diff --git a/recorded_gelsight_force/episode_1/force_data.json b/recorded_gelsight_force/episode_1/force_data.json
new file mode 100644
index 0000000000000000000000000000000000000000..b4a80953d3f1c78edd775e22081a15b65b254e45
--- /dev/null
+++ b/recorded_gelsight_force/episode_1/force_data.json
@@ -0,0 +1,150 @@
+[
+  {
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+    "force": -4.63
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+    "force": -1.55
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+]
\ No newline at end of file
diff --git a/recorded_gelsight_force/episode_1/image_index.json b/recorded_gelsight_force/episode_1/image_index.json
new file mode 100644
index 0000000000000000000000000000000000000000..fd9f0694c381de2dc85de5626f291a57fe3c0e0a
--- /dev/null
+++ b/recorded_gelsight_force/episode_1/image_index.json
@@ -0,0 +1,366 @@
+[
+  {
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+    "filename": "img_000000.png"
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+  {
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+  {
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+  },
+  {
+    "timestamp": 1766225371.7948253,
+    "filename": "img_000090.png"
+  }
+]
\ No newline at end of file
diff --git a/recorded_gelsight_force/episode_1/session_info.json b/recorded_gelsight_force/episode_1/session_info.json
new file mode 100644
index 0000000000000000000000000000000000000000..2741a46c669d916ccc2490e55648dfd51942a8f8
--- /dev/null
+++ b/recorded_gelsight_force/episode_1/session_info.json
@@ -0,0 +1,12 @@
+{
+  "session_id": 2,
+  "start_time": "2025-12-20T18:09:28.174052",
+  "ros_start_time": 1766225368.1740723,
+  "image_topic": "/gelsight_img",
+  "force_topic": "force_sensor/force",
+  "image_format": "png",
+  "end_time": "2025-12-20T18:09:31.838626",
+  "ros_end_time": 1766225371.838635,
+  "total_images": 91,
+  "total_force_frames": 37
+}
\ No newline at end of file
diff --git a/recorded_gelsight_force/episode_10/force_data.json b/recorded_gelsight_force/episode_10/force_data.json
new file mode 100644
index 0000000000000000000000000000000000000000..3a33ef38e27464d46953f379c99f726ba759c7d2
--- /dev/null
+++ b/recorded_gelsight_force/episode_10/force_data.json
@@ -0,0 +1,154 @@
+[
+  {
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+    "force": -9.21
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+  {
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+  }
+]
\ No newline at end of file
diff --git a/recorded_gelsight_force/episode_10/image_index.json b/recorded_gelsight_force/episode_10/image_index.json
new file mode 100644
index 0000000000000000000000000000000000000000..cb0f3f46f887470bc74eba336d9fc538752e4a06
--- /dev/null
+++ b/recorded_gelsight_force/episode_10/image_index.json
@@ -0,0 +1,386 @@
+[
+  {
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+    "filename": "img_000000.png"
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diff --git a/recorded_gelsight_force/episode_10/session_info.json b/recorded_gelsight_force/episode_10/session_info.json
new file mode 100644
index 0000000000000000000000000000000000000000..38ab07b7609eeb3f63604601bdee6d36cdfa7bb9
--- /dev/null
+++ b/recorded_gelsight_force/episode_10/session_info.json
@@ -0,0 +1,12 @@
+{
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+}
\ No newline at end of file
diff --git a/recorded_gelsight_force/episode_100/force_data.json b/recorded_gelsight_force/episode_100/force_data.json
new file mode 100644
index 0000000000000000000000000000000000000000..8c0e951ff49232b77123a730d621ef4569434f50
--- /dev/null
+++ b/recorded_gelsight_force/episode_100/force_data.json
@@ -0,0 +1,198 @@
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diff --git a/recorded_gelsight_force/episode_100/image_index.json b/recorded_gelsight_force/episode_100/image_index.json
new file mode 100644
index 0000000000000000000000000000000000000000..494690c0e630f0f3daa2b2915e4dc10b349b3029
--- /dev/null
+++ b/recorded_gelsight_force/episode_100/image_index.json
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diff --git a/recorded_gelsight_force/episode_100/session_info.json b/recorded_gelsight_force/episode_100/session_info.json
new file mode 100644
index 0000000000000000000000000000000000000000..d5984a6c5466576ae47895f495dc7d4fc6ff807b
--- /dev/null
+++ b/recorded_gelsight_force/episode_100/session_info.json
@@ -0,0 +1,12 @@
+{
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+}
\ No newline at end of file
diff --git a/recorded_gelsight_force/episode_11/force_data.json b/recorded_gelsight_force/episode_11/force_data.json
new file mode 100644
index 0000000000000000000000000000000000000000..c6724314750895a6fd82c616ce6ac73915927b13
--- /dev/null
+++ b/recorded_gelsight_force/episode_11/force_data.json
@@ -0,0 +1,130 @@
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diff --git a/recorded_gelsight_force/episode_11/image_index.json b/recorded_gelsight_force/episode_11/image_index.json
new file mode 100644
index 0000000000000000000000000000000000000000..54d8d62ffe256534e166da73517d175ce95870b4
--- /dev/null
+++ b/recorded_gelsight_force/episode_11/image_index.json
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\ No newline at end of file
diff --git a/recorded_gelsight_force/episode_11/session_info.json b/recorded_gelsight_force/episode_11/session_info.json
new file mode 100644
index 0000000000000000000000000000000000000000..af18e4bd67e1e8449e0a1aef284887f50e4db2bf
--- /dev/null
+++ b/recorded_gelsight_force/episode_11/session_info.json
@@ -0,0 +1,12 @@
+{
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+  "total_images": 79,
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+}
\ No newline at end of file
diff --git a/recorded_gelsight_force/episode_13/force_data.json b/recorded_gelsight_force/episode_13/force_data.json
new file mode 100644
index 0000000000000000000000000000000000000000..a3c4e21d5b9aed8c5bef3921f350d90abb889937
--- /dev/null
+++ b/recorded_gelsight_force/episode_13/force_data.json
@@ -0,0 +1,146 @@
+[
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diff --git a/recorded_gelsight_force/episode_13/image_index.json b/recorded_gelsight_force/episode_13/image_index.json
new file mode 100644
index 0000000000000000000000000000000000000000..f65c44f5f01f957ed852d926bfc78ba2a5aecdf5
--- /dev/null
+++ b/recorded_gelsight_force/episode_13/image_index.json
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diff --git a/recorded_gelsight_force/episode_13/session_info.json b/recorded_gelsight_force/episode_13/session_info.json
new file mode 100644
index 0000000000000000000000000000000000000000..82b76ff6b0975d3aa63c557a8daa5f0a92eea2f8
--- /dev/null
+++ b/recorded_gelsight_force/episode_13/session_info.json
@@ -0,0 +1,12 @@
+{
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+}
\ No newline at end of file
diff --git a/recorded_gelsight_force/episode_16/force_data.json b/recorded_gelsight_force/episode_16/force_data.json
new file mode 100644
index 0000000000000000000000000000000000000000..1fe9d94c2a14ef2dcd6eee5ae739729d63bf7b86
--- /dev/null
+++ b/recorded_gelsight_force/episode_16/force_data.json
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diff --git a/recorded_gelsight_force/episode_16/image_index.json b/recorded_gelsight_force/episode_16/image_index.json
new file mode 100644
index 0000000000000000000000000000000000000000..84396d20cce1e25c2a2aa6aa03441779f46952fe
--- /dev/null
+++ b/recorded_gelsight_force/episode_16/image_index.json
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diff --git a/recorded_gelsight_force/episode_16/session_info.json b/recorded_gelsight_force/episode_16/session_info.json
new file mode 100644
index 0000000000000000000000000000000000000000..15e153d5aaf0f30149667619465fe50bc5fe626c
--- /dev/null
+++ b/recorded_gelsight_force/episode_16/session_info.json
@@ -0,0 +1,12 @@
+{
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+}
\ No newline at end of file
diff --git a/recorded_gelsight_force/episode_18/force_data.json b/recorded_gelsight_force/episode_18/force_data.json
new file mode 100644
index 0000000000000000000000000000000000000000..771a4adf771e2fbc005dfc0c5cbb80ec98ca2cb4
--- /dev/null
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diff --git a/recorded_gelsight_force/episode_18/image_index.json b/recorded_gelsight_force/episode_18/image_index.json
new file mode 100644
index 0000000000000000000000000000000000000000..f37dd64b8a5dbf10eaf384af6e7a1d1ae9eeb6b7
--- /dev/null
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diff --git a/recorded_gelsight_force/episode_18/session_info.json b/recorded_gelsight_force/episode_18/session_info.json
new file mode 100644
index 0000000000000000000000000000000000000000..451b107cc1a972ac22e04e2e328ef14399d80c77
--- /dev/null
+++ b/recorded_gelsight_force/episode_18/session_info.json
@@ -0,0 +1,12 @@
+{
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+}
\ No newline at end of file
diff --git a/recorded_gelsight_force/episode_20/force_data.json b/recorded_gelsight_force/episode_20/force_data.json
new file mode 100644
index 0000000000000000000000000000000000000000..a4e11e492ea9611e6ac7c3121419c013cdb84701
--- /dev/null
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diff --git a/recorded_gelsight_force/episode_20/image_index.json b/recorded_gelsight_force/episode_20/image_index.json
new file mode 100644
index 0000000000000000000000000000000000000000..1a73debd75f95e682927fe77977e14316d9ca945
--- /dev/null
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diff --git a/recorded_gelsight_force/episode_20/session_info.json b/recorded_gelsight_force/episode_20/session_info.json
new file mode 100644
index 0000000000000000000000000000000000000000..ee3169334dd12dc4efd0085eb0d0bf91fe787788
--- /dev/null
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@@ -0,0 +1,12 @@
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diff --git a/recorded_gelsight_force/episode_21/force_data.json b/recorded_gelsight_force/episode_21/force_data.json
new file mode 100644
index 0000000000000000000000000000000000000000..13dfe207d4b2b472276268269d1a1330c0cb7b53
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new file mode 100644
index 0000000000000000000000000000000000000000..9aa805e3c6f4d1fd305899fc7ab0db2c266f23f1
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diff --git a/recorded_gelsight_force/episode_21/session_info.json b/recorded_gelsight_force/episode_21/session_info.json
new file mode 100644
index 0000000000000000000000000000000000000000..9535ea41129c82bfcaab8288b8d7640e40a56314
--- /dev/null
+++ b/recorded_gelsight_force/episode_21/session_info.json
@@ -0,0 +1,12 @@
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\ No newline at end of file
diff --git a/recorded_gelsight_force/episode_22/force_data.json b/recorded_gelsight_force/episode_22/force_data.json
new file mode 100644
index 0000000000000000000000000000000000000000..aeba75d487b354a0d31239bedf1122122e875051
--- /dev/null
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diff --git a/recorded_gelsight_force/episode_22/image_index.json b/recorded_gelsight_force/episode_22/image_index.json
new file mode 100644
index 0000000000000000000000000000000000000000..53c6c660daa7e9d1dfef8ecaddd4a7cf173f6860
--- /dev/null
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diff --git a/recorded_gelsight_force/episode_22/session_info.json b/recorded_gelsight_force/episode_22/session_info.json
new file mode 100644
index 0000000000000000000000000000000000000000..f3257c1711adc745f8fe1bb9afce4c6d783b3806
--- /dev/null
+++ b/recorded_gelsight_force/episode_22/session_info.json
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+}
\ No newline at end of file
diff --git a/recorded_gelsight_force/episode_23/force_data.json b/recorded_gelsight_force/episode_23/force_data.json
new file mode 100644
index 0000000000000000000000000000000000000000..916b139fd305eab43b7974bd51910195c2bcee41
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diff --git a/recorded_gelsight_force/episode_23/image_index.json b/recorded_gelsight_force/episode_23/image_index.json
new file mode 100644
index 0000000000000000000000000000000000000000..682d84efb64f372c6f169d9948b46f0f6658be43
--- /dev/null
+++ b/recorded_gelsight_force/episode_23/image_index.json
@@ -0,0 +1,486 @@
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+]
\ No newline at end of file
diff --git a/recorded_gelsight_force/episode_23/session_info.json b/recorded_gelsight_force/episode_23/session_info.json
new file mode 100644
index 0000000000000000000000000000000000000000..5d0fb2b6e13f8ea8b4940a43e0b43105327b5183
--- /dev/null
+++ b/recorded_gelsight_force/episode_23/session_info.json
@@ -0,0 +1,12 @@
+{
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+  "ros_end_time": 1766225650.295925,
+  "total_images": 121,
+  "total_force_frames": 48
+}
\ No newline at end of file
diff --git a/recorded_gelsight_force/episode_24/force_data.json b/recorded_gelsight_force/episode_24/force_data.json
new file mode 100644
index 0000000000000000000000000000000000000000..bc29de1bc14751d5b4173a369408edc1ca352fcd
--- /dev/null
+++ b/recorded_gelsight_force/episode_24/force_data.json
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diff --git a/recorded_gelsight_force/episode_24/image_index.json b/recorded_gelsight_force/episode_24/image_index.json
new file mode 100644
index 0000000000000000000000000000000000000000..0fecdd18c079144036506578a6950cf9be7260c7
--- /dev/null
+++ b/recorded_gelsight_force/episode_24/image_index.json
@@ -0,0 +1,514 @@
+[
+  {
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+    "filename": "img_000000.png"
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+    "filename": "img_000001.png"
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+    "filename": "img_000002.png"
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+    "filename": "img_000003.png"
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+    "filename": "img_000005.png"
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+    "filename": "img_000018.png"
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+    "filename": "img_000019.png"
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+    "filename": "img_000020.png"
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+    "filename": "img_000026.png"
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+    "filename": "img_000027.png"
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+    "filename": "img_000028.png"
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+    "filename": "img_000057.png"
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+  {
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+  {
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+  {
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+  {
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+  {
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+  {
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+    "filename": "img_000083.png"
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+  {
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+  {
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+  {
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+  {
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+  {
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+    "filename": "img_000106.png"
+  },
+  {
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+    "filename": "img_000107.png"
+  },
+  {
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+    "filename": "img_000108.png"
+  },
+  {
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+    "filename": "img_000109.png"
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+  {
+    "timestamp": 1766225656.7875159,
+    "filename": "img_000110.png"
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+  {
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+  {
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+  {
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+  {
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+  {
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+  {
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+  {
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+  {
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+    "filename": "img_000120.png"
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+    "timestamp": 1766225657.267188,
+    "filename": "img_000122.png"
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+  {
+    "timestamp": 1766225657.3066657,
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+  {
+    "timestamp": 1766225657.3471906,
+    "filename": "img_000124.png"
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+  {
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+  {
+    "timestamp": 1766225657.4672573,
+    "filename": "img_000127.png"
+  }
+]
\ No newline at end of file
diff --git a/recorded_gelsight_force/episode_24/session_info.json b/recorded_gelsight_force/episode_24/session_info.json
new file mode 100644
index 0000000000000000000000000000000000000000..e1465f561b90581ebbeeb505d31ac8ade9270d51
--- /dev/null
+++ b/recorded_gelsight_force/episode_24/session_info.json
@@ -0,0 +1,12 @@
+{
+  "session_id": 12,
+  "start_time": "2025-12-20T18:14:12.366419",
+  "ros_start_time": 1766225652.366435,
+  "image_topic": "/gelsight_img",
+  "force_topic": "force_sensor/force",
+  "image_format": "png",
+  "end_time": "2025-12-20T18:14:17.477550",
+  "ros_end_time": 1766225657.4775584,
+  "total_images": 128,
+  "total_force_frames": 51
+}
\ No newline at end of file
diff --git a/recorded_gelsight_force/episode_27/force_data.json b/recorded_gelsight_force/episode_27/force_data.json
new file mode 100644
index 0000000000000000000000000000000000000000..1528b72c02619859de8616f3c40cb440f95f926f
--- /dev/null
+++ b/recorded_gelsight_force/episode_27/force_data.json
@@ -0,0 +1,198 @@
+[
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+    "force": -6.52
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\ No newline at end of file
diff --git a/recorded_gelsight_force/episode_27/image_index.json b/recorded_gelsight_force/episode_27/image_index.json
new file mode 100644
index 0000000000000000000000000000000000000000..52955c011c111b7abf9920bcb37ba60680f564e3
--- /dev/null
+++ b/recorded_gelsight_force/episode_27/image_index.json
@@ -0,0 +1,498 @@
+[
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diff --git a/recorded_gelsight_force/episode_27/session_info.json b/recorded_gelsight_force/episode_27/session_info.json
new file mode 100644
index 0000000000000000000000000000000000000000..19e4c37e25afc6b20d794ece6128bba824dfca17
--- /dev/null
+++ b/recorded_gelsight_force/episode_27/session_info.json
@@ -0,0 +1,12 @@
+{
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+}
\ No newline at end of file
diff --git a/recorded_gelsight_force/episode_28/force_data.json b/recorded_gelsight_force/episode_28/force_data.json
new file mode 100644
index 0000000000000000000000000000000000000000..75dfdb497ae8f16eb5b4eaec3452c43337c2bb3b
--- /dev/null
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diff --git a/recorded_gelsight_force/episode_28/image_index.json b/recorded_gelsight_force/episode_28/image_index.json
new file mode 100644
index 0000000000000000000000000000000000000000..906c01f3221a8521c3d6bcc411fc6637e3b044f0
--- /dev/null
+++ b/recorded_gelsight_force/episode_28/image_index.json
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diff --git a/recorded_gelsight_force/episode_28/session_info.json b/recorded_gelsight_force/episode_28/session_info.json
new file mode 100644
index 0000000000000000000000000000000000000000..ad7ff8c9ed8b6e3b11363913afd44917d4704148
--- /dev/null
+++ b/recorded_gelsight_force/episode_28/session_info.json
@@ -0,0 +1,12 @@
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+}
\ No newline at end of file
diff --git a/recorded_gelsight_force/episode_29/force_data.json b/recorded_gelsight_force/episode_29/force_data.json
new file mode 100644
index 0000000000000000000000000000000000000000..c3eae49c1e781e20844ab7617d5addcc3623bc12
--- /dev/null
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diff --git a/recorded_gelsight_force/episode_29/image_index.json b/recorded_gelsight_force/episode_29/image_index.json
new file mode 100644
index 0000000000000000000000000000000000000000..b996c6a871f90d618e815ae88f9268ab2bc31642
--- /dev/null
+++ b/recorded_gelsight_force/episode_29/image_index.json
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diff --git a/recorded_gelsight_force/episode_29/session_info.json b/recorded_gelsight_force/episode_29/session_info.json
new file mode 100644
index 0000000000000000000000000000000000000000..6aee0823001758e14b29fe6b18880e40f1677e02
--- /dev/null
+++ b/recorded_gelsight_force/episode_29/session_info.json
@@ -0,0 +1,12 @@
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+}
\ No newline at end of file
diff --git a/recorded_gelsight_force/episode_30/force_data.json b/recorded_gelsight_force/episode_30/force_data.json
new file mode 100644
index 0000000000000000000000000000000000000000..34d410c9a4edd6c1e2b1f58c4d149b5a44b60f4c
--- /dev/null
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diff --git a/recorded_gelsight_force/episode_30/image_index.json b/recorded_gelsight_force/episode_30/image_index.json
new file mode 100644
index 0000000000000000000000000000000000000000..49271894230d58eff7c90eeeefea42cc645fdaec
--- /dev/null
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diff --git a/recorded_gelsight_force/episode_30/session_info.json b/recorded_gelsight_force/episode_30/session_info.json
new file mode 100644
index 0000000000000000000000000000000000000000..50c4056056717afebfbca16600f412524a1ce9e0
--- /dev/null
+++ b/recorded_gelsight_force/episode_30/session_info.json
@@ -0,0 +1,12 @@
+{
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+  "image_topic": "/gelsight_img",
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+}
\ No newline at end of file
diff --git a/recorded_gelsight_force/episode_31/force_data.json b/recorded_gelsight_force/episode_31/force_data.json
new file mode 100644
index 0000000000000000000000000000000000000000..e8b1d11b8be02f02d97ea9addfdc35c29ae62521
--- /dev/null
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diff --git a/recorded_gelsight_force/episode_31/image_index.json b/recorded_gelsight_force/episode_31/image_index.json
new file mode 100644
index 0000000000000000000000000000000000000000..d05aa68550559af4640ebba7c793cda891c836cd
--- /dev/null
+++ b/recorded_gelsight_force/episode_31/image_index.json
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diff --git a/recorded_gelsight_force/episode_31/session_info.json b/recorded_gelsight_force/episode_31/session_info.json
new file mode 100644
index 0000000000000000000000000000000000000000..f63eeb4897b7d3a2ee218823c7454711a2a0d4ee
--- /dev/null
+++ b/recorded_gelsight_force/episode_31/session_info.json
@@ -0,0 +1,12 @@
+{
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+  "start_time": "2025-12-20T18:16:04.485641",
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+}
\ No newline at end of file
diff --git a/recorded_gelsight_force/episode_32/force_data.json b/recorded_gelsight_force/episode_32/force_data.json
new file mode 100644
index 0000000000000000000000000000000000000000..7f337f145a3bfcb504f9e8a1cb8b1fbe375aa705
--- /dev/null
+++ b/recorded_gelsight_force/episode_32/force_data.json
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diff --git a/recorded_gelsight_force/episode_32/image_index.json b/recorded_gelsight_force/episode_32/image_index.json
new file mode 100644
index 0000000000000000000000000000000000000000..4b46a65857cb31602c2903ecaa6988d2ebe2d232
--- /dev/null
+++ b/recorded_gelsight_force/episode_32/image_index.json
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diff --git a/recorded_gelsight_force/episode_32/session_info.json b/recorded_gelsight_force/episode_32/session_info.json
new file mode 100644
index 0000000000000000000000000000000000000000..f2ae78e2ab5172e16e8c3c8e0cc7d60ed080dcd0
--- /dev/null
+++ b/recorded_gelsight_force/episode_32/session_info.json
@@ -0,0 +1,12 @@
+{
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+  "start_time": "2025-12-20T18:16:15.407055",
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+  "total_images": 112,
+  "total_force_frames": 45
+}
\ No newline at end of file
diff --git a/recorded_gelsight_force/episode_34/force_data.json b/recorded_gelsight_force/episode_34/force_data.json
new file mode 100644
index 0000000000000000000000000000000000000000..ef65968c6dd3e8a1d7ce2f62aeac2d28a55967ec
--- /dev/null
+++ b/recorded_gelsight_force/episode_34/force_data.json
@@ -0,0 +1,206 @@
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diff --git a/recorded_gelsight_force/episode_34/image_index.json b/recorded_gelsight_force/episode_34/image_index.json
new file mode 100644
index 0000000000000000000000000000000000000000..6a141e193c6a66c3a3c75822026f2d164fe4efc6
--- /dev/null
+++ b/recorded_gelsight_force/episode_34/image_index.json
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diff --git a/recorded_gelsight_force/episode_34/session_info.json b/recorded_gelsight_force/episode_34/session_info.json
new file mode 100644
index 0000000000000000000000000000000000000000..aa9f4be46907ae154c59560ad7ae7db6d32ced93
--- /dev/null
+++ b/recorded_gelsight_force/episode_34/session_info.json
@@ -0,0 +1,12 @@
+{
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+}
\ No newline at end of file
diff --git a/recorded_gelsight_force/episode_35/force_data.json b/recorded_gelsight_force/episode_35/force_data.json
new file mode 100644
index 0000000000000000000000000000000000000000..4ce340d7a04cea8eca50dc8f5f199eeb1a1c75de
--- /dev/null
+++ b/recorded_gelsight_force/episode_35/force_data.json
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diff --git a/recorded_gelsight_force/episode_35/image_index.json b/recorded_gelsight_force/episode_35/image_index.json
new file mode 100644
index 0000000000000000000000000000000000000000..3ec15551a89fff57659d2d048e6e18b67f8ee9d9
--- /dev/null
+++ b/recorded_gelsight_force/episode_35/image_index.json
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diff --git a/recorded_gelsight_force/episode_35/session_info.json b/recorded_gelsight_force/episode_35/session_info.json
new file mode 100644
index 0000000000000000000000000000000000000000..669e0f0179fb09a03050170a48cbd645b702deff
--- /dev/null
+++ b/recorded_gelsight_force/episode_35/session_info.json
@@ -0,0 +1,12 @@
+{
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+}
\ No newline at end of file
diff --git a/recorded_gelsight_force/episode_36/force_data.json b/recorded_gelsight_force/episode_36/force_data.json
new file mode 100644
index 0000000000000000000000000000000000000000..a6615c74e6dcf2f817a06d197a9a9b7442d59b44
--- /dev/null
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diff --git a/recorded_gelsight_force/episode_36/image_index.json b/recorded_gelsight_force/episode_36/image_index.json
new file mode 100644
index 0000000000000000000000000000000000000000..e8c5c6877b7cd5cb31a01927af0e02dd20be7b40
--- /dev/null
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diff --git a/recorded_gelsight_force/episode_36/session_info.json b/recorded_gelsight_force/episode_36/session_info.json
new file mode 100644
index 0000000000000000000000000000000000000000..61e7a6e18e9ab7654919ed1cb3a0e15ff999d25f
--- /dev/null
+++ b/recorded_gelsight_force/episode_36/session_info.json
@@ -0,0 +1,12 @@
+{
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+}
\ No newline at end of file
diff --git a/recorded_gelsight_force/episode_37/force_data.json b/recorded_gelsight_force/episode_37/force_data.json
new file mode 100644
index 0000000000000000000000000000000000000000..5d0ed25c707c7ac225aaeafec9fadecde9c84f2f
--- /dev/null
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diff --git a/recorded_gelsight_force/episode_37/image_index.json b/recorded_gelsight_force/episode_37/image_index.json
new file mode 100644
index 0000000000000000000000000000000000000000..8d9f763893d9abaf0888026c24f647ca62dfaa7e
--- /dev/null
+++ b/recorded_gelsight_force/episode_37/image_index.json
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diff --git a/recorded_gelsight_force/episode_37/session_info.json b/recorded_gelsight_force/episode_37/session_info.json
new file mode 100644
index 0000000000000000000000000000000000000000..803dbb0976c913035ee3cc0325e67d502d1cf6f8
--- /dev/null
+++ b/recorded_gelsight_force/episode_37/session_info.json
@@ -0,0 +1,12 @@
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+}
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diff --git a/recorded_gelsight_force/episode_38/force_data.json b/recorded_gelsight_force/episode_38/force_data.json
new file mode 100644
index 0000000000000000000000000000000000000000..cb7e49068483419e7486bebc1bc64f5412638c6b
--- /dev/null
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new file mode 100644
index 0000000000000000000000000000000000000000..407f050442edef3ac43ff74a18d137f490c31de8
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diff --git a/recorded_gelsight_force/episode_38/session_info.json b/recorded_gelsight_force/episode_38/session_info.json
new file mode 100644
index 0000000000000000000000000000000000000000..dfc24fc10a8a71a74cd9d5815520a05bf5db6814
--- /dev/null
+++ b/recorded_gelsight_force/episode_38/session_info.json
@@ -0,0 +1,12 @@
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\ No newline at end of file
diff --git a/recorded_gelsight_force/episode_39/force_data.json b/recorded_gelsight_force/episode_39/force_data.json
new file mode 100644
index 0000000000000000000000000000000000000000..44cf28a3f3dcd38670fbce7d5b8bd04d3859d8d3
--- /dev/null
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diff --git a/recorded_gelsight_force/episode_39/image_index.json b/recorded_gelsight_force/episode_39/image_index.json
new file mode 100644
index 0000000000000000000000000000000000000000..776dc4705224a7f409445c69bb7316987e95ace4
--- /dev/null
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\ No newline at end of file
diff --git a/recorded_gelsight_force/episode_39/session_info.json b/recorded_gelsight_force/episode_39/session_info.json
new file mode 100644
index 0000000000000000000000000000000000000000..8549d5c4b0308f5435051415bc9bb797bca12901
--- /dev/null
+++ b/recorded_gelsight_force/episode_39/session_info.json
@@ -0,0 +1,12 @@
+{
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+}
\ No newline at end of file
diff --git a/recorded_gelsight_force/episode_4/force_data.json b/recorded_gelsight_force/episode_4/force_data.json
new file mode 100644
index 0000000000000000000000000000000000000000..58b4637aa787074fb2259c8fd566038eb2bcc960
--- /dev/null
+++ b/recorded_gelsight_force/episode_4/force_data.json
@@ -0,0 +1,150 @@
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\ No newline at end of file
diff --git a/recorded_gelsight_force/episode_4/image_index.json b/recorded_gelsight_force/episode_4/image_index.json
new file mode 100644
index 0000000000000000000000000000000000000000..2f2c3660e99bc6e010a8af2b12f84d806f9ee489
--- /dev/null
+++ b/recorded_gelsight_force/episode_4/image_index.json
@@ -0,0 +1,370 @@
+[
+  {
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+    "filename": "img_000000.png"
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+    "filename": "img_000001.png"
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+    "filename": "img_000007.png"
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+  {
+    "timestamp": 1766225388.5530493,
+    "filename": "img_000091.png"
+  }
+]
\ No newline at end of file
diff --git a/recorded_gelsight_force/episode_4/session_info.json b/recorded_gelsight_force/episode_4/session_info.json
new file mode 100644
index 0000000000000000000000000000000000000000..3748c2fa42c59c6789863e8c9e3c7cf2aba6bebe
--- /dev/null
+++ b/recorded_gelsight_force/episode_4/session_info.json
@@ -0,0 +1,12 @@
+{
+  "session_id": 5,
+  "start_time": "2025-12-20T18:09:44.891634",
+  "ros_start_time": 1766225384.891656,
+  "image_topic": "/gelsight_img",
+  "force_topic": "force_sensor/force",
+  "image_format": "png",
+  "end_time": "2025-12-20T18:09:48.572307",
+  "ros_end_time": 1766225388.572317,
+  "total_images": 92,
+  "total_force_frames": 37
+}
\ No newline at end of file
diff --git a/recorded_gelsight_force/episode_40/force_data.json b/recorded_gelsight_force/episode_40/force_data.json
new file mode 100644
index 0000000000000000000000000000000000000000..825d75909e434983191ffa4d5929861f39bc6842
--- /dev/null
+++ b/recorded_gelsight_force/episode_40/force_data.json
@@ -0,0 +1,158 @@
+[
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+]
\ No newline at end of file
diff --git a/recorded_gelsight_force/episode_40/image_index.json b/recorded_gelsight_force/episode_40/image_index.json
new file mode 100644
index 0000000000000000000000000000000000000000..37a01d7676b60a6844e035fc939baad842bc9027
--- /dev/null
+++ b/recorded_gelsight_force/episode_40/image_index.json
@@ -0,0 +1,390 @@
+[
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diff --git a/recorded_gelsight_force/episode_40/session_info.json b/recorded_gelsight_force/episode_40/session_info.json
new file mode 100644
index 0000000000000000000000000000000000000000..33c1035f5f4d36a67578ed26383d5535018f6fee
--- /dev/null
+++ b/recorded_gelsight_force/episode_40/session_info.json
@@ -0,0 +1,12 @@
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+}
\ No newline at end of file
diff --git a/recorded_gelsight_force/episode_42/force_data.json b/recorded_gelsight_force/episode_42/force_data.json
new file mode 100644
index 0000000000000000000000000000000000000000..9f1cf11e72e2e61b8e3d799cbed5ece4c6b07a5b
--- /dev/null
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diff --git a/recorded_gelsight_force/episode_42/image_index.json b/recorded_gelsight_force/episode_42/image_index.json
new file mode 100644
index 0000000000000000000000000000000000000000..58297f609e47e34f0c1e74d6c8e7fdd5846a8800
--- /dev/null
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diff --git a/recorded_gelsight_force/episode_42/session_info.json b/recorded_gelsight_force/episode_42/session_info.json
new file mode 100644
index 0000000000000000000000000000000000000000..8ff8d18abf7fd05b7cb6c718855daeacb9108891
--- /dev/null
+++ b/recorded_gelsight_force/episode_42/session_info.json
@@ -0,0 +1,12 @@
+{
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+}
\ No newline at end of file
diff --git a/recorded_gelsight_force/episode_44/force_data.json b/recorded_gelsight_force/episode_44/force_data.json
new file mode 100644
index 0000000000000000000000000000000000000000..fc603aa6bba018f1dd703dde98ae0748ebdf7045
--- /dev/null
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diff --git a/recorded_gelsight_force/episode_44/image_index.json b/recorded_gelsight_force/episode_44/image_index.json
new file mode 100644
index 0000000000000000000000000000000000000000..6db4747867125904a46d1b0f4afb5e88cece8cf8
--- /dev/null
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\ No newline at end of file
diff --git a/recorded_gelsight_force/episode_44/session_info.json b/recorded_gelsight_force/episode_44/session_info.json
new file mode 100644
index 0000000000000000000000000000000000000000..9621c2c70fd4b7376dd8ceb7a30275d08f280f1e
--- /dev/null
+++ b/recorded_gelsight_force/episode_44/session_info.json
@@ -0,0 +1,12 @@
+{
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+}
\ No newline at end of file
diff --git a/recorded_gelsight_force/episode_46/force_data.json b/recorded_gelsight_force/episode_46/force_data.json
new file mode 100644
index 0000000000000000000000000000000000000000..b71f7426f9be14167d5572ea766abadda2e65c33
--- /dev/null
+++ b/recorded_gelsight_force/episode_46/force_data.json
@@ -0,0 +1,146 @@
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diff --git a/recorded_gelsight_force/episode_46/image_index.json b/recorded_gelsight_force/episode_46/image_index.json
new file mode 100644
index 0000000000000000000000000000000000000000..0ecec1ffb5fdd0ad00558138143fd78b811375cf
--- /dev/null
+++ b/recorded_gelsight_force/episode_46/image_index.json
@@ -0,0 +1,358 @@
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\ No newline at end of file
diff --git a/recorded_gelsight_force/episode_46/session_info.json b/recorded_gelsight_force/episode_46/session_info.json
new file mode 100644
index 0000000000000000000000000000000000000000..754dadf010c856845c757febc8491a49235f258a
--- /dev/null
+++ b/recorded_gelsight_force/episode_46/session_info.json
@@ -0,0 +1,12 @@
+{
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+  "start_time": "2025-12-20T18:18:32.713933",
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+  "image_topic": "/gelsight_img",
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+  "total_images": 89,
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+}
\ No newline at end of file
diff --git a/recorded_gelsight_force/episode_47/force_data.json b/recorded_gelsight_force/episode_47/force_data.json
new file mode 100644
index 0000000000000000000000000000000000000000..5c6514628f215eebe623e60f1a3f3de593376ac8
--- /dev/null
+++ b/recorded_gelsight_force/episode_47/force_data.json
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diff --git a/recorded_gelsight_force/episode_47/image_index.json b/recorded_gelsight_force/episode_47/image_index.json
new file mode 100644
index 0000000000000000000000000000000000000000..6cfe4a575e788ed9ebf515ddbc447b7912384905
--- /dev/null
+++ b/recorded_gelsight_force/episode_47/image_index.json
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diff --git a/recorded_gelsight_force/episode_47/session_info.json b/recorded_gelsight_force/episode_47/session_info.json
new file mode 100644
index 0000000000000000000000000000000000000000..a5876a736cb96b7248410b364949a4a56e0e5848
--- /dev/null
+++ b/recorded_gelsight_force/episode_47/session_info.json
@@ -0,0 +1,12 @@
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+}
\ No newline at end of file
diff --git a/recorded_gelsight_force/episode_48/force_data.json b/recorded_gelsight_force/episode_48/force_data.json
new file mode 100644
index 0000000000000000000000000000000000000000..887d2797520c8be6972e151f5065d1995b946071
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diff --git a/recorded_gelsight_force/episode_48/image_index.json b/recorded_gelsight_force/episode_48/image_index.json
new file mode 100644
index 0000000000000000000000000000000000000000..ebbe15bdcb322ee2635ab0ad91429764542237aa
--- /dev/null
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diff --git a/recorded_gelsight_force/episode_48/session_info.json b/recorded_gelsight_force/episode_48/session_info.json
new file mode 100644
index 0000000000000000000000000000000000000000..201b978fd47d1a19ceb7ab511127e506c123e0e5
--- /dev/null
+++ b/recorded_gelsight_force/episode_48/session_info.json
@@ -0,0 +1,12 @@
+{
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+  "start_time": "2025-12-20T18:18:48.078817",
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+  "total_images": 120,
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+}
\ No newline at end of file
diff --git a/recorded_gelsight_force/episode_50/force_data.json b/recorded_gelsight_force/episode_50/force_data.json
new file mode 100644
index 0000000000000000000000000000000000000000..c42f31c97deab2462957f275b46dd39dcc9b829d
--- /dev/null
+++ b/recorded_gelsight_force/episode_50/force_data.json
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diff --git a/recorded_gelsight_force/episode_50/image_index.json b/recorded_gelsight_force/episode_50/image_index.json
new file mode 100644
index 0000000000000000000000000000000000000000..9559b29aafd1889bb0d1a37b2d8e4ed231dc1f9e
--- /dev/null
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diff --git a/recorded_gelsight_force/episode_50/session_info.json b/recorded_gelsight_force/episode_50/session_info.json
new file mode 100644
index 0000000000000000000000000000000000000000..da9c70cb83e5061d93cf9701d1a1fb924e2fe215
--- /dev/null
+++ b/recorded_gelsight_force/episode_50/session_info.json
@@ -0,0 +1,12 @@
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+}
\ No newline at end of file
diff --git a/recorded_gelsight_force/episode_51/force_data.json b/recorded_gelsight_force/episode_51/force_data.json
new file mode 100644
index 0000000000000000000000000000000000000000..c51205663ac4067eaf3a1dbb50f3ec7324db0c56
--- /dev/null
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diff --git a/recorded_gelsight_force/episode_51/image_index.json b/recorded_gelsight_force/episode_51/image_index.json
new file mode 100644
index 0000000000000000000000000000000000000000..3d632a246de5cc475eab2dae29f7b04c2480d92e
--- /dev/null
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\ No newline at end of file
diff --git a/recorded_gelsight_force/episode_51/session_info.json b/recorded_gelsight_force/episode_51/session_info.json
new file mode 100644
index 0000000000000000000000000000000000000000..8ec9926e4a22b50de04d40481cf17fbbfdb165c8
--- /dev/null
+++ b/recorded_gelsight_force/episode_51/session_info.json
@@ -0,0 +1,12 @@
+{
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+}
\ No newline at end of file
diff --git a/recorded_gelsight_force/episode_53/force_data.json b/recorded_gelsight_force/episode_53/force_data.json
new file mode 100644
index 0000000000000000000000000000000000000000..f161f72ab42187f403c5dd0a9ac85401f8d5d7fb
--- /dev/null
+++ b/recorded_gelsight_force/episode_53/force_data.json
@@ -0,0 +1,194 @@
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diff --git a/recorded_gelsight_force/episode_53/image_index.json b/recorded_gelsight_force/episode_53/image_index.json
new file mode 100644
index 0000000000000000000000000000000000000000..3a6d5faf67e8843b2c5fec71d0110289d177876e
--- /dev/null
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diff --git a/recorded_gelsight_force/episode_53/session_info.json b/recorded_gelsight_force/episode_53/session_info.json
new file mode 100644
index 0000000000000000000000000000000000000000..31486bb9c0c2408e5b7127dbea468b7573c16642
--- /dev/null
+++ b/recorded_gelsight_force/episode_53/session_info.json
@@ -0,0 +1,12 @@
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+}
\ No newline at end of file
diff --git a/recorded_gelsight_force/episode_54/force_data.json b/recorded_gelsight_force/episode_54/force_data.json
new file mode 100644
index 0000000000000000000000000000000000000000..08108e6b8269a4917db088e444e495719726a3f2
--- /dev/null
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diff --git a/recorded_gelsight_force/episode_54/image_index.json b/recorded_gelsight_force/episode_54/image_index.json
new file mode 100644
index 0000000000000000000000000000000000000000..bc5bfdbecabb5051f5f7fee0842f4ef3e1b2f633
--- /dev/null
+++ b/recorded_gelsight_force/episode_54/image_index.json
@@ -0,0 +1,454 @@
+[
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+    "filename": "img_000112.png"
+  }
+]
\ No newline at end of file
diff --git a/recorded_gelsight_force/episode_54/session_info.json b/recorded_gelsight_force/episode_54/session_info.json
new file mode 100644
index 0000000000000000000000000000000000000000..abb5321243c44bf183a252de1e33bba13f5443d2
--- /dev/null
+++ b/recorded_gelsight_force/episode_54/session_info.json
@@ -0,0 +1,12 @@
+{
+  "session_id": 42,
+  "start_time": "2025-12-20T18:20:03.172775",
+  "ros_start_time": 1766226003.1727912,
+  "image_topic": "/gelsight_img",
+  "force_topic": "force_sensor/force",
+  "image_format": "png",
+  "end_time": "2025-12-20T18:20:07.675089",
+  "ros_end_time": 1766226007.6750953,
+  "total_images": 113,
+  "total_force_frames": 45
+}
\ No newline at end of file
diff --git a/recorded_gelsight_force/episode_55/force_data.json b/recorded_gelsight_force/episode_55/force_data.json
new file mode 100644
index 0000000000000000000000000000000000000000..373c2688c746d80a26f46a2266584930d98b64f7
--- /dev/null
+++ b/recorded_gelsight_force/episode_55/force_data.json
@@ -0,0 +1,178 @@
+[
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\ No newline at end of file
diff --git a/recorded_gelsight_force/episode_55/image_index.json b/recorded_gelsight_force/episode_55/image_index.json
new file mode 100644
index 0000000000000000000000000000000000000000..64f2462f87fb88283021bec624f3bf14e9c3d189
--- /dev/null
+++ b/recorded_gelsight_force/episode_55/image_index.json
@@ -0,0 +1,442 @@
+[
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diff --git a/recorded_gelsight_force/episode_55/session_info.json b/recorded_gelsight_force/episode_55/session_info.json
new file mode 100644
index 0000000000000000000000000000000000000000..7620586510693adcaf2aae7ffcdd2ee1173a0dd0
--- /dev/null
+++ b/recorded_gelsight_force/episode_55/session_info.json
@@ -0,0 +1,12 @@
+{
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+}
\ No newline at end of file
diff --git a/recorded_gelsight_force/episode_57/force_data.json b/recorded_gelsight_force/episode_57/force_data.json
new file mode 100644
index 0000000000000000000000000000000000000000..5ae7055ace6b39fe197d29d27d56fb9d35d57fb0
--- /dev/null
+++ b/recorded_gelsight_force/episode_57/force_data.json
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diff --git a/recorded_gelsight_force/episode_57/image_index.json b/recorded_gelsight_force/episode_57/image_index.json
new file mode 100644
index 0000000000000000000000000000000000000000..f6a0227c6d6704629a599faf8fc4a5f2bdfcbd68
--- /dev/null
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diff --git a/recorded_gelsight_force/episode_57/session_info.json b/recorded_gelsight_force/episode_57/session_info.json
new file mode 100644
index 0000000000000000000000000000000000000000..aa52fc467ac4ba309eedd6c02052f745570a23f1
--- /dev/null
+++ b/recorded_gelsight_force/episode_57/session_info.json
@@ -0,0 +1,12 @@
+{
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+  "start_time": "2025-12-20T18:20:32.804533",
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+}
\ No newline at end of file
diff --git a/recorded_gelsight_force/episode_58/force_data.json b/recorded_gelsight_force/episode_58/force_data.json
new file mode 100644
index 0000000000000000000000000000000000000000..e41c036b0e898d7f8cf0ad6a97d55742dff119fc
--- /dev/null
+++ b/recorded_gelsight_force/episode_58/force_data.json
@@ -0,0 +1,198 @@
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diff --git a/recorded_gelsight_force/episode_58/image_index.json b/recorded_gelsight_force/episode_58/image_index.json
new file mode 100644
index 0000000000000000000000000000000000000000..104dd3a7c064514c6718fad07dcb7a391202ea83
--- /dev/null
+++ b/recorded_gelsight_force/episode_58/image_index.json
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diff --git a/recorded_gelsight_force/episode_58/session_info.json b/recorded_gelsight_force/episode_58/session_info.json
new file mode 100644
index 0000000000000000000000000000000000000000..3f3b6e9cdf05eba4a63979557d9014e35100a99f
--- /dev/null
+++ b/recorded_gelsight_force/episode_58/session_info.json
@@ -0,0 +1,12 @@
+{
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+  "start_time": "2025-12-20T18:20:39.812540",
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+  "image_topic": "/gelsight_img",
+  "force_topic": "force_sensor/force",
+  "image_format": "png",
+  "end_time": "2025-12-20T18:20:44.731025",
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+  "total_images": 123,
+  "total_force_frames": 49
+}
\ No newline at end of file
diff --git a/recorded_gelsight_force/episode_6/force_data.json b/recorded_gelsight_force/episode_6/force_data.json
new file mode 100644
index 0000000000000000000000000000000000000000..cd24dc84c0fb55316a2238edbb9fd3101ac875e6
--- /dev/null
+++ b/recorded_gelsight_force/episode_6/force_data.json
@@ -0,0 +1,178 @@
+[
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diff --git a/recorded_gelsight_force/episode_6/session_info.json b/recorded_gelsight_force/episode_6/session_info.json
new file mode 100644
index 0000000000000000000000000000000000000000..3512fd0de41021b602d1b8fcdadf751c2c439b7a
--- /dev/null
+++ b/recorded_gelsight_force/episode_6/session_info.json
@@ -0,0 +1,12 @@
+{
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+  "image_topic": "/gelsight_img",
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+}
\ No newline at end of file
diff --git a/recorded_gelsight_force/episode_60/force_data.json b/recorded_gelsight_force/episode_60/force_data.json
new file mode 100644
index 0000000000000000000000000000000000000000..ce407e0d469f4dc10acfad3dd913d7b9df34eff7
--- /dev/null
+++ b/recorded_gelsight_force/episode_60/force_data.json
@@ -0,0 +1,218 @@
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diff --git a/recorded_gelsight_force/episode_60/image_index.json b/recorded_gelsight_force/episode_60/image_index.json
new file mode 100644
index 0000000000000000000000000000000000000000..24d9599e60afb172db8c4e90a7e3960c65b85ea5
--- /dev/null
+++ b/recorded_gelsight_force/episode_60/image_index.json
@@ -0,0 +1,546 @@
+[
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diff --git a/recorded_gelsight_force/episode_60/session_info.json b/recorded_gelsight_force/episode_60/session_info.json
new file mode 100644
index 0000000000000000000000000000000000000000..b5b5d8f01768fa4e86ae38493c6a32beb22333ee
--- /dev/null
+++ b/recorded_gelsight_force/episode_60/session_info.json
@@ -0,0 +1,12 @@
+{
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+  "start_time": "2025-12-20T18:20:59.525613",
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+  "total_images": 136,
+  "total_force_frames": 54
+}
\ No newline at end of file
diff --git a/recorded_gelsight_force/episode_61/force_data.json b/recorded_gelsight_force/episode_61/force_data.json
new file mode 100644
index 0000000000000000000000000000000000000000..5e9be147644937aff60dc4b4fcf8b179c7c97d30
--- /dev/null
+++ b/recorded_gelsight_force/episode_61/force_data.json
@@ -0,0 +1,182 @@
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diff --git a/recorded_gelsight_force/episode_61/image_index.json b/recorded_gelsight_force/episode_61/image_index.json
new file mode 100644
index 0000000000000000000000000000000000000000..6302976e7d4e14cbdeefad62a938bea480993370
--- /dev/null
+++ b/recorded_gelsight_force/episode_61/image_index.json
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diff --git a/recorded_gelsight_force/episode_61/session_info.json b/recorded_gelsight_force/episode_61/session_info.json
new file mode 100644
index 0000000000000000000000000000000000000000..1932974349af4bab3bf4a0bc401d48a848a765cd
--- /dev/null
+++ b/recorded_gelsight_force/episode_61/session_info.json
@@ -0,0 +1,12 @@
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+}
\ No newline at end of file
diff --git a/recorded_gelsight_force/episode_63/force_data.json b/recorded_gelsight_force/episode_63/force_data.json
new file mode 100644
index 0000000000000000000000000000000000000000..b129d4255aec24cf5a9d5c0b8ab586a232f7e2a4
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diff --git a/recorded_gelsight_force/episode_63/image_index.json b/recorded_gelsight_force/episode_63/image_index.json
new file mode 100644
index 0000000000000000000000000000000000000000..e013fa4c5efd6d52ee81959ecd529ad6693ea10c
--- /dev/null
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diff --git a/recorded_gelsight_force/episode_63/session_info.json b/recorded_gelsight_force/episode_63/session_info.json
new file mode 100644
index 0000000000000000000000000000000000000000..10e0d8edd90b84e152d7e3d4e7b3786705fa1f1f
--- /dev/null
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@@ -0,0 +1,12 @@
+{
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+}
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diff --git a/recorded_gelsight_force/episode_64/force_data.json b/recorded_gelsight_force/episode_64/force_data.json
new file mode 100644
index 0000000000000000000000000000000000000000..88dc11f049bcd4b3c8f892a9b5df83431cd5ab46
--- /dev/null
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diff --git a/recorded_gelsight_force/episode_64/image_index.json b/recorded_gelsight_force/episode_64/image_index.json
new file mode 100644
index 0000000000000000000000000000000000000000..82831a99c776694414ce47f78f4db747c2f49934
--- /dev/null
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diff --git a/recorded_gelsight_force/episode_64/session_info.json b/recorded_gelsight_force/episode_64/session_info.json
new file mode 100644
index 0000000000000000000000000000000000000000..8054c50669018388950915378e534d29d73bbdd2
--- /dev/null
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@@ -0,0 +1,12 @@
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\ No newline at end of file
diff --git a/recorded_gelsight_force/episode_65/force_data.json b/recorded_gelsight_force/episode_65/force_data.json
new file mode 100644
index 0000000000000000000000000000000000000000..e3dc6ff4cbe56a98c3bb2c24b5ba4c6017b9d876
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diff --git a/recorded_gelsight_force/episode_65/image_index.json b/recorded_gelsight_force/episode_65/image_index.json
new file mode 100644
index 0000000000000000000000000000000000000000..3c94992dc6151a7fb1e228caa070e18ee620b16c
--- /dev/null
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\ No newline at end of file
diff --git a/recorded_gelsight_force/episode_65/session_info.json b/recorded_gelsight_force/episode_65/session_info.json
new file mode 100644
index 0000000000000000000000000000000000000000..d66a2eab8ab73f473f804fb32ce756aa1d660e07
--- /dev/null
+++ b/recorded_gelsight_force/episode_65/session_info.json
@@ -0,0 +1,12 @@
+{
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+}
\ No newline at end of file
diff --git a/recorded_gelsight_force/episode_66/force_data.json b/recorded_gelsight_force/episode_66/force_data.json
new file mode 100644
index 0000000000000000000000000000000000000000..ddefe2cc897105132cf12d9bc379e4c09f4e9b26
--- /dev/null
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new file mode 100644
index 0000000000000000000000000000000000000000..63178f56954f5d803e07dd3dadcc7431be7ddc70
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diff --git a/recorded_gelsight_force/episode_66/session_info.json b/recorded_gelsight_force/episode_66/session_info.json
new file mode 100644
index 0000000000000000000000000000000000000000..37b69fc87c4d336fbc004a1c96498b8310d38956
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diff --git a/recorded_gelsight_force/episode_67/force_data.json b/recorded_gelsight_force/episode_67/force_data.json
new file mode 100644
index 0000000000000000000000000000000000000000..4ae567684a3cb47978e4d4a43b8952e161686701
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new file mode 100644
index 0000000000000000000000000000000000000000..d0cd4420bc1447210eab2040e2950acd252fc627
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diff --git a/recorded_gelsight_force/episode_67/session_info.json b/recorded_gelsight_force/episode_67/session_info.json
new file mode 100644
index 0000000000000000000000000000000000000000..057c377f59fa2a86cbfe0b4509c289ab45d834f9
--- /dev/null
+++ b/recorded_gelsight_force/episode_67/session_info.json
@@ -0,0 +1,12 @@
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+}
\ No newline at end of file
diff --git a/recorded_gelsight_force/episode_68/force_data.json b/recorded_gelsight_force/episode_68/force_data.json
new file mode 100644
index 0000000000000000000000000000000000000000..4929a6bc70b3b8d73775cf8be14998a440e752a7
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diff --git a/recorded_gelsight_force/episode_68/image_index.json b/recorded_gelsight_force/episode_68/image_index.json
new file mode 100644
index 0000000000000000000000000000000000000000..7f047659d37a273f79c75bcdfa866c26913aac31
--- /dev/null
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\ No newline at end of file
diff --git a/recorded_gelsight_force/episode_68/session_info.json b/recorded_gelsight_force/episode_68/session_info.json
new file mode 100644
index 0000000000000000000000000000000000000000..0828612f9a31cccdfeb5f3758d1a9d5ea1bd4dfe
--- /dev/null
+++ b/recorded_gelsight_force/episode_68/session_info.json
@@ -0,0 +1,12 @@
+{
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+  "start_time": "2025-12-20T18:22:43.440372",
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+}
\ No newline at end of file
diff --git a/recorded_gelsight_force/episode_7/force_data.json b/recorded_gelsight_force/episode_7/force_data.json
new file mode 100644
index 0000000000000000000000000000000000000000..48aa8d065b833873269f87b04705adf41ae1a5cc
--- /dev/null
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diff --git a/recorded_gelsight_force/episode_7/image_index.json b/recorded_gelsight_force/episode_7/image_index.json
new file mode 100644
index 0000000000000000000000000000000000000000..cec5ecef1163762d5e85b360759e66600244752d
--- /dev/null
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diff --git a/recorded_gelsight_force/episode_7/session_info.json b/recorded_gelsight_force/episode_7/session_info.json
new file mode 100644
index 0000000000000000000000000000000000000000..5d19dc3f407f1031e588601444e74af73f313326
--- /dev/null
+++ b/recorded_gelsight_force/episode_7/session_info.json
@@ -0,0 +1,12 @@
+{
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+}
\ No newline at end of file
diff --git a/recorded_gelsight_force/episode_70/force_data.json b/recorded_gelsight_force/episode_70/force_data.json
new file mode 100644
index 0000000000000000000000000000000000000000..980e789cac2f0325f143b6f2b5f4f6dc9a86caa9
--- /dev/null
+++ b/recorded_gelsight_force/episode_70/force_data.json
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diff --git a/recorded_gelsight_force/episode_70/image_index.json b/recorded_gelsight_force/episode_70/image_index.json
new file mode 100644
index 0000000000000000000000000000000000000000..b918cb5b23a24e7b95ddbb2a149c17490228cd86
--- /dev/null
+++ b/recorded_gelsight_force/episode_70/image_index.json
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diff --git a/recorded_gelsight_force/episode_70/session_info.json b/recorded_gelsight_force/episode_70/session_info.json
new file mode 100644
index 0000000000000000000000000000000000000000..357ed715fe00307ccf3d168454dc5b488407d622
--- /dev/null
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diff --git a/recorded_gelsight_force/episode_73/force_data.json b/recorded_gelsight_force/episode_73/force_data.json
new file mode 100644
index 0000000000000000000000000000000000000000..9d0c4e6d799f15650c518ee99832a44a3b811016
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new file mode 100644
index 0000000000000000000000000000000000000000..26bc3065988447e31f42b46db855540919afb6ad
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diff --git a/recorded_gelsight_force/episode_73/session_info.json b/recorded_gelsight_force/episode_73/session_info.json
new file mode 100644
index 0000000000000000000000000000000000000000..e39844d5163432bf6d8eccbc801f6460851fad69
--- /dev/null
+++ b/recorded_gelsight_force/episode_73/session_info.json
@@ -0,0 +1,12 @@
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+}
\ No newline at end of file
diff --git a/recorded_gelsight_force/episode_74/force_data.json b/recorded_gelsight_force/episode_74/force_data.json
new file mode 100644
index 0000000000000000000000000000000000000000..0752c4bfb3c99f1a6e08c006c2cea73ee968dfd1
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new file mode 100644
index 0000000000000000000000000000000000000000..dd983d4042b3181388f437c13669d0f950685e29
--- /dev/null
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diff --git a/recorded_gelsight_force/episode_74/session_info.json b/recorded_gelsight_force/episode_74/session_info.json
new file mode 100644
index 0000000000000000000000000000000000000000..e5d73fcef55bf8797ee25b315fbf0378077118cd
--- /dev/null
+++ b/recorded_gelsight_force/episode_74/session_info.json
@@ -0,0 +1,12 @@
+{
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+}
\ No newline at end of file
diff --git a/recorded_gelsight_force/episode_8/force_data.json b/recorded_gelsight_force/episode_8/force_data.json
new file mode 100644
index 0000000000000000000000000000000000000000..774fa02b5e15957c7dc333ed4adf52f14798875d
--- /dev/null
+++ b/recorded_gelsight_force/episode_8/force_data.json
@@ -0,0 +1,174 @@
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diff --git a/recorded_gelsight_force/episode_8/image_index.json b/recorded_gelsight_force/episode_8/image_index.json
new file mode 100644
index 0000000000000000000000000000000000000000..d463f4500d8355777826cbbc66912df52ced1d51
--- /dev/null
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\ No newline at end of file
diff --git a/recorded_gelsight_force/episode_8/session_info.json b/recorded_gelsight_force/episode_8/session_info.json
new file mode 100644
index 0000000000000000000000000000000000000000..74a3552f8731217ae983c50a805bace27fce8713
--- /dev/null
+++ b/recorded_gelsight_force/episode_8/session_info.json
@@ -0,0 +1,12 @@
+{
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+}
\ No newline at end of file
diff --git a/recorded_gelsight_force/episode_80/force_data.json b/recorded_gelsight_force/episode_80/force_data.json
new file mode 100644
index 0000000000000000000000000000000000000000..ce6459e7c3bbe71a275dd08f18bed337bf270b56
--- /dev/null
+++ b/recorded_gelsight_force/episode_80/force_data.json
@@ -0,0 +1,226 @@
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new file mode 100644
index 0000000000000000000000000000000000000000..58d28299b62e2e027a8531a81071a112160916f3
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diff --git a/recorded_gelsight_force/episode_80/session_info.json b/recorded_gelsight_force/episode_80/session_info.json
new file mode 100644
index 0000000000000000000000000000000000000000..da07d436b38cadb6dd2941f810ade20f6011526b
--- /dev/null
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new file mode 100644
index 0000000000000000000000000000000000000000..d878d12e93f323c94c950641df8fd5d703cea1c8
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new file mode 100644
index 0000000000000000000000000000000000000000..8d640082e02fc055e3bb09f75a21952470b79616
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diff --git a/recorded_gelsight_force/episode_81/session_info.json b/recorded_gelsight_force/episode_81/session_info.json
new file mode 100644
index 0000000000000000000000000000000000000000..b16d4b8e91ce81788c84d7192a7a673ca93fab26
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diff --git a/recorded_gelsight_force/episode_83/force_data.json b/recorded_gelsight_force/episode_83/force_data.json
new file mode 100644
index 0000000000000000000000000000000000000000..2c3d6b40338af49b33e47039f4d8ff90268f3043
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diff --git a/recorded_gelsight_force/episode_83/image_index.json b/recorded_gelsight_force/episode_83/image_index.json
new file mode 100644
index 0000000000000000000000000000000000000000..eb15a770c47d1cf30936ac5b81a4191baec20cee
--- /dev/null
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\ No newline at end of file
diff --git a/recorded_gelsight_force/episode_83/session_info.json b/recorded_gelsight_force/episode_83/session_info.json
new file mode 100644
index 0000000000000000000000000000000000000000..8b0461d07cda0ef4096ee7ae2e5c4da5be85baac
--- /dev/null
+++ b/recorded_gelsight_force/episode_83/session_info.json
@@ -0,0 +1,12 @@
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+}
\ No newline at end of file
diff --git a/recorded_gelsight_force/episode_85/force_data.json b/recorded_gelsight_force/episode_85/force_data.json
new file mode 100644
index 0000000000000000000000000000000000000000..d29d9e47c9ec4976dd4351ff08b5a859311936c7
--- /dev/null
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diff --git a/recorded_gelsight_force/episode_85/image_index.json b/recorded_gelsight_force/episode_85/image_index.json
new file mode 100644
index 0000000000000000000000000000000000000000..13ffa14e4640911ea9daac0c5f8fafd127f50519
--- /dev/null
+++ b/recorded_gelsight_force/episode_85/image_index.json
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+]
\ No newline at end of file
diff --git a/recorded_gelsight_force/episode_85/session_info.json b/recorded_gelsight_force/episode_85/session_info.json
new file mode 100644
index 0000000000000000000000000000000000000000..dcc96eeb8f536af4cf88490ba2ac283c2f9dc067
--- /dev/null
+++ b/recorded_gelsight_force/episode_85/session_info.json
@@ -0,0 +1,12 @@
+{
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+  "start_time": "2025-12-20T18:25:01.569530",
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+  "image_topic": "/gelsight_img",
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+  "end_time": "2025-12-20T18:25:05.980060",
+  "ros_end_time": 1766226305.9800696,
+  "total_images": 110,
+  "total_force_frames": 44
+}
\ No newline at end of file
diff --git a/recorded_gelsight_force/episode_86/force_data.json b/recorded_gelsight_force/episode_86/force_data.json
new file mode 100644
index 0000000000000000000000000000000000000000..858c4ecb6ae42d00e91028f9f18947791cb415a2
--- /dev/null
+++ b/recorded_gelsight_force/episode_86/force_data.json
@@ -0,0 +1,182 @@
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\ No newline at end of file
diff --git a/recorded_gelsight_force/episode_86/image_index.json b/recorded_gelsight_force/episode_86/image_index.json
new file mode 100644
index 0000000000000000000000000000000000000000..93af71beeab91424ca76afce98ac26a7f7e21cd5
--- /dev/null
+++ b/recorded_gelsight_force/episode_86/image_index.json
@@ -0,0 +1,454 @@
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diff --git a/recorded_gelsight_force/episode_86/session_info.json b/recorded_gelsight_force/episode_86/session_info.json
new file mode 100644
index 0000000000000000000000000000000000000000..8e603dd93ae620a01d51157b0f8e6420c3d68fc3
--- /dev/null
+++ b/recorded_gelsight_force/episode_86/session_info.json
@@ -0,0 +1,12 @@
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+}
\ No newline at end of file
diff --git a/recorded_gelsight_force/episode_87/force_data.json b/recorded_gelsight_force/episode_87/force_data.json
new file mode 100644
index 0000000000000000000000000000000000000000..f3edfc17e31f2ed5dcdb214152662732e6243a5b
--- /dev/null
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diff --git a/recorded_gelsight_force/episode_87/image_index.json b/recorded_gelsight_force/episode_87/image_index.json
new file mode 100644
index 0000000000000000000000000000000000000000..6f89b425cf9b861da47edc8f3f49a57ba7abed69
--- /dev/null
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diff --git a/recorded_gelsight_force/episode_87/session_info.json b/recorded_gelsight_force/episode_87/session_info.json
new file mode 100644
index 0000000000000000000000000000000000000000..02a279d8befa0de317013d7f62d176a003000a75
--- /dev/null
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@@ -0,0 +1,12 @@
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+}
\ No newline at end of file
diff --git a/recorded_gelsight_force/episode_88/force_data.json b/recorded_gelsight_force/episode_88/force_data.json
new file mode 100644
index 0000000000000000000000000000000000000000..b0f71fa21ef5e399509fd0015c415f6d24c90efe
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new file mode 100644
index 0000000000000000000000000000000000000000..0326e31b7267bd0e8207fef0b3b7bf61adcc27cc
--- /dev/null
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diff --git a/recorded_gelsight_force/episode_88/session_info.json b/recorded_gelsight_force/episode_88/session_info.json
new file mode 100644
index 0000000000000000000000000000000000000000..6c18643ef62073232fec1382cbf13dbcbf95bfd7
--- /dev/null
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@@ -0,0 +1,12 @@
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\ No newline at end of file
diff --git a/recorded_gelsight_force/episode_89/force_data.json b/recorded_gelsight_force/episode_89/force_data.json
new file mode 100644
index 0000000000000000000000000000000000000000..297fe96025e35c9bf1d1183737a4fe0d68cb470e
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new file mode 100644
index 0000000000000000000000000000000000000000..e05be89ea19633ee4b0a55018e79916adb025982
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diff --git a/recorded_gelsight_force/episode_89/session_info.json b/recorded_gelsight_force/episode_89/session_info.json
new file mode 100644
index 0000000000000000000000000000000000000000..d41e2908abfac1da31534eb2d4ec426d62c101e5
--- /dev/null
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\ No newline at end of file
diff --git a/recorded_gelsight_force/episode_91/force_data.json b/recorded_gelsight_force/episode_91/force_data.json
new file mode 100644
index 0000000000000000000000000000000000000000..d69665d168a8d41fd1dc16082c7920cc3b4b2525
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diff --git a/recorded_gelsight_force/episode_91/image_index.json b/recorded_gelsight_force/episode_91/image_index.json
new file mode 100644
index 0000000000000000000000000000000000000000..74af14288887dcdca2945f2ece82419b0c8f33c9
--- /dev/null
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diff --git a/recorded_gelsight_force/episode_91/session_info.json b/recorded_gelsight_force/episode_91/session_info.json
new file mode 100644
index 0000000000000000000000000000000000000000..db26d8845d21382c24654d580e0fa6402b6cb48e
--- /dev/null
+++ b/recorded_gelsight_force/episode_91/session_info.json
@@ -0,0 +1,12 @@
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+}
\ No newline at end of file
diff --git a/recorded_gelsight_force/episode_92/force_data.json b/recorded_gelsight_force/episode_92/force_data.json
new file mode 100644
index 0000000000000000000000000000000000000000..d5c1c1df3c4b36fea93a3e544655b870b98b49fc
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new file mode 100644
index 0000000000000000000000000000000000000000..33699a36b1ca45b6943a26062755b2b5603bd55f
--- /dev/null
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diff --git a/recorded_gelsight_force/episode_92/session_info.json b/recorded_gelsight_force/episode_92/session_info.json
new file mode 100644
index 0000000000000000000000000000000000000000..edb949550cd8e4d26300c64537b86b2cda8986bc
--- /dev/null
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diff --git a/recorded_gelsight_force/episode_93/force_data.json b/recorded_gelsight_force/episode_93/force_data.json
new file mode 100644
index 0000000000000000000000000000000000000000..dc80870f8dde091b9432ec21ccd83177e13536b7
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new file mode 100644
index 0000000000000000000000000000000000000000..77d86a8df09b2f85aa12cb1a7fa6cc9e667b7dd6
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diff --git a/recorded_gelsight_force/episode_93/session_info.json b/recorded_gelsight_force/episode_93/session_info.json
new file mode 100644
index 0000000000000000000000000000000000000000..d4f04b2b27a24525a7794f258ab357078f6d00b8
--- /dev/null
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\ No newline at end of file
diff --git a/recorded_gelsight_force/episode_94/force_data.json b/recorded_gelsight_force/episode_94/force_data.json
new file mode 100644
index 0000000000000000000000000000000000000000..252b77e5c2088b6cb2822435d7aa45237c11aa1e
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diff --git a/recorded_gelsight_force/episode_94/image_index.json b/recorded_gelsight_force/episode_94/image_index.json
new file mode 100644
index 0000000000000000000000000000000000000000..bc924d2770cab6e9bbb3a48922d9502aa76f0403
--- /dev/null
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\ No newline at end of file
diff --git a/recorded_gelsight_force/episode_94/session_info.json b/recorded_gelsight_force/episode_94/session_info.json
new file mode 100644
index 0000000000000000000000000000000000000000..f53f8b987716d077f27fa8cd237232f043472503
--- /dev/null
+++ b/recorded_gelsight_force/episode_94/session_info.json
@@ -0,0 +1,12 @@
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+}
\ No newline at end of file
diff --git a/recorded_gelsight_force/episode_96/force_data.json b/recorded_gelsight_force/episode_96/force_data.json
new file mode 100644
index 0000000000000000000000000000000000000000..5c64152d9785f2969353cddfe93f302d77db7bfd
--- /dev/null
+++ b/recorded_gelsight_force/episode_96/force_data.json
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diff --git a/recorded_gelsight_force/episode_96/image_index.json b/recorded_gelsight_force/episode_96/image_index.json
new file mode 100644
index 0000000000000000000000000000000000000000..712e9e5d809da83f96e493636f4e6382434125c3
--- /dev/null
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\ No newline at end of file
diff --git a/recorded_gelsight_force/episode_96/session_info.json b/recorded_gelsight_force/episode_96/session_info.json
new file mode 100644
index 0000000000000000000000000000000000000000..0bd192dd4fc29a58c4aa6e5feb65d8c343db3264
--- /dev/null
+++ b/recorded_gelsight_force/episode_96/session_info.json
@@ -0,0 +1,12 @@
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+  "total_force_frames": 53
+}
\ No newline at end of file
diff --git a/recorded_gelsight_force/episode_97/force_data.json b/recorded_gelsight_force/episode_97/force_data.json
new file mode 100644
index 0000000000000000000000000000000000000000..8df5c3ad99dfff6bd433c610442f69c9ae86a962
--- /dev/null
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new file mode 100644
index 0000000000000000000000000000000000000000..24b4c8cc911df2ffc38127303fa98edc5b65b211
--- /dev/null
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diff --git a/recorded_gelsight_force/episode_97/session_info.json b/recorded_gelsight_force/episode_97/session_info.json
new file mode 100644
index 0000000000000000000000000000000000000000..c61888dd84ffaf4e7bab3f52164278a264277313
--- /dev/null
+++ b/recorded_gelsight_force/episode_97/session_info.json
@@ -0,0 +1,12 @@
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+}
\ No newline at end of file
diff --git a/recorded_gelsight_force/episode_98/force_data.json b/recorded_gelsight_force/episode_98/force_data.json
new file mode 100644
index 0000000000000000000000000000000000000000..f8d6889157f735dccb9403a92374dd17d3b8526f
--- /dev/null
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diff --git a/recorded_gelsight_force/episode_98/image_index.json b/recorded_gelsight_force/episode_98/image_index.json
new file mode 100644
index 0000000000000000000000000000000000000000..89dcfc15bb64ccfb6d50b214ab8a5a7c30772913
--- /dev/null
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\ No newline at end of file
diff --git a/recorded_gelsight_force/episode_98/session_info.json b/recorded_gelsight_force/episode_98/session_info.json
new file mode 100644
index 0000000000000000000000000000000000000000..8df335b9f0e3b0191608b11028419d4ed99c0704
--- /dev/null
+++ b/recorded_gelsight_force/episode_98/session_info.json
@@ -0,0 +1,12 @@
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+}
\ No newline at end of file