diff --git a/session_0408_171151/episode_00/annotations/centroids/frame_000000.json b/session_0408_171151/episode_00/annotations/centroids/frame_000000.json
new file mode 100644
index 0000000000000000000000000000000000000000..1c7ad33227faead05c115a8270327513295e75d3
--- /dev/null
+++ b/session_0408_171151/episode_00/annotations/centroids/frame_000000.json
@@ -0,0 +1,26 @@
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\ No newline at end of file
diff --git a/session_0408_171151/episode_00/annotations/centroids/frame_000001.json b/session_0408_171151/episode_00/annotations/centroids/frame_000001.json
new file mode 100644
index 0000000000000000000000000000000000000000..771caf8e81f107ce64a1def191b44f347d9d12b4
--- /dev/null
+++ b/session_0408_171151/episode_00/annotations/centroids/frame_000001.json
@@ -0,0 +1,26 @@
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\ No newline at end of file
diff --git a/session_0408_171151/episode_00/annotations/centroids/frame_000002.json b/session_0408_171151/episode_00/annotations/centroids/frame_000002.json
new file mode 100644
index 0000000000000000000000000000000000000000..f383c3d724d29ac6db4b7345369fc806dcadfea6
--- /dev/null
+++ b/session_0408_171151/episode_00/annotations/centroids/frame_000002.json
@@ -0,0 +1,26 @@
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\ No newline at end of file
diff --git a/session_0408_171151/episode_00/annotations/centroids/frame_000003.json b/session_0408_171151/episode_00/annotations/centroids/frame_000003.json
new file mode 100644
index 0000000000000000000000000000000000000000..accef16d4ece5c69b93fb2ae5e28704740b6be04
--- /dev/null
+++ b/session_0408_171151/episode_00/annotations/centroids/frame_000003.json
@@ -0,0 +1,26 @@
+{
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\ No newline at end of file
diff --git a/session_0408_171151/episode_00/annotations/centroids/frame_000004.json b/session_0408_171151/episode_00/annotations/centroids/frame_000004.json
new file mode 100644
index 0000000000000000000000000000000000000000..7b8826020b3d4f464d8d5974ec1d0ddb5f889ec7
--- /dev/null
+++ b/session_0408_171151/episode_00/annotations/centroids/frame_000004.json
@@ -0,0 +1,26 @@
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\ No newline at end of file
diff --git a/session_0408_171151/episode_00/annotations/centroids/frame_000005.json b/session_0408_171151/episode_00/annotations/centroids/frame_000005.json
new file mode 100644
index 0000000000000000000000000000000000000000..05f3de015c5ef40fb28f18006b5c4eb082ab2913
--- /dev/null
+++ b/session_0408_171151/episode_00/annotations/centroids/frame_000005.json
@@ -0,0 +1,26 @@
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\ No newline at end of file
diff --git a/session_0408_171151/episode_00/annotations/centroids/frame_000006.json b/session_0408_171151/episode_00/annotations/centroids/frame_000006.json
new file mode 100644
index 0000000000000000000000000000000000000000..59b1eab6b63ec90b8e2ada7ce3466f29f1fa1c1b
--- /dev/null
+++ b/session_0408_171151/episode_00/annotations/centroids/frame_000006.json
@@ -0,0 +1,26 @@
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\ No newline at end of file
diff --git a/session_0408_171151/episode_00/annotations/centroids/frame_000007.json b/session_0408_171151/episode_00/annotations/centroids/frame_000007.json
new file mode 100644
index 0000000000000000000000000000000000000000..c96010f6a78f39d658d295d9f83763fe8ab6dcda
--- /dev/null
+++ b/session_0408_171151/episode_00/annotations/centroids/frame_000007.json
@@ -0,0 +1,26 @@
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\ No newline at end of file
diff --git a/session_0408_171151/episode_00/annotations/centroids/frame_000008.json b/session_0408_171151/episode_00/annotations/centroids/frame_000008.json
new file mode 100644
index 0000000000000000000000000000000000000000..e88a8498d8507175e77a5efef921ee0ee307605a
--- /dev/null
+++ b/session_0408_171151/episode_00/annotations/centroids/frame_000008.json
@@ -0,0 +1,26 @@
+{
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\ No newline at end of file
diff --git a/session_0408_171151/episode_00/annotations/centroids/frame_000009.json b/session_0408_171151/episode_00/annotations/centroids/frame_000009.json
new file mode 100644
index 0000000000000000000000000000000000000000..5252b3a222e7d5a88dfd659e0b4b29dee2018010
--- /dev/null
+++ b/session_0408_171151/episode_00/annotations/centroids/frame_000009.json
@@ -0,0 +1,26 @@
+{
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\ No newline at end of file
diff --git a/session_0408_171151/episode_00/annotations/centroids/frame_000010.json b/session_0408_171151/episode_00/annotations/centroids/frame_000010.json
new file mode 100644
index 0000000000000000000000000000000000000000..71c342084113e7d5e1c6da824d695ba71dafc493
--- /dev/null
+++ b/session_0408_171151/episode_00/annotations/centroids/frame_000010.json
@@ -0,0 +1,14 @@
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\ No newline at end of file
diff --git a/session_0408_171151/episode_00/annotations/centroids/frame_000011.json b/session_0408_171151/episode_00/annotations/centroids/frame_000011.json
new file mode 100644
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--- /dev/null
+++ b/session_0408_171151/episode_00/annotations/centroids/frame_000011.json
@@ -0,0 +1,14 @@
+{
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\ No newline at end of file
diff --git a/session_0408_171151/episode_00/annotations/centroids/frame_000012.json b/session_0408_171151/episode_00/annotations/centroids/frame_000012.json
new file mode 100644
index 0000000000000000000000000000000000000000..d965aab0b8c151d52030ba65b7711e44738f336f
--- /dev/null
+++ b/session_0408_171151/episode_00/annotations/centroids/frame_000012.json
@@ -0,0 +1,14 @@
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\ No newline at end of file
diff --git a/session_0408_171151/episode_00/annotations/centroids/frame_000013.json b/session_0408_171151/episode_00/annotations/centroids/frame_000013.json
new file mode 100644
index 0000000000000000000000000000000000000000..ce5a39846e67a11357445838edc06b14ed1f2b11
--- /dev/null
+++ b/session_0408_171151/episode_00/annotations/centroids/frame_000013.json
@@ -0,0 +1,14 @@
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\ No newline at end of file
diff --git a/session_0408_171151/episode_00/annotations/centroids/frame_000014.json b/session_0408_171151/episode_00/annotations/centroids/frame_000014.json
new file mode 100644
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--- /dev/null
+++ b/session_0408_171151/episode_00/annotations/centroids/frame_000014.json
@@ -0,0 +1,14 @@
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\ No newline at end of file
diff --git a/session_0408_171151/episode_00/annotations/centroids/frame_000015.json b/session_0408_171151/episode_00/annotations/centroids/frame_000015.json
new file mode 100644
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--- /dev/null
+++ b/session_0408_171151/episode_00/annotations/centroids/frame_000015.json
@@ -0,0 +1,14 @@
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\ No newline at end of file
diff --git a/session_0408_171151/episode_00/annotations/centroids/frame_000016.json b/session_0408_171151/episode_00/annotations/centroids/frame_000016.json
new file mode 100644
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--- /dev/null
+++ b/session_0408_171151/episode_00/annotations/centroids/frame_000016.json
@@ -0,0 +1,14 @@
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\ No newline at end of file
diff --git a/session_0408_171151/episode_00/annotations/centroids/frame_000017.json b/session_0408_171151/episode_00/annotations/centroids/frame_000017.json
new file mode 100644
index 0000000000000000000000000000000000000000..6226b91d791ac25139242963f7f6c03615dcea86
--- /dev/null
+++ b/session_0408_171151/episode_00/annotations/centroids/frame_000017.json
@@ -0,0 +1,14 @@
+{
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\ No newline at end of file
diff --git a/session_0408_171151/episode_00/annotations/centroids/frame_000018.json b/session_0408_171151/episode_00/annotations/centroids/frame_000018.json
new file mode 100644
index 0000000000000000000000000000000000000000..59c425066b98873fca4685171808ceab13f54bfd
--- /dev/null
+++ b/session_0408_171151/episode_00/annotations/centroids/frame_000018.json
@@ -0,0 +1,14 @@
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\ No newline at end of file
diff --git a/session_0408_171151/episode_00/annotations/centroids/frame_000019.json b/session_0408_171151/episode_00/annotations/centroids/frame_000019.json
new file mode 100644
index 0000000000000000000000000000000000000000..41239e9a767b8a229a2f1425cfd7d463f118104f
--- /dev/null
+++ b/session_0408_171151/episode_00/annotations/centroids/frame_000019.json
@@ -0,0 +1,14 @@
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\ No newline at end of file
diff --git a/session_0408_171151/episode_00/annotations/centroids/frame_000020.json b/session_0408_171151/episode_00/annotations/centroids/frame_000020.json
new file mode 100644
index 0000000000000000000000000000000000000000..bd678219e00316986023f31acc51fcd89f51f3ab
--- /dev/null
+++ b/session_0408_171151/episode_00/annotations/centroids/frame_000020.json
@@ -0,0 +1,14 @@
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\ No newline at end of file
diff --git a/session_0408_171151/episode_00/annotations/centroids/frame_000021.json b/session_0408_171151/episode_00/annotations/centroids/frame_000021.json
new file mode 100644
index 0000000000000000000000000000000000000000..2624311adfe8cccc3bb08b7f432c14b97ed3aed3
--- /dev/null
+++ b/session_0408_171151/episode_00/annotations/centroids/frame_000021.json
@@ -0,0 +1,14 @@
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\ No newline at end of file
diff --git a/session_0408_171151/episode_00/annotations/centroids/frame_000022.json b/session_0408_171151/episode_00/annotations/centroids/frame_000022.json
new file mode 100644
index 0000000000000000000000000000000000000000..e6003fe8e4ed1019d1a57a558a773f5c5fea4abc
--- /dev/null
+++ b/session_0408_171151/episode_00/annotations/centroids/frame_000022.json
@@ -0,0 +1,14 @@
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\ No newline at end of file
diff --git a/session_0408_171151/episode_00/annotations/centroids/frame_000023.json b/session_0408_171151/episode_00/annotations/centroids/frame_000023.json
new file mode 100644
index 0000000000000000000000000000000000000000..359d392f2e9343ae418e6da28d4af477df00f7de
--- /dev/null
+++ b/session_0408_171151/episode_00/annotations/centroids/frame_000023.json
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diff --git a/session_0408_171151/episode_00/annotations/centroids/frame_000024.json b/session_0408_171151/episode_00/annotations/centroids/frame_000024.json
new file mode 100644
index 0000000000000000000000000000000000000000..cd42f3aeb04890cd66b1320ab3ca3449e52ea6c5
--- /dev/null
+++ b/session_0408_171151/episode_00/annotations/centroids/frame_000024.json
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diff --git a/session_0408_171151/episode_00/annotations/centroids/frame_000025.json b/session_0408_171151/episode_00/annotations/centroids/frame_000025.json
new file mode 100644
index 0000000000000000000000000000000000000000..1531904f0fece31b48646922e4a4ccc5053b7dba
--- /dev/null
+++ b/session_0408_171151/episode_00/annotations/centroids/frame_000025.json
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diff --git a/session_0408_171151/episode_00/annotations/centroids/frame_000026.json b/session_0408_171151/episode_00/annotations/centroids/frame_000026.json
new file mode 100644
index 0000000000000000000000000000000000000000..250d3b6ffa3656b419d8ee37a03215b44467adb0
--- /dev/null
+++ b/session_0408_171151/episode_00/annotations/centroids/frame_000026.json
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diff --git a/session_0408_171151/episode_00/annotations/centroids/frame_000027.json b/session_0408_171151/episode_00/annotations/centroids/frame_000027.json
new file mode 100644
index 0000000000000000000000000000000000000000..4141309cdad25889a0c382f383a718db73ea2b5e
--- /dev/null
+++ b/session_0408_171151/episode_00/annotations/centroids/frame_000027.json
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diff --git a/session_0408_171151/episode_00/annotations/centroids/frame_000028.json b/session_0408_171151/episode_00/annotations/centroids/frame_000028.json
new file mode 100644
index 0000000000000000000000000000000000000000..ac048768d60ee2a06ddb71abe403b8f6325322de
--- /dev/null
+++ b/session_0408_171151/episode_00/annotations/centroids/frame_000028.json
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\ No newline at end of file
diff --git a/session_0408_171151/episode_00/annotations/centroids/frame_000029.json b/session_0408_171151/episode_00/annotations/centroids/frame_000029.json
new file mode 100644
index 0000000000000000000000000000000000000000..8f02df88d91f24670668fada61ae4285fc8fec62
--- /dev/null
+++ b/session_0408_171151/episode_00/annotations/centroids/frame_000029.json
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diff --git a/session_0408_171151/episode_00/annotations/centroids/frame_000030.json b/session_0408_171151/episode_00/annotations/centroids/frame_000030.json
new file mode 100644
index 0000000000000000000000000000000000000000..56dfb47c1fcf27ea9cfa1c7cd8fb99488881c753
--- /dev/null
+++ b/session_0408_171151/episode_00/annotations/centroids/frame_000030.json
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\ No newline at end of file
diff --git a/session_0408_171151/episode_00/annotations/centroids/frame_000031.json b/session_0408_171151/episode_00/annotations/centroids/frame_000031.json
new file mode 100644
index 0000000000000000000000000000000000000000..c0cb1a2e5d2a2620e645f540e1350171b00cb5be
--- /dev/null
+++ b/session_0408_171151/episode_00/annotations/centroids/frame_000031.json
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\ No newline at end of file
diff --git a/session_0408_171151/episode_00/annotations/centroids/frame_000032.json b/session_0408_171151/episode_00/annotations/centroids/frame_000032.json
new file mode 100644
index 0000000000000000000000000000000000000000..2fad989f0ca315939d47fc2946f8f2f8204c8043
--- /dev/null
+++ b/session_0408_171151/episode_00/annotations/centroids/frame_000032.json
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\ No newline at end of file
diff --git a/session_0408_171151/episode_00/annotations/centroids/frame_000033.json b/session_0408_171151/episode_00/annotations/centroids/frame_000033.json
new file mode 100644
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--- /dev/null
+++ b/session_0408_171151/episode_00/annotations/centroids/frame_000033.json
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\ No newline at end of file
diff --git a/session_0408_171151/episode_00/annotations/centroids/frame_000034.json b/session_0408_171151/episode_00/annotations/centroids/frame_000034.json
new file mode 100644
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--- /dev/null
+++ b/session_0408_171151/episode_00/annotations/centroids/frame_000034.json
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\ No newline at end of file
diff --git a/session_0408_171151/episode_00/annotations/centroids/frame_000035.json b/session_0408_171151/episode_00/annotations/centroids/frame_000035.json
new file mode 100644
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--- /dev/null
+++ b/session_0408_171151/episode_00/annotations/centroids/frame_000035.json
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\ No newline at end of file
diff --git a/session_0408_171151/episode_00/annotations/centroids/frame_000036.json b/session_0408_171151/episode_00/annotations/centroids/frame_000036.json
new file mode 100644
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--- /dev/null
+++ b/session_0408_171151/episode_00/annotations/centroids/frame_000036.json
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\ No newline at end of file
diff --git a/session_0408_171151/episode_00/annotations/centroids/frame_000037.json b/session_0408_171151/episode_00/annotations/centroids/frame_000037.json
new file mode 100644
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--- /dev/null
+++ b/session_0408_171151/episode_00/annotations/centroids/frame_000037.json
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\ No newline at end of file
diff --git a/session_0408_171151/episode_00/annotations/centroids/frame_000038.json b/session_0408_171151/episode_00/annotations/centroids/frame_000038.json
new file mode 100644
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--- /dev/null
+++ b/session_0408_171151/episode_00/annotations/centroids/frame_000038.json
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\ No newline at end of file
diff --git a/session_0408_171151/episode_00/annotations/centroids/frame_000039.json b/session_0408_171151/episode_00/annotations/centroids/frame_000039.json
new file mode 100644
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--- /dev/null
+++ b/session_0408_171151/episode_00/annotations/centroids/frame_000039.json
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\ No newline at end of file
diff --git a/session_0408_171151/episode_00/annotations/centroids/frame_000040.json b/session_0408_171151/episode_00/annotations/centroids/frame_000040.json
new file mode 100644
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--- /dev/null
+++ b/session_0408_171151/episode_00/annotations/centroids/frame_000040.json
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\ No newline at end of file
diff --git a/session_0408_171151/episode_00/annotations/centroids/frame_000041.json b/session_0408_171151/episode_00/annotations/centroids/frame_000041.json
new file mode 100644
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--- /dev/null
+++ b/session_0408_171151/episode_00/annotations/centroids/frame_000041.json
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\ No newline at end of file
diff --git a/session_0408_171151/episode_00/annotations/centroids/frame_000042.json b/session_0408_171151/episode_00/annotations/centroids/frame_000042.json
new file mode 100644
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--- /dev/null
+++ b/session_0408_171151/episode_00/annotations/centroids/frame_000042.json
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\ No newline at end of file
diff --git a/session_0408_171151/episode_00/annotations/centroids/frame_000043.json b/session_0408_171151/episode_00/annotations/centroids/frame_000043.json
new file mode 100644
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--- /dev/null
+++ b/session_0408_171151/episode_00/annotations/centroids/frame_000043.json
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\ No newline at end of file
diff --git a/session_0408_171151/episode_00/annotations/centroids/frame_000044.json b/session_0408_171151/episode_00/annotations/centroids/frame_000044.json
new file mode 100644
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--- /dev/null
+++ b/session_0408_171151/episode_00/annotations/centroids/frame_000044.json
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\ No newline at end of file
diff --git a/session_0408_171151/episode_00/annotations/centroids/frame_000045.json b/session_0408_171151/episode_00/annotations/centroids/frame_000045.json
new file mode 100644
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--- /dev/null
+++ b/session_0408_171151/episode_00/annotations/centroids/frame_000045.json
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\ No newline at end of file
diff --git a/session_0408_171151/episode_00/annotations/centroids/frame_000046.json b/session_0408_171151/episode_00/annotations/centroids/frame_000046.json
new file mode 100644
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--- /dev/null
+++ b/session_0408_171151/episode_00/annotations/centroids/frame_000046.json
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\ No newline at end of file
diff --git a/session_0408_171151/episode_00/annotations/centroids/frame_000047.json b/session_0408_171151/episode_00/annotations/centroids/frame_000047.json
new file mode 100644
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--- /dev/null
+++ b/session_0408_171151/episode_00/annotations/centroids/frame_000047.json
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\ No newline at end of file
diff --git a/session_0408_171151/episode_00/annotations/centroids/frame_000048.json b/session_0408_171151/episode_00/annotations/centroids/frame_000048.json
new file mode 100644
index 0000000000000000000000000000000000000000..c7b1deed558f77bf078f518b53fae9303791c62a
--- /dev/null
+++ b/session_0408_171151/episode_00/annotations/centroids/frame_000048.json
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\ No newline at end of file
diff --git a/session_0408_171151/episode_00/annotations/centroids/frame_000049.json b/session_0408_171151/episode_00/annotations/centroids/frame_000049.json
new file mode 100644
index 0000000000000000000000000000000000000000..d840b14f71fe114801beefef5dc1c306dd75593e
--- /dev/null
+++ b/session_0408_171151/episode_00/annotations/centroids/frame_000049.json
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\ No newline at end of file
diff --git a/session_0408_171151/episode_00/annotations/centroids/frame_000050.json b/session_0408_171151/episode_00/annotations/centroids/frame_000050.json
new file mode 100644
index 0000000000000000000000000000000000000000..cf4e9bf002a66900087695bf7761e1dd2dccc8b3
--- /dev/null
+++ b/session_0408_171151/episode_00/annotations/centroids/frame_000050.json
@@ -0,0 +1,14 @@
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\ No newline at end of file
diff --git a/session_0408_171151/episode_00/annotations/centroids/frame_000051.json b/session_0408_171151/episode_00/annotations/centroids/frame_000051.json
new file mode 100644
index 0000000000000000000000000000000000000000..1b9c76c17d0e9dad5a02d0a73c4c16828f804484
--- /dev/null
+++ b/session_0408_171151/episode_00/annotations/centroids/frame_000051.json
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diff --git a/session_0408_171151/episode_00/annotations/centroids/frame_000052.json b/session_0408_171151/episode_00/annotations/centroids/frame_000052.json
new file mode 100644
index 0000000000000000000000000000000000000000..7dc9ca2f56e322e500de336720600c3efe8d8f75
--- /dev/null
+++ b/session_0408_171151/episode_00/annotations/centroids/frame_000052.json
@@ -0,0 +1,14 @@
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diff --git a/session_0408_171151/episode_00/annotations/centroids/frame_000053.json b/session_0408_171151/episode_00/annotations/centroids/frame_000053.json
new file mode 100644
index 0000000000000000000000000000000000000000..51ea6c19442715de99169138dc00295a9d1e907e
--- /dev/null
+++ b/session_0408_171151/episode_00/annotations/centroids/frame_000053.json
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diff --git a/session_0408_171151/episode_00/annotations/centroids/frame_000054.json b/session_0408_171151/episode_00/annotations/centroids/frame_000054.json
new file mode 100644
index 0000000000000000000000000000000000000000..8df92f86bc72f3639205895f4d747db0a6d43237
--- /dev/null
+++ b/session_0408_171151/episode_00/annotations/centroids/frame_000054.json
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diff --git a/session_0408_171151/episode_00/annotations/centroids/frame_000055.json b/session_0408_171151/episode_00/annotations/centroids/frame_000055.json
new file mode 100644
index 0000000000000000000000000000000000000000..1ca48b448a45eba10b6f7d3dd0f85c9d512f9a68
--- /dev/null
+++ b/session_0408_171151/episode_00/annotations/centroids/frame_000055.json
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diff --git a/session_0408_171151/episode_00/annotations/centroids/frame_000056.json b/session_0408_171151/episode_00/annotations/centroids/frame_000056.json
new file mode 100644
index 0000000000000000000000000000000000000000..0a99f3851ab15a26fafe2ca18bff6f67836d19dd
--- /dev/null
+++ b/session_0408_171151/episode_00/annotations/centroids/frame_000056.json
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diff --git a/session_0408_171151/episode_00/annotations/centroids/frame_000057.json b/session_0408_171151/episode_00/annotations/centroids/frame_000057.json
new file mode 100644
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--- /dev/null
+++ b/session_0408_171151/episode_00/annotations/centroids/frame_000057.json
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diff --git a/session_0408_171151/episode_00/annotations/centroids/frame_000058.json b/session_0408_171151/episode_00/annotations/centroids/frame_000058.json
new file mode 100644
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--- /dev/null
+++ b/session_0408_171151/episode_00/annotations/centroids/frame_000058.json
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diff --git a/session_0408_171151/episode_00/annotations/centroids/frame_000059.json b/session_0408_171151/episode_00/annotations/centroids/frame_000059.json
new file mode 100644
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--- /dev/null
+++ b/session_0408_171151/episode_00/annotations/centroids/frame_000059.json
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\ No newline at end of file
diff --git a/session_0408_171151/episode_00/annotations/centroids/frame_000060.json b/session_0408_171151/episode_00/annotations/centroids/frame_000060.json
new file mode 100644
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--- /dev/null
+++ b/session_0408_171151/episode_00/annotations/centroids/frame_000060.json
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\ No newline at end of file
diff --git a/session_0408_171151/episode_00/annotations/centroids/frame_000061.json b/session_0408_171151/episode_00/annotations/centroids/frame_000061.json
new file mode 100644
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--- /dev/null
+++ b/session_0408_171151/episode_00/annotations/centroids/frame_000061.json
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\ No newline at end of file
diff --git a/session_0408_171151/episode_00/annotations/centroids/frame_000062.json b/session_0408_171151/episode_00/annotations/centroids/frame_000062.json
new file mode 100644
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--- /dev/null
+++ b/session_0408_171151/episode_00/annotations/centroids/frame_000062.json
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\ No newline at end of file
diff --git a/session_0408_171151/episode_00/annotations/centroids/frame_000063.json b/session_0408_171151/episode_00/annotations/centroids/frame_000063.json
new file mode 100644
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--- /dev/null
+++ b/session_0408_171151/episode_00/annotations/centroids/frame_000063.json
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\ No newline at end of file
diff --git a/session_0408_171151/episode_00/annotations/centroids/frame_000064.json b/session_0408_171151/episode_00/annotations/centroids/frame_000064.json
new file mode 100644
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--- /dev/null
+++ b/session_0408_171151/episode_00/annotations/centroids/frame_000064.json
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\ No newline at end of file
diff --git a/session_0408_171151/episode_00/annotations/centroids/frame_000065.json b/session_0408_171151/episode_00/annotations/centroids/frame_000065.json
new file mode 100644
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--- /dev/null
+++ b/session_0408_171151/episode_00/annotations/centroids/frame_000065.json
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\ No newline at end of file
diff --git a/session_0408_171151/episode_00/annotations/centroids/frame_000066.json b/session_0408_171151/episode_00/annotations/centroids/frame_000066.json
new file mode 100644
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--- /dev/null
+++ b/session_0408_171151/episode_00/annotations/centroids/frame_000066.json
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\ No newline at end of file
diff --git a/session_0408_171151/episode_00/annotations/centroids/frame_000067.json b/session_0408_171151/episode_00/annotations/centroids/frame_000067.json
new file mode 100644
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--- /dev/null
+++ b/session_0408_171151/episode_00/annotations/centroids/frame_000067.json
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\ No newline at end of file
diff --git a/session_0408_171151/episode_00/annotations/centroids/frame_000068.json b/session_0408_171151/episode_00/annotations/centroids/frame_000068.json
new file mode 100644
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--- /dev/null
+++ b/session_0408_171151/episode_00/annotations/centroids/frame_000068.json
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\ No newline at end of file
diff --git a/session_0408_171151/episode_00/annotations/centroids/frame_000069.json b/session_0408_171151/episode_00/annotations/centroids/frame_000069.json
new file mode 100644
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--- /dev/null
+++ b/session_0408_171151/episode_00/annotations/centroids/frame_000069.json
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\ No newline at end of file
diff --git a/session_0408_171151/episode_00/annotations/centroids/frame_000070.json b/session_0408_171151/episode_00/annotations/centroids/frame_000070.json
new file mode 100644
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--- /dev/null
+++ b/session_0408_171151/episode_00/annotations/centroids/frame_000070.json
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\ No newline at end of file
diff --git a/session_0408_171151/episode_00/annotations/centroids/frame_000071.json b/session_0408_171151/episode_00/annotations/centroids/frame_000071.json
new file mode 100644
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--- /dev/null
+++ b/session_0408_171151/episode_00/annotations/centroids/frame_000071.json
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\ No newline at end of file
diff --git a/session_0408_171151/episode_00/annotations/centroids/frame_000072.json b/session_0408_171151/episode_00/annotations/centroids/frame_000072.json
new file mode 100644
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--- /dev/null
+++ b/session_0408_171151/episode_00/annotations/centroids/frame_000072.json
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\ No newline at end of file
diff --git a/session_0408_171151/episode_00/annotations/centroids/frame_000073.json b/session_0408_171151/episode_00/annotations/centroids/frame_000073.json
new file mode 100644
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--- /dev/null
+++ b/session_0408_171151/episode_00/annotations/centroids/frame_000073.json
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\ No newline at end of file
diff --git a/session_0408_171151/episode_00/annotations/centroids/frame_000074.json b/session_0408_171151/episode_00/annotations/centroids/frame_000074.json
new file mode 100644
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--- /dev/null
+++ b/session_0408_171151/episode_00/annotations/centroids/frame_000074.json
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\ No newline at end of file
diff --git a/session_0408_171151/episode_00/annotations/centroids/frame_000075.json b/session_0408_171151/episode_00/annotations/centroids/frame_000075.json
new file mode 100644
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--- /dev/null
+++ b/session_0408_171151/episode_00/annotations/centroids/frame_000075.json
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\ No newline at end of file
diff --git a/session_0408_171151/episode_00/annotations/centroids/frame_000076.json b/session_0408_171151/episode_00/annotations/centroids/frame_000076.json
new file mode 100644
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--- /dev/null
+++ b/session_0408_171151/episode_00/annotations/centroids/frame_000076.json
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\ No newline at end of file
diff --git a/session_0408_171151/episode_00/annotations/centroids/frame_000077.json b/session_0408_171151/episode_00/annotations/centroids/frame_000077.json
new file mode 100644
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+++ b/session_0408_171151/episode_00/annotations/centroids/frame_000077.json
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\ No newline at end of file
diff --git a/session_0408_171151/episode_00/annotations/centroids/frame_000078.json b/session_0408_171151/episode_00/annotations/centroids/frame_000078.json
new file mode 100644
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--- /dev/null
+++ b/session_0408_171151/episode_00/annotations/centroids/frame_000078.json
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diff --git a/session_0408_171151/episode_00/annotations/centroids/frame_000079.json b/session_0408_171151/episode_00/annotations/centroids/frame_000079.json
new file mode 100644
index 0000000000000000000000000000000000000000..c93934df3b079a19349ac8beca0aa8528456ae48
--- /dev/null
+++ b/session_0408_171151/episode_00/annotations/centroids/frame_000079.json
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diff --git a/session_0408_171151/episode_00/annotations/centroids/frame_000080.json b/session_0408_171151/episode_00/annotations/centroids/frame_000080.json
new file mode 100644
index 0000000000000000000000000000000000000000..a37dd28691d2a437489660053a91f376df32c741
--- /dev/null
+++ b/session_0408_171151/episode_00/annotations/centroids/frame_000080.json
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diff --git a/session_0408_171151/episode_00/annotations/centroids/frame_000081.json b/session_0408_171151/episode_00/annotations/centroids/frame_000081.json
new file mode 100644
index 0000000000000000000000000000000000000000..0a8014547826c7b168b740d1102d125e11ac2de7
--- /dev/null
+++ b/session_0408_171151/episode_00/annotations/centroids/frame_000081.json
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diff --git a/session_0408_171151/episode_00/annotations/centroids/frame_000082.json b/session_0408_171151/episode_00/annotations/centroids/frame_000082.json
new file mode 100644
index 0000000000000000000000000000000000000000..b39c5bee2af1e9d4ab8994703500894fab912b26
--- /dev/null
+++ b/session_0408_171151/episode_00/annotations/centroids/frame_000082.json
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diff --git a/session_0408_171151/episode_00/annotations/centroids/frame_000083.json b/session_0408_171151/episode_00/annotations/centroids/frame_000083.json
new file mode 100644
index 0000000000000000000000000000000000000000..f53a6dbd0a16cd97fe9994fc995a300880a16898
--- /dev/null
+++ b/session_0408_171151/episode_00/annotations/centroids/frame_000083.json
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diff --git a/session_0408_171151/episode_00/annotations/centroids/frame_000084.json b/session_0408_171151/episode_00/annotations/centroids/frame_000084.json
new file mode 100644
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--- /dev/null
+++ b/session_0408_171151/episode_00/annotations/centroids/frame_000084.json
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diff --git a/session_0408_171151/episode_00/annotations/centroids/frame_000085.json b/session_0408_171151/episode_00/annotations/centroids/frame_000085.json
new file mode 100644
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--- /dev/null
+++ b/session_0408_171151/episode_00/annotations/centroids/frame_000085.json
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diff --git a/session_0408_171151/episode_00/annotations/centroids/frame_000086.json b/session_0408_171151/episode_00/annotations/centroids/frame_000086.json
new file mode 100644
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--- /dev/null
+++ b/session_0408_171151/episode_00/annotations/centroids/frame_000086.json
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\ No newline at end of file
diff --git a/session_0408_171151/episode_00/annotations/centroids/frame_000087.json b/session_0408_171151/episode_00/annotations/centroids/frame_000087.json
new file mode 100644
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--- /dev/null
+++ b/session_0408_171151/episode_00/annotations/centroids/frame_000087.json
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\ No newline at end of file
diff --git a/session_0408_171151/episode_00/annotations/centroids/frame_000088.json b/session_0408_171151/episode_00/annotations/centroids/frame_000088.json
new file mode 100644
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--- /dev/null
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\ No newline at end of file
diff --git a/session_0408_171151/episode_00/annotations/centroids/frame_000089.json b/session_0408_171151/episode_00/annotations/centroids/frame_000089.json
new file mode 100644
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--- /dev/null
+++ b/session_0408_171151/episode_00/annotations/centroids/frame_000089.json
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\ No newline at end of file
diff --git a/session_0408_171151/episode_00/annotations/centroids/frame_000090.json b/session_0408_171151/episode_00/annotations/centroids/frame_000090.json
new file mode 100644
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--- /dev/null
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diff --git a/session_0408_171151/episode_00/annotations/centroids/frame_000091.json b/session_0408_171151/episode_00/annotations/centroids/frame_000091.json
new file mode 100644
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--- /dev/null
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\ No newline at end of file
diff --git a/session_0408_171151/episode_00/annotations/centroids/frame_000092.json b/session_0408_171151/episode_00/annotations/centroids/frame_000092.json
new file mode 100644
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--- /dev/null
+++ b/session_0408_171151/episode_00/annotations/centroids/frame_000092.json
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\ No newline at end of file
diff --git a/session_0408_171151/episode_00/annotations/centroids/frame_000093.json b/session_0408_171151/episode_00/annotations/centroids/frame_000093.json
new file mode 100644
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--- /dev/null
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\ No newline at end of file
diff --git a/session_0408_171151/episode_00/annotations/centroids/frame_000094.json b/session_0408_171151/episode_00/annotations/centroids/frame_000094.json
new file mode 100644
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--- /dev/null
+++ b/session_0408_171151/episode_00/annotations/centroids/frame_000094.json
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\ No newline at end of file
diff --git a/session_0408_171151/episode_00/annotations/centroids/frame_000095.json b/session_0408_171151/episode_00/annotations/centroids/frame_000095.json
new file mode 100644
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--- /dev/null
+++ b/session_0408_171151/episode_00/annotations/centroids/frame_000095.json
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\ No newline at end of file
diff --git a/session_0408_171151/episode_00/annotations/centroids/frame_000096.json b/session_0408_171151/episode_00/annotations/centroids/frame_000096.json
new file mode 100644
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--- /dev/null
+++ b/session_0408_171151/episode_00/annotations/centroids/frame_000096.json
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\ No newline at end of file
diff --git a/session_0408_171151/episode_00/annotations/centroids/frame_000097.json b/session_0408_171151/episode_00/annotations/centroids/frame_000097.json
new file mode 100644
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--- /dev/null
+++ b/session_0408_171151/episode_00/annotations/centroids/frame_000097.json
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\ No newline at end of file
diff --git a/session_0408_171151/episode_00/annotations/centroids/frame_000098.json b/session_0408_171151/episode_00/annotations/centroids/frame_000098.json
new file mode 100644
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--- /dev/null
+++ b/session_0408_171151/episode_00/annotations/centroids/frame_000098.json
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\ No newline at end of file
diff --git a/session_0408_171151/episode_00/annotations/centroids/frame_000099.json b/session_0408_171151/episode_00/annotations/centroids/frame_000099.json
new file mode 100644
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--- /dev/null
+++ b/session_0408_171151/episode_00/annotations/centroids/frame_000099.json
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\ No newline at end of file
diff --git a/session_0408_171151/episode_00/annotations/centroids/frame_000100.json b/session_0408_171151/episode_00/annotations/centroids/frame_000100.json
new file mode 100644
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--- /dev/null
+++ b/session_0408_171151/episode_00/annotations/centroids/frame_000100.json
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\ No newline at end of file
diff --git a/session_0408_171151/episode_00/annotations/centroids/frame_000101.json b/session_0408_171151/episode_00/annotations/centroids/frame_000101.json
new file mode 100644
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--- /dev/null
+++ b/session_0408_171151/episode_00/annotations/centroids/frame_000101.json
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\ No newline at end of file
diff --git a/session_0408_171151/episode_00/annotations/centroids/frame_000102.json b/session_0408_171151/episode_00/annotations/centroids/frame_000102.json
new file mode 100644
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--- /dev/null
+++ b/session_0408_171151/episode_00/annotations/centroids/frame_000102.json
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\ No newline at end of file
diff --git a/session_0408_171151/episode_00/annotations/centroids/frame_000103.json b/session_0408_171151/episode_00/annotations/centroids/frame_000103.json
new file mode 100644
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--- /dev/null
+++ b/session_0408_171151/episode_00/annotations/centroids/frame_000103.json
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\ No newline at end of file
diff --git a/session_0408_171151/episode_00/annotations/centroids/frame_000104.json b/session_0408_171151/episode_00/annotations/centroids/frame_000104.json
new file mode 100644
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+++ b/session_0408_171151/episode_00/annotations/centroids/frame_000104.json
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\ No newline at end of file
diff --git a/session_0408_171151/episode_00/annotations/centroids/frame_000105.json b/session_0408_171151/episode_00/annotations/centroids/frame_000105.json
new file mode 100644
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--- /dev/null
+++ b/session_0408_171151/episode_00/annotations/centroids/frame_000105.json
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\ No newline at end of file
diff --git a/session_0408_171151/episode_00/annotations/centroids/frame_000106.json b/session_0408_171151/episode_00/annotations/centroids/frame_000106.json
new file mode 100644
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--- /dev/null
+++ b/session_0408_171151/episode_00/annotations/centroids/frame_000106.json
@@ -0,0 +1,14 @@
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+      0.6927497310864109
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+  }
+}
\ No newline at end of file
diff --git a/session_0408_171151/episode_00/annotations/centroids/frame_000107.json b/session_0408_171151/episode_00/annotations/centroids/frame_000107.json
new file mode 100644
index 0000000000000000000000000000000000000000..b79dd2c32677b9420453a7e631a61396e4372541
--- /dev/null
+++ b/session_0408_171151/episode_00/annotations/centroids/frame_000107.json
@@ -0,0 +1,14 @@
+{
+  "side": {
+    "cpu_bracket": [
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+      -0.08361364247455245,
+      0.6924558610709117
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+  }
+}
\ No newline at end of file
diff --git a/session_0408_171151/episode_00/annotations/centroids/frame_000108.json b/session_0408_171151/episode_00/annotations/centroids/frame_000108.json
new file mode 100644
index 0000000000000000000000000000000000000000..272cadf5f7822194c45cf32c1aa9d7fb8cdf9026
--- /dev/null
+++ b/session_0408_171151/episode_00/annotations/centroids/frame_000108.json
@@ -0,0 +1,14 @@
+{
+  "side": {
+    "cpu_bracket": [
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+}
\ No newline at end of file
diff --git a/session_0408_171151/episode_00/annotations/centroids/frame_000109.json b/session_0408_171151/episode_00/annotations/centroids/frame_000109.json
new file mode 100644
index 0000000000000000000000000000000000000000..97ab5af6a6af433d61d8ab50cd4fc23833afd5a6
--- /dev/null
+++ b/session_0408_171151/episode_00/annotations/centroids/frame_000109.json
@@ -0,0 +1,14 @@
+{
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+}
\ No newline at end of file
diff --git a/session_0408_171151/episode_00/annotations/centroids/frame_000110.json b/session_0408_171151/episode_00/annotations/centroids/frame_000110.json
new file mode 100644
index 0000000000000000000000000000000000000000..b9dad80f71d2ee8dfb7a646fc9328cb3cc07ab2f
--- /dev/null
+++ b/session_0408_171151/episode_00/annotations/centroids/frame_000110.json
@@ -0,0 +1,14 @@
+{
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+}
\ No newline at end of file
diff --git a/session_0408_171151/episode_00/annotations/centroids/frame_000111.json b/session_0408_171151/episode_00/annotations/centroids/frame_000111.json
new file mode 100644
index 0000000000000000000000000000000000000000..eefa27fc11a9a8812cf8b209423581f4e6c9de57
--- /dev/null
+++ b/session_0408_171151/episode_00/annotations/centroids/frame_000111.json
@@ -0,0 +1,14 @@
+{
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+}
\ No newline at end of file
diff --git a/session_0408_171151/episode_00/annotations/centroids/frame_000112.json b/session_0408_171151/episode_00/annotations/centroids/frame_000112.json
new file mode 100644
index 0000000000000000000000000000000000000000..728d09890b8c8e13e2f0cf15173d974f5cf7ecd6
--- /dev/null
+++ b/session_0408_171151/episode_00/annotations/centroids/frame_000112.json
@@ -0,0 +1,14 @@
+{
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+}
\ No newline at end of file
diff --git a/session_0408_171151/episode_00/annotations/centroids/frame_000113.json b/session_0408_171151/episode_00/annotations/centroids/frame_000113.json
new file mode 100644
index 0000000000000000000000000000000000000000..d279a3b7f41ac4a41112b8360ff99c50b159325c
--- /dev/null
+++ b/session_0408_171151/episode_00/annotations/centroids/frame_000113.json
@@ -0,0 +1,14 @@
+{
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+}
\ No newline at end of file
diff --git a/session_0408_171151/episode_00/annotations/centroids/frame_000114.json b/session_0408_171151/episode_00/annotations/centroids/frame_000114.json
new file mode 100644
index 0000000000000000000000000000000000000000..f2f7c3f330f95ec0999ed528c6564fed54590e7b
--- /dev/null
+++ b/session_0408_171151/episode_00/annotations/centroids/frame_000114.json
@@ -0,0 +1,14 @@
+{
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+}
\ No newline at end of file
diff --git a/session_0408_171151/episode_00/annotations/centroids/frame_000115.json b/session_0408_171151/episode_00/annotations/centroids/frame_000115.json
new file mode 100644
index 0000000000000000000000000000000000000000..ff8a3daedf2fb4f11824cf36a0b50c4b79f84353
--- /dev/null
+++ b/session_0408_171151/episode_00/annotations/centroids/frame_000115.json
@@ -0,0 +1,14 @@
+{
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+}
\ No newline at end of file
diff --git a/session_0408_171151/episode_00/annotations/centroids/frame_000116.json b/session_0408_171151/episode_00/annotations/centroids/frame_000116.json
new file mode 100644
index 0000000000000000000000000000000000000000..c332f70e3b8a0b3b8d17bbdc68429c56dd79b42f
--- /dev/null
+++ b/session_0408_171151/episode_00/annotations/centroids/frame_000116.json
@@ -0,0 +1,14 @@
+{
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+}
\ No newline at end of file
diff --git a/session_0408_171151/episode_00/annotations/centroids/frame_000117.json b/session_0408_171151/episode_00/annotations/centroids/frame_000117.json
new file mode 100644
index 0000000000000000000000000000000000000000..2dc2f0a48d74e658d8c7d9e623e4577d9af9f42d
--- /dev/null
+++ b/session_0408_171151/episode_00/annotations/centroids/frame_000117.json
@@ -0,0 +1,14 @@
+{
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+}
\ No newline at end of file
diff --git a/session_0408_171151/episode_00/annotations/centroids/frame_000118.json b/session_0408_171151/episode_00/annotations/centroids/frame_000118.json
new file mode 100644
index 0000000000000000000000000000000000000000..dc926eefdd94d7760b9748ea19e4d1d9e64f83f9
--- /dev/null
+++ b/session_0408_171151/episode_00/annotations/centroids/frame_000118.json
@@ -0,0 +1,14 @@
+{
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+}
\ No newline at end of file
diff --git a/session_0408_171151/episode_00/annotations/centroids/frame_000119.json b/session_0408_171151/episode_00/annotations/centroids/frame_000119.json
new file mode 100644
index 0000000000000000000000000000000000000000..1fff4b118860a6f0b1fb632156d667717826c5bb
--- /dev/null
+++ b/session_0408_171151/episode_00/annotations/centroids/frame_000119.json
@@ -0,0 +1,14 @@
+{
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+}
\ No newline at end of file
diff --git a/session_0408_171151/episode_00/annotations/dataset_card.json b/session_0408_171151/episode_00/annotations/dataset_card.json
new file mode 100644
index 0000000000000000000000000000000000000000..2ba9fcc13a9d286f3709670e9ce4399109aa334e
--- /dev/null
+++ b/session_0408_171151/episode_00/annotations/dataset_card.json
@@ -0,0 +1,37 @@
+{
+  "format_version": "2.0",
+  "description": "Desktop disassembly constraint graph dataset",
+  "views": [
+    "side",
+    "wrist"
+  ],
+  "image_size": [
+    1280,
+    720
+  ],
+  "depth_unit": "mm",
+  "embedding_dim": 256,
+  "embedding_model": "sam2.1_hiera_base_plus",
+  "robot_state_dim": 13,
+  "robot_state_format": "[joint_1..6, tcp_x,y,z,rx,ry,rz, gripper]",
+  "robot_action_dim": 13,
+  "graph_type": "directed_constraint",
+  "constraint_semantics": "edge src blocks removal of edge dst",
+  "frame_state_encoding": "delta",
+  "type_vocab": [
+    "cpu_fan",
+    "cpu_bracket",
+    "cpu",
+    "ram_clip",
+    "ram",
+    "connector",
+    "graphic_card",
+    "motherboard"
+  ],
+  "node_feature_components": {
+    "sam2_embedding": 256,
+    "position_3d": 3,
+    "type_onehot": 8,
+    "visibility": 1
+  }
+}
\ No newline at end of file
diff --git a/session_0408_171151/episode_00/annotations/graph.json b/session_0408_171151/episode_00/annotations/graph.json
new file mode 100644
index 0000000000000000000000000000000000000000..2a866c339ab9546a7b75c8ecde6d879e59262e34
--- /dev/null
+++ b/session_0408_171151/episode_00/annotations/graph.json
@@ -0,0 +1,77 @@
+{
+  "episode_id": "episode_00",
+  "goal_component": null,
+  "num_frames": 164,
+  "side_graph": {
+    "episode_id": "episode_00",
+    "goal_component": null,
+    "view": "side",
+    "type_vocab": [
+      "cpu_fan",
+      "cpu_bracket",
+      "cpu",
+      "ram_clip",
+      "ram",
+      "connector",
+      "graphic_card",
+      "motherboard"
+    ],
+    "components": [
+      {
+        "id": "cpu_bracket",
+        "type": "cpu_bracket",
+        "color": "#4ECDC4"
+      },
+      {
+        "id": "cpu",
+        "type": "cpu",
+        "color": "#45B7D1"
+      }
+    ],
+    "edges": [
+      {
+        "src": "cpu_bracket",
+        "dst": "cpu",
+        "directed": true
+      }
+    ],
+    "frame_states": {},
+    "node_positions": {}
+  },
+  "wrist_graph": {
+    "episode_id": "episode_00",
+    "goal_component": null,
+    "view": "wrist",
+    "type_vocab": [
+      "cpu_fan",
+      "cpu_bracket",
+      "cpu",
+      "ram_clip",
+      "ram",
+      "connector",
+      "graphic_card",
+      "motherboard"
+    ],
+    "components": [
+      {
+        "id": "cpu_bracket",
+        "type": "cpu_bracket",
+        "color": "#4ECDC4"
+      },
+      {
+        "id": "cpu",
+        "type": "cpu",
+        "color": "#45B7D1"
+      }
+    ],
+    "edges": [
+      {
+        "src": "cpu_bracket",
+        "dst": "cpu",
+        "directed": true
+      }
+    ],
+    "frame_states": {},
+    "node_positions": {}
+  }
+}
\ No newline at end of file
diff --git a/session_0408_171151/episode_00/annotations/side_centroids/frame_000000.json b/session_0408_171151/episode_00/annotations/side_centroids/frame_000000.json
new file mode 100644
index 0000000000000000000000000000000000000000..7e52dfe0c9d6285f25404a3b89f7984b4ad8d6b4
--- /dev/null
+++ b/session_0408_171151/episode_00/annotations/side_centroids/frame_000000.json
@@ -0,0 +1,12 @@
+{
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+}
\ No newline at end of file
diff --git a/session_0408_171151/episode_00/annotations/side_centroids/frame_000001.json b/session_0408_171151/episode_00/annotations/side_centroids/frame_000001.json
new file mode 100644
index 0000000000000000000000000000000000000000..1c979eb23f0c8009d06b21973a7feb32ea5a43b1
--- /dev/null
+++ b/session_0408_171151/episode_00/annotations/side_centroids/frame_000001.json
@@ -0,0 +1,12 @@
+{
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+}
\ No newline at end of file
diff --git a/session_0408_171151/episode_00/annotations/side_centroids/frame_000002.json b/session_0408_171151/episode_00/annotations/side_centroids/frame_000002.json
new file mode 100644
index 0000000000000000000000000000000000000000..12504d668014269feb572fb5040bd35e0899e24c
--- /dev/null
+++ b/session_0408_171151/episode_00/annotations/side_centroids/frame_000002.json
@@ -0,0 +1,12 @@
+{
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+}
\ No newline at end of file
diff --git a/session_0408_171151/episode_00/annotations/side_centroids/frame_000003.json b/session_0408_171151/episode_00/annotations/side_centroids/frame_000003.json
new file mode 100644
index 0000000000000000000000000000000000000000..66527c21763e5732cc447b0b7a5eb5ba1a86d103
--- /dev/null
+++ b/session_0408_171151/episode_00/annotations/side_centroids/frame_000003.json
@@ -0,0 +1,12 @@
+{
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+}
\ No newline at end of file
diff --git a/session_0408_171151/episode_00/annotations/side_centroids/frame_000004.json b/session_0408_171151/episode_00/annotations/side_centroids/frame_000004.json
new file mode 100644
index 0000000000000000000000000000000000000000..83e9083818e100705105b2d4973385c05d4175bb
--- /dev/null
+++ b/session_0408_171151/episode_00/annotations/side_centroids/frame_000004.json
@@ -0,0 +1,12 @@
+{
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+}
\ No newline at end of file
diff --git a/session_0408_171151/episode_00/annotations/side_centroids/frame_000005.json b/session_0408_171151/episode_00/annotations/side_centroids/frame_000005.json
new file mode 100644
index 0000000000000000000000000000000000000000..b6a2c79485bfd8c5579b06f7a364694890f966b0
--- /dev/null
+++ b/session_0408_171151/episode_00/annotations/side_centroids/frame_000005.json
@@ -0,0 +1,12 @@
+{
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+}
\ No newline at end of file
diff --git a/session_0408_171151/episode_00/annotations/side_centroids/frame_000006.json b/session_0408_171151/episode_00/annotations/side_centroids/frame_000006.json
new file mode 100644
index 0000000000000000000000000000000000000000..e1fe71c7011d23004bc97afad45e89c486e96acd
--- /dev/null
+++ b/session_0408_171151/episode_00/annotations/side_centroids/frame_000006.json
@@ -0,0 +1,12 @@
+{
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+}
\ No newline at end of file
diff --git a/session_0408_171151/episode_00/annotations/side_centroids/frame_000007.json b/session_0408_171151/episode_00/annotations/side_centroids/frame_000007.json
new file mode 100644
index 0000000000000000000000000000000000000000..a56282f009aba6680ed1495a8b8a07414421135e
--- /dev/null
+++ b/session_0408_171151/episode_00/annotations/side_centroids/frame_000007.json
@@ -0,0 +1,12 @@
+{
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\ No newline at end of file
diff --git a/session_0408_171151/episode_00/annotations/side_centroids/frame_000008.json b/session_0408_171151/episode_00/annotations/side_centroids/frame_000008.json
new file mode 100644
index 0000000000000000000000000000000000000000..9215b48740be8f0595410c871a2a4b1335e9b1a2
--- /dev/null
+++ b/session_0408_171151/episode_00/annotations/side_centroids/frame_000008.json
@@ -0,0 +1,12 @@
+{
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+}
\ No newline at end of file
diff --git a/session_0408_171151/episode_00/annotations/side_centroids/frame_000009.json b/session_0408_171151/episode_00/annotations/side_centroids/frame_000009.json
new file mode 100644
index 0000000000000000000000000000000000000000..4449d1c0bd0c521afcf115d7ccb016ab3180a31e
--- /dev/null
+++ b/session_0408_171151/episode_00/annotations/side_centroids/frame_000009.json
@@ -0,0 +1,12 @@
+{
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\ No newline at end of file
diff --git a/session_0408_171151/episode_00/annotations/side_centroids/frame_000010.json b/session_0408_171151/episode_00/annotations/side_centroids/frame_000010.json
new file mode 100644
index 0000000000000000000000000000000000000000..f824bc6bbf5554deec4248e5a07073d24bbd5c38
--- /dev/null
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diff --git a/session_0408_171151/episode_00/annotations/side_centroids/frame_000011.json b/session_0408_171151/episode_00/annotations/side_centroids/frame_000011.json
new file mode 100644
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--- /dev/null
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diff --git a/session_0408_171151/episode_00/annotations/side_centroids/frame_000012.json b/session_0408_171151/episode_00/annotations/side_centroids/frame_000012.json
new file mode 100644
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--- /dev/null
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diff --git a/session_0408_171151/episode_00/annotations/side_centroids/frame_000013.json b/session_0408_171151/episode_00/annotations/side_centroids/frame_000013.json
new file mode 100644
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diff --git a/session_0408_171151/episode_00/annotations/side_centroids/frame_000014.json b/session_0408_171151/episode_00/annotations/side_centroids/frame_000014.json
new file mode 100644
index 0000000000000000000000000000000000000000..3db16bcf19d880ce9d72f79a8a3404dab89aa908
--- /dev/null
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diff --git a/session_0408_171151/episode_00/annotations/side_centroids/frame_000015.json b/session_0408_171151/episode_00/annotations/side_centroids/frame_000015.json
new file mode 100644
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--- /dev/null
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diff --git a/session_0408_171151/episode_00/annotations/side_centroids/frame_000016.json b/session_0408_171151/episode_00/annotations/side_centroids/frame_000016.json
new file mode 100644
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diff --git a/session_0408_171151/episode_00/annotations/side_centroids/frame_000017.json b/session_0408_171151/episode_00/annotations/side_centroids/frame_000017.json
new file mode 100644
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diff --git a/session_0408_171151/episode_00/annotations/side_centroids/frame_000018.json b/session_0408_171151/episode_00/annotations/side_centroids/frame_000018.json
new file mode 100644
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diff --git a/session_0408_171151/episode_00/annotations/side_centroids/frame_000019.json b/session_0408_171151/episode_00/annotations/side_centroids/frame_000019.json
new file mode 100644
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diff --git a/session_0408_171151/episode_00/annotations/side_centroids/frame_000020.json b/session_0408_171151/episode_00/annotations/side_centroids/frame_000020.json
new file mode 100644
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diff --git a/session_0408_171151/episode_00/annotations/side_centroids/frame_000021.json b/session_0408_171151/episode_00/annotations/side_centroids/frame_000021.json
new file mode 100644
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diff --git a/session_0408_171151/episode_00/annotations/side_centroids/frame_000022.json b/session_0408_171151/episode_00/annotations/side_centroids/frame_000022.json
new file mode 100644
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diff --git a/session_0408_171151/episode_00/annotations/side_centroids/frame_000023.json b/session_0408_171151/episode_00/annotations/side_centroids/frame_000023.json
new file mode 100644
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diff --git a/session_0408_171151/episode_00/annotations/side_centroids/frame_000024.json b/session_0408_171151/episode_00/annotations/side_centroids/frame_000024.json
new file mode 100644
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diff --git a/session_0408_171151/episode_00/annotations/side_centroids/frame_000025.json b/session_0408_171151/episode_00/annotations/side_centroids/frame_000025.json
new file mode 100644
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diff --git a/session_0408_171151/episode_00/annotations/side_centroids/frame_000026.json b/session_0408_171151/episode_00/annotations/side_centroids/frame_000026.json
new file mode 100644
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diff --git a/session_0408_171151/episode_00/annotations/side_centroids/frame_000027.json b/session_0408_171151/episode_00/annotations/side_centroids/frame_000027.json
new file mode 100644
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--- /dev/null
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diff --git a/session_0408_171151/episode_00/annotations/side_centroids/frame_000028.json b/session_0408_171151/episode_00/annotations/side_centroids/frame_000028.json
new file mode 100644
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diff --git a/session_0408_171151/episode_00/annotations/side_centroids/frame_000029.json b/session_0408_171151/episode_00/annotations/side_centroids/frame_000029.json
new file mode 100644
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diff --git a/session_0408_171151/episode_00/annotations/side_centroids/frame_000030.json b/session_0408_171151/episode_00/annotations/side_centroids/frame_000030.json
new file mode 100644
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diff --git a/session_0408_171151/episode_00/annotations/side_centroids/frame_000031.json b/session_0408_171151/episode_00/annotations/side_centroids/frame_000031.json
new file mode 100644
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diff --git a/session_0408_171151/episode_00/annotations/side_centroids/frame_000032.json b/session_0408_171151/episode_00/annotations/side_centroids/frame_000032.json
new file mode 100644
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diff --git a/session_0408_171151/episode_00/annotations/side_centroids/frame_000033.json b/session_0408_171151/episode_00/annotations/side_centroids/frame_000033.json
new file mode 100644
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diff --git a/session_0408_171151/episode_00/annotations/side_centroids/frame_000034.json b/session_0408_171151/episode_00/annotations/side_centroids/frame_000034.json
new file mode 100644
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diff --git a/session_0408_171151/episode_00/annotations/side_centroids/frame_000035.json b/session_0408_171151/episode_00/annotations/side_centroids/frame_000035.json
new file mode 100644
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diff --git a/session_0408_171151/episode_00/annotations/side_centroids/frame_000036.json b/session_0408_171151/episode_00/annotations/side_centroids/frame_000036.json
new file mode 100644
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diff --git a/session_0408_171151/episode_00/annotations/side_centroids/frame_000037.json b/session_0408_171151/episode_00/annotations/side_centroids/frame_000037.json
new file mode 100644
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diff --git a/session_0408_171151/episode_00/annotations/side_centroids/frame_000038.json b/session_0408_171151/episode_00/annotations/side_centroids/frame_000038.json
new file mode 100644
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new file mode 100644
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new file mode 100644
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new file mode 100644
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diff --git a/session_0408_171151/episode_00/annotations/side_centroids/frame_000042.json b/session_0408_171151/episode_00/annotations/side_centroids/frame_000042.json
new file mode 100644
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diff --git a/session_0408_171151/episode_00/annotations/side_centroids/frame_000043.json b/session_0408_171151/episode_00/annotations/side_centroids/frame_000043.json
new file mode 100644
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diff --git a/session_0408_171151/episode_00/annotations/side_centroids/frame_000044.json b/session_0408_171151/episode_00/annotations/side_centroids/frame_000044.json
new file mode 100644
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diff --git a/session_0408_171151/episode_00/annotations/side_centroids/frame_000045.json b/session_0408_171151/episode_00/annotations/side_centroids/frame_000045.json
new file mode 100644
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new file mode 100644
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diff --git a/session_0408_171151/episode_00/annotations/side_centroids/frame_000047.json b/session_0408_171151/episode_00/annotations/side_centroids/frame_000047.json
new file mode 100644
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diff --git a/session_0408_171151/episode_00/annotations/side_centroids/frame_000048.json b/session_0408_171151/episode_00/annotations/side_centroids/frame_000048.json
new file mode 100644
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new file mode 100644
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new file mode 100644
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diff --git a/session_0408_171151/episode_00/annotations/side_centroids/frame_000051.json b/session_0408_171151/episode_00/annotations/side_centroids/frame_000051.json
new file mode 100644
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new file mode 100644
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new file mode 100644
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diff --git a/session_0408_171151/episode_00/annotations/side_centroids/frame_000054.json b/session_0408_171151/episode_00/annotations/side_centroids/frame_000054.json
new file mode 100644
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diff --git a/session_0408_171151/episode_00/annotations/side_centroids/frame_000055.json b/session_0408_171151/episode_00/annotations/side_centroids/frame_000055.json
new file mode 100644
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diff --git a/session_0408_171151/episode_00/annotations/side_centroids/frame_000056.json b/session_0408_171151/episode_00/annotations/side_centroids/frame_000056.json
new file mode 100644
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diff --git a/session_0408_171151/episode_00/annotations/side_centroids/frame_000057.json b/session_0408_171151/episode_00/annotations/side_centroids/frame_000057.json
new file mode 100644
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diff --git a/session_0408_171151/episode_00/annotations/side_centroids/frame_000058.json b/session_0408_171151/episode_00/annotations/side_centroids/frame_000058.json
new file mode 100644
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new file mode 100644
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new file mode 100644
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diff --git a/session_0408_171151/episode_00/annotations/side_centroids/frame_000061.json b/session_0408_171151/episode_00/annotations/side_centroids/frame_000061.json
new file mode 100644
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diff --git a/session_0408_171151/episode_00/annotations/side_centroids/frame_000062.json b/session_0408_171151/episode_00/annotations/side_centroids/frame_000062.json
new file mode 100644
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diff --git a/session_0408_171151/episode_00/annotations/side_centroids/frame_000063.json b/session_0408_171151/episode_00/annotations/side_centroids/frame_000063.json
new file mode 100644
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diff --git a/session_0408_171151/episode_00/annotations/side_centroids/frame_000064.json b/session_0408_171151/episode_00/annotations/side_centroids/frame_000064.json
new file mode 100644
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new file mode 100644
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new file mode 100644
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diff --git a/session_0408_171151/episode_00/annotations/side_centroids/frame_000067.json b/session_0408_171151/episode_00/annotations/side_centroids/frame_000067.json
new file mode 100644
index 0000000000000000000000000000000000000000..bbeff5c5d12976cc52ed085cca90792e7f7241d5
--- /dev/null
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diff --git a/session_0408_171151/episode_00/annotations/side_centroids/frame_000068.json b/session_0408_171151/episode_00/annotations/side_centroids/frame_000068.json
new file mode 100644
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--- /dev/null
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diff --git a/session_0408_171151/episode_00/annotations/side_centroids/frame_000069.json b/session_0408_171151/episode_00/annotations/side_centroids/frame_000069.json
new file mode 100644
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--- /dev/null
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diff --git a/session_0408_171151/episode_00/annotations/side_centroids/frame_000070.json b/session_0408_171151/episode_00/annotations/side_centroids/frame_000070.json
new file mode 100644
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--- /dev/null
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diff --git a/session_0408_171151/episode_00/annotations/side_centroids/frame_000071.json b/session_0408_171151/episode_00/annotations/side_centroids/frame_000071.json
new file mode 100644
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--- /dev/null
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diff --git a/session_0408_171151/episode_00/annotations/side_centroids/frame_000072.json b/session_0408_171151/episode_00/annotations/side_centroids/frame_000072.json
new file mode 100644
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diff --git a/session_0408_171151/episode_00/annotations/side_centroids/frame_000073.json b/session_0408_171151/episode_00/annotations/side_centroids/frame_000073.json
new file mode 100644
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diff --git a/session_0408_171151/episode_00/annotations/side_centroids/frame_000074.json b/session_0408_171151/episode_00/annotations/side_centroids/frame_000074.json
new file mode 100644
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diff --git a/session_0408_171151/episode_00/annotations/side_centroids/frame_000075.json b/session_0408_171151/episode_00/annotations/side_centroids/frame_000075.json
new file mode 100644
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diff --git a/session_0408_171151/episode_00/annotations/side_centroids/frame_000076.json b/session_0408_171151/episode_00/annotations/side_centroids/frame_000076.json
new file mode 100644
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diff --git a/session_0408_171151/episode_00/annotations/side_centroids/frame_000077.json b/session_0408_171151/episode_00/annotations/side_centroids/frame_000077.json
new file mode 100644
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diff --git a/session_0408_171151/episode_00/annotations/side_centroids/frame_000078.json b/session_0408_171151/episode_00/annotations/side_centroids/frame_000078.json
new file mode 100644
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diff --git a/session_0408_171151/episode_00/annotations/side_centroids/frame_000079.json b/session_0408_171151/episode_00/annotations/side_centroids/frame_000079.json
new file mode 100644
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diff --git a/session_0408_171151/episode_00/annotations/side_centroids/frame_000080.json b/session_0408_171151/episode_00/annotations/side_centroids/frame_000080.json
new file mode 100644
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diff --git a/session_0408_171151/episode_00/annotations/side_centroids/frame_000081.json b/session_0408_171151/episode_00/annotations/side_centroids/frame_000081.json
new file mode 100644
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diff --git a/session_0408_171151/episode_00/annotations/side_centroids/frame_000082.json b/session_0408_171151/episode_00/annotations/side_centroids/frame_000082.json
new file mode 100644
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diff --git a/session_0408_171151/episode_00/annotations/side_centroids/frame_000083.json b/session_0408_171151/episode_00/annotations/side_centroids/frame_000083.json
new file mode 100644
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diff --git a/session_0408_171151/episode_00/annotations/side_centroids/frame_000084.json b/session_0408_171151/episode_00/annotations/side_centroids/frame_000084.json
new file mode 100644
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diff --git a/session_0408_171151/episode_00/annotations/side_centroids/frame_000085.json b/session_0408_171151/episode_00/annotations/side_centroids/frame_000085.json
new file mode 100644
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diff --git a/session_0408_171151/episode_00/annotations/side_centroids/frame_000086.json b/session_0408_171151/episode_00/annotations/side_centroids/frame_000086.json
new file mode 100644
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diff --git a/session_0408_171151/episode_00/annotations/side_centroids/frame_000087.json b/session_0408_171151/episode_00/annotations/side_centroids/frame_000087.json
new file mode 100644
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diff --git a/session_0408_171151/episode_00/annotations/side_centroids/frame_000088.json b/session_0408_171151/episode_00/annotations/side_centroids/frame_000088.json
new file mode 100644
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diff --git a/session_0408_171151/episode_00/annotations/side_centroids/frame_000089.json b/session_0408_171151/episode_00/annotations/side_centroids/frame_000089.json
new file mode 100644
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diff --git a/session_0408_171151/episode_00/annotations/side_centroids/frame_000090.json b/session_0408_171151/episode_00/annotations/side_centroids/frame_000090.json
new file mode 100644
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diff --git a/session_0408_171151/episode_00/annotations/side_centroids/frame_000091.json b/session_0408_171151/episode_00/annotations/side_centroids/frame_000091.json
new file mode 100644
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diff --git a/session_0408_171151/episode_00/annotations/side_centroids/frame_000092.json b/session_0408_171151/episode_00/annotations/side_centroids/frame_000092.json
new file mode 100644
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diff --git a/session_0408_171151/episode_00/annotations/side_centroids/frame_000093.json b/session_0408_171151/episode_00/annotations/side_centroids/frame_000093.json
new file mode 100644
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diff --git a/session_0408_171151/episode_00/annotations/side_centroids/frame_000094.json b/session_0408_171151/episode_00/annotations/side_centroids/frame_000094.json
new file mode 100644
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diff --git a/session_0408_171151/episode_00/annotations/side_centroids/frame_000095.json b/session_0408_171151/episode_00/annotations/side_centroids/frame_000095.json
new file mode 100644
index 0000000000000000000000000000000000000000..a6b61f62aa4fb397add0a5f0227f1e26140f679e
--- /dev/null
+++ b/session_0408_171151/episode_00/annotations/side_centroids/frame_000095.json
@@ -0,0 +1,12 @@
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+}
\ No newline at end of file
diff --git a/session_0408_171151/episode_00/annotations/side_centroids/frame_000096.json b/session_0408_171151/episode_00/annotations/side_centroids/frame_000096.json
new file mode 100644
index 0000000000000000000000000000000000000000..e2e6b13059d08bbbe7704ecc203547222cbe1a9a
--- /dev/null
+++ b/session_0408_171151/episode_00/annotations/side_centroids/frame_000096.json
@@ -0,0 +1,12 @@
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\ No newline at end of file
diff --git a/session_0408_171151/episode_00/annotations/side_centroids/frame_000097.json b/session_0408_171151/episode_00/annotations/side_centroids/frame_000097.json
new file mode 100644
index 0000000000000000000000000000000000000000..ee343949e08f55784d0f66455d7ed178a381b85b
--- /dev/null
+++ b/session_0408_171151/episode_00/annotations/side_centroids/frame_000097.json
@@ -0,0 +1,12 @@
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\ No newline at end of file
diff --git a/session_0408_171151/episode_00/annotations/side_centroids/frame_000098.json b/session_0408_171151/episode_00/annotations/side_centroids/frame_000098.json
new file mode 100644
index 0000000000000000000000000000000000000000..23726d66de7764d32cf9bcc4d44a4db1e7d03ac6
--- /dev/null
+++ b/session_0408_171151/episode_00/annotations/side_centroids/frame_000098.json
@@ -0,0 +1,12 @@
+{
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\ No newline at end of file
diff --git a/session_0408_171151/episode_00/annotations/side_centroids/frame_000099.json b/session_0408_171151/episode_00/annotations/side_centroids/frame_000099.json
new file mode 100644
index 0000000000000000000000000000000000000000..56752fd6a4f659a03c62e1e42d409cab07868389
--- /dev/null
+++ b/session_0408_171151/episode_00/annotations/side_centroids/frame_000099.json
@@ -0,0 +1,12 @@
+{
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\ No newline at end of file
diff --git a/session_0408_171151/episode_00/annotations/side_centroids/frame_000100.json b/session_0408_171151/episode_00/annotations/side_centroids/frame_000100.json
new file mode 100644
index 0000000000000000000000000000000000000000..98b6ba3de799e8d2b25593dab84e43feeb669a9c
--- /dev/null
+++ b/session_0408_171151/episode_00/annotations/side_centroids/frame_000100.json
@@ -0,0 +1,12 @@
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\ No newline at end of file
diff --git a/session_0408_171151/episode_00/annotations/side_centroids/frame_000101.json b/session_0408_171151/episode_00/annotations/side_centroids/frame_000101.json
new file mode 100644
index 0000000000000000000000000000000000000000..64e16a1c7539e71e836340a94cbdbab94d16a96a
--- /dev/null
+++ b/session_0408_171151/episode_00/annotations/side_centroids/frame_000101.json
@@ -0,0 +1,12 @@
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\ No newline at end of file
diff --git a/session_0408_171151/episode_00/annotations/side_centroids/frame_000102.json b/session_0408_171151/episode_00/annotations/side_centroids/frame_000102.json
new file mode 100644
index 0000000000000000000000000000000000000000..d692e22a843518ce352a258fb21e7602861ade10
--- /dev/null
+++ b/session_0408_171151/episode_00/annotations/side_centroids/frame_000102.json
@@ -0,0 +1,12 @@
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\ No newline at end of file
diff --git a/session_0408_171151/episode_00/annotations/side_centroids/frame_000103.json b/session_0408_171151/episode_00/annotations/side_centroids/frame_000103.json
new file mode 100644
index 0000000000000000000000000000000000000000..d1fd9367aebbfedd9130e90eb28188285a000875
--- /dev/null
+++ b/session_0408_171151/episode_00/annotations/side_centroids/frame_000103.json
@@ -0,0 +1,12 @@
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\ No newline at end of file
diff --git a/session_0408_171151/episode_00/annotations/side_centroids/frame_000104.json b/session_0408_171151/episode_00/annotations/side_centroids/frame_000104.json
new file mode 100644
index 0000000000000000000000000000000000000000..c0699a948be898781b5570e9a0f6590e9b54eb2b
--- /dev/null
+++ b/session_0408_171151/episode_00/annotations/side_centroids/frame_000104.json
@@ -0,0 +1,12 @@
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\ No newline at end of file
diff --git a/session_0408_171151/episode_00/annotations/side_centroids/frame_000105.json b/session_0408_171151/episode_00/annotations/side_centroids/frame_000105.json
new file mode 100644
index 0000000000000000000000000000000000000000..a870224e3ab9c98b34fef25e40f54e2e6f04ca7c
--- /dev/null
+++ b/session_0408_171151/episode_00/annotations/side_centroids/frame_000105.json
@@ -0,0 +1,12 @@
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\ No newline at end of file
diff --git a/session_0408_171151/episode_00/annotations/side_centroids/frame_000106.json b/session_0408_171151/episode_00/annotations/side_centroids/frame_000106.json
new file mode 100644
index 0000000000000000000000000000000000000000..657f468134c7470febdb5d15b9d323ed98692d80
--- /dev/null
+++ b/session_0408_171151/episode_00/annotations/side_centroids/frame_000106.json
@@ -0,0 +1,12 @@
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\ No newline at end of file
diff --git a/session_0408_171151/episode_00/annotations/side_centroids/frame_000107.json b/session_0408_171151/episode_00/annotations/side_centroids/frame_000107.json
new file mode 100644
index 0000000000000000000000000000000000000000..9202511d64166a8a0eaf78a2c8103d7435ae47d0
--- /dev/null
+++ b/session_0408_171151/episode_00/annotations/side_centroids/frame_000107.json
@@ -0,0 +1,12 @@
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\ No newline at end of file
diff --git a/session_0408_171151/episode_00/annotations/side_centroids/frame_000108.json b/session_0408_171151/episode_00/annotations/side_centroids/frame_000108.json
new file mode 100644
index 0000000000000000000000000000000000000000..20ff4966226e2ae31e8923904b3fc84733f528b0
--- /dev/null
+++ b/session_0408_171151/episode_00/annotations/side_centroids/frame_000108.json
@@ -0,0 +1,12 @@
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\ No newline at end of file
diff --git a/session_0408_171151/episode_00/annotations/side_centroids/frame_000109.json b/session_0408_171151/episode_00/annotations/side_centroids/frame_000109.json
new file mode 100644
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--- /dev/null
+++ b/session_0408_171151/episode_00/annotations/side_centroids/frame_000109.json
@@ -0,0 +1,12 @@
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\ No newline at end of file
diff --git a/session_0408_171151/episode_00/annotations/side_centroids/frame_000110.json b/session_0408_171151/episode_00/annotations/side_centroids/frame_000110.json
new file mode 100644
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--- /dev/null
+++ b/session_0408_171151/episode_00/annotations/side_centroids/frame_000110.json
@@ -0,0 +1,12 @@
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\ No newline at end of file
diff --git a/session_0408_171151/episode_00/annotations/side_centroids/frame_000111.json b/session_0408_171151/episode_00/annotations/side_centroids/frame_000111.json
new file mode 100644
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--- /dev/null
+++ b/session_0408_171151/episode_00/annotations/side_centroids/frame_000111.json
@@ -0,0 +1,12 @@
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\ No newline at end of file
diff --git a/session_0408_171151/episode_00/annotations/side_centroids/frame_000112.json b/session_0408_171151/episode_00/annotations/side_centroids/frame_000112.json
new file mode 100644
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--- /dev/null
+++ b/session_0408_171151/episode_00/annotations/side_centroids/frame_000112.json
@@ -0,0 +1,12 @@
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\ No newline at end of file
diff --git a/session_0408_171151/episode_00/annotations/side_centroids/frame_000113.json b/session_0408_171151/episode_00/annotations/side_centroids/frame_000113.json
new file mode 100644
index 0000000000000000000000000000000000000000..a513d876f1b93c057eba4f9515bbbda9a201aa69
--- /dev/null
+++ b/session_0408_171151/episode_00/annotations/side_centroids/frame_000113.json
@@ -0,0 +1,12 @@
+{
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\ No newline at end of file
diff --git a/session_0408_171151/episode_00/annotations/side_centroids/frame_000114.json b/session_0408_171151/episode_00/annotations/side_centroids/frame_000114.json
new file mode 100644
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--- /dev/null
+++ b/session_0408_171151/episode_00/annotations/side_centroids/frame_000114.json
@@ -0,0 +1,12 @@
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\ No newline at end of file
diff --git a/session_0408_171151/episode_00/annotations/side_centroids/frame_000115.json b/session_0408_171151/episode_00/annotations/side_centroids/frame_000115.json
new file mode 100644
index 0000000000000000000000000000000000000000..72cbcc7600018e6455f85857c76f7be54e7097d5
--- /dev/null
+++ b/session_0408_171151/episode_00/annotations/side_centroids/frame_000115.json
@@ -0,0 +1,12 @@
+{
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\ No newline at end of file
diff --git a/session_0408_171151/episode_00/annotations/side_centroids/frame_000116.json b/session_0408_171151/episode_00/annotations/side_centroids/frame_000116.json
new file mode 100644
index 0000000000000000000000000000000000000000..ff8d0dd738e81355d7dd121213f062cebda70d9d
--- /dev/null
+++ b/session_0408_171151/episode_00/annotations/side_centroids/frame_000116.json
@@ -0,0 +1,12 @@
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\ No newline at end of file
diff --git a/session_0408_171151/episode_00/annotations/side_centroids/frame_000117.json b/session_0408_171151/episode_00/annotations/side_centroids/frame_000117.json
new file mode 100644
index 0000000000000000000000000000000000000000..da4f107581ae3f643c9830f55d4ec089505c440c
--- /dev/null
+++ b/session_0408_171151/episode_00/annotations/side_centroids/frame_000117.json
@@ -0,0 +1,12 @@
+{
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\ No newline at end of file
diff --git a/session_0408_171151/episode_00/annotations/side_centroids/frame_000118.json b/session_0408_171151/episode_00/annotations/side_centroids/frame_000118.json
new file mode 100644
index 0000000000000000000000000000000000000000..494b5e03e51abc1c8b0be8252df7ec843f4f8400
--- /dev/null
+++ b/session_0408_171151/episode_00/annotations/side_centroids/frame_000118.json
@@ -0,0 +1,12 @@
+{
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\ No newline at end of file
diff --git a/session_0408_171151/episode_00/annotations/side_centroids/frame_000119.json b/session_0408_171151/episode_00/annotations/side_centroids/frame_000119.json
new file mode 100644
index 0000000000000000000000000000000000000000..c55daef057bee9229a0c03a59a13c2cdc7c9fad1
--- /dev/null
+++ b/session_0408_171151/episode_00/annotations/side_centroids/frame_000119.json
@@ -0,0 +1,12 @@
+{
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\ No newline at end of file
diff --git a/session_0408_171151/episode_00/annotations/side_graph.json b/session_0408_171151/episode_00/annotations/side_graph.json
new file mode 100644
index 0000000000000000000000000000000000000000..4b65df5c63c2072b14b2b45f806e2ee7849834aa
--- /dev/null
+++ b/session_0408_171151/episode_00/annotations/side_graph.json
@@ -0,0 +1,36 @@
+{
+  "episode_id": "episode_00",
+  "goal_component": null,
+  "view": "side",
+  "type_vocab": [
+    "cpu_fan",
+    "cpu_bracket",
+    "cpu",
+    "ram_clip",
+    "ram",
+    "connector",
+    "graphic_card",
+    "motherboard"
+  ],
+  "components": [
+    {
+      "id": "cpu_bracket",
+      "type": "cpu_bracket",
+      "color": "#4ECDC4"
+    },
+    {
+      "id": "cpu",
+      "type": "cpu",
+      "color": "#45B7D1"
+    }
+  ],
+  "edges": [
+    {
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+      "dst": "cpu",
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+  ],
+  "frame_states": {},
+  "node_positions": {}
+}
\ No newline at end of file
diff --git a/session_0408_171151/episode_00/annotations/wrist_centroids/frame_000000.json b/session_0408_171151/episode_00/annotations/wrist_centroids/frame_000000.json
new file mode 100644
index 0000000000000000000000000000000000000000..e71720e0745bd26b6e3e95ca595ebf5130b60bda
--- /dev/null
+++ b/session_0408_171151/episode_00/annotations/wrist_centroids/frame_000000.json
@@ -0,0 +1,12 @@
+{
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\ No newline at end of file
diff --git a/session_0408_171151/episode_00/annotations/wrist_centroids/frame_000001.json b/session_0408_171151/episode_00/annotations/wrist_centroids/frame_000001.json
new file mode 100644
index 0000000000000000000000000000000000000000..705dac36528de01800b1ea1809189d9ad6016e00
--- /dev/null
+++ b/session_0408_171151/episode_00/annotations/wrist_centroids/frame_000001.json
@@ -0,0 +1,12 @@
+{
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+}
\ No newline at end of file
diff --git a/session_0408_171151/episode_00/annotations/wrist_centroids/frame_000002.json b/session_0408_171151/episode_00/annotations/wrist_centroids/frame_000002.json
new file mode 100644
index 0000000000000000000000000000000000000000..cf0f49e1404b8ac5e79bc4324655aebbc0d45837
--- /dev/null
+++ b/session_0408_171151/episode_00/annotations/wrist_centroids/frame_000002.json
@@ -0,0 +1,12 @@
+{
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+}
\ No newline at end of file
diff --git a/session_0408_171151/episode_00/annotations/wrist_centroids/frame_000003.json b/session_0408_171151/episode_00/annotations/wrist_centroids/frame_000003.json
new file mode 100644
index 0000000000000000000000000000000000000000..7650947e3e11a674108213f9bd4f1e5b025f078f
--- /dev/null
+++ b/session_0408_171151/episode_00/annotations/wrist_centroids/frame_000003.json
@@ -0,0 +1,12 @@
+{
+  "cpu_bracket": [
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+}
\ No newline at end of file
diff --git a/session_0408_171151/episode_00/annotations/wrist_centroids/frame_000004.json b/session_0408_171151/episode_00/annotations/wrist_centroids/frame_000004.json
new file mode 100644
index 0000000000000000000000000000000000000000..2b5a097517781b6fb9a69d99d7696895bfd873c0
--- /dev/null
+++ b/session_0408_171151/episode_00/annotations/wrist_centroids/frame_000004.json
@@ -0,0 +1,12 @@
+{
+  "cpu_bracket": [
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+}
\ No newline at end of file
diff --git a/session_0408_171151/episode_00/annotations/wrist_centroids/frame_000005.json b/session_0408_171151/episode_00/annotations/wrist_centroids/frame_000005.json
new file mode 100644
index 0000000000000000000000000000000000000000..b7fd4554c44395a55f3229bb7460a3c838f35013
--- /dev/null
+++ b/session_0408_171151/episode_00/annotations/wrist_centroids/frame_000005.json
@@ -0,0 +1,12 @@
+{
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+}
\ No newline at end of file
diff --git a/session_0408_171151/episode_00/annotations/wrist_centroids/frame_000006.json b/session_0408_171151/episode_00/annotations/wrist_centroids/frame_000006.json
new file mode 100644
index 0000000000000000000000000000000000000000..2b9b49d7bed0d754009358c56ff795fdd113ce3d
--- /dev/null
+++ b/session_0408_171151/episode_00/annotations/wrist_centroids/frame_000006.json
@@ -0,0 +1,12 @@
+{
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\ No newline at end of file
diff --git a/session_0408_171151/episode_00/annotations/wrist_centroids/frame_000007.json b/session_0408_171151/episode_00/annotations/wrist_centroids/frame_000007.json
new file mode 100644
index 0000000000000000000000000000000000000000..3883b381c1699aa257c6e20a7d1f2cb1638ae447
--- /dev/null
+++ b/session_0408_171151/episode_00/annotations/wrist_centroids/frame_000007.json
@@ -0,0 +1,12 @@
+{
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+}
\ No newline at end of file
diff --git a/session_0408_171151/episode_00/annotations/wrist_centroids/frame_000008.json b/session_0408_171151/episode_00/annotations/wrist_centroids/frame_000008.json
new file mode 100644
index 0000000000000000000000000000000000000000..5a366d0d8de0497298d39ae4c0dfeeec206ce3ac
--- /dev/null
+++ b/session_0408_171151/episode_00/annotations/wrist_centroids/frame_000008.json
@@ -0,0 +1,12 @@
+{
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+}
\ No newline at end of file
diff --git a/session_0408_171151/episode_00/annotations/wrist_centroids/frame_000009.json b/session_0408_171151/episode_00/annotations/wrist_centroids/frame_000009.json
new file mode 100644
index 0000000000000000000000000000000000000000..f8305dbf3f729f500fbd66eefbcc17a6f2748346
--- /dev/null
+++ b/session_0408_171151/episode_00/annotations/wrist_centroids/frame_000009.json
@@ -0,0 +1,12 @@
+{
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+}
\ No newline at end of file
diff --git a/session_0408_171151/episode_00/annotations/wrist_graph.json b/session_0408_171151/episode_00/annotations/wrist_graph.json
new file mode 100644
index 0000000000000000000000000000000000000000..2747a04d33638b6021d9c82019f58f3c37c6a6f2
--- /dev/null
+++ b/session_0408_171151/episode_00/annotations/wrist_graph.json
@@ -0,0 +1,36 @@
+{
+  "episode_id": "episode_00",
+  "goal_component": null,
+  "view": "wrist",
+  "type_vocab": [
+    "cpu_fan",
+    "cpu_bracket",
+    "cpu",
+    "ram_clip",
+    "ram",
+    "connector",
+    "graphic_card",
+    "motherboard"
+  ],
+  "components": [
+    {
+      "id": "cpu_bracket",
+      "type": "cpu_bracket",
+      "color": "#4ECDC4"
+    },
+    {
+      "id": "cpu",
+      "type": "cpu",
+      "color": "#45B7D1"
+    }
+  ],
+  "edges": [
+    {
+      "src": "cpu_bracket",
+      "dst": "cpu",
+      "directed": true
+    }
+  ],
+  "frame_states": {},
+  "node_positions": {}
+}
\ No newline at end of file
diff --git a/session_0408_171151/episode_00/metadata.json b/session_0408_171151/episode_00/metadata.json
new file mode 100644
index 0000000000000000000000000000000000000000..65a08acccc7f892b7e08eca3bfe1d752d1df5a8c
--- /dev/null
+++ b/session_0408_171151/episode_00/metadata.json
@@ -0,0 +1,83 @@
+{
+  "product_type": "desktop",
+  "record_hz": 30,
+  "side_serial": null,
+  "wrist_serial": null,
+  "intrinsics_side": {
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+    "fy": 1033.682861328125,
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+    "height": 720,
+    "model": "pinhole",
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+  "intrinsics_wrist": {
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+    "model": "distortion.inverse_brown_conrady",
+    "coeffs": [
+      0.0,
+      0.0,
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+  },
+  "num_frames": 164,
+  "resolution": [
+    720,
+    1280
+  ],
+  "depth_unit": "mm",
+  "depth_dtype": "uint16",
+  "robot_state_format": [
+    "joint_0",
+    "joint_1",
+    "joint_2",
+    "joint_3",
+    "joint_4",
+    "joint_5",
+    "tcp_x",
+    "tcp_y",
+    "tcp_z",
+    "tcp_rx",
+    "tcp_ry",
+    "tcp_rz",
+    "gripper_pos"
+  ],
+  "timestamp_format": [
+    "record_ts",
+    "side_cam_ts",
+    "wrist_cam_ts"
+  ],
+  "saved_at": "2026-04-08T17:11:58.915972",
+  "goal_component": null,
+  "annotation_complete": true,
+  "sam2_model": "sam2.1_hiera_b+",
+  "embedding_dim": 256,
+  "component_counts": {
+    "cpu_bracket": 2,
+    "cpu": 2
+  }
+}
\ No newline at end of file
diff --git a/session_0408_171151/episode_01/metadata.json b/session_0408_171151/episode_01/metadata.json
new file mode 100644
index 0000000000000000000000000000000000000000..232171327584ab8f6d480b0fb8485a1a507247c5
--- /dev/null
+++ b/session_0408_171151/episode_01/metadata.json
@@ -0,0 +1,75 @@
+{
+  "product_type": "desktop",
+  "record_hz": 30,
+  "side_serial": null,
+  "wrist_serial": null,
+  "intrinsics_side": {
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+    "width": 1280,
+    "height": 720,
+    "model": "pinhole",
+    "coeffs": [
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+      0.013464805670082569
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+  },
+  "intrinsics_wrist": {
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+    "fy": 905.812255859375,
+    "cx": 645.9285888671875,
+    "cy": 364.5884094238281,
+    "width": 1280,
+    "height": 720,
+    "model": "distortion.inverse_brown_conrady",
+    "coeffs": [
+      0.0,
+      0.0,
+      0.0,
+      0.0,
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+    ]
+  },
+  "num_frames": 365,
+  "resolution": [
+    720,
+    1280
+  ],
+  "depth_unit": "mm",
+  "depth_dtype": "uint16",
+  "robot_state_format": [
+    "joint_0",
+    "joint_1",
+    "joint_2",
+    "joint_3",
+    "joint_4",
+    "joint_5",
+    "tcp_x",
+    "tcp_y",
+    "tcp_z",
+    "tcp_rx",
+    "tcp_ry",
+    "tcp_rz",
+    "gripper_pos"
+  ],
+  "timestamp_format": [
+    "record_ts",
+    "side_cam_ts",
+    "wrist_cam_ts"
+  ],
+  "saved_at": "2026-04-08T17:12:28.279758"
+}
\ No newline at end of file
diff --git a/session_0408_171151/session_metadata.json b/session_0408_171151/session_metadata.json
new file mode 100644
index 0000000000000000000000000000000000000000..69ba32dc0245d76228b56ede7c418dde743ccdc4
--- /dev/null
+++ b/session_0408_171151/session_metadata.json
@@ -0,0 +1,7 @@
+{
+  "product_type": "desktop",
+  "num_episodes": 2,
+  "started_at": "2026-04-08T17:11:51.330613",
+  "ended_at": "2026-04-08T17:14:14.873840",
+  "record_hz": 30
+}
\ No newline at end of file