diff --git a/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-09_18-30/outputs_tactile/tactile_cache/dag911262r000448_lerobot_0327_114714_4b260549/episodes/ep000366/gripper_right_tactile_force_metrics.json b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-09_18-30/outputs_tactile/tactile_cache/dag911262r000448_lerobot_0327_114714_4b260549/episodes/ep000366/gripper_right_tactile_force_metrics.json
new file mode 100644
index 0000000000000000000000000000000000000000..93c5012b6f2d55ddc29fb357b98cb9e085f6084a
--- /dev/null
+++ b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-09_18-30/outputs_tactile/tactile_cache/dag911262r000448_lerobot_0327_114714_4b260549/episodes/ep000366/gripper_right_tactile_force_metrics.json
@@ -0,0 +1,9 @@
+{
+  "depth_peak": 0.004547706805169582,
+  "shear_peak": 0.003916924353688955,
+  "force_magnitude_peak": 0.004974382929503918,
+  "reference_frame_count": 0,
+  "dataset_name": "dag911262r000448_lerobot_0327_114714",
+  "episode_index": 366,
+  "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/dag911262r000448_lerobot_0327_114714_4b260549/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/dag911262r000448_lerobot_0327_114714_4b260549/episodes/ep000386/gripper_left_tactile_force_metrics.json
new file mode 100644
index 0000000000000000000000000000000000000000..8eba1d89b0788e9ce87428ef8b16b482d1a12a0b
--- /dev/null
+++ b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-09_18-30/outputs_tactile/tactile_cache/dag911262r000448_lerobot_0327_114714_4b260549/episodes/ep000386/gripper_left_tactile_force_metrics.json
@@ -0,0 +1,9 @@
+{
+  "depth_peak": 0.0055724941194057465,
+  "shear_peak": 0.002939536701887846,
+  "force_magnitude_peak": 0.005582747049629688,
+  "reference_frame_count": 0,
+  "dataset_name": "dag911262r000448_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/dag911262r000448_lerobot_0327_114714_4b260549/episodes/ep000399/gripper_left_tactile_force_metrics.json b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-09_18-30/outputs_tactile/tactile_cache/dag911262r000448_lerobot_0327_114714_4b260549/episodes/ep000399/gripper_left_tactile_force_metrics.json
new file mode 100644
index 0000000000000000000000000000000000000000..0b2c2b31758ca675821bdf5f09f0c55a3200368f
--- /dev/null
+++ b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-09_18-30/outputs_tactile/tactile_cache/dag911262r000448_lerobot_0327_114714_4b260549/episodes/ep000399/gripper_left_tactile_force_metrics.json
@@ -0,0 +1,9 @@
+{
+  "depth_peak": 0.003586237085983157,
+  "shear_peak": 0.0030496418476104736,
+  "force_magnitude_peak": 0.003899624338373542,
+  "reference_frame_count": 0,
+  "dataset_name": "dag911262r000448_lerobot_0327_114714",
+  "episode_index": 399,
+  "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/dag911262r000448_lerobot_0327_114714_4b260549/episodes/ep000406/gripper_right_tactile_force_metrics.json b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-09_18-30/outputs_tactile/tactile_cache/dag911262r000448_lerobot_0327_114714_4b260549/episodes/ep000406/gripper_right_tactile_force_metrics.json
new file mode 100644
index 0000000000000000000000000000000000000000..4a7c9bd473229b03b33b49c7cea3088cc5f17978
--- /dev/null
+++ b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-09_18-30/outputs_tactile/tactile_cache/dag911262r000448_lerobot_0327_114714_4b260549/episodes/ep000406/gripper_right_tactile_force_metrics.json
@@ -0,0 +1,9 @@
+{
+  "depth_peak": 0.006844285875558853,
+  "shear_peak": 0.010187570005655289,
+  "force_magnitude_peak": 0.012247402220964432,
+  "reference_frame_count": 0,
+  "dataset_name": "dag911262r000448_lerobot_0327_114714",
+  "episode_index": 406,
+  "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/dag911262r000448_lerobot_0327_114714_4b260549/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/dag911262r000448_lerobot_0327_114714_4b260549/episodes/ep000419/gripper_left_tactile_force_metrics.json
new file mode 100644
index 0000000000000000000000000000000000000000..e5d37363ebb1e04519cb194a601e121733295285
--- /dev/null
+++ b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-09_18-30/outputs_tactile/tactile_cache/dag911262r000448_lerobot_0327_114714_4b260549/episodes/ep000419/gripper_left_tactile_force_metrics.json
@@ -0,0 +1,9 @@
+{
+  "depth_peak": 0.004861458204686642,
+  "shear_peak": 0.0034117726609110832,
+  "force_magnitude_peak": 0.004864040296524763,
+  "reference_frame_count": 0,
+  "dataset_name": "dag911262r000448_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/dag911262r000448_lerobot_0327_114714_4b260549/episodes/ep000426/gripper_left_tactile_force_metrics.json b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-09_18-30/outputs_tactile/tactile_cache/dag911262r000448_lerobot_0327_114714_4b260549/episodes/ep000426/gripper_left_tactile_force_metrics.json
new file mode 100644
index 0000000000000000000000000000000000000000..a81f568acd2995b038adf6b6d84a313712bd4c07
--- /dev/null
+++ b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-09_18-30/outputs_tactile/tactile_cache/dag911262r000448_lerobot_0327_114714_4b260549/episodes/ep000426/gripper_left_tactile_force_metrics.json
@@ -0,0 +1,9 @@
+{
+  "depth_peak": 0.001550612854771316,
+  "shear_peak": 0.002514309249818325,
+  "force_magnitude_peak": 0.0035339302849024534,
+  "reference_frame_count": 0,
+  "dataset_name": "dag911262r000448_lerobot_0327_114714",
+  "episode_index": 426,
+  "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/dag911262r000448_lerobot_0327_114714_4b260549/episodes/ep000439/gripper_left_tactile_force_metrics.json b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-09_18-30/outputs_tactile/tactile_cache/dag911262r000448_lerobot_0327_114714_4b260549/episodes/ep000439/gripper_left_tactile_force_metrics.json
new file mode 100644
index 0000000000000000000000000000000000000000..e350279dd2abb637bca29860e99651ade70f4827
--- /dev/null
+++ b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-09_18-30/outputs_tactile/tactile_cache/dag911262r000448_lerobot_0327_114714_4b260549/episodes/ep000439/gripper_left_tactile_force_metrics.json
@@ -0,0 +1,9 @@
+{
+  "depth_peak": 0.0021569915115833282,
+  "shear_peak": 0.004754621535539627,
+  "force_magnitude_peak": 0.004949178081005812,
+  "reference_frame_count": 0,
+  "dataset_name": "dag911262r000448_lerobot_0327_114714",
+  "episode_index": 439,
+  "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/dag911262r000448_lerobot_0327_114714_4b260549/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/dag911262r000448_lerobot_0327_114714_4b260549/episodes/ep000446/gripper_right_tactile_force_metrics.json
new file mode 100644
index 0000000000000000000000000000000000000000..1490d720897cd7775d5bcd8b0b9cf16329fa0c71
--- /dev/null
+++ b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-09_18-30/outputs_tactile/tactile_cache/dag911262r000448_lerobot_0327_114714_4b260549/episodes/ep000446/gripper_right_tactile_force_metrics.json
@@ -0,0 +1,9 @@
+{
+  "depth_peak": 0.006574768107384443,
+  "shear_peak": 0.002136711962521076,
+  "force_magnitude_peak": 0.006691617425531149,
+  "reference_frame_count": 0,
+  "dataset_name": "dag911262r000448_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/dag911262r000448_lerobot_0327_114714_4b260549/episodes/ep000466/gripper_left_tactile_force_metrics.json b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-09_18-30/outputs_tactile/tactile_cache/dag911262r000448_lerobot_0327_114714_4b260549/episodes/ep000466/gripper_left_tactile_force_metrics.json
new file mode 100644
index 0000000000000000000000000000000000000000..d0c7e777d8b9e5d0af7a84d1fc9fb93f5b3fe33f
--- /dev/null
+++ b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-09_18-30/outputs_tactile/tactile_cache/dag911262r000448_lerobot_0327_114714_4b260549/episodes/ep000466/gripper_left_tactile_force_metrics.json
@@ -0,0 +1,9 @@
+{
+  "depth_peak": 0.007127793040126562,
+  "shear_peak": 0.0020470796152949333,
+  "force_magnitude_peak": 0.007223259191960096,
+  "reference_frame_count": 0,
+  "dataset_name": "dag911262r000448_lerobot_0327_114714",
+  "episode_index": 466,
+  "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/dag911262r000448_lerobot_0327_114714_4b260549/episodes/ep000479/gripper_right_tactile_force_metrics.json b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-09_18-30/outputs_tactile/tactile_cache/dag911262r000448_lerobot_0327_114714_4b260549/episodes/ep000479/gripper_right_tactile_force_metrics.json
new file mode 100644
index 0000000000000000000000000000000000000000..80a82ba176082acb519b3c3875833209fc1bd1c8
--- /dev/null
+++ b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-09_18-30/outputs_tactile/tactile_cache/dag911262r000448_lerobot_0327_114714_4b260549/episodes/ep000479/gripper_right_tactile_force_metrics.json
@@ -0,0 +1,9 @@
+{
+  "depth_peak": 0.014594342559576035,
+  "shear_peak": 0.014553100802004337,
+  "force_magnitude_peak": 0.019626211374998093,
+  "reference_frame_count": 0,
+  "dataset_name": "dag911262r000448_lerobot_0327_114714",
+  "episode_index": 479,
+  "sensor": "gripper_right_tactile"
+}
\ No newline at end of file
diff --git a/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-09_18-30/outputs_tactile/tactile_cache/dag911262r000448_lerobot_0327_114714_4b260549/episodes/ep000484/gripper_right_tactile_force_metrics.json b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-09_18-30/outputs_tactile/tactile_cache/dag911262r000448_lerobot_0327_114714_4b260549/episodes/ep000484/gripper_right_tactile_force_metrics.json
new file mode 100644
index 0000000000000000000000000000000000000000..c80254bc1f7a4f3a4bcd8b7771ec96873133d2b8
--- /dev/null
+++ b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-09_18-30/outputs_tactile/tactile_cache/dag911262r000448_lerobot_0327_114714_4b260549/episodes/ep000484/gripper_right_tactile_force_metrics.json
@@ -0,0 +1,9 @@
+{
+  "depth_peak": 0.002296954160556197,
+  "shear_peak": 0.003547842614352703,
+  "force_magnitude_peak": 0.003765986068174243,
+  "reference_frame_count": 0,
+  "dataset_name": "dag911262r000448_lerobot_0327_114714",
+  "episode_index": 484,
+  "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/dag911262r000448_lerobot_0327_114714_4b260549/episodes/ep000495/gripper_right_tactile_force_metrics.json b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-09_18-30/outputs_tactile/tactile_cache/dag911262r000448_lerobot_0327_114714_4b260549/episodes/ep000495/gripper_right_tactile_force_metrics.json
new file mode 100644
index 0000000000000000000000000000000000000000..8ed732cf8c0e98b7f2ca10459ff8712870c99952
--- /dev/null
+++ b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-09_18-30/outputs_tactile/tactile_cache/dag911262r000448_lerobot_0327_114714_4b260549/episodes/ep000495/gripper_right_tactile_force_metrics.json
@@ -0,0 +1,9 @@
+{
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+  "force_magnitude_peak": 0.02408013306558132,
+  "reference_frame_count": 0,
+  "dataset_name": "dag911262r000448_lerobot_0327_114714",
+  "episode_index": 495,
+  "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/dag911262r000448_lerobot_0327_114714_4b260549/episodes/ep000497/gripper_left_tactile_force_metrics.json b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-09_18-30/outputs_tactile/tactile_cache/dag911262r000448_lerobot_0327_114714_4b260549/episodes/ep000497/gripper_left_tactile_force_metrics.json
new file mode 100644
index 0000000000000000000000000000000000000000..432fbdeb51886265c54114b45e8d7586740ec394
--- /dev/null
+++ b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-09_18-30/outputs_tactile/tactile_cache/dag911262r000448_lerobot_0327_114714_4b260549/episodes/ep000497/gripper_left_tactile_force_metrics.json
@@ -0,0 +1,9 @@
+{
+  "depth_peak": 0.0012558831367641687,
+  "shear_peak": 0.003938768059015274,
+  "force_magnitude_peak": 0.004824080038815737,
+  "reference_frame_count": 0,
+  "dataset_name": "dag911262r000448_lerobot_0327_114714",
+  "episode_index": 497,
+  "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/dag911262r000448_lerobot_0327_114714_4b260549/episodes/ep000499/gripper_left_tactile_force_metrics.json b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-09_18-30/outputs_tactile/tactile_cache/dag911262r000448_lerobot_0327_114714_4b260549/episodes/ep000499/gripper_left_tactile_force_metrics.json
new file mode 100644
index 0000000000000000000000000000000000000000..24edba5730bc8a8cda344a9f4e20b8a6d44b818b
--- /dev/null
+++ b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-09_18-30/outputs_tactile/tactile_cache/dag911262r000448_lerobot_0327_114714_4b260549/episodes/ep000499/gripper_left_tactile_force_metrics.json
@@ -0,0 +1,9 @@
+{
+  "depth_peak": 0.0027643567882478237,
+  "shear_peak": 0.004574895836412907,
+  "force_magnitude_peak": 0.005115936044603586,
+  "reference_frame_count": 0,
+  "dataset_name": "dag911262r000448_lerobot_0327_114714",
+  "episode_index": 499,
+  "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/dag911262r000448_lerobot_0327_114714_4b260549/episodes/ep000519/gripper_right_tactile_force_metrics.json b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-09_18-30/outputs_tactile/tactile_cache/dag911262r000448_lerobot_0327_114714_4b260549/episodes/ep000519/gripper_right_tactile_force_metrics.json
new file mode 100644
index 0000000000000000000000000000000000000000..38ff6922751ca60e3db8d388e4a6c4839c3b34ee
--- /dev/null
+++ b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-09_18-30/outputs_tactile/tactile_cache/dag911262r000448_lerobot_0327_114714_4b260549/episodes/ep000519/gripper_right_tactile_force_metrics.json
@@ -0,0 +1,9 @@
+{
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+  "force_magnitude_peak": 0.016623344272375107,
+  "reference_frame_count": 0,
+  "dataset_name": "dag911262r000448_lerobot_0327_114714",
+  "episode_index": 519,
+  "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/dag911262r000448_lerobot_0327_114714_4b260549/episodes/ep000524/gripper_right_tactile_force_metrics.json b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-09_18-30/outputs_tactile/tactile_cache/dag911262r000448_lerobot_0327_114714_4b260549/episodes/ep000524/gripper_right_tactile_force_metrics.json
new file mode 100644
index 0000000000000000000000000000000000000000..b85c3c5988b3b76c29af25e24e1e55054760764b
--- /dev/null
+++ b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-09_18-30/outputs_tactile/tactile_cache/dag911262r000448_lerobot_0327_114714_4b260549/episodes/ep000524/gripper_right_tactile_force_metrics.json
@@ -0,0 +1,9 @@
+{
+  "depth_peak": 0.008229535073041916,
+  "shear_peak": 0.004465293604880571,
+  "force_magnitude_peak": 0.009250704199075699,
+  "reference_frame_count": 0,
+  "dataset_name": "dag911262r000448_lerobot_0327_114714",
+  "episode_index": 524,
+  "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/dag911262r000448_lerobot_0327_114714_4b260549/episodes/ep000526/gripper_left_tactile_force_metrics.json b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-09_18-30/outputs_tactile/tactile_cache/dag911262r000448_lerobot_0327_114714_4b260549/episodes/ep000526/gripper_left_tactile_force_metrics.json
new file mode 100644
index 0000000000000000000000000000000000000000..f98334ea7a262db7d2d81652239da0a360d61ff7
--- /dev/null
+++ b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-09_18-30/outputs_tactile/tactile_cache/dag911262r000448_lerobot_0327_114714_4b260549/episodes/ep000526/gripper_left_tactile_force_metrics.json
@@ -0,0 +1,9 @@
+{
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+  "shear_peak": 0.0060751172713935375,
+  "force_magnitude_peak": 0.006186960730701685,
+  "reference_frame_count": 0,
+  "dataset_name": "dag911262r000448_lerobot_0327_114714",
+  "episode_index": 526,
+  "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/dag911262r000448_lerobot_0327_114714_4b260549/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/dag911262r000448_lerobot_0327_114714_4b260549/episodes/ep000526/gripper_right_tactile_force_metrics.json
new file mode 100644
index 0000000000000000000000000000000000000000..f43b446a835c5aa67d2b86c9f302c39a38a2acb8
--- /dev/null
+++ b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-09_18-30/outputs_tactile/tactile_cache/dag911262r000448_lerobot_0327_114714_4b260549/episodes/ep000526/gripper_right_tactile_force_metrics.json
@@ -0,0 +1,9 @@
+{
+  "depth_peak": 0.022182725369930267,
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+  "force_magnitude_peak": 0.022208046168088913,
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+  "dataset_name": "dag911262r000448_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/dag911262r000448_lerobot_0327_114714_4b260549/episodes/ep000535/gripper_right_tactile_force_metrics.json b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-09_18-30/outputs_tactile/tactile_cache/dag911262r000448_lerobot_0327_114714_4b260549/episodes/ep000535/gripper_right_tactile_force_metrics.json
new file mode 100644
index 0000000000000000000000000000000000000000..4f55a227064ae45a0d84cc0fab1027f58d90f2c0
--- /dev/null
+++ b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-09_18-30/outputs_tactile/tactile_cache/dag911262r000448_lerobot_0327_114714_4b260549/episodes/ep000535/gripper_right_tactile_force_metrics.json
@@ -0,0 +1,9 @@
+{
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+  "force_magnitude_peak": 0.006058122497051954,
+  "reference_frame_count": 0,
+  "dataset_name": "dag911262r000448_lerobot_0327_114714",
+  "episode_index": 535,
+  "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/dag911262r000448_lerobot_0327_114714_4b260549/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/dag911262r000448_lerobot_0327_114714_4b260549/episodes/ep000539/gripper_left_tactile_force_metrics.json
new file mode 100644
index 0000000000000000000000000000000000000000..91839e72668bdebc49e091ac16c853cdbbce509e
--- /dev/null
+++ b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-09_18-30/outputs_tactile/tactile_cache/dag911262r000448_lerobot_0327_114714_4b260549/episodes/ep000539/gripper_left_tactile_force_metrics.json
@@ -0,0 +1,9 @@
+{
+  "depth_peak": 0.005529134068638086,
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+  "force_magnitude_peak": 0.005829182453453541,
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+  "dataset_name": "dag911262r000448_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/dag911262r000448_lerobot_0327_114714_4b260549/episodes/ep000599/gripper_right_tactile_force_metrics.json b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-09_18-30/outputs_tactile/tactile_cache/dag911262r000448_lerobot_0327_114714_4b260549/episodes/ep000599/gripper_right_tactile_force_metrics.json
new file mode 100644
index 0000000000000000000000000000000000000000..3f00c87c95fe38ee1008cf18481bf27ca5148c5b
--- /dev/null
+++ b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-09_18-30/outputs_tactile/tactile_cache/dag911262r000448_lerobot_0327_114714_4b260549/episodes/ep000599/gripper_right_tactile_force_metrics.json
@@ -0,0 +1,9 @@
+{
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+  "force_magnitude_peak": 0.007254594471305609,
+  "reference_frame_count": 0,
+  "dataset_name": "dag911262r000448_lerobot_0327_114714",
+  "episode_index": 599,
+  "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/dag911262r000448_lerobot_0327_114714_4b260549/episodes/ep000606/gripper_left_tactile_force_metrics.json b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-09_18-30/outputs_tactile/tactile_cache/dag911262r000448_lerobot_0327_114714_4b260549/episodes/ep000606/gripper_left_tactile_force_metrics.json
new file mode 100644
index 0000000000000000000000000000000000000000..5385df216e2bdce393f917bbc4f5c40bfd0b55df
--- /dev/null
+++ b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-09_18-30/outputs_tactile/tactile_cache/dag911262r000448_lerobot_0327_114714_4b260549/episodes/ep000606/gripper_left_tactile_force_metrics.json
@@ -0,0 +1,9 @@
+{
+  "depth_peak": 0.010629012249410152,
+  "shear_peak": 0.0041065639816224575,
+  "force_magnitude_peak": 0.011014112271368504,
+  "reference_frame_count": 0,
+  "dataset_name": "dag911262r000448_lerobot_0327_114714",
+  "episode_index": 606,
+  "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/dag911262r000448_lerobot_0327_114714_4b260549/episodes/ep000617/gripper_left_tactile_force_metrics.json b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-09_18-30/outputs_tactile/tactile_cache/dag911262r000448_lerobot_0327_114714_4b260549/episodes/ep000617/gripper_left_tactile_force_metrics.json
new file mode 100644
index 0000000000000000000000000000000000000000..33c03dd675f99c073c1e643501c06714a56858d1
--- /dev/null
+++ b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-09_18-30/outputs_tactile/tactile_cache/dag911262r000448_lerobot_0327_114714_4b260549/episodes/ep000617/gripper_left_tactile_force_metrics.json
@@ -0,0 +1,9 @@
+{
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+  "force_magnitude_peak": 0.0038536142092198133,
+  "reference_frame_count": 0,
+  "dataset_name": "dag911262r000448_lerobot_0327_114714",
+  "episode_index": 617,
+  "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/dag911262r000448_lerobot_0327_114714_4b260549/episodes/ep000625/gripper_right_tactile_force_metrics.json b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-09_18-30/outputs_tactile/tactile_cache/dag911262r000448_lerobot_0327_114714_4b260549/episodes/ep000625/gripper_right_tactile_force_metrics.json
new file mode 100644
index 0000000000000000000000000000000000000000..d978e2ba1dc3671e70227420976ef2bf42bf0d4c
--- /dev/null
+++ b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-09_18-30/outputs_tactile/tactile_cache/dag911262r000448_lerobot_0327_114714_4b260549/episodes/ep000625/gripper_right_tactile_force_metrics.json
@@ -0,0 +1,9 @@
+{
+  "depth_peak": 0.004929379094392061,
+  "shear_peak": 0.004100972320884466,
+  "force_magnitude_peak": 0.006412234622985125,
+  "reference_frame_count": 0,
+  "dataset_name": "dag911262r000448_lerobot_0327_114714",
+  "episode_index": 625,
+  "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/dag911262r000448_lerobot_0327_114714_4b260549/episodes/ep000638/gripper_left_tactile_force_metrics.json b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-09_18-30/outputs_tactile/tactile_cache/dag911262r000448_lerobot_0327_114714_4b260549/episodes/ep000638/gripper_left_tactile_force_metrics.json
new file mode 100644
index 0000000000000000000000000000000000000000..5cbd22ab6d3957e26d9552a91dc6835f85d20410
--- /dev/null
+++ b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-09_18-30/outputs_tactile/tactile_cache/dag911262r000448_lerobot_0327_114714_4b260549/episodes/ep000638/gripper_left_tactile_force_metrics.json
@@ -0,0 +1,9 @@
+{
+  "depth_peak": 0.0020152023062109947,
+  "shear_peak": 0.00591022614389658,
+  "force_magnitude_peak": 0.0062413462437689304,
+  "reference_frame_count": 0,
+  "dataset_name": "dag911262r000448_lerobot_0327_114714",
+  "episode_index": 638,
+  "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/dag911262r00054f_lerobot_0327_114714_c83a1436/episodes/ep000087/gripper_right_tactile_force_metrics.json b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-09_18-30/outputs_tactile/tactile_cache/dag911262r00054f_lerobot_0327_114714_c83a1436/episodes/ep000087/gripper_right_tactile_force_metrics.json
new file mode 100644
index 0000000000000000000000000000000000000000..b883a4dfb087089dbe6a0913fe39efad6388a9de
--- /dev/null
+++ b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-09_18-30/outputs_tactile/tactile_cache/dag911262r00054f_lerobot_0327_114714_c83a1436/episodes/ep000087/gripper_right_tactile_force_metrics.json
@@ -0,0 +1,9 @@
+{
+  "depth_peak": 0.0049767568707466125,
+  "shear_peak": 0.004433308728039265,
+  "force_magnitude_peak": 0.006493491120636463,
+  "reference_frame_count": 0,
+  "dataset_name": "dag911262r00054f_lerobot_0327_114714",
+  "episode_index": 87,
+  "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/dag911262r00054f_lerobot_0327_114714_c83a1436/episodes/ep000100/gripper_right_tactile_force_metrics.json b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-09_18-30/outputs_tactile/tactile_cache/dag911262r00054f_lerobot_0327_114714_c83a1436/episodes/ep000100/gripper_right_tactile_force_metrics.json
new file mode 100644
index 0000000000000000000000000000000000000000..68eeeb18ad9df82b95c1a651cbb49113af34c454
--- /dev/null
+++ b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-09_18-30/outputs_tactile/tactile_cache/dag911262r00054f_lerobot_0327_114714_c83a1436/episodes/ep000100/gripper_right_tactile_force_metrics.json
@@ -0,0 +1,9 @@
+{
+  "depth_peak": 0.012431585229933262,
+  "shear_peak": 0.010047852993011475,
+  "force_magnitude_peak": 0.014811222441494465,
+  "reference_frame_count": 0,
+  "dataset_name": "dag911262r00054f_lerobot_0327_114714",
+  "episode_index": 100,
+  "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/dag911262r00054f_lerobot_0327_114714_c83a1436/episodes/ep000109/gripper_right_tactile_force_metrics.json b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-09_18-30/outputs_tactile/tactile_cache/dag911262r00054f_lerobot_0327_114714_c83a1436/episodes/ep000109/gripper_right_tactile_force_metrics.json
new file mode 100644
index 0000000000000000000000000000000000000000..2b5bfb2b9620adb054be5926c19a72777a523549
--- /dev/null
+++ b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-09_18-30/outputs_tactile/tactile_cache/dag911262r00054f_lerobot_0327_114714_c83a1436/episodes/ep000109/gripper_right_tactile_force_metrics.json
@@ -0,0 +1,9 @@
+{
+  "depth_peak": 0.00262921373359859,
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+  "force_magnitude_peak": 0.004220154136419296,
+  "reference_frame_count": 0,
+  "dataset_name": "dag911262r00054f_lerobot_0327_114714",
+  "episode_index": 109,
+  "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/dag911262r00054f_lerobot_0327_114714_c83a1436/episodes/ep000127/gripper_right_tactile_force_metrics.json b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-09_18-30/outputs_tactile/tactile_cache/dag911262r00054f_lerobot_0327_114714_c83a1436/episodes/ep000127/gripper_right_tactile_force_metrics.json
new file mode 100644
index 0000000000000000000000000000000000000000..6d7f585350299486396da378d0263b7123aa9f78
--- /dev/null
+++ b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-09_18-30/outputs_tactile/tactile_cache/dag911262r00054f_lerobot_0327_114714_c83a1436/episodes/ep000127/gripper_right_tactile_force_metrics.json
@@ -0,0 +1,9 @@
+{
+  "depth_peak": 0.006834437604993582,
+  "shear_peak": 0.004931685980409384,
+  "force_magnitude_peak": 0.008087419904768467,
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+  "dataset_name": "dag911262r00054f_lerobot_0327_114714",
+  "episode_index": 127,
+  "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/dag911262r00054f_lerobot_0327_114714_c83a1436/episodes/ep000129/gripper_right_tactile_force_metrics.json b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-09_18-30/outputs_tactile/tactile_cache/dag911262r00054f_lerobot_0327_114714_c83a1436/episodes/ep000129/gripper_right_tactile_force_metrics.json
new file mode 100644
index 0000000000000000000000000000000000000000..78a85d792d2716843b962db4643226a20830830d
--- /dev/null
+++ b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-09_18-30/outputs_tactile/tactile_cache/dag911262r00054f_lerobot_0327_114714_c83a1436/episodes/ep000129/gripper_right_tactile_force_metrics.json
@@ -0,0 +1,9 @@
+{
+  "depth_peak": 0.00495107239112258,
+  "shear_peak": 0.005381512455642223,
+  "force_magnitude_peak": 0.0070855021476745605,
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+  "dataset_name": "dag911262r00054f_lerobot_0327_114714",
+  "episode_index": 129,
+  "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/dag911262r00054f_lerobot_0327_114714_c83a1436/episodes/ep000147/gripper_left_tactile_force_metrics.json b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-09_18-30/outputs_tactile/tactile_cache/dag911262r00054f_lerobot_0327_114714_c83a1436/episodes/ep000147/gripper_left_tactile_force_metrics.json
new file mode 100644
index 0000000000000000000000000000000000000000..1ef3cbb5265fa1f4007d964a82afdb450a032653
--- /dev/null
+++ b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-09_18-30/outputs_tactile/tactile_cache/dag911262r00054f_lerobot_0327_114714_c83a1436/episodes/ep000147/gripper_left_tactile_force_metrics.json
@@ -0,0 +1,9 @@
+{
+  "depth_peak": 0.002344963839277625,
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+  "force_magnitude_peak": 0.0044092643074691296,
+  "reference_frame_count": 0,
+  "dataset_name": "dag911262r00054f_lerobot_0327_114714",
+  "episode_index": 147,
+  "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/dag911262r00054f_lerobot_0327_114714_c83a1436/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/dag911262r00054f_lerobot_0327_114714_c83a1436/episodes/ep000149/gripper_right_tactile_force_metrics.json
new file mode 100644
index 0000000000000000000000000000000000000000..825948b8afecc4924913afb1c53022d97b36484c
--- /dev/null
+++ b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-09_18-30/outputs_tactile/tactile_cache/dag911262r00054f_lerobot_0327_114714_c83a1436/episodes/ep000149/gripper_right_tactile_force_metrics.json
@@ -0,0 +1,9 @@
+{
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+  "shear_peak": 0.0058857048861682415,
+  "force_magnitude_peak": 0.02003592811524868,
+  "reference_frame_count": 0,
+  "dataset_name": "dag911262r00054f_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/dag911262r00054f_lerobot_0327_114714_c83a1436/episodes/ep000150/gripper_left_tactile_force_metrics.json b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-09_18-30/outputs_tactile/tactile_cache/dag911262r00054f_lerobot_0327_114714_c83a1436/episodes/ep000150/gripper_left_tactile_force_metrics.json
new file mode 100644
index 0000000000000000000000000000000000000000..d47911287994d1eda381e1879eaa5e6d2f59fd24
--- /dev/null
+++ b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-09_18-30/outputs_tactile/tactile_cache/dag911262r00054f_lerobot_0327_114714_c83a1436/episodes/ep000150/gripper_left_tactile_force_metrics.json
@@ -0,0 +1,9 @@
+{
+  "depth_peak": 0.007297100964933634,
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+  "force_magnitude_peak": 0.008915700949728489,
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+  "dataset_name": "dag911262r00054f_lerobot_0327_114714",
+  "episode_index": 150,
+  "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/dag911262r00054f_lerobot_0327_114714_c83a1436/episodes/ep000162/gripper_left_tactile_force_metrics.json b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-09_18-30/outputs_tactile/tactile_cache/dag911262r00054f_lerobot_0327_114714_c83a1436/episodes/ep000162/gripper_left_tactile_force_metrics.json
new file mode 100644
index 0000000000000000000000000000000000000000..7587c836eb3701aaf6ef1131d0d5bf77f69c3a4a
--- /dev/null
+++ b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-09_18-30/outputs_tactile/tactile_cache/dag911262r00054f_lerobot_0327_114714_c83a1436/episodes/ep000162/gripper_left_tactile_force_metrics.json
@@ -0,0 +1,9 @@
+{
+  "depth_peak": 0.003042267868295312,
+  "shear_peak": 0.003085104515776038,
+  "force_magnitude_peak": 0.0042963349260389805,
+  "reference_frame_count": 0,
+  "dataset_name": "dag911262r00054f_lerobot_0327_114714",
+  "episode_index": 162,
+  "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/dag911262r00054f_lerobot_0327_114714_c83a1436/episodes/ep000190/gripper_left_tactile_force_metrics.json b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-09_18-30/outputs_tactile/tactile_cache/dag911262r00054f_lerobot_0327_114714_c83a1436/episodes/ep000190/gripper_left_tactile_force_metrics.json
new file mode 100644
index 0000000000000000000000000000000000000000..f636514bf022ef8de4ec08c194c0b54ef306c085
--- /dev/null
+++ b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-09_18-30/outputs_tactile/tactile_cache/dag911262r00054f_lerobot_0327_114714_c83a1436/episodes/ep000190/gripper_left_tactile_force_metrics.json
@@ -0,0 +1,9 @@
+{
+  "depth_peak": 0.002503122901543975,
+  "shear_peak": 0.0032387152314186096,
+  "force_magnitude_peak": 0.003840225748717785,
+  "reference_frame_count": 0,
+  "dataset_name": "dag911262r00054f_lerobot_0327_114714",
+  "episode_index": 190,
+  "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/dag911262r00054f_lerobot_0327_114714_c83a1436/episodes/ep000201/gripper_right_tactile_force_metrics.json b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-09_18-30/outputs_tactile/tactile_cache/dag911262r00054f_lerobot_0327_114714_c83a1436/episodes/ep000201/gripper_right_tactile_force_metrics.json
new file mode 100644
index 0000000000000000000000000000000000000000..81edad102d03d8c5d5cb85522ccf4ca8aa4da536
--- /dev/null
+++ b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-09_18-30/outputs_tactile/tactile_cache/dag911262r00054f_lerobot_0327_114714_c83a1436/episodes/ep000201/gripper_right_tactile_force_metrics.json
@@ -0,0 +1,9 @@
+{
+  "depth_peak": 0.018358685076236725,
+  "shear_peak": 0.007197805680334568,
+  "force_magnitude_peak": 0.019617997109889984,
+  "reference_frame_count": 0,
+  "dataset_name": "dag911262r00054f_lerobot_0327_114714",
+  "episode_index": 201,
+  "sensor": "gripper_right_tactile"
+}
\ No newline at end of file
diff --git a/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-09_18-30/outputs_tactile/tactile_cache/dag911262r00054f_lerobot_0327_114714_c83a1436/episodes/ep000207/gripper_right_tactile_force_metrics.json b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-09_18-30/outputs_tactile/tactile_cache/dag911262r00054f_lerobot_0327_114714_c83a1436/episodes/ep000207/gripper_right_tactile_force_metrics.json
new file mode 100644
index 0000000000000000000000000000000000000000..f34bc777dec29a39bdf360f0597a125ad0db85c3
--- /dev/null
+++ b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-09_18-30/outputs_tactile/tactile_cache/dag911262r00054f_lerobot_0327_114714_c83a1436/episodes/ep000207/gripper_right_tactile_force_metrics.json
@@ -0,0 +1,9 @@
+{
+  "depth_peak": 0.017925381660461426,
+  "shear_peak": 0.004528255667537451,
+  "force_magnitude_peak": 0.018261978402733803,
+  "reference_frame_count": 0,
+  "dataset_name": "dag911262r00054f_lerobot_0327_114714",
+  "episode_index": 207,
+  "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/dag911262r00054f_lerobot_0327_114714_c83a1436/episodes/ep000236/gripper_left_tactile_force_metrics.json b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-09_18-30/outputs_tactile/tactile_cache/dag911262r00054f_lerobot_0327_114714_c83a1436/episodes/ep000236/gripper_left_tactile_force_metrics.json
new file mode 100644
index 0000000000000000000000000000000000000000..35afa8272cef24f0a95350c3ea0ccc1c56f270da
--- /dev/null
+++ b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-09_18-30/outputs_tactile/tactile_cache/dag911262r00054f_lerobot_0327_114714_c83a1436/episodes/ep000236/gripper_left_tactile_force_metrics.json
@@ -0,0 +1,9 @@
+{
+  "depth_peak": 0.0013195947976782918,
+  "shear_peak": 0.0034262221306562424,
+  "force_magnitude_peak": 0.00345264351926744,
+  "reference_frame_count": 0,
+  "dataset_name": "dag911262r00054f_lerobot_0327_114714",
+  "episode_index": 236,
+  "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/dag911262r00054f_lerobot_0327_114714_c83a1436/episodes/ep000241/gripper_right_tactile_force_metrics.json b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-09_18-30/outputs_tactile/tactile_cache/dag911262r00054f_lerobot_0327_114714_c83a1436/episodes/ep000241/gripper_right_tactile_force_metrics.json
new file mode 100644
index 0000000000000000000000000000000000000000..615b346c43ed4c239763878fef9696be5da8a22e
--- /dev/null
+++ b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-09_18-30/outputs_tactile/tactile_cache/dag911262r00054f_lerobot_0327_114714_c83a1436/episodes/ep000241/gripper_right_tactile_force_metrics.json
@@ -0,0 +1,9 @@
+{
+  "depth_peak": 0.004116441588848829,
+  "shear_peak": 0.003054338274523616,
+  "force_magnitude_peak": 0.004357071593403816,
+  "reference_frame_count": 0,
+  "dataset_name": "dag911262r00054f_lerobot_0327_114714",
+  "episode_index": 241,
+  "sensor": "gripper_right_tactile"
+}
\ No newline at end of file
diff --git a/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-09_18-30/outputs_tactile/tactile_cache/dag911262r00054f_lerobot_0327_114714_c83a1436/episodes/ep000242/gripper_left_tactile_force_metrics.json b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-09_18-30/outputs_tactile/tactile_cache/dag911262r00054f_lerobot_0327_114714_c83a1436/episodes/ep000242/gripper_left_tactile_force_metrics.json
new file mode 100644
index 0000000000000000000000000000000000000000..f56eeebae4f7a458649ac4ed1b6eee39052983cc
--- /dev/null
+++ b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-09_18-30/outputs_tactile/tactile_cache/dag911262r00054f_lerobot_0327_114714_c83a1436/episodes/ep000242/gripper_left_tactile_force_metrics.json
@@ -0,0 +1,9 @@
+{
+  "depth_peak": 0.0010993528412654996,
+  "shear_peak": 0.002375983400270343,
+  "force_magnitude_peak": 0.002437835093587637,
+  "reference_frame_count": 0,
+  "dataset_name": "dag911262r00054f_lerobot_0327_114714",
+  "episode_index": 242,
+  "sensor": "gripper_left_tactile"
+}
\ No newline at end of file
diff --git a/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-09_18-30/outputs_tactile/tactile_cache/dag911262r00054f_lerobot_0327_114714_c83a1436/episodes/ep000249/gripper_right_tactile_force_metrics.json b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-09_18-30/outputs_tactile/tactile_cache/dag911262r00054f_lerobot_0327_114714_c83a1436/episodes/ep000249/gripper_right_tactile_force_metrics.json
new file mode 100644
index 0000000000000000000000000000000000000000..1846e8368fc9112b7783fa2105577a1cd2a685e4
--- /dev/null
+++ b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-09_18-30/outputs_tactile/tactile_cache/dag911262r00054f_lerobot_0327_114714_c83a1436/episodes/ep000249/gripper_right_tactile_force_metrics.json
@@ -0,0 +1,9 @@
+{
+  "depth_peak": 0.007311264518648386,
+  "shear_peak": 0.010347627103328705,
+  "force_magnitude_peak": 0.011814022436738014,
+  "reference_frame_count": 0,
+  "dataset_name": "dag911262r00054f_lerobot_0327_114714",
+  "episode_index": 249,
+  "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/dag911262r00054f_lerobot_0327_114714_c83a1436/episodes/ep000260/gripper_right_tactile_force_metrics.json b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-09_18-30/outputs_tactile/tactile_cache/dag911262r00054f_lerobot_0327_114714_c83a1436/episodes/ep000260/gripper_right_tactile_force_metrics.json
new file mode 100644
index 0000000000000000000000000000000000000000..fc4a9c841682c706733262263c5b1d5b313b9b9a
--- /dev/null
+++ b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-09_18-30/outputs_tactile/tactile_cache/dag911262r00054f_lerobot_0327_114714_c83a1436/episodes/ep000260/gripper_right_tactile_force_metrics.json
@@ -0,0 +1,9 @@
+{
+  "depth_peak": 0.013804340735077858,
+  "shear_peak": 0.018874740228056908,
+  "force_magnitude_peak": 0.022639857605099678,
+  "reference_frame_count": 0,
+  "dataset_name": "dag911262r00054f_lerobot_0327_114714",
+  "episode_index": 260,
+  "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/dag911262r00054f_lerobot_0327_114714_c83a1436/episodes/ep000270/gripper_left_tactile_force_metrics.json b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-09_18-30/outputs_tactile/tactile_cache/dag911262r00054f_lerobot_0327_114714_c83a1436/episodes/ep000270/gripper_left_tactile_force_metrics.json
new file mode 100644
index 0000000000000000000000000000000000000000..3a0fe7dca3ffa9daa2ddb223b8914e1b77e8dc68
--- /dev/null
+++ b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-09_18-30/outputs_tactile/tactile_cache/dag911262r00054f_lerobot_0327_114714_c83a1436/episodes/ep000270/gripper_left_tactile_force_metrics.json
@@ -0,0 +1,9 @@
+{
+  "depth_peak": 0.008730126544833183,
+  "shear_peak": 0.0035436684265732765,
+  "force_magnitude_peak": 0.009115831926465034,
+  "reference_frame_count": 0,
+  "dataset_name": "dag911262r00054f_lerobot_0327_114714",
+  "episode_index": 270,
+  "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/dag911262r00054f_lerobot_0327_114714_c83a1436/episodes/ep000276/gripper_left_tactile_force_metrics.json b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-09_18-30/outputs_tactile/tactile_cache/dag911262r00054f_lerobot_0327_114714_c83a1436/episodes/ep000276/gripper_left_tactile_force_metrics.json
new file mode 100644
index 0000000000000000000000000000000000000000..8c90f44704a9d09cf4531d9e0b6337dfe8785fc2
--- /dev/null
+++ b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-09_18-30/outputs_tactile/tactile_cache/dag911262r00054f_lerobot_0327_114714_c83a1436/episodes/ep000276/gripper_left_tactile_force_metrics.json
@@ -0,0 +1,9 @@
+{
+  "depth_peak": 0.004214773885905743,
+  "shear_peak": 0.0014215619303286076,
+  "force_magnitude_peak": 0.004276804160326719,
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+  "dataset_name": "dag911262r00054f_lerobot_0327_114714",
+  "episode_index": 276,
+  "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/dag911262r00054f_lerobot_0327_114714_c83a1436/episodes/ep000289/gripper_right_tactile_force_metrics.json b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-09_18-30/outputs_tactile/tactile_cache/dag911262r00054f_lerobot_0327_114714_c83a1436/episodes/ep000289/gripper_right_tactile_force_metrics.json
new file mode 100644
index 0000000000000000000000000000000000000000..39215548b98256ec113d4036eecdeab41e0efc91
--- /dev/null
+++ b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-09_18-30/outputs_tactile/tactile_cache/dag911262r00054f_lerobot_0327_114714_c83a1436/episodes/ep000289/gripper_right_tactile_force_metrics.json
@@ -0,0 +1,9 @@
+{
+  "depth_peak": 0.008346923626959324,
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+  "force_magnitude_peak": 0.009864386171102524,
+  "reference_frame_count": 0,
+  "dataset_name": "dag911262r00054f_lerobot_0327_114714",
+  "episode_index": 289,
+  "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/dag911262r00054f_lerobot_0327_114714_c83a1436/episodes/ep000300/gripper_left_tactile_force_metrics.json b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-09_18-30/outputs_tactile/tactile_cache/dag911262r00054f_lerobot_0327_114714_c83a1436/episodes/ep000300/gripper_left_tactile_force_metrics.json
new file mode 100644
index 0000000000000000000000000000000000000000..e8e6e25eea3335f18722218c86bf8e3707c96301
--- /dev/null
+++ b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-09_18-30/outputs_tactile/tactile_cache/dag911262r00054f_lerobot_0327_114714_c83a1436/episodes/ep000300/gripper_left_tactile_force_metrics.json
@@ -0,0 +1,9 @@
+{
+  "depth_peak": 0.014734849333763123,
+  "shear_peak": 0.0024690618738532066,
+  "force_magnitude_peak": 0.014746495522558689,
+  "reference_frame_count": 0,
+  "dataset_name": "dag911262r00054f_lerobot_0327_114714",
+  "episode_index": 300,
+  "sensor": "gripper_left_tactile"
+}
\ No newline at end of file
diff --git a/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-09_18-30/outputs_tactile/tactile_cache/dag911262r00054f_lerobot_0327_114714_c83a1436/episodes/ep000321/gripper_right_tactile_force_metrics.json b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-09_18-30/outputs_tactile/tactile_cache/dag911262r00054f_lerobot_0327_114714_c83a1436/episodes/ep000321/gripper_right_tactile_force_metrics.json
new file mode 100644
index 0000000000000000000000000000000000000000..81e6f033ec17f79e88b88db0bebd80f18c2b7069
--- /dev/null
+++ b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-09_18-30/outputs_tactile/tactile_cache/dag911262r00054f_lerobot_0327_114714_c83a1436/episodes/ep000321/gripper_right_tactile_force_metrics.json
@@ -0,0 +1,9 @@
+{
+  "depth_peak": 0.005478207021951675,
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+  "force_magnitude_peak": 0.005731259007006884,
+  "reference_frame_count": 0,
+  "dataset_name": "dag911262r00054f_lerobot_0327_114714",
+  "episode_index": 321,
+  "sensor": "gripper_right_tactile"
+}
\ No newline at end of file
diff --git a/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-09_18-30/outputs_tactile/tactile_cache/dag911262r00054f_lerobot_0327_114714_c83a1436/episodes/ep000327/gripper_right_tactile_force_metrics.json b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-09_18-30/outputs_tactile/tactile_cache/dag911262r00054f_lerobot_0327_114714_c83a1436/episodes/ep000327/gripper_right_tactile_force_metrics.json
new file mode 100644
index 0000000000000000000000000000000000000000..d455251743c7d34ddee4a8eabf3e25dd8f5412f3
--- /dev/null
+++ b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-09_18-30/outputs_tactile/tactile_cache/dag911262r00054f_lerobot_0327_114714_c83a1436/episodes/ep000327/gripper_right_tactile_force_metrics.json
@@ -0,0 +1,9 @@
+{
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+  "shear_peak": 0.0036755281034857035,
+  "force_magnitude_peak": 0.006271980702877045,
+  "reference_frame_count": 0,
+  "dataset_name": "dag911262r00054f_lerobot_0327_114714",
+  "episode_index": 327,
+  "sensor": "gripper_right_tactile"
+}
\ No newline at end of file
diff --git a/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-09_18-30/outputs_tactile/tactile_cache/dag911262r00054f_lerobot_0327_114714_c83a1436/episodes/ep000340/gripper_right_tactile_force_metrics.json b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-09_18-30/outputs_tactile/tactile_cache/dag911262r00054f_lerobot_0327_114714_c83a1436/episodes/ep000340/gripper_right_tactile_force_metrics.json
new file mode 100644
index 0000000000000000000000000000000000000000..07955a57c8af1388bf7b63582a9f525bab961b6e
--- /dev/null
+++ b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-09_18-30/outputs_tactile/tactile_cache/dag911262r00054f_lerobot_0327_114714_c83a1436/episodes/ep000340/gripper_right_tactile_force_metrics.json
@@ -0,0 +1,9 @@
+{
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+  "force_magnitude_peak": 0.00836873147636652,
+  "reference_frame_count": 0,
+  "dataset_name": "dag911262r00054f_lerobot_0327_114714",
+  "episode_index": 340,
+  "sensor": "gripper_right_tactile"
+}
\ No newline at end of file
diff --git a/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-09_18-30/outputs_tactile/tactile_cache/dag911262r00054f_lerobot_0327_114714_c83a1436/episodes/ep000349/gripper_right_tactile_force_metrics.json b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-09_18-30/outputs_tactile/tactile_cache/dag911262r00054f_lerobot_0327_114714_c83a1436/episodes/ep000349/gripper_right_tactile_force_metrics.json
new file mode 100644
index 0000000000000000000000000000000000000000..6bdbc3083ba2bf06af119e883f6dab656dc09646
--- /dev/null
+++ b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-09_18-30/outputs_tactile/tactile_cache/dag911262r00054f_lerobot_0327_114714_c83a1436/episodes/ep000349/gripper_right_tactile_force_metrics.json
@@ -0,0 +1,9 @@
+{
+  "depth_peak": 0.007965946570038795,
+  "shear_peak": 0.003842616220936179,
+  "force_magnitude_peak": 0.007999083027243614,
+  "reference_frame_count": 0,
+  "dataset_name": "dag911262r00054f_lerobot_0327_114714",
+  "episode_index": 349,
+  "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/dag911262r00054f_lerobot_0327_114714_c83a1436/episodes/ep000356/gripper_left_tactile_force_metrics.json b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-09_18-30/outputs_tactile/tactile_cache/dag911262r00054f_lerobot_0327_114714_c83a1436/episodes/ep000356/gripper_left_tactile_force_metrics.json
new file mode 100644
index 0000000000000000000000000000000000000000..c22653c9ef177e21f94eadf43a1f65e90893102e
--- /dev/null
+++ b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-09_18-30/outputs_tactile/tactile_cache/dag911262r00054f_lerobot_0327_114714_c83a1436/episodes/ep000356/gripper_left_tactile_force_metrics.json
@@ -0,0 +1,9 @@
+{
+  "depth_peak": 0.013388708233833313,
+  "shear_peak": 0.0035330166574567556,
+  "force_magnitude_peak": 0.013527438044548035,
+  "reference_frame_count": 0,
+  "dataset_name": "dag911262r00054f_lerobot_0327_114714",
+  "episode_index": 356,
+  "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/dag911262r00054f_lerobot_0327_114714_c83a1436/episodes/ep000362/gripper_left_tactile_force_metrics.json b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-09_18-30/outputs_tactile/tactile_cache/dag911262r00054f_lerobot_0327_114714_c83a1436/episodes/ep000362/gripper_left_tactile_force_metrics.json
new file mode 100644
index 0000000000000000000000000000000000000000..b9ed9fab1b3dac767e63d02991462e0952a2a84c
--- /dev/null
+++ b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-09_18-30/outputs_tactile/tactile_cache/dag911262r00054f_lerobot_0327_114714_c83a1436/episodes/ep000362/gripper_left_tactile_force_metrics.json
@@ -0,0 +1,9 @@
+{
+  "depth_peak": 0.009831994771957397,
+  "shear_peak": 0.0032791057601571083,
+  "force_magnitude_peak": 0.010025027208030224,
+  "reference_frame_count": 0,
+  "dataset_name": "dag911262r00054f_lerobot_0327_114714",
+  "episode_index": 362,
+  "sensor": "gripper_left_tactile"
+}
\ No newline at end of file
diff --git a/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-09_18-30/outputs_tactile/tactile_cache/dag911262r00054f_lerobot_0327_114714_c83a1436/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/dag911262r00054f_lerobot_0327_114714_c83a1436/episodes/ep000367/gripper_right_tactile_force_metrics.json
new file mode 100644
index 0000000000000000000000000000000000000000..30c84aebbf63a959acbf309b2af741ac454797a2
--- /dev/null
+++ b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-09_18-30/outputs_tactile/tactile_cache/dag911262r00054f_lerobot_0327_114714_c83a1436/episodes/ep000367/gripper_right_tactile_force_metrics.json
@@ -0,0 +1,9 @@
+{
+  "depth_peak": 0.012978977523744106,
+  "shear_peak": 0.006181510630995035,
+  "force_magnitude_peak": 0.013581305742263794,
+  "reference_frame_count": 0,
+  "dataset_name": "dag911262r00054f_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/dag911262r00054f_lerobot_0327_114714_c83a1436/episodes/ep000380/gripper_right_tactile_force_metrics.json b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-09_18-30/outputs_tactile/tactile_cache/dag911262r00054f_lerobot_0327_114714_c83a1436/episodes/ep000380/gripper_right_tactile_force_metrics.json
new file mode 100644
index 0000000000000000000000000000000000000000..851e87457c67b869a62704aea6746c16c08b1807
--- /dev/null
+++ b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-09_18-30/outputs_tactile/tactile_cache/dag911262r00054f_lerobot_0327_114714_c83a1436/episodes/ep000380/gripper_right_tactile_force_metrics.json
@@ -0,0 +1,9 @@
+{
+  "depth_peak": 0.008153876289725304,
+  "shear_peak": 0.009712466038763523,
+  "force_magnitude_peak": 0.012453420087695122,
+  "reference_frame_count": 0,
+  "dataset_name": "dag911262r00054f_lerobot_0327_114714",
+  "episode_index": 380,
+  "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/dag911262r00054f_lerobot_0327_114714_c83a1436/episodes/ep000407/gripper_right_tactile_force_metrics.json b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-09_18-30/outputs_tactile/tactile_cache/dag911262r00054f_lerobot_0327_114714_c83a1436/episodes/ep000407/gripper_right_tactile_force_metrics.json
new file mode 100644
index 0000000000000000000000000000000000000000..cdcb8d518f8e1b87714e1400e683f9d010ad97a9
--- /dev/null
+++ b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-09_18-30/outputs_tactile/tactile_cache/dag911262r00054f_lerobot_0327_114714_c83a1436/episodes/ep000407/gripper_right_tactile_force_metrics.json
@@ -0,0 +1,9 @@
+{
+  "depth_peak": 0.006795871537178755,
+  "shear_peak": 0.008330881595611572,
+  "force_magnitude_peak": 0.009406808763742447,
+  "reference_frame_count": 0,
+  "dataset_name": "dag911262r00054f_lerobot_0327_114714",
+  "episode_index": 407,
+  "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/dag911262r00054f_lerobot_0327_114714_c83a1436/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/dag911262r00054f_lerobot_0327_114714_c83a1436/episodes/ep000409/gripper_right_tactile_force_metrics.json
new file mode 100644
index 0000000000000000000000000000000000000000..490fe14681c9ad2e053e71089ec808f05bc055bb
--- /dev/null
+++ b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-09_18-30/outputs_tactile/tactile_cache/dag911262r00054f_lerobot_0327_114714_c83a1436/episodes/ep000409/gripper_right_tactile_force_metrics.json
@@ -0,0 +1,9 @@
+{
+  "depth_peak": 0.010820705443620682,
+  "shear_peak": 0.008749270811676979,
+  "force_magnitude_peak": 0.011248446069657803,
+  "reference_frame_count": 0,
+  "dataset_name": "dag911262r00054f_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/dag911262r00054f_lerobot_0327_114714_c83a1436/episodes/ep000420/gripper_right_tactile_force_metrics.json b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-09_18-30/outputs_tactile/tactile_cache/dag911262r00054f_lerobot_0327_114714_c83a1436/episodes/ep000420/gripper_right_tactile_force_metrics.json
new file mode 100644
index 0000000000000000000000000000000000000000..458631e5d9babfd5e7a0fda0b125945a47597bc4
--- /dev/null
+++ b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-09_18-30/outputs_tactile/tactile_cache/dag911262r00054f_lerobot_0327_114714_c83a1436/episodes/ep000420/gripper_right_tactile_force_metrics.json
@@ -0,0 +1,9 @@
+{
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+  "shear_peak": 0.009015491232275963,
+  "force_magnitude_peak": 0.022740593180060387,
+  "reference_frame_count": 0,
+  "dataset_name": "dag911262r00054f_lerobot_0327_114714",
+  "episode_index": 420,
+  "sensor": "gripper_right_tactile"
+}
\ No newline at end of file
diff --git a/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-09_18-30/outputs_tactile/tactile_cache/dag911262r00054f_lerobot_0327_114714_c83a1436/episodes/ep000427/gripper_left_tactile_force_metrics.json b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-09_18-30/outputs_tactile/tactile_cache/dag911262r00054f_lerobot_0327_114714_c83a1436/episodes/ep000427/gripper_left_tactile_force_metrics.json
new file mode 100644
index 0000000000000000000000000000000000000000..ad04ddfc6850d0cd3cbc881333050057edf2d144
--- /dev/null
+++ b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-09_18-30/outputs_tactile/tactile_cache/dag911262r00054f_lerobot_0327_114714_c83a1436/episodes/ep000427/gripper_left_tactile_force_metrics.json
@@ -0,0 +1,9 @@
+{
+  "depth_peak": 0.012180176563560963,
+  "shear_peak": 0.0035686329938471317,
+  "force_magnitude_peak": 0.012222389690577984,
+  "reference_frame_count": 0,
+  "dataset_name": "dag911262r00054f_lerobot_0327_114714",
+  "episode_index": 427,
+  "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/dag911262r00054f_lerobot_0327_114714_c83a1436/episodes/ep000449/gripper_right_tactile_force_metrics.json b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-09_18-30/outputs_tactile/tactile_cache/dag911262r00054f_lerobot_0327_114714_c83a1436/episodes/ep000449/gripper_right_tactile_force_metrics.json
new file mode 100644
index 0000000000000000000000000000000000000000..e8529e02d114e8d6ecdaa798ac09808ea8a8eb78
--- /dev/null
+++ b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-09_18-30/outputs_tactile/tactile_cache/dag911262r00054f_lerobot_0327_114714_c83a1436/episodes/ep000449/gripper_right_tactile_force_metrics.json
@@ -0,0 +1,9 @@
+{
+  "depth_peak": 0.006153987254947424,
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+  "force_magnitude_peak": 0.006886609829962254,
+  "reference_frame_count": 0,
+  "dataset_name": "dag911262r00054f_lerobot_0327_114714",
+  "episode_index": 449,
+  "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/dag911262r00054f_lerobot_0327_114714_c83a1436/episodes/ep000460/gripper_right_tactile_force_metrics.json b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-09_18-30/outputs_tactile/tactile_cache/dag911262r00054f_lerobot_0327_114714_c83a1436/episodes/ep000460/gripper_right_tactile_force_metrics.json
new file mode 100644
index 0000000000000000000000000000000000000000..ff110a401b3d6dcc76c5b6fc313a8333df001d0d
--- /dev/null
+++ b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-09_18-30/outputs_tactile/tactile_cache/dag911262r00054f_lerobot_0327_114714_c83a1436/episodes/ep000460/gripper_right_tactile_force_metrics.json
@@ -0,0 +1,9 @@
+{
+  "depth_peak": 0.004627893678843975,
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+  "force_magnitude_peak": 0.006135889794677496,
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+  "dataset_name": "dag911262r00054f_lerobot_0327_114714",
+  "episode_index": 460,
+  "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/dag911262r00054f_lerobot_0327_114714_c83a1436/episodes/ep000467/gripper_left_tactile_force_metrics.json b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-09_18-30/outputs_tactile/tactile_cache/dag911262r00054f_lerobot_0327_114714_c83a1436/episodes/ep000467/gripper_left_tactile_force_metrics.json
new file mode 100644
index 0000000000000000000000000000000000000000..8342d61dea3a339e902b8a0cf6042591fee99264
--- /dev/null
+++ b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-09_18-30/outputs_tactile/tactile_cache/dag911262r00054f_lerobot_0327_114714_c83a1436/episodes/ep000467/gripper_left_tactile_force_metrics.json
@@ -0,0 +1,9 @@
+{
+  "depth_peak": 0.0031781469006091356,
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+  "force_magnitude_peak": 0.007884277030825615,
+  "reference_frame_count": 0,
+  "dataset_name": "dag911262r00054f_lerobot_0327_114714",
+  "episode_index": 467,
+  "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/dag911262r00054f_lerobot_0327_114714_c83a1436/episodes/ep000476/gripper_left_tactile_force_metrics.json b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-09_18-30/outputs_tactile/tactile_cache/dag911262r00054f_lerobot_0327_114714_c83a1436/episodes/ep000476/gripper_left_tactile_force_metrics.json
new file mode 100644
index 0000000000000000000000000000000000000000..0b809c4862affc89d281412057603aa2e1be469d
--- /dev/null
+++ b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-09_18-30/outputs_tactile/tactile_cache/dag911262r00054f_lerobot_0327_114714_c83a1436/episodes/ep000476/gripper_left_tactile_force_metrics.json
@@ -0,0 +1,9 @@
+{
+  "depth_peak": 0.0016365977935492992,
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+  "force_magnitude_peak": 0.006953773088753223,
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+  "dataset_name": "dag911262r00054f_lerobot_0327_114714",
+  "episode_index": 476,
+  "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/dag911262r00054f_lerobot_0327_114714_c83a1436/episodes/ep000509/gripper_left_tactile_force_metrics.json b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-09_18-30/outputs_tactile/tactile_cache/dag911262r00054f_lerobot_0327_114714_c83a1436/episodes/ep000509/gripper_left_tactile_force_metrics.json
new file mode 100644
index 0000000000000000000000000000000000000000..3714e5597cc6375529738ce87c6ba43acf03821a
--- /dev/null
+++ b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-09_18-30/outputs_tactile/tactile_cache/dag911262r00054f_lerobot_0327_114714_c83a1436/episodes/ep000509/gripper_left_tactile_force_metrics.json
@@ -0,0 +1,9 @@
+{
+  "depth_peak": 0.0030326289124786854,
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+  "force_magnitude_peak": 0.004590476397424936,
+  "reference_frame_count": 0,
+  "dataset_name": "dag911262r00054f_lerobot_0327_114714",
+  "episode_index": 509,
+  "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/dag911262r00054f_lerobot_0327_114714_c83a1436/episodes/ep000518/gripper_right_tactile_force_metrics.json b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-09_18-30/outputs_tactile/tactile_cache/dag911262r00054f_lerobot_0327_114714_c83a1436/episodes/ep000518/gripper_right_tactile_force_metrics.json
new file mode 100644
index 0000000000000000000000000000000000000000..418e7d38ff8e9830b7ca9df3c701cadae0cb5c30
--- /dev/null
+++ b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-09_18-30/outputs_tactile/tactile_cache/dag911262r00054f_lerobot_0327_114714_c83a1436/episodes/ep000518/gripper_right_tactile_force_metrics.json
@@ -0,0 +1,9 @@
+{
+  "depth_peak": 0.009608788415789604,
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+  "force_magnitude_peak": 0.015270809642970562,
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+  "dataset_name": "dag911262r00054f_lerobot_0327_114714",
+  "episode_index": 518,
+  "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/dag911262r00054f_lerobot_0327_114714_c83a1436/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/dag911262r00054f_lerobot_0327_114714_c83a1436/episodes/ep000526/gripper_right_tactile_force_metrics.json
new file mode 100644
index 0000000000000000000000000000000000000000..ab20cd1c8f2dea8bbf325729a07e439a431defdd
--- /dev/null
+++ b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-09_18-30/outputs_tactile/tactile_cache/dag911262r00054f_lerobot_0327_114714_c83a1436/episodes/ep000526/gripper_right_tactile_force_metrics.json
@@ -0,0 +1,9 @@
+{
+  "depth_peak": 0.004665366839617491,
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+  "force_magnitude_peak": 0.006305744871497154,
+  "reference_frame_count": 0,
+  "dataset_name": "dag911262r00054f_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/dag911262r00054f_lerobot_0327_114714_c83a1436/episodes/ep000527/gripper_left_tactile_force_metrics.json b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-09_18-30/outputs_tactile/tactile_cache/dag911262r00054f_lerobot_0327_114714_c83a1436/episodes/ep000527/gripper_left_tactile_force_metrics.json
new file mode 100644
index 0000000000000000000000000000000000000000..0d105cc6878545fac95becb0389828941455702d
--- /dev/null
+++ b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-09_18-30/outputs_tactile/tactile_cache/dag911262r00054f_lerobot_0327_114714_c83a1436/episodes/ep000527/gripper_left_tactile_force_metrics.json
@@ -0,0 +1,9 @@
+{
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+  "force_magnitude_peak": 0.010832848027348518,
+  "reference_frame_count": 0,
+  "dataset_name": "dag911262r00054f_lerobot_0327_114714",
+  "episode_index": 527,
+  "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/dag911262r00054f_lerobot_0327_114714_c83a1436/episodes/ep000532/gripper_right_tactile_force_metrics.json b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-09_18-30/outputs_tactile/tactile_cache/dag911262r00054f_lerobot_0327_114714_c83a1436/episodes/ep000532/gripper_right_tactile_force_metrics.json
new file mode 100644
index 0000000000000000000000000000000000000000..97b43fa722a8ddb954ebdb6b11032895078a0fa7
--- /dev/null
+++ b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-09_18-30/outputs_tactile/tactile_cache/dag911262r00054f_lerobot_0327_114714_c83a1436/episodes/ep000532/gripper_right_tactile_force_metrics.json
@@ -0,0 +1,9 @@
+{
+  "depth_peak": 0.011339755728840828,
+  "shear_peak": 0.004381049424409866,
+  "force_magnitude_peak": 0.011341642588376999,
+  "reference_frame_count": 0,
+  "dataset_name": "dag911262r00054f_lerobot_0327_114714",
+  "episode_index": 532,
+  "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/dag911262r00054f_lerobot_0327_114714_c83a1436/episodes/ep000534/gripper_right_tactile_force_metrics.json b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-09_18-30/outputs_tactile/tactile_cache/dag911262r00054f_lerobot_0327_114714_c83a1436/episodes/ep000534/gripper_right_tactile_force_metrics.json
new file mode 100644
index 0000000000000000000000000000000000000000..22daee65e8f5f5d4c2c741defad7f9cfb09bb88d
--- /dev/null
+++ b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-09_18-30/outputs_tactile/tactile_cache/dag911262r00054f_lerobot_0327_114714_c83a1436/episodes/ep000534/gripper_right_tactile_force_metrics.json
@@ -0,0 +1,9 @@
+{
+  "depth_peak": 0.007698577828705311,
+  "shear_peak": 0.004885958973318338,
+  "force_magnitude_peak": 0.008335419930517673,
+  "reference_frame_count": 0,
+  "dataset_name": "dag911262r00054f_lerobot_0327_114714",
+  "episode_index": 534,
+  "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/dag911262r00054f_lerobot_0327_114714_c83a1436/episodes/ep000566/gripper_right_tactile_force_metrics.json b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-09_18-30/outputs_tactile/tactile_cache/dag911262r00054f_lerobot_0327_114714_c83a1436/episodes/ep000566/gripper_right_tactile_force_metrics.json
new file mode 100644
index 0000000000000000000000000000000000000000..84c7b3658694e81c14a32f4a69f2c93d7d5bb88f
--- /dev/null
+++ b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-09_18-30/outputs_tactile/tactile_cache/dag911262r00054f_lerobot_0327_114714_c83a1436/episodes/ep000566/gripper_right_tactile_force_metrics.json
@@ -0,0 +1,9 @@
+{
+  "depth_peak": 0.024806246161460876,
+  "shear_peak": 0.015410440042614937,
+  "force_magnitude_peak": 0.028904510661959648,
+  "reference_frame_count": 0,
+  "dataset_name": "dag911262r00054f_lerobot_0327_114714",
+  "episode_index": 566,
+  "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/dag911262r00054f_lerobot_0327_114714_c83a1436/episodes/ep000567/gripper_left_tactile_force_metrics.json b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-09_18-30/outputs_tactile/tactile_cache/dag911262r00054f_lerobot_0327_114714_c83a1436/episodes/ep000567/gripper_left_tactile_force_metrics.json
new file mode 100644
index 0000000000000000000000000000000000000000..1a1e79ce45cc78d9e198d1433adb3ad506320772
--- /dev/null
+++ b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-09_18-30/outputs_tactile/tactile_cache/dag911262r00054f_lerobot_0327_114714_c83a1436/episodes/ep000567/gripper_left_tactile_force_metrics.json
@@ -0,0 +1,9 @@
+{
+  "depth_peak": 0.008493130095303059,
+  "shear_peak": 0.0034402792807668447,
+  "force_magnitude_peak": 0.008500169962644577,
+  "reference_frame_count": 0,
+  "dataset_name": "dag911262r00054f_lerobot_0327_114714",
+  "episode_index": 567,
+  "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/dag911262r00054f_lerobot_0327_114714_c83a1436/episodes/ep000573/gripper_left_tactile_force_metrics.json b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-09_18-30/outputs_tactile/tactile_cache/dag911262r00054f_lerobot_0327_114714_c83a1436/episodes/ep000573/gripper_left_tactile_force_metrics.json
new file mode 100644
index 0000000000000000000000000000000000000000..06be70c94330d58ccc0fe8e1cff146f5e326a4c3
--- /dev/null
+++ b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-09_18-30/outputs_tactile/tactile_cache/dag911262r00054f_lerobot_0327_114714_c83a1436/episodes/ep000573/gripper_left_tactile_force_metrics.json
@@ -0,0 +1,9 @@
+{
+  "depth_peak": 0.001765321008861065,
+  "shear_peak": 0.0028822801541537046,
+  "force_magnitude_peak": 0.003314743284136057,
+  "reference_frame_count": 0,
+  "dataset_name": "dag911262r00054f_lerobot_0327_114714",
+  "episode_index": 573,
+  "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/dag911262r00054f_lerobot_0327_114714_c83a1436/episodes/ep000611/gripper_right_tactile_force_metrics.json b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-09_18-30/outputs_tactile/tactile_cache/dag911262r00054f_lerobot_0327_114714_c83a1436/episodes/ep000611/gripper_right_tactile_force_metrics.json
new file mode 100644
index 0000000000000000000000000000000000000000..a64daa047d1b45c48b09b05862dafac0d744139d
--- /dev/null
+++ b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-09_18-30/outputs_tactile/tactile_cache/dag911262r00054f_lerobot_0327_114714_c83a1436/episodes/ep000611/gripper_right_tactile_force_metrics.json
@@ -0,0 +1,9 @@
+{
+  "depth_peak": 0.006699079647660255,
+  "shear_peak": 0.007334984838962555,
+  "force_magnitude_peak": 0.008691965602338314,
+  "reference_frame_count": 0,
+  "dataset_name": "dag911262r00054f_lerobot_0327_114714",
+  "episode_index": 611,
+  "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/dag911262r00054f_lerobot_0327_114714_c83a1436/episodes/ep000633/gripper_right_tactile_force_metrics.json b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-09_18-30/outputs_tactile/tactile_cache/dag911262r00054f_lerobot_0327_114714_c83a1436/episodes/ep000633/gripper_right_tactile_force_metrics.json
new file mode 100644
index 0000000000000000000000000000000000000000..3a85f4e78662c5cdb9ed729221a89356cd263703
--- /dev/null
+++ b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-09_18-30/outputs_tactile/tactile_cache/dag911262r00054f_lerobot_0327_114714_c83a1436/episodes/ep000633/gripper_right_tactile_force_metrics.json
@@ -0,0 +1,9 @@
+{
+  "depth_peak": 0.009963870979845524,
+  "shear_peak": 0.005683292169123888,
+  "force_magnitude_peak": 0.010043133981525898,
+  "reference_frame_count": 0,
+  "dataset_name": "dag911262r00054f_lerobot_0327_114714",
+  "episode_index": 633,
+  "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/dag911262r00054f_lerobot_0327_114714_c83a1436/episodes/ep000643/gripper_right_tactile_force_metrics.json b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-09_18-30/outputs_tactile/tactile_cache/dag911262r00054f_lerobot_0327_114714_c83a1436/episodes/ep000643/gripper_right_tactile_force_metrics.json
new file mode 100644
index 0000000000000000000000000000000000000000..9f0f6ba2ad4a174b54feaaa71f18864ac26d6132
--- /dev/null
+++ b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-09_18-30/outputs_tactile/tactile_cache/dag911262r00054f_lerobot_0327_114714_c83a1436/episodes/ep000643/gripper_right_tactile_force_metrics.json
@@ -0,0 +1,9 @@
+{
+  "depth_peak": 0.016549069434404373,
+  "shear_peak": 0.007660958915948868,
+  "force_magnitude_peak": 0.017700346186757088,
+  "reference_frame_count": 0,
+  "dataset_name": "dag911262r00054f_lerobot_0327_114714",
+  "episode_index": 643,
+  "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/dag911262r000646_lerobot_0327_114714_56b6c8f1/episodes/ep000012/gripper_right_tactile_force_metrics.json b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-09_18-30/outputs_tactile/tactile_cache/dag911262r000646_lerobot_0327_114714_56b6c8f1/episodes/ep000012/gripper_right_tactile_force_metrics.json
new file mode 100644
index 0000000000000000000000000000000000000000..93a44a10c4f4544924a02afb4c351d853d82664a
--- /dev/null
+++ b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-09_18-30/outputs_tactile/tactile_cache/dag911262r000646_lerobot_0327_114714_56b6c8f1/episodes/ep000012/gripper_right_tactile_force_metrics.json
@@ -0,0 +1,9 @@
+{
+  "depth_peak": 0.002344904001802206,
+  "shear_peak": 0.002891085110604763,
+  "force_magnitude_peak": 0.0030048133339732885,
+  "reference_frame_count": 0,
+  "dataset_name": "dag911262r000646_lerobot_0327_114714",
+  "episode_index": 12,
+  "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/dag911262r000646_lerobot_0327_114714_56b6c8f1/episodes/ep000022/gripper_left_tactile_force_metrics.json b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-09_18-30/outputs_tactile/tactile_cache/dag911262r000646_lerobot_0327_114714_56b6c8f1/episodes/ep000022/gripper_left_tactile_force_metrics.json
new file mode 100644
index 0000000000000000000000000000000000000000..185b04f6bc81842fffe28849d794c08ae7263d51
--- /dev/null
+++ b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-09_18-30/outputs_tactile/tactile_cache/dag911262r000646_lerobot_0327_114714_56b6c8f1/episodes/ep000022/gripper_left_tactile_force_metrics.json
@@ -0,0 +1,9 @@
+{
+  "depth_peak": 0.003097846172749996,
+  "shear_peak": 0.0025355485267937183,
+  "force_magnitude_peak": 0.0032275377307087183,
+  "reference_frame_count": 0,
+  "dataset_name": "dag911262r000646_lerobot_0327_114714",
+  "episode_index": 22,
+  "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/dag911262r000646_lerobot_0327_114714_56b6c8f1/episodes/ep000025/gripper_right_tactile_force_metrics.json b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-09_18-30/outputs_tactile/tactile_cache/dag911262r000646_lerobot_0327_114714_56b6c8f1/episodes/ep000025/gripper_right_tactile_force_metrics.json
new file mode 100644
index 0000000000000000000000000000000000000000..07b25390f4bd6d8cf17c11d1e5b0ea02193c5ba6
--- /dev/null
+++ b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-09_18-30/outputs_tactile/tactile_cache/dag911262r000646_lerobot_0327_114714_56b6c8f1/episodes/ep000025/gripper_right_tactile_force_metrics.json
@@ -0,0 +1,9 @@
+{
+  "depth_peak": 0.006895088590681553,
+  "shear_peak": 0.0032493500038981438,
+  "force_magnitude_peak": 0.006909945979714394,
+  "reference_frame_count": 0,
+  "dataset_name": "dag911262r000646_lerobot_0327_114714",
+  "episode_index": 25,
+  "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/dag911262r000646_lerobot_0327_114714_56b6c8f1/episodes/ep000036/gripper_right_tactile_force_metrics.json b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-09_18-30/outputs_tactile/tactile_cache/dag911262r000646_lerobot_0327_114714_56b6c8f1/episodes/ep000036/gripper_right_tactile_force_metrics.json
new file mode 100644
index 0000000000000000000000000000000000000000..b3f1c41cc8b1d9f2e6d23ca7810bc225807059a8
--- /dev/null
+++ b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-09_18-30/outputs_tactile/tactile_cache/dag911262r000646_lerobot_0327_114714_56b6c8f1/episodes/ep000036/gripper_right_tactile_force_metrics.json
@@ -0,0 +1,9 @@
+{
+  "depth_peak": 0.004769698716700077,
+  "shear_peak": 0.0022156722843647003,
+  "force_magnitude_peak": 0.005259204190224409,
+  "reference_frame_count": 0,
+  "dataset_name": "dag911262r000646_lerobot_0327_114714",
+  "episode_index": 36,
+  "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/dag911262r000646_lerobot_0327_114714_56b6c8f1/episodes/ep000072/gripper_left_tactile_force_metrics.json b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-09_18-30/outputs_tactile/tactile_cache/dag911262r000646_lerobot_0327_114714_56b6c8f1/episodes/ep000072/gripper_left_tactile_force_metrics.json
new file mode 100644
index 0000000000000000000000000000000000000000..339ad095c7c9d57bab6566c698f07387e20c1e8e
--- /dev/null
+++ b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-09_18-30/outputs_tactile/tactile_cache/dag911262r000646_lerobot_0327_114714_56b6c8f1/episodes/ep000072/gripper_left_tactile_force_metrics.json
@@ -0,0 +1,9 @@
+{
+  "depth_peak": 0.0039545162580907345,
+  "shear_peak": 0.0032132421620190144,
+  "force_magnitude_peak": 0.004339328967034817,
+  "reference_frame_count": 0,
+  "dataset_name": "dag911262r000646_lerobot_0327_114714",
+  "episode_index": 72,
+  "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/dag911262r000646_lerobot_0327_114714_56b6c8f1/episodes/ep000092/gripper_right_tactile_force_metrics.json b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-09_18-30/outputs_tactile/tactile_cache/dag911262r000646_lerobot_0327_114714_56b6c8f1/episodes/ep000092/gripper_right_tactile_force_metrics.json
new file mode 100644
index 0000000000000000000000000000000000000000..bfa13568f8713b6c66e4c5e3a574bb1c0f9b3d3c
--- /dev/null
+++ b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-09_18-30/outputs_tactile/tactile_cache/dag911262r000646_lerobot_0327_114714_56b6c8f1/episodes/ep000092/gripper_right_tactile_force_metrics.json
@@ -0,0 +1,9 @@
+{
+  "depth_peak": 0.0018690276192501187,
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+  "force_magnitude_peak": 0.003969212993979454,
+  "reference_frame_count": 0,
+  "dataset_name": "dag911262r000646_lerobot_0327_114714",
+  "episode_index": 92,
+  "sensor": "gripper_right_tactile"
+}
\ No newline at end of file
diff --git a/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-09_18-30/outputs_tactile/tactile_cache/dag911262r000646_lerobot_0327_114714_56b6c8f1/episodes/ep000112/gripper_left_tactile_force_metrics.json b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-09_18-30/outputs_tactile/tactile_cache/dag911262r000646_lerobot_0327_114714_56b6c8f1/episodes/ep000112/gripper_left_tactile_force_metrics.json
new file mode 100644
index 0000000000000000000000000000000000000000..e75aae9b2cc65a2c48e42114e151341108da3b66
--- /dev/null
+++ b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-09_18-30/outputs_tactile/tactile_cache/dag911262r000646_lerobot_0327_114714_56b6c8f1/episodes/ep000112/gripper_left_tactile_force_metrics.json
@@ -0,0 +1,9 @@
+{
+  "depth_peak": 0.0033190534450113773,
+  "shear_peak": 0.007167463656514883,
+  "force_magnitude_peak": 0.007346895057708025,
+  "reference_frame_count": 0,
+  "dataset_name": "dag911262r000646_lerobot_0327_114714",
+  "episode_index": 112,
+  "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/dag911262r000646_lerobot_0327_114714_56b6c8f1/episodes/ep000127/gripper_left_tactile_force_metrics.json b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-09_18-30/outputs_tactile/tactile_cache/dag911262r000646_lerobot_0327_114714_56b6c8f1/episodes/ep000127/gripper_left_tactile_force_metrics.json
new file mode 100644
index 0000000000000000000000000000000000000000..47e6905e849eb2f946b0a9604ef8101100c74dc3
--- /dev/null
+++ b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-09_18-30/outputs_tactile/tactile_cache/dag911262r000646_lerobot_0327_114714_56b6c8f1/episodes/ep000127/gripper_left_tactile_force_metrics.json
@@ -0,0 +1,9 @@
+{
+  "depth_peak": 0.002707943320274353,
+  "shear_peak": 0.0022262325510382652,
+  "force_magnitude_peak": 0.003492244752123952,
+  "reference_frame_count": 0,
+  "dataset_name": "dag911262r000646_lerobot_0327_114714",
+  "episode_index": 127,
+  "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/dag911262r000646_lerobot_0327_114714_56b6c8f1/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/dag911262r000646_lerobot_0327_114714_56b6c8f1/episodes/ep000150/gripper_right_tactile_force_metrics.json
new file mode 100644
index 0000000000000000000000000000000000000000..df8de1a459c9e69517357c92ceb4d90c3f775384
--- /dev/null
+++ b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-09_18-30/outputs_tactile/tactile_cache/dag911262r000646_lerobot_0327_114714_56b6c8f1/episodes/ep000150/gripper_right_tactile_force_metrics.json
@@ -0,0 +1,9 @@
+{
+  "depth_peak": 0.004075390752404928,
+  "shear_peak": 0.006171526852995157,
+  "force_magnitude_peak": 0.007285470608621836,
+  "reference_frame_count": 0,
+  "dataset_name": "dag911262r000646_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/dag911262r000646_lerobot_0327_114714_56b6c8f1/episodes/ep000156/gripper_right_tactile_force_metrics.json b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-09_18-30/outputs_tactile/tactile_cache/dag911262r000646_lerobot_0327_114714_56b6c8f1/episodes/ep000156/gripper_right_tactile_force_metrics.json
new file mode 100644
index 0000000000000000000000000000000000000000..97476076db095db8a34b208bb73452c93205f4c1
--- /dev/null
+++ b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-09_18-30/outputs_tactile/tactile_cache/dag911262r000646_lerobot_0327_114714_56b6c8f1/episodes/ep000156/gripper_right_tactile_force_metrics.json
@@ -0,0 +1,9 @@
+{
+  "depth_peak": 0.001351693645119667,
+  "shear_peak": 0.00272198929451406,
+  "force_magnitude_peak": 0.0028805453330278397,
+  "reference_frame_count": 0,
+  "dataset_name": "dag911262r000646_lerobot_0327_114714",
+  "episode_index": 156,
+  "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/dag911262r000646_lerobot_0327_114714_56b6c8f1/episodes/ep000161/gripper_left_tactile_force_metrics.json b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-09_18-30/outputs_tactile/tactile_cache/dag911262r000646_lerobot_0327_114714_56b6c8f1/episodes/ep000161/gripper_left_tactile_force_metrics.json
new file mode 100644
index 0000000000000000000000000000000000000000..62f2cd7c0c5b900de6562e4ccb7a1c3f8449596b
--- /dev/null
+++ b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-09_18-30/outputs_tactile/tactile_cache/dag911262r000646_lerobot_0327_114714_56b6c8f1/episodes/ep000161/gripper_left_tactile_force_metrics.json
@@ -0,0 +1,9 @@
+{
+  "depth_peak": 0.004463793709874153,
+  "shear_peak": 0.0028141241054981947,
+  "force_magnitude_peak": 0.004469611681997776,
+  "reference_frame_count": 0,
+  "dataset_name": "dag911262r000646_lerobot_0327_114714",
+  "episode_index": 161,
+  "sensor": "gripper_left_tactile"
+}
\ No newline at end of file
diff --git a/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-09_18-30/outputs_tactile/tactile_cache/dag911262r000646_lerobot_0327_114714_56b6c8f1/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/dag911262r000646_lerobot_0327_114714_56b6c8f1/episodes/ep000162/gripper_right_tactile_force_metrics.json
new file mode 100644
index 0000000000000000000000000000000000000000..418f4cdbaae095d4defc10befd2b54302c3bf7e4
--- /dev/null
+++ b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-09_18-30/outputs_tactile/tactile_cache/dag911262r000646_lerobot_0327_114714_56b6c8f1/episodes/ep000162/gripper_right_tactile_force_metrics.json
@@ -0,0 +1,9 @@
+{
+  "depth_peak": 0.003645114367827773,
+  "shear_peak": 0.002545434981584549,
+  "force_magnitude_peak": 0.003945767879486084,
+  "reference_frame_count": 0,
+  "dataset_name": "dag911262r000646_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/dag911262r000646_lerobot_0327_114714_56b6c8f1/episodes/ep000167/gripper_left_tactile_force_metrics.json b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-09_18-30/outputs_tactile/tactile_cache/dag911262r000646_lerobot_0327_114714_56b6c8f1/episodes/ep000167/gripper_left_tactile_force_metrics.json
new file mode 100644
index 0000000000000000000000000000000000000000..9479746da699587f8e3fd0104925f788c271f79f
--- /dev/null
+++ b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-09_18-30/outputs_tactile/tactile_cache/dag911262r000646_lerobot_0327_114714_56b6c8f1/episodes/ep000167/gripper_left_tactile_force_metrics.json
@@ -0,0 +1,9 @@
+{
+  "depth_peak": 0.006418249104171991,
+  "shear_peak": 0.0047713881358504295,
+  "force_magnitude_peak": 0.007370083127170801,
+  "reference_frame_count": 0,
+  "dataset_name": "dag911262r000646_lerobot_0327_114714",
+  "episode_index": 167,
+  "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/dag911262r000646_lerobot_0327_114714_56b6c8f1/episodes/ep000185/gripper_right_tactile_force_metrics.json b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-09_18-30/outputs_tactile/tactile_cache/dag911262r000646_lerobot_0327_114714_56b6c8f1/episodes/ep000185/gripper_right_tactile_force_metrics.json
new file mode 100644
index 0000000000000000000000000000000000000000..0630bfee3007499ada90f3793b25df6041e7c5fe
--- /dev/null
+++ b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-09_18-30/outputs_tactile/tactile_cache/dag911262r000646_lerobot_0327_114714_56b6c8f1/episodes/ep000185/gripper_right_tactile_force_metrics.json
@@ -0,0 +1,9 @@
+{
+  "depth_peak": 0.005748416297137737,
+  "shear_peak": 0.005682982038706541,
+  "force_magnitude_peak": 0.007642487529665232,
+  "reference_frame_count": 0,
+  "dataset_name": "dag911262r000646_lerobot_0327_114714",
+  "episode_index": 185,
+  "sensor": "gripper_right_tactile"
+}
\ No newline at end of file
diff --git a/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-09_18-30/outputs_tactile/tactile_cache/dag911262r000646_lerobot_0327_114714_56b6c8f1/episodes/ep000192/gripper_left_tactile_force_metrics.json b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-09_18-30/outputs_tactile/tactile_cache/dag911262r000646_lerobot_0327_114714_56b6c8f1/episodes/ep000192/gripper_left_tactile_force_metrics.json
new file mode 100644
index 0000000000000000000000000000000000000000..698bd4ccfba74a1220d79f6c9d36e8a1f4536455
--- /dev/null
+++ b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-09_18-30/outputs_tactile/tactile_cache/dag911262r000646_lerobot_0327_114714_56b6c8f1/episodes/ep000192/gripper_left_tactile_force_metrics.json
@@ -0,0 +1,9 @@
+{
+  "depth_peak": 0.0021865572780370712,
+  "shear_peak": 0.002847119467332959,
+  "force_magnitude_peak": 0.003278046613559127,
+  "reference_frame_count": 0,
+  "dataset_name": "dag911262r000646_lerobot_0327_114714",
+  "episode_index": 192,
+  "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/dag911262r000646_lerobot_0327_114714_56b6c8f1/episodes/ep000196/gripper_right_tactile_force_metrics.json b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-09_18-30/outputs_tactile/tactile_cache/dag911262r000646_lerobot_0327_114714_56b6c8f1/episodes/ep000196/gripper_right_tactile_force_metrics.json
new file mode 100644
index 0000000000000000000000000000000000000000..e80517e73d847ace9a212111f56ca5afee8c0114
--- /dev/null
+++ b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-09_18-30/outputs_tactile/tactile_cache/dag911262r000646_lerobot_0327_114714_56b6c8f1/episodes/ep000196/gripper_right_tactile_force_metrics.json
@@ -0,0 +1,9 @@
+{
+  "depth_peak": 0.011718057096004486,
+  "shear_peak": 0.007000185549259186,
+  "force_magnitude_peak": 0.012973872013390064,
+  "reference_frame_count": 0,
+  "dataset_name": "dag911262r000646_lerobot_0327_114714",
+  "episode_index": 196,
+  "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/dag911262r000646_lerobot_0327_114714_56b6c8f1/episodes/ep000232/gripper_left_tactile_force_metrics.json b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-09_18-30/outputs_tactile/tactile_cache/dag911262r000646_lerobot_0327_114714_56b6c8f1/episodes/ep000232/gripper_left_tactile_force_metrics.json
new file mode 100644
index 0000000000000000000000000000000000000000..f7f9e77fa1f54071745ad455e7265494635e9aa2
--- /dev/null
+++ b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-09_18-30/outputs_tactile/tactile_cache/dag911262r000646_lerobot_0327_114714_56b6c8f1/episodes/ep000232/gripper_left_tactile_force_metrics.json
@@ -0,0 +1,9 @@
+{
+  "depth_peak": 0.005485198926180601,
+  "shear_peak": 0.0020677184220403433,
+  "force_magnitude_peak": 0.005563066806644201,
+  "reference_frame_count": 0,
+  "dataset_name": "dag911262r000646_lerobot_0327_114714",
+  "episode_index": 232,
+  "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/dag911262r000646_lerobot_0327_114714_56b6c8f1/episodes/ep000247/gripper_left_tactile_force_metrics.json b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-09_18-30/outputs_tactile/tactile_cache/dag911262r000646_lerobot_0327_114714_56b6c8f1/episodes/ep000247/gripper_left_tactile_force_metrics.json
new file mode 100644
index 0000000000000000000000000000000000000000..2379650f097dfd1ebc5d5d847f944a4a574c1676
--- /dev/null
+++ b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-09_18-30/outputs_tactile/tactile_cache/dag911262r000646_lerobot_0327_114714_56b6c8f1/episodes/ep000247/gripper_left_tactile_force_metrics.json
@@ -0,0 +1,9 @@
+{
+  "depth_peak": 0.0009062726167030632,
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+  "force_magnitude_peak": 0.003061818890273571,
+  "reference_frame_count": 0,
+  "dataset_name": "dag911262r000646_lerobot_0327_114714",
+  "episode_index": 247,
+  "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/dag911262r000646_lerobot_0327_114714_56b6c8f1/episodes/ep000265/gripper_right_tactile_force_metrics.json b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-09_18-30/outputs_tactile/tactile_cache/dag911262r000646_lerobot_0327_114714_56b6c8f1/episodes/ep000265/gripper_right_tactile_force_metrics.json
new file mode 100644
index 0000000000000000000000000000000000000000..3abcb3f52a27289ef0d490a342dabbf74f44e586
--- /dev/null
+++ b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-09_18-30/outputs_tactile/tactile_cache/dag911262r000646_lerobot_0327_114714_56b6c8f1/episodes/ep000265/gripper_right_tactile_force_metrics.json
@@ -0,0 +1,9 @@
+{
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+  "force_magnitude_peak": 0.008596258237957954,
+  "reference_frame_count": 0,
+  "dataset_name": "dag911262r000646_lerobot_0327_114714",
+  "episode_index": 265,
+  "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/dag911262r000646_lerobot_0327_114714_56b6c8f1/episodes/ep000272/gripper_left_tactile_force_metrics.json b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-09_18-30/outputs_tactile/tactile_cache/dag911262r000646_lerobot_0327_114714_56b6c8f1/episodes/ep000272/gripper_left_tactile_force_metrics.json
new file mode 100644
index 0000000000000000000000000000000000000000..fa50df8edb128d62486643a736e4e07caaed107e
--- /dev/null
+++ b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-09_18-30/outputs_tactile/tactile_cache/dag911262r000646_lerobot_0327_114714_56b6c8f1/episodes/ep000272/gripper_left_tactile_force_metrics.json
@@ -0,0 +1,9 @@
+{
+  "depth_peak": 0.004568299278616905,
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+  "force_magnitude_peak": 0.004755659494549036,
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+  "dataset_name": "dag911262r000646_lerobot_0327_114714",
+  "episode_index": 272,
+  "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/dag911262r000646_lerobot_0327_114714_56b6c8f1/episodes/ep000276/gripper_right_tactile_force_metrics.json b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-09_18-30/outputs_tactile/tactile_cache/dag911262r000646_lerobot_0327_114714_56b6c8f1/episodes/ep000276/gripper_right_tactile_force_metrics.json
new file mode 100644
index 0000000000000000000000000000000000000000..1e7e091bd16bf971cc4c7348ccb1544d4c1244b7
--- /dev/null
+++ b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-09_18-30/outputs_tactile/tactile_cache/dag911262r000646_lerobot_0327_114714_56b6c8f1/episodes/ep000276/gripper_right_tactile_force_metrics.json
@@ -0,0 +1,9 @@
+{
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+  "force_magnitude_peak": 0.005821966100484133,
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+  "dataset_name": "dag911262r000646_lerobot_0327_114714",
+  "episode_index": 276,
+  "sensor": "gripper_right_tactile"
+}
\ No newline at end of file
diff --git a/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-09_18-30/outputs_tactile/tactile_cache/dag911262r000646_lerobot_0327_114714_56b6c8f1/episodes/ep000292/gripper_right_tactile_force_metrics.json b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-09_18-30/outputs_tactile/tactile_cache/dag911262r000646_lerobot_0327_114714_56b6c8f1/episodes/ep000292/gripper_right_tactile_force_metrics.json
new file mode 100644
index 0000000000000000000000000000000000000000..c5a5487fc3e225a542f6bf9b890632a25dfea665
--- /dev/null
+++ b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-09_18-30/outputs_tactile/tactile_cache/dag911262r000646_lerobot_0327_114714_56b6c8f1/episodes/ep000292/gripper_right_tactile_force_metrics.json
@@ -0,0 +1,9 @@
+{
+  "depth_peak": 0.006767893675714731,
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+  "force_magnitude_peak": 0.006799801252782345,
+  "reference_frame_count": 0,
+  "dataset_name": "dag911262r000646_lerobot_0327_114714",
+  "episode_index": 292,
+  "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/dag911262r000646_lerobot_0327_114714_56b6c8f1/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/dag911262r000646_lerobot_0327_114714_56b6c8f1/episodes/ep000310/gripper_right_tactile_force_metrics.json
new file mode 100644
index 0000000000000000000000000000000000000000..b6968e671293c3d44c87d0c6ad03ea4e8570f9a4
--- /dev/null
+++ b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-09_18-30/outputs_tactile/tactile_cache/dag911262r000646_lerobot_0327_114714_56b6c8f1/episodes/ep000310/gripper_right_tactile_force_metrics.json
@@ -0,0 +1,9 @@
+{
+  "depth_peak": 0.010668261907994747,
+  "shear_peak": 0.007699924986809492,
+  "force_magnitude_peak": 0.011800156906247139,
+  "reference_frame_count": 0,
+  "dataset_name": "dag911262r000646_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/dag911262r000646_lerobot_0327_114714_56b6c8f1/episodes/ep000316/gripper_right_tactile_force_metrics.json b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-09_18-30/outputs_tactile/tactile_cache/dag911262r000646_lerobot_0327_114714_56b6c8f1/episodes/ep000316/gripper_right_tactile_force_metrics.json
new file mode 100644
index 0000000000000000000000000000000000000000..f00a34a57cd851d4f3afc819e2d28b64afcd497e
--- /dev/null
+++ b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-09_18-30/outputs_tactile/tactile_cache/dag911262r000646_lerobot_0327_114714_56b6c8f1/episodes/ep000316/gripper_right_tactile_force_metrics.json
@@ -0,0 +1,9 @@
+{
+  "depth_peak": 0.012131846509873867,
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+  "force_magnitude_peak": 0.012645792216062546,
+  "reference_frame_count": 0,
+  "dataset_name": "dag911262r000646_lerobot_0327_114714",
+  "episode_index": 316,
+  "sensor": "gripper_right_tactile"
+}
\ No newline at end of file
diff --git a/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-09_18-30/outputs_tactile/tactile_cache/dag911262r000646_lerobot_0327_114714_56b6c8f1/episodes/ep000390/gripper_right_tactile_force_metrics.json b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-09_18-30/outputs_tactile/tactile_cache/dag911262r000646_lerobot_0327_114714_56b6c8f1/episodes/ep000390/gripper_right_tactile_force_metrics.json
new file mode 100644
index 0000000000000000000000000000000000000000..22cb16fd1beda89b2b64a93c74970d045debe184
--- /dev/null
+++ b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-09_18-30/outputs_tactile/tactile_cache/dag911262r000646_lerobot_0327_114714_56b6c8f1/episodes/ep000390/gripper_right_tactile_force_metrics.json
@@ -0,0 +1,9 @@
+{
+  "depth_peak": 0.008212710730731487,
+  "shear_peak": 0.003508386667817831,
+  "force_magnitude_peak": 0.008369271643459797,
+  "reference_frame_count": 0,
+  "dataset_name": "dag911262r000646_lerobot_0327_114714",
+  "episode_index": 390,
+  "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/dag911262r000646_lerobot_0327_114714_56b6c8f1/episodes/ep000392/gripper_left_tactile_force_metrics.json b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-09_18-30/outputs_tactile/tactile_cache/dag911262r000646_lerobot_0327_114714_56b6c8f1/episodes/ep000392/gripper_left_tactile_force_metrics.json
new file mode 100644
index 0000000000000000000000000000000000000000..924499a6778ac5fb3e4b3019f2350119c537ade2
--- /dev/null
+++ b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-09_18-30/outputs_tactile/tactile_cache/dag911262r000646_lerobot_0327_114714_56b6c8f1/episodes/ep000392/gripper_left_tactile_force_metrics.json
@@ -0,0 +1,9 @@
+{
+  "depth_peak": 0.002157231094315648,
+  "shear_peak": 0.002112549962475896,
+  "force_magnitude_peak": 0.0030438511166721582,
+  "reference_frame_count": 0,
+  "dataset_name": "dag911262r000646_lerobot_0327_114714",
+  "episode_index": 392,
+  "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/dag911262r001146_lerobot_0327_114714_a3277ce5/episodes/ep000036/gripper_right_tactile_force_metrics.json b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-09_18-30/outputs_tactile/tactile_cache/dag911262r001146_lerobot_0327_114714_a3277ce5/episodes/ep000036/gripper_right_tactile_force_metrics.json
new file mode 100644
index 0000000000000000000000000000000000000000..fb32c8540ca6a3382eef2eadebf30396df89b34b
--- /dev/null
+++ b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-09_18-30/outputs_tactile/tactile_cache/dag911262r001146_lerobot_0327_114714_a3277ce5/episodes/ep000036/gripper_right_tactile_force_metrics.json
@@ -0,0 +1,9 @@
+{
+  "depth_peak": 0.0076106274500489235,
+  "shear_peak": 0.013704841025173664,
+  "force_magnitude_peak": 0.015454309061169624,
+  "reference_frame_count": 0,
+  "dataset_name": "dag911262r001146_lerobot_0327_114714",
+  "episode_index": 36,
+  "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/dag911262r001146_lerobot_0327_114714_a3277ce5/episodes/ep000053/gripper_left_tactile_force_metrics.json b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-09_18-30/outputs_tactile/tactile_cache/dag911262r001146_lerobot_0327_114714_a3277ce5/episodes/ep000053/gripper_left_tactile_force_metrics.json
new file mode 100644
index 0000000000000000000000000000000000000000..9bc403226fb98d124d78e1749be5420155c93c5d
--- /dev/null
+++ b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-09_18-30/outputs_tactile/tactile_cache/dag911262r001146_lerobot_0327_114714_a3277ce5/episodes/ep000053/gripper_left_tactile_force_metrics.json
@@ -0,0 +1,9 @@
+{
+  "depth_peak": 0.002589888870716095,
+  "shear_peak": 0.0065361857414245605,
+  "force_magnitude_peak": 0.0067897760309278965,
+  "reference_frame_count": 0,
+  "dataset_name": "dag911262r001146_lerobot_0327_114714",
+  "episode_index": 53,
+  "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/dag911262r001146_lerobot_0327_114714_a3277ce5/episodes/ep000105/gripper_right_tactile_force_metrics.json b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-09_18-30/outputs_tactile/tactile_cache/dag911262r001146_lerobot_0327_114714_a3277ce5/episodes/ep000105/gripper_right_tactile_force_metrics.json
new file mode 100644
index 0000000000000000000000000000000000000000..2a4eb4ea48b7088b632fe0f95a65b4a87cdf8aa8
--- /dev/null
+++ b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-09_18-30/outputs_tactile/tactile_cache/dag911262r001146_lerobot_0327_114714_a3277ce5/episodes/ep000105/gripper_right_tactile_force_metrics.json
@@ -0,0 +1,9 @@
+{
+  "depth_peak": 0.0077639613300561905,
+  "shear_peak": 0.009231863543391228,
+  "force_magnitude_peak": 0.01206260360777378,
+  "reference_frame_count": 0,
+  "dataset_name": "dag911262r001146_lerobot_0327_114714",
+  "episode_index": 105,
+  "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/dag911262r001146_lerobot_0327_114714_a3277ce5/episodes/ep000116/gripper_right_tactile_force_metrics.json b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-09_18-30/outputs_tactile/tactile_cache/dag911262r001146_lerobot_0327_114714_a3277ce5/episodes/ep000116/gripper_right_tactile_force_metrics.json
new file mode 100644
index 0000000000000000000000000000000000000000..43a8ecfac588c0dbc5990bf5884a0f43b1174df9
--- /dev/null
+++ b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-09_18-30/outputs_tactile/tactile_cache/dag911262r001146_lerobot_0327_114714_a3277ce5/episodes/ep000116/gripper_right_tactile_force_metrics.json
@@ -0,0 +1,9 @@
+{
+  "depth_peak": 0.014147769659757614,
+  "shear_peak": 0.011212484911084175,
+  "force_magnitude_peak": 0.014206781052052975,
+  "reference_frame_count": 0,
+  "dataset_name": "dag911262r001146_lerobot_0327_114714",
+  "episode_index": 116,
+  "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/dag911262r001146_lerobot_0327_114714_a3277ce5/episodes/ep000145/gripper_right_tactile_force_metrics.json b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-09_18-30/outputs_tactile/tactile_cache/dag911262r001146_lerobot_0327_114714_a3277ce5/episodes/ep000145/gripper_right_tactile_force_metrics.json
new file mode 100644
index 0000000000000000000000000000000000000000..636d52e1bff9f15184e67e7d6cd0a39aa04cffeb
--- /dev/null
+++ b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-09_18-30/outputs_tactile/tactile_cache/dag911262r001146_lerobot_0327_114714_a3277ce5/episodes/ep000145/gripper_right_tactile_force_metrics.json
@@ -0,0 +1,9 @@
+{
+  "depth_peak": 0.003073321422562003,
+  "shear_peak": 0.008647060953080654,
+  "force_magnitude_peak": 0.008651560172438622,
+  "reference_frame_count": 0,
+  "dataset_name": "dag911262r001146_lerobot_0327_114714",
+  "episode_index": 145,
+  "sensor": "gripper_right_tactile"
+}
\ No newline at end of file
diff --git a/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-09_18-30/outputs_tactile/tactile_cache/dag911262r001146_lerobot_0327_114714_a3277ce5/episodes/ep000151/gripper_right_tactile_force_metrics.json b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-09_18-30/outputs_tactile/tactile_cache/dag911262r001146_lerobot_0327_114714_a3277ce5/episodes/ep000151/gripper_right_tactile_force_metrics.json
new file mode 100644
index 0000000000000000000000000000000000000000..18daccaef31deaa2428667656b9a44248ff496c0
--- /dev/null
+++ b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-09_18-30/outputs_tactile/tactile_cache/dag911262r001146_lerobot_0327_114714_a3277ce5/episodes/ep000151/gripper_right_tactile_force_metrics.json
@@ -0,0 +1,9 @@
+{
+  "depth_peak": 0.0015081764431670308,
+  "shear_peak": 0.010644834488630295,
+  "force_magnitude_peak": 0.01087381411343813,
+  "reference_frame_count": 0,
+  "dataset_name": "dag911262r001146_lerobot_0327_114714",
+  "episode_index": 151,
+  "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/dag911262r001146_lerobot_0327_114714_a3277ce5/episodes/ep000156/gripper_right_tactile_force_metrics.json b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-09_18-30/outputs_tactile/tactile_cache/dag911262r001146_lerobot_0327_114714_a3277ce5/episodes/ep000156/gripper_right_tactile_force_metrics.json
new file mode 100644
index 0000000000000000000000000000000000000000..4b027c4c5fb6f58452ce34fe9e96a63a7b97c367
--- /dev/null
+++ b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-09_18-30/outputs_tactile/tactile_cache/dag911262r001146_lerobot_0327_114714_a3277ce5/episodes/ep000156/gripper_right_tactile_force_metrics.json
@@ -0,0 +1,9 @@
+{
+  "depth_peak": 0.009843438863754272,
+  "shear_peak": 0.009274952113628387,
+  "force_magnitude_peak": 0.011324075050652027,
+  "reference_frame_count": 0,
+  "dataset_name": "dag911262r001146_lerobot_0327_114714",
+  "episode_index": 156,
+  "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/dag911262r001146_lerobot_0327_114714_a3277ce5/episodes/ep000185/gripper_right_tactile_force_metrics.json b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-09_18-30/outputs_tactile/tactile_cache/dag911262r001146_lerobot_0327_114714_a3277ce5/episodes/ep000185/gripper_right_tactile_force_metrics.json
new file mode 100644
index 0000000000000000000000000000000000000000..f7a533f95eb57853eb3b1fdfa609527e285ce49b
--- /dev/null
+++ b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-09_18-30/outputs_tactile/tactile_cache/dag911262r001146_lerobot_0327_114714_a3277ce5/episodes/ep000185/gripper_right_tactile_force_metrics.json
@@ -0,0 +1,9 @@
+{
+  "depth_peak": 0.005773773416876793,
+  "shear_peak": 0.002683001570403576,
+  "force_magnitude_peak": 0.005774150602519512,
+  "reference_frame_count": 0,
+  "dataset_name": "dag911262r001146_lerobot_0327_114714",
+  "episode_index": 185,
+  "sensor": "gripper_right_tactile"
+}
\ No newline at end of file
diff --git a/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-09_18-30/outputs_tactile/tactile_cache/dag911262r001146_lerobot_0327_114714_a3277ce5/episodes/ep000191/gripper_right_tactile_force_metrics.json b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-09_18-30/outputs_tactile/tactile_cache/dag911262r001146_lerobot_0327_114714_a3277ce5/episodes/ep000191/gripper_right_tactile_force_metrics.json
new file mode 100644
index 0000000000000000000000000000000000000000..1effac06702cfee6e8a8964dd109102dd625af58
--- /dev/null
+++ b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-09_18-30/outputs_tactile/tactile_cache/dag911262r001146_lerobot_0327_114714_a3277ce5/episodes/ep000191/gripper_right_tactile_force_metrics.json
@@ -0,0 +1,9 @@
+{
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+  "force_magnitude_peak": 0.014393186196684837,
+  "reference_frame_count": 0,
+  "dataset_name": "dag911262r001146_lerobot_0327_114714",
+  "episode_index": 191,
+  "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/dag911262r001146_lerobot_0327_114714_a3277ce5/episodes/ep000196/gripper_right_tactile_force_metrics.json b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-09_18-30/outputs_tactile/tactile_cache/dag911262r001146_lerobot_0327_114714_a3277ce5/episodes/ep000196/gripper_right_tactile_force_metrics.json
new file mode 100644
index 0000000000000000000000000000000000000000..c7b4594ead2f5b8dce2697044cc344094d1933fb
--- /dev/null
+++ b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-09_18-30/outputs_tactile/tactile_cache/dag911262r001146_lerobot_0327_114714_a3277ce5/episodes/ep000196/gripper_right_tactile_force_metrics.json
@@ -0,0 +1,9 @@
+{
+  "depth_peak": 0.005114507395774126,
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+  "force_magnitude_peak": 0.009394852444529533,
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+  "dataset_name": "dag911262r001146_lerobot_0327_114714",
+  "episode_index": 196,
+  "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/dag911262r001146_lerobot_0327_114714_a3277ce5/episodes/ep000236/gripper_right_tactile_force_metrics.json b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-09_18-30/outputs_tactile/tactile_cache/dag911262r001146_lerobot_0327_114714_a3277ce5/episodes/ep000236/gripper_right_tactile_force_metrics.json
new file mode 100644
index 0000000000000000000000000000000000000000..e27c2a396f5cbd3e30018752585cbbc46cf9c161
--- /dev/null
+++ b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-09_18-30/outputs_tactile/tactile_cache/dag911262r001146_lerobot_0327_114714_a3277ce5/episodes/ep000236/gripper_right_tactile_force_metrics.json
@@ -0,0 +1,9 @@
+{
+  "depth_peak": 0.015480924397706985,
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+  "force_magnitude_peak": 0.016468960791826248,
+  "reference_frame_count": 0,
+  "dataset_name": "dag911262r001146_lerobot_0327_114714",
+  "episode_index": 236,
+  "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/dag911262r001146_lerobot_0327_114714_a3277ce5/episodes/ep000255/gripper_right_tactile_force_metrics.json b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-09_18-30/outputs_tactile/tactile_cache/dag911262r001146_lerobot_0327_114714_a3277ce5/episodes/ep000255/gripper_right_tactile_force_metrics.json
new file mode 100644
index 0000000000000000000000000000000000000000..3e7f308b6d028a9dba0f51bd0a88f88da2a2d061
--- /dev/null
+++ b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-09_18-30/outputs_tactile/tactile_cache/dag911262r001146_lerobot_0327_114714_a3277ce5/episodes/ep000255/gripper_right_tactile_force_metrics.json
@@ -0,0 +1,9 @@
+{
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+  "force_magnitude_peak": 0.007458859123289585,
+  "reference_frame_count": 0,
+  "dataset_name": "dag911262r001146_lerobot_0327_114714",
+  "episode_index": 255,
+  "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/dag911262r001146_lerobot_0327_114714_a3277ce5/episodes/ep000281/gripper_left_tactile_force_metrics.json b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-09_18-30/outputs_tactile/tactile_cache/dag911262r001146_lerobot_0327_114714_a3277ce5/episodes/ep000281/gripper_left_tactile_force_metrics.json
new file mode 100644
index 0000000000000000000000000000000000000000..f4ef866f57240d7bfb1575d0fadf0379ba33a9de
--- /dev/null
+++ b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-09_18-30/outputs_tactile/tactile_cache/dag911262r001146_lerobot_0327_114714_a3277ce5/episodes/ep000281/gripper_left_tactile_force_metrics.json
@@ -0,0 +1,9 @@
+{
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+  "force_magnitude_peak": 0.007707502227276564,
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+  "dataset_name": "dag911262r001146_lerobot_0327_114714",
+  "episode_index": 281,
+  "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/dag911262r001146_lerobot_0327_114714_a3277ce5/episodes/ep000385/gripper_right_tactile_force_metrics.json b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-09_18-30/outputs_tactile/tactile_cache/dag911262r001146_lerobot_0327_114714_a3277ce5/episodes/ep000385/gripper_right_tactile_force_metrics.json
new file mode 100644
index 0000000000000000000000000000000000000000..5c9bcd37563e9ff94fccc163f3039fdbc8eab0a5
--- /dev/null
+++ b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-09_18-30/outputs_tactile/tactile_cache/dag911262r001146_lerobot_0327_114714_a3277ce5/episodes/ep000385/gripper_right_tactile_force_metrics.json
@@ -0,0 +1,9 @@
+{
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+  "force_magnitude_peak": 0.022332146763801575,
+  "reference_frame_count": 0,
+  "dataset_name": "dag911262r001146_lerobot_0327_114714",
+  "episode_index": 385,
+  "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/dag911262r001146_lerobot_0327_114714_a3277ce5/episodes/ep000396/gripper_right_tactile_force_metrics.json b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-09_18-30/outputs_tactile/tactile_cache/dag911262r001146_lerobot_0327_114714_a3277ce5/episodes/ep000396/gripper_right_tactile_force_metrics.json
new file mode 100644
index 0000000000000000000000000000000000000000..8c4df04d2b7b44449f25d5a9ecfd4efdc5604d44
--- /dev/null
+++ b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-09_18-30/outputs_tactile/tactile_cache/dag911262r001146_lerobot_0327_114714_a3277ce5/episodes/ep000396/gripper_right_tactile_force_metrics.json
@@ -0,0 +1,9 @@
+{
+  "depth_peak": 0.028952861204743385,
+  "shear_peak": 0.020576033741235733,
+  "force_magnitude_peak": 0.030842190608382225,
+  "reference_frame_count": 0,
+  "dataset_name": "dag911262r001146_lerobot_0327_114714",
+  "episode_index": 396,
+  "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/dag911262r001146_lerobot_0327_114714_a3277ce5/episodes/ep000451/gripper_left_tactile_force_metrics.json b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-09_18-30/outputs_tactile/tactile_cache/dag911262r001146_lerobot_0327_114714_a3277ce5/episodes/ep000451/gripper_left_tactile_force_metrics.json
new file mode 100644
index 0000000000000000000000000000000000000000..58dd9cd92838ff584d95973d0e186ec0cbf3d885
--- /dev/null
+++ b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-09_18-30/outputs_tactile/tactile_cache/dag911262r001146_lerobot_0327_114714_a3277ce5/episodes/ep000451/gripper_left_tactile_force_metrics.json
@@ -0,0 +1,9 @@
+{
+  "depth_peak": 0.013044998981058598,
+  "shear_peak": 0.0017913999035954475,
+  "force_magnitude_peak": 0.013045242987573147,
+  "reference_frame_count": 0,
+  "dataset_name": "dag911262r001146_lerobot_0327_114714",
+  "episode_index": 451,
+  "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/dag911262r001146_lerobot_0327_114714_a3277ce5/episodes/ep000455/gripper_right_tactile_force_metrics.json b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-09_18-30/outputs_tactile/tactile_cache/dag911262r001146_lerobot_0327_114714_a3277ce5/episodes/ep000455/gripper_right_tactile_force_metrics.json
new file mode 100644
index 0000000000000000000000000000000000000000..6452073a6f40c445fbe4b166a96689f2b7a2a954
--- /dev/null
+++ b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-09_18-30/outputs_tactile/tactile_cache/dag911262r001146_lerobot_0327_114714_a3277ce5/episodes/ep000455/gripper_right_tactile_force_metrics.json
@@ -0,0 +1,9 @@
+{
+  "depth_peak": 0.022563977167010307,
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+  "force_magnitude_peak": 0.022564996033906937,
+  "reference_frame_count": 0,
+  "dataset_name": "dag911262r001146_lerobot_0327_114714",
+  "episode_index": 455,
+  "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/dag911262r001146_lerobot_0327_114714_a3277ce5/episodes/ep000481/gripper_left_tactile_force_metrics.json b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-09_18-30/outputs_tactile/tactile_cache/dag911262r001146_lerobot_0327_114714_a3277ce5/episodes/ep000481/gripper_left_tactile_force_metrics.json
new file mode 100644
index 0000000000000000000000000000000000000000..5154266bdd9738001e99a4aa2bbc18b40f2fdfed
--- /dev/null
+++ b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-09_18-30/outputs_tactile/tactile_cache/dag911262r001146_lerobot_0327_114714_a3277ce5/episodes/ep000481/gripper_left_tactile_force_metrics.json
@@ -0,0 +1,9 @@
+{
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+  "force_magnitude_peak": 0.013721677474677563,
+  "reference_frame_count": 0,
+  "dataset_name": "dag911262r001146_lerobot_0327_114714",
+  "episode_index": 481,
+  "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/dag911262r001146_lerobot_0327_114714_a3277ce5/episodes/ep000502/gripper_right_tactile_force_metrics.json b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-09_18-30/outputs_tactile/tactile_cache/dag911262r001146_lerobot_0327_114714_a3277ce5/episodes/ep000502/gripper_right_tactile_force_metrics.json
new file mode 100644
index 0000000000000000000000000000000000000000..2c49d0b035be2d0ff537745dc2ef169d7046f02a
--- /dev/null
+++ b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-09_18-30/outputs_tactile/tactile_cache/dag911262r001146_lerobot_0327_114714_a3277ce5/episodes/ep000502/gripper_right_tactile_force_metrics.json
@@ -0,0 +1,9 @@
+{
+  "depth_peak": 0.013538212515413761,
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+  "force_magnitude_peak": 0.016926132142543793,
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+  "dataset_name": "dag911262r001146_lerobot_0327_114714",
+  "episode_index": 502,
+  "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/dag911262r001146_lerobot_0327_114714_a3277ce5/episodes/ep000556/gripper_right_tactile_force_metrics.json b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-09_18-30/outputs_tactile/tactile_cache/dag911262r001146_lerobot_0327_114714_a3277ce5/episodes/ep000556/gripper_right_tactile_force_metrics.json
new file mode 100644
index 0000000000000000000000000000000000000000..657e13ddb5e3f06eceb1ca01d498bb4d1ce0f049
--- /dev/null
+++ b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-09_18-30/outputs_tactile/tactile_cache/dag911262r001146_lerobot_0327_114714_a3277ce5/episodes/ep000556/gripper_right_tactile_force_metrics.json
@@ -0,0 +1,9 @@
+{
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+  "force_magnitude_peak": 0.013896915130317211,
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+  "dataset_name": "dag911262r001146_lerobot_0327_114714",
+  "episode_index": 556,
+  "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/dag911262r001146_lerobot_0327_114714_a3277ce5/episodes/ep000573/gripper_left_tactile_force_metrics.json b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-09_18-30/outputs_tactile/tactile_cache/dag911262r001146_lerobot_0327_114714_a3277ce5/episodes/ep000573/gripper_left_tactile_force_metrics.json
new file mode 100644
index 0000000000000000000000000000000000000000..ad3397f8eebce573f9fea7f76ca6a047f64c6508
--- /dev/null
+++ b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-09_18-30/outputs_tactile/tactile_cache/dag911262r001146_lerobot_0327_114714_a3277ce5/episodes/ep000573/gripper_left_tactile_force_metrics.json
@@ -0,0 +1,9 @@
+{
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+  "force_magnitude_peak": 0.006757048889994621,
+  "reference_frame_count": 0,
+  "dataset_name": "dag911262r001146_lerobot_0327_114714",
+  "episode_index": 573,
+  "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/dag911262r001146_lerobot_0327_114714_a3277ce5/episodes/ep000575/gripper_right_tactile_force_metrics.json b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-09_18-30/outputs_tactile/tactile_cache/dag911262r001146_lerobot_0327_114714_a3277ce5/episodes/ep000575/gripper_right_tactile_force_metrics.json
new file mode 100644
index 0000000000000000000000000000000000000000..8f7bca3ea466a5195a8a7e8709befdf84116e24e
--- /dev/null
+++ b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-09_18-30/outputs_tactile/tactile_cache/dag911262r001146_lerobot_0327_114714_a3277ce5/episodes/ep000575/gripper_right_tactile_force_metrics.json
@@ -0,0 +1,9 @@
+{
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+  "force_magnitude_peak": 0.023793824017047882,
+  "reference_frame_count": 0,
+  "dataset_name": "dag911262r001146_lerobot_0327_114714",
+  "episode_index": 575,
+  "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/dag911262r001146_lerobot_0327_114714_a3277ce5/episodes/ep000601/gripper_left_tactile_force_metrics.json b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-09_18-30/outputs_tactile/tactile_cache/dag911262r001146_lerobot_0327_114714_a3277ce5/episodes/ep000601/gripper_left_tactile_force_metrics.json
new file mode 100644
index 0000000000000000000000000000000000000000..87d67cb0465708f8dd09f8390474ce180cb7748d
--- /dev/null
+++ b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-09_18-30/outputs_tactile/tactile_cache/dag911262r001146_lerobot_0327_114714_a3277ce5/episodes/ep000601/gripper_left_tactile_force_metrics.json
@@ -0,0 +1,9 @@
+{
+  "depth_peak": 0.005799039267003536,
+  "shear_peak": 0.0020597081165760756,
+  "force_magnitude_peak": 0.005891017150133848,
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+  "dataset_name": "dag911262r001146_lerobot_0327_114714",
+  "episode_index": 601,
+  "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/dag911262r001146_lerobot_0327_114714_a3277ce5/episodes/ep000636/gripper_right_tactile_force_metrics.json b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-09_18-30/outputs_tactile/tactile_cache/dag911262r001146_lerobot_0327_114714_a3277ce5/episodes/ep000636/gripper_right_tactile_force_metrics.json
new file mode 100644
index 0000000000000000000000000000000000000000..dd127544b2d936c80bca4d7f80b015b9666a86ce
--- /dev/null
+++ b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-09_18-30/outputs_tactile/tactile_cache/dag911262r001146_lerobot_0327_114714_a3277ce5/episodes/ep000636/gripper_right_tactile_force_metrics.json
@@ -0,0 +1,9 @@
+{
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+  "force_magnitude_peak": 0.024854540824890137,
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+  "dataset_name": "dag911262r001146_lerobot_0327_114714",
+  "episode_index": 636,
+  "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/dag911262r001146_lerobot_0327_114714_a3277ce5/episodes/ep000648/gripper_left_tactile_force_metrics.json b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-09_18-30/outputs_tactile/tactile_cache/dag911262r001146_lerobot_0327_114714_a3277ce5/episodes/ep000648/gripper_left_tactile_force_metrics.json
new file mode 100644
index 0000000000000000000000000000000000000000..1a9ea6d0d583b981de95ac14b694171a6547472a
--- /dev/null
+++ b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-09_18-30/outputs_tactile/tactile_cache/dag911262r001146_lerobot_0327_114714_a3277ce5/episodes/ep000648/gripper_left_tactile_force_metrics.json
@@ -0,0 +1,9 @@
+{
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+  "dataset_name": "dag911262r001146_lerobot_0327_114714",
+  "episode_index": 648,
+  "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/dag911262r001146_lerobot_0327_114714_a3277ce5/episodes/ep000651/gripper_left_tactile_force_metrics.json b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-09_18-30/outputs_tactile/tactile_cache/dag911262r001146_lerobot_0327_114714_a3277ce5/episodes/ep000651/gripper_left_tactile_force_metrics.json
new file mode 100644
index 0000000000000000000000000000000000000000..de5feaf18b662c0f07d54e5bb4ae706c2a9692fd
--- /dev/null
+++ b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-09_18-30/outputs_tactile/tactile_cache/dag911262r001146_lerobot_0327_114714_a3277ce5/episodes/ep000651/gripper_left_tactile_force_metrics.json
@@ -0,0 +1,9 @@
+{
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+  "force_magnitude_peak": 0.006056457757949829,
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+  "dataset_name": "dag911262r001146_lerobot_0327_114714",
+  "episode_index": 651,
+  "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/dag911262r001146_lerobot_0327_114714_a3277ce5/episodes/ep000671/gripper_right_tactile_force_metrics.json b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-09_18-30/outputs_tactile/tactile_cache/dag911262r001146_lerobot_0327_114714_a3277ce5/episodes/ep000671/gripper_right_tactile_force_metrics.json
new file mode 100644
index 0000000000000000000000000000000000000000..6b50b0770cb45f40b2944636d044e3ec77e900e9
--- /dev/null
+++ b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-09_18-30/outputs_tactile/tactile_cache/dag911262r001146_lerobot_0327_114714_a3277ce5/episodes/ep000671/gripper_right_tactile_force_metrics.json
@@ -0,0 +1,9 @@
+{
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+  "dataset_name": "dag911262r001146_lerobot_0327_114714",
+  "episode_index": 671,
+  "sensor": "gripper_right_tactile"
+}
\ No newline at end of file
diff --git a/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-09_18-30/outputs_tactile/tactile_cache/dag911262r001146_lerobot_0327_114714_a3277ce5/episodes/ep000713/gripper_right_tactile_force_metrics.json b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-09_18-30/outputs_tactile/tactile_cache/dag911262r001146_lerobot_0327_114714_a3277ce5/episodes/ep000713/gripper_right_tactile_force_metrics.json
new file mode 100644
index 0000000000000000000000000000000000000000..c0955f2c8706c377bfcaba088cebd8d857e2b5b5
--- /dev/null
+++ b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-09_18-30/outputs_tactile/tactile_cache/dag911262r001146_lerobot_0327_114714_a3277ce5/episodes/ep000713/gripper_right_tactile_force_metrics.json
@@ -0,0 +1,9 @@
+{
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+  "dataset_name": "dag911262r001146_lerobot_0327_114714",
+  "episode_index": 713,
+  "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/dag911262r001146_lerobot_0327_114714_a3277ce5/episodes/ep000715/gripper_right_tactile_force_metrics.json b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-09_18-30/outputs_tactile/tactile_cache/dag911262r001146_lerobot_0327_114714_a3277ce5/episodes/ep000715/gripper_right_tactile_force_metrics.json
new file mode 100644
index 0000000000000000000000000000000000000000..f7fc6bf078c1154a3fb04778ec8dc85ca3d29a60
--- /dev/null
+++ b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-09_18-30/outputs_tactile/tactile_cache/dag911262r001146_lerobot_0327_114714_a3277ce5/episodes/ep000715/gripper_right_tactile_force_metrics.json
@@ -0,0 +1,9 @@
+{
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+  "dataset_name": "dag911262r001146_lerobot_0327_114714",
+  "episode_index": 715,
+  "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/ep000027/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/ep000027/gripper_left_tactile_force_metrics.json
new file mode 100644
index 0000000000000000000000000000000000000000..ef8ad9823d861fc4abd3c74a866912d1620e5120
--- /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/ep000027/gripper_left_tactile_force_metrics.json
@@ -0,0 +1,9 @@
+{
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+  "dataset_name": "dag911262r00145d_lerobot_0327_114714",
+  "episode_index": 27,
+  "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/ep000036/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/ep000036/gripper_left_tactile_force_metrics.json
new file mode 100644
index 0000000000000000000000000000000000000000..479c0cf8b9eb6ab6d448d5e58cc35dd57114c6ed
--- /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/ep000036/gripper_left_tactile_force_metrics.json
@@ -0,0 +1,9 @@
+{
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+  "dataset_name": "dag911262r00145d_lerobot_0327_114714",
+  "episode_index": 36,
+  "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/ep000067/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/ep000067/gripper_left_tactile_force_metrics.json
new file mode 100644
index 0000000000000000000000000000000000000000..484ea499d9724e14f4dcb18eb252af4be6da1c49
--- /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/ep000067/gripper_left_tactile_force_metrics.json
@@ -0,0 +1,9 @@
+{
+  "depth_peak": 0.0003424287133384496,
+  "shear_peak": 0.0026058699004352093,
+  "force_magnitude_peak": 0.002970303175970912,
+  "reference_frame_count": 0,
+  "dataset_name": "dag911262r00145d_lerobot_0327_114714",
+  "episode_index": 67,
+  "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/ep000072/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/ep000072/gripper_left_tactile_force_metrics.json
new file mode 100644
index 0000000000000000000000000000000000000000..5b07c246b3337db76cb7e4731f71754728fe79a9
--- /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/ep000072/gripper_left_tactile_force_metrics.json
@@ -0,0 +1,9 @@
+{
+  "depth_peak": 0.0004712230584118515,
+  "shear_peak": 0.001346983714029193,
+  "force_magnitude_peak": 0.0014270305400714278,
+  "reference_frame_count": 0,
+  "dataset_name": "dag911262r00145d_lerobot_0327_114714",
+  "episode_index": 72,
+  "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/ep000092/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/ep000092/gripper_left_tactile_force_metrics.json
new file mode 100644
index 0000000000000000000000000000000000000000..c187f406448a1bfd2f4e62f4b6490e30c951a7a9
--- /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/ep000092/gripper_left_tactile_force_metrics.json
@@ -0,0 +1,9 @@
+{
+  "depth_peak": 0.00035053168539889157,
+  "shear_peak": 0.004833234008401632,
+  "force_magnitude_peak": 0.005639579147100449,
+  "reference_frame_count": 0,
+  "dataset_name": "dag911262r00145d_lerobot_0327_114714",
+  "episode_index": 92,
+  "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/ep000116/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/ep000116/gripper_left_tactile_force_metrics.json
new file mode 100644
index 0000000000000000000000000000000000000000..e4a17c694071a455fe72713d774a0c2fac18580f
--- /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/ep000116/gripper_left_tactile_force_metrics.json
@@ -0,0 +1,9 @@
+{
+  "depth_peak": 0.0005188451614230871,
+  "shear_peak": 0.006905652116984129,
+  "force_magnitude_peak": 0.006970705930143595,
+  "reference_frame_count": 0,
+  "dataset_name": "dag911262r00145d_lerobot_0327_114714",
+  "episode_index": 116,
+  "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/ep000147/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/ep000147/gripper_left_tactile_force_metrics.json
new file mode 100644
index 0000000000000000000000000000000000000000..5d915da902c63c3c4769e3f1cc4dac55f20f675f
--- /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/ep000147/gripper_left_tactile_force_metrics.json
@@ -0,0 +1,9 @@
+{
+  "depth_peak": 0.008309389464557171,
+  "shear_peak": 0.0017855337355285883,
+  "force_magnitude_peak": 0.008309534750878811,
+  "reference_frame_count": 0,
+  "dataset_name": "dag911262r00145d_lerobot_0327_114714",
+  "episode_index": 147,
+  "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/ep000152/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/ep000152/gripper_left_tactile_force_metrics.json
new file mode 100644
index 0000000000000000000000000000000000000000..09b936b8d9ca68fff3b86debd410a2abfc33cfb8
--- /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/ep000152/gripper_left_tactile_force_metrics.json
@@ -0,0 +1,9 @@
+{
+  "depth_peak": 0.018881257623434067,
+  "shear_peak": 0.0029803512152284384,
+  "force_magnitude_peak": 0.019114574417471886,
+  "reference_frame_count": 0,
+  "dataset_name": "dag911262r00145d_lerobot_0327_114714",
+  "episode_index": 152,
+  "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/ep000161/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/ep000161/gripper_right_tactile_force_metrics.json
new file mode 100644
index 0000000000000000000000000000000000000000..86c0729e6b6f25f9333bcdfae129db0ec2d0af79
--- /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/ep000161/gripper_right_tactile_force_metrics.json
@@ -0,0 +1,9 @@
+{
+  "depth_peak": 0.0014024059055373073,
+  "shear_peak": 0.00272662122733891,
+  "force_magnitude_peak": 0.003832286223769188,
+  "reference_frame_count": 0,
+  "dataset_name": "dag911262r00145d_lerobot_0327_114714",
+  "episode_index": 161,
+  "sensor": "gripper_right_tactile"
+}
\ No newline at end of file
diff --git a/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-09_18-30/outputs_tactile/tactile_cache/dag911262r00145d_lerobot_0327_114714_e46ad16b/episodes/ep000196/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/ep000196/gripper_left_tactile_force_metrics.json
new file mode 100644
index 0000000000000000000000000000000000000000..14d26bcc937505318e6e3b1c5ebc80c3e3e17910
--- /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/ep000196/gripper_left_tactile_force_metrics.json
@@ -0,0 +1,9 @@
+{
+  "depth_peak": 0.007135489955544472,
+  "shear_peak": 0.0023054424673318863,
+  "force_magnitude_peak": 0.007135930936783552,
+  "reference_frame_count": 0,
+  "dataset_name": "dag911262r00145d_lerobot_0327_114714",
+  "episode_index": 196,
+  "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/ep000201/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/ep000201/gripper_right_tactile_force_metrics.json
new file mode 100644
index 0000000000000000000000000000000000000000..b1863ffc2cb8b7696b980835175d208f597a5378
--- /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/ep000201/gripper_right_tactile_force_metrics.json
@@ -0,0 +1,9 @@
+{
+  "depth_peak": 0.008186478167772293,
+  "shear_peak": 0.007448450196534395,
+  "force_magnitude_peak": 0.011063032783567905,
+  "reference_frame_count": 0,
+  "dataset_name": "dag911262r00145d_lerobot_0327_114714",
+  "episode_index": 201,
+  "sensor": "gripper_right_tactile"
+}
\ No newline at end of file
diff --git a/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-09_18-30/outputs_tactile/tactile_cache/dag911262r00145d_lerobot_0327_114714_e46ad16b/episodes/ep000210/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/ep000210/gripper_right_tactile_force_metrics.json
new file mode 100644
index 0000000000000000000000000000000000000000..03d50f9c7a738c5b9b35407dd7a42eef5daeddb2
--- /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/ep000210/gripper_right_tactile_force_metrics.json
@@ -0,0 +1,9 @@
+{
+  "depth_peak": 0.004983617924153805,
+  "shear_peak": 0.007658782880753279,
+  "force_magnitude_peak": 0.008757083676755428,
+  "reference_frame_count": 0,
+  "dataset_name": "dag911262r00145d_lerobot_0327_114714",
+  "episode_index": 210,
+  "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/ep000211/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/ep000211/gripper_right_tactile_force_metrics.json
new file mode 100644
index 0000000000000000000000000000000000000000..e6642da4472b340f06ecad854ca42c5f54fda39c
--- /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/ep000211/gripper_right_tactile_force_metrics.json
@@ -0,0 +1,9 @@
+{
+  "depth_peak": 0.005598332267254591,
+  "shear_peak": 0.007256006356328726,
+  "force_magnitude_peak": 0.008286073803901672,
+  "reference_frame_count": 0,
+  "dataset_name": "dag911262r00145d_lerobot_0327_114714",
+  "episode_index": 211,
+  "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/ep000232/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/ep000232/gripper_left_tactile_force_metrics.json
new file mode 100644
index 0000000000000000000000000000000000000000..ab18bc1ba308248c5a5a6d4973b496fa25f20f77
--- /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/ep000232/gripper_left_tactile_force_metrics.json
@@ -0,0 +1,9 @@
+{
+  "depth_peak": 0.002610773080959916,
+  "shear_peak": 0.0012520661111921072,
+  "force_magnitude_peak": 0.002819902030751109,
+  "reference_frame_count": 0,
+  "dataset_name": "dag911262r00145d_lerobot_0327_114714",
+  "episode_index": 232,
+  "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/ep000245/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/ep000245/gripper_left_tactile_force_metrics.json
new file mode 100644
index 0000000000000000000000000000000000000000..88a426127d30d05294b36435d657869b32e6b5c0
--- /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/ep000245/gripper_left_tactile_force_metrics.json
@@ -0,0 +1,9 @@
+{
+  "depth_peak": 0.001441099913790822,
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+  "force_magnitude_peak": 0.002598613267764449,
+  "reference_frame_count": 0,
+  "dataset_name": "dag911262r00145d_lerobot_0327_114714",
+  "episode_index": 245,
+  "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/ep000285/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/ep000285/gripper_left_tactile_force_metrics.json
new file mode 100644
index 0000000000000000000000000000000000000000..c6cbccd23ec190305369a9ca469b7a1e872a64a3
--- /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/ep000285/gripper_left_tactile_force_metrics.json
@@ -0,0 +1,9 @@
+{
+  "depth_peak": 0.005332055035978556,
+  "shear_peak": 0.0023389554116874933,
+  "force_magnitude_peak": 0.005374778062105179,
+  "reference_frame_count": 0,
+  "dataset_name": "dag911262r00145d_lerobot_0327_114714",
+  "episode_index": 285,
+  "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/ep000321/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/ep000321/gripper_right_tactile_force_metrics.json
new file mode 100644
index 0000000000000000000000000000000000000000..d88f1af9be59e0fff501e8abe1771dc58d7e9f81
--- /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/ep000321/gripper_right_tactile_force_metrics.json
@@ -0,0 +1,9 @@
+{
+  "depth_peak": 0.004147884901612997,
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+  "force_magnitude_peak": 0.009121095761656761,
+  "reference_frame_count": 0,
+  "dataset_name": "dag911262r00145d_lerobot_0327_114714",
+  "episode_index": 321,
+  "sensor": "gripper_right_tactile"
+}
\ No newline at end of file
diff --git a/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-09_18-30/outputs_tactile/tactile_cache/dag911262r00145d_lerobot_0327_114714_e46ad16b/episodes/ep000330/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/ep000330/gripper_right_tactile_force_metrics.json
new file mode 100644
index 0000000000000000000000000000000000000000..4d1ce2591ddd0748c50a6575e9804cae35905807
--- /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/ep000330/gripper_right_tactile_force_metrics.json
@@ -0,0 +1,9 @@
+{
+  "depth_peak": 0.014138298109173775,
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+  "force_magnitude_peak": 0.014298339374363422,
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+  "dataset_name": "dag911262r00145d_lerobot_0327_114714",
+  "episode_index": 330,
+  "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/ep000352/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/ep000352/gripper_left_tactile_force_metrics.json
new file mode 100644
index 0000000000000000000000000000000000000000..20acff767a6663c6c6294672a4149a8803290d9a
--- /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/ep000352/gripper_left_tactile_force_metrics.json
@@ -0,0 +1,9 @@
+{
+  "depth_peak": 0.0004945102264173329,
+  "shear_peak": 0.005908436141908169,
+  "force_magnitude_peak": 0.006054343190044165,
+  "reference_frame_count": 0,
+  "dataset_name": "dag911262r00145d_lerobot_0327_114714",
+  "episode_index": 352,
+  "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/ep000353/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/ep000353/gripper_right_tactile_force_metrics.json
new file mode 100644
index 0000000000000000000000000000000000000000..16c120154ba4e7e0b925b0118e15ebe5dc683569
--- /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/ep000353/gripper_right_tactile_force_metrics.json
@@ -0,0 +1,9 @@
+{
+  "depth_peak": 0.010995244607329369,
+  "shear_peak": 0.008856186643242836,
+  "force_magnitude_peak": 0.012201559729874134,
+  "reference_frame_count": 0,
+  "dataset_name": "dag911262r00145d_lerobot_0327_114714",
+  "episode_index": 353,
+  "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/ep000356/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/ep000356/gripper_left_tactile_force_metrics.json
new file mode 100644
index 0000000000000000000000000000000000000000..d0fa1092c6aee41e4036c1b2c21e9b8552f242a0
--- /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/ep000356/gripper_left_tactile_force_metrics.json
@@ -0,0 +1,9 @@
+{
+  "depth_peak": 0.002375343581661582,
+  "shear_peak": 0.001711494754999876,
+  "force_magnitude_peak": 0.0028265088330954313,
+  "reference_frame_count": 0,
+  "dataset_name": "dag911262r00145d_lerobot_0327_114714",
+  "episode_index": 356,
+  "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/ep000364/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/ep000364/gripper_right_tactile_force_metrics.json
new file mode 100644
index 0000000000000000000000000000000000000000..34ecd94013a0bd27210cd1ed8076c41978234687
--- /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/ep000364/gripper_right_tactile_force_metrics.json
@@ -0,0 +1,9 @@
+{
+  "depth_peak": 0.011712093837559223,
+  "shear_peak": 0.007438038010150194,
+  "force_magnitude_peak": 0.011876237578690052,
+  "reference_frame_count": 0,
+  "dataset_name": "dag911262r00145d_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/dag911262r00145d_lerobot_0327_114714_e46ad16b/episodes/ep000370/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/ep000370/gripper_right_tactile_force_metrics.json
new file mode 100644
index 0000000000000000000000000000000000000000..e6fc09a94d5b1cbe2ecb928b7781b5a0a40c382e
--- /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/ep000370/gripper_right_tactile_force_metrics.json
@@ -0,0 +1,9 @@
+{
+  "depth_peak": 0.010540462099015713,
+  "shear_peak": 0.011113983578979969,
+  "force_magnitude_peak": 0.012227055616676807,
+  "reference_frame_count": 0,
+  "dataset_name": "dag911262r00145d_lerobot_0327_114714",
+  "episode_index": 370,
+  "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/ep000393/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/ep000393/gripper_right_tactile_force_metrics.json
new file mode 100644
index 0000000000000000000000000000000000000000..65f3c395f991fd52260d56ca2fa1babaa567cf29
--- /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/ep000393/gripper_right_tactile_force_metrics.json
@@ -0,0 +1,9 @@
+{
+  "depth_peak": 0.005005583632737398,
+  "shear_peak": 0.009443678893148899,
+  "force_magnitude_peak": 0.010440044105052948,
+  "reference_frame_count": 0,
+  "dataset_name": "dag911262r00145d_lerobot_0327_114714",
+  "episode_index": 393,
+  "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/ep000401/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/ep000401/gripper_right_tactile_force_metrics.json
new file mode 100644
index 0000000000000000000000000000000000000000..0e1589f454378027646ceeee7cccf590aedfe1bc
--- /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/ep000401/gripper_right_tactile_force_metrics.json
@@ -0,0 +1,9 @@
+{
+  "depth_peak": 0.011040381155908108,
+  "shear_peak": 0.010373243130743504,
+  "force_magnitude_peak": 0.011525757610797882,
+  "reference_frame_count": 0,
+  "dataset_name": "dag911262r00145d_lerobot_0327_114714",
+  "episode_index": 401,
+  "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/ep000404/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/ep000404/gripper_right_tactile_force_metrics.json
new file mode 100644
index 0000000000000000000000000000000000000000..afe2c5ad5ea136f0e7296e539d80e8dd670e58ab
--- /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/ep000404/gripper_right_tactile_force_metrics.json
@@ -0,0 +1,9 @@
+{
+  "depth_peak": 0.007795556914061308,
+  "shear_peak": 0.003456232137978077,
+  "force_magnitude_peak": 0.007795640733093023,
+  "reference_frame_count": 0,
+  "dataset_name": "dag911262r00145d_lerobot_0327_114714",
+  "episode_index": 404,
+  "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/ep000411/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/ep000411/gripper_right_tactile_force_metrics.json
new file mode 100644
index 0000000000000000000000000000000000000000..45845421b72505c744b096db03d0011556fb7e15
--- /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/ep000411/gripper_right_tactile_force_metrics.json
@@ -0,0 +1,9 @@
+{
+  "depth_peak": 0.007341526914387941,
+  "shear_peak": 0.006730085704475641,
+  "force_magnitude_peak": 0.009919477626681328,
+  "reference_frame_count": 0,
+  "dataset_name": "dag911262r00145d_lerobot_0327_114714",
+  "episode_index": 411,
+  "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/ep000441/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/ep000441/gripper_right_tactile_force_metrics.json
new file mode 100644
index 0000000000000000000000000000000000000000..a36bf7bcc2d0cdf9c228fa793d633a2474df837b
--- /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/ep000441/gripper_right_tactile_force_metrics.json
@@ -0,0 +1,9 @@
+{
+  "depth_peak": 0.011077480390667915,
+  "shear_peak": 0.007637661416083574,
+  "force_magnitude_peak": 0.011798795312643051,
+  "reference_frame_count": 0,
+  "dataset_name": "dag911262r00145d_lerobot_0327_114714",
+  "episode_index": 441,
+  "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/ep000451/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/ep000451/gripper_right_tactile_force_metrics.json
new file mode 100644
index 0000000000000000000000000000000000000000..38117989dc9d722e1f2e0ffa1ce1100ad9088f9c
--- /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/ep000451/gripper_right_tactile_force_metrics.json
@@ -0,0 +1,9 @@
+{
+  "depth_peak": 0.011726233176887035,
+  "shear_peak": 0.004579092375934124,
+  "force_magnitude_peak": 0.012111380696296692,
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+  "dataset_name": "dag911262r00145d_lerobot_0327_114714",
+  "episode_index": 451,
+  "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/ep000473/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/ep000473/gripper_right_tactile_force_metrics.json
new file mode 100644
index 0000000000000000000000000000000000000000..80485e66be22129c0817ae41da61c3578757a6b8
--- /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/ep000473/gripper_right_tactile_force_metrics.json
@@ -0,0 +1,9 @@
+{
+  "depth_peak": 0.002264423528686166,
+  "shear_peak": 0.003910533618181944,
+  "force_magnitude_peak": 0.004474731627851725,
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+  "dataset_name": "dag911262r00145d_lerobot_0327_114714",
+  "episode_index": 473,
+  "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/ep000476/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/ep000476/gripper_left_tactile_force_metrics.json
new file mode 100644
index 0000000000000000000000000000000000000000..e25365e9f8a9ba0da0ed9ffada3996e0b075b470
--- /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/ep000476/gripper_left_tactile_force_metrics.json
@@ -0,0 +1,9 @@
+{
+  "depth_peak": 0.003352697240188718,
+  "shear_peak": 0.0040223365649580956,
+  "force_magnitude_peak": 0.004195308778434992,
+  "reference_frame_count": 0,
+  "dataset_name": "dag911262r00145d_lerobot_0327_114714",
+  "episode_index": 476,
+  "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/ep000490/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/ep000490/gripper_right_tactile_force_metrics.json
new file mode 100644
index 0000000000000000000000000000000000000000..dfe1374fc81b24829082df2b42f8072291e4a36c
--- /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/ep000490/gripper_right_tactile_force_metrics.json
@@ -0,0 +1,9 @@
+{
+  "depth_peak": 0.003495704848319292,
+  "shear_peak": 0.011561737395823002,
+  "force_magnitude_peak": 0.011961751617491245,
+  "reference_frame_count": 0,
+  "dataset_name": "dag911262r00145d_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/dag911262r00145d_lerobot_0327_114714_e46ad16b/episodes/ep000512/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/ep000512/gripper_left_tactile_force_metrics.json
new file mode 100644
index 0000000000000000000000000000000000000000..d85969975104b72a838872704eb092b67dc309ea
--- /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/ep000512/gripper_left_tactile_force_metrics.json
@@ -0,0 +1,9 @@
+{
+  "depth_peak": 0.0061265891417860985,
+  "shear_peak": 0.004236252512782812,
+  "force_magnitude_peak": 0.006524088326841593,
+  "reference_frame_count": 0,
+  "dataset_name": "dag911262r00145d_lerobot_0327_114714",
+  "episode_index": 512,
+  "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/ep000524/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/ep000524/gripper_right_tactile_force_metrics.json
new file mode 100644
index 0000000000000000000000000000000000000000..4834c2fae12b0c908fdadf7fbd911cd35eca14f7
--- /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/ep000524/gripper_right_tactile_force_metrics.json
@@ -0,0 +1,9 @@
+{
+  "depth_peak": 0.009501123800873756,
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+  "force_magnitude_peak": 0.009661688469350338,
+  "reference_frame_count": 0,
+  "dataset_name": "dag911262r00145d_lerobot_0327_114714",
+  "episode_index": 524,
+  "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/ep000553/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/ep000553/gripper_right_tactile_force_metrics.json
new file mode 100644
index 0000000000000000000000000000000000000000..978b329a1bc4c29fdbc2f10c651a572604583984
--- /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/ep000553/gripper_right_tactile_force_metrics.json
@@ -0,0 +1,9 @@
+{
+  "depth_peak": 0.005906533915549517,
+  "shear_peak": 0.005447388626635075,
+  "force_magnitude_peak": 0.007038850802928209,
+  "reference_frame_count": 0,
+  "dataset_name": "dag911262r00145d_lerobot_0327_114714",
+  "episode_index": 553,
+  "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/ep000601/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/ep000601/gripper_right_tactile_force_metrics.json
new file mode 100644
index 0000000000000000000000000000000000000000..d1572030e0ee1b1a6f0c7cdbfbc7933f92bc271e
--- /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/ep000601/gripper_right_tactile_force_metrics.json
@@ -0,0 +1,9 @@
+{
+  "depth_peak": 0.002213856903836131,
+  "shear_peak": 0.005142704583704472,
+  "force_magnitude_peak": 0.005383441224694252,
+  "reference_frame_count": 0,
+  "dataset_name": "dag911262r00145d_lerobot_0327_114714",
+  "episode_index": 601,
+  "sensor": "gripper_right_tactile"
+}
\ No newline at end of file
diff --git a/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-09_18-30/outputs_tactile/tactile_cache/dag911262r00145d_lerobot_0327_114714_e46ad16b/episodes/ep000605/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/ep000605/gripper_left_tactile_force_metrics.json
new file mode 100644
index 0000000000000000000000000000000000000000..c03a1c625ce36f2da0f9d19ecc3b020305b0b2cd
--- /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/ep000605/gripper_left_tactile_force_metrics.json
@@ -0,0 +1,9 @@
+{
+  "depth_peak": 0.003430497832596302,
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+  "force_magnitude_peak": 0.004756344482302666,
+  "reference_frame_count": 0,
+  "dataset_name": "dag911262r00145d_lerobot_0327_114714",
+  "episode_index": 605,
+  "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/ep000611/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/ep000611/gripper_right_tactile_force_metrics.json
new file mode 100644
index 0000000000000000000000000000000000000000..e4c474bea4e72f925e6aae8ab2f899c4398cce18
--- /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/ep000611/gripper_right_tactile_force_metrics.json
@@ -0,0 +1,9 @@
+{
+  "depth_peak": 0.008516252040863037,
+  "shear_peak": 0.008202265948057175,
+  "force_magnitude_peak": 0.011705460958182812,
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+  "dataset_name": "dag911262r00145d_lerobot_0327_114714",
+  "episode_index": 611,
+  "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/ep000633/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/ep000633/gripper_right_tactile_force_metrics.json
new file mode 100644
index 0000000000000000000000000000000000000000..72fd2f446d86a9175d65703b0ce6115c0cde8215
--- /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/ep000633/gripper_right_tactile_force_metrics.json
@@ -0,0 +1,9 @@
+{
+  "depth_peak": 0.003741172607988119,
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+  "force_magnitude_peak": 0.009123189374804497,
+  "reference_frame_count": 0,
+  "dataset_name": "dag911262r00145d_lerobot_0327_114714",
+  "episode_index": 633,
+  "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/ep000636/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/ep000636/gripper_left_tactile_force_metrics.json
new file mode 100644
index 0000000000000000000000000000000000000000..f0d8093e8a0c9b2fb333e3b28f8cf4b07536f391
--- /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/ep000636/gripper_left_tactile_force_metrics.json
@@ -0,0 +1,9 @@
+{
+  "depth_peak": 0.0020064471755176783,
+  "shear_peak": 0.002263034461066127,
+  "force_magnitude_peak": 0.002891416195780039,
+  "reference_frame_count": 0,
+  "dataset_name": "dag911262r00145d_lerobot_0327_114714",
+  "episode_index": 636,
+  "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/ep000644/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/ep000644/gripper_right_tactile_force_metrics.json
new file mode 100644
index 0000000000000000000000000000000000000000..9ec25c11eede94f8467345a9e678ffed8920f27c
--- /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/ep000644/gripper_right_tactile_force_metrics.json
@@ -0,0 +1,9 @@
+{
+  "depth_peak": 0.009631232358515263,
+  "shear_peak": 0.006297860760241747,
+  "force_magnitude_peak": 0.011468129232525826,
+  "reference_frame_count": 0,
+  "dataset_name": "dag911262r00145d_lerobot_0327_114714",
+  "episode_index": 644,
+  "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/ep000650/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/ep000650/gripper_right_tactile_force_metrics.json
new file mode 100644
index 0000000000000000000000000000000000000000..b6dcb13dedbcf97125fe6911be37d4a1c5f06c30
--- /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/ep000650/gripper_right_tactile_force_metrics.json
@@ -0,0 +1,9 @@
+{
+  "depth_peak": 0.007381489034742117,
+  "shear_peak": 0.008543338626623154,
+  "force_magnitude_peak": 0.011212530545890331,
+  "reference_frame_count": 0,
+  "dataset_name": "dag911262r00145d_lerobot_0327_114714",
+  "episode_index": 650,
+  "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/ep000667/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/ep000667/gripper_left_tactile_force_metrics.json
new file mode 100644
index 0000000000000000000000000000000000000000..672db5ac3c609c09373deeeba390e96afd2e0106
--- /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/ep000667/gripper_left_tactile_force_metrics.json
@@ -0,0 +1,9 @@
+{
+  "depth_peak": 0.004193692933768034,
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+  "force_magnitude_peak": 0.004446042701601982,
+  "reference_frame_count": 0,
+  "dataset_name": "dag911262r00145d_lerobot_0327_114714",
+  "episode_index": 667,
+  "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/ep000673/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/ep000673/gripper_right_tactile_force_metrics.json
new file mode 100644
index 0000000000000000000000000000000000000000..1770f166209b71f1cc3b17d7eb3d79a5214b59b6
--- /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/ep000673/gripper_right_tactile_force_metrics.json
@@ -0,0 +1,9 @@
+{
+  "depth_peak": 0.0011160561116412282,
+  "shear_peak": 0.004005882889032364,
+  "force_magnitude_peak": 0.00400995509698987,
+  "reference_frame_count": 0,
+  "dataset_name": "dag911262r00145d_lerobot_0327_114714",
+  "episode_index": 673,
+  "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/ep000692/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/ep000692/gripper_left_tactile_force_metrics.json
new file mode 100644
index 0000000000000000000000000000000000000000..f4836c84fd65dcdbb4e3ae7a094fcca9f6da5c34
--- /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/ep000692/gripper_left_tactile_force_metrics.json
@@ -0,0 +1,9 @@
+{
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+  "force_magnitude_peak": 0.003927874378859997,
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+  "dataset_name": "dag911262r00145d_lerobot_0327_114714",
+  "episode_index": 692,
+  "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/ep000721/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/ep000721/gripper_right_tactile_force_metrics.json
new file mode 100644
index 0000000000000000000000000000000000000000..2375eab731e8c66ba6080eec0e2b25b11fde3ddc
--- /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/ep000721/gripper_right_tactile_force_metrics.json
@@ -0,0 +1,9 @@
+{
+  "depth_peak": 0.008927456103265285,
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+  "force_magnitude_peak": 0.010067935101687908,
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+  "dataset_name": "dag911262r00145d_lerobot_0327_114714",
+  "episode_index": 721,
+  "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/ep000731/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/ep000731/gripper_right_tactile_force_metrics.json
new file mode 100644
index 0000000000000000000000000000000000000000..a164008636b64a75b7f2edd0b472e30cb989b48d
--- /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/ep000731/gripper_right_tactile_force_metrics.json
@@ -0,0 +1,9 @@
+{
+  "depth_peak": 0.0023577078245580196,
+  "shear_peak": 0.004061250947415829,
+  "force_magnitude_peak": 0.00406161742284894,
+  "reference_frame_count": 0,
+  "dataset_name": "dag911262r00145d_lerobot_0327_114714",
+  "episode_index": 731,
+  "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/ep000756/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/ep000756/gripper_left_tactile_force_metrics.json
new file mode 100644
index 0000000000000000000000000000000000000000..02265094e3c0c4f26c8dd6a32e405b76ecf9a0f0
--- /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/ep000756/gripper_left_tactile_force_metrics.json
@@ -0,0 +1,9 @@
+{
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+  "force_magnitude_peak": 0.003134260419756174,
+  "reference_frame_count": 0,
+  "dataset_name": "dag911262r00145d_lerobot_0327_114714",
+  "episode_index": 756,
+  "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/ep000761/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/ep000761/gripper_right_tactile_force_metrics.json
new file mode 100644
index 0000000000000000000000000000000000000000..e5788d95c283fd42bb0c714358a5de34909b62cb
--- /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/ep000761/gripper_right_tactile_force_metrics.json
@@ -0,0 +1,9 @@
+{
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+  "force_magnitude_peak": 0.014588763006031513,
+  "reference_frame_count": 0,
+  "dataset_name": "dag911262r00145d_lerobot_0327_114714",
+  "episode_index": 761,
+  "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/ep000765/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/ep000765/gripper_left_tactile_force_metrics.json
new file mode 100644
index 0000000000000000000000000000000000000000..c030ff9c943e410b1a5e540f764b3551c580faa5
--- /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/ep000765/gripper_left_tactile_force_metrics.json
@@ -0,0 +1,9 @@
+{
+  "depth_peak": 0.0016552056185901165,
+  "shear_peak": 0.004215489141643047,
+  "force_magnitude_peak": 0.004256956744939089,
+  "reference_frame_count": 0,
+  "dataset_name": "dag911262r00145d_lerobot_0327_114714",
+  "episode_index": 765,
+  "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/ep000770/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/ep000770/gripper_right_tactile_force_metrics.json
new file mode 100644
index 0000000000000000000000000000000000000000..1d519005dc076f8a46aba388e4daf8b805eb4601
--- /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/ep000770/gripper_right_tactile_force_metrics.json
@@ -0,0 +1,9 @@
+{
+  "depth_peak": 0.005254760850220919,
+  "shear_peak": 0.008488558232784271,
+  "force_magnitude_peak": 0.009960080496966839,
+  "reference_frame_count": 0,
+  "dataset_name": "dag911262r00145d_lerobot_0327_114714",
+  "episode_index": 770,
+  "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/ep000772/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/ep000772/gripper_left_tactile_force_metrics.json
new file mode 100644
index 0000000000000000000000000000000000000000..9f97239a73029bb4903d21ef454825e1252cea62
--- /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/ep000772/gripper_left_tactile_force_metrics.json
@@ -0,0 +1,9 @@
+{
+  "depth_peak": 0.010502648539841175,
+  "shear_peak": 0.0020521036349236965,
+  "force_magnitude_peak": 0.010602036491036415,
+  "reference_frame_count": 0,
+  "dataset_name": "dag911262r00145d_lerobot_0327_114714",
+  "episode_index": 772,
+  "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/ep000793/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/ep000793/gripper_right_tactile_force_metrics.json
new file mode 100644
index 0000000000000000000000000000000000000000..a84be1b4b5d9081ae9301ed24a4655b8e439c7f0
--- /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/ep000793/gripper_right_tactile_force_metrics.json
@@ -0,0 +1,9 @@
+{
+  "depth_peak": 0.009609982371330261,
+  "shear_peak": 0.011026769876480103,
+  "force_magnitude_peak": 0.014609851874411106,
+  "reference_frame_count": 0,
+  "dataset_name": "dag911262r00145d_lerobot_0327_114714",
+  "episode_index": 793,
+  "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/ep000801/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/ep000801/gripper_right_tactile_force_metrics.json
new file mode 100644
index 0000000000000000000000000000000000000000..21e32bfa9da0f8bed85235968960cc929fc5a56f
--- /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/ep000801/gripper_right_tactile_force_metrics.json
@@ -0,0 +1,9 @@
+{
+  "depth_peak": 0.012030444107949734,
+  "shear_peak": 0.004471729509532452,
+  "force_magnitude_peak": 0.012132362462580204,
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+  "dataset_name": "dag911262r00145d_lerobot_0327_114714",
+  "episode_index": 801,
+  "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/ep000810/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/ep000810/gripper_right_tactile_force_metrics.json
new file mode 100644
index 0000000000000000000000000000000000000000..dc781159108bf83ef43f8c827c99bd23ff2c4ea5
--- /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/ep000810/gripper_right_tactile_force_metrics.json
@@ -0,0 +1,9 @@
+{
+  "depth_peak": 0.009390991181135178,
+  "shear_peak": 0.009194388054311275,
+  "force_magnitude_peak": 0.012136022560298443,
+  "reference_frame_count": 0,
+  "dataset_name": "dag911262r00145d_lerobot_0327_114714",
+  "episode_index": 810,
+  "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/ep000844/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/ep000844/gripper_right_tactile_force_metrics.json
new file mode 100644
index 0000000000000000000000000000000000000000..71ac8608e136f6a0cb5b42ec6a5a17f2fe45c720
--- /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/ep000844/gripper_right_tactile_force_metrics.json
@@ -0,0 +1,9 @@
+{
+  "depth_peak": 0.011188898235559464,
+  "shear_peak": 0.003950333222746849,
+  "force_magnitude_peak": 0.011223865672945976,
+  "reference_frame_count": 0,
+  "dataset_name": "dag911262r00145d_lerobot_0327_114714",
+  "episode_index": 844,
+  "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/ep000851/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/ep000851/gripper_right_tactile_force_metrics.json
new file mode 100644
index 0000000000000000000000000000000000000000..66f6d59007ac487c0d7323906dc619e62ca9ca43
--- /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/ep000851/gripper_right_tactile_force_metrics.json
@@ -0,0 +1,9 @@
+{
+  "depth_peak": 0.011415322311222553,
+  "shear_peak": 0.008277139626443386,
+  "force_magnitude_peak": 0.013575701974332333,
+  "reference_frame_count": 0,
+  "dataset_name": "dag911262r00145d_lerobot_0327_114714",
+  "episode_index": 851,
+  "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/ep000852/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/ep000852/gripper_left_tactile_force_metrics.json
new file mode 100644
index 0000000000000000000000000000000000000000..bd708e24ffb4676d7f7c91bfad1c03a539a4f62d
--- /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/ep000852/gripper_left_tactile_force_metrics.json
@@ -0,0 +1,9 @@
+{
+  "depth_peak": 0.004198790527880192,
+  "shear_peak": 0.0056755030527710915,
+  "force_magnitude_peak": 0.007059828378260136,
+  "reference_frame_count": 0,
+  "dataset_name": "dag911262r00145d_lerobot_0327_114714",
+  "episode_index": 852,
+  "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/ep000873/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/ep000873/gripper_right_tactile_force_metrics.json
new file mode 100644
index 0000000000000000000000000000000000000000..c79e40ae48bce413ddaa877b3fb1b42433ee3d1d
--- /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/ep000873/gripper_right_tactile_force_metrics.json
@@ -0,0 +1,9 @@
+{
+  "depth_peak": 0.006748276297003031,
+  "shear_peak": 0.005204562563449144,
+  "force_magnitude_peak": 0.007371610030531883,
+  "reference_frame_count": 0,
+  "dataset_name": "dag911262r00145d_lerobot_0327_114714",
+  "episode_index": 873,
+  "sensor": "gripper_right_tactile"
+}
\ No newline at end of file
diff --git a/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-09_18-30/outputs_tactile/tactile_cache/dag911262r00145d_lerobot_0327_114714_e46ad16b/episodes/ep000884/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/ep000884/gripper_right_tactile_force_metrics.json
new file mode 100644
index 0000000000000000000000000000000000000000..034abc45316a02081e1d6fa79580204587d364ca
--- /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/ep000884/gripper_right_tactile_force_metrics.json
@@ -0,0 +1,9 @@
+{
+  "depth_peak": 0.010148080997169018,
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+  "force_magnitude_peak": 0.011730785481631756,
+  "reference_frame_count": 0,
+  "dataset_name": "dag911262r00145d_lerobot_0327_114714",
+  "episode_index": 884,
+  "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/ep000020/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/ep000020/gripper_left_tactile_force_metrics.json
new file mode 100644
index 0000000000000000000000000000000000000000..a303289e6feadb79e6ea6e12e2efe6d629e8d387
--- /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/ep000020/gripper_left_tactile_force_metrics.json
@@ -0,0 +1,9 @@
+{
+  "depth_peak": 0.004033403005450964,
+  "shear_peak": 0.0050041694194078445,
+  "force_magnitude_peak": 0.0064027151092886925,
+  "reference_frame_count": 0,
+  "dataset_name": "dag911262r001653_lerobot_0327_114714",
+  "episode_index": 20,
+  "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/ep000027/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/ep000027/gripper_right_tactile_force_metrics.json
new file mode 100644
index 0000000000000000000000000000000000000000..dd3cc17fd04e038194a2e2a55fe600c1a77691f7
--- /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/ep000027/gripper_right_tactile_force_metrics.json
@@ -0,0 +1,9 @@
+{
+  "depth_peak": 0.0077734170481562614,
+  "shear_peak": 0.006752693559974432,
+  "force_magnitude_peak": 0.009770900942385197,
+  "reference_frame_count": 0,
+  "dataset_name": "dag911262r001653_lerobot_0327_114714",
+  "episode_index": 27,
+  "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/ep000094/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/ep000094/gripper_right_tactile_force_metrics.json
new file mode 100644
index 0000000000000000000000000000000000000000..1b12e3082f6cf823c76b2c2da4634f1b9168e9d0
--- /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/ep000094/gripper_right_tactile_force_metrics.json
@@ -0,0 +1,9 @@
+{
+  "depth_peak": 0.0014441212406381965,
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+  "force_magnitude_peak": 0.0034315919037908316,
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+  "dataset_name": "dag911262r001653_lerobot_0327_114714",
+  "episode_index": 94,
+  "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/ep000100/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/ep000100/gripper_left_tactile_force_metrics.json
new file mode 100644
index 0000000000000000000000000000000000000000..502bd687824b987a9a9c370085647d9c97b2a90b
--- /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/ep000100/gripper_left_tactile_force_metrics.json
@@ -0,0 +1,9 @@
+{
+  "depth_peak": 0.008669924922287464,
+  "shear_peak": 0.0011782633373513818,
+  "force_magnitude_peak": 0.008708266541361809,
+  "reference_frame_count": 0,
+  "dataset_name": "dag911262r001653_lerobot_0327_114714",
+  "episode_index": 100,
+  "sensor": "gripper_left_tactile"
+}
\ No newline at end of file
diff --git a/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-09_18-30/outputs_tactile/tactile_cache/dag911262r001653_lerobot_0327_114714_a96adc8e/episodes/ep000109/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/ep000109/gripper_right_tactile_force_metrics.json
new file mode 100644
index 0000000000000000000000000000000000000000..3726679a232d9a23a3722ee4e879423e5131ef16
--- /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/ep000109/gripper_right_tactile_force_metrics.json
@@ -0,0 +1,9 @@
+{
+  "depth_peak": 0.018219448626041412,
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+  "force_magnitude_peak": 0.023765942081809044,
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+  "dataset_name": "dag911262r001653_lerobot_0327_114714",
+  "episode_index": 109,
+  "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/ep000116/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/ep000116/gripper_left_tactile_force_metrics.json
new file mode 100644
index 0000000000000000000000000000000000000000..4c141a9f9ee85153e4996f7bf10a7cfaf8df49b5
--- /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/ep000116/gripper_left_tactile_force_metrics.json
@@ -0,0 +1,9 @@
+{
+  "depth_peak": 0.016246268525719643,
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+  "force_magnitude_peak": 0.016478272154927254,
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+  "dataset_name": "dag911262r001653_lerobot_0327_114714",
+  "episode_index": 116,
+  "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/ep000127/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/ep000127/gripper_left_tactile_force_metrics.json
new file mode 100644
index 0000000000000000000000000000000000000000..040f8bb9ba6a6d7a5cedd3be5b7f38bbe1f09acf
--- /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/ep000127/gripper_left_tactile_force_metrics.json
@@ -0,0 +1,9 @@
+{
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+  "force_magnitude_peak": 0.004857964348047972,
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+  "dataset_name": "dag911262r001653_lerobot_0327_114714",
+  "episode_index": 127,
+  "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/ep000137/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/ep000137/gripper_left_tactile_force_metrics.json
new file mode 100644
index 0000000000000000000000000000000000000000..b2303c9089197bdea350e00b960b5e36fe57c25a
--- /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/ep000137/gripper_left_tactile_force_metrics.json
@@ -0,0 +1,9 @@
+{
+  "depth_peak": 0.000958592165261507,
+  "shear_peak": 0.002244377974420786,
+  "force_magnitude_peak": 0.0023470865562558174,
+  "reference_frame_count": 0,
+  "dataset_name": "dag911262r001653_lerobot_0327_114714",
+  "episode_index": 137,
+  "sensor": "gripper_left_tactile"
+}
\ No newline at end of file
diff --git a/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-09_18-30/outputs_tactile/tactile_cache/dag911262r001653_lerobot_0327_114714_a96adc8e/episodes/ep000156/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/ep000156/gripper_left_tactile_force_metrics.json
new file mode 100644
index 0000000000000000000000000000000000000000..e13d94a411042ddc50dae7f3cd962d3ddcf9a526
--- /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/ep000156/gripper_left_tactile_force_metrics.json
@@ -0,0 +1,9 @@
+{
+  "depth_peak": 0.0006044153124094009,
+  "shear_peak": 0.004581031855195761,
+  "force_magnitude_peak": 0.004931334871798754,
+  "reference_frame_count": 0,
+  "dataset_name": "dag911262r001653_lerobot_0327_114714",
+  "episode_index": 156,
+  "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/ep000168/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/ep000168/gripper_left_tactile_force_metrics.json
new file mode 100644
index 0000000000000000000000000000000000000000..cb4c6135ca15619867793d515cbef5a75953473c
--- /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/ep000168/gripper_left_tactile_force_metrics.json
@@ -0,0 +1,9 @@
+{
+  "depth_peak": 0.0014827440027147532,
+  "shear_peak": 0.002745174802839756,
+  "force_magnitude_peak": 0.002766180085018277,
+  "reference_frame_count": 0,
+  "dataset_name": "dag911262r001653_lerobot_0327_114714",
+  "episode_index": 168,
+  "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/ep000180/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/ep000180/gripper_left_tactile_force_metrics.json
new file mode 100644
index 0000000000000000000000000000000000000000..23e428e875a233658e43f4c1e109758b915faa8e
--- /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/ep000180/gripper_left_tactile_force_metrics.json
@@ -0,0 +1,9 @@
+{
+  "depth_peak": 0.0014068592572584748,
+  "shear_peak": 0.006265198811888695,
+  "force_magnitude_peak": 0.006569708697497845,
+  "reference_frame_count": 0,
+  "dataset_name": "dag911262r001653_lerobot_0327_114714",
+  "episode_index": 180,
+  "sensor": "gripper_left_tactile"
+}
\ No newline at end of file