96e2ba8fa5a0e9127647fc76081
--- /dev/null
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diff --git a/recorded_gelsight_pose/episode_34/pose_data.json b/recorded_gelsight_pose/episode_34/pose_data.json
new file mode 100644
index 0000000000000000000000000000000000000000..135e4fe0b0eab2185cb70149b13aa44ea654c7ae
--- /dev/null
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diff --git a/recorded_gelsight_pose/episode_34/session_info.json b/recorded_gelsight_pose/episode_34/session_info.json
new file mode 100644
index 0000000000000000000000000000000000000000..58e2c0d8a59a94dba1b2b330d7d8d84348d1bf38
--- /dev/null
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diff --git a/recorded_gelsight_pose/episode_35/image_index.json b/recorded_gelsight_pose/episode_35/image_index.json
new file mode 100644
index 0000000000000000000000000000000000000000..969eace1addcf333404bde494a9535809b7fa683
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diff --git a/recorded_gelsight_pose/episode_35/pose_data.json b/recorded_gelsight_pose/episode_35/pose_data.json
new file mode 100644
index 0000000000000000000000000000000000000000..b691774f305e194a3d427e6a02bf1c457823ee93
--- /dev/null
+++ b/recorded_gelsight_pose/episode_35/pose_data.json
@@ -0,0 +1,436 @@
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diff --git a/recorded_gelsight_pose/episode_35/session_info.json b/recorded_gelsight_pose/episode_35/session_info.json
new file mode 100644
index 0000000000000000000000000000000000000000..685aa693837fdd283804afb116512215a4007bb5
--- /dev/null
+++ b/recorded_gelsight_pose/episode_35/session_info.json
@@ -0,0 +1,12 @@
+{
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+}
\ No newline at end of file
diff --git a/recorded_gelsight_pose/episode_37/image_index.json b/recorded_gelsight_pose/episode_37/image_index.json
new file mode 100644
index 0000000000000000000000000000000000000000..8448f0ba65b3a59319acaffcfb5dff6524bc0ed1
--- /dev/null
+++ b/recorded_gelsight_pose/episode_37/image_index.json
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diff --git a/recorded_gelsight_pose/episode_37/pose_data.json b/recorded_gelsight_pose/episode_37/pose_data.json
new file mode 100644
index 0000000000000000000000000000000000000000..e237bae150f48a99220bfcdcdbf2d47eca8d484d
--- /dev/null
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diff --git a/recorded_gelsight_pose/episode_37/session_info.json b/recorded_gelsight_pose/episode_37/session_info.json
new file mode 100644
index 0000000000000000000000000000000000000000..f1cdc784c053ce538430cd6a24d75eeee1e14658
--- /dev/null
+++ b/recorded_gelsight_pose/episode_37/session_info.json
@@ -0,0 +1,12 @@
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\ No newline at end of file
diff --git a/recorded_gelsight_pose/episode_38/image_index.json b/recorded_gelsight_pose/episode_38/image_index.json
new file mode 100644
index 0000000000000000000000000000000000000000..fa9653ac6d72da8232bbf9be1ca1c2890209b6cc
--- /dev/null
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diff --git a/recorded_gelsight_pose/episode_38/pose_data.json b/recorded_gelsight_pose/episode_38/pose_data.json
new file mode 100644
index 0000000000000000000000000000000000000000..0479aa246cbd8fc09c16cc3d78b033dd4521f2ea
--- /dev/null
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diff --git a/recorded_gelsight_pose/episode_38/session_info.json b/recorded_gelsight_pose/episode_38/session_info.json
new file mode 100644
index 0000000000000000000000000000000000000000..e38d04e4530fc3940b52b4b2b888228a87013eb7
--- /dev/null
+++ b/recorded_gelsight_pose/episode_38/session_info.json
@@ -0,0 +1,12 @@
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+}
\ No newline at end of file
diff --git a/recorded_gelsight_pose/episode_39/image_index.json b/recorded_gelsight_pose/episode_39/image_index.json
new file mode 100644
index 0000000000000000000000000000000000000000..e034a1c13eac6645abef8cb664d3ce74dc473568
--- /dev/null
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diff --git a/recorded_gelsight_pose/episode_39/pose_data.json b/recorded_gelsight_pose/episode_39/pose_data.json
new file mode 100644
index 0000000000000000000000000000000000000000..379d49cffd4ea2795823fecc7d0682c97a1e2223
--- /dev/null
+++ b/recorded_gelsight_pose/episode_39/pose_data.json
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diff --git a/recorded_gelsight_pose/episode_39/session_info.json b/recorded_gelsight_pose/episode_39/session_info.json
new file mode 100644
index 0000000000000000000000000000000000000000..ca33e165e81edc2cb5528df8eda43020f4d22ba6
--- /dev/null
+++ b/recorded_gelsight_pose/episode_39/session_info.json
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\ No newline at end of file
diff --git a/recorded_gelsight_pose/episode_4/image_index.json b/recorded_gelsight_pose/episode_4/image_index.json
new file mode 100644
index 0000000000000000000000000000000000000000..fbe2386236b3ce960fa89400f845591d9767512c
--- /dev/null
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diff --git a/recorded_gelsight_pose/episode_4/pose_data.json b/recorded_gelsight_pose/episode_4/pose_data.json
new file mode 100644
index 0000000000000000000000000000000000000000..29db39a48d7349ad72c7b2999f3525a423fe848a
--- /dev/null
+++ b/recorded_gelsight_pose/episode_4/pose_data.json
@@ -0,0 +1,436 @@
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diff --git a/recorded_gelsight_pose/episode_4/session_info.json b/recorded_gelsight_pose/episode_4/session_info.json
new file mode 100644
index 0000000000000000000000000000000000000000..5e4a593795feefde562a80089ee7908b95fd36e2
--- /dev/null
+++ b/recorded_gelsight_pose/episode_4/session_info.json
@@ -0,0 +1,12 @@
+{
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+}
\ No newline at end of file
diff --git a/recorded_gelsight_pose/episode_40/image_index.json b/recorded_gelsight_pose/episode_40/image_index.json
new file mode 100644
index 0000000000000000000000000000000000000000..24b4a9375cc3eed520462a0c8fdcf3bb4ab5120e
--- /dev/null
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\ No newline at end of file
diff --git a/recorded_gelsight_pose/episode_40/pose_data.json b/recorded_gelsight_pose/episode_40/pose_data.json
new file mode 100644
index 0000000000000000000000000000000000000000..c9d39297db4c42b05bafbeb33ac925c545150053
--- /dev/null
+++ b/recorded_gelsight_pose/episode_40/pose_data.json
@@ -0,0 +1,436 @@
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diff --git a/recorded_gelsight_pose/episode_40/session_info.json b/recorded_gelsight_pose/episode_40/session_info.json
new file mode 100644
index 0000000000000000000000000000000000000000..f03f69295b579c9403b85542a84a208296921679
--- /dev/null
+++ b/recorded_gelsight_pose/episode_40/session_info.json
@@ -0,0 +1,12 @@
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+}
\ No newline at end of file
diff --git a/recorded_gelsight_pose/episode_42/image_index.json b/recorded_gelsight_pose/episode_42/image_index.json
new file mode 100644
index 0000000000000000000000000000000000000000..79d22b4332cfe6c44e26b2ed4274096ac5987641
--- /dev/null
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diff --git a/recorded_gelsight_pose/episode_42/pose_data.json b/recorded_gelsight_pose/episode_42/pose_data.json
new file mode 100644
index 0000000000000000000000000000000000000000..2b85f55f881dce7a4cc88207a11b7c53a1b83b39
--- /dev/null
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diff --git a/recorded_gelsight_pose/episode_42/session_info.json b/recorded_gelsight_pose/episode_42/session_info.json
new file mode 100644
index 0000000000000000000000000000000000000000..e7dd269d5d4255ccd83d6d346e114341b8a676ad
--- /dev/null
+++ b/recorded_gelsight_pose/episode_42/session_info.json
@@ -0,0 +1,12 @@
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+}
\ No newline at end of file
diff --git a/recorded_gelsight_pose/episode_44/image_index.json b/recorded_gelsight_pose/episode_44/image_index.json
new file mode 100644
index 0000000000000000000000000000000000000000..af2968f9870249a73ea9127e8f94e91fa4332289
--- /dev/null
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diff --git a/recorded_gelsight_pose/episode_44/pose_data.json b/recorded_gelsight_pose/episode_44/pose_data.json
new file mode 100644
index 0000000000000000000000000000000000000000..303a25cb2caf3d59fa794f40936b3708237fb57e
--- /dev/null
+++ b/recorded_gelsight_pose/episode_44/pose_data.json
@@ -0,0 +1,408 @@
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diff --git a/recorded_gelsight_pose/episode_44/session_info.json b/recorded_gelsight_pose/episode_44/session_info.json
new file mode 100644
index 0000000000000000000000000000000000000000..e0a6f134be12b37662c5dbec3801b41f3c39fed5
--- /dev/null
+++ b/recorded_gelsight_pose/episode_44/session_info.json
@@ -0,0 +1,12 @@
+{
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+}
\ No newline at end of file
diff --git a/recorded_gelsight_pose/episode_46/image_index.json b/recorded_gelsight_pose/episode_46/image_index.json
new file mode 100644
index 0000000000000000000000000000000000000000..c886a8cbbfa210f4a789205c23806f42079acf47
--- /dev/null
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diff --git a/recorded_gelsight_pose/episode_46/pose_data.json b/recorded_gelsight_pose/episode_46/pose_data.json
new file mode 100644
index 0000000000000000000000000000000000000000..addecd7ccfccc3b410dcbf6628b82ce41543082f
--- /dev/null
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diff --git a/recorded_gelsight_pose/episode_46/session_info.json b/recorded_gelsight_pose/episode_46/session_info.json
new file mode 100644
index 0000000000000000000000000000000000000000..14a3e572d44e409939667cd885559cf32527a6ef
--- /dev/null
+++ b/recorded_gelsight_pose/episode_46/session_info.json
@@ -0,0 +1,12 @@
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\ No newline at end of file
diff --git a/recorded_gelsight_pose/episode_54/image_index.json b/recorded_gelsight_pose/episode_54/image_index.json
new file mode 100644
index 0000000000000000000000000000000000000000..b579fdc3eb159d17c711d04740e48ca421a84e88
--- /dev/null
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diff --git a/recorded_gelsight_pose/episode_54/pose_data.json b/recorded_gelsight_pose/episode_54/pose_data.json
new file mode 100644
index 0000000000000000000000000000000000000000..f4411cb3288dbf9428ad1efe33d3a3afcf2d3e9f
--- /dev/null
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diff --git a/recorded_gelsight_pose/episode_54/session_info.json b/recorded_gelsight_pose/episode_54/session_info.json
new file mode 100644
index 0000000000000000000000000000000000000000..0fb6ff26772fa94676404ed45ae1c63dbcbec916
--- /dev/null
+++ b/recorded_gelsight_pose/episode_54/session_info.json
@@ -0,0 +1,12 @@
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+}
\ No newline at end of file
diff --git a/recorded_gelsight_pose/episode_55/image_index.json b/recorded_gelsight_pose/episode_55/image_index.json
new file mode 100644
index 0000000000000000000000000000000000000000..78d23ac106f78dcfceff6ecb62e0dc092cad92dc
--- /dev/null
+++ b/recorded_gelsight_pose/episode_55/image_index.json
@@ -0,0 +1,378 @@
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\ No newline at end of file
diff --git a/recorded_gelsight_pose/episode_55/pose_data.json b/recorded_gelsight_pose/episode_55/pose_data.json
new file mode 100644
index 0000000000000000000000000000000000000000..0b91aec7607de5ad976cf15bf1c1e2a8513ba52f
--- /dev/null
+++ b/recorded_gelsight_pose/episode_55/pose_data.json
@@ -0,0 +1,394 @@
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diff --git a/recorded_gelsight_pose/episode_55/session_info.json b/recorded_gelsight_pose/episode_55/session_info.json
new file mode 100644
index 0000000000000000000000000000000000000000..d733116dbe92c0302cf619865fda335a167d2a1c
--- /dev/null
+++ b/recorded_gelsight_pose/episode_55/session_info.json
@@ -0,0 +1,12 @@
+{
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+}
\ No newline at end of file
diff --git a/recorded_gelsight_pose/episode_58/image_index.json b/recorded_gelsight_pose/episode_58/image_index.json
new file mode 100644
index 0000000000000000000000000000000000000000..073dc5560c2786e8dd9a2f04aa0e71237015a2b3
--- /dev/null
+++ b/recorded_gelsight_pose/episode_58/image_index.json
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\ No newline at end of file
diff --git a/recorded_gelsight_pose/episode_58/pose_data.json b/recorded_gelsight_pose/episode_58/pose_data.json
new file mode 100644
index 0000000000000000000000000000000000000000..442819ce8c280b751a7ac1bebad690c4871f6bf1
--- /dev/null
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@@ -0,0 +1,422 @@
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diff --git a/recorded_gelsight_pose/episode_58/session_info.json b/recorded_gelsight_pose/episode_58/session_info.json
new file mode 100644
index 0000000000000000000000000000000000000000..b07532b6645a45a0fdfd146191a35059813e5e14
--- /dev/null
+++ b/recorded_gelsight_pose/episode_58/session_info.json
@@ -0,0 +1,12 @@
+{
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+}
\ No newline at end of file
diff --git a/recorded_gelsight_pose/episode_6/image_index.json b/recorded_gelsight_pose/episode_6/image_index.json
new file mode 100644
index 0000000000000000000000000000000000000000..4d48ffd145f4ac9987eb0d13a1ac3adac97dd663
--- /dev/null
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\ No newline at end of file
diff --git a/recorded_gelsight_pose/episode_6/pose_data.json b/recorded_gelsight_pose/episode_6/pose_data.json
new file mode 100644
index 0000000000000000000000000000000000000000..43efea054497837b7321083a35db392ae2de71fe
--- /dev/null
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diff --git a/recorded_gelsight_pose/episode_6/session_info.json b/recorded_gelsight_pose/episode_6/session_info.json
new file mode 100644
index 0000000000000000000000000000000000000000..173897de4df750d8e82d9b26af67f8f12046a9e4
--- /dev/null
+++ b/recorded_gelsight_pose/episode_6/session_info.json
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+}
\ No newline at end of file
diff --git a/recorded_gelsight_pose/episode_60/image_index.json b/recorded_gelsight_pose/episode_60/image_index.json
new file mode 100644
index 0000000000000000000000000000000000000000..0f951f1187cf8874cba4eea483cf7dfc65dda519
--- /dev/null
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diff --git a/recorded_gelsight_pose/episode_60/pose_data.json b/recorded_gelsight_pose/episode_60/pose_data.json
new file mode 100644
index 0000000000000000000000000000000000000000..db18f09be71bfa0c8e5ec7c4a613928f40cce0b9
--- /dev/null
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@@ -0,0 +1,450 @@
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\ No newline at end of file
diff --git a/recorded_gelsight_pose/episode_60/session_info.json b/recorded_gelsight_pose/episode_60/session_info.json
new file mode 100644
index 0000000000000000000000000000000000000000..9c65f21f7ae0474f22729de71cc2ca9fb75169c2
--- /dev/null
+++ b/recorded_gelsight_pose/episode_60/session_info.json
@@ -0,0 +1,12 @@
+{
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+}
\ No newline at end of file
diff --git a/recorded_gelsight_pose/episode_63/image_index.json b/recorded_gelsight_pose/episode_63/image_index.json
new file mode 100644
index 0000000000000000000000000000000000000000..7cd598b9a7ac87cf962b311377a2bc6f4faf9879
--- /dev/null
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diff --git a/recorded_gelsight_pose/episode_63/pose_data.json b/recorded_gelsight_pose/episode_63/pose_data.json
new file mode 100644
index 0000000000000000000000000000000000000000..90d5f6d06792dbf3e36dac43ca333066f1da0869
--- /dev/null
+++ b/recorded_gelsight_pose/episode_63/pose_data.json
@@ -0,0 +1,436 @@
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diff --git a/recorded_gelsight_pose/episode_63/session_info.json b/recorded_gelsight_pose/episode_63/session_info.json
new file mode 100644
index 0000000000000000000000000000000000000000..faf268f8a0b7eaabc55d079c13f089a84fcfd9f1
--- /dev/null
+++ b/recorded_gelsight_pose/episode_63/session_info.json
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+}
\ No newline at end of file
diff --git a/recorded_gelsight_pose/episode_64/image_index.json b/recorded_gelsight_pose/episode_64/image_index.json
new file mode 100644
index 0000000000000000000000000000000000000000..e6bf568d5763ef70d3a63c8583e73d5c6e29aad7
--- /dev/null
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diff --git a/recorded_gelsight_pose/episode_64/pose_data.json b/recorded_gelsight_pose/episode_64/pose_data.json
new file mode 100644
index 0000000000000000000000000000000000000000..c8c5a237b7ef0f11c553e0cf4334d58644791fa9
--- /dev/null
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diff --git a/recorded_gelsight_pose/episode_64/session_info.json b/recorded_gelsight_pose/episode_64/session_info.json
new file mode 100644
index 0000000000000000000000000000000000000000..fa6326cb932e50dfbcc4b74f9af80b4b6f1db5b9
--- /dev/null
+++ b/recorded_gelsight_pose/episode_64/session_info.json
@@ -0,0 +1,12 @@
+{
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+}
\ No newline at end of file
diff --git a/recorded_gelsight_pose/episode_66/image_index.json b/recorded_gelsight_pose/episode_66/image_index.json
new file mode 100644
index 0000000000000000000000000000000000000000..a39fab6b3763e59f901b3bafd3d4ad4cb2b35579
--- /dev/null
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\ No newline at end of file
diff --git a/recorded_gelsight_pose/episode_66/pose_data.json b/recorded_gelsight_pose/episode_66/pose_data.json
new file mode 100644
index 0000000000000000000000000000000000000000..759f9c0f09f531e339562cdb5cd6734dce7ced2b
--- /dev/null
+++ b/recorded_gelsight_pose/episode_66/pose_data.json
@@ -0,0 +1,464 @@
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diff --git a/recorded_gelsight_pose/episode_66/session_info.json b/recorded_gelsight_pose/episode_66/session_info.json
new file mode 100644
index 0000000000000000000000000000000000000000..7184474e7c58ef2211f2a02613d1dc30de74bf62
--- /dev/null
+++ b/recorded_gelsight_pose/episode_66/session_info.json
@@ -0,0 +1,12 @@
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+}
\ No newline at end of file
diff --git a/recorded_gelsight_pose/episode_7/image_index.json b/recorded_gelsight_pose/episode_7/image_index.json
new file mode 100644
index 0000000000000000000000000000000000000000..32eb106dcbe8038a75efef52799accf29a0d93c8
--- /dev/null
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diff --git a/recorded_gelsight_pose/episode_7/pose_data.json b/recorded_gelsight_pose/episode_7/pose_data.json
new file mode 100644
index 0000000000000000000000000000000000000000..c4705d8fa506baa88a9ff6c4f3284369933e1419
--- /dev/null
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diff --git a/recorded_gelsight_pose/episode_7/session_info.json b/recorded_gelsight_pose/episode_7/session_info.json
new file mode 100644
index 0000000000000000000000000000000000000000..c67d84c7bc44ddba599ac88de12637282f47305d
--- /dev/null
+++ b/recorded_gelsight_pose/episode_7/session_info.json
@@ -0,0 +1,12 @@
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\ No newline at end of file
diff --git a/recorded_gelsight_pose/episode_70/image_index.json b/recorded_gelsight_pose/episode_70/image_index.json
new file mode 100644
index 0000000000000000000000000000000000000000..a6ed6d4238c36c0e5ca84b66d11a9a994f369673
--- /dev/null
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diff --git a/recorded_gelsight_pose/episode_70/pose_data.json b/recorded_gelsight_pose/episode_70/pose_data.json
new file mode 100644
index 0000000000000000000000000000000000000000..fe9fae90090bada5236c8eb4440d775d743797c4
--- /dev/null
+++ b/recorded_gelsight_pose/episode_70/pose_data.json
@@ -0,0 +1,408 @@
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diff --git a/recorded_gelsight_pose/episode_70/session_info.json b/recorded_gelsight_pose/episode_70/session_info.json
new file mode 100644
index 0000000000000000000000000000000000000000..6d7506f7384140ec29329432294e59007c50141f
--- /dev/null
+++ b/recorded_gelsight_pose/episode_70/session_info.json
@@ -0,0 +1,12 @@
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\ No newline at end of file
diff --git a/recorded_gelsight_pose/episode_73/image_index.json b/recorded_gelsight_pose/episode_73/image_index.json
new file mode 100644
index 0000000000000000000000000000000000000000..35a730bda9d8c850b69250f3ed6aed240088c81b
--- /dev/null
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diff --git a/recorded_gelsight_pose/episode_73/pose_data.json b/recorded_gelsight_pose/episode_73/pose_data.json
new file mode 100644
index 0000000000000000000000000000000000000000..4a71e1af4af1f8636600ab18b166c1ed3f391fef
--- /dev/null
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diff --git a/recorded_gelsight_pose/episode_73/session_info.json b/recorded_gelsight_pose/episode_73/session_info.json
new file mode 100644
index 0000000000000000000000000000000000000000..54e24208fcb86a76631ec613f009011f6e480a56
--- /dev/null
+++ b/recorded_gelsight_pose/episode_73/session_info.json
@@ -0,0 +1,12 @@
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\ No newline at end of file
diff --git a/recorded_gelsight_pose/episode_74/image_index.json b/recorded_gelsight_pose/episode_74/image_index.json
new file mode 100644
index 0000000000000000000000000000000000000000..2884497333f0ba798961e479dde040d5a8e5c47d
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diff --git a/recorded_gelsight_pose/episode_74/pose_data.json b/recorded_gelsight_pose/episode_74/pose_data.json
new file mode 100644
index 0000000000000000000000000000000000000000..f5755c58ddd9af8b542114f88dbdb6be367c2511
--- /dev/null
+++ b/recorded_gelsight_pose/episode_74/pose_data.json
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diff --git a/recorded_gelsight_pose/episode_74/session_info.json b/recorded_gelsight_pose/episode_74/session_info.json
new file mode 100644
index 0000000000000000000000000000000000000000..74f935faa6b8778b7818211a3e504d93d29296d1
--- /dev/null
+++ b/recorded_gelsight_pose/episode_74/session_info.json
@@ -0,0 +1,12 @@
+{
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+}
\ No newline at end of file
diff --git a/recorded_gelsight_pose/episode_8/image_index.json b/recorded_gelsight_pose/episode_8/image_index.json
new file mode 100644
index 0000000000000000000000000000000000000000..a56b7c198f1b3484c914932b169a32cdfb49a168
--- /dev/null
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diff --git a/recorded_gelsight_pose/episode_8/pose_data.json b/recorded_gelsight_pose/episode_8/pose_data.json
new file mode 100644
index 0000000000000000000000000000000000000000..5799c7c1ce430a41d652158cc9aba7f5d9584250
--- /dev/null
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\ No newline at end of file
diff --git a/recorded_gelsight_pose/episode_8/session_info.json b/recorded_gelsight_pose/episode_8/session_info.json
new file mode 100644
index 0000000000000000000000000000000000000000..f848272e7667e513adeda946d33ab3ee170e947a
--- /dev/null
+++ b/recorded_gelsight_pose/episode_8/session_info.json
@@ -0,0 +1,12 @@
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\ No newline at end of file
diff --git a/recorded_gelsight_pose/episode_80/image_index.json b/recorded_gelsight_pose/episode_80/image_index.json
new file mode 100644
index 0000000000000000000000000000000000000000..322131e744a63cf1ef26e4e6afb369148a7aa8a2
--- /dev/null
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diff --git a/recorded_gelsight_pose/episode_80/pose_data.json b/recorded_gelsight_pose/episode_80/pose_data.json
new file mode 100644
index 0000000000000000000000000000000000000000..1d5d3d7160534b7884d463e6260480a85ebe66ae
--- /dev/null
+++ b/recorded_gelsight_pose/episode_80/pose_data.json
@@ -0,0 +1,436 @@
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diff --git a/recorded_gelsight_pose/episode_80/session_info.json b/recorded_gelsight_pose/episode_80/session_info.json
new file mode 100644
index 0000000000000000000000000000000000000000..08c45feb1f0c65b9e95578e7cd872b5cc8c08897
--- /dev/null
+++ b/recorded_gelsight_pose/episode_80/session_info.json
@@ -0,0 +1,12 @@
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+}
\ No newline at end of file
diff --git a/recorded_gelsight_pose/episode_81/image_index.json b/recorded_gelsight_pose/episode_81/image_index.json
new file mode 100644
index 0000000000000000000000000000000000000000..c7e66fa9c6353ae694447410e719f253187432d0
--- /dev/null
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diff --git a/recorded_gelsight_pose/episode_81/pose_data.json b/recorded_gelsight_pose/episode_81/pose_data.json
new file mode 100644
index 0000000000000000000000000000000000000000..804b3e945e2a1bc1c5303ec56025bae84084a3fd
--- /dev/null
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diff --git a/recorded_gelsight_pose/episode_81/session_info.json b/recorded_gelsight_pose/episode_81/session_info.json
new file mode 100644
index 0000000000000000000000000000000000000000..afce544b5cfbd029b2315d0ae231df75ef22dfd3
--- /dev/null
+++ b/recorded_gelsight_pose/episode_81/session_info.json
@@ -0,0 +1,12 @@
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\ No newline at end of file
diff --git a/recorded_gelsight_pose/episode_85/image_index.json b/recorded_gelsight_pose/episode_85/image_index.json
new file mode 100644
index 0000000000000000000000000000000000000000..4bc7877d3fe4b69198a9315226fd4499408ef644
--- /dev/null
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diff --git a/recorded_gelsight_pose/episode_85/pose_data.json b/recorded_gelsight_pose/episode_85/pose_data.json
new file mode 100644
index 0000000000000000000000000000000000000000..c594a3bbf32cab1c355bbb4eb557e524e9c27816
--- /dev/null
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diff --git a/recorded_gelsight_pose/episode_85/session_info.json b/recorded_gelsight_pose/episode_85/session_info.json
new file mode 100644
index 0000000000000000000000000000000000000000..ddb7d06e39f3d4ba96fcd7e89978983f58c975f1
--- /dev/null
+++ b/recorded_gelsight_pose/episode_85/session_info.json
@@ -0,0 +1,12 @@
+{
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+  "total_images": 97,
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+}
\ No newline at end of file
diff --git a/recorded_gelsight_pose/episode_86/image_index.json b/recorded_gelsight_pose/episode_86/image_index.json
new file mode 100644
index 0000000000000000000000000000000000000000..36e5bd54fa186c2b8122d2db7b6c5c506c01f3f7
--- /dev/null
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diff --git a/recorded_gelsight_pose/episode_86/pose_data.json b/recorded_gelsight_pose/episode_86/pose_data.json
new file mode 100644
index 0000000000000000000000000000000000000000..f61863eaed19ac5b7d62f3cfd9e4753ba6ee4d20
--- /dev/null
+++ b/recorded_gelsight_pose/episode_86/pose_data.json
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diff --git a/recorded_gelsight_pose/episode_86/session_info.json b/recorded_gelsight_pose/episode_86/session_info.json
new file mode 100644
index 0000000000000000000000000000000000000000..fcfd708085e3af258f82470e026850248dd70cc2
--- /dev/null
+++ b/recorded_gelsight_pose/episode_86/session_info.json
@@ -0,0 +1,12 @@
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+}
\ No newline at end of file
diff --git a/recorded_gelsight_pose/episode_87/image_index.json b/recorded_gelsight_pose/episode_87/image_index.json
new file mode 100644
index 0000000000000000000000000000000000000000..bfdc8289689ca2d5aa76368cc49c090b14e5dabb
--- /dev/null
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diff --git a/recorded_gelsight_pose/episode_87/pose_data.json b/recorded_gelsight_pose/episode_87/pose_data.json
new file mode 100644
index 0000000000000000000000000000000000000000..e1e6652307bb38d70b307dc63184e31836b381a9
--- /dev/null
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diff --git a/recorded_gelsight_pose/episode_87/session_info.json b/recorded_gelsight_pose/episode_87/session_info.json
new file mode 100644
index 0000000000000000000000000000000000000000..5ac1cce7768be5df58d2b16a16e9a70a83967267
--- /dev/null
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+}
\ No newline at end of file
diff --git a/recorded_gelsight_pose/episode_89/image_index.json b/recorded_gelsight_pose/episode_89/image_index.json
new file mode 100644
index 0000000000000000000000000000000000000000..d16a30690e6a4a7ea7bcad1feb5cd7ac47f5214a
--- /dev/null
+++ b/recorded_gelsight_pose/episode_89/image_index.json
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diff --git a/recorded_gelsight_pose/episode_89/pose_data.json b/recorded_gelsight_pose/episode_89/pose_data.json
new file mode 100644
index 0000000000000000000000000000000000000000..a95f55320b1a396cd47f5097a765ddfcdd0280a9
--- /dev/null
+++ b/recorded_gelsight_pose/episode_89/pose_data.json
@@ -0,0 +1,450 @@
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diff --git a/recorded_gelsight_pose/episode_89/session_info.json b/recorded_gelsight_pose/episode_89/session_info.json
new file mode 100644
index 0000000000000000000000000000000000000000..2495c399fa7cb4bd400fc6b7c8555277ae049013
--- /dev/null
+++ b/recorded_gelsight_pose/episode_89/session_info.json
@@ -0,0 +1,12 @@
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\ No newline at end of file
diff --git a/recorded_gelsight_pose/episode_91/image_index.json b/recorded_gelsight_pose/episode_91/image_index.json
new file mode 100644
index 0000000000000000000000000000000000000000..518665c6545bea5871616b698093de800bf9e1fb
--- /dev/null
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diff --git a/recorded_gelsight_pose/episode_91/pose_data.json b/recorded_gelsight_pose/episode_91/pose_data.json
new file mode 100644
index 0000000000000000000000000000000000000000..b3233bee5f929f33a9c75820aded285927c14074
--- /dev/null
+++ b/recorded_gelsight_pose/episode_91/pose_data.json
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diff --git a/recorded_gelsight_pose/episode_91/session_info.json b/recorded_gelsight_pose/episode_91/session_info.json
new file mode 100644
index 0000000000000000000000000000000000000000..d131ef475152cf5850c6813e6210ae4dcab6fd6f
--- /dev/null
+++ b/recorded_gelsight_pose/episode_91/session_info.json
@@ -0,0 +1,12 @@
+{
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+}
\ No newline at end of file
diff --git a/recorded_gelsight_pose/episode_92/image_index.json b/recorded_gelsight_pose/episode_92/image_index.json
new file mode 100644
index 0000000000000000000000000000000000000000..0385531ba95ee9f87c7a90d5bb37c3e915a4f27b
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diff --git a/recorded_gelsight_pose/episode_92/pose_data.json b/recorded_gelsight_pose/episode_92/pose_data.json
new file mode 100644
index 0000000000000000000000000000000000000000..c5e7bd6ce91b2469b5f34e5759f00373911679bf
--- /dev/null
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diff --git a/recorded_gelsight_pose/episode_92/session_info.json b/recorded_gelsight_pose/episode_92/session_info.json
new file mode 100644
index 0000000000000000000000000000000000000000..83d2612c5a1ca16d82dfbd84bf44703e9f03fff3
--- /dev/null
+++ b/recorded_gelsight_pose/episode_92/session_info.json
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\ No newline at end of file
diff --git a/recorded_gelsight_pose/episode_93/image_index.json b/recorded_gelsight_pose/episode_93/image_index.json
new file mode 100644
index 0000000000000000000000000000000000000000..3ca453fd7e6c23653ad34e2a538668902b1bb34c
--- /dev/null
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diff --git a/recorded_gelsight_pose/episode_93/pose_data.json b/recorded_gelsight_pose/episode_93/pose_data.json
new file mode 100644
index 0000000000000000000000000000000000000000..d6821f4c295c3f5422b3b677c17aedf8eba85573
--- /dev/null
+++ b/recorded_gelsight_pose/episode_93/pose_data.json
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diff --git a/recorded_gelsight_pose/episode_93/session_info.json b/recorded_gelsight_pose/episode_93/session_info.json
new file mode 100644
index 0000000000000000000000000000000000000000..c4cb7d22d18defd2fd2626cc7932ed04d5cb4d72
--- /dev/null
+++ b/recorded_gelsight_pose/episode_93/session_info.json
@@ -0,0 +1,12 @@
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+}
\ No newline at end of file
diff --git a/recorded_gelsight_pose/episode_94/image_index.json b/recorded_gelsight_pose/episode_94/image_index.json
new file mode 100644
index 0000000000000000000000000000000000000000..0816f93e7831f6f25dabe1b50eaf1428e23e28d5
--- /dev/null
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diff --git a/recorded_gelsight_pose/episode_94/pose_data.json b/recorded_gelsight_pose/episode_94/pose_data.json
new file mode 100644
index 0000000000000000000000000000000000000000..b2bb0ab0fe5918bcdab25c0faad755afe7092ee2
--- /dev/null
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diff --git a/recorded_gelsight_pose/episode_94/session_info.json b/recorded_gelsight_pose/episode_94/session_info.json
new file mode 100644
index 0000000000000000000000000000000000000000..0de67f10a064173417220bbe4e7c0005dbde9f44
--- /dev/null
+++ b/recorded_gelsight_pose/episode_94/session_info.json
@@ -0,0 +1,12 @@
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+}
\ No newline at end of file
diff --git a/recorded_gelsight_pose/episode_96/image_index.json b/recorded_gelsight_pose/episode_96/image_index.json
new file mode 100644
index 0000000000000000000000000000000000000000..cbbe5181db85517b9e7f3f1404c64982c2576c53
--- /dev/null
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\ No newline at end of file
diff --git a/recorded_gelsight_pose/episode_96/pose_data.json b/recorded_gelsight_pose/episode_96/pose_data.json
new file mode 100644
index 0000000000000000000000000000000000000000..bfc2eb20be95cf1fb07f2def7f4809dce7c1ea8b
--- /dev/null
+++ b/recorded_gelsight_pose/episode_96/pose_data.json
@@ -0,0 +1,464 @@
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diff --git a/recorded_gelsight_pose/episode_96/session_info.json b/recorded_gelsight_pose/episode_96/session_info.json
new file mode 100644
index 0000000000000000000000000000000000000000..b7e4db83e8e4ac1c58141275c0b194decbcb76c1
--- /dev/null
+++ b/recorded_gelsight_pose/episode_96/session_info.json
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+}
\ No newline at end of file
diff --git a/recorded_gelsight_pose/episode_97/image_index.json b/recorded_gelsight_pose/episode_97/image_index.json
new file mode 100644
index 0000000000000000000000000000000000000000..5d4e442cc460492f718b6a9aaf99acc021c2afd1
--- /dev/null
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diff --git a/recorded_gelsight_pose/episode_97/pose_data.json b/recorded_gelsight_pose/episode_97/pose_data.json
new file mode 100644
index 0000000000000000000000000000000000000000..cabb31bcecfcbd996d970a56cdfa0465160ffccc
--- /dev/null
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\ No newline at end of file
diff --git a/recorded_gelsight_pose/episode_97/session_info.json b/recorded_gelsight_pose/episode_97/session_info.json
new file mode 100644
index 0000000000000000000000000000000000000000..eaf2f8f0a3e9b6a6912bbb37edbd0d251836eaba
--- /dev/null
+++ b/recorded_gelsight_pose/episode_97/session_info.json
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\ No newline at end of file
diff --git a/recorded_gelsight_pose/episode_98/image_index.json b/recorded_gelsight_pose/episode_98/image_index.json
new file mode 100644
index 0000000000000000000000000000000000000000..81ade19db9ce26cffded35e041ccfda11a4c797f
--- /dev/null
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diff --git a/recorded_gelsight_pose/episode_98/pose_data.json b/recorded_gelsight_pose/episode_98/pose_data.json
new file mode 100644
index 0000000000000000000000000000000000000000..9777e1295d24533da752110597e79ccf50822cef
--- /dev/null
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\ No newline at end of file
diff --git a/recorded_gelsight_pose/episode_98/session_info.json b/recorded_gelsight_pose/episode_98/session_info.json
new file mode 100644
index 0000000000000000000000000000000000000000..e9e1a535f2b4108db0d4321bbc2bb816d5dddf06
--- /dev/null
+++ b/recorded_gelsight_pose/episode_98/session_info.json
@@ -0,0 +1,12 @@
+{
+  "session_id": 48,
+  "start_time": "2025-12-19T21:14:36.070964",
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+  "image_topic": "/gelsight_img",
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+  "ros_end_time": 1766150080.7750096,
+  "total_images": 117,
+  "total_pose_frames": 35
+}
\ No newline at end of file