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/ep000266/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/ep000266/gripper_left_tactile_force_metrics.json
new file mode 100644
index 0000000000000000000000000000000000000000..af54f09a3e5d4e4356805be198468657d3b52bfb
--- /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/ep000266/gripper_left_tactile_force_metrics.json
@@ -0,0 +1,9 @@
+{
+  "depth_peak": 0.0019953749142587185,
+  "shear_peak": 0.001403416390530765,
+  "force_magnitude_peak": 0.002029078546911478,
+  "reference_frame_count": 0,
+  "dataset_name": "dag911262r00035d_lerobot_0327_114548",
+  "episode_index": 266,
+  "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/ep000274/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/ep000274/gripper_right_tactile_force_metrics.json
new file mode 100644
index 0000000000000000000000000000000000000000..3452c24d678b00170288207c985dfdefc71430da
--- /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/ep000274/gripper_right_tactile_force_metrics.json
@@ -0,0 +1,9 @@
+{
+  "depth_peak": 0.010096512734889984,
+  "shear_peak": 0.009464066475629807,
+  "force_magnitude_peak": 0.013546222820878029,
+  "reference_frame_count": 0,
+  "dataset_name": "dag911262r00035d_lerobot_0327_114548",
+  "episode_index": 274,
+  "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/ep000276/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/ep000276/gripper_right_tactile_force_metrics.json
new file mode 100644
index 0000000000000000000000000000000000000000..84288975336c980a19bafde22e63acfeed68159c
--- /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/ep000276/gripper_right_tactile_force_metrics.json
@@ -0,0 +1,9 @@
+{
+  "depth_peak": 0.00969892181456089,
+  "shear_peak": 0.0027376990765333176,
+  "force_magnitude_peak": 0.009723121300339699,
+  "reference_frame_count": 0,
+  "dataset_name": "dag911262r00035d_lerobot_0327_114548",
+  "episode_index": 276,
+  "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/ep000278/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/ep000278/gripper_left_tactile_force_metrics.json
new file mode 100644
index 0000000000000000000000000000000000000000..9678d77dc2aa727ead5b4fba1a9e61fc24eae4dd
--- /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/ep000278/gripper_left_tactile_force_metrics.json
@@ -0,0 +1,9 @@
+{
+  "depth_peak": 0.0008809215505607426,
+  "shear_peak": 0.003527973312884569,
+  "force_magnitude_peak": 0.003988379612565041,
+  "reference_frame_count": 0,
+  "dataset_name": "dag911262r00035d_lerobot_0327_114548",
+  "episode_index": 278,
+  "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/ep000301/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/ep000301/gripper_right_tactile_force_metrics.json
new file mode 100644
index 0000000000000000000000000000000000000000..46bd684b862fed61a5c93dce2abf0996763dd9f4
--- /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/ep000301/gripper_right_tactile_force_metrics.json
@@ -0,0 +1,9 @@
+{
+  "depth_peak": 0.002583783119916916,
+  "shear_peak": 0.006969409063458443,
+  "force_magnitude_peak": 0.007054336369037628,
+  "reference_frame_count": 0,
+  "dataset_name": "dag911262r00035d_lerobot_0327_114548",
+  "episode_index": 301,
+  "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/ep000316/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/ep000316/gripper_right_tactile_force_metrics.json
new file mode 100644
index 0000000000000000000000000000000000000000..5ecfc20fd5a682ecad421099ff336d203317cf94
--- /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/ep000316/gripper_right_tactile_force_metrics.json
@@ -0,0 +1,9 @@
+{
+  "depth_peak": 0.01148170419037342,
+  "shear_peak": 0.0038069412112236023,
+  "force_magnitude_peak": 0.011481712572276592,
+  "reference_frame_count": 0,
+  "dataset_name": "dag911262r00035d_lerobot_0327_114548",
+  "episode_index": 316,
+  "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/ep000327/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/ep000327/gripper_right_tactile_force_metrics.json
new file mode 100644
index 0000000000000000000000000000000000000000..a214f9c0eb1c9684cbd35d7e3b98dd44aad1d26b
--- /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/ep000327/gripper_right_tactile_force_metrics.json
@@ -0,0 +1,9 @@
+{
+  "depth_peak": 0.008486319333314896,
+  "shear_peak": 0.005955338012427092,
+  "force_magnitude_peak": 0.009096927009522915,
+  "reference_frame_count": 0,
+  "dataset_name": "dag911262r00035d_lerobot_0327_114548",
+  "episode_index": 327,
+  "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/ep000329/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/ep000329/gripper_left_tactile_force_metrics.json
new file mode 100644
index 0000000000000000000000000000000000000000..6f28445b5c094cdaec0eb0262f2a17a6cde3225c
--- /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/ep000329/gripper_left_tactile_force_metrics.json
@@ -0,0 +1,9 @@
+{
+  "depth_peak": 0.001853381167165935,
+  "shear_peak": 0.0031614606268703938,
+  "force_magnitude_peak": 0.003165812697261572,
+  "reference_frame_count": 0,
+  "dataset_name": "dag911262r00035d_lerobot_0327_114548",
+  "episode_index": 329,
+  "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/ep000346/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/ep000346/gripper_left_tactile_force_metrics.json
new file mode 100644
index 0000000000000000000000000000000000000000..d161a81009ec4f3dd3fb42421a707503f9370f2e
--- /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/ep000346/gripper_left_tactile_force_metrics.json
@@ -0,0 +1,9 @@
+{
+  "depth_peak": 0.000951404741499573,
+  "shear_peak": 0.003784083528444171,
+  "force_magnitude_peak": 0.0038597534876316786,
+  "reference_frame_count": 0,
+  "dataset_name": "dag911262r00035d_lerobot_0327_114548",
+  "episode_index": 346,
+  "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/ep000372/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/ep000372/gripper_right_tactile_force_metrics.json
new file mode 100644
index 0000000000000000000000000000000000000000..89c4ca3e120f390e84ff4373e48b948243b2675a
--- /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/ep000372/gripper_right_tactile_force_metrics.json
@@ -0,0 +1,9 @@
+{
+  "depth_peak": 0.005161100998520851,
+  "shear_peak": 0.003569998312741518,
+  "force_magnitude_peak": 0.006022585555911064,
+  "reference_frame_count": 0,
+  "dataset_name": "dag911262r00035d_lerobot_0327_114548",
+  "episode_index": 372,
+  "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/ep000409/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/ep000409/gripper_left_tactile_force_metrics.json
new file mode 100644
index 0000000000000000000000000000000000000000..9e37963e24336247c0cf47d808a87fe4bc68fc5a
--- /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/ep000409/gripper_left_tactile_force_metrics.json
@@ -0,0 +1,9 @@
+{
+  "depth_peak": 0.0004058250051457435,
+  "shear_peak": 0.0026354449801146984,
+  "force_magnitude_peak": 0.00263672205619514,
+  "reference_frame_count": 0,
+  "dataset_name": "dag911262r00035d_lerobot_0327_114548",
+  "episode_index": 409,
+  "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/dag911262r00145d_lerobot_0327_114714_e46ad16b/episodes/ep000329/gripper_right_tactile_force_metrics.json b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-09_18-30/outputs_tactile/tactile_cache/dag911262r00145d_lerobot_0327_114714_e46ad16b/episodes/ep000329/gripper_right_tactile_force_metrics.json
new file mode 100644
index 0000000000000000000000000000000000000000..1d977fb1a18a7640ccb86be6e656e81d88901d84
--- /dev/null
+++ b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-09_18-30/outputs_tactile/tactile_cache/dag911262r00145d_lerobot_0327_114714_e46ad16b/episodes/ep000329/gripper_right_tactile_force_metrics.json
@@ -0,0 +1,9 @@
+{
+  "depth_peak": 0.006604129448533058,
+  "shear_peak": 0.0035008692648261786,
+  "force_magnitude_peak": 0.007417051587253809,
+  "reference_frame_count": 0,
+  "dataset_name": "dag911262r00145d_lerobot_0327_114714",
+  "episode_index": 329,
+  "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/dag911262r00145d_lerobot_0327_114714_e46ad16b/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/dag911262r00145d_lerobot_0327_114714_e46ad16b/episodes/ep000367/gripper_right_tactile_force_metrics.json
new file mode 100644
index 0000000000000000000000000000000000000000..6996bfce57f1dea26d2d1734e07f1201c3be0213
--- /dev/null
+++ b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-09_18-30/outputs_tactile/tactile_cache/dag911262r00145d_lerobot_0327_114714_e46ad16b/episodes/ep000367/gripper_right_tactile_force_metrics.json
@@ -0,0 +1,9 @@
+{
+  "depth_peak": 0.007688373792916536,
+  "shear_peak": 0.0032117117661982775,
+  "force_magnitude_peak": 0.007838250137865543,
+  "reference_frame_count": 0,
+  "dataset_name": "dag911262r00145d_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/dag911262r00145d_lerobot_0327_114714_e46ad16b/episodes/ep000369/gripper_right_tactile_force_metrics.json b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-09_18-30/outputs_tactile/tactile_cache/dag911262r00145d_lerobot_0327_114714_e46ad16b/episodes/ep000369/gripper_right_tactile_force_metrics.json
new file mode 100644
index 0000000000000000000000000000000000000000..4bea3a39bc22fdd518c9d778eeb00a1a8476f0b6
--- /dev/null
+++ b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-09_18-30/outputs_tactile/tactile_cache/dag911262r00145d_lerobot_0327_114714_e46ad16b/episodes/ep000369/gripper_right_tactile_force_metrics.json
@@ -0,0 +1,9 @@
+{
+  "depth_peak": 0.004376569762825966,
+  "shear_peak": 0.0029597291722893715,
+  "force_magnitude_peak": 0.004696173127740622,
+  "reference_frame_count": 0,
+  "dataset_name": "dag911262r00145d_lerobot_0327_114714",
+  "episode_index": 369,
+  "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/dag911262r00145d_lerobot_0327_114714_e46ad16b/episodes/ep000384/gripper_left_tactile_force_metrics.json b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-09_18-30/outputs_tactile/tactile_cache/dag911262r00145d_lerobot_0327_114714_e46ad16b/episodes/ep000384/gripper_left_tactile_force_metrics.json
new file mode 100644
index 0000000000000000000000000000000000000000..01f823d2c11b200c788488f9309286c1c3dfd063
--- /dev/null
+++ b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-09_18-30/outputs_tactile/tactile_cache/dag911262r00145d_lerobot_0327_114714_e46ad16b/episodes/ep000384/gripper_left_tactile_force_metrics.json
@@ -0,0 +1,9 @@
+{
+  "depth_peak": 0.0002722032368183136,
+  "shear_peak": 0.0015974607085809112,
+  "force_magnitude_peak": 0.002507092896848917,
+  "reference_frame_count": 0,
+  "dataset_name": "dag911262r00145d_lerobot_0327_114714",
+  "episode_index": 384,
+  "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/dag911262r00145d_lerobot_0327_114714_e46ad16b/episodes/ep000402/gripper_left_tactile_force_metrics.json b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-09_18-30/outputs_tactile/tactile_cache/dag911262r00145d_lerobot_0327_114714_e46ad16b/episodes/ep000402/gripper_left_tactile_force_metrics.json
new file mode 100644
index 0000000000000000000000000000000000000000..4b8486b0efeb286adfe36bedc88f1aef826c297d
--- /dev/null
+++ b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-09_18-30/outputs_tactile/tactile_cache/dag911262r00145d_lerobot_0327_114714_e46ad16b/episodes/ep000402/gripper_left_tactile_force_metrics.json
@@ -0,0 +1,9 @@
+{
+  "depth_peak": 0.0006025130860507488,
+  "shear_peak": 0.003926062490791082,
+  "force_magnitude_peak": 0.0043834722600877285,
+  "reference_frame_count": 0,
+  "dataset_name": "dag911262r00145d_lerobot_0327_114714",
+  "episode_index": 402,
+  "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/dag911262r00145d_lerobot_0327_114714_e46ad16b/episodes/ep000409/gripper_right_tactile_force_metrics.json b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-09_18-30/outputs_tactile/tactile_cache/dag911262r00145d_lerobot_0327_114714_e46ad16b/episodes/ep000409/gripper_right_tactile_force_metrics.json
new file mode 100644
index 0000000000000000000000000000000000000000..2c19537771dc2b1c23c55bce78ff5a72287040ba
--- /dev/null
+++ b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-09_18-30/outputs_tactile/tactile_cache/dag911262r00145d_lerobot_0327_114714_e46ad16b/episodes/ep000409/gripper_right_tactile_force_metrics.json
@@ -0,0 +1,9 @@
+{
+  "depth_peak": 0.007215071935206652,
+  "shear_peak": 0.0041588847525417805,
+  "force_magnitude_peak": 0.008305014111101627,
+  "reference_frame_count": 0,
+  "dataset_name": "dag911262r00145d_lerobot_0327_114714",
+  "episode_index": 409,
+  "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/dag911262r00145d_lerobot_0327_114714_e46ad16b/episodes/ep000413/gripper_right_tactile_force_metrics.json b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-09_18-30/outputs_tactile/tactile_cache/dag911262r00145d_lerobot_0327_114714_e46ad16b/episodes/ep000413/gripper_right_tactile_force_metrics.json
new file mode 100644
index 0000000000000000000000000000000000000000..d379dde1d74b755270a2ad650acdcba126ebd12c
--- /dev/null
+++ b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-09_18-30/outputs_tactile/tactile_cache/dag911262r00145d_lerobot_0327_114714_e46ad16b/episodes/ep000413/gripper_right_tactile_force_metrics.json
@@ -0,0 +1,9 @@
+{
+  "depth_peak": 0.0013089949497953057,
+  "shear_peak": 0.004148219246417284,
+  "force_magnitude_peak": 0.004175430163741112,
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+  "dataset_name": "dag911262r00145d_lerobot_0327_114714",
+  "episode_index": 413,
+  "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/dag911262r00145d_lerobot_0327_114714_e46ad16b/episodes/ep000434/gripper_right_tactile_force_metrics.json b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-09_18-30/outputs_tactile/tactile_cache/dag911262r00145d_lerobot_0327_114714_e46ad16b/episodes/ep000434/gripper_right_tactile_force_metrics.json
new file mode 100644
index 0000000000000000000000000000000000000000..48c4f8f0670e482be1033eb82c2bb2bdf6d7bc37
--- /dev/null
+++ b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-09_18-30/outputs_tactile/tactile_cache/dag911262r00145d_lerobot_0327_114714_e46ad16b/episodes/ep000434/gripper_right_tactile_force_metrics.json
@@ -0,0 +1,9 @@
+{
+  "depth_peak": 0.0056930542923510075,
+  "shear_peak": 0.003309080842882395,
+  "force_magnitude_peak": 0.005794612690806389,
+  "reference_frame_count": 0,
+  "dataset_name": "dag911262r00145d_lerobot_0327_114714",
+  "episode_index": 434,
+  "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/dag911262r00145d_lerobot_0327_114714_e46ad16b/episodes/ep000438/gripper_right_tactile_force_metrics.json b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-09_18-30/outputs_tactile/tactile_cache/dag911262r00145d_lerobot_0327_114714_e46ad16b/episodes/ep000438/gripper_right_tactile_force_metrics.json
new file mode 100644
index 0000000000000000000000000000000000000000..ba690e22de515f9d2146020f58f9e290635e26b8
--- /dev/null
+++ b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-09_18-30/outputs_tactile/tactile_cache/dag911262r00145d_lerobot_0327_114714_e46ad16b/episodes/ep000438/gripper_right_tactile_force_metrics.json
@@ -0,0 +1,9 @@
+{
+  "depth_peak": 0.0065788631327450275,
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+  "force_magnitude_peak": 0.007090998347848654,
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+  "dataset_name": "dag911262r00145d_lerobot_0327_114714",
+  "episode_index": 438,
+  "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/dag911262r00145d_lerobot_0327_114714_e46ad16b/episodes/ep000522/gripper_left_tactile_force_metrics.json b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-09_18-30/outputs_tactile/tactile_cache/dag911262r00145d_lerobot_0327_114714_e46ad16b/episodes/ep000522/gripper_left_tactile_force_metrics.json
new file mode 100644
index 0000000000000000000000000000000000000000..089dbd82c6db0f33b55b41cafb43e2ee25096bad
--- /dev/null
+++ b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-09_18-30/outputs_tactile/tactile_cache/dag911262r00145d_lerobot_0327_114714_e46ad16b/episodes/ep000522/gripper_left_tactile_force_metrics.json
@@ -0,0 +1,9 @@
+{
+  "depth_peak": 0.0029097481165081263,
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+  "force_magnitude_peak": 0.003954592626541853,
+  "reference_frame_count": 0,
+  "dataset_name": "dag911262r00145d_lerobot_0327_114714",
+  "episode_index": 522,
+  "sensor": "gripper_left_tactile"
+}
\ No newline at end of file
diff --git a/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-09_18-30/outputs_tactile/tactile_cache/dag911262r00145d_lerobot_0327_114714_e46ad16b/episodes/ep000529/gripper_right_tactile_force_metrics.json b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-09_18-30/outputs_tactile/tactile_cache/dag911262r00145d_lerobot_0327_114714_e46ad16b/episodes/ep000529/gripper_right_tactile_force_metrics.json
new file mode 100644
index 0000000000000000000000000000000000000000..a9dcbc2c74f054e40fbf4cfbc601a68b6cacb2ca
--- /dev/null
+++ b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-09_18-30/outputs_tactile/tactile_cache/dag911262r00145d_lerobot_0327_114714_e46ad16b/episodes/ep000529/gripper_right_tactile_force_metrics.json
@@ -0,0 +1,9 @@
+{
+  "depth_peak": 0.0022080643102526665,
+  "shear_peak": 0.004688743501901627,
+  "force_magnitude_peak": 0.005182650405913591,
+  "reference_frame_count": 0,
+  "dataset_name": "dag911262r00145d_lerobot_0327_114714",
+  "episode_index": 529,
+  "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/dag911262r00145d_lerobot_0327_114714_e46ad16b/episodes/ep000533/gripper_right_tactile_force_metrics.json b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-09_18-30/outputs_tactile/tactile_cache/dag911262r00145d_lerobot_0327_114714_e46ad16b/episodes/ep000533/gripper_right_tactile_force_metrics.json
new file mode 100644
index 0000000000000000000000000000000000000000..dfb4bdd28951dacc42915ee3a7c85344008f4d26
--- /dev/null
+++ b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-09_18-30/outputs_tactile/tactile_cache/dag911262r00145d_lerobot_0327_114714_e46ad16b/episodes/ep000533/gripper_right_tactile_force_metrics.json
@@ -0,0 +1,9 @@
+{
+  "depth_peak": 0.007268980611115694,
+  "shear_peak": 0.0019823857583105564,
+  "force_magnitude_peak": 0.007524400949478149,
+  "reference_frame_count": 0,
+  "dataset_name": "dag911262r00145d_lerobot_0327_114714",
+  "episode_index": 533,
+  "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/dag911262r00145d_lerobot_0327_114714_e46ad16b/episodes/ep000562/gripper_left_tactile_force_metrics.json b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-09_18-30/outputs_tactile/tactile_cache/dag911262r00145d_lerobot_0327_114714_e46ad16b/episodes/ep000562/gripper_left_tactile_force_metrics.json
new file mode 100644
index 0000000000000000000000000000000000000000..8dfa1458ad2fb4bfebc45e14a2778b4f165adbcb
--- /dev/null
+++ b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-09_18-30/outputs_tactile/tactile_cache/dag911262r00145d_lerobot_0327_114714_e46ad16b/episodes/ep000562/gripper_left_tactile_force_metrics.json
@@ -0,0 +1,9 @@
+{
+  "depth_peak": 0.0028298497200012207,
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+  "force_magnitude_peak": 0.002829880453646183,
+  "reference_frame_count": 0,
+  "dataset_name": "dag911262r00145d_lerobot_0327_114714",
+  "episode_index": 562,
+  "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/dag911262r00145d_lerobot_0327_114714_e46ad16b/episodes/ep000567/gripper_right_tactile_force_metrics.json b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-09_18-30/outputs_tactile/tactile_cache/dag911262r00145d_lerobot_0327_114714_e46ad16b/episodes/ep000567/gripper_right_tactile_force_metrics.json
new file mode 100644
index 0000000000000000000000000000000000000000..915bedc234a51243cc6a79837d92d699c6a76abb
--- /dev/null
+++ b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-09_18-30/outputs_tactile/tactile_cache/dag911262r00145d_lerobot_0327_114714_e46ad16b/episodes/ep000567/gripper_right_tactile_force_metrics.json
@@ -0,0 +1,9 @@
+{
+  "depth_peak": 0.0029040956869721413,
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+  "force_magnitude_peak": 0.003352076280862093,
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+  "dataset_name": "dag911262r00145d_lerobot_0327_114714",
+  "episode_index": 567,
+  "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/dag911262r00145d_lerobot_0327_114714_e46ad16b/episodes/ep000584/gripper_left_tactile_force_metrics.json b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-09_18-30/outputs_tactile/tactile_cache/dag911262r00145d_lerobot_0327_114714_e46ad16b/episodes/ep000584/gripper_left_tactile_force_metrics.json
new file mode 100644
index 0000000000000000000000000000000000000000..ec9cba3bb1a7c017c05ff27039823d1d36af3092
--- /dev/null
+++ b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-09_18-30/outputs_tactile/tactile_cache/dag911262r00145d_lerobot_0327_114714_e46ad16b/episodes/ep000584/gripper_left_tactile_force_metrics.json
@@ -0,0 +1,9 @@
+{
+  "depth_peak": 0.00015233358135446906,
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+  "force_magnitude_peak": 0.002160632750019431,
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+  "dataset_name": "dag911262r00145d_lerobot_0327_114714",
+  "episode_index": 584,
+  "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/dag911262r00145d_lerobot_0327_114714_e46ad16b/episodes/ep000599/gripper_left_tactile_force_metrics.json b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-09_18-30/outputs_tactile/tactile_cache/dag911262r00145d_lerobot_0327_114714_e46ad16b/episodes/ep000599/gripper_left_tactile_force_metrics.json
new file mode 100644
index 0000000000000000000000000000000000000000..4c10eff29b6e71bad845a096d0649c4fe56d3f9a
--- /dev/null
+++ b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-09_18-30/outputs_tactile/tactile_cache/dag911262r00145d_lerobot_0327_114714_e46ad16b/episodes/ep000599/gripper_left_tactile_force_metrics.json
@@ -0,0 +1,9 @@
+{
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+  "dataset_name": "dag911262r00145d_lerobot_0327_114714",
+  "episode_index": 599,
+  "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/dag911262r00145d_lerobot_0327_114714_e46ad16b/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/dag911262r00145d_lerobot_0327_114714_e46ad16b/episodes/ep000607/gripper_right_tactile_force_metrics.json
new file mode 100644
index 0000000000000000000000000000000000000000..db49e6d4d072b9a0b9a5b85b262f0d8a803b876f
--- /dev/null
+++ b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-09_18-30/outputs_tactile/tactile_cache/dag911262r00145d_lerobot_0327_114714_e46ad16b/episodes/ep000607/gripper_right_tactile_force_metrics.json
@@ -0,0 +1,9 @@
+{
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+  "force_magnitude_peak": 0.004073365591466427,
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+  "dataset_name": "dag911262r00145d_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/dag911262r00145d_lerobot_0327_114714_e46ad16b/episodes/ep000609/gripper_right_tactile_force_metrics.json b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-09_18-30/outputs_tactile/tactile_cache/dag911262r00145d_lerobot_0327_114714_e46ad16b/episodes/ep000609/gripper_right_tactile_force_metrics.json
new file mode 100644
index 0000000000000000000000000000000000000000..5087914a3bc9c739ecba130db514ffcf39d4354f
--- /dev/null
+++ b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-09_18-30/outputs_tactile/tactile_cache/dag911262r00145d_lerobot_0327_114714_e46ad16b/episodes/ep000609/gripper_right_tactile_force_metrics.json
@@ -0,0 +1,9 @@
+{
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+  "dataset_name": "dag911262r00145d_lerobot_0327_114714",
+  "episode_index": 609,
+  "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/dag911262r00145d_lerobot_0327_114714_e46ad16b/episodes/ep000616/gripper_left_tactile_force_metrics.json b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-09_18-30/outputs_tactile/tactile_cache/dag911262r00145d_lerobot_0327_114714_e46ad16b/episodes/ep000616/gripper_left_tactile_force_metrics.json
new file mode 100644
index 0000000000000000000000000000000000000000..92e4334970f869ecf60fd1badace61268e511bc1
--- /dev/null
+++ b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-09_18-30/outputs_tactile/tactile_cache/dag911262r00145d_lerobot_0327_114714_e46ad16b/episodes/ep000616/gripper_left_tactile_force_metrics.json
@@ -0,0 +1,9 @@
+{
+  "depth_peak": 0.0023793436121195555,
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+  "force_magnitude_peak": 0.002592518227174878,
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+  "dataset_name": "dag911262r00145d_lerobot_0327_114714",
+  "episode_index": 616,
+  "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/dag911262r00145d_lerobot_0327_114714_e46ad16b/episodes/ep000638/gripper_right_tactile_force_metrics.json b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-09_18-30/outputs_tactile/tactile_cache/dag911262r00145d_lerobot_0327_114714_e46ad16b/episodes/ep000638/gripper_right_tactile_force_metrics.json
new file mode 100644
index 0000000000000000000000000000000000000000..a02473fb1d6f0202a616f45e7bd0133f6d1e1fb6
--- /dev/null
+++ b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-09_18-30/outputs_tactile/tactile_cache/dag911262r00145d_lerobot_0327_114714_e46ad16b/episodes/ep000638/gripper_right_tactile_force_metrics.json
@@ -0,0 +1,9 @@
+{
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+  "force_magnitude_peak": 0.006944271270185709,
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+  "dataset_name": "dag911262r00145d_lerobot_0327_114714",
+  "episode_index": 638,
+  "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/dag911262r00145d_lerobot_0327_114714_e46ad16b/episodes/ep000687/gripper_right_tactile_force_metrics.json b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-09_18-30/outputs_tactile/tactile_cache/dag911262r00145d_lerobot_0327_114714_e46ad16b/episodes/ep000687/gripper_right_tactile_force_metrics.json
new file mode 100644
index 0000000000000000000000000000000000000000..4372a93d0b690214c28f483975f43464c7658fb4
--- /dev/null
+++ b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-09_18-30/outputs_tactile/tactile_cache/dag911262r00145d_lerobot_0327_114714_e46ad16b/episodes/ep000687/gripper_right_tactile_force_metrics.json
@@ -0,0 +1,9 @@
+{
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+  "force_magnitude_peak": 0.004128813743591309,
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+  "dataset_name": "dag911262r00145d_lerobot_0327_114714",
+  "episode_index": 687,
+  "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/dag911262r00145d_lerobot_0327_114714_e46ad16b/episodes/ep000693/gripper_right_tactile_force_metrics.json b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-09_18-30/outputs_tactile/tactile_cache/dag911262r00145d_lerobot_0327_114714_e46ad16b/episodes/ep000693/gripper_right_tactile_force_metrics.json
new file mode 100644
index 0000000000000000000000000000000000000000..e035f3dcf8fb5ea7945bfb684a629e4066538d1e
--- /dev/null
+++ b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-09_18-30/outputs_tactile/tactile_cache/dag911262r00145d_lerobot_0327_114714_e46ad16b/episodes/ep000693/gripper_right_tactile_force_metrics.json
@@ -0,0 +1,9 @@
+{
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+  "force_magnitude_peak": 0.006031740922480822,
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+  "dataset_name": "dag911262r00145d_lerobot_0327_114714",
+  "episode_index": 693,
+  "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/dag911262r00145d_lerobot_0327_114714_e46ad16b/episodes/ep000733/gripper_right_tactile_force_metrics.json b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-09_18-30/outputs_tactile/tactile_cache/dag911262r00145d_lerobot_0327_114714_e46ad16b/episodes/ep000733/gripper_right_tactile_force_metrics.json
new file mode 100644
index 0000000000000000000000000000000000000000..55f2c46865bca4749ca6d7d35d88f25c1c7ca0c6
--- /dev/null
+++ b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-09_18-30/outputs_tactile/tactile_cache/dag911262r00145d_lerobot_0327_114714_e46ad16b/episodes/ep000733/gripper_right_tactile_force_metrics.json
@@ -0,0 +1,9 @@
+{
+  "depth_peak": 0.0036905109882354736,
+  "shear_peak": 0.006108104716986418,
+  "force_magnitude_peak": 0.006331557873636484,
+  "reference_frame_count": 0,
+  "dataset_name": "dag911262r00145d_lerobot_0327_114714",
+  "episode_index": 733,
+  "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/dag911262r00145d_lerobot_0327_114714_e46ad16b/episodes/ep000744/gripper_left_tactile_force_metrics.json b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-09_18-30/outputs_tactile/tactile_cache/dag911262r00145d_lerobot_0327_114714_e46ad16b/episodes/ep000744/gripper_left_tactile_force_metrics.json
new file mode 100644
index 0000000000000000000000000000000000000000..9d3ebf3561571720758c6912e47c44bc755d21eb
--- /dev/null
+++ b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-09_18-30/outputs_tactile/tactile_cache/dag911262r00145d_lerobot_0327_114714_e46ad16b/episodes/ep000744/gripper_left_tactile_force_metrics.json
@@ -0,0 +1,9 @@
+{
+  "depth_peak": 0.0024610550608485937,
+  "shear_peak": 0.002535430947318673,
+  "force_magnitude_peak": 0.0032245167531073093,
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+  "dataset_name": "dag911262r00145d_lerobot_0327_114714",
+  "episode_index": 744,
+  "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/dag911262r00145d_lerobot_0327_114714_e46ad16b/episodes/ep000754/gripper_right_tactile_force_metrics.json b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-09_18-30/outputs_tactile/tactile_cache/dag911262r00145d_lerobot_0327_114714_e46ad16b/episodes/ep000754/gripper_right_tactile_force_metrics.json
new file mode 100644
index 0000000000000000000000000000000000000000..d77e3729dfd5a9cab8f002d6219b0b6a848380b7
--- /dev/null
+++ b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-09_18-30/outputs_tactile/tactile_cache/dag911262r00145d_lerobot_0327_114714_e46ad16b/episodes/ep000754/gripper_right_tactile_force_metrics.json
@@ -0,0 +1,9 @@
+{
+  "depth_peak": 0.0024995794519782066,
+  "shear_peak": 0.004305156413465738,
+  "force_magnitude_peak": 0.004305841401219368,
+  "reference_frame_count": 0,
+  "dataset_name": "dag911262r00145d_lerobot_0327_114714",
+  "episode_index": 754,
+  "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/dag911262r00145d_lerobot_0327_114714_e46ad16b/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/dag911262r00145d_lerobot_0327_114714_e46ad16b/episodes/ep000807/gripper_right_tactile_force_metrics.json
new file mode 100644
index 0000000000000000000000000000000000000000..87bb9b3c0f2754a61f31f6fa8ea3658838a2c76a
--- /dev/null
+++ b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-09_18-30/outputs_tactile/tactile_cache/dag911262r00145d_lerobot_0327_114714_e46ad16b/episodes/ep000807/gripper_right_tactile_force_metrics.json
@@ -0,0 +1,9 @@
+{
+  "depth_peak": 0.0022541696671396494,
+  "shear_peak": 0.006852090358734131,
+  "force_magnitude_peak": 0.007135034538805485,
+  "reference_frame_count": 0,
+  "dataset_name": "dag911262r00145d_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/dag911262r00145d_lerobot_0327_114714_e46ad16b/episodes/ep000813/gripper_right_tactile_force_metrics.json b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-09_18-30/outputs_tactile/tactile_cache/dag911262r00145d_lerobot_0327_114714_e46ad16b/episodes/ep000813/gripper_right_tactile_force_metrics.json
new file mode 100644
index 0000000000000000000000000000000000000000..28761e0172215c86244b9cd71ae8894be776ff13
--- /dev/null
+++ b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-09_18-30/outputs_tactile/tactile_cache/dag911262r00145d_lerobot_0327_114714_e46ad16b/episodes/ep000813/gripper_right_tactile_force_metrics.json
@@ -0,0 +1,9 @@
+{
+  "depth_peak": 0.001578531926497817,
+  "shear_peak": 0.0035884082317352295,
+  "force_magnitude_peak": 0.003597452538087964,
+  "reference_frame_count": 0,
+  "dataset_name": "dag911262r00145d_lerobot_0327_114714",
+  "episode_index": 813,
+  "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/dag911262r00145d_lerobot_0327_114714_e46ad16b/episodes/ep000853/gripper_right_tactile_force_metrics.json b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-09_18-30/outputs_tactile/tactile_cache/dag911262r00145d_lerobot_0327_114714_e46ad16b/episodes/ep000853/gripper_right_tactile_force_metrics.json
new file mode 100644
index 0000000000000000000000000000000000000000..72d8c9ffe44b43e6b645d30aa630ae5b2f5a7d77
--- /dev/null
+++ b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-09_18-30/outputs_tactile/tactile_cache/dag911262r00145d_lerobot_0327_114714_e46ad16b/episodes/ep000853/gripper_right_tactile_force_metrics.json
@@ -0,0 +1,9 @@
+{
+  "depth_peak": 0.0040470389649271965,
+  "shear_peak": 0.009043918922543526,
+  "force_magnitude_peak": 0.009898331947624683,
+  "reference_frame_count": 0,
+  "dataset_name": "dag911262r00145d_lerobot_0327_114714",
+  "episode_index": 853,
+  "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/dag911262r00145d_lerobot_0327_114714_e46ad16b/episodes/ep000874/gripper_right_tactile_force_metrics.json b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-09_18-30/outputs_tactile/tactile_cache/dag911262r00145d_lerobot_0327_114714_e46ad16b/episodes/ep000874/gripper_right_tactile_force_metrics.json
new file mode 100644
index 0000000000000000000000000000000000000000..aeeddfa232446b140ea4bb390956961ceb2f43cf
--- /dev/null
+++ b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-09_18-30/outputs_tactile/tactile_cache/dag911262r00145d_lerobot_0327_114714_e46ad16b/episodes/ep000874/gripper_right_tactile_force_metrics.json
@@ -0,0 +1,9 @@
+{
+  "depth_peak": 0.004176102112978697,
+  "shear_peak": 0.0041741300374269485,
+  "force_magnitude_peak": 0.004273394122719765,
+  "reference_frame_count": 0,
+  "dataset_name": "dag911262r00145d_lerobot_0327_114714",
+  "episode_index": 874,
+  "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/dag911262r00145d_lerobot_0327_114714_e46ad16b/episodes/ep000878/gripper_right_tactile_force_metrics.json b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-09_18-30/outputs_tactile/tactile_cache/dag911262r00145d_lerobot_0327_114714_e46ad16b/episodes/ep000878/gripper_right_tactile_force_metrics.json
new file mode 100644
index 0000000000000000000000000000000000000000..2efc6d93ae566b76b670ebf23a7c05b62fbc3e03
--- /dev/null
+++ b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-09_18-30/outputs_tactile/tactile_cache/dag911262r00145d_lerobot_0327_114714_e46ad16b/episodes/ep000878/gripper_right_tactile_force_metrics.json
@@ -0,0 +1,9 @@
+{
+  "depth_peak": 0.002670327667146921,
+  "shear_peak": 0.0031252282205969095,
+  "force_magnitude_peak": 0.003135656239464879,
+  "reference_frame_count": 0,
+  "dataset_name": "dag911262r00145d_lerobot_0327_114714",
+  "episode_index": 878,
+  "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/dag911262r00145d_lerobot_0327_114714_e46ad16b/episodes/ep000901/gripper_left_tactile_force_metrics.json b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-09_18-30/outputs_tactile/tactile_cache/dag911262r00145d_lerobot_0327_114714_e46ad16b/episodes/ep000901/gripper_left_tactile_force_metrics.json
new file mode 100644
index 0000000000000000000000000000000000000000..7d977036e30baa158655e9c094fbd5f818939f64
--- /dev/null
+++ b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-09_18-30/outputs_tactile/tactile_cache/dag911262r00145d_lerobot_0327_114714_e46ad16b/episodes/ep000901/gripper_left_tactile_force_metrics.json
@@ -0,0 +1,9 @@
+{
+  "depth_peak": 0.0026142001152038574,
+  "shear_peak": 0.0030499312561005354,
+  "force_magnitude_peak": 0.003672917140647769,
+  "reference_frame_count": 0,
+  "dataset_name": "dag911262r00145d_lerobot_0327_114714",
+  "episode_index": 901,
+  "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/dag911262r001653_lerobot_0327_114714_a96adc8e/episodes/ep000028/gripper_left_tactile_force_metrics.json b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-09_18-30/outputs_tactile/tactile_cache/dag911262r001653_lerobot_0327_114714_a96adc8e/episodes/ep000028/gripper_left_tactile_force_metrics.json
new file mode 100644
index 0000000000000000000000000000000000000000..d6ea7cd40227100db940cc63de4282a31bb6935f
--- /dev/null
+++ b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-09_18-30/outputs_tactile/tactile_cache/dag911262r001653_lerobot_0327_114714_a96adc8e/episodes/ep000028/gripper_left_tactile_force_metrics.json
@@ -0,0 +1,9 @@
+{
+  "depth_peak": 0.0015835107769817114,
+  "shear_peak": 0.0015276918420568109,
+  "force_magnitude_peak": 0.0019267580937594175,
+  "reference_frame_count": 0,
+  "dataset_name": "dag911262r001653_lerobot_0327_114714",
+  "episode_index": 28,
+  "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/dag911262r001653_lerobot_0327_114714_a96adc8e/episodes/ep000115/gripper_right_tactile_force_metrics.json b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-09_18-30/outputs_tactile/tactile_cache/dag911262r001653_lerobot_0327_114714_a96adc8e/episodes/ep000115/gripper_right_tactile_force_metrics.json
new file mode 100644
index 0000000000000000000000000000000000000000..50277e46d38732a9f62b60b7c970b7fbefe851fd
--- /dev/null
+++ b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-09_18-30/outputs_tactile/tactile_cache/dag911262r001653_lerobot_0327_114714_a96adc8e/episodes/ep000115/gripper_right_tactile_force_metrics.json
@@ -0,0 +1,9 @@
+{
+  "depth_peak": 0.00566079281270504,
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+  "force_magnitude_peak": 0.0063411882147192955,
+  "reference_frame_count": 0,
+  "dataset_name": "dag911262r001653_lerobot_0327_114714",
+  "episode_index": 115,
+  "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/dag911262r001653_lerobot_0327_114714_a96adc8e/episodes/ep000148/gripper_left_tactile_force_metrics.json b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-09_18-30/outputs_tactile/tactile_cache/dag911262r001653_lerobot_0327_114714_a96adc8e/episodes/ep000148/gripper_left_tactile_force_metrics.json
new file mode 100644
index 0000000000000000000000000000000000000000..27191a8896e773eca2ec2621fdb6e95852b8cd2e
--- /dev/null
+++ b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-09_18-30/outputs_tactile/tactile_cache/dag911262r001653_lerobot_0327_114714_a96adc8e/episodes/ep000148/gripper_left_tactile_force_metrics.json
@@ -0,0 +1,9 @@
+{
+  "depth_peak": 0.0057426984421908855,
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+  "force_magnitude_peak": 0.005916448310017586,
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+  "dataset_name": "dag911262r001653_lerobot_0327_114714",
+  "episode_index": 148,
+  "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/dag911262r001653_lerobot_0327_114714_a96adc8e/episodes/ep000170/gripper_left_tactile_force_metrics.json b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-09_18-30/outputs_tactile/tactile_cache/dag911262r001653_lerobot_0327_114714_a96adc8e/episodes/ep000170/gripper_left_tactile_force_metrics.json
new file mode 100644
index 0000000000000000000000000000000000000000..df9e69c43988f54c55b7785483cdd9e5fd0ae386
--- /dev/null
+++ b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-09_18-30/outputs_tactile/tactile_cache/dag911262r001653_lerobot_0327_114714_a96adc8e/episodes/ep000170/gripper_left_tactile_force_metrics.json
@@ -0,0 +1,9 @@
+{
+  "depth_peak": 0.0020171417854726315,
+  "shear_peak": 0.0034870831295847893,
+  "force_magnitude_peak": 0.004006961826235056,
+  "reference_frame_count": 0,
+  "dataset_name": "dag911262r001653_lerobot_0327_114714",
+  "episode_index": 170,
+  "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/dag911262r001653_lerobot_0327_114714_a96adc8e/episodes/ep000193/gripper_left_tactile_force_metrics.json b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-09_18-30/outputs_tactile/tactile_cache/dag911262r001653_lerobot_0327_114714_a96adc8e/episodes/ep000193/gripper_left_tactile_force_metrics.json
new file mode 100644
index 0000000000000000000000000000000000000000..c43a78ac56fd9032a70d87d5ef27b87772b162ed
--- /dev/null
+++ b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-09_18-30/outputs_tactile/tactile_cache/dag911262r001653_lerobot_0327_114714_a96adc8e/episodes/ep000193/gripper_left_tactile_force_metrics.json
@@ -0,0 +1,9 @@
+{
+  "depth_peak": 0.0009546418441459537,
+  "shear_peak": 0.0020002960227429867,
+  "force_magnitude_peak": 0.002283722162246704,
+  "reference_frame_count": 0,
+  "dataset_name": "dag911262r001653_lerobot_0327_114714",
+  "episode_index": 193,
+  "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/dag911262r001653_lerobot_0327_114714_a96adc8e/episodes/ep000206/gripper_right_tactile_force_metrics.json b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-09_18-30/outputs_tactile/tactile_cache/dag911262r001653_lerobot_0327_114714_a96adc8e/episodes/ep000206/gripper_right_tactile_force_metrics.json
new file mode 100644
index 0000000000000000000000000000000000000000..2238711fa9da61d3ec78fd7957f3ab6226d9600a
--- /dev/null
+++ b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-09_18-30/outputs_tactile/tactile_cache/dag911262r001653_lerobot_0327_114714_a96adc8e/episodes/ep000206/gripper_right_tactile_force_metrics.json
@@ -0,0 +1,9 @@
+{
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+  "force_magnitude_peak": 0.0023462253157049417,
+  "reference_frame_count": 0,
+  "dataset_name": "dag911262r001653_lerobot_0327_114714",
+  "episode_index": 206,
+  "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/dag911262r001653_lerobot_0327_114714_a96adc8e/episodes/ep000210/gripper_left_tactile_force_metrics.json b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-09_18-30/outputs_tactile/tactile_cache/dag911262r001653_lerobot_0327_114714_a96adc8e/episodes/ep000210/gripper_left_tactile_force_metrics.json
new file mode 100644
index 0000000000000000000000000000000000000000..6be9959e6741d7402ff23ccf718e4a8802ded272
--- /dev/null
+++ b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-09_18-30/outputs_tactile/tactile_cache/dag911262r001653_lerobot_0327_114714_a96adc8e/episodes/ep000210/gripper_left_tactile_force_metrics.json
@@ -0,0 +1,9 @@
+{
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+  "dataset_name": "dag911262r001653_lerobot_0327_114714",
+  "episode_index": 210,
+  "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/dag911262r001653_lerobot_0327_114714_a96adc8e/episodes/ep000240/gripper_left_tactile_force_metrics.json b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-09_18-30/outputs_tactile/tactile_cache/dag911262r001653_lerobot_0327_114714_a96adc8e/episodes/ep000240/gripper_left_tactile_force_metrics.json
new file mode 100644
index 0000000000000000000000000000000000000000..f3e94144864b5f651e8330915ff1ef0afbe174b9
--- /dev/null
+++ b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-09_18-30/outputs_tactile/tactile_cache/dag911262r001653_lerobot_0327_114714_a96adc8e/episodes/ep000240/gripper_left_tactile_force_metrics.json
@@ -0,0 +1,9 @@
+{
+  "depth_peak": 0.0014707471709698439,
+  "shear_peak": 0.003158512758091092,
+  "force_magnitude_peak": 0.0032668798230588436,
+  "reference_frame_count": 0,
+  "dataset_name": "dag911262r001653_lerobot_0327_114714",
+  "episode_index": 240,
+  "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/dag911262r001653_lerobot_0327_114714_a96adc8e/episodes/ep000268/gripper_left_tactile_force_metrics.json b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-09_18-30/outputs_tactile/tactile_cache/dag911262r001653_lerobot_0327_114714_a96adc8e/episodes/ep000268/gripper_left_tactile_force_metrics.json
new file mode 100644
index 0000000000000000000000000000000000000000..d3e918751ea6ca35477a44bed54c50ebc3145661
--- /dev/null
+++ b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-09_18-30/outputs_tactile/tactile_cache/dag911262r001653_lerobot_0327_114714_a96adc8e/episodes/ep000268/gripper_left_tactile_force_metrics.json
@@ -0,0 +1,9 @@
+{
+  "depth_peak": 0.0020039344672113657,
+  "shear_peak": 0.0038917416241019964,
+  "force_magnitude_peak": 0.004653031472116709,
+  "reference_frame_count": 0,
+  "dataset_name": "dag911262r001653_lerobot_0327_114714",
+  "episode_index": 268,
+  "sensor": "gripper_left_tactile"
+}
\ No newline at end of file
diff --git a/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-09_18-30/outputs_tactile/tactile_cache/dag911262r001653_lerobot_0327_114714_a96adc8e/episodes/ep000273/gripper_left_tactile_force_metrics.json b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-09_18-30/outputs_tactile/tactile_cache/dag911262r001653_lerobot_0327_114714_a96adc8e/episodes/ep000273/gripper_left_tactile_force_metrics.json
new file mode 100644
index 0000000000000000000000000000000000000000..1575da04686065bddc2c9a82de9294fe2ea30223
--- /dev/null
+++ b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-09_18-30/outputs_tactile/tactile_cache/dag911262r001653_lerobot_0327_114714_a96adc8e/episodes/ep000273/gripper_left_tactile_force_metrics.json
@@ -0,0 +1,9 @@
+{
+  "depth_peak": 0.00043875121627934277,
+  "shear_peak": 0.006852278020232916,
+  "force_magnitude_peak": 0.007908604107797146,
+  "reference_frame_count": 0,
+  "dataset_name": "dag911262r001653_lerobot_0327_114714",
+  "episode_index": 273,
+  "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/dag911262r001653_lerobot_0327_114714_a96adc8e/episodes/ep000290/gripper_right_tactile_force_metrics.json b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-09_18-30/outputs_tactile/tactile_cache/dag911262r001653_lerobot_0327_114714_a96adc8e/episodes/ep000290/gripper_right_tactile_force_metrics.json
new file mode 100644
index 0000000000000000000000000000000000000000..77f5c460f7b6a11c404e444d2f05d59945a93b3d
--- /dev/null
+++ b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-09_18-30/outputs_tactile/tactile_cache/dag911262r001653_lerobot_0327_114714_a96adc8e/episodes/ep000290/gripper_right_tactile_force_metrics.json
@@ -0,0 +1,9 @@
+{
+  "depth_peak": 0.002217038767412305,
+  "shear_peak": 0.0026436112821102142,
+  "force_magnitude_peak": 0.003272449364885688,
+  "reference_frame_count": 0,
+  "dataset_name": "dag911262r001653_lerobot_0327_114714",
+  "episode_index": 290,
+  "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/dag911262r001653_lerobot_0327_114714_a96adc8e/episodes/ep000299/gripper_right_tactile_force_metrics.json b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-09_18-30/outputs_tactile/tactile_cache/dag911262r001653_lerobot_0327_114714_a96adc8e/episodes/ep000299/gripper_right_tactile_force_metrics.json
new file mode 100644
index 0000000000000000000000000000000000000000..ef63681b333724de6e713ebb2ba8d9e97a183fd0
--- /dev/null
+++ b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-09_18-30/outputs_tactile/tactile_cache/dag911262r001653_lerobot_0327_114714_a96adc8e/episodes/ep000299/gripper_right_tactile_force_metrics.json
@@ -0,0 +1,9 @@
+{
+  "depth_peak": 0.0018939332803711295,
+  "shear_peak": 0.009105266071856022,
+  "force_magnitude_peak": 0.009223581291735172,
+  "reference_frame_count": 0,
+  "dataset_name": "dag911262r001653_lerobot_0327_114714",
+  "episode_index": 299,
+  "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/dag911262r001653_lerobot_0327_114714_a96adc8e/episodes/ep000308/gripper_left_tactile_force_metrics.json b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-09_18-30/outputs_tactile/tactile_cache/dag911262r001653_lerobot_0327_114714_a96adc8e/episodes/ep000308/gripper_left_tactile_force_metrics.json
new file mode 100644
index 0000000000000000000000000000000000000000..a74adedc1b3cd6046c6cc762a7397b85fc38dac6
--- /dev/null
+++ b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-09_18-30/outputs_tactile/tactile_cache/dag911262r001653_lerobot_0327_114714_a96adc8e/episodes/ep000308/gripper_left_tactile_force_metrics.json
@@ -0,0 +1,9 @@
+{
+  "depth_peak": 0.0015236195176839828,
+  "shear_peak": 0.0027884826995432377,
+  "force_magnitude_peak": 0.003073313506320119,
+  "reference_frame_count": 0,
+  "dataset_name": "dag911262r001653_lerobot_0327_114714",
+  "episode_index": 308,
+  "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/dag911262r001653_lerobot_0327_114714_a96adc8e/episodes/ep000446/gripper_right_tactile_force_metrics.json b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-09_18-30/outputs_tactile/tactile_cache/dag911262r001653_lerobot_0327_114714_a96adc8e/episodes/ep000446/gripper_right_tactile_force_metrics.json
new file mode 100644
index 0000000000000000000000000000000000000000..bacea467d84896c2f76bbbdcdda0e002d56bfe86
--- /dev/null
+++ b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-09_18-30/outputs_tactile/tactile_cache/dag911262r001653_lerobot_0327_114714_a96adc8e/episodes/ep000446/gripper_right_tactile_force_metrics.json
@@ -0,0 +1,9 @@
+{
+  "depth_peak": 0.007487370166927576,
+  "shear_peak": 0.0027474998496472836,
+  "force_magnitude_peak": 0.007612607441842556,
+  "reference_frame_count": 0,
+  "dataset_name": "dag911262r001653_lerobot_0327_114714",
+  "episode_index": 446,
+  "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/dag911262r001653_lerobot_0327_114714_a96adc8e/episodes/ep000475/gripper_right_tactile_force_metrics.json b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-09_18-30/outputs_tactile/tactile_cache/dag911262r001653_lerobot_0327_114714_a96adc8e/episodes/ep000475/gripper_right_tactile_force_metrics.json
new file mode 100644
index 0000000000000000000000000000000000000000..e6715deee009018c54f384177081790c9088341f
--- /dev/null
+++ b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-09_18-30/outputs_tactile/tactile_cache/dag911262r001653_lerobot_0327_114714_a96adc8e/episodes/ep000475/gripper_right_tactile_force_metrics.json
@@ -0,0 +1,9 @@
+{
+  "depth_peak": 0.007522068917751312,
+  "shear_peak": 0.0029577999375760555,
+  "force_magnitude_peak": 0.007635154295712709,
+  "reference_frame_count": 0,
+  "dataset_name": "dag911262r001653_lerobot_0327_114714",
+  "episode_index": 475,
+  "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/dag911262r001653_lerobot_0327_114714_a96adc8e/episodes/ep000486/gripper_right_tactile_force_metrics.json b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-09_18-30/outputs_tactile/tactile_cache/dag911262r001653_lerobot_0327_114714_a96adc8e/episodes/ep000486/gripper_right_tactile_force_metrics.json
new file mode 100644
index 0000000000000000000000000000000000000000..25187ca4008cc0f52e867d91378504c297729761
--- /dev/null
+++ b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-09_18-30/outputs_tactile/tactile_cache/dag911262r001653_lerobot_0327_114714_a96adc8e/episodes/ep000486/gripper_right_tactile_force_metrics.json
@@ -0,0 +1,9 @@
+{
+  "depth_peak": 0.009297264739871025,
+  "shear_peak": 0.0026797959581017494,
+  "force_magnitude_peak": 0.009360608644783497,
+  "reference_frame_count": 0,
+  "dataset_name": "dag911262r001653_lerobot_0327_114714",
+  "episode_index": 486,
+  "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/dag911262r001653_lerobot_0327_114714_a96adc8e/episodes/ep000489/gripper_right_tactile_force_metrics.json b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-09_18-30/outputs_tactile/tactile_cache/dag911262r001653_lerobot_0327_114714_a96adc8e/episodes/ep000489/gripper_right_tactile_force_metrics.json
new file mode 100644
index 0000000000000000000000000000000000000000..ed9535fc1b1fcd6bb8f02ef8932d62a4c26b89a9
--- /dev/null
+++ b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-09_18-30/outputs_tactile/tactile_cache/dag911262r001653_lerobot_0327_114714_a96adc8e/episodes/ep000489/gripper_right_tactile_force_metrics.json
@@ -0,0 +1,9 @@
+{
+  "depth_peak": 0.0068223606795072556,
+  "shear_peak": 0.005674714222550392,
+  "force_magnitude_peak": 0.008769054897129536,
+  "reference_frame_count": 0,
+  "dataset_name": "dag911262r001653_lerobot_0327_114714",
+  "episode_index": 489,
+  "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/dag911262r001653_lerobot_0327_114714_a96adc8e/episodes/ep000490/gripper_right_tactile_force_metrics.json b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-09_18-30/outputs_tactile/tactile_cache/dag911262r001653_lerobot_0327_114714_a96adc8e/episodes/ep000490/gripper_right_tactile_force_metrics.json
new file mode 100644
index 0000000000000000000000000000000000000000..c4f1e1c141f76f9a5c8f25d3176d4b73e87021aa
--- /dev/null
+++ b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-09_18-30/outputs_tactile/tactile_cache/dag911262r001653_lerobot_0327_114714_a96adc8e/episodes/ep000490/gripper_right_tactile_force_metrics.json
@@ -0,0 +1,9 @@
+{
+  "depth_peak": 0.002453026594594121,
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+  "force_magnitude_peak": 0.0025402645114809275,
+  "reference_frame_count": 0,
+  "dataset_name": "dag911262r001653_lerobot_0327_114714",
+  "episode_index": 490,
+  "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/dag911262r001653_lerobot_0327_114714_a96adc8e/episodes/ep000526/gripper_right_tactile_force_metrics.json b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-09_18-30/outputs_tactile/tactile_cache/dag911262r001653_lerobot_0327_114714_a96adc8e/episodes/ep000526/gripper_right_tactile_force_metrics.json
new file mode 100644
index 0000000000000000000000000000000000000000..e411456dde5436a9f97855ff19a8eb159233559b
--- /dev/null
+++ b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-09_18-30/outputs_tactile/tactile_cache/dag911262r001653_lerobot_0327_114714_a96adc8e/episodes/ep000526/gripper_right_tactile_force_metrics.json
@@ -0,0 +1,9 @@
+{
+  "depth_peak": 0.0008953281212598085,
+  "shear_peak": 0.003332309192046523,
+  "force_magnitude_peak": 0.004053900949656963,
+  "reference_frame_count": 0,
+  "dataset_name": "dag911262r001653_lerobot_0327_114714",
+  "episode_index": 526,
+  "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/dag911262r001653_lerobot_0327_114714_a96adc8e/episodes/ep000570/gripper_right_tactile_force_metrics.json b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-09_18-30/outputs_tactile/tactile_cache/dag911262r001653_lerobot_0327_114714_a96adc8e/episodes/ep000570/gripper_right_tactile_force_metrics.json
new file mode 100644
index 0000000000000000000000000000000000000000..bb54acfb907dabdf31f1a24f9179137ad2334206
--- /dev/null
+++ b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-09_18-30/outputs_tactile/tactile_cache/dag911262r001653_lerobot_0327_114714_a96adc8e/episodes/ep000570/gripper_right_tactile_force_metrics.json
@@ -0,0 +1,9 @@
+{
+  "depth_peak": 0.0056718275882303715,
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+  "force_magnitude_peak": 0.007386818528175354,
+  "reference_frame_count": 0,
+  "dataset_name": "dag911262r001653_lerobot_0327_114714",
+  "episode_index": 570,
+  "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/dag911262r001653_lerobot_0327_114714_a96adc8e/episodes/ep000595/gripper_right_tactile_force_metrics.json b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-09_18-30/outputs_tactile/tactile_cache/dag911262r001653_lerobot_0327_114714_a96adc8e/episodes/ep000595/gripper_right_tactile_force_metrics.json
new file mode 100644
index 0000000000000000000000000000000000000000..c4c6a3e5cd3375f2fe3f2b6a003d2fff84ba5990
--- /dev/null
+++ b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-09_18-30/outputs_tactile/tactile_cache/dag911262r001653_lerobot_0327_114714_a96adc8e/episodes/ep000595/gripper_right_tactile_force_metrics.json
@@ -0,0 +1,9 @@
+{
+  "depth_peak": 0.009131602942943573,
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+  "force_magnitude_peak": 0.009183082729578018,
+  "reference_frame_count": 0,
+  "dataset_name": "dag911262r001653_lerobot_0327_114714",
+  "episode_index": 595,
+  "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/dag911262r001653_lerobot_0327_114714_a96adc8e/episodes/ep000610/gripper_right_tactile_force_metrics.json b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-09_18-30/outputs_tactile/tactile_cache/dag911262r001653_lerobot_0327_114714_a96adc8e/episodes/ep000610/gripper_right_tactile_force_metrics.json
new file mode 100644
index 0000000000000000000000000000000000000000..082cd6d4fa7f5960a7ea6705fccafebeae4a3f5c
--- /dev/null
+++ b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-09_18-30/outputs_tactile/tactile_cache/dag911262r001653_lerobot_0327_114714_a96adc8e/episodes/ep000610/gripper_right_tactile_force_metrics.json
@@ -0,0 +1,9 @@
+{
+  "depth_peak": 0.0017455342458561063,
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+  "force_magnitude_peak": 0.003560646902769804,
+  "reference_frame_count": 0,
+  "dataset_name": "dag911262r001653_lerobot_0327_114714",
+  "episode_index": 610,
+  "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/dag911262r001653_lerobot_0327_114714_a96adc8e/episodes/ep000635/gripper_right_tactile_force_metrics.json b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-09_18-30/outputs_tactile/tactile_cache/dag911262r001653_lerobot_0327_114714_a96adc8e/episodes/ep000635/gripper_right_tactile_force_metrics.json
new file mode 100644
index 0000000000000000000000000000000000000000..c214159b76a705c3073b5bc055442617fb1ecd13
--- /dev/null
+++ b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-09_18-30/outputs_tactile/tactile_cache/dag911262r001653_lerobot_0327_114714_a96adc8e/episodes/ep000635/gripper_right_tactile_force_metrics.json
@@ -0,0 +1,9 @@
+{
+  "depth_peak": 0.0008643324254080653,
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+  "force_magnitude_peak": 0.003384800860658288,
+  "reference_frame_count": 0,
+  "dataset_name": "dag911262r001653_lerobot_0327_114714",
+  "episode_index": 635,
+  "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/dag911262r00197e_lerobot_0327_114714_0abaec90/episodes/ep000110/gripper_right_tactile_force_metrics.json b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-09_18-30/outputs_tactile/tactile_cache/dag911262r00197e_lerobot_0327_114714_0abaec90/episodes/ep000110/gripper_right_tactile_force_metrics.json
new file mode 100644
index 0000000000000000000000000000000000000000..01835f2d9e293449dcb66455fe9ceb86fcc4f08a
--- /dev/null
+++ b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-09_18-30/outputs_tactile/tactile_cache/dag911262r00197e_lerobot_0327_114714_0abaec90/episodes/ep000110/gripper_right_tactile_force_metrics.json
@@ -0,0 +1,9 @@
+{
+  "depth_peak": 0.0031276042573153973,
+  "shear_peak": 0.004181326366961002,
+  "force_magnitude_peak": 0.005203493405133486,
+  "reference_frame_count": 0,
+  "dataset_name": "dag911262r00197e_lerobot_0327_114714",
+  "episode_index": 110,
+  "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/dag911262r00197e_lerobot_0327_114714_0abaec90/episodes/ep000150/gripper_right_tactile_force_metrics.json b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-09_18-30/outputs_tactile/tactile_cache/dag911262r00197e_lerobot_0327_114714_0abaec90/episodes/ep000150/gripper_right_tactile_force_metrics.json
new file mode 100644
index 0000000000000000000000000000000000000000..61ef66910b073407cfe00dcf8c1a01b0fdd9ae46
--- /dev/null
+++ b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-09_18-30/outputs_tactile/tactile_cache/dag911262r00197e_lerobot_0327_114714_0abaec90/episodes/ep000150/gripper_right_tactile_force_metrics.json
@@ -0,0 +1,9 @@
+{
+  "depth_peak": 0.0027251485735177994,
+  "shear_peak": 0.005222205072641373,
+  "force_magnitude_peak": 0.005709408316761255,
+  "reference_frame_count": 0,
+  "dataset_name": "dag911262r00197e_lerobot_0327_114714",
+  "episode_index": 150,
+  "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/dag911262r00197e_lerobot_0327_114714_0abaec90/episodes/ep000310/gripper_right_tactile_force_metrics.json b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-09_18-30/outputs_tactile/tactile_cache/dag911262r00197e_lerobot_0327_114714_0abaec90/episodes/ep000310/gripper_right_tactile_force_metrics.json
new file mode 100644
index 0000000000000000000000000000000000000000..43deeb2ef25cf4ea4983bba1d82a21ae4dd16915
--- /dev/null
+++ b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-09_18-30/outputs_tactile/tactile_cache/dag911262r00197e_lerobot_0327_114714_0abaec90/episodes/ep000310/gripper_right_tactile_force_metrics.json
@@ -0,0 +1,9 @@
+{
+  "depth_peak": 0.007197929080575705,
+  "shear_peak": 0.0022891415283083916,
+  "force_magnitude_peak": 0.007248532958328724,
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+  "dataset_name": "dag911262r00197e_lerobot_0327_114714",
+  "episode_index": 310,
+  "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/dag911262r00197e_lerobot_0327_114714_0abaec90/episodes/ep000382/gripper_left_tactile_force_metrics.json b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-09_18-30/outputs_tactile/tactile_cache/dag911262r00197e_lerobot_0327_114714_0abaec90/episodes/ep000382/gripper_left_tactile_force_metrics.json
new file mode 100644
index 0000000000000000000000000000000000000000..b49e6e3dc86468f74d1319596e38280400c0507b
--- /dev/null
+++ b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-09_18-30/outputs_tactile/tactile_cache/dag911262r00197e_lerobot_0327_114714_0abaec90/episodes/ep000382/gripper_left_tactile_force_metrics.json
@@ -0,0 +1,9 @@
+{
+  "depth_peak": 0.0012695504119619727,
+  "shear_peak": 0.002237683394923806,
+  "force_magnitude_peak": 0.0030258132610470057,
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+  "dataset_name": "dag911262r00197e_lerobot_0327_114714",
+  "episode_index": 382,
+  "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/dag911262r00197e_lerobot_0327_114714_0abaec90/episodes/ep000382/gripper_right_tactile_force_metrics.json b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-09_18-30/outputs_tactile/tactile_cache/dag911262r00197e_lerobot_0327_114714_0abaec90/episodes/ep000382/gripper_right_tactile_force_metrics.json
new file mode 100644
index 0000000000000000000000000000000000000000..8e91a19ae7f7286db558a93ff60dfeb70c5e7334
--- /dev/null
+++ b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-09_18-30/outputs_tactile/tactile_cache/dag911262r00197e_lerobot_0327_114714_0abaec90/episodes/ep000382/gripper_right_tactile_force_metrics.json
@@ -0,0 +1,9 @@
+{
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+  "shear_peak": 0.0071906521916389465,
+  "force_magnitude_peak": 0.007915397174656391,
+  "reference_frame_count": 0,
+  "dataset_name": "dag911262r00197e_lerobot_0327_114714",
+  "episode_index": 382,
+  "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/dag911262r00197e_lerobot_0327_114714_0abaec90/episodes/ep000424/gripper_right_tactile_force_metrics.json b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-09_18-30/outputs_tactile/tactile_cache/dag911262r00197e_lerobot_0327_114714_0abaec90/episodes/ep000424/gripper_right_tactile_force_metrics.json
new file mode 100644
index 0000000000000000000000000000000000000000..7c44022f6a775b8b72f8154f0fc95209c0d42d09
--- /dev/null
+++ b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-09_18-30/outputs_tactile/tactile_cache/dag911262r00197e_lerobot_0327_114714_0abaec90/episodes/ep000424/gripper_right_tactile_force_metrics.json
@@ -0,0 +1,9 @@
+{
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+  "shear_peak": 0.006312150973826647,
+  "force_magnitude_peak": 0.006452031899243593,
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+  "dataset_name": "dag911262r00197e_lerobot_0327_114714",
+  "episode_index": 424,
+  "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/dag911262r00197e_lerobot_0327_114714_0abaec90/episodes/ep000430/gripper_right_tactile_force_metrics.json b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-09_18-30/outputs_tactile/tactile_cache/dag911262r00197e_lerobot_0327_114714_0abaec90/episodes/ep000430/gripper_right_tactile_force_metrics.json
new file mode 100644
index 0000000000000000000000000000000000000000..3376a9ef9b8b178a5fc13316737611f4bf846765
--- /dev/null
+++ b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-09_18-30/outputs_tactile/tactile_cache/dag911262r00197e_lerobot_0327_114714_0abaec90/episodes/ep000430/gripper_right_tactile_force_metrics.json
@@ -0,0 +1,9 @@
+{
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+  "force_magnitude_peak": 0.006595545448362827,
+  "reference_frame_count": 0,
+  "dataset_name": "dag911262r00197e_lerobot_0327_114714",
+  "episode_index": 430,
+  "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/dag911262r00197e_lerobot_0327_114714_0abaec90/episodes/ep000582/gripper_right_tactile_force_metrics.json b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-09_18-30/outputs_tactile/tactile_cache/dag911262r00197e_lerobot_0327_114714_0abaec90/episodes/ep000582/gripper_right_tactile_force_metrics.json
new file mode 100644
index 0000000000000000000000000000000000000000..b4ce14a1dc567cd0b32b570b9bbadd357a9eb58a
--- /dev/null
+++ b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-09_18-30/outputs_tactile/tactile_cache/dag911262r00197e_lerobot_0327_114714_0abaec90/episodes/ep000582/gripper_right_tactile_force_metrics.json
@@ -0,0 +1,9 @@
+{
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+  "force_magnitude_peak": 0.005541285965591669,
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+  "dataset_name": "dag911262r00197e_lerobot_0327_114714",
+  "episode_index": 582,
+  "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/dag911262r00197e_lerobot_0327_114714_0abaec90/episodes/ep000692/gripper_right_tactile_force_metrics.json b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-09_18-30/outputs_tactile/tactile_cache/dag911262r00197e_lerobot_0327_114714_0abaec90/episodes/ep000692/gripper_right_tactile_force_metrics.json
new file mode 100644
index 0000000000000000000000000000000000000000..288118fe3a8f51a879ece2d5d5c89984d6719135
--- /dev/null
+++ b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-09_18-30/outputs_tactile/tactile_cache/dag911262r00197e_lerobot_0327_114714_0abaec90/episodes/ep000692/gripper_right_tactile_force_metrics.json
@@ -0,0 +1,9 @@
+{
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+  "force_magnitude_peak": 0.002865230431780219,
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+  "dataset_name": "dag911262r00197e_lerobot_0327_114714",
+  "episode_index": 692,
+  "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/dag911262r00197e_lerobot_0327_114714_0abaec90/episodes/ep000802/gripper_right_tactile_force_metrics.json b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-09_18-30/outputs_tactile/tactile_cache/dag911262r00197e_lerobot_0327_114714_0abaec90/episodes/ep000802/gripper_right_tactile_force_metrics.json
new file mode 100644
index 0000000000000000000000000000000000000000..5590ea2fdceb6c78bf9e2d99b2890b0ace006123
--- /dev/null
+++ b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-09_18-30/outputs_tactile/tactile_cache/dag911262r00197e_lerobot_0327_114714_0abaec90/episodes/ep000802/gripper_right_tactile_force_metrics.json
@@ -0,0 +1,9 @@
+{
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+  "dataset_name": "dag911262r00197e_lerobot_0327_114714",
+  "episode_index": 802,
+  "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/ep000040/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/ep000040/gripper_right_tactile_force_metrics.json
new file mode 100644
index 0000000000000000000000000000000000000000..8ece4ae5591ece436f1fba8135e8c9dacc993f18
--- /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/ep000040/gripper_right_tactile_force_metrics.json
@@ -0,0 +1,9 @@
+{
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+  "dataset_name": "dag911262r00207e_lerobot_0327_114714",
+  "episode_index": 40,
+  "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/ep000044/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/ep000044/gripper_left_tactile_force_metrics.json
new file mode 100644
index 0000000000000000000000000000000000000000..48c21cbd36670a6e74bf53ac910163c55d814f65
--- /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/ep000044/gripper_left_tactile_force_metrics.json
@@ -0,0 +1,9 @@
+{
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+  "dataset_name": "dag911262r00207e_lerobot_0327_114714",
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+  "sensor": "gripper_left_tactile"
+}
\ No newline at end of file
diff --git a/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-09_18-30/outputs_tactile/tactile_cache/dag911262r00207e_lerobot_0327_114714_df3cd5a7/episodes/ep000115/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/ep000115/gripper_right_tactile_force_metrics.json
new file mode 100644
index 0000000000000000000000000000000000000000..24e336a64747fc6dcec200bd7f88e126959fd713
--- /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/ep000115/gripper_right_tactile_force_metrics.json
@@ -0,0 +1,9 @@
+{
+  "depth_peak": 0.005903835874050856,
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+  "dataset_name": "dag911262r00207e_lerobot_0327_114714",
+  "episode_index": 115,
+  "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/ep000149/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/ep000149/gripper_right_tactile_force_metrics.json
new file mode 100644
index 0000000000000000000000000000000000000000..2932bc8765f1460e655f4fc350c58984d41adc98
--- /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/ep000149/gripper_right_tactile_force_metrics.json
@@ -0,0 +1,9 @@
+{
+  "depth_peak": 0.002101482357829809,
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+  "force_magnitude_peak": 0.002773777348920703,
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+  "dataset_name": "dag911262r00207e_lerobot_0327_114714",
+  "episode_index": 149,
+  "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/ep000162/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/ep000162/gripper_right_tactile_force_metrics.json
new file mode 100644
index 0000000000000000000000000000000000000000..084c61fe356c1fb2b79842d0b42cfd38f7ba0bc8
--- /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/ep000162/gripper_right_tactile_force_metrics.json
@@ -0,0 +1,9 @@
+{
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+  "dataset_name": "dag911262r00207e_lerobot_0327_114714",
+  "episode_index": 162,
+  "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/ep000164/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/ep000164/gripper_left_tactile_force_metrics.json
new file mode 100644
index 0000000000000000000000000000000000000000..7651800d4efa1391f8614e051ead8dab255af2f3
--- /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/ep000164/gripper_left_tactile_force_metrics.json
@@ -0,0 +1,9 @@
+{
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+  "dataset_name": "dag911262r00207e_lerobot_0327_114714",
+  "episode_index": 164,
+  "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/ep000237/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/ep000237/gripper_left_tactile_force_metrics.json
new file mode 100644
index 0000000000000000000000000000000000000000..3388578af4c08b9d2c21fa81a05e8fe88f68fd30
--- /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/ep000237/gripper_left_tactile_force_metrics.json
@@ -0,0 +1,9 @@
+{
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+  "dataset_name": "dag911262r00207e_lerobot_0327_114714",
+  "episode_index": 237,
+  "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/ep000266/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/ep000266/gripper_left_tactile_force_metrics.json
new file mode 100644
index 0000000000000000000000000000000000000000..0929406712e2e75b25923eb321041c97e512c7b0
--- /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/ep000266/gripper_left_tactile_force_metrics.json
@@ -0,0 +1,9 @@
+{
+  "depth_peak": 0.00019069868721999228,
+  "shear_peak": 0.003294283291324973,
+  "force_magnitude_peak": 0.004909272771328688,
+  "reference_frame_count": 0,
+  "dataset_name": "dag911262r00207e_lerobot_0327_114714",
+  "episode_index": 266,
+  "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/ep000269/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/ep000269/gripper_right_tactile_force_metrics.json
new file mode 100644
index 0000000000000000000000000000000000000000..a14b624b26fd079778fabb229369b0056da01709
--- /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/ep000269/gripper_right_tactile_force_metrics.json
@@ -0,0 +1,9 @@
+{
+  "depth_peak": 0.001496396609582007,
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+  "force_magnitude_peak": 0.002509013283997774,
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+  "dataset_name": "dag911262r00207e_lerobot_0327_114714",
+  "episode_index": 269,
+  "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/ep000275/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/ep000275/gripper_right_tactile_force_metrics.json
new file mode 100644
index 0000000000000000000000000000000000000000..6fc6eaf42c3b25e198fb99d388c51bf3408281ad
--- /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/ep000275/gripper_right_tactile_force_metrics.json
@@ -0,0 +1,9 @@
+{
+  "depth_peak": 0.001967690885066986,
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+  "force_magnitude_peak": 0.002062511397525668,
+  "reference_frame_count": 0,
+  "dataset_name": "dag911262r00207e_lerobot_0327_114714",
+  "episode_index": 275,
+  "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/ep000309/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/ep000309/gripper_right_tactile_force_metrics.json
new file mode 100644
index 0000000000000000000000000000000000000000..5ac66305d3d0249373ecc7c74fa44683768f3c76
--- /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/ep000309/gripper_right_tactile_force_metrics.json
@@ -0,0 +1,9 @@
+{
+  "depth_peak": 0.002251480706036091,
+  "shear_peak": 0.001244588172994554,
+  "force_magnitude_peak": 0.0025725795421749353,
+  "reference_frame_count": 0,
+  "dataset_name": "dag911262r00207e_lerobot_0327_114714",
+  "episode_index": 309,
+  "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/ep000314/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/ep000314/gripper_right_tactile_force_metrics.json
new file mode 100644
index 0000000000000000000000000000000000000000..07d8a3de2da8c519273da3cdc865eba9ab3df872
--- /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/ep000314/gripper_right_tactile_force_metrics.json
@@ -0,0 +1,9 @@
+{
+  "depth_peak": 0.0029147823806852102,
+  "shear_peak": 0.003885742276906967,
+  "force_magnitude_peak": 0.004767270293086767,
+  "reference_frame_count": 0,
+  "dataset_name": "dag911262r00207e_lerobot_0327_114714",
+  "episode_index": 314,
+  "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/ep000346/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/ep000346/gripper_left_tactile_force_metrics.json
new file mode 100644
index 0000000000000000000000000000000000000000..e526d88335dd539720c5ddbcabead0e10ee056b9
--- /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/ep000346/gripper_left_tactile_force_metrics.json
@@ -0,0 +1,9 @@
+{
+  "depth_peak": 0.0009690517908893526,
+  "shear_peak": 0.0039682709611952305,
+  "force_magnitude_peak": 0.004067236557602882,
+  "reference_frame_count": 0,
+  "dataset_name": "dag911262r00207e_lerobot_0327_114714",
+  "episode_index": 346,
+  "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/ep000355/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/ep000355/gripper_right_tactile_force_metrics.json
new file mode 100644
index 0000000000000000000000000000000000000000..47f71bd829664851b8613d8cdae187ebc3764585
--- /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/ep000355/gripper_right_tactile_force_metrics.json
@@ -0,0 +1,9 @@
+{
+  "depth_peak": 0.002703711623325944,
+  "shear_peak": 0.002467486308887601,
+  "force_magnitude_peak": 0.0030695495661348104,
+  "reference_frame_count": 0,
+  "dataset_name": "dag911262r00207e_lerobot_0327_114714",
+  "episode_index": 355,
+  "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/ep000357/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/ep000357/gripper_left_tactile_force_metrics.json
new file mode 100644
index 0000000000000000000000000000000000000000..8326359aeb07435b2ccc454b6f15312a1441ee11
--- /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/ep000357/gripper_left_tactile_force_metrics.json
@@ -0,0 +1,9 @@
+{
+  "depth_peak": 0.0008934179204516113,
+  "shear_peak": 0.001566843711771071,
+  "force_magnitude_peak": 0.0018903709715232253,
+  "reference_frame_count": 0,
+  "dataset_name": "dag911262r00207e_lerobot_0327_114714",
+  "episode_index": 357,
+  "sensor": "gripper_left_tactile"
+}
\ No newline at end of file
diff --git a/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-09_18-30/outputs_tactile/tactile_cache/dag911262r00207e_lerobot_0327_114714_df3cd5a7/episodes/ep000360/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/ep000360/gripper_right_tactile_force_metrics.json
new file mode 100644
index 0000000000000000000000000000000000000000..36b871219600110713ad5b7575031dfe8079e360
--- /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/ep000360/gripper_right_tactile_force_metrics.json
@@ -0,0 +1,9 @@
+{
+  "depth_peak": 0.0032903782557696104,
+  "shear_peak": 0.006089892238378525,
+  "force_magnitude_peak": 0.006463842000812292,
+  "reference_frame_count": 0,
+  "dataset_name": "dag911262r00207e_lerobot_0327_114714",
+  "episode_index": 360,
+  "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/ep000364/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/ep000364/gripper_left_tactile_force_metrics.json
new file mode 100644
index 0000000000000000000000000000000000000000..7fa37adb7503281b4762d87f139c3113ec8a661e
--- /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/ep000364/gripper_left_tactile_force_metrics.json
@@ -0,0 +1,9 @@
+{
+  "depth_peak": 0.0025389438960701227,
+  "shear_peak": 0.003211784176528454,
+  "force_magnitude_peak": 0.0034516751766204834,
+  "reference_frame_count": 0,
+  "dataset_name": "dag911262r00207e_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/dag911262r00207e_lerobot_0327_114714_df3cd5a7/episodes/ep000386/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/ep000386/gripper_left_tactile_force_metrics.json
new file mode 100644
index 0000000000000000000000000000000000000000..932ac620d9f0aa4be73849c82bdf870bbca15502
--- /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/ep000386/gripper_left_tactile_force_metrics.json
@@ -0,0 +1,9 @@
+{
+  "depth_peak": 0.0012431934010237455,
+  "shear_peak": 0.0021640986669808626,
+  "force_magnitude_peak": 0.002356661017984152,
+  "reference_frame_count": 0,
+  "dataset_name": "dag911262r00207e_lerobot_0327_114714",
+  "episode_index": 386,
+  "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/ep000402/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/ep000402/gripper_right_tactile_force_metrics.json
new file mode 100644
index 0000000000000000000000000000000000000000..442bfdc93424beca0eb6e8d027fa786571a8b335
--- /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/ep000402/gripper_right_tactile_force_metrics.json
@@ -0,0 +1,9 @@
+{
+  "depth_peak": 0.0005632922984659672,
+  "shear_peak": 0.005106437485665083,
+  "force_magnitude_peak": 0.005131078418344259,
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+  "dataset_name": "dag911262r00207e_lerobot_0327_114714",
+  "episode_index": 402,
+  "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/ep000422/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/ep000422/gripper_left_tactile_force_metrics.json
new file mode 100644
index 0000000000000000000000000000000000000000..99a8c9f657540ebea0095c3c21ae303c741387e8
--- /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/ep000422/gripper_left_tactile_force_metrics.json
@@ -0,0 +1,9 @@
+{
+  "depth_peak": 0.0038769159000366926,
+  "shear_peak": 0.004006101284176111,
+  "force_magnitude_peak": 0.0052358233369886875,
+  "reference_frame_count": 0,
+  "dataset_name": "dag911262r00207e_lerobot_0327_114714",
+  "episode_index": 422,
+  "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/ep000440/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/ep000440/gripper_right_tactile_force_metrics.json
new file mode 100644
index 0000000000000000000000000000000000000000..ef1a2823d4152ce76a966d040bf9b1c60c8a7aed
--- /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/ep000440/gripper_right_tactile_force_metrics.json
@@ -0,0 +1,9 @@
+{
+  "depth_peak": 0.0014108309987932444,
+  "shear_peak": 0.008849157951772213,
+  "force_magnitude_peak": 0.008854200132191181,
+  "reference_frame_count": 0,
+  "dataset_name": "dag911262r00207e_lerobot_0327_114714",
+  "episode_index": 440,
+  "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/ep000482/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/ep000482/gripper_right_tactile_force_metrics.json
new file mode 100644
index 0000000000000000000000000000000000000000..45894a5061ecd3908d6337428e4f21d7fc43293a
--- /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/ep000482/gripper_right_tactile_force_metrics.json
@@ -0,0 +1,9 @@
+{
+  "depth_peak": 0.007834053598344326,
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+  "force_magnitude_peak": 0.009558960795402527,
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+  "dataset_name": "dag911262r00207e_lerobot_0327_114714",
+  "episode_index": 482,
+  "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/ep000542/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/ep000542/gripper_left_tactile_force_metrics.json
new file mode 100644
index 0000000000000000000000000000000000000000..296b5aa11d3d39e687a36bf75a7e74abf32a7f0c
--- /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/ep000542/gripper_left_tactile_force_metrics.json
@@ -0,0 +1,9 @@
+{
+  "depth_peak": 0.0036005633883178234,
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+  "force_magnitude_peak": 0.004256201442331076,
+  "reference_frame_count": 0,
+  "dataset_name": "dag911262r00207e_lerobot_0327_114714",
+  "episode_index": 542,
+  "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/ep000554/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/ep000554/gripper_right_tactile_force_metrics.json
new file mode 100644
index 0000000000000000000000000000000000000000..2088ad9a1a0ed339d0ff599a23c378bf0faa041f
--- /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/ep000554/gripper_right_tactile_force_metrics.json
@@ -0,0 +1,9 @@
+{
+  "depth_peak": 0.002213704399764538,
+  "shear_peak": 0.0020324683282524347,
+  "force_magnitude_peak": 0.002505967393517494,
+  "reference_frame_count": 0,
+  "dataset_name": "dag911262r00207e_lerobot_0327_114714",
+  "episode_index": 554,
+  "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/ep000562/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/ep000562/gripper_right_tactile_force_metrics.json
new file mode 100644
index 0000000000000000000000000000000000000000..4be318b6bca9472f2f610a29e7972f605b125295
--- /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/ep000562/gripper_right_tactile_force_metrics.json
@@ -0,0 +1,9 @@
+{
+  "depth_peak": 0.0028814696706831455,
+  "shear_peak": 0.005197626072913408,
+  "force_magnitude_peak": 0.005941218696534634,
+  "reference_frame_count": 0,
+  "dataset_name": "dag911262r00207e_lerobot_0327_114714",
+  "episode_index": 562,
+  "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/ep000586/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/ep000586/gripper_left_tactile_force_metrics.json
new file mode 100644
index 0000000000000000000000000000000000000000..c7a97ce4ea9b56eb06f9c44416354033160d4962
--- /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/ep000586/gripper_left_tactile_force_metrics.json
@@ -0,0 +1,9 @@
+{
+  "depth_peak": 0.003295531030744314,
+  "shear_peak": 0.0025893712881952524,
+  "force_magnitude_peak": 0.0034869208466261625,
+  "reference_frame_count": 0,
+  "dataset_name": "dag911262r00207e_lerobot_0327_114714",
+  "episode_index": 586,
+  "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/ep000589/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/ep000589/gripper_right_tactile_force_metrics.json
new file mode 100644
index 0000000000000000000000000000000000000000..4055ca82836bb4e2a548c061a70b45909dd207f4
--- /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/ep000589/gripper_right_tactile_force_metrics.json
@@ -0,0 +1,9 @@
+{
+  "depth_peak": 0.003645592601969838,
+  "shear_peak": 0.0032750344835221767,
+  "force_magnitude_peak": 0.003874485846608877,
+  "reference_frame_count": 0,
+  "dataset_name": "dag911262r00207e_lerobot_0327_114714",
+  "episode_index": 589,
+  "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/ep000595/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/ep000595/gripper_right_tactile_force_metrics.json
new file mode 100644
index 0000000000000000000000000000000000000000..0fd7672f86727e15000b6a3c886300e356c2f7e1
--- /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/ep000595/gripper_right_tactile_force_metrics.json
@@ -0,0 +1,9 @@
+{
+  "depth_peak": 0.0061882673762738705,
+  "shear_peak": 0.012087423354387283,
+  "force_magnitude_peak": 0.012096655555069447,
+  "reference_frame_count": 0,
+  "dataset_name": "dag911262r00207e_lerobot_0327_114714",
+  "episode_index": 595,
+  "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/ep000634/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/ep000634/gripper_right_tactile_force_metrics.json
new file mode 100644
index 0000000000000000000000000000000000000000..17e98e7ee7b17b38ec66431b750fca42ee336340
--- /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/ep000634/gripper_right_tactile_force_metrics.json
@@ -0,0 +1,9 @@
+{
+  "depth_peak": 0.003433545120060444,
+  "shear_peak": 0.0021521481685340405,
+  "force_magnitude_peak": 0.003680806141346693,
+  "reference_frame_count": 0,
+  "dataset_name": "dag911262r00207e_lerobot_0327_114714",
+  "episode_index": 634,
+  "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/ep000717/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/ep000717/gripper_left_tactile_force_metrics.json
new file mode 100644
index 0000000000000000000000000000000000000000..784e0ee27ebab032c56dc263c9366df886a4196a
--- /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/ep000717/gripper_left_tactile_force_metrics.json
@@ -0,0 +1,9 @@
+{
+  "depth_peak": 0.0003047722566407174,
+  "shear_peak": 0.002273622900247574,
+  "force_magnitude_peak": 0.0032420423813164234,
+  "reference_frame_count": 0,
+  "dataset_name": "dag911262r00207e_lerobot_0327_114714",
+  "episode_index": 717,
+  "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/ep000742/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/ep000742/gripper_left_tactile_force_metrics.json
new file mode 100644
index 0000000000000000000000000000000000000000..3f11fba6fd13e6094b6b093f2c954d147cbf27c1
--- /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/ep000742/gripper_left_tactile_force_metrics.json
@@ -0,0 +1,9 @@
+{
+  "depth_peak": 0.0009913092944771051,
+  "shear_peak": 0.0015862630680203438,
+  "force_magnitude_peak": 0.003383798524737358,
+  "reference_frame_count": 0,
+  "dataset_name": "dag911262r00207e_lerobot_0327_114714",
+  "episode_index": 742,
+  "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/ep000749/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/ep000749/gripper_right_tactile_force_metrics.json
new file mode 100644
index 0000000000000000000000000000000000000000..0c81b90a0d4b34a360fe45953bc7866843318682
--- /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/ep000749/gripper_right_tactile_force_metrics.json
@@ -0,0 +1,9 @@
+{
+  "depth_peak": 0.004493210464715958,
+  "shear_peak": 0.003773993579670787,
+  "force_magnitude_peak": 0.0051553864032030106,
+  "reference_frame_count": 0,
+  "dataset_name": "dag911262r00207e_lerobot_0327_114714",
+  "episode_index": 749,
+  "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/ep000764/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/ep000764/gripper_left_tactile_force_metrics.json
new file mode 100644
index 0000000000000000000000000000000000000000..c6a2b9251527e0a6609842234fc599b3af5293a4
--- /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/ep000764/gripper_left_tactile_force_metrics.json
@@ -0,0 +1,9 @@
+{
+  "depth_peak": 0.0001359998859697953,
+  "shear_peak": 0.0013398290611803532,
+  "force_magnitude_peak": 0.002779283095151186,
+  "reference_frame_count": 0,
+  "dataset_name": "dag911262r00207e_lerobot_0327_114714",
+  "episode_index": 764,
+  "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/ep000795/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/ep000795/gripper_right_tactile_force_metrics.json
new file mode 100644
index 0000000000000000000000000000000000000000..a017875482cf0668ba8b59a998a0d35eb68f330e
--- /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/ep000795/gripper_right_tactile_force_metrics.json
@@ -0,0 +1,9 @@
+{
+  "depth_peak": 0.0010201382683590055,
+  "shear_peak": 0.004312989301979542,
+  "force_magnitude_peak": 0.004774381406605244,
+  "reference_frame_count": 0,
+  "dataset_name": "dag911262r00207e_lerobot_0327_114714",
+  "episode_index": 795,
+  "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/ep000797/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/ep000797/gripper_left_tactile_force_metrics.json
new file mode 100644
index 0000000000000000000000000000000000000000..39e09ffa1175541449a8d48be3ce18acd1faaf83
--- /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/ep000797/gripper_left_tactile_force_metrics.json
@@ -0,0 +1,9 @@
+{
+  "depth_peak": 0.0019754073582589626,
+  "shear_peak": 0.0018462196458131075,
+  "force_magnitude_peak": 0.002703817328438163,
+  "reference_frame_count": 0,
+  "dataset_name": "dag911262r00207e_lerobot_0327_114714",
+  "episode_index": 797,
+  "sensor": "gripper_left_tactile"
+}
\ No newline at end of file
diff --git a/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-09_18-30/outputs_tactile/tactile_cache/dag911262r00207e_lerobot_0327_114714_df3cd5a7/episodes/ep000822/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/ep000822/gripper_left_tactile_force_metrics.json
new file mode 100644
index 0000000000000000000000000000000000000000..2176151f72ac05d322b599ce971dce6e17bb4be2
--- /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/ep000822/gripper_left_tactile_force_metrics.json
@@ -0,0 +1,9 @@
+{
+  "depth_peak": 0.0065490384586155415,
+  "shear_peak": 0.0034514430444687605,
+  "force_magnitude_peak": 0.007268195040524006,
+  "reference_frame_count": 0,
+  "dataset_name": "dag911262r00207e_lerobot_0327_114714",
+  "episode_index": 822,
+  "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/ep000826/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/ep000826/gripper_left_tactile_force_metrics.json
new file mode 100644
index 0000000000000000000000000000000000000000..e08f840c51a2c582445533a0d364405be0bb317b
--- /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/ep000826/gripper_left_tactile_force_metrics.json
@@ -0,0 +1,9 @@
+{
+  "depth_peak": 0.0017214581603184342,
+  "shear_peak": 0.0026088696904480457,
+  "force_magnitude_peak": 0.002832635771483183,
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+  "dataset_name": "dag911262r00207e_lerobot_0327_114714",
+  "episode_index": 826,
+  "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/ep000835/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/ep000835/gripper_right_tactile_force_metrics.json
new file mode 100644
index 0000000000000000000000000000000000000000..7dae626bb7196578e1919431ef0c2b6ef0ad45c0
--- /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/ep000835/gripper_right_tactile_force_metrics.json
@@ -0,0 +1,9 @@
+{
+  "depth_peak": 0.0017590682255104184,
+  "shear_peak": 0.007746672257781029,
+  "force_magnitude_peak": 0.007920490577816963,
+  "reference_frame_count": 0,
+  "dataset_name": "dag911262r00207e_lerobot_0327_114714",
+  "episode_index": 835,
+  "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/ep000844/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/ep000844/gripper_left_tactile_force_metrics.json
new file mode 100644
index 0000000000000000000000000000000000000000..667f43da21fc99c393d2f63b37311837cd13c702
--- /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/ep000844/gripper_left_tactile_force_metrics.json
@@ -0,0 +1,9 @@
+{
+  "depth_peak": 0.0060326107777655125,
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+  "force_magnitude_peak": 0.0062924581579864025,
+  "reference_frame_count": 0,
+  "dataset_name": "dag911262r00207e_lerobot_0327_114714",
+  "episode_index": 844,
+  "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/ep000862/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/ep000862/gripper_left_tactile_force_metrics.json
new file mode 100644
index 0000000000000000000000000000000000000000..7e7ee50090a26515ee48180ba7a9f98278bb27e5
--- /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/ep000862/gripper_left_tactile_force_metrics.json
@@ -0,0 +1,9 @@
+{
+  "depth_peak": 0.005288179963827133,
+  "shear_peak": 0.0019079623743891716,
+  "force_magnitude_peak": 0.0055122473277151585,
+  "reference_frame_count": 0,
+  "dataset_name": "dag911262r00207e_lerobot_0327_114714",
+  "episode_index": 862,
+  "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/ep000882/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/ep000882/gripper_right_tactile_force_metrics.json
new file mode 100644
index 0000000000000000000000000000000000000000..478d88353dbd4ca9da0140b4fa8a4f88eb985f70
--- /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/ep000882/gripper_right_tactile_force_metrics.json
@@ -0,0 +1,9 @@
+{
+  "depth_peak": 0.003964608535170555,
+  "shear_peak": 0.0031052427366375923,
+  "force_magnitude_peak": 0.004228565841913223,
+  "reference_frame_count": 0,
+  "dataset_name": "dag911262r00207e_lerobot_0327_114714",
+  "episode_index": 882,
+  "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/ep000051/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/ep000051/gripper_right_tactile_force_metrics.json
new file mode 100644
index 0000000000000000000000000000000000000000..055733a42f5dd0b7a8f4144e8f0875d2ed69d625
--- /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/ep000051/gripper_right_tactile_force_metrics.json
@@ -0,0 +1,9 @@
+{
+  "depth_peak": 0.0001559233496664092,
+  "shear_peak": 0.0072249858640134335,
+  "force_magnitude_peak": 0.007804600987583399,
+  "reference_frame_count": 0,
+  "dataset_name": "dag911262r002377_lerobot_0327_114714",
+  "episode_index": 51,
+  "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_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/ep000059/gripper_left_tactile_force_metrics.json
new file mode 100644
index 0000000000000000000000000000000000000000..f5829491a32657d622d6b8f10336eda0e3a3ed4a
--- /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_left_tactile_force_metrics.json
@@ -0,0 +1,9 @@
+{
+  "depth_peak": 0.0012704388936981559,
+  "shear_peak": 0.0007620906108058989,
+  "force_magnitude_peak": 0.0018009560881182551,
+  "reference_frame_count": 0,
+  "dataset_name": "dag911262r002377_lerobot_0327_114714",
+  "episode_index": 59,
+  "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/ep000068/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/ep000068/gripper_right_tactile_force_metrics.json
new file mode 100644
index 0000000000000000000000000000000000000000..8e7c4f022042fc419ebcd6c82005f4fa4975ea70
--- /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/ep000068/gripper_right_tactile_force_metrics.json
@@ -0,0 +1,9 @@
+{
+  "depth_peak": 0.0036779458168894053,
+  "shear_peak": 0.004146760329604149,
+  "force_magnitude_peak": 0.0051039643585681915,
+  "reference_frame_count": 0,
+  "dataset_name": "dag911262r002377_lerobot_0327_114714",
+  "episode_index": 68,
+  "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/ep000159/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/ep000159/gripper_left_tactile_force_metrics.json
new file mode 100644
index 0000000000000000000000000000000000000000..bedd6c0fce6b59f4559489308a6387e2a0aeba7c
--- /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/ep000159/gripper_left_tactile_force_metrics.json
@@ -0,0 +1,9 @@
+{
+  "depth_peak": 0.0027203550562262535,
+  "shear_peak": 0.0058937412686645985,
+  "force_magnitude_peak": 0.006269165314733982,
+  "reference_frame_count": 0,
+  "dataset_name": "dag911262r002377_lerobot_0327_114714",
+  "episode_index": 159,
+  "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/ep000173/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/ep000173/gripper_right_tactile_force_metrics.json
new file mode 100644
index 0000000000000000000000000000000000000000..29040d09da16099a449533a59847128da744145d
--- /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/ep000173/gripper_right_tactile_force_metrics.json
@@ -0,0 +1,9 @@
+{
+  "depth_peak": 0.0029693818651139736,
+  "shear_peak": 0.006951021496206522,
+  "force_magnitude_peak": 0.007323157507926226,
+  "reference_frame_count": 0,
+  "dataset_name": "dag911262r002377_lerobot_0327_114714",
+  "episode_index": 173,
+  "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/ep000186/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/ep000186/gripper_left_tactile_force_metrics.json
new file mode 100644
index 0000000000000000000000000000000000000000..f46976faf4c4c8d2cb1fcf2ad1cba9feb2c39deb
--- /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/ep000186/gripper_left_tactile_force_metrics.json
@@ -0,0 +1,9 @@
+{
+  "depth_peak": 0.0035414574667811394,
+  "shear_peak": 0.003207291243597865,
+  "force_magnitude_peak": 0.0038443163502961397,
+  "reference_frame_count": 0,
+  "dataset_name": "dag911262r002377_lerobot_0327_114714",
+  "episode_index": 186,
+  "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/ep000239/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/ep000239/gripper_left_tactile_force_metrics.json
new file mode 100644
index 0000000000000000000000000000000000000000..5beb5fd4664cf777862554b1262482ffa8d8d996
--- /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/ep000239/gripper_left_tactile_force_metrics.json
@@ -0,0 +1,9 @@
+{
+  "depth_peak": 0.0012744208797812462,
+  "shear_peak": 0.0022991232108324766,
+  "force_magnitude_peak": 0.002310481620952487,
+  "reference_frame_count": 0,
+  "dataset_name": "dag911262r002377_lerobot_0327_114714",
+  "episode_index": 239,
+  "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/ep000253/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/ep000253/gripper_right_tactile_force_metrics.json
new file mode 100644
index 0000000000000000000000000000000000000000..10067972a2345d23c9ecf49af580d742d7da2909
--- /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_right_tactile_force_metrics.json
@@ -0,0 +1,9 @@
+{
+  "depth_peak": 0.0010591011960059404,
+  "shear_peak": 0.00126213813200593,
+  "force_magnitude_peak": 0.0013009351678192616,
+  "reference_frame_count": 0,
+  "dataset_name": "dag911262r002377_lerobot_0327_114714",
+  "episode_index": 253,
+  "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/ep000259/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/ep000259/gripper_left_tactile_force_metrics.json
new file mode 100644
index 0000000000000000000000000000000000000000..8db80927cbc9eb7d4b6c02591d21cf8cdf2b75cc
--- /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/ep000259/gripper_left_tactile_force_metrics.json
@@ -0,0 +1,9 @@
+{
+  "depth_peak": 0.00033789401641115546,
+  "shear_peak": 0.0044466000981628895,
+  "force_magnitude_peak": 0.00444855447858572,
+  "reference_frame_count": 0,
+  "dataset_name": "dag911262r002377_lerobot_0327_114714",
+  "episode_index": 259,
+  "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/ep000295/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/ep000295/gripper_right_tactile_force_metrics.json
new file mode 100644
index 0000000000000000000000000000000000000000..c5ce30ce75347842d6a7096921dda5b32c77e766
--- /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/ep000295/gripper_right_tactile_force_metrics.json
@@ -0,0 +1,9 @@
+{
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+  "force_magnitude_peak": 0.004042812157422304,
+  "reference_frame_count": 0,
+  "dataset_name": "dag911262r002377_lerobot_0327_114714",
+  "episode_index": 295,
+  "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/ep000331/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/ep000331/gripper_right_tactile_force_metrics.json
new file mode 100644
index 0000000000000000000000000000000000000000..a8759fdafaf30818b31cd1a229a69b51a229be84
--- /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/ep000331/gripper_right_tactile_force_metrics.json
@@ -0,0 +1,9 @@
+{
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+  "force_magnitude_peak": 0.005474079865962267,
+  "reference_frame_count": 0,
+  "dataset_name": "dag911262r002377_lerobot_0327_114714",
+  "episode_index": 331,
+  "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/ep000346/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/ep000346/gripper_left_tactile_force_metrics.json
new file mode 100644
index 0000000000000000000000000000000000000000..ff21888d615d32d10d97df6f70ae9ff493445372
--- /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/ep000346/gripper_left_tactile_force_metrics.json
@@ -0,0 +1,9 @@
+{
+  "depth_peak": 0.0001057547124219127,
+  "shear_peak": 0.002094944706186652,
+  "force_magnitude_peak": 0.0022487579844892025,
+  "reference_frame_count": 0,
+  "dataset_name": "dag911262r002377_lerobot_0327_114714",
+  "episode_index": 346,
+  "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/ep000388/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/ep000388/gripper_right_tactile_force_metrics.json
new file mode 100644
index 0000000000000000000000000000000000000000..4149634525c23499003cf165ff5de299c78e43f6
--- /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/ep000388/gripper_right_tactile_force_metrics.json
@@ -0,0 +1,9 @@
+{
+  "depth_peak": 0.0002417512150714174,
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+  "force_magnitude_peak": 0.005982129834592342,
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+  "dataset_name": "dag911262r002377_lerobot_0327_114714",
+  "episode_index": 388,
+  "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/ep000419/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/ep000419/gripper_left_tactile_force_metrics.json
new file mode 100644
index 0000000000000000000000000000000000000000..e34313bf29ad51862463a27293df2c36b6312b9d
--- /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_left_tactile_force_metrics.json
@@ -0,0 +1,9 @@
+{
+  "depth_peak": 0.0026001802179962397,
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+  "force_magnitude_peak": 0.0038509040605276823,
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+  "dataset_name": "dag911262r002377_lerobot_0327_114714",
+  "episode_index": 419,
+  "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/ep000424/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/ep000424/gripper_left_tactile_force_metrics.json
new file mode 100644
index 0000000000000000000000000000000000000000..a9864dfefc27660669d55bd44ca47558c6a3b90c
--- /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/ep000424/gripper_left_tactile_force_metrics.json
@@ -0,0 +1,9 @@
+{
+  "depth_peak": 0.000464026554254815,
+  "shear_peak": 0.0017078202217817307,
+  "force_magnitude_peak": 0.0035592536441981792,
+  "reference_frame_count": 0,
+  "dataset_name": "dag911262r002377_lerobot_0327_114714",
+  "episode_index": 424,
+  "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/ep000468/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/ep000468/gripper_right_tactile_force_metrics.json
new file mode 100644
index 0000000000000000000000000000000000000000..2077d4b71d39f63a98fc3117a1fd095e09c9493d
--- /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/ep000468/gripper_right_tactile_force_metrics.json
@@ -0,0 +1,9 @@
+{
+  "depth_peak": 0.0029530785977840424,
+  "shear_peak": 0.003478621831163764,
+  "force_magnitude_peak": 0.003924244083464146,
+  "reference_frame_count": 0,
+  "dataset_name": "dag911262r002377_lerobot_0327_114714",
+  "episode_index": 468,
+  "sensor": "gripper_right_tactile"
+}
\ No newline at end of file
diff --git a/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-09_18-30/outputs_tactile/tactile_cache/dag911262r002377_lerobot_0327_114714_729e31e8/episodes/ep000486/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/ep000486/gripper_right_tactile_force_metrics.json
new file mode 100644
index 0000000000000000000000000000000000000000..5b1de4da044922dd76b9af7341aa953a03d674b6
--- /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/ep000486/gripper_right_tactile_force_metrics.json
@@ -0,0 +1,9 @@
+{
+  "depth_peak": 0.0005127450567670166,
+  "shear_peak": 0.004211880266666412,
+  "force_magnitude_peak": 0.004462096374481916,
+  "reference_frame_count": 0,
+  "dataset_name": "dag911262r002377_lerobot_0327_114714",
+  "episode_index": 486,
+  "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/ep000539/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/ep000539/gripper_left_tactile_force_metrics.json
new file mode 100644
index 0000000000000000000000000000000000000000..984e3a7ef4813b9a6a5172f1dc93983be0f83744
--- /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/ep000539/gripper_left_tactile_force_metrics.json
@@ -0,0 +1,9 @@
+{
+  "depth_peak": 0.0030995733104646206,
+  "shear_peak": 0.0062380689196288586,
+  "force_magnitude_peak": 0.006858489476144314,
+  "reference_frame_count": 0,
+  "dataset_name": "dag911262r002377_lerobot_0327_114714",
+  "episode_index": 539,
+  "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/ep000571/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/ep000571/gripper_right_tactile_force_metrics.json
new file mode 100644
index 0000000000000000000000000000000000000000..d77b5abc53e0e9c21fdd8be436927996e3bff155
--- /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/ep000571/gripper_right_tactile_force_metrics.json
@@ -0,0 +1,9 @@
+{
+  "depth_peak": 0.00163948570843786,
+  "shear_peak": 0.0026792658027261496,
+  "force_magnitude_peak": 0.0031003972981125116,
+  "reference_frame_count": 0,
+  "dataset_name": "dag911262r002377_lerobot_0327_114714",
+  "episode_index": 571,
+  "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/ep000606/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/ep000606/gripper_right_tactile_force_metrics.json
new file mode 100644
index 0000000000000000000000000000000000000000..989b9b00d8de18611caa04edd365b197ce477a8b
--- /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/ep000606/gripper_right_tactile_force_metrics.json
@@ -0,0 +1,9 @@
+{
+  "depth_peak": 0.0021414251532405615,
+  "shear_peak": 0.004410015884786844,
+  "force_magnitude_peak": 0.004542145412415266,
+  "reference_frame_count": 0,
+  "dataset_name": "dag911262r002377_lerobot_0327_114714",
+  "episode_index": 606,
+  "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/ep000655/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/ep000655/gripper_right_tactile_force_metrics.json
new file mode 100644
index 0000000000000000000000000000000000000000..2ab886be185e2cb4152a7f881491997bbbfe3169
--- /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/ep000655/gripper_right_tactile_force_metrics.json
@@ -0,0 +1,9 @@
+{
+  "depth_peak": 0.0043957834132015705,
+  "shear_peak": 0.003774294164031744,
+  "force_magnitude_peak": 0.004649675451219082,
+  "reference_frame_count": 0,
+  "dataset_name": "dag911262r002377_lerobot_0327_114714",
+  "episode_index": 655,
+  "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/ep000679/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/ep000679/gripper_left_tactile_force_metrics.json
new file mode 100644
index 0000000000000000000000000000000000000000..566b9436300103ae82feabc2e77a15732fcc736b
--- /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/ep000679/gripper_left_tactile_force_metrics.json
@@ -0,0 +1,9 @@
+{
+  "depth_peak": 0.0010441397316753864,
+  "shear_peak": 0.0018886153120547533,
+  "force_magnitude_peak": 0.004022680222988129,
+  "reference_frame_count": 0,
+  "dataset_name": "dag911262r002377_lerobot_0327_114714",
+  "episode_index": 679,
+  "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/ep000733/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/ep000733/gripper_right_tactile_force_metrics.json
new file mode 100644
index 0000000000000000000000000000000000000000..f8b99ca41ed92bb4c5afb00bc9fabc087084906b
--- /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/ep000733/gripper_right_tactile_force_metrics.json
@@ -0,0 +1,9 @@
+{
+  "depth_peak": 0.0031754025258123875,
+  "shear_peak": 0.007802407722920179,
+  "force_magnitude_peak": 0.007836878299713135,
+  "reference_frame_count": 0,
+  "dataset_name": "dag911262r002377_lerobot_0327_114714",
+  "episode_index": 733,
+  "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/ep000734/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/ep000734/gripper_left_tactile_force_metrics.json
new file mode 100644
index 0000000000000000000000000000000000000000..907c47a216d5f35e80fe4fbc26e10f4374d5e23a
--- /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/ep000734/gripper_left_tactile_force_metrics.json
@@ -0,0 +1,9 @@
+{
+  "depth_peak": 0.0008022381807677448,
+  "shear_peak": 0.0012675430625677109,
+  "force_magnitude_peak": 0.005569152068346739,
+  "reference_frame_count": 0,
+  "dataset_name": "dag911262r002377_lerobot_0327_114714",
+  "episode_index": 734,
+  "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/ep000739/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/ep000739/gripper_left_tactile_force_metrics.json
new file mode 100644
index 0000000000000000000000000000000000000000..d77eeff60800721d272567e5c2b32a0977fa58b0
--- /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_left_tactile_force_metrics.json
@@ -0,0 +1,9 @@
+{
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+  "shear_peak": 0.0025656309444457293,
+  "force_magnitude_peak": 0.002996851922944188,
+  "reference_frame_count": 0,
+  "dataset_name": "dag911262r002377_lerobot_0327_114714",
+  "episode_index": 739,
+  "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/ep000744/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/ep000744/gripper_left_tactile_force_metrics.json
new file mode 100644
index 0000000000000000000000000000000000000000..19cc43c98dd040b5810c59bbbbaed39cf168605c
--- /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/ep000744/gripper_left_tactile_force_metrics.json
@@ -0,0 +1,9 @@
+{
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+  "force_magnitude_peak": 0.0036083823069930077,
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+  "dataset_name": "dag911262r002377_lerobot_0327_114714",
+  "episode_index": 744,
+  "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/ep000746/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/ep000746/gripper_left_tactile_force_metrics.json
new file mode 100644
index 0000000000000000000000000000000000000000..583b138a0c2ff6c461c8f7ea556e487416220d1b
--- /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/ep000746/gripper_left_tactile_force_metrics.json
@@ -0,0 +1,9 @@
+{
+  "depth_peak": 0.0020446223206818104,
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+  "force_magnitude_peak": 0.003569504013285041,
+  "reference_frame_count": 0,
+  "dataset_name": "dag911262r002377_lerobot_0327_114714",
+  "episode_index": 746,
+  "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/ep000786/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/ep000786/gripper_left_tactile_force_metrics.json
new file mode 100644
index 0000000000000000000000000000000000000000..a87917a6e5ce0d86c95a956310f5a9aa0750f36b
--- /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/ep000786/gripper_left_tactile_force_metrics.json
@@ -0,0 +1,9 @@
+{
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+  "force_magnitude_peak": 0.006166551262140274,
+  "reference_frame_count": 0,
+  "dataset_name": "dag911262r002377_lerobot_0327_114714",
+  "episode_index": 786,
+  "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/ep000788/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/ep000788/gripper_right_tactile_force_metrics.json
new file mode 100644
index 0000000000000000000000000000000000000000..28e5899e1378dbf67e6e6f69137b8486b3741714
--- /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/ep000788/gripper_right_tactile_force_metrics.json
@@ -0,0 +1,9 @@
+{
+  "depth_peak": 0.004484837409108877,
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+  "force_magnitude_peak": 0.005301281809806824,
+  "reference_frame_count": 0,
+  "dataset_name": "dag911262r002377_lerobot_0327_114714",
+  "episode_index": 788,
+  "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/ep000811/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/ep000811/gripper_right_tactile_force_metrics.json
new file mode 100644
index 0000000000000000000000000000000000000000..1725f83e2bbd741daac7b32ab4f118d682285530
--- /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/ep000811/gripper_right_tactile_force_metrics.json
@@ -0,0 +1,9 @@
+{
+  "depth_peak": 0.0019149542786180973,
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+  "force_magnitude_peak": 0.003525989130139351,
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+  "dataset_name": "dag911262r002377_lerobot_0327_114714",
+  "episode_index": 811,
+  "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/ep000026/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/ep000026/gripper_left_tactile_force_metrics.json
new file mode 100644
index 0000000000000000000000000000000000000000..bbd8e5eb68e9b1915a51da82470893ae007ae00b
--- /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/ep000026/gripper_left_tactile_force_metrics.json
@@ -0,0 +1,9 @@
+{
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+  "force_magnitude_peak": 0.0027897965628653765,
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+  "dataset_name": "dag911262r00276b_lerobot_0327_114714",
+  "episode_index": 26,
+  "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/ep000040/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/ep000040/gripper_left_tactile_force_metrics.json
new file mode 100644
index 0000000000000000000000000000000000000000..53d6f7db5aefafcdad62bb3b081eb6078f4222d1
--- /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/ep000040/gripper_left_tactile_force_metrics.json
@@ -0,0 +1,9 @@
+{
+  "depth_peak": 0.0006761361728422344,
+  "shear_peak": 0.0015222529182210565,
+  "force_magnitude_peak": 0.0015456817345693707,
+  "reference_frame_count": 0,
+  "dataset_name": "dag911262r00276b_lerobot_0327_114714",
+  "episode_index": 40,
+  "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/ep000052/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/ep000052/gripper_left_tactile_force_metrics.json
new file mode 100644
index 0000000000000000000000000000000000000000..bf2812ae21858e78eb85f8a4da255761f8fa66aa
--- /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/ep000052/gripper_left_tactile_force_metrics.json
@@ -0,0 +1,9 @@
+{
+  "depth_peak": 0.0012193659786134958,
+  "shear_peak": 0.0009053220273926854,
+  "force_magnitude_peak": 0.0012623097281903028,
+  "reference_frame_count": 0,
+  "dataset_name": "dag911262r00276b_lerobot_0327_114714",
+  "episode_index": 52,
+  "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/ep000088/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/ep000088/gripper_right_tactile_force_metrics.json
new file mode 100644
index 0000000000000000000000000000000000000000..6715f81a201466fcbfc80d876549e6270a153549
--- /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/ep000088/gripper_right_tactile_force_metrics.json
@@ -0,0 +1,9 @@
+{
+  "depth_peak": 0.000529157870914787,
+  "shear_peak": 0.0018480111612007022,
+  "force_magnitude_peak": 0.0019060446647927165,
+  "reference_frame_count": 0,
+  "dataset_name": "dag911262r00276b_lerobot_0327_114714",
+  "episode_index": 88,
+  "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/ep000103/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/ep000103/gripper_right_tactile_force_metrics.json
new file mode 100644
index 0000000000000000000000000000000000000000..675eb9354661cd22eaf0e97183cc82d9d91482af
--- /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/ep000103/gripper_right_tactile_force_metrics.json
@@ -0,0 +1,9 @@
+{
+  "depth_peak": 0.00021874209051020443,
+  "shear_peak": 0.00161596795078367,
+  "force_magnitude_peak": 0.003628083039075136,
+  "reference_frame_count": 0,
+  "dataset_name": "dag911262r00276b_lerobot_0327_114714",
+  "episode_index": 103,
+  "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/ep000137/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/ep000137/gripper_right_tactile_force_metrics.json
new file mode 100644
index 0000000000000000000000000000000000000000..6cebcbf80066e0729e7f39fa5abce834ae237a8e
--- /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/ep000137/gripper_right_tactile_force_metrics.json
@@ -0,0 +1,9 @@
+{
+  "depth_peak": 0.002827602904289961,
+  "shear_peak": 0.0047603207640349865,
+  "force_magnitude_peak": 0.005504566244781017,
+  "reference_frame_count": 0,
+  "dataset_name": "dag911262r00276b_lerobot_0327_114714",
+  "episode_index": 137,
+  "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/ep000146/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/ep000146/gripper_left_tactile_force_metrics.json
new file mode 100644
index 0000000000000000000000000000000000000000..fd50ae87be21fec6e192b80e29e0dcadef9947d1
--- /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/ep000146/gripper_left_tactile_force_metrics.json
@@ -0,0 +1,9 @@
+{
+  "depth_peak": 0.002516771201044321,
+  "shear_peak": 0.0017985895974561572,
+  "force_magnitude_peak": 0.0026694252155721188,
+  "reference_frame_count": 0,
+  "dataset_name": "dag911262r00276b_lerobot_0327_114714",
+  "episode_index": 146,
+  "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/ep000164/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/ep000164/gripper_right_tactile_force_metrics.json
new file mode 100644
index 0000000000000000000000000000000000000000..2c0a47214065a1b6a9e264a80f22e21a225daded
--- /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/ep000164/gripper_right_tactile_force_metrics.json
@@ -0,0 +1,9 @@
+{
+  "depth_peak": 0.001414234284311533,
+  "shear_peak": 0.001809947774745524,
+  "force_magnitude_peak": 0.0019885331857949495,
+  "reference_frame_count": 0,
+  "dataset_name": "dag911262r00276b_lerobot_0327_114714",
+  "episode_index": 164,
+  "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/ep000169/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/ep000169/gripper_left_tactile_force_metrics.json
new file mode 100644
index 0000000000000000000000000000000000000000..109487b4f54a41382e7425efcfaa615a51f405b3
--- /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/ep000169/gripper_left_tactile_force_metrics.json
@@ -0,0 +1,9 @@
+{
+  "depth_peak": 0.0014112661592662334,
+  "shear_peak": 0.0025049925316125154,
+  "force_magnitude_peak": 0.002509127138182521,
+  "reference_frame_count": 0,
+  "dataset_name": "dag911262r00276b_lerobot_0327_114714",
+  "episode_index": 169,
+  "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/ep000186/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/ep000186/gripper_left_tactile_force_metrics.json
new file mode 100644
index 0000000000000000000000000000000000000000..67e6ee329bcadef6b75cc69991f46324ac4cb452
--- /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/ep000186/gripper_left_tactile_force_metrics.json
@@ -0,0 +1,9 @@
+{
+  "depth_peak": 0.0004945339751429856,
+  "shear_peak": 0.0009553132113069296,
+  "force_magnitude_peak": 0.003103935159742832,
+  "reference_frame_count": 0,
+  "dataset_name": "dag911262r00276b_lerobot_0327_114714",
+  "episode_index": 186,
+  "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/ep000194/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/ep000194/gripper_left_tactile_force_metrics.json
new file mode 100644
index 0000000000000000000000000000000000000000..feb1712abe3454f8d1f0a7f687204a1223041d71
--- /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/ep000194/gripper_left_tactile_force_metrics.json
@@ -0,0 +1,9 @@
+{
+  "depth_peak": 0.0006432811496779323,
+  "shear_peak": 0.0013301188591867685,
+  "force_magnitude_peak": 0.001363915391266346,
+  "reference_frame_count": 0,
+  "dataset_name": "dag911262r00276b_lerobot_0327_114714",
+  "episode_index": 194,
+  "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/ep000200/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/ep000200/gripper_left_tactile_force_metrics.json
new file mode 100644
index 0000000000000000000000000000000000000000..438b87877ff58a06d340a44612b520daa8d1c137
--- /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/ep000200/gripper_left_tactile_force_metrics.json
@@ -0,0 +1,9 @@
+{
+  "depth_peak": 0.0030225806403905153,
+  "shear_peak": 0.0026192490477114916,
+  "force_magnitude_peak": 0.003987856209278107,
+  "reference_frame_count": 0,
+  "dataset_name": "dag911262r00276b_lerobot_0327_114714",
+  "episode_index": 200,
+  "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/ep000244/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/ep000244/gripper_right_tactile_force_metrics.json
new file mode 100644
index 0000000000000000000000000000000000000000..7b2af8465cadce1430b51cb2d24ff3c9721dba46
--- /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/ep000244/gripper_right_tactile_force_metrics.json
@@ -0,0 +1,9 @@
+{
+  "depth_peak": 0.0016149744624271989,
+  "shear_peak": 0.002016716869547963,
+  "force_magnitude_peak": 0.002540845423936844,
+  "reference_frame_count": 0,
+  "dataset_name": "dag911262r00276b_lerobot_0327_114714",
+  "episode_index": 244,
+  "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/ep000259/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/ep000259/gripper_right_tactile_force_metrics.json
new file mode 100644
index 0000000000000000000000000000000000000000..e947fc456156482828b33684ae49177e4bbc4ab8
--- /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/ep000259/gripper_right_tactile_force_metrics.json
@@ -0,0 +1,9 @@
+{
+  "depth_peak": 0.0019759442657232285,
+  "shear_peak": 0.00103151670191437,
+  "force_magnitude_peak": 0.0020969694014638662,
+  "reference_frame_count": 0,
+  "dataset_name": "dag911262r00276b_lerobot_0327_114714",
+  "episode_index": 259,
+  "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/ep000292/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/ep000292/gripper_left_tactile_force_metrics.json
new file mode 100644
index 0000000000000000000000000000000000000000..143ad801ac53655059bc54b264cc0c39357d3fcf
--- /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/ep000292/gripper_left_tactile_force_metrics.json
@@ -0,0 +1,9 @@
+{
+  "depth_peak": 0.001082832575775683,
+  "shear_peak": 0.0010237969690933824,
+  "force_magnitude_peak": 0.0011963053839281201,
+  "reference_frame_count": 0,
+  "dataset_name": "dag911262r00276b_lerobot_0327_114714",
+  "episode_index": 292,
+  "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/ep000328/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/ep000328/gripper_right_tactile_force_metrics.json
new file mode 100644
index 0000000000000000000000000000000000000000..d19b3334186beaddb19072689a2bd4428e9fad24
--- /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/ep000328/gripper_right_tactile_force_metrics.json
@@ -0,0 +1,9 @@
+{
+  "depth_peak": 0.004961909726262093,
+  "shear_peak": 0.0024433175567537546,
+  "force_magnitude_peak": 0.005126252304762602,
+  "reference_frame_count": 0,
+  "dataset_name": "dag911262r00276b_lerobot_0327_114714",
+  "episode_index": 328,
+  "sensor": "gripper_right_tactile"
+}
\ No newline at end of file
diff --git a/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-09_18-30/outputs_tactile/tactile_cache/dag911262r00276b_lerobot_0327_114714_464bb7f1/episodes/ep000346/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/ep000346/gripper_left_tactile_force_metrics.json
new file mode 100644
index 0000000000000000000000000000000000000000..5af0d0500d087096c5fd6145e1cbe69e72d8b0b8
--- /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/ep000346/gripper_left_tactile_force_metrics.json
@@ -0,0 +1,9 @@
+{
+  "depth_peak": 0.001490722643211484,
+  "shear_peak": 0.0014837285270914435,
+  "force_magnitude_peak": 0.0017482478870078921,
+  "reference_frame_count": 0,
+  "dataset_name": "dag911262r00276b_lerobot_0327_114714",
+  "episode_index": 346,
+  "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/ep000354/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/ep000354/gripper_left_tactile_force_metrics.json
new file mode 100644
index 0000000000000000000000000000000000000000..e9d501a057dbd0e6139a7ab1c2e5893c7a87afa3
--- /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/ep000354/gripper_left_tactile_force_metrics.json
@@ -0,0 +1,9 @@
+{
+  "depth_peak": 0.0017099101096391678,
+  "shear_peak": 0.003320479765534401,
+  "force_magnitude_peak": 0.0038974115159362555,
+  "reference_frame_count": 0,
+  "dataset_name": "dag911262r00276b_lerobot_0327_114714",
+  "episode_index": 354,
+  "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/ep000364/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/ep000364/gripper_right_tactile_force_metrics.json
new file mode 100644
index 0000000000000000000000000000000000000000..e2fcd6ff440ef950064384023f43622ed037031e
--- /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_right_tactile_force_metrics.json
@@ -0,0 +1,9 @@
+{
+  "depth_peak": 0.0023063512053340673,
+  "shear_peak": 0.004819730296730995,
+  "force_magnitude_peak": 0.004821238573640585,
+  "reference_frame_count": 0,
+  "dataset_name": "dag911262r00276b_lerobot_0327_114714",
+  "episode_index": 364,
+  "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/ep000369/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/ep000369/gripper_left_tactile_force_metrics.json
new file mode 100644
index 0000000000000000000000000000000000000000..613dc245885bc9caf0dda90feebbb8450e5f220d
--- /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/ep000369/gripper_left_tactile_force_metrics.json
@@ -0,0 +1,9 @@
+{
+  "depth_peak": 0.0012269682483747602,
+  "shear_peak": 0.0018729259027168155,
+  "force_magnitude_peak": 0.002044281456619501,
+  "reference_frame_count": 0,
+  "dataset_name": "dag911262r00276b_lerobot_0327_114714",
+  "episode_index": 369,
+  "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/ep000372/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/ep000372/gripper_left_tactile_force_metrics.json
new file mode 100644
index 0000000000000000000000000000000000000000..7ff3f651706bebe543d861cd6384b377a6bd7800
--- /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/ep000372/gripper_left_tactile_force_metrics.json
@@ -0,0 +1,9 @@
+{
+  "depth_peak": 0.001679089618846774,
+  "shear_peak": 0.0032859882339835167,
+  "force_magnitude_peak": 0.0035356972366571426,
+  "reference_frame_count": 0,
+  "dataset_name": "dag911262r00276b_lerobot_0327_114714",
+  "episode_index": 372,
+  "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/ep000408/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/ep000408/gripper_right_tactile_force_metrics.json
new file mode 100644
index 0000000000000000000000000000000000000000..a8ad87246a8c76990bd05cde9dda8b555758e043
--- /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/ep000408/gripper_right_tactile_force_metrics.json
@@ -0,0 +1,9 @@
+{
+  "depth_peak": 0.0032611582428216934,
+  "shear_peak": 0.006007601041346788,
+  "force_magnitude_peak": 0.006794797722250223,
+  "reference_frame_count": 0,
+  "dataset_name": "dag911262r00276b_lerobot_0327_114714",
+  "episode_index": 408,
+  "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/ep000412/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/ep000412/gripper_left_tactile_force_metrics.json
new file mode 100644
index 0000000000000000000000000000000000000000..43765abe1fbf635e4a05287330a6bd8dc5a9b5af
--- /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/ep000412/gripper_left_tactile_force_metrics.json
@@ -0,0 +1,9 @@
+{
+  "depth_peak": 0.006317848339676857,
+  "shear_peak": 0.0023289036471396685,
+  "force_magnitude_peak": 0.0063179293647408485,
+  "reference_frame_count": 0,
+  "dataset_name": "dag911262r00276b_lerobot_0327_114714",
+  "episode_index": 412,
+  "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/ep000417/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/ep000417/gripper_right_tactile_force_metrics.json
new file mode 100644
index 0000000000000000000000000000000000000000..9201e3a72fb20dafa8a4e1fb5a1c10a1ddc4f758
--- /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/ep000417/gripper_right_tactile_force_metrics.json
@@ -0,0 +1,9 @@
+{
+  "depth_peak": 0.0031549830455332994,
+  "shear_peak": 0.005042660050094128,
+  "force_magnitude_peak": 0.005929835140705109,
+  "reference_frame_count": 0,
+  "dataset_name": "dag911262r00276b_lerobot_0327_114714",
+  "episode_index": 417,
+  "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/ep000444/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/ep000444/gripper_right_tactile_force_metrics.json
new file mode 100644
index 0000000000000000000000000000000000000000..d9f46b087517851317f0a2e742527ce0f4fee478
--- /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_right_tactile_force_metrics.json
@@ -0,0 +1,9 @@
+{
+  "depth_peak": 0.0015384249854832888,
+  "shear_peak": 0.004264484625309706,
+  "force_magnitude_peak": 0.004276611842215061,
+  "reference_frame_count": 0,
+  "dataset_name": "dag911262r00276b_lerobot_0327_114714",
+  "episode_index": 444,
+  "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/ep000463/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/ep000463/gripper_right_tactile_force_metrics.json
new file mode 100644
index 0000000000000000000000000000000000000000..b4b6798087e8f66613c78479a968a8200557e915
--- /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/ep000463/gripper_right_tactile_force_metrics.json
@@ -0,0 +1,9 @@
+{
+  "depth_peak": 0.0027481417637318373,
+  "shear_peak": 0.006166316103190184,
+  "force_magnitude_peak": 0.006608499679714441,
+  "reference_frame_count": 0,
+  "dataset_name": "dag911262r00276b_lerobot_0327_114714",
+  "episode_index": 463,
+  "sensor": "gripper_right_tactile"
+}
\ No newline at end of file
diff --git a/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-09_18-30/outputs_tactile/tactile_cache/dag911262r00276b_lerobot_0327_114714_464bb7f1/episodes/ep000480/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/ep000480/gripper_left_tactile_force_metrics.json
new file mode 100644
index 0000000000000000000000000000000000000000..47330beb0fe8d5cd943498eecff03ad6a8cb8602
--- /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/ep000480/gripper_left_tactile_force_metrics.json
@@ -0,0 +1,9 @@
+{
+  "depth_peak": 0.0036823695991188288,
+  "shear_peak": 0.0020486924331635237,
+  "force_magnitude_peak": 0.003727977629750967,
+  "reference_frame_count": 0,
+  "dataset_name": "dag911262r00276b_lerobot_0327_114714",
+  "episode_index": 480,
+  "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/ep000499/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/ep000499/gripper_right_tactile_force_metrics.json
new file mode 100644
index 0000000000000000000000000000000000000000..47f0497cddf05eecbfded46f014c05f551825934
--- /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/ep000499/gripper_right_tactile_force_metrics.json
@@ -0,0 +1,9 @@
+{
+  "depth_peak": 0.001723271096125245,
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+  "force_magnitude_peak": 0.0017688913503661752,
+  "reference_frame_count": 0,
+  "dataset_name": "dag911262r00276b_lerobot_0327_114714",
+  "episode_index": 499,
+  "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/ep000506/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/ep000506/gripper_left_tactile_force_metrics.json
new file mode 100644
index 0000000000000000000000000000000000000000..32a5bf183b9bf8b59d9d30ddebe160148364828a
--- /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/ep000506/gripper_left_tactile_force_metrics.json
@@ -0,0 +1,9 @@
+{
+  "depth_peak": 0.0023597965482622385,
+  "shear_peak": 0.0016335200052708387,
+  "force_magnitude_peak": 0.002796849003061652,
+  "reference_frame_count": 0,
+  "dataset_name": "dag911262r00276b_lerobot_0327_114714",
+  "episode_index": 506,
+  "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/ep000529/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/ep000529/gripper_left_tactile_force_metrics.json
new file mode 100644
index 0000000000000000000000000000000000000000..d07bde93d92eb61b38d3b719198dfd2a5ca2796c
--- /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/ep000529/gripper_left_tactile_force_metrics.json
@@ -0,0 +1,9 @@
+{
+  "depth_peak": 0.0022466895170509815,
+  "shear_peak": 0.0026745537761598825,
+  "force_magnitude_peak": 0.002816162072122097,
+  "reference_frame_count": 0,
+  "dataset_name": "dag911262r00276b_lerobot_0327_114714",
+  "episode_index": 529,
+  "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/ep000532/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/ep000532/gripper_left_tactile_force_metrics.json
new file mode 100644
index 0000000000000000000000000000000000000000..dbe3003669f8ad9f33aad6af7f1141aad8a678ea
--- /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/ep000532/gripper_left_tactile_force_metrics.json
@@ -0,0 +1,9 @@
+{
+  "depth_peak": 0.0031428912188857794,
+  "shear_peak": 0.002050047740340233,
+  "force_magnitude_peak": 0.0031613586470484734,
+  "reference_frame_count": 0,
+  "dataset_name": "dag911262r00276b_lerobot_0327_114714",
+  "episode_index": 532,
+  "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/ep000539/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/ep000539/gripper_right_tactile_force_metrics.json
new file mode 100644
index 0000000000000000000000000000000000000000..8e7ca4e89e8376ad3e092ac16b153405ebfc8f8a
--- /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/ep000539/gripper_right_tactile_force_metrics.json
@@ -0,0 +1,9 @@
+{
+  "depth_peak": 0.00165358476806432,
+  "shear_peak": 0.0010183964623138309,
+  "force_magnitude_peak": 0.0019376800628378987,
+  "reference_frame_count": 0,
+  "dataset_name": "dag911262r00276b_lerobot_0327_114714",
+  "episode_index": 539,
+  "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/ep000543/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/ep000543/gripper_right_tactile_force_metrics.json
new file mode 100644
index 0000000000000000000000000000000000000000..e0cccf3d49f1312c431477b901f42d613505a987
--- /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/ep000543/gripper_right_tactile_force_metrics.json
@@ -0,0 +1,9 @@
+{
+  "depth_peak": 0.0005634019616991282,
+  "shear_peak": 0.004030621610581875,
+  "force_magnitude_peak": 0.004071258008480072,
+  "reference_frame_count": 0,
+  "dataset_name": "dag911262r00276b_lerobot_0327_114714",
+  "episode_index": 543,
+  "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/ep000560/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/ep000560/gripper_left_tactile_force_metrics.json
new file mode 100644
index 0000000000000000000000000000000000000000..7e2e6d3ddea9aea4638ee124fd04a8e84e8997b5
--- /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/ep000560/gripper_left_tactile_force_metrics.json
@@ -0,0 +1,9 @@
+{
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+  "shear_peak": 0.0024926327168941498,
+  "force_magnitude_peak": 0.0056251962669193745,
+  "reference_frame_count": 0,
+  "dataset_name": "dag911262r00276b_lerobot_0327_114714",
+  "episode_index": 560,
+  "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/ep000569/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/ep000569/gripper_left_tactile_force_metrics.json
new file mode 100644
index 0000000000000000000000000000000000000000..29b22045424060459a318392d63db0caf9684138
--- /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/ep000569/gripper_left_tactile_force_metrics.json
@@ -0,0 +1,9 @@
+{
+  "depth_peak": 0.001794205280020833,
+  "shear_peak": 0.0014718843158334494,
+  "force_magnitude_peak": 0.0023206931073218584,
+  "reference_frame_count": 0,
+  "dataset_name": "dag911262r00276b_lerobot_0327_114714",
+  "episode_index": 569,
+  "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/ep000572/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/ep000572/gripper_left_tactile_force_metrics.json
new file mode 100644
index 0000000000000000000000000000000000000000..3636ab03cf42a62111aa1fbc5a65bb1054115aca
--- /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/ep000572/gripper_left_tactile_force_metrics.json
@@ -0,0 +1,9 @@
+{
+  "depth_peak": 0.0016589377773925662,
+  "shear_peak": 0.0014408886199817061,
+  "force_magnitude_peak": 0.001958672422915697,
+  "reference_frame_count": 0,
+  "dataset_name": "dag911262r00276b_lerobot_0327_114714",
+  "episode_index": 572,
+  "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/ep000577/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/ep000577/gripper_right_tactile_force_metrics.json
new file mode 100644
index 0000000000000000000000000000000000000000..e59a6fdc846b3dadc98120176744803e5a81c5bc
--- /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/ep000577/gripper_right_tactile_force_metrics.json
@@ -0,0 +1,9 @@
+{
+  "depth_peak": 0.0010843324707821012,
+  "shear_peak": 0.001929883030243218,
+  "force_magnitude_peak": 0.002404512371867895,
+  "reference_frame_count": 0,
+  "dataset_name": "dag911262r00276b_lerobot_0327_114714",
+  "episode_index": 577,
+  "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/ep000594/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/ep000594/gripper_left_tactile_force_metrics.json
new file mode 100644
index 0000000000000000000000000000000000000000..6383a1017a7696280e6c86e805b4afbd01062437
--- /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/ep000594/gripper_left_tactile_force_metrics.json
@@ -0,0 +1,9 @@
+{
+  "depth_peak": 0.0007820479804649949,
+  "shear_peak": 0.0008570364443585277,
+  "force_magnitude_peak": 0.002122890669852495,
+  "reference_frame_count": 0,
+  "dataset_name": "dag911262r00276b_lerobot_0327_114714",
+  "episode_index": 594,
+  "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/ep000600/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/ep000600/gripper_left_tactile_force_metrics.json
new file mode 100644
index 0000000000000000000000000000000000000000..fb3f7401dfd326cf758874cd4057eb7430bafe2e
--- /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/ep000600/gripper_left_tactile_force_metrics.json
@@ -0,0 +1,9 @@
+{
+  "depth_peak": 0.0015981546603143215,
+  "shear_peak": 0.0017512388294562697,
+  "force_magnitude_peak": 0.002149687148630619,
+  "reference_frame_count": 0,
+  "dataset_name": "dag911262r00276b_lerobot_0327_114714",
+  "episode_index": 600,
+  "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/ep000612/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/ep000612/gripper_left_tactile_force_metrics.json
new file mode 100644
index 0000000000000000000000000000000000000000..9047bdf0cca17cf61eb8db47f1e9c026541287e9
--- /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/ep000612/gripper_left_tactile_force_metrics.json
@@ -0,0 +1,9 @@
+{
+  "depth_peak": 0.001489464659243822,
+  "shear_peak": 0.0008418454672209918,
+  "force_magnitude_peak": 0.0014894951600581408,
+  "reference_frame_count": 0,
+  "dataset_name": "dag911262r00276b_lerobot_0327_114714",
+  "episode_index": 612,
+  "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/ep000617/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/ep000617/gripper_right_tactile_force_metrics.json
new file mode 100644
index 0000000000000000000000000000000000000000..f0b1b453435683b2075d3b7f3a049f4c9da9a081
--- /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/ep000617/gripper_right_tactile_force_metrics.json
@@ -0,0 +1,9 @@
+{
+  "depth_peak": 0.00377440731972456,
+  "shear_peak": 0.0020228158682584763,
+  "force_magnitude_peak": 0.0038649749476462603,
+  "reference_frame_count": 0,
+  "dataset_name": "dag911262r00276b_lerobot_0327_114714",
+  "episode_index": 617,
+  "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/ep000619/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/ep000619/gripper_right_tactile_force_metrics.json
new file mode 100644
index 0000000000000000000000000000000000000000..ab38e49090c6eb7127a3026760e49f0bcf4076df
--- /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/ep000619/gripper_right_tactile_force_metrics.json
@@ -0,0 +1,9 @@
+{
+  "depth_peak": 0.000975951028522104,
+  "shear_peak": 0.002884326037019491,
+  "force_magnitude_peak": 0.0028846014756709337,
+  "reference_frame_count": 0,
+  "dataset_name": "dag911262r00276b_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/dag911262r00276b_lerobot_0327_114714_464bb7f1/episodes/ep000640/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/ep000640/gripper_left_tactile_force_metrics.json
new file mode 100644
index 0000000000000000000000000000000000000000..2107855fbb651012e03b28c627bd4d6b020c1033
--- /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/ep000640/gripper_left_tactile_force_metrics.json
@@ -0,0 +1,9 @@
+{
+  "depth_peak": 0.0024448875337839127,
+  "shear_peak": 0.0015284796245396137,
+  "force_magnitude_peak": 0.002616771264001727,
+  "reference_frame_count": 0,
+  "dataset_name": "dag911262r00276b_lerobot_0327_114714",
+  "episode_index": 640,
+  "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/ep000652/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/ep000652/gripper_left_tactile_force_metrics.json
new file mode 100644
index 0000000000000000000000000000000000000000..a7c5a0439be0f3603e698ff331296fecce0fed46
--- /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/ep000652/gripper_left_tactile_force_metrics.json
@@ -0,0 +1,9 @@
+{
+  "depth_peak": 0.0016424967907369137,
+  "shear_peak": 0.0012284546392038465,
+  "force_magnitude_peak": 0.001916418201290071,
+  "reference_frame_count": 0,
+  "dataset_name": "dag911262r00276b_lerobot_0327_114714",
+  "episode_index": 652,
+  "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/ep000657/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/ep000657/gripper_right_tactile_force_metrics.json
new file mode 100644
index 0000000000000000000000000000000000000000..bdaf52ad21a27bb397b60fe42ac80f7f26c990df
--- /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/ep000657/gripper_right_tactile_force_metrics.json
@@ -0,0 +1,9 @@
+{
+  "depth_peak": 0.0019116515759378672,
+  "shear_peak": 0.00208068173378706,
+  "force_magnitude_peak": 0.0024214445147663355,
+  "reference_frame_count": 0,
+  "dataset_name": "dag911262r00276b_lerobot_0327_114714",
+  "episode_index": 657,
+  "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/ep000674/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/ep000674/gripper_left_tactile_force_metrics.json
new file mode 100644
index 0000000000000000000000000000000000000000..eec0ae5460d2adfdd7c64ff412e0d88fe4aeb585
--- /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/ep000674/gripper_left_tactile_force_metrics.json
@@ -0,0 +1,9 @@
+{
+  "depth_peak": 0.0021601414773613214,
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+  "force_magnitude_peak": 0.002312952885404229,
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+  "dataset_name": "dag911262r00276b_lerobot_0327_114714",
+  "episode_index": 674,
+  "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/ep000680/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/ep000680/gripper_left_tactile_force_metrics.json
new file mode 100644
index 0000000000000000000000000000000000000000..06aeec30459b9b068cd89ca55cf25cc9e871fef0
--- /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/ep000680/gripper_left_tactile_force_metrics.json
@@ -0,0 +1,9 @@
+{
+  "depth_peak": 0.000966939318459481,
+  "shear_peak": 0.0007403078489005566,
+  "force_magnitude_peak": 0.0009684459655545652,
+  "reference_frame_count": 0,
+  "dataset_name": "dag911262r00276b_lerobot_0327_114714",
+  "episode_index": 680,
+  "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/ep000737/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/ep000737/gripper_right_tactile_force_metrics.json
new file mode 100644
index 0000000000000000000000000000000000000000..f765d236e4cad67637e15d7a596a5eb9dcb82512
--- /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/ep000737/gripper_right_tactile_force_metrics.json
@@ -0,0 +1,9 @@
+{
+  "depth_peak": 0.0008365151006728411,
+  "shear_peak": 0.00285685108974576,
+  "force_magnitude_peak": 0.0028666555881500244,
+  "reference_frame_count": 0,
+  "dataset_name": "dag911262r00276b_lerobot_0327_114714",
+  "episode_index": 737,
+  "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/ep000777/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/ep000777/gripper_right_tactile_force_metrics.json
new file mode 100644
index 0000000000000000000000000000000000000000..b4bf4959cbf9989dc461d6ceeffbce48409e8c09
--- /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/ep000777/gripper_right_tactile_force_metrics.json
@@ -0,0 +1,9 @@
+{
+  "depth_peak": 0.0074278246611356735,
+  "shear_peak": 0.003347401972860098,
+  "force_magnitude_peak": 0.007472498342394829,
+  "reference_frame_count": 0,
+  "dataset_name": "dag911262r00276b_lerobot_0327_114714",
+  "episode_index": 777,
+  "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/ep000794/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/ep000794/gripper_left_tactile_force_metrics.json
new file mode 100644
index 0000000000000000000000000000000000000000..09365075a9e06a6174951e62dc3e75adfeeda14c
--- /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/ep000794/gripper_left_tactile_force_metrics.json
@@ -0,0 +1,9 @@
+{
+  "depth_peak": 0.0016115959733724594,
+  "shear_peak": 0.0009561858023516834,
+  "force_magnitude_peak": 0.001692497986368835,
+  "reference_frame_count": 0,
+  "dataset_name": "dag911262r00276b_lerobot_0327_114714",
+  "episode_index": 794,
+  "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/ep000804/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/ep000804/gripper_right_tactile_force_metrics.json
new file mode 100644
index 0000000000000000000000000000000000000000..27addce2dd897478486a777022198e06f81ba8a7
--- /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/ep000804/gripper_right_tactile_force_metrics.json
@@ -0,0 +1,9 @@
+{
+  "depth_peak": 0.0013443105854094028,
+  "shear_peak": 0.0005978404660709202,
+  "force_magnitude_peak": 0.00144393986556679,
+  "reference_frame_count": 0,
+  "dataset_name": "dag911262r00276b_lerobot_0327_114714",
+  "episode_index": 804,
+  "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/ep000812/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/ep000812/gripper_left_tactile_force_metrics.json
new file mode 100644
index 0000000000000000000000000000000000000000..3349aab79588fc34c283caa8c57705e5e8a9b1d6
--- /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/ep000812/gripper_left_tactile_force_metrics.json
@@ -0,0 +1,9 @@
+{
+  "depth_peak": 0.0038759855087846518,
+  "shear_peak": 0.0008465033606626093,
+  "force_magnitude_peak": 0.003934397827833891,
+  "reference_frame_count": 0,
+  "dataset_name": "dag911262r00276b_lerobot_0327_114714",
+  "episode_index": 812,
+  "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/ep000826/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/ep000826/gripper_left_tactile_force_metrics.json
new file mode 100644
index 0000000000000000000000000000000000000000..5f41315b953082541926e37dcd3003e65f8436b8
--- /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/ep000826/gripper_left_tactile_force_metrics.json
@@ -0,0 +1,9 @@
+{
+  "depth_peak": 0.0021299528889358044,
+  "shear_peak": 0.000633462390396744,
+  "force_magnitude_peak": 0.0021457623224705458,
+  "reference_frame_count": 0,
+  "dataset_name": "dag911262r00276b_lerobot_0327_114714",
+  "episode_index": 826,
+  "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/ep000840/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/ep000840/gripper_left_tactile_force_metrics.json
new file mode 100644
index 0000000000000000000000000000000000000000..4e50e2929c906b8167a0ab4689dbef10a7e82db7
--- /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/ep000840/gripper_left_tactile_force_metrics.json
@@ -0,0 +1,9 @@
+{
+  "depth_peak": 0.0030591001268476248,
+  "shear_peak": 0.0023911031894385815,
+  "force_magnitude_peak": 0.003824053332209587,
+  "reference_frame_count": 0,
+  "dataset_name": "dag911262r00276b_lerobot_0327_114714",
+  "episode_index": 840,
+  "sensor": "gripper_left_tactile"
+}
\ No newline at end of file