diff --git a/recorded_digit_force/episode_10/force_data.json b/recorded_digit_force/episode_10/force_data.json
new file mode 100644
index 0000000000000000000000000000000000000000..fadaf8d9db82dd2701286a5b49343fa3ddc77282
--- /dev/null
+++ b/recorded_digit_force/episode_10/force_data.json
@@ -0,0 +1,214 @@
+[
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\ No newline at end of file
diff --git a/recorded_digit_force/episode_10/image_index.json b/recorded_digit_force/episode_10/image_index.json
new file mode 100644
index 0000000000000000000000000000000000000000..11ac825140585fe9b467e11698ac50aeb2fe441b
--- /dev/null
+++ b/recorded_digit_force/episode_10/image_index.json
@@ -0,0 +1,862 @@
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diff --git a/recorded_digit_force/episode_10/session_info.json b/recorded_digit_force/episode_10/session_info.json
new file mode 100644
index 0000000000000000000000000000000000000000..d4c9ccb2dab3a13843d9c3935191ae8121ec9bad
--- /dev/null
+++ b/recorded_digit_force/episode_10/session_info.json
@@ -0,0 +1,12 @@
+{
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+  "start_time": "2025-12-23T18:56:36.566039",
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+  "image_topic": "/digit_img",
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+  "total_images": 215,
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+}
\ No newline at end of file
diff --git a/recorded_digit_force/episode_13/force_data.json b/recorded_digit_force/episode_13/force_data.json
new file mode 100644
index 0000000000000000000000000000000000000000..13350c2c5b514b6bf67e2fc38f4b9909f0d39f14
--- /dev/null
+++ b/recorded_digit_force/episode_13/force_data.json
@@ -0,0 +1,222 @@
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diff --git a/recorded_digit_force/episode_13/image_index.json b/recorded_digit_force/episode_13/image_index.json
new file mode 100644
index 0000000000000000000000000000000000000000..12ad80afce60acc2e0bfc9f193af57c483c27895
--- /dev/null
+++ b/recorded_digit_force/episode_13/image_index.json
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diff --git a/recorded_digit_force/episode_13/session_info.json b/recorded_digit_force/episode_13/session_info.json
new file mode 100644
index 0000000000000000000000000000000000000000..6369b6a2c9d5eb99094ad1e3585ddfebe7bae785
--- /dev/null
+++ b/recorded_digit_force/episode_13/session_info.json
@@ -0,0 +1,12 @@
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+}
\ No newline at end of file
diff --git a/recorded_digit_force/episode_14/force_data.json b/recorded_digit_force/episode_14/force_data.json
new file mode 100644
index 0000000000000000000000000000000000000000..f243b83fda82885e7682a49736bbff7d4a895960
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diff --git a/recorded_digit_force/episode_14/image_index.json b/recorded_digit_force/episode_14/image_index.json
new file mode 100644
index 0000000000000000000000000000000000000000..c0dcd041f97a2a1e45c1b3d75452fed9bbcdb28e
--- /dev/null
+++ b/recorded_digit_force/episode_14/image_index.json
@@ -0,0 +1,930 @@
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diff --git a/recorded_digit_force/episode_14/session_info.json b/recorded_digit_force/episode_14/session_info.json
new file mode 100644
index 0000000000000000000000000000000000000000..a6faf38de281cdf65b7099351527d714051abba9
--- /dev/null
+++ b/recorded_digit_force/episode_14/session_info.json
@@ -0,0 +1,12 @@
+{
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+  "total_images": 232,
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+}
\ No newline at end of file
diff --git a/recorded_digit_force/episode_16/force_data.json b/recorded_digit_force/episode_16/force_data.json
new file mode 100644
index 0000000000000000000000000000000000000000..8b7a18be549f89d5662f8b9a89f3bec2ca89bc19
--- /dev/null
+++ b/recorded_digit_force/episode_16/force_data.json
@@ -0,0 +1,206 @@
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diff --git a/recorded_digit_force/episode_16/image_index.json b/recorded_digit_force/episode_16/image_index.json
new file mode 100644
index 0000000000000000000000000000000000000000..260547a069879201d21188e39e5404ae25fd4a94
--- /dev/null
+++ b/recorded_digit_force/episode_16/image_index.json
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\ No newline at end of file
diff --git a/recorded_digit_force/episode_16/session_info.json b/recorded_digit_force/episode_16/session_info.json
new file mode 100644
index 0000000000000000000000000000000000000000..95d0fc63b7b61399fad319dc42abdd13b795bcbd
--- /dev/null
+++ b/recorded_digit_force/episode_16/session_info.json
@@ -0,0 +1,12 @@
+{
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+  "start_time": "2025-12-23T18:58:47.086160",
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+  "image_topic": "/digit_img",
+  "force_topic": "force_sensor/force",
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+  "end_time": "2025-12-23T18:58:52.157209",
+  "ros_end_time": 1766487532.1572173,
+  "total_images": 202,
+  "total_force_frames": 51
+}
\ No newline at end of file
diff --git a/recorded_digit_force/episode_18/force_data.json b/recorded_digit_force/episode_18/force_data.json
new file mode 100644
index 0000000000000000000000000000000000000000..addda14d1efe6994b2478dc081ef3f2601f4efb9
--- /dev/null
+++ b/recorded_digit_force/episode_18/force_data.json
@@ -0,0 +1,194 @@
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diff --git a/recorded_digit_force/episode_18/image_index.json b/recorded_digit_force/episode_18/image_index.json
new file mode 100644
index 0000000000000000000000000000000000000000..5e4285dcbd38ff88160045111eef057f76645101
--- /dev/null
+++ b/recorded_digit_force/episode_18/image_index.json
@@ -0,0 +1,770 @@
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\ No newline at end of file
diff --git a/recorded_digit_force/episode_18/session_info.json b/recorded_digit_force/episode_18/session_info.json
new file mode 100644
index 0000000000000000000000000000000000000000..fc1197ffea00f159f8b28f83a9909556e356635a
--- /dev/null
+++ b/recorded_digit_force/episode_18/session_info.json
@@ -0,0 +1,12 @@
+{
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+  "start_time": "2025-12-23T18:59:08.265616",
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+  "image_topic": "/digit_img",
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+  "total_images": 192,
+  "total_force_frames": 48
+}
\ No newline at end of file
diff --git a/recorded_digit_force/episode_2/force_data.json b/recorded_digit_force/episode_2/force_data.json
new file mode 100644
index 0000000000000000000000000000000000000000..4b3e25a433cc9eecfbc08277cb285c0b39bc54c4
--- /dev/null
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\ No newline at end of file
diff --git a/recorded_digit_force/episode_2/image_index.json b/recorded_digit_force/episode_2/image_index.json
new file mode 100644
index 0000000000000000000000000000000000000000..eed0f1f00eb3e7c5af49233603a45a207dfc54ec
--- /dev/null
+++ b/recorded_digit_force/episode_2/image_index.json
@@ -0,0 +1,850 @@
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diff --git a/recorded_digit_force/episode_2/session_info.json b/recorded_digit_force/episode_2/session_info.json
new file mode 100644
index 0000000000000000000000000000000000000000..3fbffc9d35bd8603c315ef2e1f17dc7665542756
--- /dev/null
+++ b/recorded_digit_force/episode_2/session_info.json
@@ -0,0 +1,12 @@
+{
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+  "start_time": "2025-12-23T18:55:01.190691",
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+  "image_topic": "/digit_img",
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+  "end_time": "2025-12-23T18:55:06.503613",
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+  "total_images": 212,
+  "total_force_frames": 53
+}
\ No newline at end of file
diff --git a/recorded_digit_force/episode_20/force_data.json b/recorded_digit_force/episode_20/force_data.json
new file mode 100644
index 0000000000000000000000000000000000000000..bd848e497e6553763ac002fbba871d774cacc2ea
--- /dev/null
+++ b/recorded_digit_force/episode_20/force_data.json
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diff --git a/recorded_digit_force/episode_20/image_index.json b/recorded_digit_force/episode_20/image_index.json
new file mode 100644
index 0000000000000000000000000000000000000000..ea98aea10aa993a222d32d69353a485e892bde62
--- /dev/null
+++ b/recorded_digit_force/episode_20/image_index.json
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diff --git a/recorded_digit_force/episode_20/session_info.json b/recorded_digit_force/episode_20/session_info.json
new file mode 100644
index 0000000000000000000000000000000000000000..06af5990e4c90133ba8d8720a20d590ce5442a4f
--- /dev/null
+++ b/recorded_digit_force/episode_20/session_info.json
@@ -0,0 +1,12 @@
+{
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+  "start_time": "2025-12-23T19:00:11.165289",
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+  "image_topic": "/digit_img",
+  "force_topic": "force_sensor/force",
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+  "total_images": 168,
+  "total_force_frames": 42
+}
\ No newline at end of file
diff --git a/recorded_digit_force/episode_24/force_data.json b/recorded_digit_force/episode_24/force_data.json
new file mode 100644
index 0000000000000000000000000000000000000000..1396b22577635711883e96a2dc92b907152cd0d6
--- /dev/null
+++ b/recorded_digit_force/episode_24/force_data.json
@@ -0,0 +1,182 @@
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diff --git a/recorded_digit_force/episode_24/image_index.json b/recorded_digit_force/episode_24/image_index.json
new file mode 100644
index 0000000000000000000000000000000000000000..19a6613d08571ef0281f389b87ab77e8d4d18829
--- /dev/null
+++ b/recorded_digit_force/episode_24/image_index.json
@@ -0,0 +1,722 @@
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\ No newline at end of file
diff --git a/recorded_digit_force/episode_24/session_info.json b/recorded_digit_force/episode_24/session_info.json
new file mode 100644
index 0000000000000000000000000000000000000000..1588c7201e96441a4f35abf3e1c92f6ca0e562cc
--- /dev/null
+++ b/recorded_digit_force/episode_24/session_info.json
@@ -0,0 +1,12 @@
+{
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+  "start_time": "2025-12-23T19:00:40.671086",
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+  "image_topic": "/digit_img",
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+  "total_images": 180,
+  "total_force_frames": 45
+}
\ No newline at end of file
diff --git a/recorded_digit_force/episode_26/force_data.json b/recorded_digit_force/episode_26/force_data.json
new file mode 100644
index 0000000000000000000000000000000000000000..ce0d7dd09cb1b38d21fc0e9f0a89993c239dbdba
--- /dev/null
+++ b/recorded_digit_force/episode_26/force_data.json
@@ -0,0 +1,230 @@
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diff --git a/recorded_digit_force/episode_26/image_index.json b/recorded_digit_force/episode_26/image_index.json
new file mode 100644
index 0000000000000000000000000000000000000000..af4cbbd49f855a042e5a4ff478afa0a4e282fc2a
--- /dev/null
+++ b/recorded_digit_force/episode_26/image_index.json
@@ -0,0 +1,914 @@
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\ No newline at end of file
diff --git a/recorded_digit_force/episode_26/session_info.json b/recorded_digit_force/episode_26/session_info.json
new file mode 100644
index 0000000000000000000000000000000000000000..60283ba6b0cb7e4d064494666fdc9134ad5265d2
--- /dev/null
+++ b/recorded_digit_force/episode_26/session_info.json
@@ -0,0 +1,12 @@
+{
+  "session_id": 7,
+  "start_time": "2025-12-23T19:00:55.249171",
+  "ros_start_time": 1766487655.2491918,
+  "image_topic": "/digit_img",
+  "force_topic": "force_sensor/force",
+  "image_format": "png",
+  "end_time": "2025-12-23T19:01:00.968919",
+  "ros_end_time": 1766487660.9689286,
+  "total_images": 228,
+  "total_force_frames": 57
+}
\ No newline at end of file
diff --git a/recorded_digit_force/episode_30/force_data.json b/recorded_digit_force/episode_30/force_data.json
new file mode 100644
index 0000000000000000000000000000000000000000..d07da74686678e638b7564e78db328c7c0a4ab35
--- /dev/null
+++ b/recorded_digit_force/episode_30/force_data.json
@@ -0,0 +1,214 @@
+[
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diff --git a/recorded_digit_force/episode_30/image_index.json b/recorded_digit_force/episode_30/image_index.json
new file mode 100644
index 0000000000000000000000000000000000000000..70ee11483adc13f524f561e2c36bb315908ad764
--- /dev/null
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diff --git a/recorded_digit_force/episode_30/session_info.json b/recorded_digit_force/episode_30/session_info.json
new file mode 100644
index 0000000000000000000000000000000000000000..cc41414fa0936ba4dfe5fef1ec9c5401dd5513bc
--- /dev/null
+++ b/recorded_digit_force/episode_30/session_info.json
@@ -0,0 +1,12 @@
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+}
\ No newline at end of file
diff --git a/recorded_digit_force/episode_34/force_data.json b/recorded_digit_force/episode_34/force_data.json
new file mode 100644
index 0000000000000000000000000000000000000000..c392ac30b61f5f9a2c4757527c9ea4e1d138e7d7
--- /dev/null
+++ b/recorded_digit_force/episode_34/force_data.json
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diff --git a/recorded_digit_force/episode_34/image_index.json b/recorded_digit_force/episode_34/image_index.json
new file mode 100644
index 0000000000000000000000000000000000000000..3655ad9e9b4238562e01bd797a85d7b30fe9452a
--- /dev/null
+++ b/recorded_digit_force/episode_34/image_index.json
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diff --git a/recorded_digit_force/episode_34/session_info.json b/recorded_digit_force/episode_34/session_info.json
new file mode 100644
index 0000000000000000000000000000000000000000..35496501145197526c6e2ebe9c441ee79adcbb6d
--- /dev/null
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+}
\ No newline at end of file
diff --git a/recorded_digit_force/episode_37/force_data.json b/recorded_digit_force/episode_37/force_data.json
new file mode 100644
index 0000000000000000000000000000000000000000..e2c138c7176dce32f336e6bcece0b6da2aa0cb33
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\ No newline at end of file
diff --git a/recorded_digit_force/episode_37/image_index.json b/recorded_digit_force/episode_37/image_index.json
new file mode 100644
index 0000000000000000000000000000000000000000..dd8e5908acc32eb3e817e4e1387ba7ba408d32b0
--- /dev/null
+++ b/recorded_digit_force/episode_37/image_index.json
@@ -0,0 +1,1022 @@
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diff --git a/recorded_digit_force/episode_37/session_info.json b/recorded_digit_force/episode_37/session_info.json
new file mode 100644
index 0000000000000000000000000000000000000000..939e43f1ef58bb415f867926f83ccbed170c8839
--- /dev/null
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\ No newline at end of file
diff --git a/recorded_digit_force/episode_38/force_data.json b/recorded_digit_force/episode_38/force_data.json
new file mode 100644
index 0000000000000000000000000000000000000000..ed6747d8947bdb9643a92a344d6b4d5200fe8da4
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new file mode 100644
index 0000000000000000000000000000000000000000..74b4238cefd2fdc046adfb175ed176e1a841a23e
--- /dev/null
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diff --git a/recorded_digit_force/episode_38/session_info.json b/recorded_digit_force/episode_38/session_info.json
new file mode 100644
index 0000000000000000000000000000000000000000..89e3b34233fee421b2e7363e509f2317497d82ff
--- /dev/null
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+}
\ No newline at end of file
diff --git a/recorded_digit_force/episode_39/force_data.json b/recorded_digit_force/episode_39/force_data.json
new file mode 100644
index 0000000000000000000000000000000000000000..b0238b39d97e4c633ade8717e8e5ded8e5716b60
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\ No newline at end of file
diff --git a/recorded_digit_force/episode_39/image_index.json b/recorded_digit_force/episode_39/image_index.json
new file mode 100644
index 0000000000000000000000000000000000000000..c38610c952043e501ec28e7d4353b92295127816
--- /dev/null
+++ b/recorded_digit_force/episode_39/image_index.json
@@ -0,0 +1,978 @@
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diff --git a/recorded_digit_force/episode_39/session_info.json b/recorded_digit_force/episode_39/session_info.json
new file mode 100644
index 0000000000000000000000000000000000000000..2585bb1fd067f10063a407e89d98d0c8f695643f
--- /dev/null
+++ b/recorded_digit_force/episode_39/session_info.json
@@ -0,0 +1,12 @@
+{
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+  "image_topic": "/digit_img",
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+}
\ No newline at end of file
diff --git a/recorded_digit_force/episode_41/force_data.json b/recorded_digit_force/episode_41/force_data.json
new file mode 100644
index 0000000000000000000000000000000000000000..7c123e5c2098be1b0cb1f64770e6ce43e6cf3f84
--- /dev/null
+++ b/recorded_digit_force/episode_41/force_data.json
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diff --git a/recorded_digit_force/episode_41/image_index.json b/recorded_digit_force/episode_41/image_index.json
new file mode 100644
index 0000000000000000000000000000000000000000..7123c8fb395d6fe849483883b3bae09511c1dc28
--- /dev/null
+++ b/recorded_digit_force/episode_41/image_index.json
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diff --git a/recorded_digit_force/episode_41/session_info.json b/recorded_digit_force/episode_41/session_info.json
new file mode 100644
index 0000000000000000000000000000000000000000..9cebdcecdd7d4768d5172b9f72361c2d48d183a6
--- /dev/null
+++ b/recorded_digit_force/episode_41/session_info.json
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+}
\ No newline at end of file
diff --git a/recorded_digit_force/episode_44/force_data.json b/recorded_digit_force/episode_44/force_data.json
new file mode 100644
index 0000000000000000000000000000000000000000..cb575f8d7e8c6a16a501abb676f966687bd561bf
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\ No newline at end of file
diff --git a/recorded_digit_force/episode_44/image_index.json b/recorded_digit_force/episode_44/image_index.json
new file mode 100644
index 0000000000000000000000000000000000000000..f04fe7cac4183c8e843073cfbaa1c5c0e146b235
--- /dev/null
+++ b/recorded_digit_force/episode_44/image_index.json
@@ -0,0 +1,754 @@
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diff --git a/recorded_digit_force/episode_44/session_info.json b/recorded_digit_force/episode_44/session_info.json
new file mode 100644
index 0000000000000000000000000000000000000000..92554a7f3bbba713471cc0db7dd2bb23e327849d
--- /dev/null
+++ b/recorded_digit_force/episode_44/session_info.json
@@ -0,0 +1,12 @@
+{
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+}
\ No newline at end of file
diff --git a/recorded_digit_force/episode_49/force_data.json b/recorded_digit_force/episode_49/force_data.json
new file mode 100644
index 0000000000000000000000000000000000000000..89cae8926e942874b3856132f9f3d611856b0962
--- /dev/null
+++ b/recorded_digit_force/episode_49/force_data.json
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diff --git a/recorded_digit_force/episode_49/image_index.json b/recorded_digit_force/episode_49/image_index.json
new file mode 100644
index 0000000000000000000000000000000000000000..f2e780563995d65b43b01783a3c829912ac7c3ba
--- /dev/null
+++ b/recorded_digit_force/episode_49/image_index.json
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diff --git a/recorded_digit_force/episode_49/session_info.json b/recorded_digit_force/episode_49/session_info.json
new file mode 100644
index 0000000000000000000000000000000000000000..77fe37431efaf65a64adba83cc75fd50d9221130
--- /dev/null
+++ b/recorded_digit_force/episode_49/session_info.json
@@ -0,0 +1,12 @@
+{
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+}
\ No newline at end of file
diff --git a/recorded_digit_force/episode_52/force_data.json b/recorded_digit_force/episode_52/force_data.json
new file mode 100644
index 0000000000000000000000000000000000000000..cbc46a04412b05b620b603da01334a63e2923323
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diff --git a/recorded_digit_force/episode_52/session_info.json b/recorded_digit_force/episode_52/session_info.json
new file mode 100644
index 0000000000000000000000000000000000000000..62157eeee1486989c4cd6be4666cf840a8b54aab
--- /dev/null
+++ b/recorded_digit_force/episode_52/session_info.json
@@ -0,0 +1,12 @@
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new file mode 100644
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diff --git a/recorded_digit_force/episode_54/image_index.json b/recorded_digit_force/episode_54/image_index.json
new file mode 100644
index 0000000000000000000000000000000000000000..e65f44f289129e41bbb748bbaf6bbf263fe545da
--- /dev/null
+++ b/recorded_digit_force/episode_54/image_index.json
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diff --git a/recorded_digit_force/episode_54/session_info.json b/recorded_digit_force/episode_54/session_info.json
new file mode 100644
index 0000000000000000000000000000000000000000..e56edff44d97d101d69314a6d801dce6dd3915e7
--- /dev/null
+++ b/recorded_digit_force/episode_54/session_info.json
@@ -0,0 +1,12 @@
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+}
\ No newline at end of file
diff --git a/recorded_digit_force/episode_55/force_data.json b/recorded_digit_force/episode_55/force_data.json
new file mode 100644
index 0000000000000000000000000000000000000000..d8a878b99de087f06787c68cb4fbabd5b46b60a2
--- /dev/null
+++ b/recorded_digit_force/episode_55/force_data.json
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new file mode 100644
index 0000000000000000000000000000000000000000..adcfbabf36b095ead62822b00e463d45cac98ab3
--- /dev/null
+++ b/recorded_digit_force/episode_55/image_index.json
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diff --git a/recorded_digit_force/episode_55/session_info.json b/recorded_digit_force/episode_55/session_info.json
new file mode 100644
index 0000000000000000000000000000000000000000..128d60d04128d39c5016945321032ca6baa45534
--- /dev/null
+++ b/recorded_digit_force/episode_55/session_info.json
@@ -0,0 +1,12 @@
+{
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+}
\ No newline at end of file
diff --git a/recorded_digit_force/episode_56/force_data.json b/recorded_digit_force/episode_56/force_data.json
new file mode 100644
index 0000000000000000000000000000000000000000..1db51bdb5befb3bba24c1b3c29d161ac3ccfbd7d
--- /dev/null
+++ b/recorded_digit_force/episode_56/force_data.json
@@ -0,0 +1,210 @@
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diff --git a/recorded_digit_force/episode_56/image_index.json b/recorded_digit_force/episode_56/image_index.json
new file mode 100644
index 0000000000000000000000000000000000000000..4fb1e21358f845547d45edf66cbc7cc7407b39cd
--- /dev/null
+++ b/recorded_digit_force/episode_56/image_index.json
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diff --git a/recorded_digit_force/episode_56/session_info.json b/recorded_digit_force/episode_56/session_info.json
new file mode 100644
index 0000000000000000000000000000000000000000..615961ac8d4997c15f392a6a93015341eb15717a
--- /dev/null
+++ b/recorded_digit_force/episode_56/session_info.json
@@ -0,0 +1,12 @@
+{
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+  "total_images": 207,
+  "total_force_frames": 52
+}
\ No newline at end of file
diff --git a/recorded_digit_force/episode_58/force_data.json b/recorded_digit_force/episode_58/force_data.json
new file mode 100644
index 0000000000000000000000000000000000000000..f0ede7d61e5ac9060bfbc5dd25f988a5ae091852
--- /dev/null
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diff --git a/recorded_digit_force/episode_58/image_index.json b/recorded_digit_force/episode_58/image_index.json
new file mode 100644
index 0000000000000000000000000000000000000000..4a781980bbb0fb793d7c4443a132b89d7fd1b4c1
--- /dev/null
+++ b/recorded_digit_force/episode_58/image_index.json
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diff --git a/recorded_digit_force/episode_58/session_info.json b/recorded_digit_force/episode_58/session_info.json
new file mode 100644
index 0000000000000000000000000000000000000000..65be67a414c4bb8ed919f2595fd37ea8acc80a64
--- /dev/null
+++ b/recorded_digit_force/episode_58/session_info.json
@@ -0,0 +1,12 @@
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+}
\ No newline at end of file
diff --git a/recorded_digit_force/episode_59/force_data.json b/recorded_digit_force/episode_59/force_data.json
new file mode 100644
index 0000000000000000000000000000000000000000..e565a584b0b25bec187f72c398405a98137a87c8
--- /dev/null
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diff --git a/recorded_digit_force/episode_59/image_index.json b/recorded_digit_force/episode_59/image_index.json
new file mode 100644
index 0000000000000000000000000000000000000000..fe19a766fee5ed895f5d57dd879c9d73f494c5d9
--- /dev/null
+++ b/recorded_digit_force/episode_59/image_index.json
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\ No newline at end of file
diff --git a/recorded_digit_force/episode_59/session_info.json b/recorded_digit_force/episode_59/session_info.json
new file mode 100644
index 0000000000000000000000000000000000000000..ccf6da8160c940519fe3b5828a0c860de6223dc8
--- /dev/null
+++ b/recorded_digit_force/episode_59/session_info.json
@@ -0,0 +1,12 @@
+{
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+  "start_time": "2025-12-23T19:08:07.018549",
+  "ros_start_time": 1766488087.018564,
+  "image_topic": "/digit_img",
+  "force_topic": "force_sensor/force",
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+  "end_time": "2025-12-23T19:08:12.610017",
+  "ros_end_time": 1766488092.6100242,
+  "total_images": 223,
+  "total_force_frames": 55
+}
\ No newline at end of file
diff --git a/recorded_digit_force/episode_6/force_data.json b/recorded_digit_force/episode_6/force_data.json
new file mode 100644
index 0000000000000000000000000000000000000000..6dcce06910aa59ae5c9c9550335679968e279ab4
--- /dev/null
+++ b/recorded_digit_force/episode_6/force_data.json
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diff --git a/recorded_digit_force/episode_6/image_index.json b/recorded_digit_force/episode_6/image_index.json
new file mode 100644
index 0000000000000000000000000000000000000000..c02fd350202ada6b1aeb1284cdf20fd12df2f381
--- /dev/null
+++ b/recorded_digit_force/episode_6/image_index.json
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diff --git a/recorded_digit_force/episode_6/session_info.json b/recorded_digit_force/episode_6/session_info.json
new file mode 100644
index 0000000000000000000000000000000000000000..4a2f8b6932526a719141b5cc45efe35c86b81426
--- /dev/null
+++ b/recorded_digit_force/episode_6/session_info.json
@@ -0,0 +1,12 @@
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+}
\ No newline at end of file
diff --git a/recorded_digit_force/episode_60/force_data.json b/recorded_digit_force/episode_60/force_data.json
new file mode 100644
index 0000000000000000000000000000000000000000..24abf38c5d9f060ec4e510be1e0baa46e51eb2db
--- /dev/null
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diff --git a/recorded_digit_force/episode_60/image_index.json b/recorded_digit_force/episode_60/image_index.json
new file mode 100644
index 0000000000000000000000000000000000000000..ed6f0e8453e6b2ca98f6e7fc1cbeefba20d8dd7b
--- /dev/null
+++ b/recorded_digit_force/episode_60/image_index.json
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diff --git a/recorded_digit_force/episode_60/session_info.json b/recorded_digit_force/episode_60/session_info.json
new file mode 100644
index 0000000000000000000000000000000000000000..05b8b8e09c933673679d5650bda88f119a9c6405
--- /dev/null
+++ b/recorded_digit_force/episode_60/session_info.json
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+}
\ No newline at end of file
diff --git a/recorded_digit_force/episode_63/force_data.json b/recorded_digit_force/episode_63/force_data.json
new file mode 100644
index 0000000000000000000000000000000000000000..9db5ad0650fb3f6fc452277676849aae72a1e43c
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diff --git a/recorded_digit_force/episode_63/image_index.json b/recorded_digit_force/episode_63/image_index.json
new file mode 100644
index 0000000000000000000000000000000000000000..a1c48767d62a71ddc43feb2d6dfe0fcd0319fb3f
--- /dev/null
+++ b/recorded_digit_force/episode_63/image_index.json
@@ -0,0 +1,1058 @@
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diff --git a/recorded_digit_force/episode_63/session_info.json b/recorded_digit_force/episode_63/session_info.json
new file mode 100644
index 0000000000000000000000000000000000000000..69d55f9e20c7e5a79835133110b294a0626cb58c
--- /dev/null
+++ b/recorded_digit_force/episode_63/session_info.json
@@ -0,0 +1,12 @@
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+}
\ No newline at end of file
diff --git a/recorded_digit_force/episode_64/force_data.json b/recorded_digit_force/episode_64/force_data.json
new file mode 100644
index 0000000000000000000000000000000000000000..ad4932c4e0fc4c639891f79577aac989dcf29b6c
--- /dev/null
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diff --git a/recorded_digit_force/episode_64/image_index.json b/recorded_digit_force/episode_64/image_index.json
new file mode 100644
index 0000000000000000000000000000000000000000..f55327d54e8f625ad411310b3a194ec9f5f8ea65
--- /dev/null
+++ b/recorded_digit_force/episode_64/image_index.json
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diff --git a/recorded_digit_force/episode_64/session_info.json b/recorded_digit_force/episode_64/session_info.json
new file mode 100644
index 0000000000000000000000000000000000000000..a070c15f0073d6b44f332980f65cc4f0970c56e3
--- /dev/null
+++ b/recorded_digit_force/episode_64/session_info.json
@@ -0,0 +1,12 @@
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+  "total_images": 214,
+  "total_force_frames": 54
+}
\ No newline at end of file
diff --git a/recorded_digit_force/episode_66/force_data.json b/recorded_digit_force/episode_66/force_data.json
new file mode 100644
index 0000000000000000000000000000000000000000..0b380cf785e94c76942ee437b78d6f92f3f946a3
--- /dev/null
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diff --git a/recorded_digit_force/episode_66/image_index.json b/recorded_digit_force/episode_66/image_index.json
new file mode 100644
index 0000000000000000000000000000000000000000..2dab2a6898d1e1c186213f8f6ecc11583888b442
--- /dev/null
+++ b/recorded_digit_force/episode_66/image_index.json
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diff --git a/recorded_digit_force/episode_66/session_info.json b/recorded_digit_force/episode_66/session_info.json
new file mode 100644
index 0000000000000000000000000000000000000000..d205ff5b573d08848104dff0a0a25db04570e411
--- /dev/null
+++ b/recorded_digit_force/episode_66/session_info.json
@@ -0,0 +1,12 @@
+{
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+}
\ No newline at end of file
diff --git a/recorded_digit_force/episode_7/force_data.json b/recorded_digit_force/episode_7/force_data.json
new file mode 100644
index 0000000000000000000000000000000000000000..3f118e49d92d092f5887535838b7aad71d3cbf97
--- /dev/null
+++ b/recorded_digit_force/episode_7/force_data.json
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diff --git a/recorded_digit_force/episode_7/image_index.json b/recorded_digit_force/episode_7/image_index.json
new file mode 100644
index 0000000000000000000000000000000000000000..43cd28edf390c59b97345457a0689237fcb05964
--- /dev/null
+++ b/recorded_digit_force/episode_7/image_index.json
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diff --git a/recorded_digit_force/episode_7/session_info.json b/recorded_digit_force/episode_7/session_info.json
new file mode 100644
index 0000000000000000000000000000000000000000..6e2ab5a9b7ee719eb32856d78779998ffe49e91c
--- /dev/null
+++ b/recorded_digit_force/episode_7/session_info.json
@@ -0,0 +1,12 @@
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+}
\ No newline at end of file
diff --git a/recorded_digit_force/episode_70/force_data.json b/recorded_digit_force/episode_70/force_data.json
new file mode 100644
index 0000000000000000000000000000000000000000..34774220774c35d8ede87a0026f903ebb2cf5002
--- /dev/null
+++ b/recorded_digit_force/episode_70/force_data.json
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diff --git a/recorded_digit_force/episode_70/image_index.json b/recorded_digit_force/episode_70/image_index.json
new file mode 100644
index 0000000000000000000000000000000000000000..e149698d758e66b2889defb62dabecc1e2d61778
--- /dev/null
+++ b/recorded_digit_force/episode_70/image_index.json
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\ No newline at end of file
diff --git a/recorded_digit_force/episode_70/session_info.json b/recorded_digit_force/episode_70/session_info.json
new file mode 100644
index 0000000000000000000000000000000000000000..fc741ff4e40d1a6dacb83a14317cf6b98325dd8f
--- /dev/null
+++ b/recorded_digit_force/episode_70/session_info.json
@@ -0,0 +1,12 @@
+{
+  "session_id": 23,
+  "start_time": "2025-12-23T19:09:38.377918",
+  "ros_start_time": 1766488178.377933,
+  "image_topic": "/digit_img",
+  "force_topic": "force_sensor/force",
+  "image_format": "png",
+  "end_time": "2025-12-23T19:09:43.880693",
+  "ros_end_time": 1766488183.880701,
+  "total_images": 220,
+  "total_force_frames": 55
+}
\ No newline at end of file
diff --git a/recorded_digit_force/episode_71/force_data.json b/recorded_digit_force/episode_71/force_data.json
new file mode 100644
index 0000000000000000000000000000000000000000..3cd3f4bd2b57ad8ddf17b57538b25e82300e5ef7
--- /dev/null
+++ b/recorded_digit_force/episode_71/force_data.json
@@ -0,0 +1,222 @@
+[
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diff --git a/recorded_digit_force/episode_71/image_index.json b/recorded_digit_force/episode_71/image_index.json
new file mode 100644
index 0000000000000000000000000000000000000000..6c54cd7765c02df44a45bf8a60d7d9e8a2cddd2f
--- /dev/null
+++ b/recorded_digit_force/episode_71/image_index.json
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diff --git a/recorded_digit_force/episode_71/session_info.json b/recorded_digit_force/episode_71/session_info.json
new file mode 100644
index 0000000000000000000000000000000000000000..074c28bd8fe72416b8cd80e4bfc73474f1925bbf
--- /dev/null
+++ b/recorded_digit_force/episode_71/session_info.json
@@ -0,0 +1,12 @@
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+}
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diff --git a/recorded_digit_force/episode_73/force_data.json b/recorded_digit_force/episode_73/force_data.json
new file mode 100644
index 0000000000000000000000000000000000000000..7215185b7c5e8d84a12201c01485b303b3007d5a
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diff --git a/recorded_digit_force/episode_73/image_index.json b/recorded_digit_force/episode_73/image_index.json
new file mode 100644
index 0000000000000000000000000000000000000000..aeec3dd399d5c1b3b02b87398ca45bd514772f2c
--- /dev/null
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diff --git a/recorded_digit_force/episode_73/session_info.json b/recorded_digit_force/episode_73/session_info.json
new file mode 100644
index 0000000000000000000000000000000000000000..a7a7f3238520928602f2b868e66675134be910ec
--- /dev/null
+++ b/recorded_digit_force/episode_73/session_info.json
@@ -0,0 +1,12 @@
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+}
\ No newline at end of file
diff --git a/recorded_digit_force/episode_74/force_data.json b/recorded_digit_force/episode_74/force_data.json
new file mode 100644
index 0000000000000000000000000000000000000000..bd89706b415b3ebd41ba80109205aed484b37a51
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diff --git a/recorded_digit_force/episode_74/image_index.json b/recorded_digit_force/episode_74/image_index.json
new file mode 100644
index 0000000000000000000000000000000000000000..bc63daff28dc205c739218cd8bbaf1cab22345ad
--- /dev/null
+++ b/recorded_digit_force/episode_74/image_index.json
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diff --git a/recorded_digit_force/episode_74/session_info.json b/recorded_digit_force/episode_74/session_info.json
new file mode 100644
index 0000000000000000000000000000000000000000..2f3a15bff466949e1b4729631d989cf499080d91
--- /dev/null
+++ b/recorded_digit_force/episode_74/session_info.json
@@ -0,0 +1,12 @@
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+}
\ No newline at end of file
diff --git a/recorded_digit_force/episode_75/force_data.json b/recorded_digit_force/episode_75/force_data.json
new file mode 100644
index 0000000000000000000000000000000000000000..8d8cbf658f5c2651d4ee37e43378d485accb9aee
--- /dev/null
+++ b/recorded_digit_force/episode_75/force_data.json
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diff --git a/recorded_digit_force/episode_75/image_index.json b/recorded_digit_force/episode_75/image_index.json
new file mode 100644
index 0000000000000000000000000000000000000000..15c258c00eb97818b34e7a27f5e85aa846a286d7
--- /dev/null
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diff --git a/recorded_digit_force/episode_75/session_info.json b/recorded_digit_force/episode_75/session_info.json
new file mode 100644
index 0000000000000000000000000000000000000000..839d2590a451ad1e7597a138f86050b810cd214f
--- /dev/null
+++ b/recorded_digit_force/episode_75/session_info.json
@@ -0,0 +1,12 @@
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+}
\ No newline at end of file
diff --git a/recorded_digit_force/episode_8/force_data.json b/recorded_digit_force/episode_8/force_data.json
new file mode 100644
index 0000000000000000000000000000000000000000..c05ead691d3ccf4c83b85807633688c894507274
--- /dev/null
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diff --git a/recorded_digit_force/episode_8/image_index.json b/recorded_digit_force/episode_8/image_index.json
new file mode 100644
index 0000000000000000000000000000000000000000..515b5bc106c945644d794b71621fa94b5a62a6ce
--- /dev/null
+++ b/recorded_digit_force/episode_8/image_index.json
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diff --git a/recorded_digit_force/episode_8/session_info.json b/recorded_digit_force/episode_8/session_info.json
new file mode 100644
index 0000000000000000000000000000000000000000..616c356ba05a867fc9b81614ff1f46779041830a
--- /dev/null
+++ b/recorded_digit_force/episode_8/session_info.json
@@ -0,0 +1,12 @@
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+}
\ No newline at end of file
diff --git a/recorded_digit_force/episode_80/force_data.json b/recorded_digit_force/episode_80/force_data.json
new file mode 100644
index 0000000000000000000000000000000000000000..e7e1393d9622a440f9452d962fcc348f4d68c521
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new file mode 100644
index 0000000000000000000000000000000000000000..e6788a36ae53776caf9426863528a2984edab769
--- /dev/null
+++ b/recorded_digit_force/episode_80/image_index.json
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diff --git a/recorded_digit_force/episode_80/session_info.json b/recorded_digit_force/episode_80/session_info.json
new file mode 100644
index 0000000000000000000000000000000000000000..b5cef652044e834061c781a5c82200021c5018c4
--- /dev/null
+++ b/recorded_digit_force/episode_80/session_info.json
@@ -0,0 +1,12 @@
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+}
\ No newline at end of file
diff --git a/recorded_digit_force/episode_84/force_data.json b/recorded_digit_force/episode_84/force_data.json
new file mode 100644
index 0000000000000000000000000000000000000000..0d54753f54895348660ccd2507fa9e30cfac88a9
--- /dev/null
+++ b/recorded_digit_force/episode_84/force_data.json
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diff --git a/recorded_digit_force/episode_84/image_index.json b/recorded_digit_force/episode_84/image_index.json
new file mode 100644
index 0000000000000000000000000000000000000000..8881ce1048c485763a0638973ff20d359225ab13
--- /dev/null
+++ b/recorded_digit_force/episode_84/image_index.json
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diff --git a/recorded_digit_force/episode_84/session_info.json b/recorded_digit_force/episode_84/session_info.json
new file mode 100644
index 0000000000000000000000000000000000000000..654d9f41d5daacfcb77350adf0b7c7f12bda4af8
--- /dev/null
+++ b/recorded_digit_force/episode_84/session_info.json
@@ -0,0 +1,12 @@
+{
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+  "total_images": 199,
+  "total_force_frames": 50
+}
\ No newline at end of file
diff --git a/recorded_digit_force/episode_89/force_data.json b/recorded_digit_force/episode_89/force_data.json
new file mode 100644
index 0000000000000000000000000000000000000000..88daee865a007ded7420ab315dc5fbf74b68043b
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diff --git a/recorded_digit_force/episode_89/image_index.json b/recorded_digit_force/episode_89/image_index.json
new file mode 100644
index 0000000000000000000000000000000000000000..46473d8a12b07eb7d08b1a2ace43becdbf3f293d
--- /dev/null
+++ b/recorded_digit_force/episode_89/image_index.json
@@ -0,0 +1,866 @@
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diff --git a/recorded_digit_force/episode_89/session_info.json b/recorded_digit_force/episode_89/session_info.json
new file mode 100644
index 0000000000000000000000000000000000000000..2e8cac09b4ba740fd3aad286f0664865f7d1d3fe
--- /dev/null
+++ b/recorded_digit_force/episode_89/session_info.json
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+}
\ No newline at end of file
diff --git a/recorded_digit_force/episode_91/force_data.json b/recorded_digit_force/episode_91/force_data.json
new file mode 100644
index 0000000000000000000000000000000000000000..f8bef9c8c95ee5fbe487f8467db081475357757d
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diff --git a/recorded_digit_force/episode_91/image_index.json b/recorded_digit_force/episode_91/image_index.json
new file mode 100644
index 0000000000000000000000000000000000000000..11b2dc00fa42e3dd021738fa17a3dc58f9d32505
--- /dev/null
+++ b/recorded_digit_force/episode_91/image_index.json
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diff --git a/recorded_digit_force/episode_91/session_info.json b/recorded_digit_force/episode_91/session_info.json
new file mode 100644
index 0000000000000000000000000000000000000000..2bfac9869fe3fa07896f32dfeda6597c291037c9
--- /dev/null
+++ b/recorded_digit_force/episode_91/session_info.json
@@ -0,0 +1,12 @@
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+}
\ No newline at end of file
diff --git a/recorded_digit_force/episode_92/force_data.json b/recorded_digit_force/episode_92/force_data.json
new file mode 100644
index 0000000000000000000000000000000000000000..404a0931aab8c088854664a1d4e00edbbb16af31
--- /dev/null
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diff --git a/recorded_digit_force/episode_92/image_index.json b/recorded_digit_force/episode_92/image_index.json
new file mode 100644
index 0000000000000000000000000000000000000000..d69061009be75d4879cc13af9c4957dba78c5c66
--- /dev/null
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\ No newline at end of file
diff --git a/recorded_digit_force/episode_92/session_info.json b/recorded_digit_force/episode_92/session_info.json
new file mode 100644
index 0000000000000000000000000000000000000000..4c7125aad6f52d64e167c8269be6dad1eaf7e89e
--- /dev/null
+++ b/recorded_digit_force/episode_92/session_info.json
@@ -0,0 +1,12 @@
+{
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+  "start_time": "2025-12-23T19:14:08.349334",
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+  "image_topic": "/digit_img",
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+  "total_images": 202,
+  "total_force_frames": 51
+}
\ No newline at end of file
diff --git a/recorded_digit_force/episode_94/force_data.json b/recorded_digit_force/episode_94/force_data.json
new file mode 100644
index 0000000000000000000000000000000000000000..e65f65613a20f975e6abf714b86aba68a31bb242
--- /dev/null
+++ b/recorded_digit_force/episode_94/force_data.json
@@ -0,0 +1,206 @@
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diff --git a/recorded_digit_force/episode_94/image_index.json b/recorded_digit_force/episode_94/image_index.json
new file mode 100644
index 0000000000000000000000000000000000000000..7b0075d557b0bc6967e4e9ed01eaaf9b37ca4d5d
--- /dev/null
+++ b/recorded_digit_force/episode_94/image_index.json
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diff --git a/recorded_digit_force/episode_94/session_info.json b/recorded_digit_force/episode_94/session_info.json
new file mode 100644
index 0000000000000000000000000000000000000000..194a41f7c591abb487a1d7451891253e662054d6
--- /dev/null
+++ b/recorded_digit_force/episode_94/session_info.json
@@ -0,0 +1,12 @@
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+}
\ No newline at end of file
diff --git a/recorded_digit_force/episode_99/force_data.json b/recorded_digit_force/episode_99/force_data.json
new file mode 100644
index 0000000000000000000000000000000000000000..cca4890b52ec4b0479e944c3cce2b9fce6b7da94
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new file mode 100644
index 0000000000000000000000000000000000000000..8aee4596dc0da9832cc13aaddf9038a987eda294
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\ No newline at end of file
diff --git a/recorded_digit_force/episode_99/session_info.json b/recorded_digit_force/episode_99/session_info.json
new file mode 100644
index 0000000000000000000000000000000000000000..7afce2429e0ee83998417aa9b495cc2bd8ed7bc9
--- /dev/null
+++ b/recorded_digit_force/episode_99/session_info.json
@@ -0,0 +1,12 @@
+{
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+  "start_time": "2025-12-23T19:15:06.186512",
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+  "image_topic": "/digit_img",
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+  "ros_end_time": 1766488510.4436302,
+  "total_images": 170,
+  "total_force_frames": 43
+}
\ No newline at end of file