Add tactile_{left,right}_is_new flags; ship preprocess/ code; document true tactile rate (71.8% duplicated, ~8.5 fps effective)

Add session/per-episode rest-gel reference (robust to all-contact episodes) + validation

Add react_toolbox: VBTS utilities (reference/contact mask/approx depth/viz/calibration/actions) + quickstart + demo montage. MIT.