diff --git a/recorded_9dtact_force/episode_17/force_data.json b/recorded_9dtact_force/episode_17/force_data.json
new file mode 100644
index 0000000000000000000000000000000000000000..824f1a42dc6a82fecf5e631417c2038c30f5b4c8
--- /dev/null
+++ b/recorded_9dtact_force/episode_17/force_data.json
@@ -0,0 +1,122 @@
+[
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diff --git a/recorded_9dtact_force/episode_17/image_index.json b/recorded_9dtact_force/episode_17/image_index.json
new file mode 100644
index 0000000000000000000000000000000000000000..ed643506e9ef74d993709b447c3df9473cf71b3b
--- /dev/null
+++ b/recorded_9dtact_force/episode_17/image_index.json
@@ -0,0 +1,122 @@
+[
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\ No newline at end of file
diff --git a/recorded_9dtact_force/episode_17/session_info.json b/recorded_9dtact_force/episode_17/session_info.json
new file mode 100644
index 0000000000000000000000000000000000000000..afd7b9ccb3ff661f2e543327552621fbd0edcfa8
--- /dev/null
+++ b/recorded_9dtact_force/episode_17/session_info.json
@@ -0,0 +1,12 @@
+{
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+  "start_time": "2025-12-20T17:41:01.011818",
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+  "end_time": "2025-12-20T17:41:03.978589",
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+  "total_images": 30,
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+}
\ No newline at end of file
diff --git a/recorded_9dtact_force/episode_19/force_data.json b/recorded_9dtact_force/episode_19/force_data.json
new file mode 100644
index 0000000000000000000000000000000000000000..506d66915c184a87a8bfa1380be904188983fb53
--- /dev/null
+++ b/recorded_9dtact_force/episode_19/force_data.json
@@ -0,0 +1,126 @@
+[
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\ No newline at end of file
diff --git a/recorded_9dtact_force/episode_19/image_index.json b/recorded_9dtact_force/episode_19/image_index.json
new file mode 100644
index 0000000000000000000000000000000000000000..fea76d75817104c89e1e13726c77b8311901422c
--- /dev/null
+++ b/recorded_9dtact_force/episode_19/image_index.json
@@ -0,0 +1,122 @@
+[
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\ No newline at end of file
diff --git a/recorded_9dtact_force/episode_19/session_info.json b/recorded_9dtact_force/episode_19/session_info.json
new file mode 100644
index 0000000000000000000000000000000000000000..822aaee7c638199ab08caaefad84f53d14d425a5
--- /dev/null
+++ b/recorded_9dtact_force/episode_19/session_info.json
@@ -0,0 +1,12 @@
+{
+  "session_id": 20,
+  "start_time": "2025-12-20T17:41:10.534687",
+  "ros_start_time": 1766223670.5347016,
+  "image_topic": "/camera/raw_image",
+  "force_topic": "force_sensor/force",
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+  "end_time": "2025-12-20T17:41:13.624689",
+  "ros_end_time": 1766223673.6246977,
+  "total_images": 30,
+  "total_force_frames": 31
+}
\ No newline at end of file
diff --git a/recorded_9dtact_force/episode_25/force_data.json b/recorded_9dtact_force/episode_25/force_data.json
new file mode 100644
index 0000000000000000000000000000000000000000..881f8481dd5ea5db2588f6bd8ca263e34f053179
--- /dev/null
+++ b/recorded_9dtact_force/episode_25/force_data.json
@@ -0,0 +1,122 @@
+[
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\ No newline at end of file
diff --git a/recorded_9dtact_force/episode_25/image_index.json b/recorded_9dtact_force/episode_25/image_index.json
new file mode 100644
index 0000000000000000000000000000000000000000..74b1c803191189bd94034387e04c4fccc0cadc8f
--- /dev/null
+++ b/recorded_9dtact_force/episode_25/image_index.json
@@ -0,0 +1,118 @@
+[
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\ No newline at end of file
diff --git a/recorded_9dtact_force/episode_25/session_info.json b/recorded_9dtact_force/episode_25/session_info.json
new file mode 100644
index 0000000000000000000000000000000000000000..76c6ae78d4e4385e418084794630a16a1650dcd4
--- /dev/null
+++ b/recorded_9dtact_force/episode_25/session_info.json
@@ -0,0 +1,12 @@
+{
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+}
\ No newline at end of file
diff --git a/recorded_9dtact_force/episode_3/force_data.json b/recorded_9dtact_force/episode_3/force_data.json
new file mode 100644
index 0000000000000000000000000000000000000000..f561c3491bcd9dfbfb516f2b41971423ed3d98d7
--- /dev/null
+++ b/recorded_9dtact_force/episode_3/force_data.json
@@ -0,0 +1,138 @@
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diff --git a/recorded_9dtact_force/episode_3/image_index.json b/recorded_9dtact_force/episode_3/image_index.json
new file mode 100644
index 0000000000000000000000000000000000000000..18a2ff883f9672d32fed6fa4ddc774c108eec345
--- /dev/null
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\ No newline at end of file
diff --git a/recorded_9dtact_force/episode_3/session_info.json b/recorded_9dtact_force/episode_3/session_info.json
new file mode 100644
index 0000000000000000000000000000000000000000..1e07c8033b1348a7cf9202a4022974f9422d9bc1
--- /dev/null
+++ b/recorded_9dtact_force/episode_3/session_info.json
@@ -0,0 +1,12 @@
+{
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+}
\ No newline at end of file
diff --git a/recorded_9dtact_force/episode_33/force_data.json b/recorded_9dtact_force/episode_33/force_data.json
new file mode 100644
index 0000000000000000000000000000000000000000..03df57cf54314f76937742237e909e0e3d7e15fe
--- /dev/null
+++ b/recorded_9dtact_force/episode_33/force_data.json
@@ -0,0 +1,122 @@
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diff --git a/recorded_9dtact_force/episode_33/image_index.json b/recorded_9dtact_force/episode_33/image_index.json
new file mode 100644
index 0000000000000000000000000000000000000000..8b90e7486a55b828bb084f21019cdbd2e1fb8b06
--- /dev/null
+++ b/recorded_9dtact_force/episode_33/image_index.json
@@ -0,0 +1,122 @@
+[
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\ No newline at end of file
diff --git a/recorded_9dtact_force/episode_33/session_info.json b/recorded_9dtact_force/episode_33/session_info.json
new file mode 100644
index 0000000000000000000000000000000000000000..dfe8f3d73b741ab38899beae973b5f344967cecb
--- /dev/null
+++ b/recorded_9dtact_force/episode_33/session_info.json
@@ -0,0 +1,12 @@
+{
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+}
\ No newline at end of file
diff --git a/recorded_9dtact_force/episode_43/force_data.json b/recorded_9dtact_force/episode_43/force_data.json
new file mode 100644
index 0000000000000000000000000000000000000000..d9df340a2a69a245667379a0a0d58ab76b54bfd0
--- /dev/null
+++ b/recorded_9dtact_force/episode_43/force_data.json
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diff --git a/recorded_9dtact_force/episode_43/image_index.json b/recorded_9dtact_force/episode_43/image_index.json
new file mode 100644
index 0000000000000000000000000000000000000000..c79ae20c490c4ad5988236ccd9df2b0f658d61fa
--- /dev/null
+++ b/recorded_9dtact_force/episode_43/image_index.json
@@ -0,0 +1,170 @@
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diff --git a/recorded_9dtact_force/episode_43/session_info.json b/recorded_9dtact_force/episode_43/session_info.json
new file mode 100644
index 0000000000000000000000000000000000000000..bb83b8ee67effb45684e82d4ef6c822c9fb86a14
--- /dev/null
+++ b/recorded_9dtact_force/episode_43/session_info.json
@@ -0,0 +1,12 @@
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diff --git a/recorded_9dtact_force/episode_45/force_data.json b/recorded_9dtact_force/episode_45/force_data.json
new file mode 100644
index 0000000000000000000000000000000000000000..a427620b82d3f8ccf8654454730c418ab03c33b0
--- /dev/null
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diff --git a/recorded_9dtact_force/episode_45/image_index.json b/recorded_9dtact_force/episode_45/image_index.json
new file mode 100644
index 0000000000000000000000000000000000000000..17472274de6d51778d5d0dbba19116a5466a4717
--- /dev/null
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diff --git a/recorded_9dtact_force/episode_45/session_info.json b/recorded_9dtact_force/episode_45/session_info.json
new file mode 100644
index 0000000000000000000000000000000000000000..563d3cedc629ed9690fddf4befd2d873d5235223
--- /dev/null
+++ b/recorded_9dtact_force/episode_45/session_info.json
@@ -0,0 +1,12 @@
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\ No newline at end of file
diff --git a/recorded_9dtact_force/episode_62/force_data.json b/recorded_9dtact_force/episode_62/force_data.json
new file mode 100644
index 0000000000000000000000000000000000000000..4dad52f9564c1232958eec59f37c39ad5df9911d
--- /dev/null
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diff --git a/recorded_9dtact_force/episode_62/image_index.json b/recorded_9dtact_force/episode_62/image_index.json
new file mode 100644
index 0000000000000000000000000000000000000000..15ed8c572c9e47d34cfb7dfb3c248006d67d543a
--- /dev/null
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diff --git a/recorded_9dtact_force/episode_62/session_info.json b/recorded_9dtact_force/episode_62/session_info.json
new file mode 100644
index 0000000000000000000000000000000000000000..c2dd282d4da81e7e2de86981820b05237ed89c1f
--- /dev/null
+++ b/recorded_9dtact_force/episode_62/session_info.json
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diff --git a/recorded_9dtact_force/episode_76/force_data.json b/recorded_9dtact_force/episode_76/force_data.json
new file mode 100644
index 0000000000000000000000000000000000000000..ec665dab82a9e0c9624c906b01b74c6a8623be0d
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diff --git a/recorded_9dtact_force/episode_76/image_index.json b/recorded_9dtact_force/episode_76/image_index.json
new file mode 100644
index 0000000000000000000000000000000000000000..71b12623db66c6895975cfa1982590dd7c280733
--- /dev/null
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diff --git a/recorded_9dtact_force/episode_76/session_info.json b/recorded_9dtact_force/episode_76/session_info.json
new file mode 100644
index 0000000000000000000000000000000000000000..298f6b32deba98042bd0974f2ff1b0270c4dc3ad
--- /dev/null
+++ b/recorded_9dtact_force/episode_76/session_info.json
@@ -0,0 +1,12 @@
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+}
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diff --git a/recorded_9dtact_force/episode_78/force_data.json b/recorded_9dtact_force/episode_78/force_data.json
new file mode 100644
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--- /dev/null
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diff --git a/recorded_9dtact_force/episode_78/image_index.json b/recorded_9dtact_force/episode_78/image_index.json
new file mode 100644
index 0000000000000000000000000000000000000000..786402ec588c869d65b034795d60ef4cfabe900b
--- /dev/null
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diff --git a/recorded_9dtact_force/episode_78/session_info.json b/recorded_9dtact_force/episode_78/session_info.json
new file mode 100644
index 0000000000000000000000000000000000000000..707747306f310b22d8e719bfb56bf2e5fb6b83ca
--- /dev/null
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diff --git a/recorded_9dtact_force/episode_79/image_index.json b/recorded_9dtact_force/episode_79/image_index.json
new file mode 100644
index 0000000000000000000000000000000000000000..e1d11135219eaea6a42991811e6549b1e472311c
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diff --git a/recorded_9dtact_force/episode_79/session_info.json b/recorded_9dtact_force/episode_79/session_info.json
new file mode 100644
index 0000000000000000000000000000000000000000..09dd64f479118c4f9c4d30fe2c3ab833221fe40b
--- /dev/null
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diff --git a/recorded_9dtact_force/episode_82/force_data.json b/recorded_9dtact_force/episode_82/force_data.json
new file mode 100644
index 0000000000000000000000000000000000000000..61d524e9b75cec8bef062f6134033178c3826dda
--- /dev/null
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diff --git a/recorded_9dtact_force/episode_82/image_index.json b/recorded_9dtact_force/episode_82/image_index.json
new file mode 100644
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--- /dev/null
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diff --git a/recorded_9dtact_force/episode_82/session_info.json b/recorded_9dtact_force/episode_82/session_info.json
new file mode 100644
index 0000000000000000000000000000000000000000..25e4acdbb3c2ac9cca1076716d68bbea14b56d06
--- /dev/null
+++ b/recorded_9dtact_force/episode_82/session_info.json
@@ -0,0 +1,12 @@
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diff --git a/recorded_9dtact_force/episode_9/force_data.json b/recorded_9dtact_force/episode_9/force_data.json
new file mode 100644
index 0000000000000000000000000000000000000000..3981ff01788753cbc747d8bd26a1ae1b8cf65dab
--- /dev/null
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new file mode 100644
index 0000000000000000000000000000000000000000..c508dab06ba7b17e05f36f3050420ad6cff896af
--- /dev/null
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diff --git a/recorded_9dtact_force/episode_9/session_info.json b/recorded_9dtact_force/episode_9/session_info.json
new file mode 100644
index 0000000000000000000000000000000000000000..4fac793d607d92d3ec0ae680af320370e0155807
--- /dev/null
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diff --git a/recorded_tac02_pose/episode_109/pose_data.json b/recorded_tac02_pose/episode_109/pose_data.json
new file mode 100644
index 0000000000000000000000000000000000000000..7f7adeda21d1efcdf35814272219895dbfacefab
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diff --git a/recorded_tac02_pose/episode_109/session_info.json b/recorded_tac02_pose/episode_109/session_info.json
new file mode 100644
index 0000000000000000000000000000000000000000..12cd9e94640cd4445450ada3925f96476b2cd615
--- /dev/null
+++ b/recorded_tac02_pose/episode_109/session_info.json
@@ -0,0 +1,13 @@
+{
+  "session_id": 116,
+  "start_time": "2025-12-20T13:55:02.629285",
+  "ros_start_time": 1766210102.629298,
+  "tactile_topic": "tacniq/right",
+  "pose_topic": "/pose",
+  "tactile_rows": 11,
+  "tactile_cols": 6,
+  "end_time": "2025-12-20T13:55:06.241027",
+  "ros_end_time": 1766210106.2410352,
+  "total_tactile_frames": 715,
+  "total_pose_frames": 27
+}
\ No newline at end of file
diff --git a/recorded_tac02_pose/episode_109/tactile_data.json b/recorded_tac02_pose/episode_109/tactile_data.json
new file mode 100644
index 0000000000000000000000000000000000000000..c4508e25174c42dc3243e69ed8490d20b872db6c
--- /dev/null
+++ b/recorded_tac02_pose/episode_109/tactile_data.json
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diff --git a/recorded_tac02_pose/episode_112/pose_data.json b/recorded_tac02_pose/episode_112/pose_data.json
new file mode 100644
index 0000000000000000000000000000000000000000..41d78a0e6ef153b310c26f7cb0cd33692fac8169
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diff --git a/recorded_tac02_pose/episode_112/session_info.json b/recorded_tac02_pose/episode_112/session_info.json
new file mode 100644
index 0000000000000000000000000000000000000000..df3b92a7c19691185bd39d91d9ef18a21eb438a3
--- /dev/null
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diff --git a/recorded_tac02_pose/episode_112/tactile_data.json b/recorded_tac02_pose/episode_112/tactile_data.json
new file mode 100644
index 0000000000000000000000000000000000000000..6193691c8212a6e03189e660e72e6c6ba5518982
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diff --git a/recorded_tac02_pose/episode_12/pose_data.json b/recorded_tac02_pose/episode_12/pose_data.json
new file mode 100644
index 0000000000000000000000000000000000000000..cbe479e0d82834b7c3e3003be73cd6d66d567052
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diff --git a/recorded_tac02_pose/episode_12/session_info.json b/recorded_tac02_pose/episode_12/session_info.json
new file mode 100644
index 0000000000000000000000000000000000000000..9a556838f06daf1a738181d0732f8f0ea1986e45
--- /dev/null
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new file mode 100644
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diff --git a/recorded_tac02_pose/episode_126/pose_data.json b/recorded_tac02_pose/episode_126/pose_data.json
new file mode 100644
index 0000000000000000000000000000000000000000..ada3c406941a9cd68e7284727cacfb9e3ee99160
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diff --git a/recorded_tac02_pose/episode_126/session_info.json b/recorded_tac02_pose/episode_126/session_info.json
new file mode 100644
index 0000000000000000000000000000000000000000..8c92e697eb9918690b2ac9ea951a6f4d67b45ce5
--- /dev/null
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diff --git a/recorded_tac02_pose/episode_126/tactile_data.json b/recorded_tac02_pose/episode_126/tactile_data.json
new file mode 100644
index 0000000000000000000000000000000000000000..ac4a7cff2a93fc12cb668c415990f9d0927be124
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diff --git a/recorded_tac02_pose/episode_128/pose_data.json b/recorded_tac02_pose/episode_128/pose_data.json
new file mode 100644
index 0000000000000000000000000000000000000000..59adad0b7e2b36609eef81a988964a04757c88d5
--- /dev/null
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diff --git a/recorded_tac02_pose/episode_128/session_info.json b/recorded_tac02_pose/episode_128/session_info.json
new file mode 100644
index 0000000000000000000000000000000000000000..5fd06605f3065cbffa98e6944122302b2e0273a6
--- /dev/null
+++ b/recorded_tac02_pose/episode_128/session_info.json
@@ -0,0 +1,13 @@
+{
+  "session_id": 137,
+  "start_time": "2025-12-20T13:58:02.799404",
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+  "end_time": "2025-12-20T13:58:06.560032",
+  "ros_end_time": 1766210286.5600429,
+  "total_tactile_frames": 744,
+  "total_pose_frames": 28
+}
\ No newline at end of file
diff --git a/recorded_tac02_pose/episode_128/tactile_data.json b/recorded_tac02_pose/episode_128/tactile_data.json
new file mode 100644
index 0000000000000000000000000000000000000000..684833f0e4ec3dfb6deb1a2ec6ec4d1ef2b59c8c
--- /dev/null
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diff --git a/recorded_tac02_pose/episode_133/session_info.json b/recorded_tac02_pose/episode_133/session_info.json
new file mode 100644
index 0000000000000000000000000000000000000000..d22b831d9d3720271aa928f31ca5765592fcd783
--- /dev/null
+++ b/recorded_tac02_pose/episode_133/session_info.json
@@ -0,0 +1,13 @@
+{
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+  "start_time": "2025-12-20T13:58:28.200408",
+  "ros_start_time": 1766210308.2004173,
+  "tactile_topic": "tacniq/right",
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+  "end_time": "2025-12-20T13:58:31.957971",
+  "ros_end_time": 1766210311.9579787,
+  "total_tactile_frames": 745,
+  "total_pose_frames": 28
+}
\ No newline at end of file
diff --git a/recorded_tac02_pose/episode_32/pose_data.json b/recorded_tac02_pose/episode_32/pose_data.json
new file mode 100644
index 0000000000000000000000000000000000000000..841855a52dc49889f1976443395241f27ff2b441
--- /dev/null
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diff --git a/recorded_tac02_pose/episode_32/session_info.json b/recorded_tac02_pose/episode_32/session_info.json
new file mode 100644
index 0000000000000000000000000000000000000000..c84df755acabd4edb5d9f2cc9baa383bb6c797bf
--- /dev/null
+++ b/recorded_tac02_pose/episode_32/session_info.json
@@ -0,0 +1,13 @@
+{
+  "session_id": 34,
+  "start_time": "2025-12-20T13:42:40.106861",
+  "ros_start_time": 1766209360.1068769,
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+  "end_time": "2025-12-20T13:42:44.046478",
+  "ros_end_time": 1766209364.0464845,
+  "total_tactile_frames": 781,
+  "total_pose_frames": 30
+}
\ No newline at end of file
diff --git a/recorded_tac02_pose/episode_32/tactile_data.json b/recorded_tac02_pose/episode_32/tactile_data.json
new file mode 100644
index 0000000000000000000000000000000000000000..76b36c5c6c3ee5298145457c07c8c8c324ad9156
--- /dev/null
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diff --git a/recorded_tac02_pose/episode_47/pose_data.json b/recorded_tac02_pose/episode_47/pose_data.json
new file mode 100644
index 0000000000000000000000000000000000000000..96dec8f22a9fc54c285553ed8c7093fe14cc3a50
--- /dev/null
+++ b/recorded_tac02_pose/episode_47/pose_data.json
@@ -0,0 +1,408 @@
+[
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diff --git a/recorded_tac02_pose/episode_47/session_info.json b/recorded_tac02_pose/episode_47/session_info.json
new file mode 100644
index 0000000000000000000000000000000000000000..3188379624bff8ae983d4a53d74981b4bf2f53cc
--- /dev/null
+++ b/recorded_tac02_pose/episode_47/session_info.json
@@ -0,0 +1,13 @@
+{
+  "session_id": 50,
+  "start_time": "2025-12-20T13:45:16.762185",
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+  "ros_end_time": 1766209520.6982625,
+  "total_tactile_frames": 781,
+  "total_pose_frames": 29
+}
\ No newline at end of file
diff --git a/recorded_tac02_pose/episode_47/tactile_data.json b/recorded_tac02_pose/episode_47/tactile_data.json
new file mode 100644
index 0000000000000000000000000000000000000000..07fde20b2024901dfdac3425e3b8bad3ea9200e7
--- /dev/null
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diff --git a/recorded_tac02_pose/episode_50/pose_data.json b/recorded_tac02_pose/episode_50/pose_data.json
new file mode 100644
index 0000000000000000000000000000000000000000..dda43ab7c8abbfdf916515a645a6f89e70e33b01
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diff --git a/recorded_tac02_pose/episode_50/session_info.json b/recorded_tac02_pose/episode_50/session_info.json
new file mode 100644
index 0000000000000000000000000000000000000000..1d7eb078a2a3b4e3b37e75e906a2b4fd18ea6297
--- /dev/null
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diff --git a/recorded_tac02_pose/episode_50/tactile_data.json b/recorded_tac02_pose/episode_50/tactile_data.json
new file mode 100644
index 0000000000000000000000000000000000000000..6200f12cb0cdbf66a8dcb55474ba222b666ff6af
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diff --git a/recorded_tac02_pose/episode_69/pose_data.json b/recorded_tac02_pose/episode_69/pose_data.json
new file mode 100644
index 0000000000000000000000000000000000000000..aa3bf50f10963114b4770d42932c80b134444240
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\ No newline at end of file
diff --git a/recorded_tac02_pose/episode_69/session_info.json b/recorded_tac02_pose/episode_69/session_info.json
new file mode 100644
index 0000000000000000000000000000000000000000..b63933c18c0577971bcce5a8b24db3d407e01bf5
--- /dev/null
+++ b/recorded_tac02_pose/episode_69/session_info.json
@@ -0,0 +1,13 @@
+{
+  "session_id": 73,
+  "start_time": "2025-12-20T13:48:03.633611",
+  "ros_start_time": 1766209683.6336231,
+  "tactile_topic": "tacniq/right",
+  "pose_topic": "/pose",
+  "tactile_rows": 11,
+  "tactile_cols": 6,
+  "end_time": "2025-12-20T13:48:07.757420",
+  "ros_end_time": 1766209687.7574272,
+  "total_tactile_frames": 816,
+  "total_pose_frames": 30
+}
\ No newline at end of file
diff --git a/recorded_tac02_pose/episode_69/tactile_data.json b/recorded_tac02_pose/episode_69/tactile_data.json
new file mode 100644
index 0000000000000000000000000000000000000000..d20cbff601a62d7cdeda572aaf5ad664d83b5f3b
--- /dev/null
+++ b/recorded_tac02_pose/episode_69/tactile_data.json
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diff --git a/recorded_tac02_pose/episode_88/pose_data.json b/recorded_tac02_pose/episode_88/pose_data.json
new file mode 100644
index 0000000000000000000000000000000000000000..be2658b3addbf87ec4e0bf4463908dc7f8656171
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diff --git a/recorded_tac02_pose/episode_88/session_info.json b/recorded_tac02_pose/episode_88/session_info.json
new file mode 100644
index 0000000000000000000000000000000000000000..1eabb95c716150eda52bfeecafdbd97e7a0c61a7
--- /dev/null
+++ b/recorded_tac02_pose/episode_88/session_info.json
@@ -0,0 +1,13 @@
+{
+  "session_id": 94,
+  "start_time": "2025-12-20T13:51:45.056082",
+  "ros_start_time": 1766209905.056096,
+  "tactile_topic": "tacniq/right",
+  "pose_topic": "/pose",
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+  "tactile_cols": 6,
+  "end_time": "2025-12-20T13:51:49.108014",
+  "ros_end_time": 1766209909.108022,
+  "total_tactile_frames": 800,
+  "total_pose_frames": 30
+}
\ No newline at end of file
diff --git a/recorded_tac02_pose/episode_88/tactile_data.json b/recorded_tac02_pose/episode_88/tactile_data.json
new file mode 100644
index 0000000000000000000000000000000000000000..15b7936b3f90794fdabb1466fc6dec3fd7ac33c9
--- /dev/null
+++ b/recorded_tac02_pose/episode_88/tactile_data.json
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diff --git a/recorded_tac02_pose/episode_90/pose_data.json b/recorded_tac02_pose/episode_90/pose_data.json
new file mode 100644
index 0000000000000000000000000000000000000000..78c9f88b95d78b23015bbe8b1fb51aa0e4bc730f
--- /dev/null
+++ b/recorded_tac02_pose/episode_90/pose_data.json
@@ -0,0 +1,436 @@
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diff --git a/recorded_tac02_pose/episode_90/session_info.json b/recorded_tac02_pose/episode_90/session_info.json
new file mode 100644
index 0000000000000000000000000000000000000000..270e7bed9f9630d2990056d7d0665ab02c51eadb
--- /dev/null
+++ b/recorded_tac02_pose/episode_90/session_info.json
@@ -0,0 +1,13 @@
+{
+  "session_id": 96,
+  "start_time": "2025-12-20T13:51:55.402740",
+  "ros_start_time": 1766209915.4027658,
+  "tactile_topic": "tacniq/right",
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+  "end_time": "2025-12-20T13:51:59.534389",
+  "ros_end_time": 1766209919.534399,
+  "total_tactile_frames": 818,
+  "total_pose_frames": 31
+}
\ No newline at end of file
diff --git a/recorded_tac02_pose/episode_90/tactile_data.json b/recorded_tac02_pose/episode_90/tactile_data.json
new file mode 100644
index 0000000000000000000000000000000000000000..0911239d206d08fd7e16c377d1dde56faf85e378
--- /dev/null
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diff --git a/recorded_tac02_pose/episode_95/pose_data.json b/recorded_tac02_pose/episode_95/pose_data.json
new file mode 100644
index 0000000000000000000000000000000000000000..f135f5db760bf2d695e38502bf66b6eddcd07fa6
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diff --git a/recorded_tac02_pose/episode_95/session_info.json b/recorded_tac02_pose/episode_95/session_info.json
new file mode 100644
index 0000000000000000000000000000000000000000..167ac51bb9f1ef9daac52ca7f87db7a12a6fcfe4
--- /dev/null
+++ b/recorded_tac02_pose/episode_95/session_info.json
@@ -0,0 +1,13 @@
+{
+  "session_id": 101,
+  "start_time": "2025-12-20T13:52:21.810389",
+  "ros_start_time": 1766209941.8104038,
+  "tactile_topic": "tacniq/right",
+  "pose_topic": "/pose",
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+  "tactile_cols": 6,
+  "end_time": "2025-12-20T13:52:26.048326",
+  "ros_end_time": 1766209946.0483363,
+  "total_tactile_frames": 838,
+  "total_pose_frames": 31
+}
\ No newline at end of file
diff --git a/recorded_tac02_pose/episode_95/tactile_data.json b/recorded_tac02_pose/episode_95/tactile_data.json
new file mode 100644
index 0000000000000000000000000000000000000000..b07ccb45fb33dc7ff0e5ed8d85e4c50b37907b56
--- /dev/null
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