diff --git a/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_18-30/outputs_tactile/tactile_cache/dag911262r00035d_lerobot_0327_114548_eef5969c/episodes/ep000099/gripper_right_tactile_force_metrics.json b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_18-30/outputs_tactile/tactile_cache/dag911262r00035d_lerobot_0327_114548_eef5969c/episodes/ep000099/gripper_right_tactile_force_metrics.json
new file mode 100644
index 0000000000000000000000000000000000000000..d2075f66bda37a7755168d3e71a05fb35da4fddf
--- /dev/null
+++ b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_18-30/outputs_tactile/tactile_cache/dag911262r00035d_lerobot_0327_114548_eef5969c/episodes/ep000099/gripper_right_tactile_force_metrics.json
@@ -0,0 +1,9 @@
+{
+  "depth_peak": 0.004202597308903933,
+  "shear_peak": 0.0034125412348657846,
+  "force_magnitude_peak": 0.005109436810016632,
+  "reference_frame_count": 0,
+  "dataset_name": "dag911262r00035d_lerobot_0327_114548",
+  "episode_index": 99,
+  "sensor": "gripper_right_tactile"
+}
\ No newline at end of file
diff --git a/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_18-30/outputs_tactile/tactile_cache/dag911262r00035d_lerobot_0327_114548_eef5969c/episodes/ep000100/gripper_left_tactile_force_metrics.json b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_18-30/outputs_tactile/tactile_cache/dag911262r00035d_lerobot_0327_114548_eef5969c/episodes/ep000100/gripper_left_tactile_force_metrics.json
new file mode 100644
index 0000000000000000000000000000000000000000..edcb730bad7a0c0afebfb5bb5aeec6e3b43629cc
--- /dev/null
+++ b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_18-30/outputs_tactile/tactile_cache/dag911262r00035d_lerobot_0327_114548_eef5969c/episodes/ep000100/gripper_left_tactile_force_metrics.json
@@ -0,0 +1,9 @@
+{
+  "depth_peak": 0.003673231229186058,
+  "shear_peak": 0.0030572102405130863,
+  "force_magnitude_peak": 0.004779033362865448,
+  "reference_frame_count": 0,
+  "dataset_name": "dag911262r00035d_lerobot_0327_114548",
+  "episode_index": 100,
+  "sensor": "gripper_left_tactile"
+}
\ No newline at end of file
diff --git a/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_18-30/outputs_tactile/tactile_cache/dag911262r00035d_lerobot_0327_114548_eef5969c/episodes/ep000197/gripper_left_tactile_force_metrics.json b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_18-30/outputs_tactile/tactile_cache/dag911262r00035d_lerobot_0327_114548_eef5969c/episodes/ep000197/gripper_left_tactile_force_metrics.json
new file mode 100644
index 0000000000000000000000000000000000000000..4ae1ba0011b9b37dafd3f36e9bf25b4a680b7a4f
--- /dev/null
+++ b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_18-30/outputs_tactile/tactile_cache/dag911262r00035d_lerobot_0327_114548_eef5969c/episodes/ep000197/gripper_left_tactile_force_metrics.json
@@ -0,0 +1,9 @@
+{
+  "depth_peak": 0.001326793571934104,
+  "shear_peak": 0.000634735100902617,
+  "force_magnitude_peak": 0.0013289188500493765,
+  "reference_frame_count": 0,
+  "dataset_name": "dag911262r00035d_lerobot_0327_114548",
+  "episode_index": 197,
+  "sensor": "gripper_left_tactile"
+}
\ No newline at end of file
diff --git a/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_18-30/outputs_tactile/tactile_cache/dag911262r00035d_lerobot_0327_114548_eef5969c/episodes/ep000268/gripper_left_tactile_force_metrics.json b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_18-30/outputs_tactile/tactile_cache/dag911262r00035d_lerobot_0327_114548_eef5969c/episodes/ep000268/gripper_left_tactile_force_metrics.json
new file mode 100644
index 0000000000000000000000000000000000000000..9206847c3b664664c4a409bf55d06555472cecdf
--- /dev/null
+++ b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_18-30/outputs_tactile/tactile_cache/dag911262r00035d_lerobot_0327_114548_eef5969c/episodes/ep000268/gripper_left_tactile_force_metrics.json
@@ -0,0 +1,9 @@
+{
+  "depth_peak": 0.0013066248502582312,
+  "shear_peak": 0.0016514859162271023,
+  "force_magnitude_peak": 0.00177089124917984,
+  "reference_frame_count": 0,
+  "dataset_name": "dag911262r00035d_lerobot_0327_114548",
+  "episode_index": 268,
+  "sensor": "gripper_left_tactile"
+}
\ No newline at end of file
diff --git a/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_18-30/outputs_tactile/tactile_cache/dag911262r00035d_lerobot_0327_114548_eef5969c/episodes/ep000297/gripper_left_tactile_force_metrics.json b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_18-30/outputs_tactile/tactile_cache/dag911262r00035d_lerobot_0327_114548_eef5969c/episodes/ep000297/gripper_left_tactile_force_metrics.json
new file mode 100644
index 0000000000000000000000000000000000000000..7d38915de0bcaf2ef7009ed097daf660fb4f20d1
--- /dev/null
+++ b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_18-30/outputs_tactile/tactile_cache/dag911262r00035d_lerobot_0327_114548_eef5969c/episodes/ep000297/gripper_left_tactile_force_metrics.json
@@ -0,0 +1,9 @@
+{
+  "depth_peak": 0.002123163314536214,
+  "shear_peak": 0.0018542016623541713,
+  "force_magnitude_peak": 0.002133303787559271,
+  "reference_frame_count": 0,
+  "dataset_name": "dag911262r00035d_lerobot_0327_114548",
+  "episode_index": 297,
+  "sensor": "gripper_left_tactile"
+}
\ No newline at end of file
diff --git a/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_18-30/outputs_tactile/tactile_cache/dag911262r00035d_lerobot_0327_114548_eef5969c/episodes/ep000317/gripper_left_tactile_force_metrics.json b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_18-30/outputs_tactile/tactile_cache/dag911262r00035d_lerobot_0327_114548_eef5969c/episodes/ep000317/gripper_left_tactile_force_metrics.json
new file mode 100644
index 0000000000000000000000000000000000000000..12dea3db15e60461ded581f3f8fb81e1cb8e08d0
--- /dev/null
+++ b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_18-30/outputs_tactile/tactile_cache/dag911262r00035d_lerobot_0327_114548_eef5969c/episodes/ep000317/gripper_left_tactile_force_metrics.json
@@ -0,0 +1,9 @@
+{
+  "depth_peak": 0.002714914968237281,
+  "shear_peak": 0.0034543105866760015,
+  "force_magnitude_peak": 0.003495721612125635,
+  "reference_frame_count": 0,
+  "dataset_name": "dag911262r00035d_lerobot_0327_114548",
+  "episode_index": 317,
+  "sensor": "gripper_left_tactile"
+}
\ No newline at end of file
diff --git a/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_18-30/outputs_tactile/tactile_cache/dag911262r00035d_lerobot_0327_114548_eef5969c/episodes/ep000328/gripper_right_tactile_force_metrics.json b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_18-30/outputs_tactile/tactile_cache/dag911262r00035d_lerobot_0327_114548_eef5969c/episodes/ep000328/gripper_right_tactile_force_metrics.json
new file mode 100644
index 0000000000000000000000000000000000000000..15d8bd8fdbee2fe2a8a56a13fbc959c56cec0e89
--- /dev/null
+++ b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_18-30/outputs_tactile/tactile_cache/dag911262r00035d_lerobot_0327_114548_eef5969c/episodes/ep000328/gripper_right_tactile_force_metrics.json
@@ -0,0 +1,9 @@
+{
+  "depth_peak": 0.004631667397916317,
+  "shear_peak": 0.003943740390241146,
+  "force_magnitude_peak": 0.005388404708355665,
+  "reference_frame_count": 0,
+  "dataset_name": "dag911262r00035d_lerobot_0327_114548",
+  "episode_index": 328,
+  "sensor": "gripper_right_tactile"
+}
\ No newline at end of file
diff --git a/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_18-30/outputs_tactile/tactile_cache/dag911262r00035d_lerobot_0327_114548_eef5969c/episodes/ep000383/gripper_right_tactile_force_metrics.json b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_18-30/outputs_tactile/tactile_cache/dag911262r00035d_lerobot_0327_114548_eef5969c/episodes/ep000383/gripper_right_tactile_force_metrics.json
new file mode 100644
index 0000000000000000000000000000000000000000..4cd897002f14e6ce886eed6127d3abb3813c8d7f
--- /dev/null
+++ b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_18-30/outputs_tactile/tactile_cache/dag911262r00035d_lerobot_0327_114548_eef5969c/episodes/ep000383/gripper_right_tactile_force_metrics.json
@@ -0,0 +1,9 @@
+{
+  "depth_peak": 0.005106138996779919,
+  "shear_peak": 0.004865154158324003,
+  "force_magnitude_peak": 0.007011453155428171,
+  "reference_frame_count": 0,
+  "dataset_name": "dag911262r00035d_lerobot_0327_114548",
+  "episode_index": 383,
+  "sensor": "gripper_right_tactile"
+}
\ No newline at end of file
diff --git a/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_18-30/outputs_tactile/tactile_cache/dag911262r00035d_lerobot_0327_114548_eef5969c/episodes/ep000417/gripper_left_tactile_force_metrics.json b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_18-30/outputs_tactile/tactile_cache/dag911262r00035d_lerobot_0327_114548_eef5969c/episodes/ep000417/gripper_left_tactile_force_metrics.json
new file mode 100644
index 0000000000000000000000000000000000000000..1e6844f98ca9ee965c93d36951dc67a5b3606b15
--- /dev/null
+++ b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_18-30/outputs_tactile/tactile_cache/dag911262r00035d_lerobot_0327_114548_eef5969c/episodes/ep000417/gripper_left_tactile_force_metrics.json
@@ -0,0 +1,9 @@
+{
+  "depth_peak": 0.001325796591117978,
+  "shear_peak": 0.001118370913900435,
+  "force_magnitude_peak": 0.0014844457618892193,
+  "reference_frame_count": 0,
+  "dataset_name": "dag911262r00035d_lerobot_0327_114548",
+  "episode_index": 417,
+  "sensor": "gripper_left_tactile"
+}
\ No newline at end of file
diff --git a/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_18-30/outputs_tactile/tactile_cache/dag911262r00035d_lerobot_0327_114548_eef5969c/episodes/ep000420/gripper_left_tactile_force_metrics.json b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_18-30/outputs_tactile/tactile_cache/dag911262r00035d_lerobot_0327_114548_eef5969c/episodes/ep000420/gripper_left_tactile_force_metrics.json
new file mode 100644
index 0000000000000000000000000000000000000000..dd1108f6b633ea3bad1aa5f11a81dcf9d43eca0f
--- /dev/null
+++ b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_18-30/outputs_tactile/tactile_cache/dag911262r00035d_lerobot_0327_114548_eef5969c/episodes/ep000420/gripper_left_tactile_force_metrics.json
@@ -0,0 +1,9 @@
+{
+  "depth_peak": 0.0014104139991104603,
+  "shear_peak": 0.001849943888373673,
+  "force_magnitude_peak": 0.002030449453741312,
+  "reference_frame_count": 0,
+  "dataset_name": "dag911262r00035d_lerobot_0327_114548",
+  "episode_index": 420,
+  "sensor": "gripper_left_tactile"
+}
\ No newline at end of file
diff --git a/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_18-30/outputs_tactile/tactile_cache/dag911262r00035d_lerobot_0327_114548_eef5969c/episodes/ep000457/gripper_left_tactile_force_metrics.json b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_18-30/outputs_tactile/tactile_cache/dag911262r00035d_lerobot_0327_114548_eef5969c/episodes/ep000457/gripper_left_tactile_force_metrics.json
new file mode 100644
index 0000000000000000000000000000000000000000..0e0b384e0f04d97e57cd33a1d54bf50b9310f8af
--- /dev/null
+++ b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_18-30/outputs_tactile/tactile_cache/dag911262r00035d_lerobot_0327_114548_eef5969c/episodes/ep000457/gripper_left_tactile_force_metrics.json
@@ -0,0 +1,9 @@
+{
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+  "shear_peak": 0.00172970921266824,
+  "force_magnitude_peak": 0.002395919756963849,
+  "reference_frame_count": 0,
+  "dataset_name": "dag911262r00035d_lerobot_0327_114548",
+  "episode_index": 457,
+  "sensor": "gripper_left_tactile"
+}
\ No newline at end of file
diff --git a/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_18-30/outputs_tactile/tactile_cache/dag911262r00035d_lerobot_0327_114548_eef5969c/episodes/ep000463/gripper_right_tactile_force_metrics.json b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_18-30/outputs_tactile/tactile_cache/dag911262r00035d_lerobot_0327_114548_eef5969c/episodes/ep000463/gripper_right_tactile_force_metrics.json
new file mode 100644
index 0000000000000000000000000000000000000000..7bd7121e2dfd172c06a21182bf3e6e410377fae5
--- /dev/null
+++ b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_18-30/outputs_tactile/tactile_cache/dag911262r00035d_lerobot_0327_114548_eef5969c/episodes/ep000463/gripper_right_tactile_force_metrics.json
@@ -0,0 +1,9 @@
+{
+  "depth_peak": 0.001768884714692831,
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+  "force_magnitude_peak": 0.006840315647423267,
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+  "dataset_name": "dag911262r00035d_lerobot_0327_114548",
+  "episode_index": 463,
+  "sensor": "gripper_right_tactile"
+}
\ No newline at end of file
diff --git a/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_18-30/outputs_tactile/tactile_cache/dag911262r00035d_lerobot_0327_114548_eef5969c/episodes/ep000468/gripper_right_tactile_force_metrics.json b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_18-30/outputs_tactile/tactile_cache/dag911262r00035d_lerobot_0327_114548_eef5969c/episodes/ep000468/gripper_right_tactile_force_metrics.json
new file mode 100644
index 0000000000000000000000000000000000000000..80c90c02281da06485afa0ab5f5f2f017487b6ce
--- /dev/null
+++ b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_18-30/outputs_tactile/tactile_cache/dag911262r00035d_lerobot_0327_114548_eef5969c/episodes/ep000468/gripper_right_tactile_force_metrics.json
@@ -0,0 +1,9 @@
+{
+  "depth_peak": 0.002204733435064554,
+  "shear_peak": 0.004255102016031742,
+  "force_magnitude_peak": 0.004530176054686308,
+  "reference_frame_count": 0,
+  "dataset_name": "dag911262r00035d_lerobot_0327_114548",
+  "episode_index": 468,
+  "sensor": "gripper_right_tactile"
+}
\ No newline at end of file
diff --git a/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_18-30/outputs_tactile/tactile_cache/dag911262r00035d_lerobot_0327_114548_eef5969c/episodes/ep000503/gripper_right_tactile_force_metrics.json b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_18-30/outputs_tactile/tactile_cache/dag911262r00035d_lerobot_0327_114548_eef5969c/episodes/ep000503/gripper_right_tactile_force_metrics.json
new file mode 100644
index 0000000000000000000000000000000000000000..b2fe67180710fa24411a151f850159eef69b7b09
--- /dev/null
+++ b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_18-30/outputs_tactile/tactile_cache/dag911262r00035d_lerobot_0327_114548_eef5969c/episodes/ep000503/gripper_right_tactile_force_metrics.json
@@ -0,0 +1,9 @@
+{
+  "depth_peak": 0.008694816380739212,
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+  "force_magnitude_peak": 0.008967281319200993,
+  "reference_frame_count": 0,
+  "dataset_name": "dag911262r00035d_lerobot_0327_114548",
+  "episode_index": 503,
+  "sensor": "gripper_right_tactile"
+}
\ No newline at end of file
diff --git a/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_18-30/outputs_tactile/tactile_cache/dag911262r00035d_lerobot_0327_114548_eef5969c/episodes/ep000508/gripper_right_tactile_force_metrics.json b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_18-30/outputs_tactile/tactile_cache/dag911262r00035d_lerobot_0327_114548_eef5969c/episodes/ep000508/gripper_right_tactile_force_metrics.json
new file mode 100644
index 0000000000000000000000000000000000000000..5063485c89bbab1de259e3d432ad96d6e50dec2e
--- /dev/null
+++ b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_18-30/outputs_tactile/tactile_cache/dag911262r00035d_lerobot_0327_114548_eef5969c/episodes/ep000508/gripper_right_tactile_force_metrics.json
@@ -0,0 +1,9 @@
+{
+  "depth_peak": 0.003687602933496237,
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+  "force_magnitude_peak": 0.003946567419916391,
+  "reference_frame_count": 0,
+  "dataset_name": "dag911262r00035d_lerobot_0327_114548",
+  "episode_index": 508,
+  "sensor": "gripper_right_tactile"
+}
\ No newline at end of file
diff --git a/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_18-30/outputs_tactile/tactile_cache/dag911262r00035d_lerobot_0327_114548_eef5969c/episodes/ep000510/gripper_right_tactile_force_metrics.json b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_18-30/outputs_tactile/tactile_cache/dag911262r00035d_lerobot_0327_114548_eef5969c/episodes/ep000510/gripper_right_tactile_force_metrics.json
new file mode 100644
index 0000000000000000000000000000000000000000..d2855c6147f79a7b77dcb742a0e9b4618665d54e
--- /dev/null
+++ b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_18-30/outputs_tactile/tactile_cache/dag911262r00035d_lerobot_0327_114548_eef5969c/episodes/ep000510/gripper_right_tactile_force_metrics.json
@@ -0,0 +1,9 @@
+{
+  "depth_peak": 0.005758359562605619,
+  "shear_peak": 0.004290975164622068,
+  "force_magnitude_peak": 0.006631519179791212,
+  "reference_frame_count": 0,
+  "dataset_name": "dag911262r00035d_lerobot_0327_114548",
+  "episode_index": 510,
+  "sensor": "gripper_right_tactile"
+}
\ No newline at end of file
diff --git a/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_18-30/outputs_tactile/tactile_cache/dag911262r00035d_lerobot_0327_114548_eef5969c/episodes/ep000528/gripper_right_tactile_force_metrics.json b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_18-30/outputs_tactile/tactile_cache/dag911262r00035d_lerobot_0327_114548_eef5969c/episodes/ep000528/gripper_right_tactile_force_metrics.json
new file mode 100644
index 0000000000000000000000000000000000000000..d7a6671634e17c0b7a0e7b515e09cfd8635353a1
--- /dev/null
+++ b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_18-30/outputs_tactile/tactile_cache/dag911262r00035d_lerobot_0327_114548_eef5969c/episodes/ep000528/gripper_right_tactile_force_metrics.json
@@ -0,0 +1,9 @@
+{
+  "depth_peak": 0.011803893372416496,
+  "shear_peak": 0.008823049254715443,
+  "force_magnitude_peak": 0.012482375837862492,
+  "reference_frame_count": 0,
+  "dataset_name": "dag911262r00035d_lerobot_0327_114548",
+  "episode_index": 528,
+  "sensor": "gripper_right_tactile"
+}
\ No newline at end of file
diff --git a/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_18-30/outputs_tactile/tactile_cache/dag911262r00035d_lerobot_0327_114548_eef5969c/episodes/ep000537/gripper_left_tactile_force_metrics.json b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_18-30/outputs_tactile/tactile_cache/dag911262r00035d_lerobot_0327_114548_eef5969c/episodes/ep000537/gripper_left_tactile_force_metrics.json
new file mode 100644
index 0000000000000000000000000000000000000000..5eeb0c1746aedef326b848df8411e698ea639afc
--- /dev/null
+++ b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_18-30/outputs_tactile/tactile_cache/dag911262r00035d_lerobot_0327_114548_eef5969c/episodes/ep000537/gripper_left_tactile_force_metrics.json
@@ -0,0 +1,9 @@
+{
+  "depth_peak": 0.003247383516281843,
+  "shear_peak": 0.002386000007390976,
+  "force_magnitude_peak": 0.0032772414851933718,
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+  "dataset_name": "dag911262r00035d_lerobot_0327_114548",
+  "episode_index": 537,
+  "sensor": "gripper_left_tactile"
+}
\ No newline at end of file
diff --git a/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_18-30/outputs_tactile/tactile_cache/dag911262r00035d_lerobot_0327_114548_eef5969c/episodes/ep000577/gripper_left_tactile_force_metrics.json b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_18-30/outputs_tactile/tactile_cache/dag911262r00035d_lerobot_0327_114548_eef5969c/episodes/ep000577/gripper_left_tactile_force_metrics.json
new file mode 100644
index 0000000000000000000000000000000000000000..20bc1ee3f88b819def0ad376595bc5e501dea517
--- /dev/null
+++ b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_18-30/outputs_tactile/tactile_cache/dag911262r00035d_lerobot_0327_114548_eef5969c/episodes/ep000577/gripper_left_tactile_force_metrics.json
@@ -0,0 +1,9 @@
+{
+  "depth_peak": 0.0008596372208558023,
+  "shear_peak": 0.001477507408708334,
+  "force_magnitude_peak": 0.001513838768005371,
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+  "dataset_name": "dag911262r00035d_lerobot_0327_114548",
+  "episode_index": 577,
+  "sensor": "gripper_left_tactile"
+}
\ No newline at end of file
diff --git a/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_18-30/outputs_tactile/tactile_cache/dag911262r00035d_lerobot_0327_114548_eef5969c/episodes/ep000590/gripper_right_tactile_force_metrics.json b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_18-30/outputs_tactile/tactile_cache/dag911262r00035d_lerobot_0327_114548_eef5969c/episodes/ep000590/gripper_right_tactile_force_metrics.json
new file mode 100644
index 0000000000000000000000000000000000000000..504ddcd1bbe2a176680674aa92f0dc0ece18a96c
--- /dev/null
+++ b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_18-30/outputs_tactile/tactile_cache/dag911262r00035d_lerobot_0327_114548_eef5969c/episodes/ep000590/gripper_right_tactile_force_metrics.json
@@ -0,0 +1,9 @@
+{
+  "depth_peak": 0.0076209851540625095,
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+  "force_magnitude_peak": 0.00762913329526782,
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+  "dataset_name": "dag911262r00035d_lerobot_0327_114548",
+  "episode_index": 590,
+  "sensor": "gripper_right_tactile"
+}
\ No newline at end of file
diff --git a/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_18-30/outputs_tactile/tactile_cache/dag911262r00035d_lerobot_0327_114548_eef5969c/episodes/ep000591/gripper_left_tactile_force_metrics.json b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_18-30/outputs_tactile/tactile_cache/dag911262r00035d_lerobot_0327_114548_eef5969c/episodes/ep000591/gripper_left_tactile_force_metrics.json
new file mode 100644
index 0000000000000000000000000000000000000000..171de2dc858c4e42baffeaab81eaa628a84a7c04
--- /dev/null
+++ b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_18-30/outputs_tactile/tactile_cache/dag911262r00035d_lerobot_0327_114548_eef5969c/episodes/ep000591/gripper_left_tactile_force_metrics.json
@@ -0,0 +1,9 @@
+{
+  "depth_peak": 0.0024038527626544237,
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+  "force_magnitude_peak": 0.002990725915879011,
+  "reference_frame_count": 0,
+  "dataset_name": "dag911262r00035d_lerobot_0327_114548",
+  "episode_index": 591,
+  "sensor": "gripper_left_tactile"
+}
\ No newline at end of file
diff --git a/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_18-30/outputs_tactile/tactile_cache/dag911262r00035d_lerobot_0327_114548_eef5969c/episodes/ep000608/gripper_right_tactile_force_metrics.json b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_18-30/outputs_tactile/tactile_cache/dag911262r00035d_lerobot_0327_114548_eef5969c/episodes/ep000608/gripper_right_tactile_force_metrics.json
new file mode 100644
index 0000000000000000000000000000000000000000..30736d2a5d9c29ffdc8ea598071e25e6d4e1e50f
--- /dev/null
+++ b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_18-30/outputs_tactile/tactile_cache/dag911262r00035d_lerobot_0327_114548_eef5969c/episodes/ep000608/gripper_right_tactile_force_metrics.json
@@ -0,0 +1,9 @@
+{
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+  "force_magnitude_peak": 0.009336353279650211,
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+  "dataset_name": "dag911262r00035d_lerobot_0327_114548",
+  "episode_index": 608,
+  "sensor": "gripper_right_tactile"
+}
\ No newline at end of file
diff --git a/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_18-30/outputs_tactile/tactile_cache/dag911262r00035d_lerobot_0327_114548_eef5969c/episodes/ep000631/gripper_left_tactile_force_metrics.json b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_18-30/outputs_tactile/tactile_cache/dag911262r00035d_lerobot_0327_114548_eef5969c/episodes/ep000631/gripper_left_tactile_force_metrics.json
new file mode 100644
index 0000000000000000000000000000000000000000..2a826809780e5635251f3a6ef1dc9b983c68930f
--- /dev/null
+++ b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_18-30/outputs_tactile/tactile_cache/dag911262r00035d_lerobot_0327_114548_eef5969c/episodes/ep000631/gripper_left_tactile_force_metrics.json
@@ -0,0 +1,9 @@
+{
+  "depth_peak": 0.005231330171227455,
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+  "force_magnitude_peak": 0.005243371706455946,
+  "reference_frame_count": 0,
+  "dataset_name": "dag911262r00035d_lerobot_0327_114548",
+  "episode_index": 631,
+  "sensor": "gripper_left_tactile"
+}
\ No newline at end of file
diff --git a/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_18-30/outputs_tactile/tactile_cache/dag911262r00035d_lerobot_0327_114548_eef5969c/episodes/ep000660/gripper_left_tactile_force_metrics.json b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_18-30/outputs_tactile/tactile_cache/dag911262r00035d_lerobot_0327_114548_eef5969c/episodes/ep000660/gripper_left_tactile_force_metrics.json
new file mode 100644
index 0000000000000000000000000000000000000000..d7a7ae0aaf5b49fe7fc25d4dcbaa1498de498e33
--- /dev/null
+++ b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_18-30/outputs_tactile/tactile_cache/dag911262r00035d_lerobot_0327_114548_eef5969c/episodes/ep000660/gripper_left_tactile_force_metrics.json
@@ -0,0 +1,9 @@
+{
+  "depth_peak": 0.007940692827105522,
+  "shear_peak": 0.0020643186289817095,
+  "force_magnitude_peak": 0.008052267134189606,
+  "reference_frame_count": 0,
+  "dataset_name": "dag911262r00035d_lerobot_0327_114548",
+  "episode_index": 660,
+  "sensor": "gripper_left_tactile"
+}
\ No newline at end of file
diff --git a/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_18-30/outputs_tactile/tactile_cache/dag911262r00035d_lerobot_0327_114548_eef5969c/episodes/ep000663/gripper_right_tactile_force_metrics.json b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_18-30/outputs_tactile/tactile_cache/dag911262r00035d_lerobot_0327_114548_eef5969c/episodes/ep000663/gripper_right_tactile_force_metrics.json
new file mode 100644
index 0000000000000000000000000000000000000000..6a852bd5da4c3f6e7215b70ffc0dadf902fcd4be
--- /dev/null
+++ b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_18-30/outputs_tactile/tactile_cache/dag911262r00035d_lerobot_0327_114548_eef5969c/episodes/ep000663/gripper_right_tactile_force_metrics.json
@@ -0,0 +1,9 @@
+{
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+  "force_magnitude_peak": 0.008175509050488472,
+  "reference_frame_count": 0,
+  "dataset_name": "dag911262r00035d_lerobot_0327_114548",
+  "episode_index": 663,
+  "sensor": "gripper_right_tactile"
+}
\ No newline at end of file
diff --git a/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_18-30/outputs_tactile/tactile_cache/dag911262r00035d_lerobot_0327_114548_eef5969c/episodes/ep000668/gripper_right_tactile_force_metrics.json b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_18-30/outputs_tactile/tactile_cache/dag911262r00035d_lerobot_0327_114548_eef5969c/episodes/ep000668/gripper_right_tactile_force_metrics.json
new file mode 100644
index 0000000000000000000000000000000000000000..b677d63cd679b58d000122413184b23f4adc1542
--- /dev/null
+++ b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_18-30/outputs_tactile/tactile_cache/dag911262r00035d_lerobot_0327_114548_eef5969c/episodes/ep000668/gripper_right_tactile_force_metrics.json
@@ -0,0 +1,9 @@
+{
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+  "force_magnitude_peak": 0.007225607056170702,
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+  "dataset_name": "dag911262r00035d_lerobot_0327_114548",
+  "episode_index": 668,
+  "sensor": "gripper_right_tactile"
+}
\ No newline at end of file
diff --git a/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_18-30/outputs_tactile/tactile_cache/dag911262r00035d_lerobot_0327_114548_eef5969c/episodes/ep000670/gripper_right_tactile_force_metrics.json b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_18-30/outputs_tactile/tactile_cache/dag911262r00035d_lerobot_0327_114548_eef5969c/episodes/ep000670/gripper_right_tactile_force_metrics.json
new file mode 100644
index 0000000000000000000000000000000000000000..63bbe62527f6815b11bc873ef4652a1730a24495
--- /dev/null
+++ b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_18-30/outputs_tactile/tactile_cache/dag911262r00035d_lerobot_0327_114548_eef5969c/episodes/ep000670/gripper_right_tactile_force_metrics.json
@@ -0,0 +1,9 @@
+{
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+  "dataset_name": "dag911262r00035d_lerobot_0327_114548",
+  "episode_index": 670,
+  "sensor": "gripper_right_tactile"
+}
\ No newline at end of file
diff --git a/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_18-30/outputs_tactile/tactile_cache/dag911262r00035d_lerobot_0327_114548_eef5969c/episodes/ep000697/gripper_left_tactile_force_metrics.json b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_18-30/outputs_tactile/tactile_cache/dag911262r00035d_lerobot_0327_114548_eef5969c/episodes/ep000697/gripper_left_tactile_force_metrics.json
new file mode 100644
index 0000000000000000000000000000000000000000..a2a33a68ff7eb060249b50abd9ac8ce5010173d0
--- /dev/null
+++ b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_18-30/outputs_tactile/tactile_cache/dag911262r00035d_lerobot_0327_114548_eef5969c/episodes/ep000697/gripper_left_tactile_force_metrics.json
@@ -0,0 +1,9 @@
+{
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+  "dataset_name": "dag911262r00035d_lerobot_0327_114548",
+  "episode_index": 697,
+  "sensor": "gripper_left_tactile"
+}
\ No newline at end of file
diff --git a/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_18-30/outputs_tactile/tactile_cache/dag911262r00035d_lerobot_0327_114548_eef5969c/episodes/ep000699/gripper_right_tactile_force_metrics.json b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_18-30/outputs_tactile/tactile_cache/dag911262r00035d_lerobot_0327_114548_eef5969c/episodes/ep000699/gripper_right_tactile_force_metrics.json
new file mode 100644
index 0000000000000000000000000000000000000000..e275aac6cce6fdc591c5ae523d09c1ef94efed84
--- /dev/null
+++ b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_18-30/outputs_tactile/tactile_cache/dag911262r00035d_lerobot_0327_114548_eef5969c/episodes/ep000699/gripper_right_tactile_force_metrics.json
@@ -0,0 +1,9 @@
+{
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+  "dataset_name": "dag911262r00035d_lerobot_0327_114548",
+  "episode_index": 699,
+  "sensor": "gripper_right_tactile"
+}
\ No newline at end of file
diff --git a/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_18-30/outputs_tactile/tactile_cache/dag911262r00035d_lerobot_0327_114548_eef5969c/episodes/ep000703/gripper_right_tactile_force_metrics.json b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_18-30/outputs_tactile/tactile_cache/dag911262r00035d_lerobot_0327_114548_eef5969c/episodes/ep000703/gripper_right_tactile_force_metrics.json
new file mode 100644
index 0000000000000000000000000000000000000000..4279c821038ccd9c8fe4fe25d9201a4853a3bc15
--- /dev/null
+++ b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_18-30/outputs_tactile/tactile_cache/dag911262r00035d_lerobot_0327_114548_eef5969c/episodes/ep000703/gripper_right_tactile_force_metrics.json
@@ -0,0 +1,9 @@
+{
+  "depth_peak": 0.006005783565342426,
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+  "dataset_name": "dag911262r00035d_lerobot_0327_114548",
+  "episode_index": 703,
+  "sensor": "gripper_right_tactile"
+}
\ No newline at end of file
diff --git a/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_18-30/outputs_tactile/tactile_cache/dag911262r00035d_lerobot_0327_114548_eef5969c/episodes/ep000708/gripper_right_tactile_force_metrics.json b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_18-30/outputs_tactile/tactile_cache/dag911262r00035d_lerobot_0327_114548_eef5969c/episodes/ep000708/gripper_right_tactile_force_metrics.json
new file mode 100644
index 0000000000000000000000000000000000000000..7ed5a8f0206d1b9f1fb6b2a8ccf7a7919054909b
--- /dev/null
+++ b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_18-30/outputs_tactile/tactile_cache/dag911262r00035d_lerobot_0327_114548_eef5969c/episodes/ep000708/gripper_right_tactile_force_metrics.json
@@ -0,0 +1,9 @@
+{
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+  "dataset_name": "dag911262r00035d_lerobot_0327_114548",
+  "episode_index": 708,
+  "sensor": "gripper_right_tactile"
+}
\ No newline at end of file
diff --git a/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_18-30/outputs_tactile/tactile_cache/dag911262r00035d_lerobot_0327_114548_eef5969c/episodes/ep000728/gripper_right_tactile_force_metrics.json b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_18-30/outputs_tactile/tactile_cache/dag911262r00035d_lerobot_0327_114548_eef5969c/episodes/ep000728/gripper_right_tactile_force_metrics.json
new file mode 100644
index 0000000000000000000000000000000000000000..5bb07f74edde8dc5a683febbd81b838d53ea0df1
--- /dev/null
+++ b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_18-30/outputs_tactile/tactile_cache/dag911262r00035d_lerobot_0327_114548_eef5969c/episodes/ep000728/gripper_right_tactile_force_metrics.json
@@ -0,0 +1,9 @@
+{
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+  "force_magnitude_peak": 0.017616260796785355,
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+  "dataset_name": "dag911262r00035d_lerobot_0327_114548",
+  "episode_index": 728,
+  "sensor": "gripper_right_tactile"
+}
\ No newline at end of file
diff --git a/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_18-30/outputs_tactile/tactile_cache/dag911262r00035d_lerobot_0327_114548_eef5969c/episodes/ep000737/gripper_left_tactile_force_metrics.json b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_18-30/outputs_tactile/tactile_cache/dag911262r00035d_lerobot_0327_114548_eef5969c/episodes/ep000737/gripper_left_tactile_force_metrics.json
new file mode 100644
index 0000000000000000000000000000000000000000..66cfaaec1a47755891a89f6f8404c5bde5268e6e
--- /dev/null
+++ b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_18-30/outputs_tactile/tactile_cache/dag911262r00035d_lerobot_0327_114548_eef5969c/episodes/ep000737/gripper_left_tactile_force_metrics.json
@@ -0,0 +1,9 @@
+{
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+  "force_magnitude_peak": 0.009086627513170242,
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+  "dataset_name": "dag911262r00035d_lerobot_0327_114548",
+  "episode_index": 737,
+  "sensor": "gripper_left_tactile"
+}
\ No newline at end of file
diff --git a/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_18-30/outputs_tactile/tactile_cache/dag911262r000448_lerobot_0327_114548_8921b312/episodes/ep000016/gripper_right_tactile_force_metrics.json b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_18-30/outputs_tactile/tactile_cache/dag911262r000448_lerobot_0327_114548_8921b312/episodes/ep000016/gripper_right_tactile_force_metrics.json
new file mode 100644
index 0000000000000000000000000000000000000000..8aa443a52b61fb92265880fccd82a4b68a0fc042
--- /dev/null
+++ b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_18-30/outputs_tactile/tactile_cache/dag911262r000448_lerobot_0327_114548_8921b312/episodes/ep000016/gripper_right_tactile_force_metrics.json
@@ -0,0 +1,9 @@
+{
+  "depth_peak": 0.0031395647674798965,
+  "shear_peak": 0.00288142217323184,
+  "force_magnitude_peak": 0.0034381470177322626,
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+  "dataset_name": "dag911262r000448_lerobot_0327_114548",
+  "episode_index": 16,
+  "sensor": "gripper_right_tactile"
+}
\ No newline at end of file
diff --git a/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_18-30/outputs_tactile/tactile_cache/dag911262r000448_lerobot_0327_114548_8921b312/episodes/ep000046/gripper_left_tactile_force_metrics.json b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_18-30/outputs_tactile/tactile_cache/dag911262r000448_lerobot_0327_114548_8921b312/episodes/ep000046/gripper_left_tactile_force_metrics.json
new file mode 100644
index 0000000000000000000000000000000000000000..da5e9da536752b26a659939801ea722df72d19f8
--- /dev/null
+++ b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_18-30/outputs_tactile/tactile_cache/dag911262r000448_lerobot_0327_114548_8921b312/episodes/ep000046/gripper_left_tactile_force_metrics.json
@@ -0,0 +1,9 @@
+{
+  "depth_peak": 0.0024200687184929848,
+  "shear_peak": 0.0032439890783280134,
+  "force_magnitude_peak": 0.003859321353957057,
+  "reference_frame_count": 0,
+  "dataset_name": "dag911262r000448_lerobot_0327_114548",
+  "episode_index": 46,
+  "sensor": "gripper_left_tactile"
+}
\ No newline at end of file
diff --git a/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_18-30/outputs_tactile/tactile_cache/dag911262r000448_lerobot_0327_114548_8921b312/episodes/ep000101/gripper_left_tactile_force_metrics.json b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_18-30/outputs_tactile/tactile_cache/dag911262r000448_lerobot_0327_114548_8921b312/episodes/ep000101/gripper_left_tactile_force_metrics.json
new file mode 100644
index 0000000000000000000000000000000000000000..3e9876ad3a6b32e783a212a3ce7c641bab3673a6
--- /dev/null
+++ b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_18-30/outputs_tactile/tactile_cache/dag911262r000448_lerobot_0327_114548_8921b312/episodes/ep000101/gripper_left_tactile_force_metrics.json
@@ -0,0 +1,9 @@
+{
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+  "force_magnitude_peak": 0.004789950791746378,
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+  "dataset_name": "dag911262r000448_lerobot_0327_114548",
+  "episode_index": 101,
+  "sensor": "gripper_left_tactile"
+}
\ No newline at end of file
diff --git a/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_18-30/outputs_tactile/tactile_cache/dag911262r000448_lerobot_0327_114548_8921b312/episodes/ep000123/gripper_right_tactile_force_metrics.json b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_18-30/outputs_tactile/tactile_cache/dag911262r000448_lerobot_0327_114548_8921b312/episodes/ep000123/gripper_right_tactile_force_metrics.json
new file mode 100644
index 0000000000000000000000000000000000000000..f070f3d47227ef09dc88b4e12539cbbaff9db5f8
--- /dev/null
+++ b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_18-30/outputs_tactile/tactile_cache/dag911262r000448_lerobot_0327_114548_8921b312/episodes/ep000123/gripper_right_tactile_force_metrics.json
@@ -0,0 +1,9 @@
+{
+  "depth_peak": 0.0012584273936226964,
+  "shear_peak": 0.00397017877548933,
+  "force_magnitude_peak": 0.004671652801334858,
+  "reference_frame_count": 0,
+  "dataset_name": "dag911262r000448_lerobot_0327_114548",
+  "episode_index": 123,
+  "sensor": "gripper_right_tactile"
+}
\ No newline at end of file
diff --git a/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_18-30/outputs_tactile/tactile_cache/dag911262r000448_lerobot_0327_114548_8921b312/episodes/ep000135/gripper_left_tactile_force_metrics.json b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_18-30/outputs_tactile/tactile_cache/dag911262r000448_lerobot_0327_114548_8921b312/episodes/ep000135/gripper_left_tactile_force_metrics.json
new file mode 100644
index 0000000000000000000000000000000000000000..c1240ce9b492e8d0de6f59cff2470ba0a13d1ac9
--- /dev/null
+++ b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_18-30/outputs_tactile/tactile_cache/dag911262r000448_lerobot_0327_114548_8921b312/episodes/ep000135/gripper_left_tactile_force_metrics.json
@@ -0,0 +1,9 @@
+{
+  "depth_peak": 0.003319656942039728,
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+  "force_magnitude_peak": 0.0035018788184970617,
+  "reference_frame_count": 0,
+  "dataset_name": "dag911262r000448_lerobot_0327_114548",
+  "episode_index": 135,
+  "sensor": "gripper_left_tactile"
+}
\ No newline at end of file
diff --git a/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_18-30/outputs_tactile/tactile_cache/dag911262r000448_lerobot_0327_114548_8921b312/episodes/ep000140/gripper_left_tactile_force_metrics.json b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_18-30/outputs_tactile/tactile_cache/dag911262r000448_lerobot_0327_114548_8921b312/episodes/ep000140/gripper_left_tactile_force_metrics.json
new file mode 100644
index 0000000000000000000000000000000000000000..469ae5dd7a0b06bb86100127d00519d702b8cc24
--- /dev/null
+++ b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_18-30/outputs_tactile/tactile_cache/dag911262r000448_lerobot_0327_114548_8921b312/episodes/ep000140/gripper_left_tactile_force_metrics.json
@@ -0,0 +1,9 @@
+{
+  "depth_peak": 0.001888819970190525,
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+  "force_magnitude_peak": 0.002304608700796962,
+  "reference_frame_count": 0,
+  "dataset_name": "dag911262r000448_lerobot_0327_114548",
+  "episode_index": 140,
+  "sensor": "gripper_left_tactile"
+}
\ No newline at end of file
diff --git a/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_18-30/outputs_tactile/tactile_cache/dag911262r000448_lerobot_0327_114548_8921b312/episodes/ep000145/gripper_right_tactile_force_metrics.json b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_18-30/outputs_tactile/tactile_cache/dag911262r000448_lerobot_0327_114548_8921b312/episodes/ep000145/gripper_right_tactile_force_metrics.json
new file mode 100644
index 0000000000000000000000000000000000000000..d491e387c04c91c19ea6af3c3de8fc477b248c3d
--- /dev/null
+++ b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_18-30/outputs_tactile/tactile_cache/dag911262r000448_lerobot_0327_114548_8921b312/episodes/ep000145/gripper_right_tactile_force_metrics.json
@@ -0,0 +1,9 @@
+{
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+  "force_magnitude_peak": 0.003032864071428776,
+  "reference_frame_count": 0,
+  "dataset_name": "dag911262r000448_lerobot_0327_114548",
+  "episode_index": 145,
+  "sensor": "gripper_right_tactile"
+}
\ No newline at end of file
diff --git a/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_18-30/outputs_tactile/tactile_cache/dag911262r000448_lerobot_0327_114548_8921b312/episodes/ep000147/gripper_right_tactile_force_metrics.json b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_18-30/outputs_tactile/tactile_cache/dag911262r000448_lerobot_0327_114548_8921b312/episodes/ep000147/gripper_right_tactile_force_metrics.json
new file mode 100644
index 0000000000000000000000000000000000000000..1cc5f942224d8c49c1ad2b12931a50469ca77f56
--- /dev/null
+++ b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_18-30/outputs_tactile/tactile_cache/dag911262r000448_lerobot_0327_114548_8921b312/episodes/ep000147/gripper_right_tactile_force_metrics.json
@@ -0,0 +1,9 @@
+{
+  "depth_peak": 0.00263940985314548,
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+  "force_magnitude_peak": 0.003204562235623598,
+  "reference_frame_count": 0,
+  "dataset_name": "dag911262r000448_lerobot_0327_114548",
+  "episode_index": 147,
+  "sensor": "gripper_right_tactile"
+}
\ No newline at end of file
diff --git a/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_18-30/outputs_tactile/tactile_cache/dag911262r000448_lerobot_0327_114548_8921b312/episodes/ep000175/gripper_left_tactile_force_metrics.json b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_18-30/outputs_tactile/tactile_cache/dag911262r000448_lerobot_0327_114548_8921b312/episodes/ep000175/gripper_left_tactile_force_metrics.json
new file mode 100644
index 0000000000000000000000000000000000000000..d67822c2387477133a4e191d7f04ea2600744e07
--- /dev/null
+++ b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_18-30/outputs_tactile/tactile_cache/dag911262r000448_lerobot_0327_114548_8921b312/episodes/ep000175/gripper_left_tactile_force_metrics.json
@@ -0,0 +1,9 @@
+{
+  "depth_peak": 0.004712371621280909,
+  "shear_peak": 0.0036212068516761065,
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+  "reference_frame_count": 0,
+  "dataset_name": "dag911262r000448_lerobot_0327_114548",
+  "episode_index": 175,
+  "sensor": "gripper_left_tactile"
+}
\ No newline at end of file
diff --git a/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_18-30/outputs_tactile/tactile_cache/dag911262r000448_lerobot_0327_114548_8921b312/episodes/ep000177/gripper_left_tactile_force_metrics.json b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_18-30/outputs_tactile/tactile_cache/dag911262r000448_lerobot_0327_114548_8921b312/episodes/ep000177/gripper_left_tactile_force_metrics.json
new file mode 100644
index 0000000000000000000000000000000000000000..1645140a60dfa89fd6e4ab052845dca64ac599b3
--- /dev/null
+++ b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_18-30/outputs_tactile/tactile_cache/dag911262r000448_lerobot_0327_114548_8921b312/episodes/ep000177/gripper_left_tactile_force_metrics.json
@@ -0,0 +1,9 @@
+{
+  "depth_peak": 0.005722683388739824,
+  "shear_peak": 0.0036278516054153442,
+  "force_magnitude_peak": 0.006100069265812635,
+  "reference_frame_count": 0,
+  "dataset_name": "dag911262r000448_lerobot_0327_114548",
+  "episode_index": 177,
+  "sensor": "gripper_left_tactile"
+}
\ No newline at end of file
diff --git a/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_18-30/outputs_tactile/tactile_cache/dag911262r000448_lerobot_0327_114548_8921b312/episodes/ep000183/gripper_right_tactile_force_metrics.json b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_18-30/outputs_tactile/tactile_cache/dag911262r000448_lerobot_0327_114548_8921b312/episodes/ep000183/gripper_right_tactile_force_metrics.json
new file mode 100644
index 0000000000000000000000000000000000000000..4b80f2342c7a67d787b75199e0d468dccd58836d
--- /dev/null
+++ b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_18-30/outputs_tactile/tactile_cache/dag911262r000448_lerobot_0327_114548_8921b312/episodes/ep000183/gripper_right_tactile_force_metrics.json
@@ -0,0 +1,9 @@
+{
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+  "dataset_name": "dag911262r000448_lerobot_0327_114548",
+  "episode_index": 183,
+  "sensor": "gripper_right_tactile"
+}
\ No newline at end of file
diff --git a/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_18-30/outputs_tactile/tactile_cache/dag911262r000448_lerobot_0327_114548_8921b312/episodes/ep000185/gripper_right_tactile_force_metrics.json b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_18-30/outputs_tactile/tactile_cache/dag911262r000448_lerobot_0327_114548_8921b312/episodes/ep000185/gripper_right_tactile_force_metrics.json
new file mode 100644
index 0000000000000000000000000000000000000000..2ce0cb6add62e2dc1fc0f6e616218765886269bf
--- /dev/null
+++ b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_18-30/outputs_tactile/tactile_cache/dag911262r000448_lerobot_0327_114548_8921b312/episodes/ep000185/gripper_right_tactile_force_metrics.json
@@ -0,0 +1,9 @@
+{
+  "depth_peak": 0.006746775470674038,
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+  "dataset_name": "dag911262r000448_lerobot_0327_114548",
+  "episode_index": 185,
+  "sensor": "gripper_right_tactile"
+}
\ No newline at end of file
diff --git a/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_18-30/outputs_tactile/tactile_cache/dag911262r000448_lerobot_0327_114548_8921b312/episodes/ep000203/gripper_right_tactile_force_metrics.json b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_18-30/outputs_tactile/tactile_cache/dag911262r000448_lerobot_0327_114548_8921b312/episodes/ep000203/gripper_right_tactile_force_metrics.json
new file mode 100644
index 0000000000000000000000000000000000000000..96f6a4d7e598a8d563f743a0485a4199313f5080
--- /dev/null
+++ b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_18-30/outputs_tactile/tactile_cache/dag911262r000448_lerobot_0327_114548_8921b312/episodes/ep000203/gripper_right_tactile_force_metrics.json
@@ -0,0 +1,9 @@
+{
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+  "dataset_name": "dag911262r000448_lerobot_0327_114548",
+  "episode_index": 203,
+  "sensor": "gripper_right_tactile"
+}
\ No newline at end of file
diff --git a/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_18-30/outputs_tactile/tactile_cache/dag911262r000448_lerobot_0327_114548_8921b312/episodes/ep000206/gripper_left_tactile_force_metrics.json b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_18-30/outputs_tactile/tactile_cache/dag911262r000448_lerobot_0327_114548_8921b312/episodes/ep000206/gripper_left_tactile_force_metrics.json
new file mode 100644
index 0000000000000000000000000000000000000000..ad70adaf3c452c57b8863727f4c9553dea0b3d9b
--- /dev/null
+++ b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_18-30/outputs_tactile/tactile_cache/dag911262r000448_lerobot_0327_114548_8921b312/episodes/ep000206/gripper_left_tactile_force_metrics.json
@@ -0,0 +1,9 @@
+{
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+  "dataset_name": "dag911262r000448_lerobot_0327_114548",
+  "episode_index": 206,
+  "sensor": "gripper_left_tactile"
+}
\ No newline at end of file
diff --git a/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_18-30/outputs_tactile/tactile_cache/dag911262r000448_lerobot_0327_114548_8921b312/episodes/ep000220/gripper_left_tactile_force_metrics.json b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_18-30/outputs_tactile/tactile_cache/dag911262r000448_lerobot_0327_114548_8921b312/episodes/ep000220/gripper_left_tactile_force_metrics.json
new file mode 100644
index 0000000000000000000000000000000000000000..49ded85a39191d07429594dba2bb9111eb41af5e
--- /dev/null
+++ b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_18-30/outputs_tactile/tactile_cache/dag911262r000448_lerobot_0327_114548_8921b312/episodes/ep000220/gripper_left_tactile_force_metrics.json
@@ -0,0 +1,9 @@
+{
+  "depth_peak": 0.005481068976223469,
+  "shear_peak": 0.003962810151278973,
+  "force_magnitude_peak": 0.0066667539067566395,
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+  "dataset_name": "dag911262r000448_lerobot_0327_114548",
+  "episode_index": 220,
+  "sensor": "gripper_left_tactile"
+}
\ No newline at end of file
diff --git a/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_18-30/outputs_tactile/tactile_cache/dag911262r000448_lerobot_0327_114548_8921b312/episodes/ep000221/gripper_left_tactile_force_metrics.json b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_18-30/outputs_tactile/tactile_cache/dag911262r000448_lerobot_0327_114548_8921b312/episodes/ep000221/gripper_left_tactile_force_metrics.json
new file mode 100644
index 0000000000000000000000000000000000000000..cd33221a0734dd8f1f989d223915619f4c4803d1
--- /dev/null
+++ b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_18-30/outputs_tactile/tactile_cache/dag911262r000448_lerobot_0327_114548_8921b312/episodes/ep000221/gripper_left_tactile_force_metrics.json
@@ -0,0 +1,9 @@
+{
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+  "dataset_name": "dag911262r000448_lerobot_0327_114548",
+  "episode_index": 221,
+  "sensor": "gripper_left_tactile"
+}
\ No newline at end of file
diff --git a/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_18-30/outputs_tactile/tactile_cache/dag911262r000448_lerobot_0327_114548_8921b312/episodes/ep000243/gripper_right_tactile_force_metrics.json b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_18-30/outputs_tactile/tactile_cache/dag911262r000448_lerobot_0327_114548_8921b312/episodes/ep000243/gripper_right_tactile_force_metrics.json
new file mode 100644
index 0000000000000000000000000000000000000000..cb18b95c3295ee1c0dfd82aedcd02b32051687f7
--- /dev/null
+++ b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_18-30/outputs_tactile/tactile_cache/dag911262r000448_lerobot_0327_114548_8921b312/episodes/ep000243/gripper_right_tactile_force_metrics.json
@@ -0,0 +1,9 @@
+{
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+  "force_magnitude_peak": 0.008513577282428741,
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+  "dataset_name": "dag911262r000448_lerobot_0327_114548",
+  "episode_index": 243,
+  "sensor": "gripper_right_tactile"
+}
\ No newline at end of file
diff --git a/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_18-30/outputs_tactile/tactile_cache/dag911262r000448_lerobot_0327_114548_8921b312/episodes/ep000246/gripper_left_tactile_force_metrics.json b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_18-30/outputs_tactile/tactile_cache/dag911262r000448_lerobot_0327_114548_8921b312/episodes/ep000246/gripper_left_tactile_force_metrics.json
new file mode 100644
index 0000000000000000000000000000000000000000..35cdce4d3c1b9b6a0702d4d7022c24e3cd70c680
--- /dev/null
+++ b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_18-30/outputs_tactile/tactile_cache/dag911262r000448_lerobot_0327_114548_8921b312/episodes/ep000246/gripper_left_tactile_force_metrics.json
@@ -0,0 +1,9 @@
+{
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+  "force_magnitude_peak": 0.0035397172905504704,
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+  "dataset_name": "dag911262r000448_lerobot_0327_114548",
+  "episode_index": 246,
+  "sensor": "gripper_left_tactile"
+}
\ No newline at end of file
diff --git a/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_18-30/outputs_tactile/tactile_cache/dag911262r000448_lerobot_0327_114548_8921b312/episodes/ep000256/gripper_right_tactile_force_metrics.json b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_18-30/outputs_tactile/tactile_cache/dag911262r000448_lerobot_0327_114548_8921b312/episodes/ep000256/gripper_right_tactile_force_metrics.json
new file mode 100644
index 0000000000000000000000000000000000000000..75042bde05faddf35c0827b3b3fb2d01cb5efd38
--- /dev/null
+++ b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_18-30/outputs_tactile/tactile_cache/dag911262r000448_lerobot_0327_114548_8921b312/episodes/ep000256/gripper_right_tactile_force_metrics.json
@@ -0,0 +1,9 @@
+{
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+  "force_magnitude_peak": 0.004454071167856455,
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+  "dataset_name": "dag911262r000448_lerobot_0327_114548",
+  "episode_index": 256,
+  "sensor": "gripper_right_tactile"
+}
\ No newline at end of file
diff --git a/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_18-30/outputs_tactile/tactile_cache/dag911262r000448_lerobot_0327_114548_8921b312/episodes/ep000257/gripper_left_tactile_force_metrics.json b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_18-30/outputs_tactile/tactile_cache/dag911262r000448_lerobot_0327_114548_8921b312/episodes/ep000257/gripper_left_tactile_force_metrics.json
new file mode 100644
index 0000000000000000000000000000000000000000..358a489206ff1db2c067fed95c22663704c79017
--- /dev/null
+++ b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_18-30/outputs_tactile/tactile_cache/dag911262r000448_lerobot_0327_114548_8921b312/episodes/ep000257/gripper_left_tactile_force_metrics.json
@@ -0,0 +1,9 @@
+{
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+  "shear_peak": 0.005120828282088041,
+  "force_magnitude_peak": 0.005301683209836483,
+  "reference_frame_count": 0,
+  "dataset_name": "dag911262r000448_lerobot_0327_114548",
+  "episode_index": 257,
+  "sensor": "gripper_left_tactile"
+}
\ No newline at end of file
diff --git a/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_18-30/outputs_tactile/tactile_cache/dag911262r000448_lerobot_0327_114548_8921b312/episodes/ep000283/gripper_right_tactile_force_metrics.json b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_18-30/outputs_tactile/tactile_cache/dag911262r000448_lerobot_0327_114548_8921b312/episodes/ep000283/gripper_right_tactile_force_metrics.json
new file mode 100644
index 0000000000000000000000000000000000000000..3432639a940d2433baf5b777c6f5f52324ead490
--- /dev/null
+++ b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_18-30/outputs_tactile/tactile_cache/dag911262r000448_lerobot_0327_114548_8921b312/episodes/ep000283/gripper_right_tactile_force_metrics.json
@@ -0,0 +1,9 @@
+{
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+  "shear_peak": 0.004775429144501686,
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+  "dataset_name": "dag911262r000448_lerobot_0327_114548",
+  "episode_index": 283,
+  "sensor": "gripper_right_tactile"
+}
\ No newline at end of file
diff --git a/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_18-30/outputs_tactile/tactile_cache/dag911262r000448_lerobot_0327_114548_8921b312/episodes/ep000303/gripper_right_tactile_force_metrics.json b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_18-30/outputs_tactile/tactile_cache/dag911262r000448_lerobot_0327_114548_8921b312/episodes/ep000303/gripper_right_tactile_force_metrics.json
new file mode 100644
index 0000000000000000000000000000000000000000..5907a456d9b897d8433f76c0981531d482ec8f80
--- /dev/null
+++ b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_18-30/outputs_tactile/tactile_cache/dag911262r000448_lerobot_0327_114548_8921b312/episodes/ep000303/gripper_right_tactile_force_metrics.json
@@ -0,0 +1,9 @@
+{
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+  "dataset_name": "dag911262r000448_lerobot_0327_114548",
+  "episode_index": 303,
+  "sensor": "gripper_right_tactile"
+}
\ No newline at end of file
diff --git a/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_18-30/outputs_tactile/tactile_cache/dag911262r000448_lerobot_0327_114548_8921b312/episodes/ep000305/gripper_right_tactile_force_metrics.json b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_18-30/outputs_tactile/tactile_cache/dag911262r000448_lerobot_0327_114548_8921b312/episodes/ep000305/gripper_right_tactile_force_metrics.json
new file mode 100644
index 0000000000000000000000000000000000000000..8bd7e5023497216eb805363a62f4e29ece4b2aa2
--- /dev/null
+++ b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_18-30/outputs_tactile/tactile_cache/dag911262r000448_lerobot_0327_114548_8921b312/episodes/ep000305/gripper_right_tactile_force_metrics.json
@@ -0,0 +1,9 @@
+{
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+  "dataset_name": "dag911262r000448_lerobot_0327_114548",
+  "episode_index": 305,
+  "sensor": "gripper_right_tactile"
+}
\ No newline at end of file
diff --git a/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_18-30/outputs_tactile/tactile_cache/dag911262r00054f_lerobot_0327_114548_987d65d4/episodes/ep000123/gripper_right_tactile_force_metrics.json b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_18-30/outputs_tactile/tactile_cache/dag911262r00054f_lerobot_0327_114548_987d65d4/episodes/ep000123/gripper_right_tactile_force_metrics.json
new file mode 100644
index 0000000000000000000000000000000000000000..42fec9860887c3a9a4a22f1be3ccbe9a9d392107
--- /dev/null
+++ b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_18-30/outputs_tactile/tactile_cache/dag911262r00054f_lerobot_0327_114548_987d65d4/episodes/ep000123/gripper_right_tactile_force_metrics.json
@@ -0,0 +1,9 @@
+{
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+  "dataset_name": "dag911262r00054f_lerobot_0327_114548",
+  "episode_index": 123,
+  "sensor": "gripper_right_tactile"
+}
\ No newline at end of file
diff --git a/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_18-30/outputs_tactile/tactile_cache/dag911262r00054f_lerobot_0327_114548_987d65d4/episodes/ep000137/gripper_left_tactile_force_metrics.json b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_18-30/outputs_tactile/tactile_cache/dag911262r00054f_lerobot_0327_114548_987d65d4/episodes/ep000137/gripper_left_tactile_force_metrics.json
new file mode 100644
index 0000000000000000000000000000000000000000..02ccf0a5c3b28466696c8c4debc4a79754a97750
--- /dev/null
+++ b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_18-30/outputs_tactile/tactile_cache/dag911262r00054f_lerobot_0327_114548_987d65d4/episodes/ep000137/gripper_left_tactile_force_metrics.json
@@ -0,0 +1,9 @@
+{
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+  "dataset_name": "dag911262r00054f_lerobot_0327_114548",
+  "episode_index": 137,
+  "sensor": "gripper_left_tactile"
+}
\ No newline at end of file
diff --git a/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_18-30/outputs_tactile/tactile_cache/dag911262r00054f_lerobot_0327_114548_987d65d4/episodes/ep000176/gripper_right_tactile_force_metrics.json b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_18-30/outputs_tactile/tactile_cache/dag911262r00054f_lerobot_0327_114548_987d65d4/episodes/ep000176/gripper_right_tactile_force_metrics.json
new file mode 100644
index 0000000000000000000000000000000000000000..f7333541222a75b0f003e5ea8233a091bb811774
--- /dev/null
+++ b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_18-30/outputs_tactile/tactile_cache/dag911262r00054f_lerobot_0327_114548_987d65d4/episodes/ep000176/gripper_right_tactile_force_metrics.json
@@ -0,0 +1,9 @@
+{
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+  "dataset_name": "dag911262r00054f_lerobot_0327_114548",
+  "episode_index": 176,
+  "sensor": "gripper_right_tactile"
+}
\ No newline at end of file
diff --git a/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_18-30/outputs_tactile/tactile_cache/dag911262r00054f_lerobot_0327_114548_987d65d4/episodes/ep000188/gripper_right_tactile_force_metrics.json b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_18-30/outputs_tactile/tactile_cache/dag911262r00054f_lerobot_0327_114548_987d65d4/episodes/ep000188/gripper_right_tactile_force_metrics.json
new file mode 100644
index 0000000000000000000000000000000000000000..f9587ffebde487113f434290cfa26de64b107849
--- /dev/null
+++ b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_18-30/outputs_tactile/tactile_cache/dag911262r00054f_lerobot_0327_114548_987d65d4/episodes/ep000188/gripper_right_tactile_force_metrics.json
@@ -0,0 +1,9 @@
+{
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+  "dataset_name": "dag911262r00054f_lerobot_0327_114548",
+  "episode_index": 188,
+  "sensor": "gripper_right_tactile"
+}
\ No newline at end of file
diff --git a/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_18-30/outputs_tactile/tactile_cache/dag911262r00054f_lerobot_0327_114548_987d65d4/episodes/ep000228/gripper_right_tactile_force_metrics.json b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_18-30/outputs_tactile/tactile_cache/dag911262r00054f_lerobot_0327_114548_987d65d4/episodes/ep000228/gripper_right_tactile_force_metrics.json
new file mode 100644
index 0000000000000000000000000000000000000000..697c32bdd338fc032f949a94b2b5e39307700186
--- /dev/null
+++ b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_18-30/outputs_tactile/tactile_cache/dag911262r00054f_lerobot_0327_114548_987d65d4/episodes/ep000228/gripper_right_tactile_force_metrics.json
@@ -0,0 +1,9 @@
+{
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+  "dataset_name": "dag911262r00054f_lerobot_0327_114548",
+  "episode_index": 228,
+  "sensor": "gripper_right_tactile"
+}
\ No newline at end of file
diff --git a/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_18-30/outputs_tactile/tactile_cache/dag911262r00054f_lerobot_0327_114548_987d65d4/episodes/ep000268/gripper_right_tactile_force_metrics.json b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_18-30/outputs_tactile/tactile_cache/dag911262r00054f_lerobot_0327_114548_987d65d4/episodes/ep000268/gripper_right_tactile_force_metrics.json
new file mode 100644
index 0000000000000000000000000000000000000000..fabc442a05d883da59cfe665bf497c4bd4b6bb11
--- /dev/null
+++ b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_18-30/outputs_tactile/tactile_cache/dag911262r00054f_lerobot_0327_114548_987d65d4/episodes/ep000268/gripper_right_tactile_force_metrics.json
@@ -0,0 +1,9 @@
+{
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+  "dataset_name": "dag911262r00054f_lerobot_0327_114548",
+  "episode_index": 268,
+  "sensor": "gripper_right_tactile"
+}
\ No newline at end of file
diff --git a/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_18-30/outputs_tactile/tactile_cache/dag911262r00054f_lerobot_0327_114548_987d65d4/episodes/ep000294/gripper_left_tactile_force_metrics.json b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_18-30/outputs_tactile/tactile_cache/dag911262r00054f_lerobot_0327_114548_987d65d4/episodes/ep000294/gripper_left_tactile_force_metrics.json
new file mode 100644
index 0000000000000000000000000000000000000000..1e7e48d878ca9c36c40c3ca8b73b9e5302383a24
--- /dev/null
+++ b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_18-30/outputs_tactile/tactile_cache/dag911262r00054f_lerobot_0327_114548_987d65d4/episodes/ep000294/gripper_left_tactile_force_metrics.json
@@ -0,0 +1,9 @@
+{
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+  "dataset_name": "dag911262r00054f_lerobot_0327_114548",
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+  "sensor": "gripper_left_tactile"
+}
\ No newline at end of file
diff --git a/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_18-30/outputs_tactile/tactile_cache/dag911262r00054f_lerobot_0327_114548_987d65d4/episodes/ep000336/gripper_right_tactile_force_metrics.json b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_18-30/outputs_tactile/tactile_cache/dag911262r00054f_lerobot_0327_114548_987d65d4/episodes/ep000336/gripper_right_tactile_force_metrics.json
new file mode 100644
index 0000000000000000000000000000000000000000..15191ad6a390c9adfb4afd13e96906112ca27752
--- /dev/null
+++ b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_18-30/outputs_tactile/tactile_cache/dag911262r00054f_lerobot_0327_114548_987d65d4/episodes/ep000336/gripper_right_tactile_force_metrics.json
@@ -0,0 +1,9 @@
+{
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+  "dataset_name": "dag911262r00054f_lerobot_0327_114548",
+  "episode_index": 336,
+  "sensor": "gripper_right_tactile"
+}
\ No newline at end of file
diff --git a/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_18-30/outputs_tactile/tactile_cache/dag911262r00054f_lerobot_0327_114548_987d65d4/episodes/ep000348/gripper_right_tactile_force_metrics.json b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_18-30/outputs_tactile/tactile_cache/dag911262r00054f_lerobot_0327_114548_987d65d4/episodes/ep000348/gripper_right_tactile_force_metrics.json
new file mode 100644
index 0000000000000000000000000000000000000000..ef3ada360947d2c2eba9adb902df0d65e333b883
--- /dev/null
+++ b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_18-30/outputs_tactile/tactile_cache/dag911262r00054f_lerobot_0327_114548_987d65d4/episodes/ep000348/gripper_right_tactile_force_metrics.json
@@ -0,0 +1,9 @@
+{
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+  "dataset_name": "dag911262r00054f_lerobot_0327_114548",
+  "episode_index": 348,
+  "sensor": "gripper_right_tactile"
+}
\ No newline at end of file
diff --git a/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_18-30/outputs_tactile/tactile_cache/dag911262r00054f_lerobot_0327_114548_987d65d4/episodes/ep000357/gripper_right_tactile_force_metrics.json b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_18-30/outputs_tactile/tactile_cache/dag911262r00054f_lerobot_0327_114548_987d65d4/episodes/ep000357/gripper_right_tactile_force_metrics.json
new file mode 100644
index 0000000000000000000000000000000000000000..89994ac5ba2f2cde61fc3a9309e4e2056a9a52db
--- /dev/null
+++ b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_18-30/outputs_tactile/tactile_cache/dag911262r00054f_lerobot_0327_114548_987d65d4/episodes/ep000357/gripper_right_tactile_force_metrics.json
@@ -0,0 +1,9 @@
+{
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+  "dataset_name": "dag911262r00054f_lerobot_0327_114548",
+  "episode_index": 357,
+  "sensor": "gripper_right_tactile"
+}
\ No newline at end of file
diff --git a/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_18-30/outputs_tactile/tactile_cache/dag911262r000646_lerobot_0327_114548_f27f7061/episodes/ep000028/gripper_right_tactile_force_metrics.json b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_18-30/outputs_tactile/tactile_cache/dag911262r000646_lerobot_0327_114548_f27f7061/episodes/ep000028/gripper_right_tactile_force_metrics.json
new file mode 100644
index 0000000000000000000000000000000000000000..66124de107deed0b841e1dded8b4009f4479b2a2
--- /dev/null
+++ b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_18-30/outputs_tactile/tactile_cache/dag911262r000646_lerobot_0327_114548_f27f7061/episodes/ep000028/gripper_right_tactile_force_metrics.json
@@ -0,0 +1,9 @@
+{
+  "depth_peak": 0.0011061537079513073,
+  "shear_peak": 0.002058918122202158,
+  "force_magnitude_peak": 0.002539302920922637,
+  "reference_frame_count": 0,
+  "dataset_name": "dag911262r000646_lerobot_0327_114548",
+  "episode_index": 28,
+  "sensor": "gripper_right_tactile"
+}
\ No newline at end of file
diff --git a/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_18-30/outputs_tactile/tactile_cache/dag911262r000646_lerobot_0327_114548_f27f7061/episodes/ep000037/gripper_left_tactile_force_metrics.json b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_18-30/outputs_tactile/tactile_cache/dag911262r000646_lerobot_0327_114548_f27f7061/episodes/ep000037/gripper_left_tactile_force_metrics.json
new file mode 100644
index 0000000000000000000000000000000000000000..6698518003ce618221e7faf731d4c9396be70e71
--- /dev/null
+++ b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_18-30/outputs_tactile/tactile_cache/dag911262r000646_lerobot_0327_114548_f27f7061/episodes/ep000037/gripper_left_tactile_force_metrics.json
@@ -0,0 +1,9 @@
+{
+  "depth_peak": 0.0034297960810363293,
+  "shear_peak": 0.003156045451760292,
+  "force_magnitude_peak": 0.0042196763679385185,
+  "reference_frame_count": 0,
+  "dataset_name": "dag911262r000646_lerobot_0327_114548",
+  "episode_index": 37,
+  "sensor": "gripper_left_tactile"
+}
\ No newline at end of file
diff --git a/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_18-30/outputs_tactile/tactile_cache/dag911262r000646_lerobot_0327_114548_f27f7061/episodes/ep000092/gripper_right_tactile_force_metrics.json b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_18-30/outputs_tactile/tactile_cache/dag911262r000646_lerobot_0327_114548_f27f7061/episodes/ep000092/gripper_right_tactile_force_metrics.json
new file mode 100644
index 0000000000000000000000000000000000000000..68e9fe9a44680de930bc212aa7e55314ff3c0abf
--- /dev/null
+++ b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_18-30/outputs_tactile/tactile_cache/dag911262r000646_lerobot_0327_114548_f27f7061/episodes/ep000092/gripper_right_tactile_force_metrics.json
@@ -0,0 +1,9 @@
+{
+  "depth_peak": 0.0017463548574596643,
+  "shear_peak": 0.005453765857964754,
+  "force_magnitude_peak": 0.005662118550390005,
+  "reference_frame_count": 0,
+  "dataset_name": "dag911262r000646_lerobot_0327_114548",
+  "episode_index": 92,
+  "sensor": "gripper_right_tactile"
+}
\ No newline at end of file
diff --git a/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_18-30/outputs_tactile/tactile_cache/dag911262r000646_lerobot_0327_114548_f27f7061/episodes/ep000221/gripper_left_tactile_force_metrics.json b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_18-30/outputs_tactile/tactile_cache/dag911262r000646_lerobot_0327_114548_f27f7061/episodes/ep000221/gripper_left_tactile_force_metrics.json
new file mode 100644
index 0000000000000000000000000000000000000000..8087cc1da7133748b7bb6298b3f2d603a4f179b0
--- /dev/null
+++ b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_18-30/outputs_tactile/tactile_cache/dag911262r000646_lerobot_0327_114548_f27f7061/episodes/ep000221/gripper_left_tactile_force_metrics.json
@@ -0,0 +1,9 @@
+{
+  "depth_peak": 0.0029267838690429926,
+  "shear_peak": 0.005840570665895939,
+  "force_magnitude_peak": 0.006494182161986828,
+  "reference_frame_count": 0,
+  "dataset_name": "dag911262r000646_lerobot_0327_114548",
+  "episode_index": 221,
+  "sensor": "gripper_left_tactile"
+}
\ No newline at end of file
diff --git a/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_18-30/outputs_tactile/tactile_cache/dag911262r000646_lerobot_0327_114548_f27f7061/episodes/ep000242/gripper_left_tactile_force_metrics.json b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_18-30/outputs_tactile/tactile_cache/dag911262r000646_lerobot_0327_114548_f27f7061/episodes/ep000242/gripper_left_tactile_force_metrics.json
new file mode 100644
index 0000000000000000000000000000000000000000..da921b827bfecf01fdb5e3f06a35c1277893a335
--- /dev/null
+++ b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_18-30/outputs_tactile/tactile_cache/dag911262r000646_lerobot_0327_114548_f27f7061/episodes/ep000242/gripper_left_tactile_force_metrics.json
@@ -0,0 +1,9 @@
+{
+  "depth_peak": 0.003186433110386133,
+  "shear_peak": 0.0027071284130215645,
+  "force_magnitude_peak": 0.004168037325143814,
+  "reference_frame_count": 0,
+  "dataset_name": "dag911262r000646_lerobot_0327_114548",
+  "episode_index": 242,
+  "sensor": "gripper_left_tactile"
+}
\ No newline at end of file
diff --git a/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_18-30/outputs_tactile/tactile_cache/dag911262r000646_lerobot_0327_114548_f27f7061/episodes/ep000254/gripper_left_tactile_force_metrics.json b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_18-30/outputs_tactile/tactile_cache/dag911262r000646_lerobot_0327_114548_f27f7061/episodes/ep000254/gripper_left_tactile_force_metrics.json
new file mode 100644
index 0000000000000000000000000000000000000000..2d72d2d19db0ed7d04ee3dfac7245f997c6ac6cb
--- /dev/null
+++ b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_18-30/outputs_tactile/tactile_cache/dag911262r000646_lerobot_0327_114548_f27f7061/episodes/ep000254/gripper_left_tactile_force_metrics.json
@@ -0,0 +1,9 @@
+{
+  "depth_peak": 0.007936817593872547,
+  "shear_peak": 0.0020627679768949747,
+  "force_magnitude_peak": 0.008153886534273624,
+  "reference_frame_count": 0,
+  "dataset_name": "dag911262r000646_lerobot_0327_114548",
+  "episode_index": 254,
+  "sensor": "gripper_left_tactile"
+}
\ No newline at end of file
diff --git a/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_18-30/outputs_tactile/tactile_cache/dag911262r000646_lerobot_0327_114548_f27f7061/episodes/ep000283/gripper_right_tactile_force_metrics.json b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_18-30/outputs_tactile/tactile_cache/dag911262r000646_lerobot_0327_114548_f27f7061/episodes/ep000283/gripper_right_tactile_force_metrics.json
new file mode 100644
index 0000000000000000000000000000000000000000..bc726af24b363520fb1a151d9f5bd3724b60cc10
--- /dev/null
+++ b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_18-30/outputs_tactile/tactile_cache/dag911262r000646_lerobot_0327_114548_f27f7061/episodes/ep000283/gripper_right_tactile_force_metrics.json
@@ -0,0 +1,9 @@
+{
+  "depth_peak": 0.00390396686270833,
+  "shear_peak": 0.004460766911506653,
+  "force_magnitude_peak": 0.0046264235861599445,
+  "reference_frame_count": 0,
+  "dataset_name": "dag911262r000646_lerobot_0327_114548",
+  "episode_index": 283,
+  "sensor": "gripper_right_tactile"
+}
\ No newline at end of file
diff --git a/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_18-30/outputs_tactile/tactile_cache/dag911262r000646_lerobot_0327_114548_f27f7061/episodes/ep000288/gripper_left_tactile_force_metrics.json b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_18-30/outputs_tactile/tactile_cache/dag911262r000646_lerobot_0327_114548_f27f7061/episodes/ep000288/gripper_left_tactile_force_metrics.json
new file mode 100644
index 0000000000000000000000000000000000000000..45521c705f3c6f614d5a3dfcd9abb35082d8923e
--- /dev/null
+++ b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_18-30/outputs_tactile/tactile_cache/dag911262r000646_lerobot_0327_114548_f27f7061/episodes/ep000288/gripper_left_tactile_force_metrics.json
@@ -0,0 +1,9 @@
+{
+  "depth_peak": 0.0029681487940251827,
+  "shear_peak": 0.006083736661821604,
+  "force_magnitude_peak": 0.006769177038222551,
+  "reference_frame_count": 0,
+  "dataset_name": "dag911262r000646_lerobot_0327_114548",
+  "episode_index": 288,
+  "sensor": "gripper_left_tactile"
+}
\ No newline at end of file
diff --git a/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_18-30/outputs_tactile/tactile_cache/dag911262r000646_lerobot_0327_114548_f27f7061/episodes/ep000294/gripper_left_tactile_force_metrics.json b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_18-30/outputs_tactile/tactile_cache/dag911262r000646_lerobot_0327_114548_f27f7061/episodes/ep000294/gripper_left_tactile_force_metrics.json
new file mode 100644
index 0000000000000000000000000000000000000000..e83075382006f126b6fff6f2226226bbff5caa9a
--- /dev/null
+++ b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_18-30/outputs_tactile/tactile_cache/dag911262r000646_lerobot_0327_114548_f27f7061/episodes/ep000294/gripper_left_tactile_force_metrics.json
@@ -0,0 +1,9 @@
+{
+  "depth_peak": 0.0046728141605854034,
+  "shear_peak": 0.002836554544046521,
+  "force_magnitude_peak": 0.004723318386822939,
+  "reference_frame_count": 0,
+  "dataset_name": "dag911262r000646_lerobot_0327_114548",
+  "episode_index": 294,
+  "sensor": "gripper_left_tactile"
+}
\ No newline at end of file
diff --git a/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_18-30/outputs_tactile/tactile_cache/dag911262r000646_lerobot_0327_114548_f27f7061/episodes/ep000317/gripper_left_tactile_force_metrics.json b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_18-30/outputs_tactile/tactile_cache/dag911262r000646_lerobot_0327_114548_f27f7061/episodes/ep000317/gripper_left_tactile_force_metrics.json
new file mode 100644
index 0000000000000000000000000000000000000000..1ed1971cc63b31b86f4e133857ae74fb7498f438
--- /dev/null
+++ b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_18-30/outputs_tactile/tactile_cache/dag911262r000646_lerobot_0327_114548_f27f7061/episodes/ep000317/gripper_left_tactile_force_metrics.json
@@ -0,0 +1,9 @@
+{
+  "depth_peak": 0.0035311628598719835,
+  "shear_peak": 0.005177242681384087,
+  "force_magnitude_peak": 0.005433377344161272,
+  "reference_frame_count": 0,
+  "dataset_name": "dag911262r000646_lerobot_0327_114548",
+  "episode_index": 317,
+  "sensor": "gripper_left_tactile"
+}
\ No newline at end of file
diff --git a/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_18-30/outputs_tactile/tactile_cache/dag911262r000646_lerobot_0327_114548_f27f7061/episodes/ep000340/gripper_right_tactile_force_metrics.json b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_18-30/outputs_tactile/tactile_cache/dag911262r000646_lerobot_0327_114548_f27f7061/episodes/ep000340/gripper_right_tactile_force_metrics.json
new file mode 100644
index 0000000000000000000000000000000000000000..6144a591d3a1605f91cb8a21c4dd768b851deffc
--- /dev/null
+++ b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_18-30/outputs_tactile/tactile_cache/dag911262r000646_lerobot_0327_114548_f27f7061/episodes/ep000340/gripper_right_tactile_force_metrics.json
@@ -0,0 +1,9 @@
+{
+  "depth_peak": 0.00909418985247612,
+  "shear_peak": 0.0035108609590679407,
+  "force_magnitude_peak": 0.009385327808558941,
+  "reference_frame_count": 0,
+  "dataset_name": "dag911262r000646_lerobot_0327_114548",
+  "episode_index": 340,
+  "sensor": "gripper_right_tactile"
+}
\ No newline at end of file
diff --git a/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_18-30/outputs_tactile/tactile_cache/dag911262r000646_lerobot_0327_114548_f27f7061/episodes/ep000348/gripper_right_tactile_force_metrics.json b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_18-30/outputs_tactile/tactile_cache/dag911262r000646_lerobot_0327_114548_f27f7061/episodes/ep000348/gripper_right_tactile_force_metrics.json
new file mode 100644
index 0000000000000000000000000000000000000000..3a5264e32a39044566f2006b647bdc51db17050a
--- /dev/null
+++ b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_18-30/outputs_tactile/tactile_cache/dag911262r000646_lerobot_0327_114548_f27f7061/episodes/ep000348/gripper_right_tactile_force_metrics.json
@@ -0,0 +1,9 @@
+{
+  "depth_peak": 0.001624000840820372,
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+  "force_magnitude_peak": 0.002162525663152337,
+  "reference_frame_count": 0,
+  "dataset_name": "dag911262r000646_lerobot_0327_114548",
+  "episode_index": 348,
+  "sensor": "gripper_right_tactile"
+}
\ No newline at end of file
diff --git a/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_18-30/outputs_tactile/tactile_cache/dag911262r000646_lerobot_0327_114548_f27f7061/episodes/ep000357/gripper_left_tactile_force_metrics.json b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_18-30/outputs_tactile/tactile_cache/dag911262r000646_lerobot_0327_114548_f27f7061/episodes/ep000357/gripper_left_tactile_force_metrics.json
new file mode 100644
index 0000000000000000000000000000000000000000..921cd1ff685140e9402c1739328d7d220224a094
--- /dev/null
+++ b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_18-30/outputs_tactile/tactile_cache/dag911262r000646_lerobot_0327_114548_f27f7061/episodes/ep000357/gripper_left_tactile_force_metrics.json
@@ -0,0 +1,9 @@
+{
+  "depth_peak": 0.0019802777096629143,
+  "shear_peak": 0.005732209421694279,
+  "force_magnitude_peak": 0.006057075224816799,
+  "reference_frame_count": 0,
+  "dataset_name": "dag911262r000646_lerobot_0327_114548",
+  "episode_index": 357,
+  "sensor": "gripper_left_tactile"
+}
\ No newline at end of file
diff --git a/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_18-30/outputs_tactile/tactile_cache/dag911262r000646_lerobot_0327_114548_f27f7061/episodes/ep000362/gripper_left_tactile_force_metrics.json b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_18-30/outputs_tactile/tactile_cache/dag911262r000646_lerobot_0327_114548_f27f7061/episodes/ep000362/gripper_left_tactile_force_metrics.json
new file mode 100644
index 0000000000000000000000000000000000000000..8d8bdf4ea6b063c08e8efa261e01a8b8c52228a0
--- /dev/null
+++ b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_18-30/outputs_tactile/tactile_cache/dag911262r000646_lerobot_0327_114548_f27f7061/episodes/ep000362/gripper_left_tactile_force_metrics.json
@@ -0,0 +1,9 @@
+{
+  "depth_peak": 0.003714257152751088,
+  "shear_peak": 0.0021536219865083694,
+  "force_magnitude_peak": 0.003744157264009118,
+  "reference_frame_count": 0,
+  "dataset_name": "dag911262r000646_lerobot_0327_114548",
+  "episode_index": 362,
+  "sensor": "gripper_left_tactile"
+}
\ No newline at end of file
diff --git a/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_18-30/outputs_tactile/tactile_cache/dag911262r000646_lerobot_0327_114548_f27f7061/episodes/ep000368/gripper_left_tactile_force_metrics.json b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_18-30/outputs_tactile/tactile_cache/dag911262r000646_lerobot_0327_114548_f27f7061/episodes/ep000368/gripper_left_tactile_force_metrics.json
new file mode 100644
index 0000000000000000000000000000000000000000..3fdf90b1b1cc845962aa37e1c3bca0d91b98f3a4
--- /dev/null
+++ b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_18-30/outputs_tactile/tactile_cache/dag911262r000646_lerobot_0327_114548_f27f7061/episodes/ep000368/gripper_left_tactile_force_metrics.json
@@ -0,0 +1,9 @@
+{
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+  "shear_peak": 0.0014272992266342044,
+  "force_magnitude_peak": 0.004961234517395496,
+  "reference_frame_count": 0,
+  "dataset_name": "dag911262r000646_lerobot_0327_114548",
+  "episode_index": 368,
+  "sensor": "gripper_left_tactile"
+}
\ No newline at end of file
diff --git a/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_18-30/outputs_tactile/tactile_cache/dag911262r000646_lerobot_0327_114548_f27f7061/episodes/ep000403/gripper_right_tactile_force_metrics.json b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_18-30/outputs_tactile/tactile_cache/dag911262r000646_lerobot_0327_114548_f27f7061/episodes/ep000403/gripper_right_tactile_force_metrics.json
new file mode 100644
index 0000000000000000000000000000000000000000..06fb77fa8beaa7afb0e19ceedbf00419bcf84d23
--- /dev/null
+++ b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_18-30/outputs_tactile/tactile_cache/dag911262r000646_lerobot_0327_114548_f27f7061/episodes/ep000403/gripper_right_tactile_force_metrics.json
@@ -0,0 +1,9 @@
+{
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+  "force_magnitude_peak": 0.007897956296801567,
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+  "dataset_name": "dag911262r000646_lerobot_0327_114548",
+  "episode_index": 403,
+  "sensor": "gripper_right_tactile"
+}
\ No newline at end of file
diff --git a/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_18-30/outputs_tactile/tactile_cache/dag911262r000646_lerobot_0327_114548_f27f7061/episodes/ep000408/gripper_left_tactile_force_metrics.json b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_18-30/outputs_tactile/tactile_cache/dag911262r000646_lerobot_0327_114548_f27f7061/episodes/ep000408/gripper_left_tactile_force_metrics.json
new file mode 100644
index 0000000000000000000000000000000000000000..931a8c735afc53b92f43297e2482fea44dcc04f0
--- /dev/null
+++ b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_18-30/outputs_tactile/tactile_cache/dag911262r000646_lerobot_0327_114548_f27f7061/episodes/ep000408/gripper_left_tactile_force_metrics.json
@@ -0,0 +1,9 @@
+{
+  "depth_peak": 0.0014012892497703433,
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+  "force_magnitude_peak": 0.0062644691206514835,
+  "reference_frame_count": 0,
+  "dataset_name": "dag911262r000646_lerobot_0327_114548",
+  "episode_index": 408,
+  "sensor": "gripper_left_tactile"
+}
\ No newline at end of file
diff --git a/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_18-30/outputs_tactile/tactile_cache/dag911262r000646_lerobot_0327_114548_f27f7061/episodes/ep000421/gripper_left_tactile_force_metrics.json b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_18-30/outputs_tactile/tactile_cache/dag911262r000646_lerobot_0327_114548_f27f7061/episodes/ep000421/gripper_left_tactile_force_metrics.json
new file mode 100644
index 0000000000000000000000000000000000000000..fe2b46af559b3ba8beaa23c2d5c74f60ec3572b4
--- /dev/null
+++ b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_18-30/outputs_tactile/tactile_cache/dag911262r000646_lerobot_0327_114548_f27f7061/episodes/ep000421/gripper_left_tactile_force_metrics.json
@@ -0,0 +1,9 @@
+{
+  "depth_peak": 0.007260207552462816,
+  "shear_peak": 0.004088267218321562,
+  "force_magnitude_peak": 0.0077882083132863045,
+  "reference_frame_count": 0,
+  "dataset_name": "dag911262r000646_lerobot_0327_114548",
+  "episode_index": 421,
+  "sensor": "gripper_left_tactile"
+}
\ No newline at end of file
diff --git a/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_18-30/outputs_tactile/tactile_cache/dag911262r000646_lerobot_0327_114548_f27f7061/episodes/ep000437/gripper_left_tactile_force_metrics.json b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_18-30/outputs_tactile/tactile_cache/dag911262r000646_lerobot_0327_114548_f27f7061/episodes/ep000437/gripper_left_tactile_force_metrics.json
new file mode 100644
index 0000000000000000000000000000000000000000..a471b02c5168ec637e9049f38140560ec07d5ba4
--- /dev/null
+++ b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_18-30/outputs_tactile/tactile_cache/dag911262r000646_lerobot_0327_114548_f27f7061/episodes/ep000437/gripper_left_tactile_force_metrics.json
@@ -0,0 +1,9 @@
+{
+  "depth_peak": 0.00614566495642066,
+  "shear_peak": 0.0030368086881935596,
+  "force_magnitude_peak": 0.0067843785509467125,
+  "reference_frame_count": 0,
+  "dataset_name": "dag911262r000646_lerobot_0327_114548",
+  "episode_index": 437,
+  "sensor": "gripper_left_tactile"
+}
\ No newline at end of file
diff --git a/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_18-30/outputs_tactile/tactile_cache/dag911262r000646_lerobot_0327_114548_f27f7061/episodes/ep000468/gripper_right_tactile_force_metrics.json b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_18-30/outputs_tactile/tactile_cache/dag911262r000646_lerobot_0327_114548_f27f7061/episodes/ep000468/gripper_right_tactile_force_metrics.json
new file mode 100644
index 0000000000000000000000000000000000000000..4763a123603ac161057155b3ccb343c9a6a002a6
--- /dev/null
+++ b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_18-30/outputs_tactile/tactile_cache/dag911262r000646_lerobot_0327_114548_f27f7061/episodes/ep000468/gripper_right_tactile_force_metrics.json
@@ -0,0 +1,9 @@
+{
+  "depth_peak": 0.006327189039438963,
+  "shear_peak": 0.001122110988944769,
+  "force_magnitude_peak": 0.006327198818325996,
+  "reference_frame_count": 0,
+  "dataset_name": "dag911262r000646_lerobot_0327_114548",
+  "episode_index": 468,
+  "sensor": "gripper_right_tactile"
+}
\ No newline at end of file
diff --git a/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_18-30/outputs_tactile/tactile_cache/dag911262r000646_lerobot_0327_114548_f27f7061/episodes/ep000488/gripper_left_tactile_force_metrics.json b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_18-30/outputs_tactile/tactile_cache/dag911262r000646_lerobot_0327_114548_f27f7061/episodes/ep000488/gripper_left_tactile_force_metrics.json
new file mode 100644
index 0000000000000000000000000000000000000000..711d861c74aa209ec2a5949bf4f839eeaa483dee
--- /dev/null
+++ b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_18-30/outputs_tactile/tactile_cache/dag911262r000646_lerobot_0327_114548_f27f7061/episodes/ep000488/gripper_left_tactile_force_metrics.json
@@ -0,0 +1,9 @@
+{
+  "depth_peak": 0.0017466306453570724,
+  "shear_peak": 0.004622279200702906,
+  "force_magnitude_peak": 0.004875323735177517,
+  "reference_frame_count": 0,
+  "dataset_name": "dag911262r000646_lerobot_0327_114548",
+  "episode_index": 488,
+  "sensor": "gripper_left_tactile"
+}
\ No newline at end of file
diff --git a/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_18-30/outputs_tactile/tactile_cache/dag911262r000646_lerobot_0327_114548_f27f7061/episodes/ep000492/gripper_right_tactile_force_metrics.json b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_18-30/outputs_tactile/tactile_cache/dag911262r000646_lerobot_0327_114548_f27f7061/episodes/ep000492/gripper_right_tactile_force_metrics.json
new file mode 100644
index 0000000000000000000000000000000000000000..7a2e2391d39aac9d2c22752223574c76419a3905
--- /dev/null
+++ b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_18-30/outputs_tactile/tactile_cache/dag911262r000646_lerobot_0327_114548_f27f7061/episodes/ep000492/gripper_right_tactile_force_metrics.json
@@ -0,0 +1,9 @@
+{
+  "depth_peak": 0.005304081831127405,
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+  "force_magnitude_peak": 0.0059874337166547775,
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+  "dataset_name": "dag911262r000646_lerobot_0327_114548",
+  "episode_index": 492,
+  "sensor": "gripper_right_tactile"
+}
\ No newline at end of file
diff --git a/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_18-30/outputs_tactile/tactile_cache/dag911262r000646_lerobot_0327_114548_f27f7061/episodes/ep000498/gripper_right_tactile_force_metrics.json b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_18-30/outputs_tactile/tactile_cache/dag911262r000646_lerobot_0327_114548_f27f7061/episodes/ep000498/gripper_right_tactile_force_metrics.json
new file mode 100644
index 0000000000000000000000000000000000000000..9a91befaaf906ab80571e0aa9f454f725d2e0b42
--- /dev/null
+++ b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_18-30/outputs_tactile/tactile_cache/dag911262r000646_lerobot_0327_114548_f27f7061/episodes/ep000498/gripper_right_tactile_force_metrics.json
@@ -0,0 +1,9 @@
+{
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+  "shear_peak": 0.003162611275911331,
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+  "reference_frame_count": 0,
+  "dataset_name": "dag911262r000646_lerobot_0327_114548",
+  "episode_index": 498,
+  "sensor": "gripper_right_tactile"
+}
\ No newline at end of file
diff --git a/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_18-30/outputs_tactile/tactile_cache/dag911262r000646_lerobot_0327_114548_f27f7061/episodes/ep000508/gripper_right_tactile_force_metrics.json b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_18-30/outputs_tactile/tactile_cache/dag911262r000646_lerobot_0327_114548_f27f7061/episodes/ep000508/gripper_right_tactile_force_metrics.json
new file mode 100644
index 0000000000000000000000000000000000000000..51836b198cb456cd92f9ad5850bade420eab25a4
--- /dev/null
+++ b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_18-30/outputs_tactile/tactile_cache/dag911262r000646_lerobot_0327_114548_f27f7061/episodes/ep000508/gripper_right_tactile_force_metrics.json
@@ -0,0 +1,9 @@
+{
+  "depth_peak": 0.006484943442046642,
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+  "force_magnitude_peak": 0.0074453894048929214,
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+  "dataset_name": "dag911262r000646_lerobot_0327_114548",
+  "episode_index": 508,
+  "sensor": "gripper_right_tactile"
+}
\ No newline at end of file
diff --git a/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_18-30/outputs_tactile/tactile_cache/dag911262r000646_lerobot_0327_114548_f27f7061/episodes/ep000522/gripper_left_tactile_force_metrics.json b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_18-30/outputs_tactile/tactile_cache/dag911262r000646_lerobot_0327_114548_f27f7061/episodes/ep000522/gripper_left_tactile_force_metrics.json
new file mode 100644
index 0000000000000000000000000000000000000000..c450ac0286c593b9d378b198d647f040892d8fc4
--- /dev/null
+++ b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_18-30/outputs_tactile/tactile_cache/dag911262r000646_lerobot_0327_114548_f27f7061/episodes/ep000522/gripper_left_tactile_force_metrics.json
@@ -0,0 +1,9 @@
+{
+  "depth_peak": 0.0010466297389939427,
+  "shear_peak": 0.002564371796324849,
+  "force_magnitude_peak": 0.003909834194928408,
+  "reference_frame_count": 0,
+  "dataset_name": "dag911262r000646_lerobot_0327_114548",
+  "episode_index": 522,
+  "sensor": "gripper_left_tactile"
+}
\ No newline at end of file
diff --git a/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_18-30/outputs_tactile/tactile_cache/dag911262r000646_lerobot_0327_114548_f27f7061/episodes/ep000528/gripper_left_tactile_force_metrics.json b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_18-30/outputs_tactile/tactile_cache/dag911262r000646_lerobot_0327_114548_f27f7061/episodes/ep000528/gripper_left_tactile_force_metrics.json
new file mode 100644
index 0000000000000000000000000000000000000000..7dd7ad34eff609c06c4ecc45bd52fb248896149b
--- /dev/null
+++ b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_18-30/outputs_tactile/tactile_cache/dag911262r000646_lerobot_0327_114548_f27f7061/episodes/ep000528/gripper_left_tactile_force_metrics.json
@@ -0,0 +1,9 @@
+{
+  "depth_peak": 0.00122257717885077,
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+  "force_magnitude_peak": 0.0035461552906781435,
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+  "dataset_name": "dag911262r000646_lerobot_0327_114548",
+  "episode_index": 528,
+  "sensor": "gripper_left_tactile"
+}
\ No newline at end of file
diff --git a/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_18-30/outputs_tactile/tactile_cache/dag911262r000646_lerobot_0327_114548_f27f7061/episodes/ep000538/gripper_right_tactile_force_metrics.json b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_18-30/outputs_tactile/tactile_cache/dag911262r000646_lerobot_0327_114548_f27f7061/episodes/ep000538/gripper_right_tactile_force_metrics.json
new file mode 100644
index 0000000000000000000000000000000000000000..846404640ae6e0ff297a61f4b3b40d8cff032cfb
--- /dev/null
+++ b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_18-30/outputs_tactile/tactile_cache/dag911262r000646_lerobot_0327_114548_f27f7061/episodes/ep000538/gripper_right_tactile_force_metrics.json
@@ -0,0 +1,9 @@
+{
+  "depth_peak": 0.004219828173518181,
+  "shear_peak": 0.003453422337770462,
+  "force_magnitude_peak": 0.004244931973516941,
+  "reference_frame_count": 0,
+  "dataset_name": "dag911262r000646_lerobot_0327_114548",
+  "episode_index": 538,
+  "sensor": "gripper_right_tactile"
+}
\ No newline at end of file
diff --git a/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_18-30/outputs_tactile/tactile_cache/dag911262r000646_lerobot_0327_114548_f27f7061/episodes/ep000548/gripper_right_tactile_force_metrics.json b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_18-30/outputs_tactile/tactile_cache/dag911262r000646_lerobot_0327_114548_f27f7061/episodes/ep000548/gripper_right_tactile_force_metrics.json
new file mode 100644
index 0000000000000000000000000000000000000000..4b6723ac2e2fead8ee0bb749bd5f911781525ffe
--- /dev/null
+++ b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_18-30/outputs_tactile/tactile_cache/dag911262r000646_lerobot_0327_114548_f27f7061/episodes/ep000548/gripper_right_tactile_force_metrics.json
@@ -0,0 +1,9 @@
+{
+  "depth_peak": 0.003709713462740183,
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+  "force_magnitude_peak": 0.004321088083088398,
+  "reference_frame_count": 0,
+  "dataset_name": "dag911262r000646_lerobot_0327_114548",
+  "episode_index": 548,
+  "sensor": "gripper_right_tactile"
+}
\ No newline at end of file
diff --git a/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_18-30/outputs_tactile/tactile_cache/dag911262r000646_lerobot_0327_114548_f27f7061/episodes/ep000563/gripper_right_tactile_force_metrics.json b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_18-30/outputs_tactile/tactile_cache/dag911262r000646_lerobot_0327_114548_f27f7061/episodes/ep000563/gripper_right_tactile_force_metrics.json
new file mode 100644
index 0000000000000000000000000000000000000000..8e7019205ffaee404293d54898d0764089077e33
--- /dev/null
+++ b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_18-30/outputs_tactile/tactile_cache/dag911262r000646_lerobot_0327_114548_f27f7061/episodes/ep000563/gripper_right_tactile_force_metrics.json
@@ -0,0 +1,9 @@
+{
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+  "dataset_name": "dag911262r000646_lerobot_0327_114548",
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+  "sensor": "gripper_right_tactile"
+}
\ No newline at end of file
diff --git a/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_18-30/outputs_tactile/tactile_cache/dag911262r000646_lerobot_0327_114548_f27f7061/episodes/ep000612/gripper_right_tactile_force_metrics.json b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_18-30/outputs_tactile/tactile_cache/dag911262r000646_lerobot_0327_114548_f27f7061/episodes/ep000612/gripper_right_tactile_force_metrics.json
new file mode 100644
index 0000000000000000000000000000000000000000..86b5cefb7aa239e7bb6108ed56a705ee6c26330b
--- /dev/null
+++ b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_18-30/outputs_tactile/tactile_cache/dag911262r000646_lerobot_0327_114548_f27f7061/episodes/ep000612/gripper_right_tactile_force_metrics.json
@@ -0,0 +1,9 @@
+{
+  "depth_peak": 0.0012813438661396503,
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+  "force_magnitude_peak": 0.002100592013448477,
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+  "dataset_name": "dag911262r000646_lerobot_0327_114548",
+  "episode_index": 612,
+  "sensor": "gripper_right_tactile"
+}
\ No newline at end of file
diff --git a/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_18-30/outputs_tactile/tactile_cache/dag911262r000646_lerobot_0327_114548_f27f7061/episodes/ep000652/gripper_right_tactile_force_metrics.json b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_18-30/outputs_tactile/tactile_cache/dag911262r000646_lerobot_0327_114548_f27f7061/episodes/ep000652/gripper_right_tactile_force_metrics.json
new file mode 100644
index 0000000000000000000000000000000000000000..f1693eb9b9af41251267958d1b6e8b4680d02bad
--- /dev/null
+++ b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_18-30/outputs_tactile/tactile_cache/dag911262r000646_lerobot_0327_114548_f27f7061/episodes/ep000652/gripper_right_tactile_force_metrics.json
@@ -0,0 +1,9 @@
+{
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+  "dataset_name": "dag911262r000646_lerobot_0327_114548",
+  "episode_index": 652,
+  "sensor": "gripper_right_tactile"
+}
\ No newline at end of file
diff --git a/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_18-30/outputs_tactile/tactile_cache/dag911262r000646_lerobot_0327_114548_f27f7061/episodes/ep000658/gripper_right_tactile_force_metrics.json b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_18-30/outputs_tactile/tactile_cache/dag911262r000646_lerobot_0327_114548_f27f7061/episodes/ep000658/gripper_right_tactile_force_metrics.json
new file mode 100644
index 0000000000000000000000000000000000000000..c2b8bec70a81feccc4e7ebcbfcbda8dc7acd6caa
--- /dev/null
+++ b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_18-30/outputs_tactile/tactile_cache/dag911262r000646_lerobot_0327_114548_f27f7061/episodes/ep000658/gripper_right_tactile_force_metrics.json
@@ -0,0 +1,9 @@
+{
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+  "dataset_name": "dag911262r000646_lerobot_0327_114548",
+  "episode_index": 658,
+  "sensor": "gripper_right_tactile"
+}
\ No newline at end of file
diff --git a/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_18-30/outputs_tactile/tactile_cache/dag911262r000646_lerobot_0327_114548_f27f7061/episodes/ep000660/gripper_right_tactile_force_metrics.json b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_18-30/outputs_tactile/tactile_cache/dag911262r000646_lerobot_0327_114548_f27f7061/episodes/ep000660/gripper_right_tactile_force_metrics.json
new file mode 100644
index 0000000000000000000000000000000000000000..8b371805f2cf7b63fdaf29cd0fb30bdbf1ad5163
--- /dev/null
+++ b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_18-30/outputs_tactile/tactile_cache/dag911262r000646_lerobot_0327_114548_f27f7061/episodes/ep000660/gripper_right_tactile_force_metrics.json
@@ -0,0 +1,9 @@
+{
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+  "dataset_name": "dag911262r000646_lerobot_0327_114548",
+  "episode_index": 660,
+  "sensor": "gripper_right_tactile"
+}
\ No newline at end of file
diff --git a/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_18-30/outputs_tactile/tactile_cache/dag911262r000646_lerobot_0327_114548_f27f7061/episodes/ep000698/gripper_right_tactile_force_metrics.json b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_18-30/outputs_tactile/tactile_cache/dag911262r000646_lerobot_0327_114548_f27f7061/episodes/ep000698/gripper_right_tactile_force_metrics.json
new file mode 100644
index 0000000000000000000000000000000000000000..d8696673cd2ce2943dc99e09f31533f71fac0d4e
--- /dev/null
+++ b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_18-30/outputs_tactile/tactile_cache/dag911262r000646_lerobot_0327_114548_f27f7061/episodes/ep000698/gripper_right_tactile_force_metrics.json
@@ -0,0 +1,9 @@
+{
+  "depth_peak": 0.0030705418903380632,
+  "shear_peak": 0.006136131007224321,
+  "force_magnitude_peak": 0.00641553895547986,
+  "reference_frame_count": 0,
+  "dataset_name": "dag911262r000646_lerobot_0327_114548",
+  "episode_index": 698,
+  "sensor": "gripper_right_tactile"
+}
\ No newline at end of file
diff --git a/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_18-30/outputs_tactile/tactile_cache/dag911262r000646_lerobot_0327_114548_f27f7061/episodes/ep000700/gripper_right_tactile_force_metrics.json b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_18-30/outputs_tactile/tactile_cache/dag911262r000646_lerobot_0327_114548_f27f7061/episodes/ep000700/gripper_right_tactile_force_metrics.json
new file mode 100644
index 0000000000000000000000000000000000000000..597498664243b6534b427158e6fc85346a155127
--- /dev/null
+++ b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_18-30/outputs_tactile/tactile_cache/dag911262r000646_lerobot_0327_114548_f27f7061/episodes/ep000700/gripper_right_tactile_force_metrics.json
@@ -0,0 +1,9 @@
+{
+  "depth_peak": 0.005387997254729271,
+  "shear_peak": 0.011684824712574482,
+  "force_magnitude_peak": 0.011735358275473118,
+  "reference_frame_count": 0,
+  "dataset_name": "dag911262r000646_lerobot_0327_114548",
+  "episode_index": 700,
+  "sensor": "gripper_right_tactile"
+}
\ No newline at end of file
diff --git a/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_18-30/outputs_tactile/tactile_cache/dag911262r000646_lerobot_0327_114548_f27f7061/episodes/ep000701/gripper_left_tactile_force_metrics.json b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_18-30/outputs_tactile/tactile_cache/dag911262r000646_lerobot_0327_114548_f27f7061/episodes/ep000701/gripper_left_tactile_force_metrics.json
new file mode 100644
index 0000000000000000000000000000000000000000..44a786d6433110dc23d950972038cc4bbb2ba5bc
--- /dev/null
+++ b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_18-30/outputs_tactile/tactile_cache/dag911262r000646_lerobot_0327_114548_f27f7061/episodes/ep000701/gripper_left_tactile_force_metrics.json
@@ -0,0 +1,9 @@
+{
+  "depth_peak": 0.005446573719382286,
+  "shear_peak": 0.0028550720307976007,
+  "force_magnitude_peak": 0.005882903002202511,
+  "reference_frame_count": 0,
+  "dataset_name": "dag911262r000646_lerobot_0327_114548",
+  "episode_index": 701,
+  "sensor": "gripper_left_tactile"
+}
\ No newline at end of file
diff --git a/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_18-30/outputs_tactile/tactile_cache/dag911262r000646_lerobot_0327_114548_f27f7061/episodes/ep000708/gripper_right_tactile_force_metrics.json b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_18-30/outputs_tactile/tactile_cache/dag911262r000646_lerobot_0327_114548_f27f7061/episodes/ep000708/gripper_right_tactile_force_metrics.json
new file mode 100644
index 0000000000000000000000000000000000000000..2b2e310130866557cdb6bda17afc3a68325ef31d
--- /dev/null
+++ b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_18-30/outputs_tactile/tactile_cache/dag911262r000646_lerobot_0327_114548_f27f7061/episodes/ep000708/gripper_right_tactile_force_metrics.json
@@ -0,0 +1,9 @@
+{
+  "depth_peak": 0.0068138157948851585,
+  "shear_peak": 0.005348406732082367,
+  "force_magnitude_peak": 0.00693998858332634,
+  "reference_frame_count": 0,
+  "dataset_name": "dag911262r000646_lerobot_0327_114548",
+  "episode_index": 708,
+  "sensor": "gripper_right_tactile"
+}
\ No newline at end of file
diff --git a/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_18-30/outputs_tactile/tactile_cache/dag911262r000646_lerobot_0327_114548_f27f7061/episodes/ep000732/gripper_right_tactile_force_metrics.json b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_18-30/outputs_tactile/tactile_cache/dag911262r000646_lerobot_0327_114548_f27f7061/episodes/ep000732/gripper_right_tactile_force_metrics.json
new file mode 100644
index 0000000000000000000000000000000000000000..ff4140fe5c8b76f55d7ec78da4f316cbfe6e9848
--- /dev/null
+++ b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_18-30/outputs_tactile/tactile_cache/dag911262r000646_lerobot_0327_114548_f27f7061/episodes/ep000732/gripper_right_tactile_force_metrics.json
@@ -0,0 +1,9 @@
+{
+  "depth_peak": 0.00395191228017211,
+  "shear_peak": 0.004270627629011869,
+  "force_magnitude_peak": 0.0055355168879032135,
+  "reference_frame_count": 0,
+  "dataset_name": "dag911262r000646_lerobot_0327_114548",
+  "episode_index": 732,
+  "sensor": "gripper_right_tactile"
+}
\ No newline at end of file
diff --git a/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_18-30/outputs_tactile/tactile_cache/dag911262r000646_lerobot_0327_114548_f27f7061/episodes/ep000738/gripper_right_tactile_force_metrics.json b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_18-30/outputs_tactile/tactile_cache/dag911262r000646_lerobot_0327_114548_f27f7061/episodes/ep000738/gripper_right_tactile_force_metrics.json
new file mode 100644
index 0000000000000000000000000000000000000000..2e8c55cc4372812daf1c468dbccbf3fbdaa329ea
--- /dev/null
+++ b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_18-30/outputs_tactile/tactile_cache/dag911262r000646_lerobot_0327_114548_f27f7061/episodes/ep000738/gripper_right_tactile_force_metrics.json
@@ -0,0 +1,9 @@
+{
+  "depth_peak": 0.0016286926111206412,
+  "shear_peak": 0.007735738065093756,
+  "force_magnitude_peak": 0.00775323249399662,
+  "reference_frame_count": 0,
+  "dataset_name": "dag911262r000646_lerobot_0327_114548",
+  "episode_index": 738,
+  "sensor": "gripper_right_tactile"
+}
\ No newline at end of file
diff --git a/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_18-30/outputs_tactile/tactile_cache/dag911262r000646_lerobot_0327_114548_f27f7061/episodes/ep000762/gripper_left_tactile_force_metrics.json b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_18-30/outputs_tactile/tactile_cache/dag911262r000646_lerobot_0327_114548_f27f7061/episodes/ep000762/gripper_left_tactile_force_metrics.json
new file mode 100644
index 0000000000000000000000000000000000000000..a50e97ec39fde4b2f3f308af435f64759e0f516e
--- /dev/null
+++ b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_18-30/outputs_tactile/tactile_cache/dag911262r000646_lerobot_0327_114548_f27f7061/episodes/ep000762/gripper_left_tactile_force_metrics.json
@@ -0,0 +1,9 @@
+{
+  "depth_peak": 0.004413458984345198,
+  "shear_peak": 0.0014827247941866517,
+  "force_magnitude_peak": 0.004635784775018692,
+  "reference_frame_count": 0,
+  "dataset_name": "dag911262r000646_lerobot_0327_114548",
+  "episode_index": 762,
+  "sensor": "gripper_left_tactile"
+}
\ No newline at end of file
diff --git a/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_18-30/outputs_tactile/tactile_cache/dag911262r000646_lerobot_0327_114548_f27f7061/episodes/ep000768/gripper_left_tactile_force_metrics.json b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_18-30/outputs_tactile/tactile_cache/dag911262r000646_lerobot_0327_114548_f27f7061/episodes/ep000768/gripper_left_tactile_force_metrics.json
new file mode 100644
index 0000000000000000000000000000000000000000..8263b55a550a56f11a604c096dce5ed06d36c493
--- /dev/null
+++ b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_18-30/outputs_tactile/tactile_cache/dag911262r000646_lerobot_0327_114548_f27f7061/episodes/ep000768/gripper_left_tactile_force_metrics.json
@@ -0,0 +1,9 @@
+{
+  "depth_peak": 0.005282945465296507,
+  "shear_peak": 0.0025300339329987764,
+  "force_magnitude_peak": 0.005285145249217749,
+  "reference_frame_count": 0,
+  "dataset_name": "dag911262r000646_lerobot_0327_114548",
+  "episode_index": 768,
+  "sensor": "gripper_left_tactile"
+}
\ No newline at end of file
diff --git a/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_18-30/outputs_tactile/tactile_cache/dag911262r000646_lerobot_0327_114548_f27f7061/episodes/ep000797/gripper_left_tactile_force_metrics.json b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_18-30/outputs_tactile/tactile_cache/dag911262r000646_lerobot_0327_114548_f27f7061/episodes/ep000797/gripper_left_tactile_force_metrics.json
new file mode 100644
index 0000000000000000000000000000000000000000..35608a0139fbd1e4e3f5f5cacfca864eb772cc33
--- /dev/null
+++ b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_18-30/outputs_tactile/tactile_cache/dag911262r000646_lerobot_0327_114548_f27f7061/episodes/ep000797/gripper_left_tactile_force_metrics.json
@@ -0,0 +1,9 @@
+{
+  "depth_peak": 0.002643935615196824,
+  "shear_peak": 0.0035198477562516928,
+  "force_magnitude_peak": 0.004402240738272667,
+  "reference_frame_count": 0,
+  "dataset_name": "dag911262r000646_lerobot_0327_114548",
+  "episode_index": 797,
+  "sensor": "gripper_left_tactile"
+}
\ No newline at end of file
diff --git a/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_18-30/outputs_tactile/tactile_cache/dag911262r000646_lerobot_0327_114548_f27f7061/episodes/ep000821/gripper_left_tactile_force_metrics.json b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_18-30/outputs_tactile/tactile_cache/dag911262r000646_lerobot_0327_114548_f27f7061/episodes/ep000821/gripper_left_tactile_force_metrics.json
new file mode 100644
index 0000000000000000000000000000000000000000..66e6acdeac20c4511a11fae46e37a9429c82f21d
--- /dev/null
+++ b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_18-30/outputs_tactile/tactile_cache/dag911262r000646_lerobot_0327_114548_f27f7061/episodes/ep000821/gripper_left_tactile_force_metrics.json
@@ -0,0 +1,9 @@
+{
+  "depth_peak": 0.002301463857293129,
+  "shear_peak": 0.002800124464556575,
+  "force_magnitude_peak": 0.0031355570536106825,
+  "reference_frame_count": 0,
+  "dataset_name": "dag911262r000646_lerobot_0327_114548",
+  "episode_index": 821,
+  "sensor": "gripper_left_tactile"
+}
\ No newline at end of file
diff --git a/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-09_18-30/outputs_tactile/tactile_cache/dag911262r00207e_lerobot_0327_114714_df3cd5a7/episodes/ep000807/gripper_right_tactile_force_metrics.json b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-09_18-30/outputs_tactile/tactile_cache/dag911262r00207e_lerobot_0327_114714_df3cd5a7/episodes/ep000807/gripper_right_tactile_force_metrics.json
new file mode 100644
index 0000000000000000000000000000000000000000..3d003ecbb80d4a9dacaf75055df3657dd584ac2f
--- /dev/null
+++ b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-09_18-30/outputs_tactile/tactile_cache/dag911262r00207e_lerobot_0327_114714_df3cd5a7/episodes/ep000807/gripper_right_tactile_force_metrics.json
@@ -0,0 +1,9 @@
+{
+  "depth_peak": 0.0008402076782658696,
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+  "force_magnitude_peak": 0.004325585905462503,
+  "reference_frame_count": 0,
+  "dataset_name": "dag911262r00207e_lerobot_0327_114714",
+  "episode_index": 807,
+  "sensor": "gripper_right_tactile"
+}
\ No newline at end of file
diff --git a/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-09_18-30/outputs_tactile/tactile_cache/dag911262r00207e_lerobot_0327_114714_df3cd5a7/episodes/ep000847/gripper_right_tactile_force_metrics.json b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-09_18-30/outputs_tactile/tactile_cache/dag911262r00207e_lerobot_0327_114714_df3cd5a7/episodes/ep000847/gripper_right_tactile_force_metrics.json
new file mode 100644
index 0000000000000000000000000000000000000000..83af8fa3a32d7c69a0a7851e5927ed37ae18670b
--- /dev/null
+++ b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-09_18-30/outputs_tactile/tactile_cache/dag911262r00207e_lerobot_0327_114714_df3cd5a7/episodes/ep000847/gripper_right_tactile_force_metrics.json
@@ -0,0 +1,9 @@
+{
+  "depth_peak": 0.002743579912930727,
+  "shear_peak": 0.003803472500294447,
+  "force_magnitude_peak": 0.0038348031230270863,
+  "reference_frame_count": 0,
+  "dataset_name": "dag911262r00207e_lerobot_0327_114714",
+  "episode_index": 847,
+  "sensor": "gripper_right_tactile"
+}
\ No newline at end of file
diff --git a/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-09_18-30/outputs_tactile/tactile_cache/dag911262r00207e_lerobot_0327_114714_df3cd5a7/episodes/ep000873/gripper_left_tactile_force_metrics.json b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-09_18-30/outputs_tactile/tactile_cache/dag911262r00207e_lerobot_0327_114714_df3cd5a7/episodes/ep000873/gripper_left_tactile_force_metrics.json
new file mode 100644
index 0000000000000000000000000000000000000000..fee0f91c4e5b99b28ea78f0e3a508acf85c13c60
--- /dev/null
+++ b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-09_18-30/outputs_tactile/tactile_cache/dag911262r00207e_lerobot_0327_114714_df3cd5a7/episodes/ep000873/gripper_left_tactile_force_metrics.json
@@ -0,0 +1,9 @@
+{
+  "depth_peak": 0.0017055935459211469,
+  "shear_peak": 0.0012599306646734476,
+  "force_magnitude_peak": 0.002022994915023446,
+  "reference_frame_count": 0,
+  "dataset_name": "dag911262r00207e_lerobot_0327_114714",
+  "episode_index": 873,
+  "sensor": "gripper_left_tactile"
+}
\ No newline at end of file
diff --git a/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-09_18-30/outputs_tactile/tactile_cache/dag911262r00207e_lerobot_0327_114714_df3cd5a7/episodes/ep000873/gripper_right_tactile_force_metrics.json b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-09_18-30/outputs_tactile/tactile_cache/dag911262r00207e_lerobot_0327_114714_df3cd5a7/episodes/ep000873/gripper_right_tactile_force_metrics.json
new file mode 100644
index 0000000000000000000000000000000000000000..db4473f221f150759c729cdecabe16e39e87f859
--- /dev/null
+++ b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-09_18-30/outputs_tactile/tactile_cache/dag911262r00207e_lerobot_0327_114714_df3cd5a7/episodes/ep000873/gripper_right_tactile_force_metrics.json
@@ -0,0 +1,9 @@
+{
+  "depth_peak": 0.0011744385119527578,
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+  "force_magnitude_peak": 0.004842572379857302,
+  "reference_frame_count": 0,
+  "dataset_name": "dag911262r00207e_lerobot_0327_114714",
+  "episode_index": 873,
+  "sensor": "gripper_right_tactile"
+}
\ No newline at end of file
diff --git a/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-09_18-30/outputs_tactile/tactile_cache/dag911262r00207e_lerobot_0327_114714_df3cd5a7/episodes/ep000876/gripper_right_tactile_force_metrics.json b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-09_18-30/outputs_tactile/tactile_cache/dag911262r00207e_lerobot_0327_114714_df3cd5a7/episodes/ep000876/gripper_right_tactile_force_metrics.json
new file mode 100644
index 0000000000000000000000000000000000000000..2c5758ee4502f2cf1ddc4400508759ff6c4491a4
--- /dev/null
+++ b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-09_18-30/outputs_tactile/tactile_cache/dag911262r00207e_lerobot_0327_114714_df3cd5a7/episodes/ep000876/gripper_right_tactile_force_metrics.json
@@ -0,0 +1,9 @@
+{
+  "depth_peak": 0.0011778881307691336,
+  "shear_peak": 0.005750912241637707,
+  "force_magnitude_peak": 0.005784037057310343,
+  "reference_frame_count": 0,
+  "dataset_name": "dag911262r00207e_lerobot_0327_114714",
+  "episode_index": 876,
+  "sensor": "gripper_right_tactile"
+}
\ No newline at end of file
diff --git a/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-09_18-30/outputs_tactile/tactile_cache/dag911262r002377_lerobot_0327_114714_729e31e8/episodes/ep000059/gripper_right_tactile_force_metrics.json b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-09_18-30/outputs_tactile/tactile_cache/dag911262r002377_lerobot_0327_114714_729e31e8/episodes/ep000059/gripper_right_tactile_force_metrics.json
new file mode 100644
index 0000000000000000000000000000000000000000..a3a53c9f122761edf3320164331698e26bb4029e
--- /dev/null
+++ b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-09_18-30/outputs_tactile/tactile_cache/dag911262r002377_lerobot_0327_114714_729e31e8/episodes/ep000059/gripper_right_tactile_force_metrics.json
@@ -0,0 +1,9 @@
+{
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+  "force_magnitude_peak": 0.003173552919179201,
+  "reference_frame_count": 0,
+  "dataset_name": "dag911262r002377_lerobot_0327_114714",
+  "episode_index": 59,
+  "sensor": "gripper_right_tactile"
+}
\ No newline at end of file
diff --git a/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-09_18-30/outputs_tactile/tactile_cache/dag911262r002377_lerobot_0327_114714_729e31e8/episodes/ep000121/gripper_right_tactile_force_metrics.json b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-09_18-30/outputs_tactile/tactile_cache/dag911262r002377_lerobot_0327_114714_729e31e8/episodes/ep000121/gripper_right_tactile_force_metrics.json
new file mode 100644
index 0000000000000000000000000000000000000000..900ffe740f5db28b7b7b1fb4ee835fe85f782370
--- /dev/null
+++ b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-09_18-30/outputs_tactile/tactile_cache/dag911262r002377_lerobot_0327_114714_729e31e8/episodes/ep000121/gripper_right_tactile_force_metrics.json
@@ -0,0 +1,9 @@
+{
+  "depth_peak": 0.0076391128823161125,
+  "shear_peak": 0.012472935020923615,
+  "force_magnitude_peak": 0.012932004407048225,
+  "reference_frame_count": 0,
+  "dataset_name": "dag911262r002377_lerobot_0327_114714",
+  "episode_index": 121,
+  "sensor": "gripper_right_tactile"
+}
\ No newline at end of file
diff --git a/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-09_18-30/outputs_tactile/tactile_cache/dag911262r002377_lerobot_0327_114714_729e31e8/episodes/ep000128/gripper_left_tactile_force_metrics.json b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-09_18-30/outputs_tactile/tactile_cache/dag911262r002377_lerobot_0327_114714_729e31e8/episodes/ep000128/gripper_left_tactile_force_metrics.json
new file mode 100644
index 0000000000000000000000000000000000000000..135ca03f1ff9c2f0e05c98f3ea84fd7f08d78611
--- /dev/null
+++ b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-09_18-30/outputs_tactile/tactile_cache/dag911262r002377_lerobot_0327_114714_729e31e8/episodes/ep000128/gripper_left_tactile_force_metrics.json
@@ -0,0 +1,9 @@
+{
+  "depth_peak": 0.0033979061990976334,
+  "shear_peak": 0.0037092205602675676,
+  "force_magnitude_peak": 0.004746532998979092,
+  "reference_frame_count": 0,
+  "dataset_name": "dag911262r002377_lerobot_0327_114714",
+  "episode_index": 128,
+  "sensor": "gripper_left_tactile"
+}
\ No newline at end of file
diff --git a/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-09_18-30/outputs_tactile/tactile_cache/dag911262r002377_lerobot_0327_114714_729e31e8/episodes/ep000139/gripper_right_tactile_force_metrics.json b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-09_18-30/outputs_tactile/tactile_cache/dag911262r002377_lerobot_0327_114714_729e31e8/episodes/ep000139/gripper_right_tactile_force_metrics.json
new file mode 100644
index 0000000000000000000000000000000000000000..c3dffadede34dac24eda683585a43523cd47fb06
--- /dev/null
+++ b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-09_18-30/outputs_tactile/tactile_cache/dag911262r002377_lerobot_0327_114714_729e31e8/episodes/ep000139/gripper_right_tactile_force_metrics.json
@@ -0,0 +1,9 @@
+{
+  "depth_peak": 0.0006154321599751711,
+  "shear_peak": 0.0068282438442111015,
+  "force_magnitude_peak": 0.00717404019087553,
+  "reference_frame_count": 0,
+  "dataset_name": "dag911262r002377_lerobot_0327_114714",
+  "episode_index": 139,
+  "sensor": "gripper_right_tactile"
+}
\ No newline at end of file
diff --git a/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-09_18-30/outputs_tactile/tactile_cache/dag911262r002377_lerobot_0327_114714_729e31e8/episodes/ep000158/gripper_left_tactile_force_metrics.json b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-09_18-30/outputs_tactile/tactile_cache/dag911262r002377_lerobot_0327_114714_729e31e8/episodes/ep000158/gripper_left_tactile_force_metrics.json
new file mode 100644
index 0000000000000000000000000000000000000000..c14ffb206dd05b9cd7482f2946d2ec2b8f64a334
--- /dev/null
+++ b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-09_18-30/outputs_tactile/tactile_cache/dag911262r002377_lerobot_0327_114714_729e31e8/episodes/ep000158/gripper_left_tactile_force_metrics.json
@@ -0,0 +1,9 @@
+{
+  "depth_peak": 0.001596406102180481,
+  "shear_peak": 0.0035534068010747433,
+  "force_magnitude_peak": 0.0038352960254997015,
+  "reference_frame_count": 0,
+  "dataset_name": "dag911262r002377_lerobot_0327_114714",
+  "episode_index": 158,
+  "sensor": "gripper_left_tactile"
+}
\ No newline at end of file
diff --git a/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-09_18-30/outputs_tactile/tactile_cache/dag911262r002377_lerobot_0327_114714_729e31e8/episodes/ep000161/gripper_left_tactile_force_metrics.json b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-09_18-30/outputs_tactile/tactile_cache/dag911262r002377_lerobot_0327_114714_729e31e8/episodes/ep000161/gripper_left_tactile_force_metrics.json
new file mode 100644
index 0000000000000000000000000000000000000000..e9e97f0b765cc907ac9f13b5dd081379b1298c93
--- /dev/null
+++ b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-09_18-30/outputs_tactile/tactile_cache/dag911262r002377_lerobot_0327_114714_729e31e8/episodes/ep000161/gripper_left_tactile_force_metrics.json
@@ -0,0 +1,9 @@
+{
+  "depth_peak": 0.0018682634690776467,
+  "shear_peak": 0.004103722516447306,
+  "force_magnitude_peak": 0.0043550762347877026,
+  "reference_frame_count": 0,
+  "dataset_name": "dag911262r002377_lerobot_0327_114714",
+  "episode_index": 161,
+  "sensor": "gripper_left_tactile"
+}
\ No newline at end of file
diff --git a/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-09_18-30/outputs_tactile/tactile_cache/dag911262r002377_lerobot_0327_114714_729e31e8/episodes/ep000161/gripper_right_tactile_force_metrics.json b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-09_18-30/outputs_tactile/tactile_cache/dag911262r002377_lerobot_0327_114714_729e31e8/episodes/ep000161/gripper_right_tactile_force_metrics.json
new file mode 100644
index 0000000000000000000000000000000000000000..baf6f063380a69ea61c7f7a50afa7a1220ddbf10
--- /dev/null
+++ b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-09_18-30/outputs_tactile/tactile_cache/dag911262r002377_lerobot_0327_114714_729e31e8/episodes/ep000161/gripper_right_tactile_force_metrics.json
@@ -0,0 +1,9 @@
+{
+  "depth_peak": 0.0008906374569050968,
+  "shear_peak": 0.005669084377586842,
+  "force_magnitude_peak": 0.006205226760357618,
+  "reference_frame_count": 0,
+  "dataset_name": "dag911262r002377_lerobot_0327_114714",
+  "episode_index": 161,
+  "sensor": "gripper_right_tactile"
+}
\ No newline at end of file
diff --git a/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-09_18-30/outputs_tactile/tactile_cache/dag911262r002377_lerobot_0327_114714_729e31e8/episodes/ep000201/gripper_right_tactile_force_metrics.json b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-09_18-30/outputs_tactile/tactile_cache/dag911262r002377_lerobot_0327_114714_729e31e8/episodes/ep000201/gripper_right_tactile_force_metrics.json
new file mode 100644
index 0000000000000000000000000000000000000000..49e041d3efafb383fd7058ccb0710cdadea2e88c
--- /dev/null
+++ b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-09_18-30/outputs_tactile/tactile_cache/dag911262r002377_lerobot_0327_114714_729e31e8/episodes/ep000201/gripper_right_tactile_force_metrics.json
@@ -0,0 +1,9 @@
+{
+  "depth_peak": 0.001705438713543117,
+  "shear_peak": 0.0017850748263299465,
+  "force_magnitude_peak": 0.002468808088451624,
+  "reference_frame_count": 0,
+  "dataset_name": "dag911262r002377_lerobot_0327_114714",
+  "episode_index": 201,
+  "sensor": "gripper_right_tactile"
+}
\ No newline at end of file
diff --git a/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-09_18-30/outputs_tactile/tactile_cache/dag911262r002377_lerobot_0327_114714_729e31e8/episodes/ep000220/gripper_right_tactile_force_metrics.json b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-09_18-30/outputs_tactile/tactile_cache/dag911262r002377_lerobot_0327_114714_729e31e8/episodes/ep000220/gripper_right_tactile_force_metrics.json
new file mode 100644
index 0000000000000000000000000000000000000000..11f3357071e0e9ff42883213bf07c9b0d3c47bba
--- /dev/null
+++ b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-09_18-30/outputs_tactile/tactile_cache/dag911262r002377_lerobot_0327_114714_729e31e8/episodes/ep000220/gripper_right_tactile_force_metrics.json
@@ -0,0 +1,9 @@
+{
+  "depth_peak": 0.00164027011487633,
+  "shear_peak": 0.0020211294759064913,
+  "force_magnitude_peak": 0.0023416567128151655,
+  "reference_frame_count": 0,
+  "dataset_name": "dag911262r002377_lerobot_0327_114714",
+  "episode_index": 220,
+  "sensor": "gripper_right_tactile"
+}
\ No newline at end of file
diff --git a/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-09_18-30/outputs_tactile/tactile_cache/dag911262r002377_lerobot_0327_114714_729e31e8/episodes/ep000241/gripper_right_tactile_force_metrics.json b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-09_18-30/outputs_tactile/tactile_cache/dag911262r002377_lerobot_0327_114714_729e31e8/episodes/ep000241/gripper_right_tactile_force_metrics.json
new file mode 100644
index 0000000000000000000000000000000000000000..92b158d0ea4ef6f80be33b18a242afb872f89e89
--- /dev/null
+++ b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-09_18-30/outputs_tactile/tactile_cache/dag911262r002377_lerobot_0327_114714_729e31e8/episodes/ep000241/gripper_right_tactile_force_metrics.json
@@ -0,0 +1,9 @@
+{
+  "depth_peak": 0.00217553717084229,
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+  "force_magnitude_peak": 0.0030712243169546127,
+  "reference_frame_count": 0,
+  "dataset_name": "dag911262r002377_lerobot_0327_114714",
+  "episode_index": 241,
+  "sensor": "gripper_right_tactile"
+}
\ No newline at end of file
diff --git a/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-09_18-30/outputs_tactile/tactile_cache/dag911262r002377_lerobot_0327_114714_729e31e8/episodes/ep000253/gripper_left_tactile_force_metrics.json b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-09_18-30/outputs_tactile/tactile_cache/dag911262r002377_lerobot_0327_114714_729e31e8/episodes/ep000253/gripper_left_tactile_force_metrics.json
new file mode 100644
index 0000000000000000000000000000000000000000..26c58bd0f9e4a5d07c85ae4fee8c162194a3c572
--- /dev/null
+++ b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-09_18-30/outputs_tactile/tactile_cache/dag911262r002377_lerobot_0327_114714_729e31e8/episodes/ep000253/gripper_left_tactile_force_metrics.json
@@ -0,0 +1,9 @@
+{
+  "depth_peak": 0.0006179323536343873,
+  "shear_peak": 0.001725108944810927,
+  "force_magnitude_peak": 0.0017314566066488624,
+  "reference_frame_count": 0,
+  "dataset_name": "dag911262r002377_lerobot_0327_114714",
+  "episode_index": 253,
+  "sensor": "gripper_left_tactile"
+}
\ No newline at end of file
diff --git a/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-09_18-30/outputs_tactile/tactile_cache/dag911262r002377_lerobot_0327_114714_729e31e8/episodes/ep000318/gripper_left_tactile_force_metrics.json b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-09_18-30/outputs_tactile/tactile_cache/dag911262r002377_lerobot_0327_114714_729e31e8/episodes/ep000318/gripper_left_tactile_force_metrics.json
new file mode 100644
index 0000000000000000000000000000000000000000..c66e6b8add1547d886e179ea48c602749598026e
--- /dev/null
+++ b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-09_18-30/outputs_tactile/tactile_cache/dag911262r002377_lerobot_0327_114714_729e31e8/episodes/ep000318/gripper_left_tactile_force_metrics.json
@@ -0,0 +1,9 @@
+{
+  "depth_peak": 0.000829309516120702,
+  "shear_peak": 0.0026876141782850027,
+  "force_magnitude_peak": 0.0026985155418515205,
+  "reference_frame_count": 0,
+  "dataset_name": "dag911262r002377_lerobot_0327_114714",
+  "episode_index": 318,
+  "sensor": "gripper_left_tactile"
+}
\ No newline at end of file
diff --git a/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-09_18-30/outputs_tactile/tactile_cache/dag911262r002377_lerobot_0327_114714_729e31e8/episodes/ep000319/gripper_right_tactile_force_metrics.json b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-09_18-30/outputs_tactile/tactile_cache/dag911262r002377_lerobot_0327_114714_729e31e8/episodes/ep000319/gripper_right_tactile_force_metrics.json
new file mode 100644
index 0000000000000000000000000000000000000000..55f36fe2b77df2c64b2b2835614c753504259885
--- /dev/null
+++ b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-09_18-30/outputs_tactile/tactile_cache/dag911262r002377_lerobot_0327_114714_729e31e8/episodes/ep000319/gripper_right_tactile_force_metrics.json
@@ -0,0 +1,9 @@
+{
+  "depth_peak": 0.011883229948580265,
+  "shear_peak": 0.0024283661041408777,
+  "force_magnitude_peak": 0.011950738728046417,
+  "reference_frame_count": 0,
+  "dataset_name": "dag911262r002377_lerobot_0327_114714",
+  "episode_index": 319,
+  "sensor": "gripper_right_tactile"
+}
\ No newline at end of file
diff --git a/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-09_18-30/outputs_tactile/tactile_cache/dag911262r002377_lerobot_0327_114714_729e31e8/episodes/ep000321/gripper_right_tactile_force_metrics.json b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-09_18-30/outputs_tactile/tactile_cache/dag911262r002377_lerobot_0327_114714_729e31e8/episodes/ep000321/gripper_right_tactile_force_metrics.json
new file mode 100644
index 0000000000000000000000000000000000000000..a00f65de1aeae41cb28cace4293b173b8825be8a
--- /dev/null
+++ b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-09_18-30/outputs_tactile/tactile_cache/dag911262r002377_lerobot_0327_114714_729e31e8/episodes/ep000321/gripper_right_tactile_force_metrics.json
@@ -0,0 +1,9 @@
+{
+  "depth_peak": 0.013574555516242981,
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+  "force_magnitude_peak": 0.013640157878398895,
+  "reference_frame_count": 0,
+  "dataset_name": "dag911262r002377_lerobot_0327_114714",
+  "episode_index": 321,
+  "sensor": "gripper_right_tactile"
+}
\ No newline at end of file
diff --git a/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-09_18-30/outputs_tactile/tactile_cache/dag911262r002377_lerobot_0327_114714_729e31e8/episodes/ep000340/gripper_right_tactile_force_metrics.json b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-09_18-30/outputs_tactile/tactile_cache/dag911262r002377_lerobot_0327_114714_729e31e8/episodes/ep000340/gripper_right_tactile_force_metrics.json
new file mode 100644
index 0000000000000000000000000000000000000000..c7303c36e4db9e3c0e57c384018d726a804dfc41
--- /dev/null
+++ b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-09_18-30/outputs_tactile/tactile_cache/dag911262r002377_lerobot_0327_114714_729e31e8/episodes/ep000340/gripper_right_tactile_force_metrics.json
@@ -0,0 +1,9 @@
+{
+  "depth_peak": 0.0009057820425368845,
+  "shear_peak": 0.002977055264636874,
+  "force_magnitude_peak": 0.003015747992321849,
+  "reference_frame_count": 0,
+  "dataset_name": "dag911262r002377_lerobot_0327_114714",
+  "episode_index": 340,
+  "sensor": "gripper_right_tactile"
+}
\ No newline at end of file
diff --git a/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-09_18-30/outputs_tactile/tactile_cache/dag911262r002377_lerobot_0327_114714_729e31e8/episodes/ep000359/gripper_right_tactile_force_metrics.json b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-09_18-30/outputs_tactile/tactile_cache/dag911262r002377_lerobot_0327_114714_729e31e8/episodes/ep000359/gripper_right_tactile_force_metrics.json
new file mode 100644
index 0000000000000000000000000000000000000000..9b568f0965f03ccf16490d2387d5fef8bd0843ab
--- /dev/null
+++ b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-09_18-30/outputs_tactile/tactile_cache/dag911262r002377_lerobot_0327_114714_729e31e8/episodes/ep000359/gripper_right_tactile_force_metrics.json
@@ -0,0 +1,9 @@
+{
+  "depth_peak": 0.0020145513117313385,
+  "shear_peak": 0.005919174756854773,
+  "force_magnitude_peak": 0.006414698902517557,
+  "reference_frame_count": 0,
+  "dataset_name": "dag911262r002377_lerobot_0327_114714",
+  "episode_index": 359,
+  "sensor": "gripper_right_tactile"
+}
\ No newline at end of file
diff --git a/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-09_18-30/outputs_tactile/tactile_cache/dag911262r002377_lerobot_0327_114714_729e31e8/episodes/ep000361/gripper_right_tactile_force_metrics.json b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-09_18-30/outputs_tactile/tactile_cache/dag911262r002377_lerobot_0327_114714_729e31e8/episodes/ep000361/gripper_right_tactile_force_metrics.json
new file mode 100644
index 0000000000000000000000000000000000000000..2d526afc3969b961ced528d3ef408663af8c1c98
--- /dev/null
+++ b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-09_18-30/outputs_tactile/tactile_cache/dag911262r002377_lerobot_0327_114714_729e31e8/episodes/ep000361/gripper_right_tactile_force_metrics.json
@@ -0,0 +1,9 @@
+{
+  "depth_peak": 0.0002951479400508106,
+  "shear_peak": 0.003784952685236931,
+  "force_magnitude_peak": 0.004909481853246689,
+  "reference_frame_count": 0,
+  "dataset_name": "dag911262r002377_lerobot_0327_114714",
+  "episode_index": 361,
+  "sensor": "gripper_right_tactile"
+}
\ No newline at end of file
diff --git a/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-09_18-30/outputs_tactile/tactile_cache/dag911262r002377_lerobot_0327_114714_729e31e8/episodes/ep000373/gripper_left_tactile_force_metrics.json b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-09_18-30/outputs_tactile/tactile_cache/dag911262r002377_lerobot_0327_114714_729e31e8/episodes/ep000373/gripper_left_tactile_force_metrics.json
new file mode 100644
index 0000000000000000000000000000000000000000..0b0541e929dbb1b63c6be13d4be1955b7db81a8c
--- /dev/null
+++ b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-09_18-30/outputs_tactile/tactile_cache/dag911262r002377_lerobot_0327_114714_729e31e8/episodes/ep000373/gripper_left_tactile_force_metrics.json
@@ -0,0 +1,9 @@
+{
+  "depth_peak": 0.005845364183187485,
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+  "force_magnitude_peak": 0.0058472552336752415,
+  "reference_frame_count": 0,
+  "dataset_name": "dag911262r002377_lerobot_0327_114714",
+  "episode_index": 373,
+  "sensor": "gripper_left_tactile"
+}
\ No newline at end of file
diff --git a/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-09_18-30/outputs_tactile/tactile_cache/dag911262r002377_lerobot_0327_114714_729e31e8/episodes/ep000398/gripper_left_tactile_force_metrics.json b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-09_18-30/outputs_tactile/tactile_cache/dag911262r002377_lerobot_0327_114714_729e31e8/episodes/ep000398/gripper_left_tactile_force_metrics.json
new file mode 100644
index 0000000000000000000000000000000000000000..77841f51ee5d3e64ef61fc1e757306cd71664ee0
--- /dev/null
+++ b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-09_18-30/outputs_tactile/tactile_cache/dag911262r002377_lerobot_0327_114714_729e31e8/episodes/ep000398/gripper_left_tactile_force_metrics.json
@@ -0,0 +1,9 @@
+{
+  "depth_peak": 0.002720837714150548,
+  "shear_peak": 0.0033986906055361032,
+  "force_magnitude_peak": 0.0037144299130886793,
+  "reference_frame_count": 0,
+  "dataset_name": "dag911262r002377_lerobot_0327_114714",
+  "episode_index": 398,
+  "sensor": "gripper_left_tactile"
+}
\ No newline at end of file
diff --git a/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-09_18-30/outputs_tactile/tactile_cache/dag911262r002377_lerobot_0327_114714_729e31e8/episodes/ep000419/gripper_right_tactile_force_metrics.json b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-09_18-30/outputs_tactile/tactile_cache/dag911262r002377_lerobot_0327_114714_729e31e8/episodes/ep000419/gripper_right_tactile_force_metrics.json
new file mode 100644
index 0000000000000000000000000000000000000000..f23de1aed6413789728175c98324bf9fa401fdb2
--- /dev/null
+++ b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-09_18-30/outputs_tactile/tactile_cache/dag911262r002377_lerobot_0327_114714_729e31e8/episodes/ep000419/gripper_right_tactile_force_metrics.json
@@ -0,0 +1,9 @@
+{
+  "depth_peak": 0.002328414237126708,
+  "shear_peak": 0.007153089623898268,
+  "force_magnitude_peak": 0.0072709545493125916,
+  "reference_frame_count": 0,
+  "dataset_name": "dag911262r002377_lerobot_0327_114714",
+  "episode_index": 419,
+  "sensor": "gripper_right_tactile"
+}
\ No newline at end of file
diff --git a/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-09_18-30/outputs_tactile/tactile_cache/dag911262r002377_lerobot_0327_114714_729e31e8/episodes/ep000420/gripper_right_tactile_force_metrics.json b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-09_18-30/outputs_tactile/tactile_cache/dag911262r002377_lerobot_0327_114714_729e31e8/episodes/ep000420/gripper_right_tactile_force_metrics.json
new file mode 100644
index 0000000000000000000000000000000000000000..70028920e5ffa4402dd4d4d003e98cbc079eca22
--- /dev/null
+++ b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-09_18-30/outputs_tactile/tactile_cache/dag911262r002377_lerobot_0327_114714_729e31e8/episodes/ep000420/gripper_right_tactile_force_metrics.json
@@ -0,0 +1,9 @@
+{
+  "depth_peak": 0.0015263683162629604,
+  "shear_peak": 0.004661428742110729,
+  "force_magnitude_peak": 0.004936578217893839,
+  "reference_frame_count": 0,
+  "dataset_name": "dag911262r002377_lerobot_0327_114714",
+  "episode_index": 420,
+  "sensor": "gripper_right_tactile"
+}
\ No newline at end of file
diff --git a/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-09_18-30/outputs_tactile/tactile_cache/dag911262r002377_lerobot_0327_114714_729e31e8/episodes/ep000427/gripper_right_tactile_force_metrics.json b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-09_18-30/outputs_tactile/tactile_cache/dag911262r002377_lerobot_0327_114714_729e31e8/episodes/ep000427/gripper_right_tactile_force_metrics.json
new file mode 100644
index 0000000000000000000000000000000000000000..5005daf9b0c42647faff1566bf12a40beba21111
--- /dev/null
+++ b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-09_18-30/outputs_tactile/tactile_cache/dag911262r002377_lerobot_0327_114714_729e31e8/episodes/ep000427/gripper_right_tactile_force_metrics.json
@@ -0,0 +1,9 @@
+{
+  "depth_peak": 0.000655131007079035,
+  "shear_peak": 0.0031318936962634325,
+  "force_magnitude_peak": 0.003176706377416849,
+  "reference_frame_count": 0,
+  "dataset_name": "dag911262r002377_lerobot_0327_114714",
+  "episode_index": 427,
+  "sensor": "gripper_right_tactile"
+}
\ No newline at end of file
diff --git a/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-09_18-30/outputs_tactile/tactile_cache/dag911262r002377_lerobot_0327_114714_729e31e8/episodes/ep000435/gripper_left_tactile_force_metrics.json b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-09_18-30/outputs_tactile/tactile_cache/dag911262r002377_lerobot_0327_114714_729e31e8/episodes/ep000435/gripper_left_tactile_force_metrics.json
new file mode 100644
index 0000000000000000000000000000000000000000..c57a186a18e13e481f517ee347b86e2c508afde3
--- /dev/null
+++ b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-09_18-30/outputs_tactile/tactile_cache/dag911262r002377_lerobot_0327_114714_729e31e8/episodes/ep000435/gripper_left_tactile_force_metrics.json
@@ -0,0 +1,9 @@
+{
+  "depth_peak": 0.0013839812017977238,
+  "shear_peak": 0.0014542066492140293,
+  "force_magnitude_peak": 0.002007516101002693,
+  "reference_frame_count": 0,
+  "dataset_name": "dag911262r002377_lerobot_0327_114714",
+  "episode_index": 435,
+  "sensor": "gripper_left_tactile"
+}
\ No newline at end of file
diff --git a/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-09_18-30/outputs_tactile/tactile_cache/dag911262r002377_lerobot_0327_114714_729e31e8/episodes/ep000441/gripper_left_tactile_force_metrics.json b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-09_18-30/outputs_tactile/tactile_cache/dag911262r002377_lerobot_0327_114714_729e31e8/episodes/ep000441/gripper_left_tactile_force_metrics.json
new file mode 100644
index 0000000000000000000000000000000000000000..5273f0bcc2385f100ff4b316fe7fc29b6597b5fd
--- /dev/null
+++ b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-09_18-30/outputs_tactile/tactile_cache/dag911262r002377_lerobot_0327_114714_729e31e8/episodes/ep000441/gripper_left_tactile_force_metrics.json
@@ -0,0 +1,9 @@
+{
+  "depth_peak": 0.0023470448795706034,
+  "shear_peak": 0.0023894880432635546,
+  "force_magnitude_peak": 0.015588821843266487,
+  "reference_frame_count": 0,
+  "dataset_name": "dag911262r002377_lerobot_0327_114714",
+  "episode_index": 441,
+  "sensor": "gripper_left_tactile"
+}
\ No newline at end of file
diff --git a/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-09_18-30/outputs_tactile/tactile_cache/dag911262r002377_lerobot_0327_114714_729e31e8/episodes/ep000459/gripper_right_tactile_force_metrics.json b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-09_18-30/outputs_tactile/tactile_cache/dag911262r002377_lerobot_0327_114714_729e31e8/episodes/ep000459/gripper_right_tactile_force_metrics.json
new file mode 100644
index 0000000000000000000000000000000000000000..6c633701a4020bfe697b636fdfbd0fc39a8daae9
--- /dev/null
+++ b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-09_18-30/outputs_tactile/tactile_cache/dag911262r002377_lerobot_0327_114714_729e31e8/episodes/ep000459/gripper_right_tactile_force_metrics.json
@@ -0,0 +1,9 @@
+{
+  "depth_peak": 0.0035460172221064568,
+  "shear_peak": 0.007359236944466829,
+  "force_magnitude_peak": 0.008471493609249592,
+  "reference_frame_count": 0,
+  "dataset_name": "dag911262r002377_lerobot_0327_114714",
+  "episode_index": 459,
+  "sensor": "gripper_right_tactile"
+}
\ No newline at end of file
diff --git a/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-09_18-30/outputs_tactile/tactile_cache/dag911262r002377_lerobot_0327_114714_729e31e8/episodes/ep000479/gripper_right_tactile_force_metrics.json b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-09_18-30/outputs_tactile/tactile_cache/dag911262r002377_lerobot_0327_114714_729e31e8/episodes/ep000479/gripper_right_tactile_force_metrics.json
new file mode 100644
index 0000000000000000000000000000000000000000..c923d8356815764436a7d54cd717341d4c026f0b
--- /dev/null
+++ b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-09_18-30/outputs_tactile/tactile_cache/dag911262r002377_lerobot_0327_114714_729e31e8/episodes/ep000479/gripper_right_tactile_force_metrics.json
@@ -0,0 +1,9 @@
+{
+  "depth_peak": 0.014506145380437374,
+  "shear_peak": 0.0065073492005467415,
+  "force_magnitude_peak": 0.015539859421551228,
+  "reference_frame_count": 0,
+  "dataset_name": "dag911262r002377_lerobot_0327_114714",
+  "episode_index": 479,
+  "sensor": "gripper_right_tactile"
+}
\ No newline at end of file
diff --git a/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-09_18-30/outputs_tactile/tactile_cache/dag911262r002377_lerobot_0327_114714_729e31e8/episodes/ep000500/gripper_right_tactile_force_metrics.json b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-09_18-30/outputs_tactile/tactile_cache/dag911262r002377_lerobot_0327_114714_729e31e8/episodes/ep000500/gripper_right_tactile_force_metrics.json
new file mode 100644
index 0000000000000000000000000000000000000000..e0295d3929d295ed2e2ee2cad651580aea9e725d
--- /dev/null
+++ b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-09_18-30/outputs_tactile/tactile_cache/dag911262r002377_lerobot_0327_114714_729e31e8/episodes/ep000500/gripper_right_tactile_force_metrics.json
@@ -0,0 +1,9 @@
+{
+  "depth_peak": 0.0016369424993172288,
+  "shear_peak": 0.013266369700431824,
+  "force_magnitude_peak": 0.013636735267937183,
+  "reference_frame_count": 0,
+  "dataset_name": "dag911262r002377_lerobot_0327_114714",
+  "episode_index": 500,
+  "sensor": "gripper_right_tactile"
+}
\ No newline at end of file
diff --git a/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-09_18-30/outputs_tactile/tactile_cache/dag911262r002377_lerobot_0327_114714_729e31e8/episodes/ep000507/gripper_right_tactile_force_metrics.json b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-09_18-30/outputs_tactile/tactile_cache/dag911262r002377_lerobot_0327_114714_729e31e8/episodes/ep000507/gripper_right_tactile_force_metrics.json
new file mode 100644
index 0000000000000000000000000000000000000000..2aaddb16c177a82f399d84a011795d1e67154eb3
--- /dev/null
+++ b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-09_18-30/outputs_tactile/tactile_cache/dag911262r002377_lerobot_0327_114714_729e31e8/episodes/ep000507/gripper_right_tactile_force_metrics.json
@@ -0,0 +1,9 @@
+{
+  "depth_peak": 0.0052879187278449535,
+  "shear_peak": 0.006804047618061304,
+  "force_magnitude_peak": 0.008617258630692959,
+  "reference_frame_count": 0,
+  "dataset_name": "dag911262r002377_lerobot_0327_114714",
+  "episode_index": 507,
+  "sensor": "gripper_right_tactile"
+}
\ No newline at end of file
diff --git a/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-09_18-30/outputs_tactile/tactile_cache/dag911262r002377_lerobot_0327_114714_729e31e8/episodes/ep000521/gripper_right_tactile_force_metrics.json b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-09_18-30/outputs_tactile/tactile_cache/dag911262r002377_lerobot_0327_114714_729e31e8/episodes/ep000521/gripper_right_tactile_force_metrics.json
new file mode 100644
index 0000000000000000000000000000000000000000..6b07fbb32b1a48eff7bc441806f3f594f0a196d4
--- /dev/null
+++ b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-09_18-30/outputs_tactile/tactile_cache/dag911262r002377_lerobot_0327_114714_729e31e8/episodes/ep000521/gripper_right_tactile_force_metrics.json
@@ -0,0 +1,9 @@
+{
+  "depth_peak": 0.002181493677198887,
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+  "force_magnitude_peak": 0.0033597827423363924,
+  "reference_frame_count": 0,
+  "dataset_name": "dag911262r002377_lerobot_0327_114714",
+  "episode_index": 521,
+  "sensor": "gripper_right_tactile"
+}
\ No newline at end of file
diff --git a/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-09_18-30/outputs_tactile/tactile_cache/dag911262r002377_lerobot_0327_114714_729e31e8/episodes/ep000561/gripper_right_tactile_force_metrics.json b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-09_18-30/outputs_tactile/tactile_cache/dag911262r002377_lerobot_0327_114714_729e31e8/episodes/ep000561/gripper_right_tactile_force_metrics.json
new file mode 100644
index 0000000000000000000000000000000000000000..24e24e7b59d9bcd19454de751fb5fe724d587133
--- /dev/null
+++ b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-09_18-30/outputs_tactile/tactile_cache/dag911262r002377_lerobot_0327_114714_729e31e8/episodes/ep000561/gripper_right_tactile_force_metrics.json
@@ -0,0 +1,9 @@
+{
+  "depth_peak": 0.0034374897368252277,
+  "shear_peak": 0.004288236144930124,
+  "force_magnitude_peak": 0.005353795830160379,
+  "reference_frame_count": 0,
+  "dataset_name": "dag911262r002377_lerobot_0327_114714",
+  "episode_index": 561,
+  "sensor": "gripper_right_tactile"
+}
\ No newline at end of file
diff --git a/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-09_18-30/outputs_tactile/tactile_cache/dag911262r002377_lerobot_0327_114714_729e31e8/episodes/ep000613/gripper_left_tactile_force_metrics.json b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-09_18-30/outputs_tactile/tactile_cache/dag911262r002377_lerobot_0327_114714_729e31e8/episodes/ep000613/gripper_left_tactile_force_metrics.json
new file mode 100644
index 0000000000000000000000000000000000000000..cba856ce67d69d854d943947cb26bac6b4c6ec80
--- /dev/null
+++ b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-09_18-30/outputs_tactile/tactile_cache/dag911262r002377_lerobot_0327_114714_729e31e8/episodes/ep000613/gripper_left_tactile_force_metrics.json
@@ -0,0 +1,9 @@
+{
+  "depth_peak": 0.0014074334176257253,
+  "shear_peak": 0.001670840778388083,
+  "force_magnitude_peak": 0.0021837728563696146,
+  "reference_frame_count": 0,
+  "dataset_name": "dag911262r002377_lerobot_0327_114714",
+  "episode_index": 613,
+  "sensor": "gripper_left_tactile"
+}
\ No newline at end of file
diff --git a/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-09_18-30/outputs_tactile/tactile_cache/dag911262r002377_lerobot_0327_114714_729e31e8/episodes/ep000619/gripper_right_tactile_force_metrics.json b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-09_18-30/outputs_tactile/tactile_cache/dag911262r002377_lerobot_0327_114714_729e31e8/episodes/ep000619/gripper_right_tactile_force_metrics.json
new file mode 100644
index 0000000000000000000000000000000000000000..e83b701a4a45fad3a004467de90d83bcfd7d3f14
--- /dev/null
+++ b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-09_18-30/outputs_tactile/tactile_cache/dag911262r002377_lerobot_0327_114714_729e31e8/episodes/ep000619/gripper_right_tactile_force_metrics.json
@@ -0,0 +1,9 @@
+{
+  "depth_peak": 0.006448674015700817,
+  "shear_peak": 0.0020712134428322315,
+  "force_magnitude_peak": 0.006566337309777737,
+  "reference_frame_count": 0,
+  "dataset_name": "dag911262r002377_lerobot_0327_114714",
+  "episode_index": 619,
+  "sensor": "gripper_right_tactile"
+}
\ No newline at end of file
diff --git a/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-09_18-30/outputs_tactile/tactile_cache/dag911262r002377_lerobot_0327_114714_729e31e8/episodes/ep000639/gripper_right_tactile_force_metrics.json b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-09_18-30/outputs_tactile/tactile_cache/dag911262r002377_lerobot_0327_114714_729e31e8/episodes/ep000639/gripper_right_tactile_force_metrics.json
new file mode 100644
index 0000000000000000000000000000000000000000..d90327c9db23a05164a491b907648b1753657bdc
--- /dev/null
+++ b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-09_18-30/outputs_tactile/tactile_cache/dag911262r002377_lerobot_0327_114714_729e31e8/episodes/ep000639/gripper_right_tactile_force_metrics.json
@@ -0,0 +1,9 @@
+{
+  "depth_peak": 0.0011499373940750957,
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+  "force_magnitude_peak": 0.002779441187158227,
+  "reference_frame_count": 0,
+  "dataset_name": "dag911262r002377_lerobot_0327_114714",
+  "episode_index": 639,
+  "sensor": "gripper_right_tactile"
+}
\ No newline at end of file
diff --git a/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-09_18-30/outputs_tactile/tactile_cache/dag911262r002377_lerobot_0327_114714_729e31e8/episodes/ep000641/gripper_right_tactile_force_metrics.json b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-09_18-30/outputs_tactile/tactile_cache/dag911262r002377_lerobot_0327_114714_729e31e8/episodes/ep000641/gripper_right_tactile_force_metrics.json
new file mode 100644
index 0000000000000000000000000000000000000000..337fe3a9f1da61e4bc78256ee8b8703d6b5b8a40
--- /dev/null
+++ b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-09_18-30/outputs_tactile/tactile_cache/dag911262r002377_lerobot_0327_114714_729e31e8/episodes/ep000641/gripper_right_tactile_force_metrics.json
@@ -0,0 +1,9 @@
+{
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+  "force_magnitude_peak": 0.019773075357079506,
+  "reference_frame_count": 0,
+  "dataset_name": "dag911262r002377_lerobot_0327_114714",
+  "episode_index": 641,
+  "sensor": "gripper_right_tactile"
+}
\ No newline at end of file
diff --git a/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-09_18-30/outputs_tactile/tactile_cache/dag911262r002377_lerobot_0327_114714_729e31e8/episodes/ep000739/gripper_right_tactile_force_metrics.json b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-09_18-30/outputs_tactile/tactile_cache/dag911262r002377_lerobot_0327_114714_729e31e8/episodes/ep000739/gripper_right_tactile_force_metrics.json
new file mode 100644
index 0000000000000000000000000000000000000000..63a876d5f18b3f5ed6517d56865684423dfdbffc
--- /dev/null
+++ b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-09_18-30/outputs_tactile/tactile_cache/dag911262r002377_lerobot_0327_114714_729e31e8/episodes/ep000739/gripper_right_tactile_force_metrics.json
@@ -0,0 +1,9 @@
+{
+  "depth_peak": 0.0027188120875507593,
+  "shear_peak": 0.008186203427612782,
+  "force_magnitude_peak": 0.008187094703316689,
+  "reference_frame_count": 0,
+  "dataset_name": "dag911262r002377_lerobot_0327_114714",
+  "episode_index": 739,
+  "sensor": "gripper_right_tactile"
+}
\ No newline at end of file
diff --git a/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-09_18-30/outputs_tactile/tactile_cache/dag911262r002377_lerobot_0327_114714_729e31e8/episodes/ep000740/gripper_right_tactile_force_metrics.json b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-09_18-30/outputs_tactile/tactile_cache/dag911262r002377_lerobot_0327_114714_729e31e8/episodes/ep000740/gripper_right_tactile_force_metrics.json
new file mode 100644
index 0000000000000000000000000000000000000000..ad3edc127aef31b03d43368e4aa386632754743d
--- /dev/null
+++ b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-09_18-30/outputs_tactile/tactile_cache/dag911262r002377_lerobot_0327_114714_729e31e8/episodes/ep000740/gripper_right_tactile_force_metrics.json
@@ -0,0 +1,9 @@
+{
+  "depth_peak": 0.0037764892913401127,
+  "shear_peak": 0.008583612740039825,
+  "force_magnitude_peak": 0.008644302375614643,
+  "reference_frame_count": 0,
+  "dataset_name": "dag911262r002377_lerobot_0327_114714",
+  "episode_index": 740,
+  "sensor": "gripper_right_tactile"
+}
\ No newline at end of file
diff --git a/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-09_18-30/outputs_tactile/tactile_cache/dag911262r002377_lerobot_0327_114714_729e31e8/episodes/ep000747/gripper_right_tactile_force_metrics.json b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-09_18-30/outputs_tactile/tactile_cache/dag911262r002377_lerobot_0327_114714_729e31e8/episodes/ep000747/gripper_right_tactile_force_metrics.json
new file mode 100644
index 0000000000000000000000000000000000000000..d7dcb109e2e9d54d42eec581bf7af74bee38ec0d
--- /dev/null
+++ b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-09_18-30/outputs_tactile/tactile_cache/dag911262r002377_lerobot_0327_114714_729e31e8/episodes/ep000747/gripper_right_tactile_force_metrics.json
@@ -0,0 +1,9 @@
+{
+  "depth_peak": 0.0014347918331623077,
+  "shear_peak": 0.004554260056465864,
+  "force_magnitude_peak": 0.004590571392327547,
+  "reference_frame_count": 0,
+  "dataset_name": "dag911262r002377_lerobot_0327_114714",
+  "episode_index": 747,
+  "sensor": "gripper_right_tactile"
+}
\ No newline at end of file
diff --git a/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-09_18-30/outputs_tactile/tactile_cache/dag911262r002377_lerobot_0327_114714_729e31e8/episodes/ep000768/gripper_left_tactile_force_metrics.json b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-09_18-30/outputs_tactile/tactile_cache/dag911262r002377_lerobot_0327_114714_729e31e8/episodes/ep000768/gripper_left_tactile_force_metrics.json
new file mode 100644
index 0000000000000000000000000000000000000000..ab8db80d67ccdfd9f1113521f2b1521d6c85adc6
--- /dev/null
+++ b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-09_18-30/outputs_tactile/tactile_cache/dag911262r002377_lerobot_0327_114714_729e31e8/episodes/ep000768/gripper_left_tactile_force_metrics.json
@@ -0,0 +1,9 @@
+{
+  "depth_peak": 0.0038895851466804743,
+  "shear_peak": 0.0014600310241803527,
+  "force_magnitude_peak": 0.003905406454578042,
+  "reference_frame_count": 0,
+  "dataset_name": "dag911262r002377_lerobot_0327_114714",
+  "episode_index": 768,
+  "sensor": "gripper_left_tactile"
+}
\ No newline at end of file
diff --git a/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-09_18-30/outputs_tactile/tactile_cache/dag911262r002377_lerobot_0327_114714_729e31e8/episodes/ep000773/gripper_left_tactile_force_metrics.json b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-09_18-30/outputs_tactile/tactile_cache/dag911262r002377_lerobot_0327_114714_729e31e8/episodes/ep000773/gripper_left_tactile_force_metrics.json
new file mode 100644
index 0000000000000000000000000000000000000000..d70c22f2f8c8e5ced1955cbdfff39f2de8234289
--- /dev/null
+++ b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-09_18-30/outputs_tactile/tactile_cache/dag911262r002377_lerobot_0327_114714_729e31e8/episodes/ep000773/gripper_left_tactile_force_metrics.json
@@ -0,0 +1,9 @@
+{
+  "depth_peak": 0.0030129270162433386,
+  "shear_peak": 0.004762543831020594,
+  "force_magnitude_peak": 0.0054467241279780865,
+  "reference_frame_count": 0,
+  "dataset_name": "dag911262r002377_lerobot_0327_114714",
+  "episode_index": 773,
+  "sensor": "gripper_left_tactile"
+}
\ No newline at end of file
diff --git a/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-09_18-30/outputs_tactile/tactile_cache/dag911262r00276b_lerobot_0327_114714_464bb7f1/episodes/ep000001/gripper_right_tactile_force_metrics.json b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-09_18-30/outputs_tactile/tactile_cache/dag911262r00276b_lerobot_0327_114714_464bb7f1/episodes/ep000001/gripper_right_tactile_force_metrics.json
new file mode 100644
index 0000000000000000000000000000000000000000..cf25efc6e9bd84ff67836e90f9bb40e729626026
--- /dev/null
+++ b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-09_18-30/outputs_tactile/tactile_cache/dag911262r00276b_lerobot_0327_114714_464bb7f1/episodes/ep000001/gripper_right_tactile_force_metrics.json
@@ -0,0 +1,9 @@
+{
+  "depth_peak": 0.0011709606042131782,
+  "shear_peak": 0.0009979394963011146,
+  "force_magnitude_peak": 0.0014577275142073631,
+  "reference_frame_count": 0,
+  "dataset_name": "dag911262r00276b_lerobot_0327_114714",
+  "episode_index": 1,
+  "sensor": "gripper_right_tactile"
+}
\ No newline at end of file
diff --git a/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-09_18-30/outputs_tactile/tactile_cache/dag911262r00276b_lerobot_0327_114714_464bb7f1/episodes/ep000005/gripper_right_tactile_force_metrics.json b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-09_18-30/outputs_tactile/tactile_cache/dag911262r00276b_lerobot_0327_114714_464bb7f1/episodes/ep000005/gripper_right_tactile_force_metrics.json
new file mode 100644
index 0000000000000000000000000000000000000000..08d14ae78fe3221454f982b53713c1f5be26010c
--- /dev/null
+++ b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-09_18-30/outputs_tactile/tactile_cache/dag911262r00276b_lerobot_0327_114714_464bb7f1/episodes/ep000005/gripper_right_tactile_force_metrics.json
@@ -0,0 +1,9 @@
+{
+  "depth_peak": 0.0005626616184599698,
+  "shear_peak": 0.0014933166094124317,
+  "force_magnitude_peak": 0.0018690039869397879,
+  "reference_frame_count": 0,
+  "dataset_name": "dag911262r00276b_lerobot_0327_114714",
+  "episode_index": 5,
+  "sensor": "gripper_right_tactile"
+}
\ No newline at end of file
diff --git a/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-09_18-30/outputs_tactile/tactile_cache/dag911262r00276b_lerobot_0327_114714_464bb7f1/episodes/ep000007/gripper_right_tactile_force_metrics.json b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-09_18-30/outputs_tactile/tactile_cache/dag911262r00276b_lerobot_0327_114714_464bb7f1/episodes/ep000007/gripper_right_tactile_force_metrics.json
new file mode 100644
index 0000000000000000000000000000000000000000..6c218070da40a42f7b8403de1f7e628027515a39
--- /dev/null
+++ b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-09_18-30/outputs_tactile/tactile_cache/dag911262r00276b_lerobot_0327_114714_464bb7f1/episodes/ep000007/gripper_right_tactile_force_metrics.json
@@ -0,0 +1,9 @@
+{
+  "depth_peak": 0.0014587740879505873,
+  "shear_peak": 0.0011566986795514822,
+  "force_magnitude_peak": 0.0015836560633033514,
+  "reference_frame_count": 0,
+  "dataset_name": "dag911262r00276b_lerobot_0327_114714",
+  "episode_index": 7,
+  "sensor": "gripper_right_tactile"
+}
\ No newline at end of file
diff --git a/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-09_18-30/outputs_tactile/tactile_cache/dag911262r00276b_lerobot_0327_114714_464bb7f1/episodes/ep000032/gripper_right_tactile_force_metrics.json b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-09_18-30/outputs_tactile/tactile_cache/dag911262r00276b_lerobot_0327_114714_464bb7f1/episodes/ep000032/gripper_right_tactile_force_metrics.json
new file mode 100644
index 0000000000000000000000000000000000000000..663f572c2fe31889bc022728221378f25d3d012c
--- /dev/null
+++ b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-09_18-30/outputs_tactile/tactile_cache/dag911262r00276b_lerobot_0327_114714_464bb7f1/episodes/ep000032/gripper_right_tactile_force_metrics.json
@@ -0,0 +1,9 @@
+{
+  "depth_peak": 0.003535446710884571,
+  "shear_peak": 0.0014307149685919285,
+  "force_magnitude_peak": 0.0036167472135275602,
+  "reference_frame_count": 0,
+  "dataset_name": "dag911262r00276b_lerobot_0327_114714",
+  "episode_index": 32,
+  "sensor": "gripper_right_tactile"
+}
\ No newline at end of file
diff --git a/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-09_18-30/outputs_tactile/tactile_cache/dag911262r00276b_lerobot_0327_114714_464bb7f1/episodes/ep000071/gripper_right_tactile_force_metrics.json b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-09_18-30/outputs_tactile/tactile_cache/dag911262r00276b_lerobot_0327_114714_464bb7f1/episodes/ep000071/gripper_right_tactile_force_metrics.json
new file mode 100644
index 0000000000000000000000000000000000000000..f9ef2c096aefc5f1f5bd206b872b1402e67a2354
--- /dev/null
+++ b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-09_18-30/outputs_tactile/tactile_cache/dag911262r00276b_lerobot_0327_114714_464bb7f1/episodes/ep000071/gripper_right_tactile_force_metrics.json
@@ -0,0 +1,9 @@
+{
+  "depth_peak": 0.0008103761938400567,
+  "shear_peak": 0.002462101634591818,
+  "force_magnitude_peak": 0.0027787969447672367,
+  "reference_frame_count": 0,
+  "dataset_name": "dag911262r00276b_lerobot_0327_114714",
+  "episode_index": 71,
+  "sensor": "gripper_right_tactile"
+}
\ No newline at end of file
diff --git a/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-09_18-30/outputs_tactile/tactile_cache/dag911262r00276b_lerobot_0327_114714_464bb7f1/episodes/ep000079/gripper_right_tactile_force_metrics.json b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-09_18-30/outputs_tactile/tactile_cache/dag911262r00276b_lerobot_0327_114714_464bb7f1/episodes/ep000079/gripper_right_tactile_force_metrics.json
new file mode 100644
index 0000000000000000000000000000000000000000..e2d4567063fdc2d87744a632bdd83c96152f2819
--- /dev/null
+++ b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-09_18-30/outputs_tactile/tactile_cache/dag911262r00276b_lerobot_0327_114714_464bb7f1/episodes/ep000079/gripper_right_tactile_force_metrics.json
@@ -0,0 +1,9 @@
+{
+  "depth_peak": 0.0022008689120411873,
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+  "force_magnitude_peak": 0.003129833610728383,
+  "reference_frame_count": 0,
+  "dataset_name": "dag911262r00276b_lerobot_0327_114714",
+  "episode_index": 79,
+  "sensor": "gripper_right_tactile"
+}
\ No newline at end of file
diff --git a/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-09_18-30/outputs_tactile/tactile_cache/dag911262r00276b_lerobot_0327_114714_464bb7f1/episodes/ep000119/gripper_right_tactile_force_metrics.json b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-09_18-30/outputs_tactile/tactile_cache/dag911262r00276b_lerobot_0327_114714_464bb7f1/episodes/ep000119/gripper_right_tactile_force_metrics.json
new file mode 100644
index 0000000000000000000000000000000000000000..4e2f2db6392141eab4127dd2debeb67329328eb4
--- /dev/null
+++ b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-09_18-30/outputs_tactile/tactile_cache/dag911262r00276b_lerobot_0327_114714_464bb7f1/episodes/ep000119/gripper_right_tactile_force_metrics.json
@@ -0,0 +1,9 @@
+{
+  "depth_peak": 0.0002619210572447628,
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+  "force_magnitude_peak": 0.004002716857939959,
+  "reference_frame_count": 0,
+  "dataset_name": "dag911262r00276b_lerobot_0327_114714",
+  "episode_index": 119,
+  "sensor": "gripper_right_tactile"
+}
\ No newline at end of file
diff --git a/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-09_18-30/outputs_tactile/tactile_cache/dag911262r00276b_lerobot_0327_114714_464bb7f1/episodes/ep000121/gripper_left_tactile_force_metrics.json b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-09_18-30/outputs_tactile/tactile_cache/dag911262r00276b_lerobot_0327_114714_464bb7f1/episodes/ep000121/gripper_left_tactile_force_metrics.json
new file mode 100644
index 0000000000000000000000000000000000000000..238d1b84f9072d1f12e61c3455e8afabe87e7230
--- /dev/null
+++ b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-09_18-30/outputs_tactile/tactile_cache/dag911262r00276b_lerobot_0327_114714_464bb7f1/episodes/ep000121/gripper_left_tactile_force_metrics.json
@@ -0,0 +1,9 @@
+{
+  "depth_peak": 0.0028405117336660624,
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+  "force_magnitude_peak": 0.004403411410748959,
+  "reference_frame_count": 0,
+  "dataset_name": "dag911262r00276b_lerobot_0327_114714",
+  "episode_index": 121,
+  "sensor": "gripper_left_tactile"
+}
\ No newline at end of file
diff --git a/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-09_18-30/outputs_tactile/tactile_cache/dag911262r00276b_lerobot_0327_114714_464bb7f1/episodes/ep000192/gripper_right_tactile_force_metrics.json b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-09_18-30/outputs_tactile/tactile_cache/dag911262r00276b_lerobot_0327_114714_464bb7f1/episodes/ep000192/gripper_right_tactile_force_metrics.json
new file mode 100644
index 0000000000000000000000000000000000000000..c5db7371127fcb3e408f6e7bb443f00ff4cf4ffc
--- /dev/null
+++ b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-09_18-30/outputs_tactile/tactile_cache/dag911262r00276b_lerobot_0327_114714_464bb7f1/episodes/ep000192/gripper_right_tactile_force_metrics.json
@@ -0,0 +1,9 @@
+{
+  "depth_peak": 0.0005063431453891098,
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+  "force_magnitude_peak": 0.002662273123860359,
+  "reference_frame_count": 0,
+  "dataset_name": "dag911262r00276b_lerobot_0327_114714",
+  "episode_index": 192,
+  "sensor": "gripper_right_tactile"
+}
\ No newline at end of file
diff --git a/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-09_18-30/outputs_tactile/tactile_cache/dag911262r00276b_lerobot_0327_114714_464bb7f1/episodes/ep000201/gripper_left_tactile_force_metrics.json b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-09_18-30/outputs_tactile/tactile_cache/dag911262r00276b_lerobot_0327_114714_464bb7f1/episodes/ep000201/gripper_left_tactile_force_metrics.json
new file mode 100644
index 0000000000000000000000000000000000000000..51d1e8658a449c777ea6a3fa0358a65d03a59c86
--- /dev/null
+++ b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-09_18-30/outputs_tactile/tactile_cache/dag911262r00276b_lerobot_0327_114714_464bb7f1/episodes/ep000201/gripper_left_tactile_force_metrics.json
@@ -0,0 +1,9 @@
+{
+  "depth_peak": 0.0027157615404576063,
+  "shear_peak": 0.0017114822985604405,
+  "force_magnitude_peak": 0.002801399677991867,
+  "reference_frame_count": 0,
+  "dataset_name": "dag911262r00276b_lerobot_0327_114714",
+  "episode_index": 201,
+  "sensor": "gripper_left_tactile"
+}
\ No newline at end of file
diff --git a/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-09_18-30/outputs_tactile/tactile_cache/dag911262r00276b_lerobot_0327_114714_464bb7f1/episodes/ep000233/gripper_left_tactile_force_metrics.json b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-09_18-30/outputs_tactile/tactile_cache/dag911262r00276b_lerobot_0327_114714_464bb7f1/episodes/ep000233/gripper_left_tactile_force_metrics.json
new file mode 100644
index 0000000000000000000000000000000000000000..7604a6512385b0388f31fcf3c1047ad3ba87887e
--- /dev/null
+++ b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-09_18-30/outputs_tactile/tactile_cache/dag911262r00276b_lerobot_0327_114714_464bb7f1/episodes/ep000233/gripper_left_tactile_force_metrics.json
@@ -0,0 +1,9 @@
+{
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+  "force_magnitude_peak": 0.0018873822409659624,
+  "reference_frame_count": 0,
+  "dataset_name": "dag911262r00276b_lerobot_0327_114714",
+  "episode_index": 233,
+  "sensor": "gripper_left_tactile"
+}
\ No newline at end of file
diff --git a/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-09_18-30/outputs_tactile/tactile_cache/dag911262r00276b_lerobot_0327_114714_464bb7f1/episodes/ep000281/gripper_right_tactile_force_metrics.json b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-09_18-30/outputs_tactile/tactile_cache/dag911262r00276b_lerobot_0327_114714_464bb7f1/episodes/ep000281/gripper_right_tactile_force_metrics.json
new file mode 100644
index 0000000000000000000000000000000000000000..683ef65f14a130f33ef73f1bce25da4f5300071c
--- /dev/null
+++ b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-09_18-30/outputs_tactile/tactile_cache/dag911262r00276b_lerobot_0327_114714_464bb7f1/episodes/ep000281/gripper_right_tactile_force_metrics.json
@@ -0,0 +1,9 @@
+{
+  "depth_peak": 0.0017093743663281202,
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+  "force_magnitude_peak": 0.001962614944204688,
+  "reference_frame_count": 0,
+  "dataset_name": "dag911262r00276b_lerobot_0327_114714",
+  "episode_index": 281,
+  "sensor": "gripper_right_tactile"
+}
\ No newline at end of file
diff --git a/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-09_18-30/outputs_tactile/tactile_cache/dag911262r00276b_lerobot_0327_114714_464bb7f1/episodes/ep000284/gripper_left_tactile_force_metrics.json b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-09_18-30/outputs_tactile/tactile_cache/dag911262r00276b_lerobot_0327_114714_464bb7f1/episodes/ep000284/gripper_left_tactile_force_metrics.json
new file mode 100644
index 0000000000000000000000000000000000000000..0c7131c27bac628815f3241fe2e41466114bf8da
--- /dev/null
+++ b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-09_18-30/outputs_tactile/tactile_cache/dag911262r00276b_lerobot_0327_114714_464bb7f1/episodes/ep000284/gripper_left_tactile_force_metrics.json
@@ -0,0 +1,9 @@
+{
+  "depth_peak": 0.005933133885264397,
+  "shear_peak": 0.0020055111963301897,
+  "force_magnitude_peak": 0.0060301367193460464,
+  "reference_frame_count": 0,
+  "dataset_name": "dag911262r00276b_lerobot_0327_114714",
+  "episode_index": 284,
+  "sensor": "gripper_left_tactile"
+}
\ No newline at end of file
diff --git a/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-09_18-30/outputs_tactile/tactile_cache/dag911262r00276b_lerobot_0327_114714_464bb7f1/episodes/ep000300/gripper_left_tactile_force_metrics.json b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-09_18-30/outputs_tactile/tactile_cache/dag911262r00276b_lerobot_0327_114714_464bb7f1/episodes/ep000300/gripper_left_tactile_force_metrics.json
new file mode 100644
index 0000000000000000000000000000000000000000..46c58375a9eb4141b58ec7f73c5d250c7c61a29c
--- /dev/null
+++ b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-09_18-30/outputs_tactile/tactile_cache/dag911262r00276b_lerobot_0327_114714_464bb7f1/episodes/ep000300/gripper_left_tactile_force_metrics.json
@@ -0,0 +1,9 @@
+{
+  "depth_peak": 0.0021778868976980448,
+  "shear_peak": 0.0023197168484330177,
+  "force_magnitude_peak": 0.003174221608787775,
+  "reference_frame_count": 0,
+  "dataset_name": "dag911262r00276b_lerobot_0327_114714",
+  "episode_index": 300,
+  "sensor": "gripper_left_tactile"
+}
\ No newline at end of file
diff --git a/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-09_18-30/outputs_tactile/tactile_cache/dag911262r00276b_lerobot_0327_114714_464bb7f1/episodes/ep000313/gripper_left_tactile_force_metrics.json b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-09_18-30/outputs_tactile/tactile_cache/dag911262r00276b_lerobot_0327_114714_464bb7f1/episodes/ep000313/gripper_left_tactile_force_metrics.json
new file mode 100644
index 0000000000000000000000000000000000000000..51466e1348e9e5a194c3c014417fcbfe4597751c
--- /dev/null
+++ b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-09_18-30/outputs_tactile/tactile_cache/dag911262r00276b_lerobot_0327_114714_464bb7f1/episodes/ep000313/gripper_left_tactile_force_metrics.json
@@ -0,0 +1,9 @@
+{
+  "depth_peak": 0.0012287619756534696,
+  "shear_peak": 0.002738575218245387,
+  "force_magnitude_peak": 0.0029930230230093002,
+  "reference_frame_count": 0,
+  "dataset_name": "dag911262r00276b_lerobot_0327_114714",
+  "episode_index": 313,
+  "sensor": "gripper_left_tactile"
+}
\ No newline at end of file
diff --git a/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-09_18-30/outputs_tactile/tactile_cache/dag911262r00276b_lerobot_0327_114714_464bb7f1/episodes/ep000321/gripper_right_tactile_force_metrics.json b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-09_18-30/outputs_tactile/tactile_cache/dag911262r00276b_lerobot_0327_114714_464bb7f1/episodes/ep000321/gripper_right_tactile_force_metrics.json
new file mode 100644
index 0000000000000000000000000000000000000000..bdde1eab4a46eb8922b8fb539136de17286c8934
--- /dev/null
+++ b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-09_18-30/outputs_tactile/tactile_cache/dag911262r00276b_lerobot_0327_114714_464bb7f1/episodes/ep000321/gripper_right_tactile_force_metrics.json
@@ -0,0 +1,9 @@
+{
+  "depth_peak": 0.002904660766944289,
+  "shear_peak": 0.002830668119713664,
+  "force_magnitude_peak": 0.0040558273904025555,
+  "reference_frame_count": 0,
+  "dataset_name": "dag911262r00276b_lerobot_0327_114714",
+  "episode_index": 321,
+  "sensor": "gripper_right_tactile"
+}
\ No newline at end of file
diff --git a/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-09_18-30/outputs_tactile/tactile_cache/dag911262r00276b_lerobot_0327_114714_464bb7f1/episodes/ep000352/gripper_right_tactile_force_metrics.json b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-09_18-30/outputs_tactile/tactile_cache/dag911262r00276b_lerobot_0327_114714_464bb7f1/episodes/ep000352/gripper_right_tactile_force_metrics.json
new file mode 100644
index 0000000000000000000000000000000000000000..a3468a3c48ed5c291dccefbb3705318f7fc47672
--- /dev/null
+++ b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-09_18-30/outputs_tactile/tactile_cache/dag911262r00276b_lerobot_0327_114714_464bb7f1/episodes/ep000352/gripper_right_tactile_force_metrics.json
@@ -0,0 +1,9 @@
+{
+  "depth_peak": 0.004505181219428778,
+  "shear_peak": 0.0016188580775633454,
+  "force_magnitude_peak": 0.004770044703036547,
+  "reference_frame_count": 0,
+  "dataset_name": "dag911262r00276b_lerobot_0327_114714",
+  "episode_index": 352,
+  "sensor": "gripper_right_tactile"
+}
\ No newline at end of file
diff --git a/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-09_18-30/outputs_tactile/tactile_cache/dag911262r00276b_lerobot_0327_114714_464bb7f1/episodes/ep000361/gripper_right_tactile_force_metrics.json b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-09_18-30/outputs_tactile/tactile_cache/dag911262r00276b_lerobot_0327_114714_464bb7f1/episodes/ep000361/gripper_right_tactile_force_metrics.json
new file mode 100644
index 0000000000000000000000000000000000000000..ca5b2fc8fe34c91bf629a99d0670e536ccb08569
--- /dev/null
+++ b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-09_18-30/outputs_tactile/tactile_cache/dag911262r00276b_lerobot_0327_114714_464bb7f1/episodes/ep000361/gripper_right_tactile_force_metrics.json
@@ -0,0 +1,9 @@
+{
+  "depth_peak": 0.00615224102512002,
+  "shear_peak": 0.0017336177406832576,
+  "force_magnitude_peak": 0.0061630671843886375,
+  "reference_frame_count": 0,
+  "dataset_name": "dag911262r00276b_lerobot_0327_114714",
+  "episode_index": 361,
+  "sensor": "gripper_right_tactile"
+}
\ No newline at end of file
diff --git a/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-09_18-30/outputs_tactile/tactile_cache/dag911262r00276b_lerobot_0327_114714_464bb7f1/episodes/ep000364/gripper_left_tactile_force_metrics.json b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-09_18-30/outputs_tactile/tactile_cache/dag911262r00276b_lerobot_0327_114714_464bb7f1/episodes/ep000364/gripper_left_tactile_force_metrics.json
new file mode 100644
index 0000000000000000000000000000000000000000..13aa117599c6469ef0f84cb6973d4f6442100371
--- /dev/null
+++ b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-09_18-30/outputs_tactile/tactile_cache/dag911262r00276b_lerobot_0327_114714_464bb7f1/episodes/ep000364/gripper_left_tactile_force_metrics.json
@@ -0,0 +1,9 @@
+{
+  "depth_peak": 0.0005908587481826544,
+  "shear_peak": 0.0025674505159258842,
+  "force_magnitude_peak": 0.002627850277349353,
+  "reference_frame_count": 0,
+  "dataset_name": "dag911262r00276b_lerobot_0327_114714",
+  "episode_index": 364,
+  "sensor": "gripper_left_tactile"
+}
\ No newline at end of file
diff --git a/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-09_18-30/outputs_tactile/tactile_cache/dag911262r00276b_lerobot_0327_114714_464bb7f1/episodes/ep000367/gripper_right_tactile_force_metrics.json b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-09_18-30/outputs_tactile/tactile_cache/dag911262r00276b_lerobot_0327_114714_464bb7f1/episodes/ep000367/gripper_right_tactile_force_metrics.json
new file mode 100644
index 0000000000000000000000000000000000000000..d7d9b152f79b64ed6b1ff43b62fe8ddd6f1f6a61
--- /dev/null
+++ b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-09_18-30/outputs_tactile/tactile_cache/dag911262r00276b_lerobot_0327_114714_464bb7f1/episodes/ep000367/gripper_right_tactile_force_metrics.json
@@ -0,0 +1,9 @@
+{
+  "depth_peak": 0.0027919176500290632,
+  "shear_peak": 0.003605789737775922,
+  "force_magnitude_peak": 0.004544764757156372,
+  "reference_frame_count": 0,
+  "dataset_name": "dag911262r00276b_lerobot_0327_114714",
+  "episode_index": 367,
+  "sensor": "gripper_right_tactile"
+}
\ No newline at end of file
diff --git a/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-09_18-30/outputs_tactile/tactile_cache/dag911262r00276b_lerobot_0327_114714_464bb7f1/episodes/ep000374/gripper_left_tactile_force_metrics.json b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-09_18-30/outputs_tactile/tactile_cache/dag911262r00276b_lerobot_0327_114714_464bb7f1/episodes/ep000374/gripper_left_tactile_force_metrics.json
new file mode 100644
index 0000000000000000000000000000000000000000..526763b8903c457a9079173fdcac2a3ea835c434
--- /dev/null
+++ b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-09_18-30/outputs_tactile/tactile_cache/dag911262r00276b_lerobot_0327_114714_464bb7f1/episodes/ep000374/gripper_left_tactile_force_metrics.json
@@ -0,0 +1,9 @@
+{
+  "depth_peak": 0.0003422365407459438,
+  "shear_peak": 0.0025171758607029915,
+  "force_magnitude_peak": 0.003089901525527239,
+  "reference_frame_count": 0,
+  "dataset_name": "dag911262r00276b_lerobot_0327_114714",
+  "episode_index": 374,
+  "sensor": "gripper_left_tactile"
+}
\ No newline at end of file
diff --git a/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-09_18-30/outputs_tactile/tactile_cache/dag911262r00276b_lerobot_0327_114714_464bb7f1/episodes/ep000399/gripper_right_tactile_force_metrics.json b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-09_18-30/outputs_tactile/tactile_cache/dag911262r00276b_lerobot_0327_114714_464bb7f1/episodes/ep000399/gripper_right_tactile_force_metrics.json
new file mode 100644
index 0000000000000000000000000000000000000000..fb6fe5f505f3e75c0428fcdc9b6e6c92639f6133
--- /dev/null
+++ b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-09_18-30/outputs_tactile/tactile_cache/dag911262r00276b_lerobot_0327_114714_464bb7f1/episodes/ep000399/gripper_right_tactile_force_metrics.json
@@ -0,0 +1,9 @@
+{
+  "depth_peak": 0.0013759132707491517,
+  "shear_peak": 0.001791656482964754,
+  "force_magnitude_peak": 0.002382030477747321,
+  "reference_frame_count": 0,
+  "dataset_name": "dag911262r00276b_lerobot_0327_114714",
+  "episode_index": 399,
+  "sensor": "gripper_right_tactile"
+}
\ No newline at end of file
diff --git a/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-09_18-30/outputs_tactile/tactile_cache/dag911262r00276b_lerobot_0327_114714_464bb7f1/episodes/ep000414/gripper_left_tactile_force_metrics.json b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-09_18-30/outputs_tactile/tactile_cache/dag911262r00276b_lerobot_0327_114714_464bb7f1/episodes/ep000414/gripper_left_tactile_force_metrics.json
new file mode 100644
index 0000000000000000000000000000000000000000..dca3f6d0524487a333f34ddaf6f65b8da6d17c2d
--- /dev/null
+++ b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-09_18-30/outputs_tactile/tactile_cache/dag911262r00276b_lerobot_0327_114714_464bb7f1/episodes/ep000414/gripper_left_tactile_force_metrics.json
@@ -0,0 +1,9 @@
+{
+  "depth_peak": 0.0006209750426933169,
+  "shear_peak": 0.0018310659797862172,
+  "force_magnitude_peak": 0.001831080880947411,
+  "reference_frame_count": 0,
+  "dataset_name": "dag911262r00276b_lerobot_0327_114714",
+  "episode_index": 414,
+  "sensor": "gripper_left_tactile"
+}
\ No newline at end of file
diff --git a/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-09_18-30/outputs_tactile/tactile_cache/dag911262r00276b_lerobot_0327_114714_464bb7f1/episodes/ep000444/gripper_left_tactile_force_metrics.json b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-09_18-30/outputs_tactile/tactile_cache/dag911262r00276b_lerobot_0327_114714_464bb7f1/episodes/ep000444/gripper_left_tactile_force_metrics.json
new file mode 100644
index 0000000000000000000000000000000000000000..7dd0208d3402790e0586c11eb3de9ef5b453b493
--- /dev/null
+++ b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-09_18-30/outputs_tactile/tactile_cache/dag911262r00276b_lerobot_0327_114714_464bb7f1/episodes/ep000444/gripper_left_tactile_force_metrics.json
@@ -0,0 +1,9 @@
+{
+  "depth_peak": 0.0021515130065381527,
+  "shear_peak": 0.001263439073227346,
+  "force_magnitude_peak": 0.0022797957062721252,
+  "reference_frame_count": 0,
+  "dataset_name": "dag911262r00276b_lerobot_0327_114714",
+  "episode_index": 444,
+  "sensor": "gripper_left_tactile"
+}
\ No newline at end of file
diff --git a/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-09_18-30/outputs_tactile/tactile_cache/dag911262r00276b_lerobot_0327_114714_464bb7f1/episodes/ep000447/gripper_right_tactile_force_metrics.json b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-09_18-30/outputs_tactile/tactile_cache/dag911262r00276b_lerobot_0327_114714_464bb7f1/episodes/ep000447/gripper_right_tactile_force_metrics.json
new file mode 100644
index 0000000000000000000000000000000000000000..1206377571572a22b5a8dd95f972edd1c32bf424
--- /dev/null
+++ b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-09_18-30/outputs_tactile/tactile_cache/dag911262r00276b_lerobot_0327_114714_464bb7f1/episodes/ep000447/gripper_right_tactile_force_metrics.json
@@ -0,0 +1,9 @@
+{
+  "depth_peak": 0.0030324039980769157,
+  "shear_peak": 0.009424720890820026,
+  "force_magnitude_peak": 0.009857099503278732,
+  "reference_frame_count": 0,
+  "dataset_name": "dag911262r00276b_lerobot_0327_114714",
+  "episode_index": 447,
+  "sensor": "gripper_right_tactile"
+}
\ No newline at end of file
diff --git a/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-09_18-30/outputs_tactile/tactile_cache/dag911262r00276b_lerobot_0327_114714_464bb7f1/episodes/ep000472/gripper_right_tactile_force_metrics.json b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-09_18-30/outputs_tactile/tactile_cache/dag911262r00276b_lerobot_0327_114714_464bb7f1/episodes/ep000472/gripper_right_tactile_force_metrics.json
new file mode 100644
index 0000000000000000000000000000000000000000..8a221f1f07b1719319f693b8b9305d1ca58a8215
--- /dev/null
+++ b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-09_18-30/outputs_tactile/tactile_cache/dag911262r00276b_lerobot_0327_114714_464bb7f1/episodes/ep000472/gripper_right_tactile_force_metrics.json
@@ -0,0 +1,9 @@
+{
+  "depth_peak": 0.0022661020047962666,
+  "shear_peak": 0.0034363730810582638,
+  "force_magnitude_peak": 0.00411629443988204,
+  "reference_frame_count": 0,
+  "dataset_name": "dag911262r00276b_lerobot_0327_114714",
+  "episode_index": 472,
+  "sensor": "gripper_right_tactile"
+}
\ No newline at end of file
diff --git a/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-09_18-30/outputs_tactile/tactile_cache/dag911262r00276b_lerobot_0327_114714_464bb7f1/episodes/ep000487/gripper_right_tactile_force_metrics.json b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-09_18-30/outputs_tactile/tactile_cache/dag911262r00276b_lerobot_0327_114714_464bb7f1/episodes/ep000487/gripper_right_tactile_force_metrics.json
new file mode 100644
index 0000000000000000000000000000000000000000..23e3f80d8cc32c6ecae20c61215f9fcacc22f1db
--- /dev/null
+++ b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-09_18-30/outputs_tactile/tactile_cache/dag911262r00276b_lerobot_0327_114714_464bb7f1/episodes/ep000487/gripper_right_tactile_force_metrics.json
@@ -0,0 +1,9 @@
+{
+  "depth_peak": 0.0008957462850958109,
+  "shear_peak": 0.001603633165359497,
+  "force_magnitude_peak": 0.002480821218341589,
+  "reference_frame_count": 0,
+  "dataset_name": "dag911262r00276b_lerobot_0327_114714",
+  "episode_index": 487,
+  "sensor": "gripper_right_tactile"
+}
\ No newline at end of file
diff --git a/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-09_18-30/outputs_tactile/tactile_cache/dag911262r00276b_lerobot_0327_114714_464bb7f1/episodes/ep000512/gripper_right_tactile_force_metrics.json b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-09_18-30/outputs_tactile/tactile_cache/dag911262r00276b_lerobot_0327_114714_464bb7f1/episodes/ep000512/gripper_right_tactile_force_metrics.json
new file mode 100644
index 0000000000000000000000000000000000000000..18875386b7ffb90e97c8c3b1910148994e8b2b79
--- /dev/null
+++ b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-09_18-30/outputs_tactile/tactile_cache/dag911262r00276b_lerobot_0327_114714_464bb7f1/episodes/ep000512/gripper_right_tactile_force_metrics.json
@@ -0,0 +1,9 @@
+{
+  "depth_peak": 0.002268186304718256,
+  "shear_peak": 0.0037026479840278625,
+  "force_magnitude_peak": 0.004338456317782402,
+  "reference_frame_count": 0,
+  "dataset_name": "dag911262r00276b_lerobot_0327_114714",
+  "episode_index": 512,
+  "sensor": "gripper_right_tactile"
+}
\ No newline at end of file
diff --git a/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-09_18-30/outputs_tactile/tactile_cache/dag911262r00276b_lerobot_0327_114714_464bb7f1/episodes/ep000551/gripper_right_tactile_force_metrics.json b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-09_18-30/outputs_tactile/tactile_cache/dag911262r00276b_lerobot_0327_114714_464bb7f1/episodes/ep000551/gripper_right_tactile_force_metrics.json
new file mode 100644
index 0000000000000000000000000000000000000000..8d21c891b7685694a11213c2b29cda016649bad9
--- /dev/null
+++ b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-09_18-30/outputs_tactile/tactile_cache/dag911262r00276b_lerobot_0327_114714_464bb7f1/episodes/ep000551/gripper_right_tactile_force_metrics.json
@@ -0,0 +1,9 @@
+{
+  "depth_peak": 0.001104480936191976,
+  "shear_peak": 0.001333539024926722,
+  "force_magnitude_peak": 0.0014904161216691136,
+  "reference_frame_count": 0,
+  "dataset_name": "dag911262r00276b_lerobot_0327_114714",
+  "episode_index": 551,
+  "sensor": "gripper_right_tactile"
+}
\ No newline at end of file
diff --git a/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-09_18-30/outputs_tactile/tactile_cache/dag911262r00276b_lerobot_0327_114714_464bb7f1/episodes/ep000561/gripper_left_tactile_force_metrics.json b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-09_18-30/outputs_tactile/tactile_cache/dag911262r00276b_lerobot_0327_114714_464bb7f1/episodes/ep000561/gripper_left_tactile_force_metrics.json
new file mode 100644
index 0000000000000000000000000000000000000000..108ff342bce2a7b54c9e68d2e307fca0fbb412ef
--- /dev/null
+++ b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-09_18-30/outputs_tactile/tactile_cache/dag911262r00276b_lerobot_0327_114714_464bb7f1/episodes/ep000561/gripper_left_tactile_force_metrics.json
@@ -0,0 +1,9 @@
+{
+  "depth_peak": 0.0036403604317456484,
+  "shear_peak": 0.004934041295200586,
+  "force_magnitude_peak": 0.0050154030323028564,
+  "reference_frame_count": 0,
+  "dataset_name": "dag911262r00276b_lerobot_0327_114714",
+  "episode_index": 561,
+  "sensor": "gripper_left_tactile"
+}
\ No newline at end of file
diff --git a/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-09_18-30/outputs_tactile/tactile_cache/dag911262r00276b_lerobot_0327_114714_464bb7f1/episodes/ep000580/gripper_left_tactile_force_metrics.json b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-09_18-30/outputs_tactile/tactile_cache/dag911262r00276b_lerobot_0327_114714_464bb7f1/episodes/ep000580/gripper_left_tactile_force_metrics.json
new file mode 100644
index 0000000000000000000000000000000000000000..603bc3875d8e4c301f0b43a4db550177e6667870
--- /dev/null
+++ b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-09_18-30/outputs_tactile/tactile_cache/dag911262r00276b_lerobot_0327_114714_464bb7f1/episodes/ep000580/gripper_left_tactile_force_metrics.json
@@ -0,0 +1,9 @@
+{
+  "depth_peak": 0.0034923627972602844,
+  "shear_peak": 0.0024314497131854296,
+  "force_magnitude_peak": 0.003937394358217716,
+  "reference_frame_count": 0,
+  "dataset_name": "dag911262r00276b_lerobot_0327_114714",
+  "episode_index": 580,
+  "sensor": "gripper_left_tactile"
+}
\ No newline at end of file
diff --git a/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-09_18-30/outputs_tactile/tactile_cache/dag911262r00276b_lerobot_0327_114714_464bb7f1/episodes/ep000592/gripper_right_tactile_force_metrics.json b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-09_18-30/outputs_tactile/tactile_cache/dag911262r00276b_lerobot_0327_114714_464bb7f1/episodes/ep000592/gripper_right_tactile_force_metrics.json
new file mode 100644
index 0000000000000000000000000000000000000000..c38b9cfbf543a17d9513ee9758253e69609ed416
--- /dev/null
+++ b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-09_18-30/outputs_tactile/tactile_cache/dag911262r00276b_lerobot_0327_114714_464bb7f1/episodes/ep000592/gripper_right_tactile_force_metrics.json
@@ -0,0 +1,9 @@
+{
+  "depth_peak": 0.001295515219680965,
+  "shear_peak": 0.002287286799401045,
+  "force_magnitude_peak": 0.0031865097116678953,
+  "reference_frame_count": 0,
+  "dataset_name": "dag911262r00276b_lerobot_0327_114714",
+  "episode_index": 592,
+  "sensor": "gripper_right_tactile"
+}
\ No newline at end of file
diff --git a/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-09_18-30/outputs_tactile/tactile_cache/dag911262r00276b_lerobot_0327_114714_464bb7f1/episodes/ep000593/gripper_left_tactile_force_metrics.json b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-09_18-30/outputs_tactile/tactile_cache/dag911262r00276b_lerobot_0327_114714_464bb7f1/episodes/ep000593/gripper_left_tactile_force_metrics.json
new file mode 100644
index 0000000000000000000000000000000000000000..b55e8bb5c5cf4421646dd802efe138bf32cd1fd5
--- /dev/null
+++ b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-09_18-30/outputs_tactile/tactile_cache/dag911262r00276b_lerobot_0327_114714_464bb7f1/episodes/ep000593/gripper_left_tactile_force_metrics.json
@@ -0,0 +1,9 @@
+{
+  "depth_peak": 0.0028434584382921457,
+  "shear_peak": 0.003128680167719722,
+  "force_magnitude_peak": 0.0034966610837727785,
+  "reference_frame_count": 0,
+  "dataset_name": "dag911262r00276b_lerobot_0327_114714",
+  "episode_index": 593,
+  "sensor": "gripper_left_tactile"
+}
\ No newline at end of file
diff --git a/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-09_18-30/outputs_tactile/tactile_cache/dag911262r00276b_lerobot_0327_114714_464bb7f1/episodes/ep000601/gripper_right_tactile_force_metrics.json b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-09_18-30/outputs_tactile/tactile_cache/dag911262r00276b_lerobot_0327_114714_464bb7f1/episodes/ep000601/gripper_right_tactile_force_metrics.json
new file mode 100644
index 0000000000000000000000000000000000000000..dec3df684c850d93a1d91c4ca4861ead837a0839
--- /dev/null
+++ b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-09_18-30/outputs_tactile/tactile_cache/dag911262r00276b_lerobot_0327_114714_464bb7f1/episodes/ep000601/gripper_right_tactile_force_metrics.json
@@ -0,0 +1,9 @@
+{
+  "depth_peak": 0.0022396398708224297,
+  "shear_peak": 0.002329351380467415,
+  "force_magnitude_peak": 0.002330385847017169,
+  "reference_frame_count": 0,
+  "dataset_name": "dag911262r00276b_lerobot_0327_114714",
+  "episode_index": 601,
+  "sensor": "gripper_right_tactile"
+}
\ No newline at end of file
diff --git a/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-09_18-30/outputs_tactile/tactile_cache/dag911262r00276b_lerobot_0327_114714_464bb7f1/episodes/ep000607/gripper_right_tactile_force_metrics.json b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-09_18-30/outputs_tactile/tactile_cache/dag911262r00276b_lerobot_0327_114714_464bb7f1/episodes/ep000607/gripper_right_tactile_force_metrics.json
new file mode 100644
index 0000000000000000000000000000000000000000..e6633297fb4c874287f9f2f1c164d70a2a6ea6c5
--- /dev/null
+++ b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-09_18-30/outputs_tactile/tactile_cache/dag911262r00276b_lerobot_0327_114714_464bb7f1/episodes/ep000607/gripper_right_tactile_force_metrics.json
@@ -0,0 +1,9 @@
+{
+  "depth_peak": 0.002787779550999403,
+  "shear_peak": 0.0036283116787672043,
+  "force_magnitude_peak": 0.004562294576317072,
+  "reference_frame_count": 0,
+  "dataset_name": "dag911262r00276b_lerobot_0327_114714",
+  "episode_index": 607,
+  "sensor": "gripper_right_tactile"
+}
\ No newline at end of file
diff --git a/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-09_18-30/outputs_tactile/tactile_cache/dag911262r00276b_lerobot_0327_114714_464bb7f1/episodes/ep000641/gripper_left_tactile_force_metrics.json b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-09_18-30/outputs_tactile/tactile_cache/dag911262r00276b_lerobot_0327_114714_464bb7f1/episodes/ep000641/gripper_left_tactile_force_metrics.json
new file mode 100644
index 0000000000000000000000000000000000000000..d22dcb5c40b15313273b979b4b4eff0ff4497707
--- /dev/null
+++ b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-09_18-30/outputs_tactile/tactile_cache/dag911262r00276b_lerobot_0327_114714_464bb7f1/episodes/ep000641/gripper_left_tactile_force_metrics.json
@@ -0,0 +1,9 @@
+{
+  "depth_peak": 0.0034881331957876682,
+  "shear_peak": 0.0021036716643720865,
+  "force_magnitude_peak": 0.003957157488912344,
+  "reference_frame_count": 0,
+  "dataset_name": "dag911262r00276b_lerobot_0327_114714",
+  "episode_index": 641,
+  "sensor": "gripper_left_tactile"
+}
\ No newline at end of file
diff --git a/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-09_18-30/outputs_tactile/tactile_cache/dag911262r00276b_lerobot_0327_114714_464bb7f1/episodes/ep000641/gripper_right_tactile_force_metrics.json b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-09_18-30/outputs_tactile/tactile_cache/dag911262r00276b_lerobot_0327_114714_464bb7f1/episodes/ep000641/gripper_right_tactile_force_metrics.json
new file mode 100644
index 0000000000000000000000000000000000000000..0b820316efbfac222a73d58a80e1717a5704d9ed
--- /dev/null
+++ b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-09_18-30/outputs_tactile/tactile_cache/dag911262r00276b_lerobot_0327_114714_464bb7f1/episodes/ep000641/gripper_right_tactile_force_metrics.json
@@ -0,0 +1,9 @@
+{
+  "depth_peak": 0.0038870645221322775,
+  "shear_peak": 0.001041688141413033,
+  "force_magnitude_peak": 0.003930217120796442,
+  "reference_frame_count": 0,
+  "dataset_name": "dag911262r00276b_lerobot_0327_114714",
+  "episode_index": 641,
+  "sensor": "gripper_right_tactile"
+}
\ No newline at end of file
diff --git a/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-09_18-30/outputs_tactile/tactile_cache/dag911262r00276b_lerobot_0327_114714_464bb7f1/episodes/ep000671/gripper_right_tactile_force_metrics.json b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-09_18-30/outputs_tactile/tactile_cache/dag911262r00276b_lerobot_0327_114714_464bb7f1/episodes/ep000671/gripper_right_tactile_force_metrics.json
new file mode 100644
index 0000000000000000000000000000000000000000..e42bab9710b86b827e788a5eec59cfdd750bffa0
--- /dev/null
+++ b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-09_18-30/outputs_tactile/tactile_cache/dag911262r00276b_lerobot_0327_114714_464bb7f1/episodes/ep000671/gripper_right_tactile_force_metrics.json
@@ -0,0 +1,9 @@
+{
+  "depth_peak": 0.0010485545499250293,
+  "shear_peak": 0.0009957670699805021,
+  "force_magnitude_peak": 0.00198594992980361,
+  "reference_frame_count": 0,
+  "dataset_name": "dag911262r00276b_lerobot_0327_114714",
+  "episode_index": 671,
+  "sensor": "gripper_right_tactile"
+}
\ No newline at end of file
diff --git a/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-09_18-30/outputs_tactile/tactile_cache/dag911262r00276b_lerobot_0327_114714_464bb7f1/episodes/ep000681/gripper_left_tactile_force_metrics.json b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-09_18-30/outputs_tactile/tactile_cache/dag911262r00276b_lerobot_0327_114714_464bb7f1/episodes/ep000681/gripper_left_tactile_force_metrics.json
new file mode 100644
index 0000000000000000000000000000000000000000..667e9f4e1020b1b980444c1e8454fad764942e6e
--- /dev/null
+++ b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-09_18-30/outputs_tactile/tactile_cache/dag911262r00276b_lerobot_0327_114714_464bb7f1/episodes/ep000681/gripper_left_tactile_force_metrics.json
@@ -0,0 +1,9 @@
+{
+  "depth_peak": 0.0033944149035960436,
+  "shear_peak": 0.001501311082392931,
+  "force_magnitude_peak": 0.0034529874101281166,
+  "reference_frame_count": 0,
+  "dataset_name": "dag911262r00276b_lerobot_0327_114714",
+  "episode_index": 681,
+  "sensor": "gripper_left_tactile"
+}
\ No newline at end of file
diff --git a/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-09_18-30/outputs_tactile/tactile_cache/dag911262r00276b_lerobot_0327_114714_464bb7f1/episodes/ep000681/gripper_right_tactile_force_metrics.json b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-09_18-30/outputs_tactile/tactile_cache/dag911262r00276b_lerobot_0327_114714_464bb7f1/episodes/ep000681/gripper_right_tactile_force_metrics.json
new file mode 100644
index 0000000000000000000000000000000000000000..0c6214fa7393839b43f921103e54b60cb1f31a67
--- /dev/null
+++ b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-09_18-30/outputs_tactile/tactile_cache/dag911262r00276b_lerobot_0327_114714_464bb7f1/episodes/ep000681/gripper_right_tactile_force_metrics.json
@@ -0,0 +1,9 @@
+{
+  "depth_peak": 0.003439534455537796,
+  "shear_peak": 0.0013898835750296712,
+  "force_magnitude_peak": 0.003587993560358882,
+  "reference_frame_count": 0,
+  "dataset_name": "dag911262r00276b_lerobot_0327_114714",
+  "episode_index": 681,
+  "sensor": "gripper_right_tactile"
+}
\ No newline at end of file
diff --git a/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-09_18-30/outputs_tactile/tactile_cache/dag911262r00276b_lerobot_0327_114714_464bb7f1/episodes/ep000684/gripper_left_tactile_force_metrics.json b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-09_18-30/outputs_tactile/tactile_cache/dag911262r00276b_lerobot_0327_114714_464bb7f1/episodes/ep000684/gripper_left_tactile_force_metrics.json
new file mode 100644
index 0000000000000000000000000000000000000000..b2af1300dd696bd57666fc6731b16b26c18be431
--- /dev/null
+++ b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-09_18-30/outputs_tactile/tactile_cache/dag911262r00276b_lerobot_0327_114714_464bb7f1/episodes/ep000684/gripper_left_tactile_force_metrics.json
@@ -0,0 +1,9 @@
+{
+  "depth_peak": 0.001414559781551361,
+  "shear_peak": 0.0011806335533037782,
+  "force_magnitude_peak": 0.0014279175084084272,
+  "reference_frame_count": 0,
+  "dataset_name": "dag911262r00276b_lerobot_0327_114714",
+  "episode_index": 684,
+  "sensor": "gripper_left_tactile"
+}
\ No newline at end of file
diff --git a/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-09_18-30/outputs_tactile/tactile_cache/dag911262r00276b_lerobot_0327_114714_464bb7f1/episodes/ep000713/gripper_left_tactile_force_metrics.json b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-09_18-30/outputs_tactile/tactile_cache/dag911262r00276b_lerobot_0327_114714_464bb7f1/episodes/ep000713/gripper_left_tactile_force_metrics.json
new file mode 100644
index 0000000000000000000000000000000000000000..784c76411bf508015f98511df9ad827aaf156bab
--- /dev/null
+++ b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-09_18-30/outputs_tactile/tactile_cache/dag911262r00276b_lerobot_0327_114714_464bb7f1/episodes/ep000713/gripper_left_tactile_force_metrics.json
@@ -0,0 +1,9 @@
+{
+  "depth_peak": 0.0009010642534121871,
+  "shear_peak": 0.000963877362664789,
+  "force_magnitude_peak": 0.0016475374577566981,
+  "reference_frame_count": 0,
+  "dataset_name": "dag911262r00276b_lerobot_0327_114714",
+  "episode_index": 713,
+  "sensor": "gripper_left_tactile"
+}
\ No newline at end of file
diff --git a/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-09_18-30/outputs_tactile/tactile_cache/dag911262r00276b_lerobot_0327_114714_464bb7f1/episodes/ep000719/gripper_right_tactile_force_metrics.json b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-09_18-30/outputs_tactile/tactile_cache/dag911262r00276b_lerobot_0327_114714_464bb7f1/episodes/ep000719/gripper_right_tactile_force_metrics.json
new file mode 100644
index 0000000000000000000000000000000000000000..a4d144879364ff7de51a79b221656fac92e6ad55
--- /dev/null
+++ b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-09_18-30/outputs_tactile/tactile_cache/dag911262r00276b_lerobot_0327_114714_464bb7f1/episodes/ep000719/gripper_right_tactile_force_metrics.json
@@ -0,0 +1,9 @@
+{
+  "depth_peak": 0.001323527074418962,
+  "shear_peak": 0.0011812348384410143,
+  "force_magnitude_peak": 0.001771650044247508,
+  "reference_frame_count": 0,
+  "dataset_name": "dag911262r00276b_lerobot_0327_114714",
+  "episode_index": 719,
+  "sensor": "gripper_right_tactile"
+}
\ No newline at end of file
diff --git a/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-09_18-30/outputs_tactile/tactile_cache/dag911262r00276b_lerobot_0327_114714_464bb7f1/episodes/ep000792/gripper_right_tactile_force_metrics.json b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-09_18-30/outputs_tactile/tactile_cache/dag911262r00276b_lerobot_0327_114714_464bb7f1/episodes/ep000792/gripper_right_tactile_force_metrics.json
new file mode 100644
index 0000000000000000000000000000000000000000..512cd6191d6d3089e741b070f2f4d269c4d0413b
--- /dev/null
+++ b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-09_18-30/outputs_tactile/tactile_cache/dag911262r00276b_lerobot_0327_114714_464bb7f1/episodes/ep000792/gripper_right_tactile_force_metrics.json
@@ -0,0 +1,9 @@
+{
+  "depth_peak": 0.00212393538095057,
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+  "force_magnitude_peak": 0.0023081819526851177,
+  "reference_frame_count": 0,
+  "dataset_name": "dag911262r00276b_lerobot_0327_114714",
+  "episode_index": 792,
+  "sensor": "gripper_right_tactile"
+}
\ No newline at end of file
diff --git a/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-09_18-30/outputs_tactile/tactile_cache/dag911262r00276b_lerobot_0327_114714_464bb7f1/episodes/ep000814/gripper_left_tactile_force_metrics.json b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-09_18-30/outputs_tactile/tactile_cache/dag911262r00276b_lerobot_0327_114714_464bb7f1/episodes/ep000814/gripper_left_tactile_force_metrics.json
new file mode 100644
index 0000000000000000000000000000000000000000..44f7ac8ab29cba9fc2c8051c4d2bd44b3cf16d57
--- /dev/null
+++ b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-09_18-30/outputs_tactile/tactile_cache/dag911262r00276b_lerobot_0327_114714_464bb7f1/episodes/ep000814/gripper_left_tactile_force_metrics.json
@@ -0,0 +1,9 @@
+{
+  "depth_peak": 0.0021264569368213415,
+  "shear_peak": 0.0017721852054819465,
+  "force_magnitude_peak": 0.002725331112742424,
+  "reference_frame_count": 0,
+  "dataset_name": "dag911262r00276b_lerobot_0327_114714",
+  "episode_index": 814,
+  "sensor": "gripper_left_tactile"
+}
\ No newline at end of file
diff --git a/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-09_18-30/outputs_tactile/tactile_cache/dag911262r00276b_lerobot_0327_114714_464bb7f1/episodes/ep000832/gripper_right_tactile_force_metrics.json b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-09_18-30/outputs_tactile/tactile_cache/dag911262r00276b_lerobot_0327_114714_464bb7f1/episodes/ep000832/gripper_right_tactile_force_metrics.json
new file mode 100644
index 0000000000000000000000000000000000000000..c54d45e861e747a64329f8b30a0278e18ca72b92
--- /dev/null
+++ b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-09_18-30/outputs_tactile/tactile_cache/dag911262r00276b_lerobot_0327_114714_464bb7f1/episodes/ep000832/gripper_right_tactile_force_metrics.json
@@ -0,0 +1,9 @@
+{
+  "depth_peak": 0.001980740111321211,
+  "shear_peak": 0.0017232485115528107,
+  "force_magnitude_peak": 0.002625436522066593,
+  "reference_frame_count": 0,
+  "dataset_name": "dag911262r00276b_lerobot_0327_114714",
+  "episode_index": 832,
+  "sensor": "gripper_right_tactile"
+}
\ No newline at end of file
diff --git a/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-09_18-30/outputs_tactile/tactile_cache/dag911262r00276b_lerobot_0327_114714_464bb7f1/episodes/ep000847/gripper_right_tactile_force_metrics.json b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-09_18-30/outputs_tactile/tactile_cache/dag911262r00276b_lerobot_0327_114714_464bb7f1/episodes/ep000847/gripper_right_tactile_force_metrics.json
new file mode 100644
index 0000000000000000000000000000000000000000..c0d7ea5333df71f6fca521f27843cd549088aae0
--- /dev/null
+++ b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-09_18-30/outputs_tactile/tactile_cache/dag911262r00276b_lerobot_0327_114714_464bb7f1/episodes/ep000847/gripper_right_tactile_force_metrics.json
@@ -0,0 +1,9 @@
+{
+  "depth_peak": 0.001644757343456149,
+  "shear_peak": 0.0021319726947695017,
+  "force_magnitude_peak": 0.002692681737244129,
+  "reference_frame_count": 0,
+  "dataset_name": "dag911262r00276b_lerobot_0327_114714",
+  "episode_index": 847,
+  "sensor": "gripper_right_tactile"
+}
\ No newline at end of file