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/ep000590/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/ep000590/gripper_left_tactile_force_metrics.json
new file mode 100644
index 0000000000000000000000000000000000000000..52612e705d9a088044e3a248c52094c0a31461f8
--- /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/ep000590/gripper_left_tactile_force_metrics.json
@@ -0,0 +1,9 @@
+{
+  "depth_peak": 0.009191141463816166,
+  "shear_peak": 0.0029150538612157106,
+  "force_magnitude_peak": 0.009634086862206459,
+  "reference_frame_count": 0,
+  "dataset_name": "dag911262r000448_lerobot_0327_114714",
+  "episode_index": 590,
+  "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/ep000611/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/ep000611/gripper_right_tactile_force_metrics.json
new file mode 100644
index 0000000000000000000000000000000000000000..1585aad0db5ecb8289f1364171f53327e490abf3
--- /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/ep000611/gripper_right_tactile_force_metrics.json
@@ -0,0 +1,9 @@
+{
+  "depth_peak": 0.00481288880109787,
+  "shear_peak": 0.0025288378819823265,
+  "force_magnitude_peak": 0.004812904633581638,
+  "reference_frame_count": 0,
+  "dataset_name": "dag911262r000448_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/dag911262r000448_lerobot_0327_114714_4b260549/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/dag911262r000448_lerobot_0327_114714_4b260549/episodes/ep000636/gripper_right_tactile_force_metrics.json
new file mode 100644
index 0000000000000000000000000000000000000000..f03e55bda9d551c5d2f0063b9777225af9e297a2
--- /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/ep000636/gripper_right_tactile_force_metrics.json
@@ -0,0 +1,9 @@
+{
+  "depth_peak": 0.006051521748304367,
+  "shear_peak": 0.012943698093295097,
+  "force_magnitude_peak": 0.014044299721717834,
+  "reference_frame_count": 0,
+  "dataset_name": "dag911262r000448_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/dag911262r000448_lerobot_0327_114714_4b260549/episodes/ep000637/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/ep000637/gripper_left_tactile_force_metrics.json
new file mode 100644
index 0000000000000000000000000000000000000000..84854f3846aab6249df394d1bae57119960265ad
--- /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/ep000637/gripper_left_tactile_force_metrics.json
@@ -0,0 +1,9 @@
+{
+  "depth_peak": 0.002377503551542759,
+  "shear_peak": 0.0030107658822089434,
+  "force_magnitude_peak": 0.003710628254339099,
+  "reference_frame_count": 0,
+  "dataset_name": "dag911262r000448_lerobot_0327_114714",
+  "episode_index": 637,
+  "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/ep000649/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/ep000649/gripper_left_tactile_force_metrics.json
new file mode 100644
index 0000000000000000000000000000000000000000..fc40dd6f7cc384742729aee2d527fbefdf93b64a
--- /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/ep000649/gripper_left_tactile_force_metrics.json
@@ -0,0 +1,9 @@
+{
+  "depth_peak": 0.0045370482839643955,
+  "shear_peak": 0.002541736699640751,
+  "force_magnitude_peak": 0.005057810805737972,
+  "reference_frame_count": 0,
+  "dataset_name": "dag911262r000448_lerobot_0327_114714",
+  "episode_index": 649,
+  "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/ep000013/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/ep000013/gripper_right_tactile_force_metrics.json
new file mode 100644
index 0000000000000000000000000000000000000000..a4eb6dfeb2f40496f94c49fa939d15a9d8e41105
--- /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/ep000013/gripper_right_tactile_force_metrics.json
@@ -0,0 +1,9 @@
+{
+  "depth_peak": 0.005628901533782482,
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+  "force_magnitude_peak": 0.006162557750940323,
+  "reference_frame_count": 0,
+  "dataset_name": "dag911262r00054f_lerobot_0327_114714",
+  "episode_index": 13,
+  "sensor": "gripper_right_tactile"
+}
\ No 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/ep000037/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/ep000037/gripper_right_tactile_force_metrics.json
new file mode 100644
index 0000000000000000000000000000000000000000..7b83f17dfc4ed11545da28be4eb95b3ff3b65662
--- /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/ep000037/gripper_right_tactile_force_metrics.json
@@ -0,0 +1,9 @@
+{
+  "depth_peak": 0.014422710053622723,
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+  "force_magnitude_peak": 0.014422893524169922,
+  "reference_frame_count": 0,
+  "dataset_name": "dag911262r00054f_lerobot_0327_114714",
+  "episode_index": 37,
+  "sensor": "gripper_right_tactile"
+}
\ No 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/ep000046/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/ep000046/gripper_right_tactile_force_metrics.json
new file mode 100644
index 0000000000000000000000000000000000000000..7e8e6ef63d42b160b09eb656969494ad0a153fc5
--- /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/ep000046/gripper_right_tactile_force_metrics.json
@@ -0,0 +1,9 @@
+{
+  "depth_peak": 0.005554651375859976,
+  "shear_peak": 0.0037077649030834436,
+  "force_magnitude_peak": 0.005870507564395666,
+  "reference_frame_count": 0,
+  "dataset_name": "dag911262r00054f_lerobot_0327_114714",
+  "episode_index": 46,
+  "sensor": "gripper_right_tactile"
+}
\ No 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/ep000143/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/ep000143/gripper_left_tactile_force_metrics.json
new file mode 100644
index 0000000000000000000000000000000000000000..802d759522fb325906a68ca9c290ded617ea6d21
--- /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/ep000143/gripper_left_tactile_force_metrics.json
@@ -0,0 +1,9 @@
+{
+  "depth_peak": 0.0026917611248791218,
+  "shear_peak": 0.004731007851660252,
+  "force_magnitude_peak": 0.005024997517466545,
+  "reference_frame_count": 0,
+  "dataset_name": "dag911262r00054f_lerobot_0327_114714",
+  "episode_index": 143,
+  "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/ep000151/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/ep000151/gripper_right_tactile_force_metrics.json
new file mode 100644
index 0000000000000000000000000000000000000000..0cd4f2500941efe7561379e846110c89b56f77f8
--- /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/ep000151/gripper_right_tactile_force_metrics.json
@@ -0,0 +1,9 @@
+{
+  "depth_peak": 0.029137391597032547,
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+  "force_magnitude_peak": 0.029347674921154976,
+  "reference_frame_count": 0,
+  "dataset_name": "dag911262r00054f_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/dag911262r00054f_lerobot_0327_114714_c83a1436/episodes/ep000166/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/ep000166/gripper_right_tactile_force_metrics.json
new file mode 100644
index 0000000000000000000000000000000000000000..ddad48387ba2760c29365148e7c3e320fb02b7df
--- /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/ep000166/gripper_right_tactile_force_metrics.json
@@ -0,0 +1,9 @@
+{
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+  "force_magnitude_peak": 0.011250114999711514,
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+  "dataset_name": "dag911262r00054f_lerobot_0327_114714",
+  "episode_index": 166,
+  "sensor": "gripper_right_tactile"
+}
\ No 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/ep000174/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/ep000174/gripper_left_tactile_force_metrics.json
new file mode 100644
index 0000000000000000000000000000000000000000..5115bf2ddd042b8a4246600662fa38843f0a96b9
--- /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/ep000174/gripper_left_tactile_force_metrics.json
@@ -0,0 +1,9 @@
+{
+  "depth_peak": 0.00155389285646379,
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+  "force_magnitude_peak": 0.0038521932438015938,
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+  "dataset_name": "dag911262r00054f_lerobot_0327_114714",
+  "episode_index": 174,
+  "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/ep000183/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/ep000183/gripper_left_tactile_force_metrics.json
new file mode 100644
index 0000000000000000000000000000000000000000..3369b92b5c62b5eebf21f329a009b79925631939
--- /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/ep000183/gripper_left_tactile_force_metrics.json
@@ -0,0 +1,9 @@
+{
+  "depth_peak": 0.0023013148456811905,
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+  "force_magnitude_peak": 0.004971639718860388,
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+  "dataset_name": "dag911262r00054f_lerobot_0327_114714",
+  "episode_index": 183,
+  "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/ep000206/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/ep000206/gripper_right_tactile_force_metrics.json
new file mode 100644
index 0000000000000000000000000000000000000000..6a784ead99cf82a1a81cef0bc41749c85a091a93
--- /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/ep000206/gripper_right_tactile_force_metrics.json
@@ -0,0 +1,9 @@
+{
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+  "force_magnitude_peak": 0.009497695602476597,
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+  "dataset_name": "dag911262r00054f_lerobot_0327_114714",
+  "episode_index": 206,
+  "sensor": "gripper_right_tactile"
+}
\ No newline at end of file
diff --git a/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-09_18-30/outputs_tactile/tactile_cache/dag911262r00054f_lerobot_0327_114714_c83a1436/episodes/ep000213/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/ep000213/gripper_right_tactile_force_metrics.json
new file mode 100644
index 0000000000000000000000000000000000000000..364e03973302419bbf5d5961d67812347aefcdcd
--- /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/ep000213/gripper_right_tactile_force_metrics.json
@@ -0,0 +1,9 @@
+{
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+  "dataset_name": "dag911262r00054f_lerobot_0327_114714",
+  "episode_index": 213,
+  "sensor": "gripper_right_tactile"
+}
\ No 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/ep000231/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/ep000231/gripper_right_tactile_force_metrics.json
new file mode 100644
index 0000000000000000000000000000000000000000..819babd7c14a81b8e2882beb825e87c8ebb9412d
--- /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/ep000231/gripper_right_tactile_force_metrics.json
@@ -0,0 +1,9 @@
+{
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+  "force_magnitude_peak": 0.018922381103038788,
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+  "dataset_name": "dag911262r00054f_lerobot_0327_114714",
+  "episode_index": 231,
+  "sensor": "gripper_right_tactile"
+}
\ No 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/ep000237/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/ep000237/gripper_right_tactile_force_metrics.json
new file mode 100644
index 0000000000000000000000000000000000000000..703737d5e9d30143f3e2d32dbef2a625012d08da
--- /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/ep000237/gripper_right_tactile_force_metrics.json
@@ -0,0 +1,9 @@
+{
+  "depth_peak": 0.0031400113366544247,
+  "shear_peak": 0.00823148526251316,
+  "force_magnitude_peak": 0.008421599864959717,
+  "reference_frame_count": 0,
+  "dataset_name": "dag911262r00054f_lerobot_0327_114714",
+  "episode_index": 237,
+  "sensor": "gripper_right_tactile"
+}
\ No 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/ep000271/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/ep000271/gripper_right_tactile_force_metrics.json
new file mode 100644
index 0000000000000000000000000000000000000000..629d7eec78b535149c23c17e8d42a5bccb23e88c
--- /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/ep000271/gripper_right_tactile_force_metrics.json
@@ -0,0 +1,9 @@
+{
+  "depth_peak": 0.013132461346685886,
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+  "force_magnitude_peak": 0.017340725287795067,
+  "reference_frame_count": 0,
+  "dataset_name": "dag911262r00054f_lerobot_0327_114714",
+  "episode_index": 271,
+  "sensor": "gripper_right_tactile"
+}
\ No 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/ep000277/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/ep000277/gripper_right_tactile_force_metrics.json
new file mode 100644
index 0000000000000000000000000000000000000000..0509d6cd51bb4e1ab1a752f8aa59b4e93b5cf2c4
--- /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/ep000277/gripper_right_tactile_force_metrics.json
@@ -0,0 +1,9 @@
+{
+  "depth_peak": 0.011933431029319763,
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+  "force_magnitude_peak": 0.016151444986462593,
+  "reference_frame_count": 0,
+  "dataset_name": "dag911262r00054f_lerobot_0327_114714",
+  "episode_index": 277,
+  "sensor": "gripper_right_tactile"
+}
\ No 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/ep000286/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/ep000286/gripper_right_tactile_force_metrics.json
new file mode 100644
index 0000000000000000000000000000000000000000..de0af77378364a4b77d9adb23b39ec0887dcb71b
--- /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/ep000286/gripper_right_tactile_force_metrics.json
@@ -0,0 +1,9 @@
+{
+  "depth_peak": 0.0066643948666751385,
+  "shear_peak": 0.00351730571128428,
+  "force_magnitude_peak": 0.006772497668862343,
+  "reference_frame_count": 0,
+  "dataset_name": "dag911262r00054f_lerobot_0327_114714",
+  "episode_index": 286,
+  "sensor": "gripper_right_tactile"
+}
\ No 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/ep000317/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/ep000317/gripper_right_tactile_force_metrics.json
new file mode 100644
index 0000000000000000000000000000000000000000..0efce9b2d887703c01ff4e16838237c5716bbfa1
--- /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/ep000317/gripper_right_tactile_force_metrics.json
@@ -0,0 +1,9 @@
+{
+  "depth_peak": 0.006626197136938572,
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+  "force_magnitude_peak": 0.00669598113745451,
+  "reference_frame_count": 0,
+  "dataset_name": "dag911262r00054f_lerobot_0327_114714",
+  "episode_index": 317,
+  "sensor": "gripper_right_tactile"
+}
\ No 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/ep000332/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/ep000332/gripper_left_tactile_force_metrics.json
new file mode 100644
index 0000000000000000000000000000000000000000..c0ed237d5b3ab90c6226132cfee3d60ced96d73d
--- /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/ep000332/gripper_left_tactile_force_metrics.json
@@ -0,0 +1,9 @@
+{
+  "depth_peak": 0.0058386544696986675,
+  "shear_peak": 0.006069392431527376,
+  "force_magnitude_peak": 0.007909337058663368,
+  "reference_frame_count": 0,
+  "dataset_name": "dag911262r00054f_lerobot_0327_114714",
+  "episode_index": 332,
+  "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/ep000333/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/ep000333/gripper_right_tactile_force_metrics.json
new file mode 100644
index 0000000000000000000000000000000000000000..146aad5e22ca021c44f9dac44014bd7085b07dc5
--- /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/ep000333/gripper_right_tactile_force_metrics.json
@@ -0,0 +1,9 @@
+{
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+  "force_magnitude_peak": 0.01170439925044775,
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+  "dataset_name": "dag911262r00054f_lerobot_0327_114714",
+  "episode_index": 333,
+  "sensor": "gripper_right_tactile"
+}
\ No 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/ep000357/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/ep000357/gripper_right_tactile_force_metrics.json
new file mode 100644
index 0000000000000000000000000000000000000000..946cb79467fc10f931b24576900b03abaa5bc07d
--- /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/ep000357/gripper_right_tactile_force_metrics.json
@@ -0,0 +1,9 @@
+{
+  "depth_peak": 0.004055301193147898,
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+  "force_magnitude_peak": 0.004915787372738123,
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+  "dataset_name": "dag911262r00054f_lerobot_0327_114714",
+  "episode_index": 357,
+  "sensor": "gripper_right_tactile"
+}
\ No newline at end of file
diff --git a/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-09_18-30/outputs_tactile/tactile_cache/dag911262r00054f_lerobot_0327_114714_c83a1436/episodes/ep000373/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/ep000373/gripper_right_tactile_force_metrics.json
new file mode 100644
index 0000000000000000000000000000000000000000..5880c1636dd10ebd1471c9d539f21ae14b844c3a
--- /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/ep000373/gripper_right_tactile_force_metrics.json
@@ -0,0 +1,9 @@
+{
+  "depth_peak": 0.013442928902804852,
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+  "force_magnitude_peak": 0.014076403342187405,
+  "reference_frame_count": 0,
+  "dataset_name": "dag911262r00054f_lerobot_0327_114714",
+  "episode_index": 373,
+  "sensor": "gripper_right_tactile"
+}
\ No 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/ep000391/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/ep000391/gripper_right_tactile_force_metrics.json
new file mode 100644
index 0000000000000000000000000000000000000000..f65dfc64d8a2806728e7a76c37e3acdf336668b5
--- /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/ep000391/gripper_right_tactile_force_metrics.json
@@ -0,0 +1,9 @@
+{
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+  "force_magnitude_peak": 0.011376622132956982,
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+  "dataset_name": "dag911262r00054f_lerobot_0327_114714",
+  "episode_index": 391,
+  "sensor": "gripper_right_tactile"
+}
\ No 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/ep000400/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/ep000400/gripper_right_tactile_force_metrics.json
new file mode 100644
index 0000000000000000000000000000000000000000..2c582bef44122c9e4300ab00397780a410a27671
--- /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/ep000400/gripper_right_tactile_force_metrics.json
@@ -0,0 +1,9 @@
+{
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+  "dataset_name": "dag911262r00054f_lerobot_0327_114714",
+  "episode_index": 400,
+  "sensor": "gripper_right_tactile"
+}
\ No 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/ep000406/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/ep000406/gripper_right_tactile_force_metrics.json
new file mode 100644
index 0000000000000000000000000000000000000000..dd6a0904cb9df9da08b8629c8bdfaec16e625941
--- /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/ep000406/gripper_right_tactile_force_metrics.json
@@ -0,0 +1,9 @@
+{
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+  "dataset_name": "dag911262r00054f_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/dag911262r00054f_lerobot_0327_114714_c83a1436/episodes/ep000459/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/ep000459/gripper_left_tactile_force_metrics.json
new file mode 100644
index 0000000000000000000000000000000000000000..0abff9b05d2ab5119080bcbe3153d38edacee4fa
--- /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/ep000459/gripper_left_tactile_force_metrics.json
@@ -0,0 +1,9 @@
+{
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+  "dataset_name": "dag911262r00054f_lerobot_0327_114714",
+  "episode_index": 459,
+  "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/ep000480/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/ep000480/gripper_right_tactile_force_metrics.json
new file mode 100644
index 0000000000000000000000000000000000000000..5a096f62f4aa1d4bdb2c8b8b9ba4535a42b3008f
--- /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/ep000480/gripper_right_tactile_force_metrics.json
@@ -0,0 +1,9 @@
+{
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+  "force_magnitude_peak": 0.007104023825377226,
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+  "dataset_name": "dag911262r00054f_lerobot_0327_114714",
+  "episode_index": 480,
+  "sensor": "gripper_right_tactile"
+}
\ No 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/ep000498/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/ep000498/gripper_right_tactile_force_metrics.json
new file mode 100644
index 0000000000000000000000000000000000000000..67e23f5df23d8787aa2b1642c951a340fe673ca7
--- /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/ep000498/gripper_right_tactile_force_metrics.json
@@ -0,0 +1,9 @@
+{
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+  "force_magnitude_peak": 0.0058561353944242,
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+  "dataset_name": "dag911262r00054f_lerobot_0327_114714",
+  "episode_index": 498,
+  "sensor": "gripper_right_tactile"
+}
\ No newline at end of file
diff --git a/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-09_18-30/outputs_tactile/tactile_cache/dag911262r00054f_lerobot_0327_114714_c83a1436/episodes/ep000522/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/ep000522/gripper_right_tactile_force_metrics.json
new file mode 100644
index 0000000000000000000000000000000000000000..49e5be9cd1f66adb376922be89e6b55bf3fe0f00
--- /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/ep000522/gripper_right_tactile_force_metrics.json
@@ -0,0 +1,9 @@
+{
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+  "dataset_name": "dag911262r00054f_lerobot_0327_114714",
+  "episode_index": 522,
+  "sensor": "gripper_right_tactile"
+}
\ No 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/ep000539/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/ep000539/gripper_right_tactile_force_metrics.json
new file mode 100644
index 0000000000000000000000000000000000000000..743de82981f23b160cbbc22155bfe1599dc4d849
--- /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/ep000539/gripper_right_tactile_force_metrics.json
@@ -0,0 +1,9 @@
+{
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+  "force_magnitude_peak": 0.007743802387267351,
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+  "dataset_name": "dag911262r00054f_lerobot_0327_114714",
+  "episode_index": 539,
+  "sensor": "gripper_right_tactile"
+}
\ No newline at end of file
diff --git a/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-09_18-30/outputs_tactile/tactile_cache/dag911262r00054f_lerobot_0327_114714_c83a1436/episodes/ep000548/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/ep000548/gripper_right_tactile_force_metrics.json
new file mode 100644
index 0000000000000000000000000000000000000000..04e3fb0899d282e83491dd92cef66168bbc2abd0
--- /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/ep000548/gripper_right_tactile_force_metrics.json
@@ -0,0 +1,9 @@
+{
+  "depth_peak": 0.003112474223598838,
+  "shear_peak": 0.00632072938606143,
+  "force_magnitude_peak": 0.0068600294180214405,
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+  "dataset_name": "dag911262r00054f_lerobot_0327_114714",
+  "episode_index": 548,
+  "sensor": "gripper_right_tactile"
+}
\ No newline at end of file
diff --git a/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-09_18-30/outputs_tactile/tactile_cache/dag911262r00054f_lerobot_0327_114714_c83a1436/episodes/ep000577/gripper_right_tactile_force_metrics.json b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-09_18-30/outputs_tactile/tactile_cache/dag911262r00054f_lerobot_0327_114714_c83a1436/episodes/ep000577/gripper_right_tactile_force_metrics.json
new file mode 100644
index 0000000000000000000000000000000000000000..480758df481d56b25bad5c3336a634137117e3c5
--- /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/ep000577/gripper_right_tactile_force_metrics.json
@@ -0,0 +1,9 @@
+{
+  "depth_peak": 0.014042437076568604,
+  "shear_peak": 0.011931544169783592,
+  "force_magnitude_peak": 0.018116269260644913,
+  "reference_frame_count": 0,
+  "dataset_name": "dag911262r00054f_lerobot_0327_114714",
+  "episode_index": 577,
+  "sensor": "gripper_right_tactile"
+}
\ No newline at end of file
diff --git a/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-09_18-30/outputs_tactile/tactile_cache/dag911262r00054f_lerobot_0327_114714_c83a1436/episodes/ep000579/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/ep000579/gripper_right_tactile_force_metrics.json
new file mode 100644
index 0000000000000000000000000000000000000000..c8a87e73871aa533ca388db7ff148f48967694d1
--- /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/ep000579/gripper_right_tactile_force_metrics.json
@@ -0,0 +1,9 @@
+{
+  "depth_peak": 0.008687896654009819,
+  "shear_peak": 0.005261384416371584,
+  "force_magnitude_peak": 0.008688315749168396,
+  "reference_frame_count": 0,
+  "dataset_name": "dag911262r00054f_lerobot_0327_114714",
+  "episode_index": 579,
+  "sensor": "gripper_right_tactile"
+}
\ No 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/ep000588/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/ep000588/gripper_right_tactile_force_metrics.json
new file mode 100644
index 0000000000000000000000000000000000000000..ecead2de3812ddb21494a5d95b1950612c28c2a0
--- /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/ep000588/gripper_right_tactile_force_metrics.json
@@ -0,0 +1,9 @@
+{
+  "depth_peak": 0.004480866715312004,
+  "shear_peak": 0.0030592719558626413,
+  "force_magnitude_peak": 0.00508296862244606,
+  "reference_frame_count": 0,
+  "dataset_name": "dag911262r00054f_lerobot_0327_114714",
+  "episode_index": 588,
+  "sensor": "gripper_right_tactile"
+}
\ No 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/ep000594/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/ep000594/gripper_right_tactile_force_metrics.json
new file mode 100644
index 0000000000000000000000000000000000000000..057e4ffbdcb48181142a591c023122f8c7376a5d
--- /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/ep000594/gripper_right_tactile_force_metrics.json
@@ -0,0 +1,9 @@
+{
+  "depth_peak": 0.006038268096745014,
+  "shear_peak": 0.003745856462046504,
+  "force_magnitude_peak": 0.006714210845530033,
+  "reference_frame_count": 0,
+  "dataset_name": "dag911262r00054f_lerobot_0327_114714",
+  "episode_index": 594,
+  "sensor": "gripper_right_tactile"
+}
\ No 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/ep000602/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/ep000602/gripper_left_tactile_force_metrics.json
new file mode 100644
index 0000000000000000000000000000000000000000..a332b9faad3f02ad1c916570b7f3d0fae04cfc87
--- /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/ep000602/gripper_left_tactile_force_metrics.json
@@ -0,0 +1,9 @@
+{
+  "depth_peak": 0.005300203803926706,
+  "shear_peak": 0.0038707309868186712,
+  "force_magnitude_peak": 0.005456028506159782,
+  "reference_frame_count": 0,
+  "dataset_name": "dag911262r00054f_lerobot_0327_114714",
+  "episode_index": 602,
+  "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/ep000602/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/ep000602/gripper_right_tactile_force_metrics.json
new file mode 100644
index 0000000000000000000000000000000000000000..df9d3ddd9bfbe02cd20fd267cb3d4fa951d25bd8
--- /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/ep000602/gripper_right_tactile_force_metrics.json
@@ -0,0 +1,9 @@
+{
+  "depth_peak": 0.005389597732573748,
+  "shear_peak": 0.007577578071504831,
+  "force_magnitude_peak": 0.009298787452280521,
+  "reference_frame_count": 0,
+  "dataset_name": "dag911262r00054f_lerobot_0327_114714",
+  "episode_index": 602,
+  "sensor": "gripper_right_tactile"
+}
\ No 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/ep000606/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/ep000606/gripper_left_tactile_force_metrics.json
new file mode 100644
index 0000000000000000000000000000000000000000..4172e3a86eb2f22bba424e6dbbf0b04c1e61ae7e
--- /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/ep000606/gripper_left_tactile_force_metrics.json
@@ -0,0 +1,9 @@
+{
+  "depth_peak": 0.020023152232170105,
+  "shear_peak": 0.0015250074211508036,
+  "force_magnitude_peak": 0.020037857815623283,
+  "reference_frame_count": 0,
+  "dataset_name": "dag911262r00054f_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/dag911262r00054f_lerobot_0327_114714_c83a1436/episodes/ep000613/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/ep000613/gripper_right_tactile_force_metrics.json
new file mode 100644
index 0000000000000000000000000000000000000000..3bbcf35fe831621717642ef3dd31a82667c4a896
--- /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/ep000613/gripper_right_tactile_force_metrics.json
@@ -0,0 +1,9 @@
+{
+  "depth_peak": 0.014959683641791344,
+  "shear_peak": 0.010874681174755096,
+  "force_magnitude_peak": 0.018488401547074318,
+  "reference_frame_count": 0,
+  "dataset_name": "dag911262r00054f_lerobot_0327_114714",
+  "episode_index": 613,
+  "sensor": "gripper_right_tactile"
+}
\ No 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/ep000629/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/ep000629/gripper_right_tactile_force_metrics.json
new file mode 100644
index 0000000000000000000000000000000000000000..888e9aa939ff3d5341f87886c06cc7d50ba0dbfc
--- /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/ep000629/gripper_right_tactile_force_metrics.json
@@ -0,0 +1,9 @@
+{
+  "depth_peak": 0.006800035480409861,
+  "shear_peak": 0.004644167143851519,
+  "force_magnitude_peak": 0.006964094936847687,
+  "reference_frame_count": 0,
+  "dataset_name": "dag911262r00054f_lerobot_0327_114714",
+  "episode_index": 629,
+  "sensor": "gripper_right_tactile"
+}
\ No 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/ep000008/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/ep000008/gripper_right_tactile_force_metrics.json
new file mode 100644
index 0000000000000000000000000000000000000000..3c2be443e72a1c6e230327a6a17084630e8ee94e
--- /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/ep000008/gripper_right_tactile_force_metrics.json
@@ -0,0 +1,9 @@
+{
+  "depth_peak": 0.0009273613686673343,
+  "shear_peak": 0.0019630782771855593,
+  "force_magnitude_peak": 0.002015510806813836,
+  "reference_frame_count": 0,
+  "dataset_name": "dag911262r000646_lerobot_0327_114714",
+  "episode_index": 8,
+  "sensor": "gripper_right_tactile"
+}
\ No 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/ep000029/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/ep000029/gripper_right_tactile_force_metrics.json
new file mode 100644
index 0000000000000000000000000000000000000000..afb5c0682b25ba88da6a1e395515209f549d3254
--- /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/ep000029/gripper_right_tactile_force_metrics.json
@@ -0,0 +1,9 @@
+{
+  "depth_peak": 0.0064624701626598835,
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+  "force_magnitude_peak": 0.007132733706384897,
+  "reference_frame_count": 0,
+  "dataset_name": "dag911262r000646_lerobot_0327_114714",
+  "episode_index": 29,
+  "sensor": "gripper_right_tactile"
+}
\ No 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/ep000032/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/ep000032/gripper_right_tactile_force_metrics.json
new file mode 100644
index 0000000000000000000000000000000000000000..c740cc187ae6dc73c49eb19fd04e0c9d2cb5aa08
--- /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/ep000032/gripper_right_tactile_force_metrics.json
@@ -0,0 +1,9 @@
+{
+  "depth_peak": 0.004258912056684494,
+  "shear_peak": 0.0027194609865546227,
+  "force_magnitude_peak": 0.004397985525429249,
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+  "dataset_name": "dag911262r000646_lerobot_0327_114714",
+  "episode_index": 32,
+  "sensor": "gripper_right_tactile"
+}
\ No newline at end of file
diff --git a/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-09_18-30/outputs_tactile/tactile_cache/dag911262r000646_lerobot_0327_114714_56b6c8f1/episodes/ep000039/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/ep000039/gripper_left_tactile_force_metrics.json
new file mode 100644
index 0000000000000000000000000000000000000000..1baf91493cea1c2be222815023eba80eb958fbc4
--- /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/ep000039/gripper_left_tactile_force_metrics.json
@@ -0,0 +1,9 @@
+{
+  "depth_peak": 0.0034922235645353794,
+  "shear_peak": 0.0025323634035885334,
+  "force_magnitude_peak": 0.004008537158370018,
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+  "dataset_name": "dag911262r000646_lerobot_0327_114714",
+  "episode_index": 39,
+  "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/ep000069/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/ep000069/gripper_right_tactile_force_metrics.json
new file mode 100644
index 0000000000000000000000000000000000000000..2dfa4ad03e8ec8061b71ae31c7227c045758174d
--- /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/ep000069/gripper_right_tactile_force_metrics.json
@@ -0,0 +1,9 @@
+{
+  "depth_peak": 0.006661917082965374,
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+  "force_magnitude_peak": 0.007199215702712536,
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+  "dataset_name": "dag911262r000646_lerobot_0327_114714",
+  "episode_index": 69,
+  "sensor": "gripper_right_tactile"
+}
\ No 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/ep000080/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/ep000080/gripper_right_tactile_force_metrics.json
new file mode 100644
index 0000000000000000000000000000000000000000..79069824f6714d35ec2a21ea20877b6e591320a5
--- /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/ep000080/gripper_right_tactile_force_metrics.json
@@ -0,0 +1,9 @@
+{
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+  "force_magnitude_peak": 0.005285882856696844,
+  "reference_frame_count": 0,
+  "dataset_name": "dag911262r000646_lerobot_0327_114714",
+  "episode_index": 80,
+  "sensor": "gripper_right_tactile"
+}
\ No 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/ep000106/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/ep000106/gripper_left_tactile_force_metrics.json
new file mode 100644
index 0000000000000000000000000000000000000000..dacadaa4926cd566521f21aee800f04e3ff5985c
--- /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/ep000106/gripper_left_tactile_force_metrics.json
@@ -0,0 +1,9 @@
+{
+  "depth_peak": 0.001956848194822669,
+  "shear_peak": 0.0039270054548978806,
+  "force_magnitude_peak": 0.004051120951771736,
+  "reference_frame_count": 0,
+  "dataset_name": "dag911262r000646_lerobot_0327_114714",
+  "episode_index": 106,
+  "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/ep000106/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/ep000106/gripper_right_tactile_force_metrics.json
new file mode 100644
index 0000000000000000000000000000000000000000..4a210b44d0c47e9e7f2f81da7e5a9dc96a8d3171
--- /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/ep000106/gripper_right_tactile_force_metrics.json
@@ -0,0 +1,9 @@
+{
+  "depth_peak": 0.002561168512329459,
+  "shear_peak": 0.003566652536392212,
+  "force_magnitude_peak": 0.004328594543039799,
+  "reference_frame_count": 0,
+  "dataset_name": "dag911262r000646_lerobot_0327_114714",
+  "episode_index": 106,
+  "sensor": "gripper_right_tactile"
+}
\ No 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/ep000111/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/ep000111/gripper_left_tactile_force_metrics.json
new file mode 100644
index 0000000000000000000000000000000000000000..c0e9e3fca8701837050d748e957a22530f6b0534
--- /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/ep000111/gripper_left_tactile_force_metrics.json
@@ -0,0 +1,9 @@
+{
+  "depth_peak": 0.003970177378505468,
+  "shear_peak": 0.0023786439560353756,
+  "force_magnitude_peak": 0.004043388180434704,
+  "reference_frame_count": 0,
+  "dataset_name": "dag911262r000646_lerobot_0327_114714",
+  "episode_index": 111,
+  "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/ep000119/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/ep000119/gripper_left_tactile_force_metrics.json
new file mode 100644
index 0000000000000000000000000000000000000000..76a2f25ef4d177da93e113a9e3ba40109c50766b
--- /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/ep000119/gripper_left_tactile_force_metrics.json
@@ -0,0 +1,9 @@
+{
+  "depth_peak": 0.001632796716876328,
+  "shear_peak": 0.0030626424122601748,
+  "force_magnitude_peak": 0.003414567792788148,
+  "reference_frame_count": 0,
+  "dataset_name": "dag911262r000646_lerobot_0327_114714",
+  "episode_index": 119,
+  "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/ep000192/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/ep000192/gripper_right_tactile_force_metrics.json
new file mode 100644
index 0000000000000000000000000000000000000000..fdd016b8a21e022d99fe007511b76a7e8ed76b33
--- /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_right_tactile_force_metrics.json
@@ -0,0 +1,9 @@
+{
+  "depth_peak": 0.0028941142372787,
+  "shear_peak": 0.0032385264057666063,
+  "force_magnitude_peak": 0.0037972943391650915,
+  "reference_frame_count": 0,
+  "dataset_name": "dag911262r000646_lerobot_0327_114714",
+  "episode_index": 192,
+  "sensor": "gripper_right_tactile"
+}
\ No newline at end of file
diff --git a/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-09_18-30/outputs_tactile/tactile_cache/dag911262r000646_lerobot_0327_114714_56b6c8f1/episodes/ep000199/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/ep000199/gripper_left_tactile_force_metrics.json
new file mode 100644
index 0000000000000000000000000000000000000000..ce32071ab19d5a06bc39c52c0ad97a4d0681c114
--- /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/ep000199/gripper_left_tactile_force_metrics.json
@@ -0,0 +1,9 @@
+{
+  "depth_peak": 0.003153955563902855,
+  "shear_peak": 0.004154399503022432,
+  "force_magnitude_peak": 0.0050594438798725605,
+  "reference_frame_count": 0,
+  "dataset_name": "dag911262r000646_lerobot_0327_114714",
+  "episode_index": 199,
+  "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/ep000200/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/ep000200/gripper_right_tactile_force_metrics.json
new file mode 100644
index 0000000000000000000000000000000000000000..95358ad8b62693ecfa46ed43f1fae7b9c9d4f045
--- /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/ep000200/gripper_right_tactile_force_metrics.json
@@ -0,0 +1,9 @@
+{
+  "depth_peak": 0.008709502406418324,
+  "shear_peak": 0.004633357282727957,
+  "force_magnitude_peak": 0.008716345764696598,
+  "reference_frame_count": 0,
+  "dataset_name": "dag911262r000646_lerobot_0327_114714",
+  "episode_index": 200,
+  "sensor": "gripper_right_tactile"
+}
\ No 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/ep000229/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/ep000229/gripper_right_tactile_force_metrics.json
new file mode 100644
index 0000000000000000000000000000000000000000..cee6868d1f7d3c707845dea486bebddc462ca6eb
--- /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/ep000229/gripper_right_tactile_force_metrics.json
@@ -0,0 +1,9 @@
+{
+  "depth_peak": 0.005348202306777239,
+  "shear_peak": 0.003421257948502898,
+  "force_magnitude_peak": 0.006112240254878998,
+  "reference_frame_count": 0,
+  "dataset_name": "dag911262r000646_lerobot_0327_114714",
+  "episode_index": 229,
+  "sensor": "gripper_right_tactile"
+}
\ No 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/ep000231/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/ep000231/gripper_left_tactile_force_metrics.json
new file mode 100644
index 0000000000000000000000000000000000000000..158e75fa96984ef928fd8243917b5caf8bfd1811
--- /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/ep000231/gripper_left_tactile_force_metrics.json
@@ -0,0 +1,9 @@
+{
+  "depth_peak": 0.002151771914213896,
+  "shear_peak": 0.003403359791263938,
+  "force_magnitude_peak": 0.0034097309689968824,
+  "reference_frame_count": 0,
+  "dataset_name": "dag911262r000646_lerobot_0327_114714",
+  "episode_index": 231,
+  "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/ep000239/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/ep000239/gripper_left_tactile_force_metrics.json
new file mode 100644
index 0000000000000000000000000000000000000000..c9eb061713de6023bf667e1f458ab39ced341ce7
--- /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/ep000239/gripper_left_tactile_force_metrics.json
@@ -0,0 +1,9 @@
+{
+  "depth_peak": 0.0060091689229011536,
+  "shear_peak": 0.0025886320509016514,
+  "force_magnitude_peak": 0.00605075154453516,
+  "reference_frame_count": 0,
+  "dataset_name": "dag911262r000646_lerobot_0327_114714",
+  "episode_index": 239,
+  "sensor": "gripper_left_tactile"
+}
\ No newline at end of file
diff --git a/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-09_18-30/outputs_tactile/tactile_cache/dag911262r000646_lerobot_0327_114714_56b6c8f1/episodes/ep000240/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/ep000240/gripper_right_tactile_force_metrics.json
new file mode 100644
index 0000000000000000000000000000000000000000..30b8358408cd636639a77cdde65f3cf2ee8678f9
--- /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/ep000240/gripper_right_tactile_force_metrics.json
@@ -0,0 +1,9 @@
+{
+  "depth_peak": 0.009163465350866318,
+  "shear_peak": 0.0036794545594602823,
+  "force_magnitude_peak": 0.00937867071479559,
+  "reference_frame_count": 0,
+  "dataset_name": "dag911262r000646_lerobot_0327_114714",
+  "episode_index": 240,
+  "sensor": "gripper_right_tactile"
+}
\ No 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/ep000248/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/ep000248/gripper_right_tactile_force_metrics.json
new file mode 100644
index 0000000000000000000000000000000000000000..8a4835c443635674a92aa5f3dc130eb4355fe2e4
--- /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/ep000248/gripper_right_tactile_force_metrics.json
@@ -0,0 +1,9 @@
+{
+  "depth_peak": 0.007688088808208704,
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+  "force_magnitude_peak": 0.008189745247364044,
+  "reference_frame_count": 0,
+  "dataset_name": "dag911262r000646_lerobot_0327_114714",
+  "episode_index": 248,
+  "sensor": "gripper_right_tactile"
+}
\ No 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_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/ep000272/gripper_right_tactile_force_metrics.json
new file mode 100644
index 0000000000000000000000000000000000000000..e152e6e8af144d8e935f142570b8b4223868efa1
--- /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_right_tactile_force_metrics.json
@@ -0,0 +1,9 @@
+{
+  "depth_peak": 0.006735543720424175,
+  "shear_peak": 0.008530876599252224,
+  "force_magnitude_peak": 0.010101309977471828,
+  "reference_frame_count": 0,
+  "dataset_name": "dag911262r000646_lerobot_0327_114714",
+  "episode_index": 272,
+  "sensor": "gripper_right_tactile"
+}
\ No 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/ep000280/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/ep000280/gripper_right_tactile_force_metrics.json
new file mode 100644
index 0000000000000000000000000000000000000000..724c37d121cea9536de8c3cac7d38d1ab4518150
--- /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/ep000280/gripper_right_tactile_force_metrics.json
@@ -0,0 +1,9 @@
+{
+  "depth_peak": 0.008419172838330269,
+  "shear_peak": 0.005250054411590099,
+  "force_magnitude_peak": 0.009891705587506294,
+  "reference_frame_count": 0,
+  "dataset_name": "dag911262r000646_lerobot_0327_114714",
+  "episode_index": 280,
+  "sensor": "gripper_right_tactile"
+}
\ No 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/ep000288/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/ep000288/gripper_right_tactile_force_metrics.json
new file mode 100644
index 0000000000000000000000000000000000000000..834c7b138bf9306851f5250fe1cc349c345965d0
--- /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/ep000288/gripper_right_tactile_force_metrics.json
@@ -0,0 +1,9 @@
+{
+  "depth_peak": 0.007910761050879955,
+  "shear_peak": 0.0030014568474143744,
+  "force_magnitude_peak": 0.00808230135589838,
+  "reference_frame_count": 0,
+  "dataset_name": "dag911262r000646_lerobot_0327_114714",
+  "episode_index": 288,
+  "sensor": "gripper_right_tactile"
+}
\ No 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/ep000306/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/ep000306/gripper_left_tactile_force_metrics.json
new file mode 100644
index 0000000000000000000000000000000000000000..e42f69806aa918bcdc6aa7cc5bc54a70b00cdaa5
--- /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/ep000306/gripper_left_tactile_force_metrics.json
@@ -0,0 +1,9 @@
+{
+  "depth_peak": 0.0032157921232283115,
+  "shear_peak": 0.003481755033135414,
+  "force_magnitude_peak": 0.004739613737910986,
+  "reference_frame_count": 0,
+  "dataset_name": "dag911262r000646_lerobot_0327_114714",
+  "episode_index": 306,
+  "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/ep000306/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/ep000306/gripper_right_tactile_force_metrics.json
new file mode 100644
index 0000000000000000000000000000000000000000..f469b0c65ffadbadc667eb79841dd42a4b39f6e1
--- /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/ep000306/gripper_right_tactile_force_metrics.json
@@ -0,0 +1,9 @@
+{
+  "depth_peak": 0.003520393744111061,
+  "shear_peak": 0.004566362127661705,
+  "force_magnitude_peak": 0.005447358824312687,
+  "reference_frame_count": 0,
+  "dataset_name": "dag911262r000646_lerobot_0327_114714",
+  "episode_index": 306,
+  "sensor": "gripper_right_tactile"
+}
\ No 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/ep000328/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/ep000328/gripper_right_tactile_force_metrics.json
new file mode 100644
index 0000000000000000000000000000000000000000..85b1f6221d30cb8c3f127ac65230d4aea2107f4f
--- /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/ep000328/gripper_right_tactile_force_metrics.json
@@ -0,0 +1,9 @@
+{
+  "depth_peak": 0.005455924663692713,
+  "shear_peak": 0.004222328308969736,
+  "force_magnitude_peak": 0.005460607353597879,
+  "reference_frame_count": 0,
+  "dataset_name": "dag911262r000646_lerobot_0327_114714",
+  "episode_index": 328,
+  "sensor": "gripper_right_tactile"
+}
\ No newline at end of file
diff --git a/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-09_18-30/outputs_tactile/tactile_cache/dag911262r000646_lerobot_0327_114714_56b6c8f1/episodes/ep000346/gripper_left_tactile_force_metrics.json b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-09_18-30/outputs_tactile/tactile_cache/dag911262r000646_lerobot_0327_114714_56b6c8f1/episodes/ep000346/gripper_left_tactile_force_metrics.json
new file mode 100644
index 0000000000000000000000000000000000000000..5c2e1106d5e03b04f0b6820a8f22622a15649cc0
--- /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/ep000346/gripper_left_tactile_force_metrics.json
@@ -0,0 +1,9 @@
+{
+  "depth_peak": 0.001180693507194519,
+  "shear_peak": 0.002591943833976984,
+  "force_magnitude_peak": 0.0027953628450632095,
+  "reference_frame_count": 0,
+  "dataset_name": "dag911262r000646_lerobot_0327_114714",
+  "episode_index": 346,
+  "sensor": "gripper_left_tactile"
+}
\ No newline at end of file
diff --git a/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-09_18-30/outputs_tactile/tactile_cache/dag911262r000646_lerobot_0327_114714_56b6c8f1/episodes/ep000378/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/ep000378/gripper_left_tactile_force_metrics.json
new file mode 100644
index 0000000000000000000000000000000000000000..68e2cd8f6e2c6a0cabffc3e888984b7f19e15b00
--- /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/ep000378/gripper_left_tactile_force_metrics.json
@@ -0,0 +1,9 @@
+{
+  "depth_peak": 0.002868301933631301,
+  "shear_peak": 0.0025990137364715338,
+  "force_magnitude_peak": 0.003158831736072898,
+  "reference_frame_count": 0,
+  "dataset_name": "dag911262r000646_lerobot_0327_114714",
+  "episode_index": 378,
+  "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/ep000389/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/ep000389/gripper_right_tactile_force_metrics.json
new file mode 100644
index 0000000000000000000000000000000000000000..8610a9f9c34077cd4c35317a05485a1a318a8aec
--- /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/ep000389/gripper_right_tactile_force_metrics.json
@@ -0,0 +1,9 @@
+{
+  "depth_peak": 0.004842634312808514,
+  "shear_peak": 0.002983284182846546,
+  "force_magnitude_peak": 0.005675889551639557,
+  "reference_frame_count": 0,
+  "dataset_name": "dag911262r000646_lerobot_0327_114714",
+  "episode_index": 389,
+  "sensor": "gripper_right_tactile"
+}
\ No 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/ep000391/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/ep000391/gripper_left_tactile_force_metrics.json
new file mode 100644
index 0000000000000000000000000000000000000000..9af14f64c3cbdab95dbac4c43b4d9ef5a9c31311
--- /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/ep000391/gripper_left_tactile_force_metrics.json
@@ -0,0 +1,9 @@
+{
+  "depth_peak": 0.005222052801400423,
+  "shear_peak": 0.0022951874416321516,
+  "force_magnitude_peak": 0.005291027948260307,
+  "reference_frame_count": 0,
+  "dataset_name": "dag911262r000646_lerobot_0327_114714",
+  "episode_index": 391,
+  "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/ep000392/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/ep000392/gripper_right_tactile_force_metrics.json
new file mode 100644
index 0000000000000000000000000000000000000000..74dd8889b57faed90501cc1b8047d9d995d6e4b1
--- /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_right_tactile_force_metrics.json
@@ -0,0 +1,9 @@
+{
+  "depth_peak": 0.008603791706264019,
+  "shear_peak": 0.004152998328208923,
+  "force_magnitude_peak": 0.009553670883178711,
+  "reference_frame_count": 0,
+  "dataset_name": "dag911262r000646_lerobot_0327_114714",
+  "episode_index": 392,
+  "sensor": "gripper_right_tactile"
+}
\ No 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/ep000400/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/ep000400/gripper_right_tactile_force_metrics.json
new file mode 100644
index 0000000000000000000000000000000000000000..928ca765588c0381c587c6b316d01804cdf86f73
--- /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/ep000400/gripper_right_tactile_force_metrics.json
@@ -0,0 +1,9 @@
+{
+  "depth_peak": 0.001938265166245401,
+  "shear_peak": 0.004442129749804735,
+  "force_magnitude_peak": 0.004503434523940086,
+  "reference_frame_count": 0,
+  "dataset_name": "dag911262r000646_lerobot_0327_114714",
+  "episode_index": 400,
+  "sensor": "gripper_right_tactile"
+}
\ No 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/ep000401/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/ep000401/gripper_left_tactile_force_metrics.json
new file mode 100644
index 0000000000000000000000000000000000000000..d0d89a5945024a76aae08fc406cd58fae469aec1
--- /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/ep000401/gripper_left_tactile_force_metrics.json
@@ -0,0 +1,9 @@
+{
+  "depth_peak": 0.003731455421075225,
+  "shear_peak": 0.002293715951964259,
+  "force_magnitude_peak": 0.0038371928967535496,
+  "reference_frame_count": 0,
+  "dataset_name": "dag911262r000646_lerobot_0327_114714",
+  "episode_index": 401,
+  "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/ep000405/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/ep000405/gripper_right_tactile_force_metrics.json
new file mode 100644
index 0000000000000000000000000000000000000000..78db686530714518b636eb28e351fa4da536ecbb
--- /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/ep000405/gripper_right_tactile_force_metrics.json
@@ -0,0 +1,9 @@
+{
+  "depth_peak": 0.002306062960997224,
+  "shear_peak": 0.002076162723824382,
+  "force_magnitude_peak": 0.003016129368916154,
+  "reference_frame_count": 0,
+  "dataset_name": "dag911262r000646_lerobot_0327_114714",
+  "episode_index": 405,
+  "sensor": "gripper_right_tactile"
+}
\ No 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/ep000091/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/ep000091/gripper_right_tactile_force_metrics.json
new file mode 100644
index 0000000000000000000000000000000000000000..69a3bed291a223a61f5c046c7436f04df9c740ed
--- /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/ep000091/gripper_right_tactile_force_metrics.json
@@ -0,0 +1,9 @@
+{
+  "depth_peak": 0.0018843553261831403,
+  "shear_peak": 0.004260833840817213,
+  "force_magnitude_peak": 0.004603234119713306,
+  "reference_frame_count": 0,
+  "dataset_name": "dag911262r001146_lerobot_0327_114714",
+  "episode_index": 91,
+  "sensor": "gripper_right_tactile"
+}
\ No 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/ep000112/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/ep000112/gripper_right_tactile_force_metrics.json
new file mode 100644
index 0000000000000000000000000000000000000000..03db40d5ddefeffe0b44b96116f66af0f11c7a53
--- /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/ep000112/gripper_right_tactile_force_metrics.json
@@ -0,0 +1,9 @@
+{
+  "depth_peak": 0.017953554168343544,
+  "shear_peak": 0.0056370217353105545,
+  "force_magnitude_peak": 0.01822650618851185,
+  "reference_frame_count": 0,
+  "dataset_name": "dag911262r001146_lerobot_0327_114714",
+  "episode_index": 112,
+  "sensor": "gripper_right_tactile"
+}
\ No 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/ep000131/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/ep000131/gripper_right_tactile_force_metrics.json
new file mode 100644
index 0000000000000000000000000000000000000000..5f9d1d163dc3c947de1caca3faaaea6b384840dc
--- /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/ep000131/gripper_right_tactile_force_metrics.json
@@ -0,0 +1,9 @@
+{
+  "depth_peak": 0.007172471843659878,
+  "shear_peak": 0.009161504916846752,
+  "force_magnitude_peak": 0.009388539008796215,
+  "reference_frame_count": 0,
+  "dataset_name": "dag911262r001146_lerobot_0327_114714",
+  "episode_index": 131,
+  "sensor": "gripper_right_tactile"
+}
\ No 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/ep000138/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/ep000138/gripper_right_tactile_force_metrics.json
new file mode 100644
index 0000000000000000000000000000000000000000..1960810d3a76d513e762f89d584cab342d3a5d6f
--- /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/ep000138/gripper_right_tactile_force_metrics.json
@@ -0,0 +1,9 @@
+{
+  "depth_peak": 0.007420824840664864,
+  "shear_peak": 0.006847627926617861,
+  "force_magnitude_peak": 0.008551965467631817,
+  "reference_frame_count": 0,
+  "dataset_name": "dag911262r001146_lerobot_0327_114714",
+  "episode_index": 138,
+  "sensor": "gripper_right_tactile"
+}
\ No 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/ep000152/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/ep000152/gripper_right_tactile_force_metrics.json
new file mode 100644
index 0000000000000000000000000000000000000000..fce1e37cceb9b2c44d1b6ffb7dbd6f011e0ece3b
--- /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/ep000152/gripper_right_tactile_force_metrics.json
@@ -0,0 +1,9 @@
+{
+  "depth_peak": 0.014994586817920208,
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+  "force_magnitude_peak": 0.015558047220110893,
+  "reference_frame_count": 0,
+  "dataset_name": "dag911262r001146_lerobot_0327_114714",
+  "episode_index": 152,
+  "sensor": "gripper_right_tactile"
+}
\ No 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/ep000170/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/ep000170/gripper_right_tactile_force_metrics.json
new file mode 100644
index 0000000000000000000000000000000000000000..17df539605166951a05ae0440c0069f54d0e482e
--- /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/ep000170/gripper_right_tactile_force_metrics.json
@@ -0,0 +1,9 @@
+{
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+  "force_magnitude_peak": 0.009077454917132854,
+  "reference_frame_count": 0,
+  "dataset_name": "dag911262r001146_lerobot_0327_114714",
+  "episode_index": 170,
+  "sensor": "gripper_right_tactile"
+}
\ No 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/ep000178/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/ep000178/gripper_right_tactile_force_metrics.json
new file mode 100644
index 0000000000000000000000000000000000000000..98afc1187f7e3f2b176039f86cb763e440dd562b
--- /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/ep000178/gripper_right_tactile_force_metrics.json
@@ -0,0 +1,9 @@
+{
+  "depth_peak": 0.009919424541294575,
+  "shear_peak": 0.005231136921793222,
+  "force_magnitude_peak": 0.009939656592905521,
+  "reference_frame_count": 0,
+  "dataset_name": "dag911262r001146_lerobot_0327_114714",
+  "episode_index": 178,
+  "sensor": "gripper_right_tactile"
+}
\ No 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/ep000189/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/ep000189/gripper_left_tactile_force_metrics.json
new file mode 100644
index 0000000000000000000000000000000000000000..6050c33eaf714d8ad99c2343db141a904a896760
--- /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/ep000189/gripper_left_tactile_force_metrics.json
@@ -0,0 +1,9 @@
+{
+  "depth_peak": 0.0043205623514950275,
+  "shear_peak": 0.004516231827437878,
+  "force_magnitude_peak": 0.004772975575178862,
+  "reference_frame_count": 0,
+  "dataset_name": "dag911262r001146_lerobot_0327_114714",
+  "episode_index": 189,
+  "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/ep000190/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/ep000190/gripper_right_tactile_force_metrics.json
new file mode 100644
index 0000000000000000000000000000000000000000..222d0f2939c42be861b1d3a5ca9ffb8a686066b4
--- /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/ep000190/gripper_right_tactile_force_metrics.json
@@ -0,0 +1,9 @@
+{
+  "depth_peak": 0.024576693773269653,
+  "shear_peak": 0.005493324715644121,
+  "force_magnitude_peak": 0.024735847488045692,
+  "reference_frame_count": 0,
+  "dataset_name": "dag911262r001146_lerobot_0327_114714",
+  "episode_index": 190,
+  "sensor": "gripper_right_tactile"
+}
\ No 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/ep000232/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/ep000232/gripper_right_tactile_force_metrics.json
new file mode 100644
index 0000000000000000000000000000000000000000..5887d33d380503ac48d2715af00a1c18d34295f8
--- /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/ep000232/gripper_right_tactile_force_metrics.json
@@ -0,0 +1,9 @@
+{
+  "depth_peak": 0.003771622199565172,
+  "shear_peak": 0.003752501215785742,
+  "force_magnitude_peak": 0.004021719563752413,
+  "reference_frame_count": 0,
+  "dataset_name": "dag911262r001146_lerobot_0327_114714",
+  "episode_index": 232,
+  "sensor": "gripper_right_tactile"
+}
\ No 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/ep000251/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/ep000251/gripper_right_tactile_force_metrics.json
new file mode 100644
index 0000000000000000000000000000000000000000..7e2b762c5ba02e56162824a2ba7965591b64d699
--- /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/ep000251/gripper_right_tactile_force_metrics.json
@@ -0,0 +1,9 @@
+{
+  "depth_peak": 0.0030009900219738483,
+  "shear_peak": 0.007068644277751446,
+  "force_magnitude_peak": 0.00709023792296648,
+  "reference_frame_count": 0,
+  "dataset_name": "dag911262r001146_lerobot_0327_114714",
+  "episode_index": 251,
+  "sensor": "gripper_right_tactile"
+}
\ No 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/ep000266/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/ep000266/gripper_left_tactile_force_metrics.json
new file mode 100644
index 0000000000000000000000000000000000000000..3afaa12da5ae5d33dea3a2079796b67d5c6d8eaf
--- /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/ep000266/gripper_left_tactile_force_metrics.json
@@ -0,0 +1,9 @@
+{
+  "depth_peak": 0.0034779878333210945,
+  "shear_peak": 0.007185181602835655,
+  "force_magnitude_peak": 0.007266617380082607,
+  "reference_frame_count": 0,
+  "dataset_name": "dag911262r001146_lerobot_0327_114714",
+  "episode_index": 266,
+  "sensor": "gripper_left_tactile"
+}
\ No newline at end of file
diff --git a/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-09_18-30/outputs_tactile/tactile_cache/dag911262r001146_lerobot_0327_114714_a3277ce5/episodes/ep000270/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/ep000270/gripper_right_tactile_force_metrics.json
new file mode 100644
index 0000000000000000000000000000000000000000..2787dd29e2e9a4ab9dc6a0b853b5e5e1c3f68fa5
--- /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/ep000270/gripper_right_tactile_force_metrics.json
@@ -0,0 +1,9 @@
+{
+  "depth_peak": 0.016158413141965866,
+  "shear_peak": 0.017498018220067024,
+  "force_magnitude_peak": 0.022200772538781166,
+  "reference_frame_count": 0,
+  "dataset_name": "dag911262r001146_lerobot_0327_114714",
+  "episode_index": 270,
+  "sensor": "gripper_right_tactile"
+}
\ No 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/ep000310/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/ep000310/gripper_right_tactile_force_metrics.json
new file mode 100644
index 0000000000000000000000000000000000000000..004e5e034b741997647f6503d3cea0000a0af341
--- /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/ep000310/gripper_right_tactile_force_metrics.json
@@ -0,0 +1,9 @@
+{
+  "depth_peak": 0.005538986995816231,
+  "shear_peak": 0.011563241481781006,
+  "force_magnitude_peak": 0.012813284061849117,
+  "reference_frame_count": 0,
+  "dataset_name": "dag911262r001146_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/dag911262r001146_lerobot_0327_114714_a3277ce5/episodes/ep000338/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/ep000338/gripper_right_tactile_force_metrics.json
new file mode 100644
index 0000000000000000000000000000000000000000..7008d8e8925ed74f72ac32820ee1a0879fc56464
--- /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/ep000338/gripper_right_tactile_force_metrics.json
@@ -0,0 +1,9 @@
+{
+  "depth_peak": 0.001725208479911089,
+  "shear_peak": 0.005826437380164862,
+  "force_magnitude_peak": 0.005912420339882374,
+  "reference_frame_count": 0,
+  "dataset_name": "dag911262r001146_lerobot_0327_114714",
+  "episode_index": 338,
+  "sensor": "gripper_right_tactile"
+}
\ No 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/ep000378/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/ep000378/gripper_right_tactile_force_metrics.json
new file mode 100644
index 0000000000000000000000000000000000000000..437034d10065dde22a8f0bc7683973ddb4de6efa
--- /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/ep000378/gripper_right_tactile_force_metrics.json
@@ -0,0 +1,9 @@
+{
+  "depth_peak": 0.010216448456048965,
+  "shear_peak": 0.008466845378279686,
+  "force_magnitude_peak": 0.012754305265843868,
+  "reference_frame_count": 0,
+  "dataset_name": "dag911262r001146_lerobot_0327_114714",
+  "episode_index": 378,
+  "sensor": "gripper_right_tactile"
+}
\ No 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/ep000390/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/ep000390/gripper_right_tactile_force_metrics.json
new file mode 100644
index 0000000000000000000000000000000000000000..1d4c25b14533b66c4d80bd4e62910d1b3039f3d2
--- /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/ep000390/gripper_right_tactile_force_metrics.json
@@ -0,0 +1,9 @@
+{
+  "depth_peak": 0.013543779961764812,
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+  "force_magnitude_peak": 0.022339414805173874,
+  "reference_frame_count": 0,
+  "dataset_name": "dag911262r001146_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/dag911262r001146_lerobot_0327_114714_a3277ce5/episodes/ep000392/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/ep000392/gripper_right_tactile_force_metrics.json
new file mode 100644
index 0000000000000000000000000000000000000000..b829cd24881f3be9c8da6edf997e56b737dc5707
--- /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/ep000392/gripper_right_tactile_force_metrics.json
@@ -0,0 +1,9 @@
+{
+  "depth_peak": 0.018514083698391914,
+  "shear_peak": 0.014258290641009808,
+  "force_magnitude_peak": 0.018791483715176582,
+  "reference_frame_count": 0,
+  "dataset_name": "dag911262r001146_lerobot_0327_114714",
+  "episode_index": 392,
+  "sensor": "gripper_right_tactile"
+}
\ No 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/ep000404/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/ep000404/gripper_left_tactile_force_metrics.json
new file mode 100644
index 0000000000000000000000000000000000000000..f00616393dcad687949848b352a190fc9deb7bc0
--- /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/ep000404/gripper_left_tactile_force_metrics.json
@@ -0,0 +1,9 @@
+{
+  "depth_peak": 0.005534585565328598,
+  "shear_peak": 0.005835441406816244,
+  "force_magnitude_peak": 0.0063818045891821384,
+  "reference_frame_count": 0,
+  "dataset_name": "dag911262r001146_lerobot_0327_114714",
+  "episode_index": 404,
+  "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/ep000410/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/ep000410/gripper_right_tactile_force_metrics.json
new file mode 100644
index 0000000000000000000000000000000000000000..3e8014cca379b56a9bda4181b6a4732267043206
--- /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/ep000410/gripper_right_tactile_force_metrics.json
@@ -0,0 +1,9 @@
+{
+  "depth_peak": 0.015949297696352005,
+  "shear_peak": 0.013911332935094833,
+  "force_magnitude_peak": 0.021071551367640495,
+  "reference_frame_count": 0,
+  "dataset_name": "dag911262r001146_lerobot_0327_114714",
+  "episode_index": 410,
+  "sensor": "gripper_right_tactile"
+}
\ No 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/ep000411/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/ep000411/gripper_right_tactile_force_metrics.json
new file mode 100644
index 0000000000000000000000000000000000000000..28022595f7454de08d807b1589bfe00563db55fe
--- /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/ep000411/gripper_right_tactile_force_metrics.json
@@ -0,0 +1,9 @@
+{
+  "depth_peak": 0.005974508821964264,
+  "shear_peak": 0.024453846737742424,
+  "force_magnitude_peak": 0.024584997445344925,
+  "reference_frame_count": 0,
+  "dataset_name": "dag911262r001146_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/dag911262r001146_lerobot_0327_114714_a3277ce5/episodes/ep000418/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/ep000418/gripper_right_tactile_force_metrics.json
new file mode 100644
index 0000000000000000000000000000000000000000..31d524f5eb5f77bca79bb1c7bbda0fe62ff26a51
--- /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/ep000418/gripper_right_tactile_force_metrics.json
@@ -0,0 +1,9 @@
+{
+  "depth_peak": 0.011024944484233856,
+  "shear_peak": 0.016730137169361115,
+  "force_magnitude_peak": 0.017992570996284485,
+  "reference_frame_count": 0,
+  "dataset_name": "dag911262r001146_lerobot_0327_114714",
+  "episode_index": 418,
+  "sensor": "gripper_right_tactile"
+}
\ No 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/ep000450/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/ep000450/gripper_right_tactile_force_metrics.json
new file mode 100644
index 0000000000000000000000000000000000000000..f5e95fb88fce970a18f49b9091eba36f970d7558
--- /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/ep000450/gripper_right_tactile_force_metrics.json
@@ -0,0 +1,9 @@
+{
+  "depth_peak": 0.027397671714425087,
+  "shear_peak": 0.012251353822648525,
+  "force_magnitude_peak": 0.029890744015574455,
+  "reference_frame_count": 0,
+  "dataset_name": "dag911262r001146_lerobot_0327_114714",
+  "episode_index": 450,
+  "sensor": "gripper_right_tactile"
+}
\ No 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/ep000490/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/ep000490/gripper_right_tactile_force_metrics.json
new file mode 100644
index 0000000000000000000000000000000000000000..44b43a2aa4cebcbe4788f58565b0663e7a3e3e2f
--- /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/ep000490/gripper_right_tactile_force_metrics.json
@@ -0,0 +1,9 @@
+{
+  "depth_peak": 0.019174382090568542,
+  "shear_peak": 0.007236287463456392,
+  "force_magnitude_peak": 0.019201597198843956,
+  "reference_frame_count": 0,
+  "dataset_name": "dag911262r001146_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/dag911262r001146_lerobot_0327_114714_a3277ce5/episodes/ep000498/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/ep000498/gripper_right_tactile_force_metrics.json
new file mode 100644
index 0000000000000000000000000000000000000000..65458f3edcda6cb3d2e320b617048db8698c7c10
--- /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/ep000498/gripper_right_tactile_force_metrics.json
@@ -0,0 +1,9 @@
+{
+  "depth_peak": 0.003476070938631892,
+  "shear_peak": 0.007384140510112047,
+  "force_magnitude_peak": 0.007583623751997948,
+  "reference_frame_count": 0,
+  "dataset_name": "dag911262r001146_lerobot_0327_114714",
+  "episode_index": 498,
+  "sensor": "gripper_right_tactile"
+}
\ No newline at end of file
diff --git a/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-09_18-30/outputs_tactile/tactile_cache/dag911262r001146_lerobot_0327_114714_a3277ce5/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/dag911262r001146_lerobot_0327_114714_a3277ce5/episodes/ep000509/gripper_left_tactile_force_metrics.json
new file mode 100644
index 0000000000000000000000000000000000000000..5a34bf5c82db5399d85e7631c6285ef82d4e9923
--- /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/ep000509/gripper_left_tactile_force_metrics.json
@@ -0,0 +1,9 @@
+{
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+  "shear_peak": 0.0051856269128620625,
+  "force_magnitude_peak": 0.017807599157094955,
+  "reference_frame_count": 0,
+  "dataset_name": "dag911262r001146_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/dag911262r001146_lerobot_0327_114714_a3277ce5/episodes/ep000530/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/ep000530/gripper_right_tactile_force_metrics.json
new file mode 100644
index 0000000000000000000000000000000000000000..8913c4d99b1e44b634240545a80df357b4d10058
--- /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/ep000530/gripper_right_tactile_force_metrics.json
@@ -0,0 +1,9 @@
+{
+  "depth_peak": 0.014153664000332355,
+  "shear_peak": 0.007180125918239355,
+  "force_magnitude_peak": 0.014157118275761604,
+  "reference_frame_count": 0,
+  "dataset_name": "dag911262r001146_lerobot_0327_114714",
+  "episode_index": 530,
+  "sensor": "gripper_right_tactile"
+}
\ No 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/ep000531/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/ep000531/gripper_right_tactile_force_metrics.json
new file mode 100644
index 0000000000000000000000000000000000000000..ff05320302c558605e39ff7506a21b568f677fe3
--- /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/ep000531/gripper_right_tactile_force_metrics.json
@@ -0,0 +1,9 @@
+{
+  "depth_peak": 0.007224935106933117,
+  "shear_peak": 0.005522316321730614,
+  "force_magnitude_peak": 0.007612223271280527,
+  "reference_frame_count": 0,
+  "dataset_name": "dag911262r001146_lerobot_0327_114714",
+  "episode_index": 531,
+  "sensor": "gripper_right_tactile"
+}
\ No 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/ep000538/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/ep000538/gripper_right_tactile_force_metrics.json
new file mode 100644
index 0000000000000000000000000000000000000000..f9a49edbe0644be75a773a286ef76d605487c055
--- /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/ep000538/gripper_right_tactile_force_metrics.json
@@ -0,0 +1,9 @@
+{
+  "depth_peak": 0.025682659819722176,
+  "shear_peak": 0.019653499126434326,
+  "force_magnitude_peak": 0.031936146318912506,
+  "reference_frame_count": 0,
+  "dataset_name": "dag911262r001146_lerobot_0327_114714",
+  "episode_index": 538,
+  "sensor": "gripper_right_tactile"
+}
\ No newline at end of file
diff --git a/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-09_18-30/outputs_tactile/tactile_cache/dag911262r001146_lerobot_0327_114714_a3277ce5/episodes/ep000552/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/ep000552/gripper_right_tactile_force_metrics.json
new file mode 100644
index 0000000000000000000000000000000000000000..66fca179f56b90410d54b2347c507359459ef561
--- /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/ep000552/gripper_right_tactile_force_metrics.json
@@ -0,0 +1,9 @@
+{
+  "depth_peak": 0.002646731911227107,
+  "shear_peak": 0.006464269477874041,
+  "force_magnitude_peak": 0.006567144766449928,
+  "reference_frame_count": 0,
+  "dataset_name": "dag911262r001146_lerobot_0327_114714",
+  "episode_index": 552,
+  "sensor": "gripper_right_tactile"
+}
\ No 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/ep000570/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/ep000570/gripper_right_tactile_force_metrics.json
new file mode 100644
index 0000000000000000000000000000000000000000..c878cdd7a1fa46e90f364f1cd9f06c374caf1b46
--- /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/ep000570/gripper_right_tactile_force_metrics.json
@@ -0,0 +1,9 @@
+{
+  "depth_peak": 0.012500746175646782,
+  "shear_peak": 0.006972763687372208,
+  "force_magnitude_peak": 0.012508860789239407,
+  "reference_frame_count": 0,
+  "dataset_name": "dag911262r001146_lerobot_0327_114714",
+  "episode_index": 570,
+  "sensor": "gripper_right_tactile"
+}
\ No newline at end of file
diff --git a/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-09_18-30/outputs_tactile/tactile_cache/dag911262r001146_lerobot_0327_114714_a3277ce5/episodes/ep000578/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/ep000578/gripper_right_tactile_force_metrics.json
new file mode 100644
index 0000000000000000000000000000000000000000..0bb65cf3fa538ba796e6d2802f1489be79f8e5f5
--- /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/ep000578/gripper_right_tactile_force_metrics.json
@@ -0,0 +1,9 @@
+{
+  "depth_peak": 0.004454410169273615,
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+  "force_magnitude_peak": 0.009717630222439766,
+  "reference_frame_count": 0,
+  "dataset_name": "dag911262r001146_lerobot_0327_114714",
+  "episode_index": 578,
+  "sensor": "gripper_right_tactile"
+}
\ No 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/ep000589/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/ep000589/gripper_left_tactile_force_metrics.json
new file mode 100644
index 0000000000000000000000000000000000000000..0181b2809dbc844a1caa262df504f0bb69f91179
--- /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/ep000589/gripper_left_tactile_force_metrics.json
@@ -0,0 +1,9 @@
+{
+  "depth_peak": 0.012569429352879524,
+  "shear_peak": 0.0032551405020058155,
+  "force_magnitude_peak": 0.012919006869196892,
+  "reference_frame_count": 0,
+  "dataset_name": "dag911262r001146_lerobot_0327_114714",
+  "episode_index": 589,
+  "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/ep000590/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/ep000590/gripper_right_tactile_force_metrics.json
new file mode 100644
index 0000000000000000000000000000000000000000..e24594e384f9d76913c845cf428c9caa09730ab8
--- /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/ep000590/gripper_right_tactile_force_metrics.json
@@ -0,0 +1,9 @@
+{
+  "depth_peak": 0.027561882510781288,
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+  "force_magnitude_peak": 0.030697261914610863,
+  "reference_frame_count": 0,
+  "dataset_name": "dag911262r001146_lerobot_0327_114714",
+  "episode_index": 590,
+  "sensor": "gripper_right_tactile"
+}
\ No newline at end of file
diff --git a/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-09_18-30/outputs_tactile/tactile_cache/dag911262r001146_lerobot_0327_114714_a3277ce5/episodes/ep000592/gripper_right_tactile_force_metrics.json b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-09_18-30/outputs_tactile/tactile_cache/dag911262r001146_lerobot_0327_114714_a3277ce5/episodes/ep000592/gripper_right_tactile_force_metrics.json
new file mode 100644
index 0000000000000000000000000000000000000000..a46fb8815592190e4fbb23f85eef284c5303a354
--- /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/ep000592/gripper_right_tactile_force_metrics.json
@@ -0,0 +1,9 @@
+{
+  "depth_peak": 0.014048529788851738,
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+  "force_magnitude_peak": 0.016858285292983055,
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+  "dataset_name": "dag911262r001146_lerobot_0327_114714",
+  "episode_index": 592,
+  "sensor": "gripper_right_tactile"
+}
\ No newline at end of file
diff --git a/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-09_18-30/outputs_tactile/tactile_cache/dag911262r001146_lerobot_0327_114714_a3277ce5/episodes/ep000618/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/ep000618/gripper_right_tactile_force_metrics.json
new file mode 100644
index 0000000000000000000000000000000000000000..43daf2a95e1677147a0ca9b4c53bdbbc1398d26f
--- /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/ep000618/gripper_right_tactile_force_metrics.json
@@ -0,0 +1,9 @@
+{
+  "depth_peak": 0.006094806827604771,
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+  "force_magnitude_peak": 0.008619211614131927,
+  "reference_frame_count": 0,
+  "dataset_name": "dag911262r001146_lerobot_0327_114714",
+  "episode_index": 618,
+  "sensor": "gripper_right_tactile"
+}
\ No 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/ep000632/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/ep000632/gripper_right_tactile_force_metrics.json
new file mode 100644
index 0000000000000000000000000000000000000000..1aebd25a39e05a04de523e4e558453d2bd05ee82
--- /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/ep000632/gripper_right_tactile_force_metrics.json
@@ -0,0 +1,9 @@
+{
+  "depth_peak": 0.006291486788541079,
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+  "force_magnitude_peak": 0.006304807960987091,
+  "reference_frame_count": 0,
+  "dataset_name": "dag911262r001146_lerobot_0327_114714",
+  "episode_index": 632,
+  "sensor": "gripper_right_tactile"
+}
\ No 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/ep000658/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/ep000658/gripper_right_tactile_force_metrics.json
new file mode 100644
index 0000000000000000000000000000000000000000..d5b1404aec91edd24fc2b2aaac61210921fa4089
--- /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/ep000658/gripper_right_tactile_force_metrics.json
@@ -0,0 +1,9 @@
+{
+  "depth_peak": 0.004893495701253414,
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+  "force_magnitude_peak": 0.005917798262089491,
+  "reference_frame_count": 0,
+  "dataset_name": "dag911262r001146_lerobot_0327_114714",
+  "episode_index": 658,
+  "sensor": "gripper_right_tactile"
+}
\ No newline at end of file
diff --git a/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-09_18-30/outputs_tactile/tactile_cache/dag911262r001146_lerobot_0327_114714_a3277ce5/episodes/ep000670/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/ep000670/gripper_right_tactile_force_metrics.json
new file mode 100644
index 0000000000000000000000000000000000000000..be5f79e18dc7c6d74e81fd900f5e0cd704861ed1
--- /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/ep000670/gripper_right_tactile_force_metrics.json
@@ -0,0 +1,9 @@
+{
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+  "reference_frame_count": 0,
+  "dataset_name": "dag911262r001146_lerobot_0327_114714",
+  "episode_index": 670,
+  "sensor": "gripper_right_tactile"
+}
\ No newline at end of file
diff --git a/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-09_18-30/outputs_tactile/tactile_cache/dag911262r001146_lerobot_0327_114714_a3277ce5/episodes/ep000698/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/ep000698/gripper_right_tactile_force_metrics.json
new file mode 100644
index 0000000000000000000000000000000000000000..391efd7bc149a7a5f28f8543a43a5336205d1016
--- /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/ep000698/gripper_right_tactile_force_metrics.json
@@ -0,0 +1,9 @@
+{
+  "depth_peak": 0.005184894893318415,
+  "shear_peak": 0.010322660207748413,
+  "force_magnitude_peak": 0.010326852090656757,
+  "reference_frame_count": 0,
+  "dataset_name": "dag911262r001146_lerobot_0327_114714",
+  "episode_index": 698,
+  "sensor": "gripper_right_tactile"
+}
\ No newline at end of file
diff --git a/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-09_18-30/outputs_tactile/tactile_cache/dag911262r001146_lerobot_0327_114714_a3277ce5/episodes/ep000729/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/ep000729/gripper_right_tactile_force_metrics.json
new file mode 100644
index 0000000000000000000000000000000000000000..1e8b6e090f006358ab27d0a497e42e273265961f
--- /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/ep000729/gripper_right_tactile_force_metrics.json
@@ -0,0 +1,9 @@
+{
+  "depth_peak": 0.006430852692574263,
+  "shear_peak": 0.007419545669108629,
+  "force_magnitude_peak": 0.009663693606853485,
+  "reference_frame_count": 0,
+  "dataset_name": "dag911262r001146_lerobot_0327_114714",
+  "episode_index": 729,
+  "sensor": "gripper_right_tactile"
+}
\ No 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/ep000736/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/ep000736/gripper_left_tactile_force_metrics.json
new file mode 100644
index 0000000000000000000000000000000000000000..0f5d77f2eec7e29de1f7f10cd2c3b4d5befaf8cb
--- /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/ep000736/gripper_left_tactile_force_metrics.json
@@ -0,0 +1,9 @@
+{
+  "depth_peak": 0.000783755851443857,
+  "shear_peak": 0.001782407402060926,
+  "force_magnitude_peak": 0.0018002851866185665,
+  "reference_frame_count": 0,
+  "dataset_name": "dag911262r001146_lerobot_0327_114714",
+  "episode_index": 736,
+  "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/ep000031/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/ep000031/gripper_left_tactile_force_metrics.json
new file mode 100644
index 0000000000000000000000000000000000000000..aa37c65e8a6f7b2f9b376181d3e90d8dffab9c15
--- /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/ep000031/gripper_left_tactile_force_metrics.json
@@ -0,0 +1,9 @@
+{
+  "depth_peak": 0.0021197781898081303,
+  "shear_peak": 0.002398115349933505,
+  "force_magnitude_peak": 0.0029020090587437153,
+  "reference_frame_count": 0,
+  "dataset_name": "dag911262r00145d_lerobot_0327_114714",
+  "episode_index": 31,
+  "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/ep000031/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/ep000031/gripper_right_tactile_force_metrics.json
new file mode 100644
index 0000000000000000000000000000000000000000..431b0c009e8ae75fa8ab598597bdabe3b6cc977c
--- /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/ep000031/gripper_right_tactile_force_metrics.json
@@ -0,0 +1,9 @@
+{
+  "depth_peak": 0.002504608128219843,
+  "shear_peak": 0.0034782602451741695,
+  "force_magnitude_peak": 0.004271073266863823,
+  "reference_frame_count": 0,
+  "dataset_name": "dag911262r00145d_lerobot_0327_114714",
+  "episode_index": 31,
+  "sensor": "gripper_right_tactile"
+}
\ No 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/ep000071/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/ep000071/gripper_left_tactile_force_metrics.json
new file mode 100644
index 0000000000000000000000000000000000000000..0c3ec269aa26d5cea38065c9869fd0524de03d9a
--- /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/ep000071/gripper_left_tactile_force_metrics.json
@@ -0,0 +1,9 @@
+{
+  "depth_peak": 0.006022857502102852,
+  "shear_peak": 0.0014878619695082307,
+  "force_magnitude_peak": 0.0060927532613277435,
+  "reference_frame_count": 0,
+  "dataset_name": "dag911262r00145d_lerobot_0327_114714",
+  "episode_index": 71,
+  "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/ep000101/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/ep000101/gripper_right_tactile_force_metrics.json
new file mode 100644
index 0000000000000000000000000000000000000000..55a09525d76b78c615084fa3cd67d62430506028
--- /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/ep000101/gripper_right_tactile_force_metrics.json
@@ -0,0 +1,9 @@
+{
+  "depth_peak": 0.008365198969841003,
+  "shear_peak": 0.006573071703314781,
+  "force_magnitude_peak": 0.010416348464787006,
+  "reference_frame_count": 0,
+  "dataset_name": "dag911262r00145d_lerobot_0327_114714",
+  "episode_index": 101,
+  "sensor": "gripper_right_tactile"
+}
\ No 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/ep000109/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/ep000109/gripper_right_tactile_force_metrics.json
new file mode 100644
index 0000000000000000000000000000000000000000..b6856f3850afa4a0a411753cd6fbd02f3ee2f261
--- /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/ep000109/gripper_right_tactile_force_metrics.json
@@ -0,0 +1,9 @@
+{
+  "depth_peak": 0.009257488884031773,
+  "shear_peak": 0.002510049380362034,
+  "force_magnitude_peak": 0.009419246576726437,
+  "reference_frame_count": 0,
+  "dataset_name": "dag911262r00145d_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/dag911262r00145d_lerobot_0327_114714_e46ad16b/episodes/ep000141/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/ep000141/gripper_right_tactile_force_metrics.json
new file mode 100644
index 0000000000000000000000000000000000000000..2f95a47dc5072279a5738aa48a1c26cfe3999281
--- /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/ep000141/gripper_right_tactile_force_metrics.json
@@ -0,0 +1,9 @@
+{
+  "depth_peak": 0.006887075956910849,
+  "shear_peak": 0.006237213034182787,
+  "force_magnitude_peak": 0.009267632849514484,
+  "reference_frame_count": 0,
+  "dataset_name": "dag911262r00145d_lerobot_0327_114714",
+  "episode_index": 141,
+  "sensor": "gripper_right_tactile"
+}
\ No 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/ep000164/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/ep000164/gripper_left_tactile_force_metrics.json
new file mode 100644
index 0000000000000000000000000000000000000000..1a9eee67f305d1d2ec4dd813cbe2da3326d1faf5
--- /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/ep000164/gripper_left_tactile_force_metrics.json
@@ -0,0 +1,9 @@
+{
+  "depth_peak": 0.003609105944633484,
+  "shear_peak": 0.0011891931062564254,
+  "force_magnitude_peak": 0.003799977246671915,
+  "reference_frame_count": 0,
+  "dataset_name": "dag911262r00145d_lerobot_0327_114714",
+  "episode_index": 164,
+  "sensor": "gripper_left_tactile"
+}
\ No newline at end of file
diff --git a/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-09_18-30/outputs_tactile/tactile_cache/dag911262r00145d_lerobot_0327_114714_e46ad16b/episodes/ep000194/gripper_left_tactile_force_metrics.json b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-09_18-30/outputs_tactile/tactile_cache/dag911262r00145d_lerobot_0327_114714_e46ad16b/episodes/ep000194/gripper_left_tactile_force_metrics.json
new file mode 100644
index 0000000000000000000000000000000000000000..3c939a21d26f67de421e93cfdd8bb2ed892ee13f
--- /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/ep000194/gripper_left_tactile_force_metrics.json
@@ -0,0 +1,9 @@
+{
+  "depth_peak": 0.0008831877494230866,
+  "shear_peak": 0.004599912092089653,
+  "force_magnitude_peak": 0.004751013591885567,
+  "reference_frame_count": 0,
+  "dataset_name": "dag911262r00145d_lerobot_0327_114714",
+  "episode_index": 194,
+  "sensor": "gripper_left_tactile"
+}
\ No newline at end of file
diff --git a/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-09_18-30/outputs_tactile/tactile_cache/dag911262r00145d_lerobot_0327_114714_e46ad16b/episodes/ep000197/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/ep000197/gripper_right_tactile_force_metrics.json
new file mode 100644
index 0000000000000000000000000000000000000000..8515ee0805b564bdd0606af777aec09a049c78ff
--- /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/ep000197/gripper_right_tactile_force_metrics.json
@@ -0,0 +1,9 @@
+{
+  "depth_peak": 0.009648862294852734,
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+  "force_magnitude_peak": 0.025421543046832085,
+  "reference_frame_count": 0,
+  "dataset_name": "dag911262r00145d_lerobot_0327_114714",
+  "episode_index": 197,
+  "sensor": "gripper_right_tactile"
+}
\ No 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/ep000221/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/ep000221/gripper_right_tactile_force_metrics.json
new file mode 100644
index 0000000000000000000000000000000000000000..8242a29fa9258b083bad31e1896594af1e0196d4
--- /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/ep000221/gripper_right_tactile_force_metrics.json
@@ -0,0 +1,9 @@
+{
+  "depth_peak": 0.004307042807340622,
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+  "force_magnitude_peak": 0.013109920546412468,
+  "reference_frame_count": 0,
+  "dataset_name": "dag911262r00145d_lerobot_0327_114714",
+  "episode_index": 221,
+  "sensor": "gripper_right_tactile"
+}
\ No 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/ep000229/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/ep000229/gripper_right_tactile_force_metrics.json
new file mode 100644
index 0000000000000000000000000000000000000000..d57d9e97616bf6842d3b3d43ac3da4514c8abc71
--- /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/ep000229/gripper_right_tactile_force_metrics.json
@@ -0,0 +1,9 @@
+{
+  "depth_peak": 0.0022185193374753,
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+  "force_magnitude_peak": 0.0025542594958096743,
+  "reference_frame_count": 0,
+  "dataset_name": "dag911262r00145d_lerobot_0327_114714",
+  "episode_index": 229,
+  "sensor": "gripper_right_tactile"
+}
\ No 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/ep000250/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/ep000250/gripper_left_tactile_force_metrics.json
new file mode 100644
index 0000000000000000000000000000000000000000..c17d0d8516eb07aba6aea1981b85b8984a9eadd3
--- /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/ep000250/gripper_left_tactile_force_metrics.json
@@ -0,0 +1,9 @@
+{
+  "depth_peak": 0.002239933703094721,
+  "shear_peak": 0.0031473287381231785,
+  "force_magnitude_peak": 0.004481087904423475,
+  "reference_frame_count": 0,
+  "dataset_name": "dag911262r00145d_lerobot_0327_114714",
+  "episode_index": 250,
+  "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/ep000269/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/ep000269/gripper_right_tactile_force_metrics.json
new file mode 100644
index 0000000000000000000000000000000000000000..0f93923027b6c702978063fc57c8451ffd616297
--- /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/ep000269/gripper_right_tactile_force_metrics.json
@@ -0,0 +1,9 @@
+{
+  "depth_peak": 0.005057096015661955,
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+  "force_magnitude_peak": 0.006271598860621452,
+  "reference_frame_count": 0,
+  "dataset_name": "dag911262r00145d_lerobot_0327_114714",
+  "episode_index": 269,
+  "sensor": "gripper_right_tactile"
+}
\ No newline at end of file
diff --git a/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-09_18-30/outputs_tactile/tactile_cache/dag911262r00145d_lerobot_0327_114714_e46ad16b/episodes/ep000271/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/ep000271/gripper_left_tactile_force_metrics.json
new file mode 100644
index 0000000000000000000000000000000000000000..d7a803eeb8bab3f7b618e0a31a499aaa47f6562a
--- /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/ep000271/gripper_left_tactile_force_metrics.json
@@ -0,0 +1,9 @@
+{
+  "depth_peak": 0.006198469549417496,
+  "shear_peak": 0.0015447500627487898,
+  "force_magnitude_peak": 0.006203533615916967,
+  "reference_frame_count": 0,
+  "dataset_name": "dag911262r00145d_lerobot_0327_114714",
+  "episode_index": 271,
+  "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/ep000271/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/ep000271/gripper_right_tactile_force_metrics.json
new file mode 100644
index 0000000000000000000000000000000000000000..03400cf5c8f2efd10376cca4e668ccb0a3262dd5
--- /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/ep000271/gripper_right_tactile_force_metrics.json
@@ -0,0 +1,9 @@
+{
+  "depth_peak": 0.002366534201428294,
+  "shear_peak": 0.004771370440721512,
+  "force_magnitude_peak": 0.005011286586523056,
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+  "dataset_name": "dag911262r00145d_lerobot_0327_114714",
+  "episode_index": 271,
+  "sensor": "gripper_right_tactile"
+}
\ No 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/ep000274/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/ep000274/gripper_left_tactile_force_metrics.json
new file mode 100644
index 0000000000000000000000000000000000000000..2c434eaf4e18fc62d8248d5ca264b6c84f0ab729
--- /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/ep000274/gripper_left_tactile_force_metrics.json
@@ -0,0 +1,9 @@
+{
+  "depth_peak": 0.009654722176492214,
+  "shear_peak": 0.0030563445761799812,
+  "force_magnitude_peak": 0.009661240503191948,
+  "reference_frame_count": 0,
+  "dataset_name": "dag911262r00145d_lerobot_0327_114714",
+  "episode_index": 274,
+  "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/ep000317/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/ep000317/gripper_right_tactile_force_metrics.json
new file mode 100644
index 0000000000000000000000000000000000000000..a42feb1899dd5e85d7d03f8ff2cea8d777a22e0b
--- /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/ep000317/gripper_right_tactile_force_metrics.json
@@ -0,0 +1,9 @@
+{
+  "depth_peak": 0.006182119715958834,
+  "shear_peak": 0.007930748164653778,
+  "force_magnitude_peak": 0.009106590412557125,
+  "reference_frame_count": 0,
+  "dataset_name": "dag911262r00145d_lerobot_0327_114714",
+  "episode_index": 317,
+  "sensor": "gripper_right_tactile"
+}
\ No 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/ep000324/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/ep000324/gripper_left_tactile_force_metrics.json
new file mode 100644
index 0000000000000000000000000000000000000000..5a0819d7bfc74bde1e1b6de81affca6ea3dc3e3e
--- /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/ep000324/gripper_left_tactile_force_metrics.json
@@ -0,0 +1,9 @@
+{
+  "depth_peak": 0.009196588769555092,
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+  "force_magnitude_peak": 0.010513710789382458,
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+  "dataset_name": "dag911262r00145d_lerobot_0327_114714",
+  "episode_index": 324,
+  "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/ep000349/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/ep000349/gripper_right_tactile_force_metrics.json
new file mode 100644
index 0000000000000000000000000000000000000000..1c94f21b2106b56acf640caa0ec9d075461f2c9e
--- /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/ep000349/gripper_right_tactile_force_metrics.json
@@ -0,0 +1,9 @@
+{
+  "depth_peak": 0.0030128343496471643,
+  "shear_peak": 0.005844532046467066,
+  "force_magnitude_peak": 0.00617206422612071,
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+  "dataset_name": "dag911262r00145d_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/dag911262r00145d_lerobot_0327_114714_e46ad16b/episodes/ep000354/gripper_left_tactile_force_metrics.json b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-09_18-30/outputs_tactile/tactile_cache/dag911262r00145d_lerobot_0327_114714_e46ad16b/episodes/ep000354/gripper_left_tactile_force_metrics.json
new file mode 100644
index 0000000000000000000000000000000000000000..bae9c3672273d37fb7187110ff4111dddbcc83eb
--- /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/ep000354/gripper_left_tactile_force_metrics.json
@@ -0,0 +1,9 @@
+{
+  "depth_peak": 0.0002982754085678607,
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+  "force_magnitude_peak": 0.004998576361685991,
+  "reference_frame_count": 0,
+  "dataset_name": "dag911262r00145d_lerobot_0327_114714",
+  "episode_index": 354,
+  "sensor": "gripper_left_tactile"
+}
\ No newline at end of file
diff --git a/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-09_18-30/outputs_tactile/tactile_cache/dag911262r00145d_lerobot_0327_114714_e46ad16b/episodes/ep000382/gripper_right_tactile_force_metrics.json b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-09_18-30/outputs_tactile/tactile_cache/dag911262r00145d_lerobot_0327_114714_e46ad16b/episodes/ep000382/gripper_right_tactile_force_metrics.json
new file mode 100644
index 0000000000000000000000000000000000000000..2d9e8d6aaf7c3e1c4cd7530a72bf2b3129d7e10a
--- /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/ep000382/gripper_right_tactile_force_metrics.json
@@ -0,0 +1,9 @@
+{
+  "depth_peak": 0.012608885765075684,
+  "shear_peak": 0.0023704483173787594,
+  "force_magnitude_peak": 0.01261326763778925,
+  "reference_frame_count": 0,
+  "dataset_name": "dag911262r00145d_lerobot_0327_114714",
+  "episode_index": 382,
+  "sensor": "gripper_right_tactile"
+}
\ No newline at end of file
diff --git a/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-09_18-30/outputs_tactile/tactile_cache/dag911262r00145d_lerobot_0327_114714_e46ad16b/episodes/ep000389/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/ep000389/gripper_right_tactile_force_metrics.json
new file mode 100644
index 0000000000000000000000000000000000000000..08ca471817eec3f224fb7abd2aa6e0695ab59264
--- /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/ep000389/gripper_right_tactile_force_metrics.json
@@ -0,0 +1,9 @@
+{
+  "depth_peak": 0.010527237318456173,
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+  "force_magnitude_peak": 0.010981506668031216,
+  "reference_frame_count": 0,
+  "dataset_name": "dag911262r00145d_lerobot_0327_114714",
+  "episode_index": 389,
+  "sensor": "gripper_right_tactile"
+}
\ No 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/ep000391/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/ep000391/gripper_right_tactile_force_metrics.json
new file mode 100644
index 0000000000000000000000000000000000000000..dc53430a9b3e8260abea51144afc65ac4cf5ad25
--- /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/ep000391/gripper_right_tactile_force_metrics.json
@@ -0,0 +1,9 @@
+{
+  "depth_peak": 0.008394471369683743,
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+  "force_magnitude_peak": 0.013684865087270737,
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+  "dataset_name": "dag911262r00145d_lerobot_0327_114714",
+  "episode_index": 391,
+  "sensor": "gripper_right_tactile"
+}
\ No 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/ep000397/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/ep000397/gripper_right_tactile_force_metrics.json
new file mode 100644
index 0000000000000000000000000000000000000000..3c8b9b14106134c7cb0f1d1cbbdcf58522f76515
--- /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/ep000397/gripper_right_tactile_force_metrics.json
@@ -0,0 +1,9 @@
+{
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+  "force_magnitude_peak": 0.007716879714280367,
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+  "dataset_name": "dag911262r00145d_lerobot_0327_114714",
+  "episode_index": 397,
+  "sensor": "gripper_right_tactile"
+}
\ No 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/ep000422/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/ep000422/gripper_right_tactile_force_metrics.json
new file mode 100644
index 0000000000000000000000000000000000000000..2f08b53634b19d674e4bfdb6bec1bdf3b701f8ac
--- /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/ep000422/gripper_right_tactile_force_metrics.json
@@ -0,0 +1,9 @@
+{
+  "depth_peak": 0.012985520996153355,
+  "shear_peak": 0.004034708719700575,
+  "force_magnitude_peak": 0.013341043144464493,
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+  "dataset_name": "dag911262r00145d_lerobot_0327_114714",
+  "episode_index": 422,
+  "sensor": "gripper_right_tactile"
+}
\ No 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/ep000431/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/ep000431/gripper_left_tactile_force_metrics.json
new file mode 100644
index 0000000000000000000000000000000000000000..440617bfa0c19d47152ef47fa1c6e4ea1bff8572
--- /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/ep000431/gripper_left_tactile_force_metrics.json
@@ -0,0 +1,9 @@
+{
+  "depth_peak": 0.0001557899813633412,
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+  "force_magnitude_peak": 0.006630531046539545,
+  "reference_frame_count": 0,
+  "dataset_name": "dag911262r00145d_lerobot_0327_114714",
+  "episode_index": 431,
+  "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/ep000431/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/ep000431/gripper_right_tactile_force_metrics.json
new file mode 100644
index 0000000000000000000000000000000000000000..a606c559715623df78b9c80e0260c59973820cf8
--- /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/ep000431/gripper_right_tactile_force_metrics.json
@@ -0,0 +1,9 @@
+{
+  "depth_peak": 0.006057742517441511,
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+  "force_magnitude_peak": 0.006795993074774742,
+  "reference_frame_count": 0,
+  "dataset_name": "dag911262r00145d_lerobot_0327_114714",
+  "episode_index": 431,
+  "sensor": "gripper_right_tactile"
+}
\ No newline at end of file
diff --git a/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-09_18-30/outputs_tactile/tactile_cache/dag911262r00145d_lerobot_0327_114714_e46ad16b/episodes/ep000434/gripper_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/ep000434/gripper_left_tactile_force_metrics.json
new file mode 100644
index 0000000000000000000000000000000000000000..79c221e474ced5011cf0ecd921094a16316000ae
--- /dev/null
+++ b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-09_18-30/outputs_tactile/tactile_cache/dag911262r00145d_lerobot_0327_114714_e46ad16b/episodes/ep000434/gripper_left_tactile_force_metrics.json
@@ -0,0 +1,9 @@
+{
+  "depth_peak": 0.004639207851141691,
+  "shear_peak": 0.004846398252993822,
+  "force_magnitude_peak": 0.0050278035923838615,
+  "reference_frame_count": 0,
+  "dataset_name": "dag911262r00145d_lerobot_0327_114714",
+  "episode_index": 434,
+  "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/ep000437/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/ep000437/gripper_right_tactile_force_metrics.json
new file mode 100644
index 0000000000000000000000000000000000000000..21dbf6c80ff25427b1fd811058a7fecc2fdaacb9
--- /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/ep000437/gripper_right_tactile_force_metrics.json
@@ -0,0 +1,9 @@
+{
+  "depth_peak": 0.009014706127345562,
+  "shear_peak": 0.011790599673986435,
+  "force_magnitude_peak": 0.014347603544592857,
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+  "dataset_name": "dag911262r00145d_lerobot_0327_114714",
+  "episode_index": 437,
+  "sensor": "gripper_right_tactile"
+}
\ No 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/ep000462/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/ep000462/gripper_right_tactile_force_metrics.json
new file mode 100644
index 0000000000000000000000000000000000000000..87d36e764229690e4bbd27476dbffb0c403e0eae
--- /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/ep000462/gripper_right_tactile_force_metrics.json
@@ -0,0 +1,9 @@
+{
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+  "force_magnitude_peak": 0.012296069413423538,
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+  "dataset_name": "dag911262r00145d_lerobot_0327_114714",
+  "episode_index": 462,
+  "sensor": "gripper_right_tactile"
+}
\ No 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/ep000471/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/ep000471/gripper_right_tactile_force_metrics.json
new file mode 100644
index 0000000000000000000000000000000000000000..6b9f58a18b3a5ba7e4d201082e8060eb8d273739
--- /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/ep000471/gripper_right_tactile_force_metrics.json
@@ -0,0 +1,9 @@
+{
+  "depth_peak": 0.005477283615618944,
+  "shear_peak": 0.027893422171473503,
+  "force_magnitude_peak": 0.027953503653407097,
+  "reference_frame_count": 0,
+  "dataset_name": "dag911262r00145d_lerobot_0327_114714",
+  "episode_index": 471,
+  "sensor": "gripper_right_tactile"
+}
\ No 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_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/ep000490/gripper_left_tactile_force_metrics.json
new file mode 100644
index 0000000000000000000000000000000000000000..0c950d173c7f90b7793cce13d9ebe2a146067c4b
--- /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_left_tactile_force_metrics.json
@@ -0,0 +1,9 @@
+{
+  "depth_peak": 0.009152062237262726,
+  "shear_peak": 0.0028521886561065912,
+  "force_magnitude_peak": 0.009260282851755619,
+  "reference_frame_count": 0,
+  "dataset_name": "dag911262r00145d_lerobot_0327_114714",
+  "episode_index": 490,
+  "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/ep000514/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/ep000514/gripper_left_tactile_force_metrics.json
new file mode 100644
index 0000000000000000000000000000000000000000..e084cf4c58584439eb504153ac05151420d21792
--- /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/ep000514/gripper_left_tactile_force_metrics.json
@@ -0,0 +1,9 @@
+{
+  "depth_peak": 0.003990091849118471,
+  "shear_peak": 0.0024001849815249443,
+  "force_magnitude_peak": 0.004292924422770739,
+  "reference_frame_count": 0,
+  "dataset_name": "dag911262r00145d_lerobot_0327_114714",
+  "episode_index": 514,
+  "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/ep000541/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/ep000541/gripper_right_tactile_force_metrics.json
new file mode 100644
index 0000000000000000000000000000000000000000..7512386a45a5c6f5a60dc1d357b1c420e5b7f1c3
--- /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/ep000541/gripper_right_tactile_force_metrics.json
@@ -0,0 +1,9 @@
+{
+  "depth_peak": 0.0055384510196745396,
+  "shear_peak": 0.007683787029236555,
+  "force_magnitude_peak": 0.00945241004228592,
+  "reference_frame_count": 0,
+  "dataset_name": "dag911262r00145d_lerobot_0327_114714",
+  "episode_index": 541,
+  "sensor": "gripper_right_tactile"
+}
\ No 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/ep000542/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/ep000542/gripper_right_tactile_force_metrics.json
new file mode 100644
index 0000000000000000000000000000000000000000..e9de012548aa92e194954f61bb031aaba12af6a2
--- /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/ep000542/gripper_right_tactile_force_metrics.json
@@ -0,0 +1,9 @@
+{
+  "depth_peak": 0.005104093346744776,
+  "shear_peak": 0.013649295084178448,
+  "force_magnitude_peak": 0.014462551102042198,
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+  "dataset_name": "dag911262r00145d_lerobot_0327_114714",
+  "episode_index": 542,
+  "sensor": "gripper_right_tactile"
+}
\ No 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/ep000549/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/ep000549/gripper_right_tactile_force_metrics.json
new file mode 100644
index 0000000000000000000000000000000000000000..12a4216195f94044d2bbb7f83eb45be438d0c088
--- /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/ep000549/gripper_right_tactile_force_metrics.json
@@ -0,0 +1,9 @@
+{
+  "depth_peak": 0.00078436394687742,
+  "shear_peak": 0.006145963445305824,
+  "force_magnitude_peak": 0.0062664286233484745,
+  "reference_frame_count": 0,
+  "dataset_name": "dag911262r00145d_lerobot_0327_114714",
+  "episode_index": 549,
+  "sensor": "gripper_right_tactile"
+}
\ No 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/ep000551/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/ep000551/gripper_left_tactile_force_metrics.json
new file mode 100644
index 0000000000000000000000000000000000000000..43de635058fa356a734f906dacc1b8bae013aa68
--- /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/ep000551/gripper_left_tactile_force_metrics.json
@@ -0,0 +1,9 @@
+{
+  "depth_peak": 0.0016413190169259906,
+  "shear_peak": 0.002856242936104536,
+  "force_magnitude_peak": 0.002910536015406251,
+  "reference_frame_count": 0,
+  "dataset_name": "dag911262r00145d_lerobot_0327_114714",
+  "episode_index": 551,
+  "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/ep000564/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/ep000564/gripper_left_tactile_force_metrics.json
new file mode 100644
index 0000000000000000000000000000000000000000..3494aa122d3fa78a8bced34e65144e8c0f08147b
--- /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/ep000564/gripper_left_tactile_force_metrics.json
@@ -0,0 +1,9 @@
+{
+  "depth_peak": 0.0004418527241796255,
+  "shear_peak": 0.000542355002835393,
+  "force_magnitude_peak": 0.001536043593659997,
+  "reference_frame_count": 0,
+  "dataset_name": "dag911262r00145d_lerobot_0327_114714",
+  "episode_index": 564,
+  "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/ep000591/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/ep000591/gripper_left_tactile_force_metrics.json
new file mode 100644
index 0000000000000000000000000000000000000000..5a67892da216cae037f36905784312673c10afc0
--- /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/ep000591/gripper_left_tactile_force_metrics.json
@@ -0,0 +1,9 @@
+{
+  "depth_peak": 0.0054880958050489426,
+  "shear_peak": 0.009799585677683353,
+  "force_magnitude_peak": 0.011154517531394958,
+  "reference_frame_count": 0,
+  "dataset_name": "dag911262r00145d_lerobot_0327_114714",
+  "episode_index": 591,
+  "sensor": "gripper_left_tactile"
+}
\ No newline at end of file
diff --git a/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-09_18-30/outputs_tactile/tactile_cache/dag911262r00145d_lerobot_0327_114714_e46ad16b/episodes/ep000594/gripper_left_tactile_force_metrics.json b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-09_18-30/outputs_tactile/tactile_cache/dag911262r00145d_lerobot_0327_114714_e46ad16b/episodes/ep000594/gripper_left_tactile_force_metrics.json
new file mode 100644
index 0000000000000000000000000000000000000000..06e802906ed6b4fa3d588d112e214d6a4aa48a20
--- /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/ep000594/gripper_left_tactile_force_metrics.json
@@ -0,0 +1,9 @@
+{
+  "depth_peak": 0.004259814042598009,
+  "shear_peak": 0.0076141017489135265,
+  "force_magnitude_peak": 0.007840350270271301,
+  "reference_frame_count": 0,
+  "dataset_name": "dag911262r00145d_lerobot_0327_114714",
+  "episode_index": 594,
+  "sensor": "gripper_left_tactile"
+}
\ No newline at end of file
diff --git a/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-09_18-30/outputs_tactile/tactile_cache/dag911262r00145d_lerobot_0327_114714_e46ad16b/episodes/ep000629/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/ep000629/gripper_right_tactile_force_metrics.json
new file mode 100644
index 0000000000000000000000000000000000000000..0047bc761f7bd0f8981637c8633557fd42ea3f87
--- /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/ep000629/gripper_right_tactile_force_metrics.json
@@ -0,0 +1,9 @@
+{
+  "depth_peak": 0.0008599853608757257,
+  "shear_peak": 0.002785657998174429,
+  "force_magnitude_peak": 0.00300689903087914,
+  "reference_frame_count": 0,
+  "dataset_name": "dag911262r00145d_lerobot_0327_114714",
+  "episode_index": 629,
+  "sensor": "gripper_right_tactile"
+}
\ No 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_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/ep000650/gripper_left_tactile_force_metrics.json
new file mode 100644
index 0000000000000000000000000000000000000000..e50dec4de5dfb6391e9d79f6b93151b8544b363f
--- /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_left_tactile_force_metrics.json
@@ -0,0 +1,9 @@
+{
+  "depth_peak": 0.013749819248914719,
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+  "force_magnitude_peak": 0.013901220634579659,
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+  "dataset_name": "dag911262r00145d_lerobot_0327_114714",
+  "episode_index": 650,
+  "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/ep000661/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/ep000661/gripper_right_tactile_force_metrics.json
new file mode 100644
index 0000000000000000000000000000000000000000..50214d0d55b9efe15864695743890605c5761ae2
--- /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/ep000661/gripper_right_tactile_force_metrics.json
@@ -0,0 +1,9 @@
+{
+  "depth_peak": 0.001656274893321097,
+  "shear_peak": 0.007132381666451693,
+  "force_magnitude_peak": 0.007491080090403557,
+  "reference_frame_count": 0,
+  "dataset_name": "dag911262r00145d_lerobot_0327_114714",
+  "episode_index": 661,
+  "sensor": "gripper_right_tactile"
+}
\ No 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/ep000662/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/ep000662/gripper_right_tactile_force_metrics.json
new file mode 100644
index 0000000000000000000000000000000000000000..83863188144e42c6502f6d71d6128d8f37773834
--- /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/ep000662/gripper_right_tactile_force_metrics.json
@@ -0,0 +1,9 @@
+{
+  "depth_peak": 0.005382135510444641,
+  "shear_peak": 0.006069905590265989,
+  "force_magnitude_peak": 0.008109419606626034,
+  "reference_frame_count": 0,
+  "dataset_name": "dag911262r00145d_lerobot_0327_114714",
+  "episode_index": 662,
+  "sensor": "gripper_right_tactile"
+}
\ No 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/ep000677/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/ep000677/gripper_right_tactile_force_metrics.json
new file mode 100644
index 0000000000000000000000000000000000000000..db4a46c0cc3b70b8e7726d6f5a991116ccc00d66
--- /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/ep000677/gripper_right_tactile_force_metrics.json
@@ -0,0 +1,9 @@
+{
+  "depth_peak": 0.0018463744781911373,
+  "shear_peak": 0.00409821467474103,
+  "force_magnitude_peak": 0.004319532308727503,
+  "reference_frame_count": 0,
+  "dataset_name": "dag911262r00145d_lerobot_0327_114714",
+  "episode_index": 677,
+  "sensor": "gripper_right_tactile"
+}
\ No 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/ep000701/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/ep000701/gripper_right_tactile_force_metrics.json
new file mode 100644
index 0000000000000000000000000000000000000000..be5e15879a5e76e2543bb26e8909b47f270cc5f3
--- /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/ep000701/gripper_right_tactile_force_metrics.json
@@ -0,0 +1,9 @@
+{
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+  "force_magnitude_peak": 0.007394059095531702,
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+  "dataset_name": "dag911262r00145d_lerobot_0327_114714",
+  "episode_index": 701,
+  "sensor": "gripper_right_tactile"
+}
\ No 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/ep000702/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/ep000702/gripper_right_tactile_force_metrics.json
new file mode 100644
index 0000000000000000000000000000000000000000..f5fd92137efa8cd6b6cd22793421dbebd2815eca
--- /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/ep000702/gripper_right_tactile_force_metrics.json
@@ -0,0 +1,9 @@
+{
+  "depth_peak": 0.007288328837603331,
+  "shear_peak": 0.002606767462566495,
+  "force_magnitude_peak": 0.007740476168692112,
+  "reference_frame_count": 0,
+  "dataset_name": "dag911262r00145d_lerobot_0327_114714",
+  "episode_index": 702,
+  "sensor": "gripper_right_tactile"
+}
\ No 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/ep000711/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/ep000711/gripper_left_tactile_force_metrics.json
new file mode 100644
index 0000000000000000000000000000000000000000..0a89977f85d973541ed31c8f1d586852edd5ad80
--- /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/ep000711/gripper_left_tactile_force_metrics.json
@@ -0,0 +1,9 @@
+{
+  "depth_peak": 0.0021444205194711685,
+  "shear_peak": 0.00148347532376647,
+  "force_magnitude_peak": 0.0025155663024634123,
+  "reference_frame_count": 0,
+  "dataset_name": "dag911262r00145d_lerobot_0327_114714",
+  "episode_index": 711,
+  "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/ep000711/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/ep000711/gripper_right_tactile_force_metrics.json
new file mode 100644
index 0000000000000000000000000000000000000000..95c0504c471a19e559c9fb42fc0e7bd62382e174
--- /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/ep000711/gripper_right_tactile_force_metrics.json
@@ -0,0 +1,9 @@
+{
+  "depth_peak": 0.005988030228763819,
+  "shear_peak": 0.002576239639893174,
+  "force_magnitude_peak": 0.006396280135959387,
+  "reference_frame_count": 0,
+  "dataset_name": "dag911262r00145d_lerobot_0327_114714",
+  "episode_index": 711,
+  "sensor": "gripper_right_tactile"
+}
\ No 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/ep000724/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/ep000724/gripper_left_tactile_force_metrics.json
new file mode 100644
index 0000000000000000000000000000000000000000..a00ad0f99a74c1c870b258bb3ecdec86239403d1
--- /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/ep000724/gripper_left_tactile_force_metrics.json
@@ -0,0 +1,9 @@
+{
+  "depth_peak": 0.006820228882133961,
+  "shear_peak": 0.0030174199491739273,
+  "force_magnitude_peak": 0.007428460288792849,
+  "reference_frame_count": 0,
+  "dataset_name": "dag911262r00145d_lerobot_0327_114714",
+  "episode_index": 724,
+  "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/ep000730/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/ep000730/gripper_left_tactile_force_metrics.json
new file mode 100644
index 0000000000000000000000000000000000000000..82d2ac436a9e58429f4f77b64f59404b5b914977
--- /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/ep000730/gripper_left_tactile_force_metrics.json
@@ -0,0 +1,9 @@
+{
+  "depth_peak": 0.002351162489503622,
+  "shear_peak": 0.0029682074673473835,
+  "force_magnitude_peak": 0.003786584362387657,
+  "reference_frame_count": 0,
+  "dataset_name": "dag911262r00145d_lerobot_0327_114714",
+  "episode_index": 730,
+  "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/ep000741/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/ep000741/gripper_right_tactile_force_metrics.json
new file mode 100644
index 0000000000000000000000000000000000000000..55be5c88395cec0e6fa08885288cdada2967ad1b
--- /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/ep000741/gripper_right_tactile_force_metrics.json
@@ -0,0 +1,9 @@
+{
+  "depth_peak": 0.006090584211051464,
+  "shear_peak": 0.00344182550907135,
+  "force_magnitude_peak": 0.0068161687813699245,
+  "reference_frame_count": 0,
+  "dataset_name": "dag911262r00145d_lerobot_0327_114714",
+  "episode_index": 741,
+  "sensor": "gripper_right_tactile"
+}
\ No 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/ep000749/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/ep000749/gripper_right_tactile_force_metrics.json
new file mode 100644
index 0000000000000000000000000000000000000000..882dbfdd50bfb2b31cc5e9f08e06aa755828bb42
--- /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/ep000749/gripper_right_tactile_force_metrics.json
@@ -0,0 +1,9 @@
+{
+  "depth_peak": 0.003302120603621006,
+  "shear_peak": 0.004733613226562738,
+  "force_magnitude_peak": 0.005413474049419165,
+  "reference_frame_count": 0,
+  "dataset_name": "dag911262r00145d_lerobot_0327_114714",
+  "episode_index": 749,
+  "sensor": "gripper_right_tactile"
+}
\ No newline at end of file
diff --git a/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-09_18-30/outputs_tactile/tactile_cache/dag911262r00145d_lerobot_0327_114714_e46ad16b/episodes/ep000789/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/ep000789/gripper_right_tactile_force_metrics.json
new file mode 100644
index 0000000000000000000000000000000000000000..87c24721b8310b2450350fa982f6468e0ed53beb
--- /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/ep000789/gripper_right_tactile_force_metrics.json
@@ -0,0 +1,9 @@
+{
+  "depth_peak": 0.012187578715384007,
+  "shear_peak": 0.011543410830199718,
+  "force_magnitude_peak": 0.016543542966246605,
+  "reference_frame_count": 0,
+  "dataset_name": "dag911262r00145d_lerobot_0327_114714",
+  "episode_index": 789,
+  "sensor": "gripper_right_tactile"
+}
\ No 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/ep000822/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/ep000822/gripper_right_tactile_force_metrics.json
new file mode 100644
index 0000000000000000000000000000000000000000..a09fb6c9a042687486c49b29821cac5f87690fc8
--- /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/ep000822/gripper_right_tactile_force_metrics.json
@@ -0,0 +1,9 @@
+{
+  "depth_peak": 0.006168358493596315,
+  "shear_peak": 0.006051528267562389,
+  "force_magnitude_peak": 0.008451252244412899,
+  "reference_frame_count": 0,
+  "dataset_name": "dag911262r00145d_lerobot_0327_114714",
+  "episode_index": 822,
+  "sensor": "gripper_right_tactile"
+}
\ No 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/ep000829/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/ep000829/gripper_right_tactile_force_metrics.json
new file mode 100644
index 0000000000000000000000000000000000000000..644cfa637742cd8066e1a410bdf883e0c1600f13
--- /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/ep000829/gripper_right_tactile_force_metrics.json
@@ -0,0 +1,9 @@
+{
+  "depth_peak": 0.0029113837517797947,
+  "shear_peak": 0.00541455065831542,
+  "force_magnitude_peak": 0.006057399325072765,
+  "reference_frame_count": 0,
+  "dataset_name": "dag911262r00145d_lerobot_0327_114714",
+  "episode_index": 829,
+  "sensor": "gripper_right_tactile"
+}
\ No 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/ep000831/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/ep000831/gripper_left_tactile_force_metrics.json
new file mode 100644
index 0000000000000000000000000000000000000000..b836ea8f750e7286c9dc6847d2589d972a76232b
--- /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/ep000831/gripper_left_tactile_force_metrics.json
@@ -0,0 +1,9 @@
+{
+  "depth_peak": 0.005481335800141096,
+  "shear_peak": 0.0024432982318103313,
+  "force_magnitude_peak": 0.005721801891922951,
+  "reference_frame_count": 0,
+  "dataset_name": "dag911262r00145d_lerobot_0327_114714",
+  "episode_index": 831,
+  "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/ep000844/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/ep000844/gripper_left_tactile_force_metrics.json
new file mode 100644
index 0000000000000000000000000000000000000000..a6c752cdd965a3cbddef7b9fa6a182548e1c5bb9
--- /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_left_tactile_force_metrics.json
@@ -0,0 +1,9 @@
+{
+  "depth_peak": 0.002122199162840843,
+  "shear_peak": 0.005861692130565643,
+  "force_magnitude_peak": 0.0058791558258235455,
+  "reference_frame_count": 0,
+  "dataset_name": "dag911262r00145d_lerobot_0327_114714",
+  "episode_index": 844,
+  "sensor": "gripper_left_tactile"
+}
\ No newline at end of file
diff --git a/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-09_18-30/outputs_tactile/tactile_cache/dag911262r00145d_lerobot_0327_114714_e46ad16b/episodes/ep000861/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/ep000861/gripper_right_tactile_force_metrics.json
new file mode 100644
index 0000000000000000000000000000000000000000..390ae9d838d38692786a9b22cbf7cac6e0defea1
--- /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/ep000861/gripper_right_tactile_force_metrics.json
@@ -0,0 +1,9 @@
+{
+  "depth_peak": 0.004207143094390631,
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+  "force_magnitude_peak": 0.005068863742053509,
+  "reference_frame_count": 0,
+  "dataset_name": "dag911262r00145d_lerobot_0327_114714",
+  "episode_index": 861,
+  "sensor": "gripper_right_tactile"
+}
\ No newline at end of file
diff --git a/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-09_18-30/outputs_tactile/tactile_cache/dag911262r00145d_lerobot_0327_114714_e46ad16b/episodes/ep000874/gripper_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/ep000874/gripper_left_tactile_force_metrics.json
new file mode 100644
index 0000000000000000000000000000000000000000..bb2615ec330bb18f1c1b96b3e96d4474b4d75bb7
--- /dev/null
+++ b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-09_18-30/outputs_tactile/tactile_cache/dag911262r00145d_lerobot_0327_114714_e46ad16b/episodes/ep000874/gripper_left_tactile_force_metrics.json
@@ -0,0 +1,9 @@
+{
+  "depth_peak": 0.005775926169008017,
+  "shear_peak": 0.0054246666841208935,
+  "force_magnitude_peak": 0.007662459276616573,
+  "reference_frame_count": 0,
+  "dataset_name": "dag911262r00145d_lerobot_0327_114714",
+  "episode_index": 874,
+  "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/ep000887/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/ep000887/gripper_left_tactile_force_metrics.json
new file mode 100644
index 0000000000000000000000000000000000000000..201a1b97afec044b4ac59eb5e80584937994c155
--- /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/ep000887/gripper_left_tactile_force_metrics.json
@@ -0,0 +1,9 @@
+{
+  "depth_peak": 0.002672886708751321,
+  "shear_peak": 0.002384609542787075,
+  "force_magnitude_peak": 0.0033054582308977842,
+  "reference_frame_count": 0,
+  "dataset_name": "dag911262r00145d_lerobot_0327_114714",
+  "episode_index": 887,
+  "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/ep000033/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/ep000033/gripper_right_tactile_force_metrics.json
new file mode 100644
index 0000000000000000000000000000000000000000..f1d54f0078b71f6324ff7a97b856fcae7e6da89b
--- /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/ep000033/gripper_right_tactile_force_metrics.json
@@ -0,0 +1,9 @@
+{
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+  "force_magnitude_peak": 0.007910572923719883,
+  "reference_frame_count": 0,
+  "dataset_name": "dag911262r001653_lerobot_0327_114714",
+  "episode_index": 33,
+  "sensor": "gripper_right_tactile"
+}
\ No 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/ep000108/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/ep000108/gripper_right_tactile_force_metrics.json
new file mode 100644
index 0000000000000000000000000000000000000000..1ae6d0e3b59f0d0cc1b7675c46dfe55c192f4a07
--- /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/ep000108/gripper_right_tactile_force_metrics.json
@@ -0,0 +1,9 @@
+{
+  "depth_peak": 0.010408063419163227,
+  "shear_peak": 0.010356049984693527,
+  "force_magnitude_peak": 0.014534873887896538,
+  "reference_frame_count": 0,
+  "dataset_name": "dag911262r001653_lerobot_0327_114714",
+  "episode_index": 108,
+  "sensor": "gripper_right_tactile"
+}
\ No 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/ep000138/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/ep000138/gripper_right_tactile_force_metrics.json
new file mode 100644
index 0000000000000000000000000000000000000000..30f5636b4f4ac800798f18088523cf56ddb016d2
--- /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/ep000138/gripper_right_tactile_force_metrics.json
@@ -0,0 +1,9 @@
+{
+  "depth_peak": 0.003944783471524715,
+  "shear_peak": 0.004141117911785841,
+  "force_magnitude_peak": 0.004472273401916027,
+  "reference_frame_count": 0,
+  "dataset_name": "dag911262r001653_lerobot_0327_114714",
+  "episode_index": 138,
+  "sensor": "gripper_right_tactile"
+}
\ No newline at end of file
diff --git a/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-09_18-30/outputs_tactile/tactile_cache/dag911262r001653_lerobot_0327_114714_a96adc8e/episodes/ep000206/gripper_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/ep000206/gripper_left_tactile_force_metrics.json
new file mode 100644
index 0000000000000000000000000000000000000000..7231a2f659e55ade251c017c593027546d4588cb
--- /dev/null
+++ b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-09_18-30/outputs_tactile/tactile_cache/dag911262r001653_lerobot_0327_114714_a96adc8e/episodes/ep000206/gripper_left_tactile_force_metrics.json
@@ -0,0 +1,9 @@
+{
+  "depth_peak": 0.0006981868064031005,
+  "shear_peak": 0.004563030321151018,
+  "force_magnitude_peak": 0.005396384745836258,
+  "reference_frame_count": 0,
+  "dataset_name": "dag911262r001653_lerobot_0327_114714",
+  "episode_index": 206,
+  "sensor": "gripper_left_tactile"
+}
\ No newline at end of file
diff --git a/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-09_18-30/outputs_tactile/tactile_cache/dag911262r001653_lerobot_0327_114714_a96adc8e/episodes/ep000211/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/ep000211/gripper_left_tactile_force_metrics.json
new file mode 100644
index 0000000000000000000000000000000000000000..8d28f6f19629c5afac30be283c08db1607df66e6
--- /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/ep000211/gripper_left_tactile_force_metrics.json
@@ -0,0 +1,9 @@
+{
+  "depth_peak": 0.0017157921101897955,
+  "shear_peak": 0.00334034557454288,
+  "force_magnitude_peak": 0.0033403486013412476,
+  "reference_frame_count": 0,
+  "dataset_name": "dag911262r001653_lerobot_0327_114714",
+  "episode_index": 211,
+  "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/ep000218/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/ep000218/gripper_left_tactile_force_metrics.json
new file mode 100644
index 0000000000000000000000000000000000000000..0edd4f0267d7dfed39f14c4cb7715932791d2f61
--- /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/ep000218/gripper_left_tactile_force_metrics.json
@@ -0,0 +1,9 @@
+{
+  "depth_peak": 0.0006929581286385655,
+  "shear_peak": 0.006435040384531021,
+  "force_magnitude_peak": 0.006640120875090361,
+  "reference_frame_count": 0,
+  "dataset_name": "dag911262r001653_lerobot_0327_114714",
+  "episode_index": 218,
+  "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/ep000223/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/ep000223/gripper_right_tactile_force_metrics.json
new file mode 100644
index 0000000000000000000000000000000000000000..3421444474b1739470c37c47552ab49a940c619d
--- /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/ep000223/gripper_right_tactile_force_metrics.json
@@ -0,0 +1,9 @@
+{
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+  "force_magnitude_peak": 0.014598683454096317,
+  "reference_frame_count": 0,
+  "dataset_name": "dag911262r001653_lerobot_0327_114714",
+  "episode_index": 223,
+  "sensor": "gripper_right_tactile"
+}
\ No 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/ep000233/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/ep000233/gripper_right_tactile_force_metrics.json
new file mode 100644
index 0000000000000000000000000000000000000000..0f37e66fa8a2b92cdd63086bde55fd54bc3d9776
--- /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/ep000233/gripper_right_tactile_force_metrics.json
@@ -0,0 +1,9 @@
+{
+  "depth_peak": 0.002247786847874522,
+  "shear_peak": 0.003831245703622699,
+  "force_magnitude_peak": 0.003833501599729061,
+  "reference_frame_count": 0,
+  "dataset_name": "dag911262r001653_lerobot_0327_114714",
+  "episode_index": 233,
+  "sensor": "gripper_right_tactile"
+}
\ No 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/ep000246/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/ep000246/gripper_left_tactile_force_metrics.json
new file mode 100644
index 0000000000000000000000000000000000000000..c48a12be7b8e089db70d6b41c46f99f15116df59
--- /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/ep000246/gripper_left_tactile_force_metrics.json
@@ -0,0 +1,9 @@
+{
+  "depth_peak": 0.004525261931121349,
+  "shear_peak": 0.0028287533205002546,
+  "force_magnitude_peak": 0.005245093256235123,
+  "reference_frame_count": 0,
+  "dataset_name": "dag911262r001653_lerobot_0327_114714",
+  "episode_index": 246,
+  "sensor": "gripper_left_tactile"
+}
\ No newline at end of file
diff --git a/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-09_18-30/outputs_tactile/tactile_cache/dag911262r001653_lerobot_0327_114714_a96adc8e/episodes/ep000258/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/ep000258/gripper_left_tactile_force_metrics.json
new file mode 100644
index 0000000000000000000000000000000000000000..c9658937cfac2507300165da9913c742afeae823
--- /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/ep000258/gripper_left_tactile_force_metrics.json
@@ -0,0 +1,9 @@
+{
+  "depth_peak": 0.0010789105435833335,
+  "shear_peak": 0.004581728484481573,
+  "force_magnitude_peak": 0.004787014331668615,
+  "reference_frame_count": 0,
+  "dataset_name": "dag911262r001653_lerobot_0327_114714",
+  "episode_index": 258,
+  "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/ep000258/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/ep000258/gripper_right_tactile_force_metrics.json
new file mode 100644
index 0000000000000000000000000000000000000000..88a915bdd18160c75fbeadcda547f881b8b5710a
--- /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/ep000258/gripper_right_tactile_force_metrics.json
@@ -0,0 +1,9 @@
+{
+  "depth_peak": 0.002813086612150073,
+  "shear_peak": 0.007972595281898975,
+  "force_magnitude_peak": 0.008238513022661209,
+  "reference_frame_count": 0,
+  "dataset_name": "dag911262r001653_lerobot_0327_114714",
+  "episode_index": 258,
+  "sensor": "gripper_right_tactile"
+}
\ No 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/ep000263/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/ep000263/gripper_right_tactile_force_metrics.json
new file mode 100644
index 0000000000000000000000000000000000000000..ed47358ca7c9476dc84a8c3d919432101dd48ca8
--- /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/ep000263/gripper_right_tactile_force_metrics.json
@@ -0,0 +1,9 @@
+{
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+  "force_magnitude_peak": 0.005064970813691616,
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+  "dataset_name": "dag911262r001653_lerobot_0327_114714",
+  "episode_index": 263,
+  "sensor": "gripper_right_tactile"
+}
\ No newline at end of file
diff --git a/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-09_18-30/outputs_tactile/tactile_cache/dag911262r001653_lerobot_0327_114714_a96adc8e/episodes/ep000268/gripper_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/ep000268/gripper_right_tactile_force_metrics.json
new file mode 100644
index 0000000000000000000000000000000000000000..e42bfd6172fee82a0d4af80e1ca872aa00c9d096
--- /dev/null
+++ b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-09_18-30/outputs_tactile/tactile_cache/dag911262r001653_lerobot_0327_114714_a96adc8e/episodes/ep000268/gripper_right_tactile_force_metrics.json
@@ -0,0 +1,9 @@
+{
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+  "force_magnitude_peak": 0.010122573934495449,
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+  "dataset_name": "dag911262r001653_lerobot_0327_114714",
+  "episode_index": 268,
+  "sensor": "gripper_right_tactile"
+}
\ No newline at end of file
diff --git a/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-09_18-30/outputs_tactile/tactile_cache/dag911262r001653_lerobot_0327_114714_a96adc8e/episodes/ep000291/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/ep000291/gripper_left_tactile_force_metrics.json
new file mode 100644
index 0000000000000000000000000000000000000000..feace0ba612af1f2b794a5c687d357a510b9514d
--- /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/ep000291/gripper_left_tactile_force_metrics.json
@@ -0,0 +1,9 @@
+{
+  "depth_peak": 0.0011751754209399223,
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+  "force_magnitude_peak": 0.006103214807808399,
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+  "dataset_name": "dag911262r001653_lerobot_0327_114714",
+  "episode_index": 291,
+  "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/ep000313/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/ep000313/gripper_right_tactile_force_metrics.json
new file mode 100644
index 0000000000000000000000000000000000000000..1099903d9bd0c05212494163464cf2f1979a4c51
--- /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/ep000313/gripper_right_tactile_force_metrics.json
@@ -0,0 +1,9 @@
+{
+  "depth_peak": 0.001236739568412304,
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+  "force_magnitude_peak": 0.010139288380742073,
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+  "dataset_name": "dag911262r001653_lerobot_0327_114714",
+  "episode_index": 313,
+  "sensor": "gripper_right_tactile"
+}
\ No 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/ep000343/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/ep000343/gripper_right_tactile_force_metrics.json
new file mode 100644
index 0000000000000000000000000000000000000000..17c59b148410c5fb4a1fbb1dc48641df99bd3be8
--- /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/ep000343/gripper_right_tactile_force_metrics.json
@@ -0,0 +1,9 @@
+{
+  "depth_peak": 0.0030962321907281876,
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+  "force_magnitude_peak": 0.01119889598339796,
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+  "dataset_name": "dag911262r001653_lerobot_0327_114714",
+  "episode_index": 343,
+  "sensor": "gripper_right_tactile"
+}
\ No 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/ep000348/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/ep000348/gripper_right_tactile_force_metrics.json
new file mode 100644
index 0000000000000000000000000000000000000000..f42b6412824a2fbe58a326101edbc565d767d03f
--- /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/ep000348/gripper_right_tactile_force_metrics.json
@@ -0,0 +1,9 @@
+{
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+  "force_magnitude_peak": 0.010298010893166065,
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+  "dataset_name": "dag911262r001653_lerobot_0327_114714",
+  "episode_index": 348,
+  "sensor": "gripper_right_tactile"
+}
\ No newline at end of file
diff --git a/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-09_18-30/outputs_tactile/tactile_cache/dag911262r001653_lerobot_0327_114714_a96adc8e/episodes/ep000378/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/ep000378/gripper_right_tactile_force_metrics.json
new file mode 100644
index 0000000000000000000000000000000000000000..97ee2af9e9aafb1e5099a73456176545864acd94
--- /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/ep000378/gripper_right_tactile_force_metrics.json
@@ -0,0 +1,9 @@
+{
+  "depth_peak": 0.011824470944702625,
+  "shear_peak": 0.003826563013717532,
+  "force_magnitude_peak": 0.011911080218851566,
+  "reference_frame_count": 0,
+  "dataset_name": "dag911262r001653_lerobot_0327_114714",
+  "episode_index": 378,
+  "sensor": "gripper_right_tactile"
+}
\ No 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/ep000383/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/ep000383/gripper_right_tactile_force_metrics.json
new file mode 100644
index 0000000000000000000000000000000000000000..83ba0747fbd998ea9099abef369a48acb6dbda97
--- /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/ep000383/gripper_right_tactile_force_metrics.json
@@ -0,0 +1,9 @@
+{
+  "depth_peak": 0.007095519918948412,
+  "shear_peak": 0.004191412124782801,
+  "force_magnitude_peak": 0.007201625499874353,
+  "reference_frame_count": 0,
+  "dataset_name": "dag911262r001653_lerobot_0327_114714",
+  "episode_index": 383,
+  "sensor": "gripper_right_tactile"
+}
\ No newline at end of file
diff --git a/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-09_18-30/outputs_tactile/tactile_cache/dag911262r001653_lerobot_0327_114714_a96adc8e/episodes/ep000406/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/ep000406/gripper_left_tactile_force_metrics.json
new file mode 100644
index 0000000000000000000000000000000000000000..9381ead717cee792cee47f7172f02093c26ebf23
--- /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/ep000406/gripper_left_tactile_force_metrics.json
@@ -0,0 +1,9 @@
+{
+  "depth_peak": 0.008696927689015865,
+  "shear_peak": 0.0031067414674907923,
+  "force_magnitude_peak": 0.008806959725916386,
+  "reference_frame_count": 0,
+  "dataset_name": "dag911262r001653_lerobot_0327_114714",
+  "episode_index": 406,
+  "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/ep000411/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/ep000411/gripper_right_tactile_force_metrics.json
new file mode 100644
index 0000000000000000000000000000000000000000..ef9752090ce95a6e7f32b635e93f938c57515bb9
--- /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/ep000411/gripper_right_tactile_force_metrics.json
@@ -0,0 +1,9 @@
+{
+  "depth_peak": 0.006416168063879013,
+  "shear_peak": 0.012303418479859829,
+  "force_magnitude_peak": 0.012829738669097424,
+  "reference_frame_count": 0,
+  "dataset_name": "dag911262r001653_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/dag911262r001653_lerobot_0327_114714_a96adc8e/episodes/ep000458/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/ep000458/gripper_left_tactile_force_metrics.json
new file mode 100644
index 0000000000000000000000000000000000000000..43c6a4c9766f58fdfc0f929456e0c3ecf2ac2cbb
--- /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/ep000458/gripper_left_tactile_force_metrics.json
@@ -0,0 +1,9 @@
+{
+  "depth_peak": 0.0017546081217005849,
+  "shear_peak": 0.012859432958066463,
+  "force_magnitude_peak": 0.013162441551685333,
+  "reference_frame_count": 0,
+  "dataset_name": "dag911262r001653_lerobot_0327_114714",
+  "episode_index": 458,
+  "sensor": "gripper_left_tactile"
+}
\ No newline at end of file