diff --git a/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_18-30/outputs_tactile/tactile_cache/dag911262r00035d_lerobot_0327_114548_eef5969c/episodes/ep000250/gripper_right_tactile_force_metrics.json b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_18-30/outputs_tactile/tactile_cache/dag911262r00035d_lerobot_0327_114548_eef5969c/episodes/ep000250/gripper_right_tactile_force_metrics.json
new file mode 100644
index 0000000000000000000000000000000000000000..da77937cb41a2997f92ccd71361abab4e19e7159
--- /dev/null
+++ b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_18-30/outputs_tactile/tactile_cache/dag911262r00035d_lerobot_0327_114548_eef5969c/episodes/ep000250/gripper_right_tactile_force_metrics.json
@@ -0,0 +1,9 @@
+{
+  "depth_peak": 0.0006033438257873058,
+  "shear_peak": 0.0009426224278286099,
+  "force_magnitude_peak": 0.001055763685144484,
+  "reference_frame_count": 0,
+  "dataset_name": "dag911262r00035d_lerobot_0327_114548",
+  "episode_index": 250,
+  "sensor": "gripper_right_tactile"
+}
\ No newline at end of file
diff --git a/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_18-30/outputs_tactile/tactile_cache/dag911262r00035d_lerobot_0327_114548_eef5969c/episodes/ep000266/gripper_right_tactile_force_metrics.json b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_18-30/outputs_tactile/tactile_cache/dag911262r00035d_lerobot_0327_114548_eef5969c/episodes/ep000266/gripper_right_tactile_force_metrics.json
new file mode 100644
index 0000000000000000000000000000000000000000..f8354f7671898074e056e396133693d78065dfa0
--- /dev/null
+++ b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_18-30/outputs_tactile/tactile_cache/dag911262r00035d_lerobot_0327_114548_eef5969c/episodes/ep000266/gripper_right_tactile_force_metrics.json
@@ -0,0 +1,9 @@
+{
+  "depth_peak": 0.000622764287982136,
+  "shear_peak": 0.0008395849145017564,
+  "force_magnitude_peak": 0.0016013594577088952,
+  "reference_frame_count": 0,
+  "dataset_name": "dag911262r00035d_lerobot_0327_114548",
+  "episode_index": 266,
+  "sensor": "gripper_right_tactile"
+}
\ No newline at end of file
diff --git a/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_18-30/outputs_tactile/tactile_cache/dag911262r00035d_lerobot_0327_114548_eef5969c/episodes/ep000283/gripper_left_tactile_force_metrics.json b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_18-30/outputs_tactile/tactile_cache/dag911262r00035d_lerobot_0327_114548_eef5969c/episodes/ep000283/gripper_left_tactile_force_metrics.json
new file mode 100644
index 0000000000000000000000000000000000000000..e64710b7a3ff3273ab734ed15eab3ce6c4184734
--- /dev/null
+++ b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_18-30/outputs_tactile/tactile_cache/dag911262r00035d_lerobot_0327_114548_eef5969c/episodes/ep000283/gripper_left_tactile_force_metrics.json
@@ -0,0 +1,9 @@
+{
+  "depth_peak": 0.0014728122623637319,
+  "shear_peak": 0.0025547780096530914,
+  "force_magnitude_peak": 0.0026108804158866405,
+  "reference_frame_count": 0,
+  "dataset_name": "dag911262r00035d_lerobot_0327_114548",
+  "episode_index": 283,
+  "sensor": "gripper_left_tactile"
+}
\ No newline at end of file
diff --git a/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_18-30/outputs_tactile/tactile_cache/dag911262r00035d_lerobot_0327_114548_eef5969c/episodes/ep000288/gripper_left_tactile_force_metrics.json b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_18-30/outputs_tactile/tactile_cache/dag911262r00035d_lerobot_0327_114548_eef5969c/episodes/ep000288/gripper_left_tactile_force_metrics.json
new file mode 100644
index 0000000000000000000000000000000000000000..eadcfb93a60ba28254043ece3dad2afa14961acc
--- /dev/null
+++ b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_18-30/outputs_tactile/tactile_cache/dag911262r00035d_lerobot_0327_114548_eef5969c/episodes/ep000288/gripper_left_tactile_force_metrics.json
@@ -0,0 +1,9 @@
+{
+  "depth_peak": 0.0007171822944656014,
+  "shear_peak": 0.0018932981183752418,
+  "force_magnitude_peak": 0.0021156477741897106,
+  "reference_frame_count": 0,
+  "dataset_name": "dag911262r00035d_lerobot_0327_114548",
+  "episode_index": 288,
+  "sensor": "gripper_left_tactile"
+}
\ No newline at end of file
diff --git a/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_18-30/outputs_tactile/tactile_cache/dag911262r00035d_lerobot_0327_114548_eef5969c/episodes/ep000356/gripper_left_tactile_force_metrics.json b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_18-30/outputs_tactile/tactile_cache/dag911262r00035d_lerobot_0327_114548_eef5969c/episodes/ep000356/gripper_left_tactile_force_metrics.json
new file mode 100644
index 0000000000000000000000000000000000000000..86507236c510becca673913b8524a59a8b956804
--- /dev/null
+++ b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_18-30/outputs_tactile/tactile_cache/dag911262r00035d_lerobot_0327_114548_eef5969c/episodes/ep000356/gripper_left_tactile_force_metrics.json
@@ -0,0 +1,9 @@
+{
+  "depth_peak": 0.00024998869048431516,
+  "shear_peak": 0.0015836023958399892,
+  "force_magnitude_peak": 0.002156407106667757,
+  "reference_frame_count": 0,
+  "dataset_name": "dag911262r00035d_lerobot_0327_114548",
+  "episode_index": 356,
+  "sensor": "gripper_left_tactile"
+}
\ No newline at end of file
diff --git a/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_18-30/outputs_tactile/tactile_cache/dag911262r00035d_lerobot_0327_114548_eef5969c/episodes/ep000366/gripper_left_tactile_force_metrics.json b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_18-30/outputs_tactile/tactile_cache/dag911262r00035d_lerobot_0327_114548_eef5969c/episodes/ep000366/gripper_left_tactile_force_metrics.json
new file mode 100644
index 0000000000000000000000000000000000000000..2432d67d9f6e9867e82ade38c441cbb077302954
--- /dev/null
+++ b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_18-30/outputs_tactile/tactile_cache/dag911262r00035d_lerobot_0327_114548_eef5969c/episodes/ep000366/gripper_left_tactile_force_metrics.json
@@ -0,0 +1,9 @@
+{
+  "depth_peak": 0.0009774407371878624,
+  "shear_peak": 0.0012729413574561477,
+  "force_magnitude_peak": 0.0016133305616676807,
+  "reference_frame_count": 0,
+  "dataset_name": "dag911262r00035d_lerobot_0327_114548",
+  "episode_index": 366,
+  "sensor": "gripper_left_tactile"
+}
\ No newline at end of file
diff --git a/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_18-30/outputs_tactile/tactile_cache/dag911262r00035d_lerobot_0327_114548_eef5969c/episodes/ep000370/gripper_right_tactile_force_metrics.json b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_18-30/outputs_tactile/tactile_cache/dag911262r00035d_lerobot_0327_114548_eef5969c/episodes/ep000370/gripper_right_tactile_force_metrics.json
new file mode 100644
index 0000000000000000000000000000000000000000..bb573a19fab110dffa2fdff6f19acfbe0ca7bbd7
--- /dev/null
+++ b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_18-30/outputs_tactile/tactile_cache/dag911262r00035d_lerobot_0327_114548_eef5969c/episodes/ep000370/gripper_right_tactile_force_metrics.json
@@ -0,0 +1,9 @@
+{
+  "depth_peak": 0.004552558995783329,
+  "shear_peak": 0.0030881313141435385,
+  "force_magnitude_peak": 0.0049880268052220345,
+  "reference_frame_count": 0,
+  "dataset_name": "dag911262r00035d_lerobot_0327_114548",
+  "episode_index": 370,
+  "sensor": "gripper_right_tactile"
+}
\ No newline at end of file
diff --git a/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_18-30/outputs_tactile/tactile_cache/dag911262r00035d_lerobot_0327_114548_eef5969c/episodes/ep000396/gripper_left_tactile_force_metrics.json b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_18-30/outputs_tactile/tactile_cache/dag911262r00035d_lerobot_0327_114548_eef5969c/episodes/ep000396/gripper_left_tactile_force_metrics.json
new file mode 100644
index 0000000000000000000000000000000000000000..a5a97a8bc15bbed961a8925f5235b431a1e8651a
--- /dev/null
+++ b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_18-30/outputs_tactile/tactile_cache/dag911262r00035d_lerobot_0327_114548_eef5969c/episodes/ep000396/gripper_left_tactile_force_metrics.json
@@ -0,0 +1,9 @@
+{
+  "depth_peak": 0.0009271613089367747,
+  "shear_peak": 0.0016783978790044785,
+  "force_magnitude_peak": 0.0017570453928783536,
+  "reference_frame_count": 0,
+  "dataset_name": "dag911262r00035d_lerobot_0327_114548",
+  "episode_index": 396,
+  "sensor": "gripper_left_tactile"
+}
\ No newline at end of file
diff --git a/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_18-30/outputs_tactile/tactile_cache/dag911262r00035d_lerobot_0327_114548_eef5969c/episodes/ep000403/gripper_left_tactile_force_metrics.json b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_18-30/outputs_tactile/tactile_cache/dag911262r00035d_lerobot_0327_114548_eef5969c/episodes/ep000403/gripper_left_tactile_force_metrics.json
new file mode 100644
index 0000000000000000000000000000000000000000..6d6d2acb720881f5bde6173343e08644b7cdb985
--- /dev/null
+++ b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_18-30/outputs_tactile/tactile_cache/dag911262r00035d_lerobot_0327_114548_eef5969c/episodes/ep000403/gripper_left_tactile_force_metrics.json
@@ -0,0 +1,9 @@
+{
+  "depth_peak": 0.0002047718153335154,
+  "shear_peak": 0.0014833204913884401,
+  "force_magnitude_peak": 0.0016333182575181127,
+  "reference_frame_count": 0,
+  "dataset_name": "dag911262r00035d_lerobot_0327_114548",
+  "episode_index": 403,
+  "sensor": "gripper_left_tactile"
+}
\ No newline at end of file
diff --git a/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_18-30/outputs_tactile/tactile_cache/dag911262r00035d_lerobot_0327_114548_eef5969c/episodes/ep000406/gripper_left_tactile_force_metrics.json b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_18-30/outputs_tactile/tactile_cache/dag911262r00035d_lerobot_0327_114548_eef5969c/episodes/ep000406/gripper_left_tactile_force_metrics.json
new file mode 100644
index 0000000000000000000000000000000000000000..d50b1ce4764eb44dd438de310cf3f68a28cc4693
--- /dev/null
+++ b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_18-30/outputs_tactile/tactile_cache/dag911262r00035d_lerobot_0327_114548_eef5969c/episodes/ep000406/gripper_left_tactile_force_metrics.json
@@ -0,0 +1,9 @@
+{
+  "depth_peak": 0.0006841114372946322,
+  "shear_peak": 0.0014084902359172702,
+  "force_magnitude_peak": 0.0015691707376390696,
+  "reference_frame_count": 0,
+  "dataset_name": "dag911262r00035d_lerobot_0327_114548",
+  "episode_index": 406,
+  "sensor": "gripper_left_tactile"
+}
\ No newline at end of file
diff --git a/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_18-30/outputs_tactile/tactile_cache/dag911262r00035d_lerobot_0327_114548_eef5969c/episodes/ep000410/gripper_right_tactile_force_metrics.json b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_18-30/outputs_tactile/tactile_cache/dag911262r00035d_lerobot_0327_114548_eef5969c/episodes/ep000410/gripper_right_tactile_force_metrics.json
new file mode 100644
index 0000000000000000000000000000000000000000..e8f4a2767605bbb5c87df3fa7373ce2cc32de0ec
--- /dev/null
+++ b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_18-30/outputs_tactile/tactile_cache/dag911262r00035d_lerobot_0327_114548_eef5969c/episodes/ep000410/gripper_right_tactile_force_metrics.json
@@ -0,0 +1,9 @@
+{
+  "depth_peak": 0.005217348225414753,
+  "shear_peak": 0.0017234508413821459,
+  "force_magnitude_peak": 0.0052442182786762714,
+  "reference_frame_count": 0,
+  "dataset_name": "dag911262r00035d_lerobot_0327_114548",
+  "episode_index": 410,
+  "sensor": "gripper_right_tactile"
+}
\ No newline at end of file
diff --git a/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_18-30/outputs_tactile/tactile_cache/dag911262r00035d_lerobot_0327_114548_eef5969c/episodes/ep000417/gripper_right_tactile_force_metrics.json b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_18-30/outputs_tactile/tactile_cache/dag911262r00035d_lerobot_0327_114548_eef5969c/episodes/ep000417/gripper_right_tactile_force_metrics.json
new file mode 100644
index 0000000000000000000000000000000000000000..b35b0aff25ba65d352f693b701d86fda0360b47c
--- /dev/null
+++ b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_18-30/outputs_tactile/tactile_cache/dag911262r00035d_lerobot_0327_114548_eef5969c/episodes/ep000417/gripper_right_tactile_force_metrics.json
@@ -0,0 +1,9 @@
+{
+  "depth_peak": 0.0017517519881948829,
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+  "force_magnitude_peak": 0.0050384472124278545,
+  "reference_frame_count": 0,
+  "dataset_name": "dag911262r00035d_lerobot_0327_114548",
+  "episode_index": 417,
+  "sensor": "gripper_right_tactile"
+}
\ No newline at end of file
diff --git a/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_18-30/outputs_tactile/tactile_cache/dag911262r00035d_lerobot_0327_114548_eef5969c/episodes/ep000420/gripper_right_tactile_force_metrics.json b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_18-30/outputs_tactile/tactile_cache/dag911262r00035d_lerobot_0327_114548_eef5969c/episodes/ep000420/gripper_right_tactile_force_metrics.json
new file mode 100644
index 0000000000000000000000000000000000000000..aef1d024b58c79ebd48c5c5bf6bb89b3d4efcbf8
--- /dev/null
+++ b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_18-30/outputs_tactile/tactile_cache/dag911262r00035d_lerobot_0327_114548_eef5969c/episodes/ep000420/gripper_right_tactile_force_metrics.json
@@ -0,0 +1,9 @@
+{
+  "depth_peak": 0.0029964768327772617,
+  "shear_peak": 0.0019234935753047466,
+  "force_magnitude_peak": 0.003419430460780859,
+  "reference_frame_count": 0,
+  "dataset_name": "dag911262r00035d_lerobot_0327_114548",
+  "episode_index": 420,
+  "sensor": "gripper_right_tactile"
+}
\ No newline at end of file
diff --git a/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_18-30/outputs_tactile/tactile_cache/dag911262r00035d_lerobot_0327_114548_eef5969c/episodes/ep000429/gripper_left_tactile_force_metrics.json b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_18-30/outputs_tactile/tactile_cache/dag911262r00035d_lerobot_0327_114548_eef5969c/episodes/ep000429/gripper_left_tactile_force_metrics.json
new file mode 100644
index 0000000000000000000000000000000000000000..aec4e9f391ad6a65f1a5fa1a101af203f3e8b807
--- /dev/null
+++ b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_18-30/outputs_tactile/tactile_cache/dag911262r00035d_lerobot_0327_114548_eef5969c/episodes/ep000429/gripper_left_tactile_force_metrics.json
@@ -0,0 +1,9 @@
+{
+  "depth_peak": 0.0005535425152629614,
+  "shear_peak": 0.0012414584634825587,
+  "force_magnitude_peak": 0.0013365393970161676,
+  "reference_frame_count": 0,
+  "dataset_name": "dag911262r00035d_lerobot_0327_114548",
+  "episode_index": 429,
+  "sensor": "gripper_left_tactile"
+}
\ No newline at end of file
diff --git a/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_18-30/outputs_tactile/tactile_cache/dag911262r00035d_lerobot_0327_114548_eef5969c/episodes/ep000443/gripper_left_tactile_force_metrics.json b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_18-30/outputs_tactile/tactile_cache/dag911262r00035d_lerobot_0327_114548_eef5969c/episodes/ep000443/gripper_left_tactile_force_metrics.json
new file mode 100644
index 0000000000000000000000000000000000000000..07147981e3a9bba416f2293ad6bcb9f7bd7b0945
--- /dev/null
+++ b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_18-30/outputs_tactile/tactile_cache/dag911262r00035d_lerobot_0327_114548_eef5969c/episodes/ep000443/gripper_left_tactile_force_metrics.json
@@ -0,0 +1,9 @@
+{
+  "depth_peak": 0.00016654119826853275,
+  "shear_peak": 0.001976719591766596,
+  "force_magnitude_peak": 0.0023088327143341303,
+  "reference_frame_count": 0,
+  "dataset_name": "dag911262r00035d_lerobot_0327_114548",
+  "episode_index": 443,
+  "sensor": "gripper_left_tactile"
+}
\ No newline at end of file
diff --git a/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_18-30/outputs_tactile/tactile_cache/dag911262r00035d_lerobot_0327_114548_eef5969c/episodes/ep000446/gripper_left_tactile_force_metrics.json b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_18-30/outputs_tactile/tactile_cache/dag911262r00035d_lerobot_0327_114548_eef5969c/episodes/ep000446/gripper_left_tactile_force_metrics.json
new file mode 100644
index 0000000000000000000000000000000000000000..2a6daffc6e671c843cfe07481e60d6c57895c31a
--- /dev/null
+++ b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_18-30/outputs_tactile/tactile_cache/dag911262r00035d_lerobot_0327_114548_eef5969c/episodes/ep000446/gripper_left_tactile_force_metrics.json
@@ -0,0 +1,9 @@
+{
+  "depth_peak": 0.0016060768393799663,
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+  "force_magnitude_peak": 0.0024052716325968504,
+  "reference_frame_count": 0,
+  "dataset_name": "dag911262r00035d_lerobot_0327_114548",
+  "episode_index": 446,
+  "sensor": "gripper_left_tactile"
+}
\ No newline at end of file
diff --git a/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_18-30/outputs_tactile/tactile_cache/dag911262r00035d_lerobot_0327_114548_eef5969c/episodes/ep000450/gripper_right_tactile_force_metrics.json b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_18-30/outputs_tactile/tactile_cache/dag911262r00035d_lerobot_0327_114548_eef5969c/episodes/ep000450/gripper_right_tactile_force_metrics.json
new file mode 100644
index 0000000000000000000000000000000000000000..6ff3f0f2a182b076e0e3ca31de36f0597bfcf751
--- /dev/null
+++ b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_18-30/outputs_tactile/tactile_cache/dag911262r00035d_lerobot_0327_114548_eef5969c/episodes/ep000450/gripper_right_tactile_force_metrics.json
@@ -0,0 +1,9 @@
+{
+  "depth_peak": 0.001718993065878749,
+  "shear_peak": 0.0020371489226818085,
+  "force_magnitude_peak": 0.0025148028507828712,
+  "reference_frame_count": 0,
+  "dataset_name": "dag911262r00035d_lerobot_0327_114548",
+  "episode_index": 450,
+  "sensor": "gripper_right_tactile"
+}
\ No newline at end of file
diff --git a/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_18-30/outputs_tactile/tactile_cache/dag911262r00035d_lerobot_0327_114548_eef5969c/episodes/ep000469/gripper_left_tactile_force_metrics.json b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_18-30/outputs_tactile/tactile_cache/dag911262r00035d_lerobot_0327_114548_eef5969c/episodes/ep000469/gripper_left_tactile_force_metrics.json
new file mode 100644
index 0000000000000000000000000000000000000000..c793d30061e86cdf4419440e837f57bfc0c9d672
--- /dev/null
+++ b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_18-30/outputs_tactile/tactile_cache/dag911262r00035d_lerobot_0327_114548_eef5969c/episodes/ep000469/gripper_left_tactile_force_metrics.json
@@ -0,0 +1,9 @@
+{
+  "depth_peak": 0.0013311858056113124,
+  "shear_peak": 0.0016939641209319234,
+  "force_magnitude_peak": 0.0017534771468490362,
+  "reference_frame_count": 0,
+  "dataset_name": "dag911262r00035d_lerobot_0327_114548",
+  "episode_index": 469,
+  "sensor": "gripper_left_tactile"
+}
\ No newline at end of file
diff --git a/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_18-30/outputs_tactile/tactile_cache/dag911262r00035d_lerobot_0327_114548_eef5969c/episodes/ep000523/gripper_left_tactile_force_metrics.json b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_18-30/outputs_tactile/tactile_cache/dag911262r00035d_lerobot_0327_114548_eef5969c/episodes/ep000523/gripper_left_tactile_force_metrics.json
new file mode 100644
index 0000000000000000000000000000000000000000..5a7f875eb8b797857c5e905a45d93850c6151451
--- /dev/null
+++ b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_18-30/outputs_tactile/tactile_cache/dag911262r00035d_lerobot_0327_114548_eef5969c/episodes/ep000523/gripper_left_tactile_force_metrics.json
@@ -0,0 +1,9 @@
+{
+  "depth_peak": 0.0015137589070945978,
+  "shear_peak": 0.0010410597315058112,
+  "force_magnitude_peak": 0.0015138259623199701,
+  "reference_frame_count": 0,
+  "dataset_name": "dag911262r00035d_lerobot_0327_114548",
+  "episode_index": 523,
+  "sensor": "gripper_left_tactile"
+}
\ No newline at end of file
diff --git a/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_18-30/outputs_tactile/tactile_cache/dag911262r00035d_lerobot_0327_114548_eef5969c/episodes/ep000568/gripper_left_tactile_force_metrics.json b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_18-30/outputs_tactile/tactile_cache/dag911262r00035d_lerobot_0327_114548_eef5969c/episodes/ep000568/gripper_left_tactile_force_metrics.json
new file mode 100644
index 0000000000000000000000000000000000000000..1c3a082f50fba6385c78a7a4d453e6b5ef9af41c
--- /dev/null
+++ b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_18-30/outputs_tactile/tactile_cache/dag911262r00035d_lerobot_0327_114548_eef5969c/episodes/ep000568/gripper_left_tactile_force_metrics.json
@@ -0,0 +1,9 @@
+{
+  "depth_peak": 0.00045005290303379297,
+  "shear_peak": 0.001437009428627789,
+  "force_magnitude_peak": 0.0017290989635512233,
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+  "dataset_name": "dag911262r00035d_lerobot_0327_114548",
+  "episode_index": 568,
+  "sensor": "gripper_left_tactile"
+}
\ No newline at end of file
diff --git a/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_18-30/outputs_tactile/tactile_cache/dag911262r00035d_lerobot_0327_114548_eef5969c/episodes/ep000577/gripper_right_tactile_force_metrics.json b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_18-30/outputs_tactile/tactile_cache/dag911262r00035d_lerobot_0327_114548_eef5969c/episodes/ep000577/gripper_right_tactile_force_metrics.json
new file mode 100644
index 0000000000000000000000000000000000000000..add22cd3b62b21f163c0ed565c15ea08e5baa026
--- /dev/null
+++ b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_18-30/outputs_tactile/tactile_cache/dag911262r00035d_lerobot_0327_114548_eef5969c/episodes/ep000577/gripper_right_tactile_force_metrics.json
@@ -0,0 +1,9 @@
+{
+  "depth_peak": 0.002100431127473712,
+  "shear_peak": 0.0010205699363723397,
+  "force_magnitude_peak": 0.0021345107816159725,
+  "reference_frame_count": 0,
+  "dataset_name": "dag911262r00035d_lerobot_0327_114548",
+  "episode_index": 577,
+  "sensor": "gripper_right_tactile"
+}
\ No newline at end of file
diff --git a/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_18-30/outputs_tactile/tactile_cache/dag911262r00035d_lerobot_0327_114548_eef5969c/episodes/ep000626/gripper_right_tactile_force_metrics.json b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_18-30/outputs_tactile/tactile_cache/dag911262r00035d_lerobot_0327_114548_eef5969c/episodes/ep000626/gripper_right_tactile_force_metrics.json
new file mode 100644
index 0000000000000000000000000000000000000000..fae9b8f4f4a4eff868a2a67c48750485eacd4048
--- /dev/null
+++ b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_18-30/outputs_tactile/tactile_cache/dag911262r00035d_lerobot_0327_114548_eef5969c/episodes/ep000626/gripper_right_tactile_force_metrics.json
@@ -0,0 +1,9 @@
+{
+  "depth_peak": 0.003353285137563944,
+  "shear_peak": 0.0021194920409470797,
+  "force_magnitude_peak": 0.0036007293965667486,
+  "reference_frame_count": 0,
+  "dataset_name": "dag911262r00035d_lerobot_0327_114548",
+  "episode_index": 626,
+  "sensor": "gripper_right_tactile"
+}
\ No newline at end of file
diff --git a/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_18-30/outputs_tactile/tactile_cache/dag911262r00035d_lerobot_0327_114548_eef5969c/episodes/ep000726/gripper_left_tactile_force_metrics.json b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_18-30/outputs_tactile/tactile_cache/dag911262r00035d_lerobot_0327_114548_eef5969c/episodes/ep000726/gripper_left_tactile_force_metrics.json
new file mode 100644
index 0000000000000000000000000000000000000000..381d317821ae132559b7746204433c1a535cbd82
--- /dev/null
+++ b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_18-30/outputs_tactile/tactile_cache/dag911262r00035d_lerobot_0327_114548_eef5969c/episodes/ep000726/gripper_left_tactile_force_metrics.json
@@ -0,0 +1,9 @@
+{
+  "depth_peak": 0.0038044534157961607,
+  "shear_peak": 0.0024369200691580772,
+  "force_magnitude_peak": 0.0038224023301154375,
+  "reference_frame_count": 0,
+  "dataset_name": "dag911262r00035d_lerobot_0327_114548",
+  "episode_index": 726,
+  "sensor": "gripper_left_tactile"
+}
\ No newline at end of file
diff --git a/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_18-30/outputs_tactile/tactile_cache/dag911262r000448_lerobot_0327_114548_8921b312/episodes/ep000130/gripper_right_tactile_force_metrics.json b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_18-30/outputs_tactile/tactile_cache/dag911262r000448_lerobot_0327_114548_8921b312/episodes/ep000130/gripper_right_tactile_force_metrics.json
new file mode 100644
index 0000000000000000000000000000000000000000..eed928d1f0968e36294d4adbc2c2217d1538d47a
--- /dev/null
+++ b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_18-30/outputs_tactile/tactile_cache/dag911262r000448_lerobot_0327_114548_8921b312/episodes/ep000130/gripper_right_tactile_force_metrics.json
@@ -0,0 +1,9 @@
+{
+  "depth_peak": 0.0010229977779090405,
+  "shear_peak": 0.0012402761494740844,
+  "force_magnitude_peak": 0.002260424429550767,
+  "reference_frame_count": 0,
+  "dataset_name": "dag911262r000448_lerobot_0327_114548",
+  "episode_index": 130,
+  "sensor": "gripper_right_tactile"
+}
\ No newline at end of file
diff --git a/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_18-30/outputs_tactile/tactile_cache/dag911262r000448_lerobot_0327_114548_8921b312/episodes/ep000131/gripper_right_tactile_force_metrics.json b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_18-30/outputs_tactile/tactile_cache/dag911262r000448_lerobot_0327_114548_8921b312/episodes/ep000131/gripper_right_tactile_force_metrics.json
new file mode 100644
index 0000000000000000000000000000000000000000..dd03bc6da461e72146ea09f8f86a67f654334ec8
--- /dev/null
+++ b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_18-30/outputs_tactile/tactile_cache/dag911262r000448_lerobot_0327_114548_8921b312/episodes/ep000131/gripper_right_tactile_force_metrics.json
@@ -0,0 +1,9 @@
+{
+  "depth_peak": 0.0014478217344731092,
+  "shear_peak": 0.0016778609715402126,
+  "force_magnitude_peak": 0.002890991047024727,
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+  "dataset_name": "dag911262r000448_lerobot_0327_114548",
+  "episode_index": 131,
+  "sensor": "gripper_right_tactile"
+}
\ No newline at end of file
diff --git a/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_18-30/outputs_tactile/tactile_cache/dag911262r000448_lerobot_0327_114548_8921b312/episodes/ep000170/gripper_right_tactile_force_metrics.json b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_18-30/outputs_tactile/tactile_cache/dag911262r000448_lerobot_0327_114548_8921b312/episodes/ep000170/gripper_right_tactile_force_metrics.json
new file mode 100644
index 0000000000000000000000000000000000000000..919cb37c1280256061f0bd02ff5ba4067f73c5bf
--- /dev/null
+++ b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_18-30/outputs_tactile/tactile_cache/dag911262r000448_lerobot_0327_114548_8921b312/episodes/ep000170/gripper_right_tactile_force_metrics.json
@@ -0,0 +1,9 @@
+{
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+  "shear_peak": 0.0028438346926122904,
+  "force_magnitude_peak": 0.0031938261818140745,
+  "reference_frame_count": 0,
+  "dataset_name": "dag911262r000448_lerobot_0327_114548",
+  "episode_index": 170,
+  "sensor": "gripper_right_tactile"
+}
\ No newline at end of file
diff --git a/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_18-30/outputs_tactile/tactile_cache/dag911262r000448_lerobot_0327_114548_8921b312/episodes/ep000211/gripper_right_tactile_force_metrics.json b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_18-30/outputs_tactile/tactile_cache/dag911262r000448_lerobot_0327_114548_8921b312/episodes/ep000211/gripper_right_tactile_force_metrics.json
new file mode 100644
index 0000000000000000000000000000000000000000..08250387f34abdca43f2a295cc18b59c8d0945aa
--- /dev/null
+++ b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_18-30/outputs_tactile/tactile_cache/dag911262r000448_lerobot_0327_114548_8921b312/episodes/ep000211/gripper_right_tactile_force_metrics.json
@@ -0,0 +1,9 @@
+{
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+  "dataset_name": "dag911262r000448_lerobot_0327_114548",
+  "episode_index": 211,
+  "sensor": "gripper_right_tactile"
+}
\ No newline at end of file
diff --git a/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_18-30/outputs_tactile/tactile_cache/dag911262r000448_lerobot_0327_114548_8921b312/episodes/ep000244/gripper_right_tactile_force_metrics.json b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_18-30/outputs_tactile/tactile_cache/dag911262r000448_lerobot_0327_114548_8921b312/episodes/ep000244/gripper_right_tactile_force_metrics.json
new file mode 100644
index 0000000000000000000000000000000000000000..56b3cb4407e6cdbb80250d927193ee222828118d
--- /dev/null
+++ b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_18-30/outputs_tactile/tactile_cache/dag911262r000448_lerobot_0327_114548_8921b312/episodes/ep000244/gripper_right_tactile_force_metrics.json
@@ -0,0 +1,9 @@
+{
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+  "dataset_name": "dag911262r000448_lerobot_0327_114548",
+  "episode_index": 244,
+  "sensor": "gripper_right_tactile"
+}
\ No newline at end of file
diff --git a/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_18-30/outputs_tactile/tactile_cache/dag911262r000448_lerobot_0327_114548_8921b312/episodes/ep000284/gripper_right_tactile_force_metrics.json b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_18-30/outputs_tactile/tactile_cache/dag911262r000448_lerobot_0327_114548_8921b312/episodes/ep000284/gripper_right_tactile_force_metrics.json
new file mode 100644
index 0000000000000000000000000000000000000000..480ea82754f60a1bd0e06be2dab4a9dfd412b63b
--- /dev/null
+++ b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_18-30/outputs_tactile/tactile_cache/dag911262r000448_lerobot_0327_114548_8921b312/episodes/ep000284/gripper_right_tactile_force_metrics.json
@@ -0,0 +1,9 @@
+{
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+  "dataset_name": "dag911262r000448_lerobot_0327_114548",
+  "episode_index": 284,
+  "sensor": "gripper_right_tactile"
+}
\ No newline at end of file
diff --git a/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_18-30/outputs_tactile/tactile_cache/dag911262r00054f_lerobot_0327_114548_987d65d4/episodes/ep000154/gripper_right_tactile_force_metrics.json b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_18-30/outputs_tactile/tactile_cache/dag911262r00054f_lerobot_0327_114548_987d65d4/episodes/ep000154/gripper_right_tactile_force_metrics.json
new file mode 100644
index 0000000000000000000000000000000000000000..af3c4e927c46ce627acac00079676282abe85fee
--- /dev/null
+++ b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_18-30/outputs_tactile/tactile_cache/dag911262r00054f_lerobot_0327_114548_987d65d4/episodes/ep000154/gripper_right_tactile_force_metrics.json
@@ -0,0 +1,9 @@
+{
+  "depth_peak": 0.0015091055538505316,
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+  "dataset_name": "dag911262r00054f_lerobot_0327_114548",
+  "episode_index": 154,
+  "sensor": "gripper_right_tactile"
+}
\ No newline at end of file
diff --git a/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_18-30/outputs_tactile/tactile_cache/dag911262r00054f_lerobot_0327_114548_987d65d4/episodes/ep000168/gripper_left_tactile_force_metrics.json b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_18-30/outputs_tactile/tactile_cache/dag911262r00054f_lerobot_0327_114548_987d65d4/episodes/ep000168/gripper_left_tactile_force_metrics.json
new file mode 100644
index 0000000000000000000000000000000000000000..18f8e26b0a08e47f790d552b2e40f5f3d1d135b1
--- /dev/null
+++ b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_18-30/outputs_tactile/tactile_cache/dag911262r00054f_lerobot_0327_114548_987d65d4/episodes/ep000168/gripper_left_tactile_force_metrics.json
@@ -0,0 +1,9 @@
+{
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+  "dataset_name": "dag911262r00054f_lerobot_0327_114548",
+  "episode_index": 168,
+  "sensor": "gripper_left_tactile"
+}
\ No newline at end of file
diff --git a/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_18-30/outputs_tactile/tactile_cache/dag911262r00054f_lerobot_0327_114548_987d65d4/episodes/ep000239/gripper_right_tactile_force_metrics.json b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_18-30/outputs_tactile/tactile_cache/dag911262r00054f_lerobot_0327_114548_987d65d4/episodes/ep000239/gripper_right_tactile_force_metrics.json
new file mode 100644
index 0000000000000000000000000000000000000000..d8683a0ec07b89d4bbc8791d36b58f021e800316
--- /dev/null
+++ b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_18-30/outputs_tactile/tactile_cache/dag911262r00054f_lerobot_0327_114548_987d65d4/episodes/ep000239/gripper_right_tactile_force_metrics.json
@@ -0,0 +1,9 @@
+{
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+  "dataset_name": "dag911262r00054f_lerobot_0327_114548",
+  "episode_index": 239,
+  "sensor": "gripper_right_tactile"
+}
\ No newline at end of file
diff --git a/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_18-30/outputs_tactile/tactile_cache/dag911262r00054f_lerobot_0327_114548_987d65d4/episodes/ep000253/gripper_right_tactile_force_metrics.json b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_18-30/outputs_tactile/tactile_cache/dag911262r00054f_lerobot_0327_114548_987d65d4/episodes/ep000253/gripper_right_tactile_force_metrics.json
new file mode 100644
index 0000000000000000000000000000000000000000..4de8f85ad2c8ccafed3a5cf04846d15242fcbcab
--- /dev/null
+++ b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_18-30/outputs_tactile/tactile_cache/dag911262r00054f_lerobot_0327_114548_987d65d4/episodes/ep000253/gripper_right_tactile_force_metrics.json
@@ -0,0 +1,9 @@
+{
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+  "dataset_name": "dag911262r00054f_lerobot_0327_114548",
+  "episode_index": 253,
+  "sensor": "gripper_right_tactile"
+}
\ No newline at end of file
diff --git a/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_18-30/outputs_tactile/tactile_cache/dag911262r000646_lerobot_0327_114548_f27f7061/episodes/ep000074/gripper_right_tactile_force_metrics.json b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_18-30/outputs_tactile/tactile_cache/dag911262r000646_lerobot_0327_114548_f27f7061/episodes/ep000074/gripper_right_tactile_force_metrics.json
new file mode 100644
index 0000000000000000000000000000000000000000..b9807afb5a366515de9316e86cf8e901d6f9edfb
--- /dev/null
+++ b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_18-30/outputs_tactile/tactile_cache/dag911262r000646_lerobot_0327_114548_f27f7061/episodes/ep000074/gripper_right_tactile_force_metrics.json
@@ -0,0 +1,9 @@
+{
+  "depth_peak": 0.0010735371615737677,
+  "shear_peak": 0.0012197853066027164,
+  "force_magnitude_peak": 0.0013355646515265107,
+  "reference_frame_count": 0,
+  "dataset_name": "dag911262r000646_lerobot_0327_114548",
+  "episode_index": 74,
+  "sensor": "gripper_right_tactile"
+}
\ No newline at end of file
diff --git a/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_18-30/outputs_tactile/tactile_cache/dag911262r000646_lerobot_0327_114548_f27f7061/episodes/ep000266/gripper_right_tactile_force_metrics.json b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_18-30/outputs_tactile/tactile_cache/dag911262r000646_lerobot_0327_114548_f27f7061/episodes/ep000266/gripper_right_tactile_force_metrics.json
new file mode 100644
index 0000000000000000000000000000000000000000..a95a0443362c058dd50677cce59bc75c761ea3d7
--- /dev/null
+++ b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_18-30/outputs_tactile/tactile_cache/dag911262r000646_lerobot_0327_114548_f27f7061/episodes/ep000266/gripper_right_tactile_force_metrics.json
@@ -0,0 +1,9 @@
+{
+  "depth_peak": 0.0007570348680019379,
+  "shear_peak": 0.0033498138654977083,
+  "force_magnitude_peak": 0.003574136644601822,
+  "reference_frame_count": 0,
+  "dataset_name": "dag911262r000646_lerobot_0327_114548",
+  "episode_index": 266,
+  "sensor": "gripper_right_tactile"
+}
\ No newline at end of file
diff --git a/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_18-30/outputs_tactile/tactile_cache/dag911262r000646_lerobot_0327_114548_f27f7061/episodes/ep000274/gripper_right_tactile_force_metrics.json b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_18-30/outputs_tactile/tactile_cache/dag911262r000646_lerobot_0327_114548_f27f7061/episodes/ep000274/gripper_right_tactile_force_metrics.json
new file mode 100644
index 0000000000000000000000000000000000000000..4656ca51dadeea66c7d1e2447d1316c83313170e
--- /dev/null
+++ b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_18-30/outputs_tactile/tactile_cache/dag911262r000646_lerobot_0327_114548_f27f7061/episodes/ep000274/gripper_right_tactile_force_metrics.json
@@ -0,0 +1,9 @@
+{
+  "depth_peak": 0.0021607631351798773,
+  "shear_peak": 0.002722492441534996,
+  "force_magnitude_peak": 0.0032141474075615406,
+  "reference_frame_count": 0,
+  "dataset_name": "dag911262r000646_lerobot_0327_114548",
+  "episode_index": 274,
+  "sensor": "gripper_right_tactile"
+}
\ No newline at end of file
diff --git a/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_18-30/outputs_tactile/tactile_cache/dag911262r000646_lerobot_0327_114548_f27f7061/episodes/ep000306/gripper_right_tactile_force_metrics.json b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_18-30/outputs_tactile/tactile_cache/dag911262r000646_lerobot_0327_114548_f27f7061/episodes/ep000306/gripper_right_tactile_force_metrics.json
new file mode 100644
index 0000000000000000000000000000000000000000..b5f341bf80b59fab3227023b2b973dd568e70f1d
--- /dev/null
+++ b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_18-30/outputs_tactile/tactile_cache/dag911262r000646_lerobot_0327_114548_f27f7061/episodes/ep000306/gripper_right_tactile_force_metrics.json
@@ -0,0 +1,9 @@
+{
+  "depth_peak": 0.00043513093260116875,
+  "shear_peak": 0.003811613889411092,
+  "force_magnitude_peak": 0.004260871093720198,
+  "reference_frame_count": 0,
+  "dataset_name": "dag911262r000646_lerobot_0327_114548",
+  "episode_index": 306,
+  "sensor": "gripper_right_tactile"
+}
\ No newline at end of file
diff --git a/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_18-30/outputs_tactile/tactile_cache/dag911262r000646_lerobot_0327_114548_f27f7061/episodes/ep000322/gripper_right_tactile_force_metrics.json b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_18-30/outputs_tactile/tactile_cache/dag911262r000646_lerobot_0327_114548_f27f7061/episodes/ep000322/gripper_right_tactile_force_metrics.json
new file mode 100644
index 0000000000000000000000000000000000000000..31d38c92dcd99dc583cc1038472575e1f7cc4874
--- /dev/null
+++ b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_18-30/outputs_tactile/tactile_cache/dag911262r000646_lerobot_0327_114548_f27f7061/episodes/ep000322/gripper_right_tactile_force_metrics.json
@@ -0,0 +1,9 @@
+{
+  "depth_peak": 0.004260149784386158,
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+  "force_magnitude_peak": 0.0042611598037183285,
+  "reference_frame_count": 0,
+  "dataset_name": "dag911262r000646_lerobot_0327_114548",
+  "episode_index": 322,
+  "sensor": "gripper_right_tactile"
+}
\ No newline at end of file
diff --git a/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_18-30/outputs_tactile/tactile_cache/dag911262r000646_lerobot_0327_114548_f27f7061/episodes/ep000346/gripper_right_tactile_force_metrics.json b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_18-30/outputs_tactile/tactile_cache/dag911262r000646_lerobot_0327_114548_f27f7061/episodes/ep000346/gripper_right_tactile_force_metrics.json
new file mode 100644
index 0000000000000000000000000000000000000000..4d1917a5cebe833346e70cd68abfb4fb47e10adf
--- /dev/null
+++ b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_18-30/outputs_tactile/tactile_cache/dag911262r000646_lerobot_0327_114548_f27f7061/episodes/ep000346/gripper_right_tactile_force_metrics.json
@@ -0,0 +1,9 @@
+{
+  "depth_peak": 0.0019567713607102633,
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+  "force_magnitude_peak": 0.002194449072703719,
+  "reference_frame_count": 0,
+  "dataset_name": "dag911262r000646_lerobot_0327_114548",
+  "episode_index": 346,
+  "sensor": "gripper_right_tactile"
+}
\ No newline at end of file
diff --git a/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_18-30/outputs_tactile/tactile_cache/dag911262r000646_lerobot_0327_114548_f27f7061/episodes/ep000362/gripper_right_tactile_force_metrics.json b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_18-30/outputs_tactile/tactile_cache/dag911262r000646_lerobot_0327_114548_f27f7061/episodes/ep000362/gripper_right_tactile_force_metrics.json
new file mode 100644
index 0000000000000000000000000000000000000000..833ab2e025d3f825f849dd3230679c15a01c5ed0
--- /dev/null
+++ b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_18-30/outputs_tactile/tactile_cache/dag911262r000646_lerobot_0327_114548_f27f7061/episodes/ep000362/gripper_right_tactile_force_metrics.json
@@ -0,0 +1,9 @@
+{
+  "depth_peak": 0.0025871118996292353,
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+  "force_magnitude_peak": 0.003589632688090205,
+  "reference_frame_count": 0,
+  "dataset_name": "dag911262r000646_lerobot_0327_114548",
+  "episode_index": 362,
+  "sensor": "gripper_right_tactile"
+}
\ No newline at end of file
diff --git a/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_18-30/outputs_tactile/tactile_cache/dag911262r000646_lerobot_0327_114548_f27f7061/episodes/ep000369/gripper_right_tactile_force_metrics.json b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_18-30/outputs_tactile/tactile_cache/dag911262r000646_lerobot_0327_114548_f27f7061/episodes/ep000369/gripper_right_tactile_force_metrics.json
new file mode 100644
index 0000000000000000000000000000000000000000..b5767351534de2ab99ad8e56f3ac87ceb14f5d52
--- /dev/null
+++ b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_18-30/outputs_tactile/tactile_cache/dag911262r000646_lerobot_0327_114548_f27f7061/episodes/ep000369/gripper_right_tactile_force_metrics.json
@@ -0,0 +1,9 @@
+{
+  "depth_peak": 0.0015855950769037008,
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+  "force_magnitude_peak": 0.002874404191970825,
+  "reference_frame_count": 0,
+  "dataset_name": "dag911262r000646_lerobot_0327_114548",
+  "episode_index": 369,
+  "sensor": "gripper_right_tactile"
+}
\ No newline at end of file
diff --git a/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_18-30/outputs_tactile/tactile_cache/dag911262r000646_lerobot_0327_114548_f27f7061/episodes/ep000395/gripper_left_tactile_force_metrics.json b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_18-30/outputs_tactile/tactile_cache/dag911262r000646_lerobot_0327_114548_f27f7061/episodes/ep000395/gripper_left_tactile_force_metrics.json
new file mode 100644
index 0000000000000000000000000000000000000000..9367122fa3c008033f6e10d4e913bda310b44268
--- /dev/null
+++ b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_18-30/outputs_tactile/tactile_cache/dag911262r000646_lerobot_0327_114548_f27f7061/episodes/ep000395/gripper_left_tactile_force_metrics.json
@@ -0,0 +1,9 @@
+{
+  "depth_peak": 0.0018576874863356352,
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+  "force_magnitude_peak": 0.0024772295728325844,
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+  "dataset_name": "dag911262r000646_lerobot_0327_114548",
+  "episode_index": 395,
+  "sensor": "gripper_left_tactile"
+}
\ No newline at end of file
diff --git a/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_18-30/outputs_tactile/tactile_cache/dag911262r000646_lerobot_0327_114548_f27f7061/episodes/ep000426/gripper_right_tactile_force_metrics.json b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_18-30/outputs_tactile/tactile_cache/dag911262r000646_lerobot_0327_114548_f27f7061/episodes/ep000426/gripper_right_tactile_force_metrics.json
new file mode 100644
index 0000000000000000000000000000000000000000..d3038374142750546e6fa7ea9d154b7733e3d220
--- /dev/null
+++ b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_18-30/outputs_tactile/tactile_cache/dag911262r000646_lerobot_0327_114548_f27f7061/episodes/ep000426/gripper_right_tactile_force_metrics.json
@@ -0,0 +1,9 @@
+{
+  "depth_peak": 0.00019453035201877356,
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+  "force_magnitude_peak": 0.002885722555220127,
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+  "dataset_name": "dag911262r000646_lerobot_0327_114548",
+  "episode_index": 426,
+  "sensor": "gripper_right_tactile"
+}
\ No newline at end of file
diff --git a/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_18-30/outputs_tactile/tactile_cache/dag911262r000646_lerobot_0327_114548_f27f7061/episodes/ep000434/gripper_right_tactile_force_metrics.json b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_18-30/outputs_tactile/tactile_cache/dag911262r000646_lerobot_0327_114548_f27f7061/episodes/ep000434/gripper_right_tactile_force_metrics.json
new file mode 100644
index 0000000000000000000000000000000000000000..7b4c2f4b54846dc614cc0785b5d42f8bbfd3fe5e
--- /dev/null
+++ b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_18-30/outputs_tactile/tactile_cache/dag911262r000646_lerobot_0327_114548_f27f7061/episodes/ep000434/gripper_right_tactile_force_metrics.json
@@ -0,0 +1,9 @@
+{
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+  "force_magnitude_peak": 0.004214384127408266,
+  "reference_frame_count": 0,
+  "dataset_name": "dag911262r000646_lerobot_0327_114548",
+  "episode_index": 434,
+  "sensor": "gripper_right_tactile"
+}
\ No newline at end of file
diff --git a/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_18-30/outputs_tactile/tactile_cache/dag911262r000646_lerobot_0327_114548_f27f7061/episodes/ep000440/gripper_right_tactile_force_metrics.json b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_18-30/outputs_tactile/tactile_cache/dag911262r000646_lerobot_0327_114548_f27f7061/episodes/ep000440/gripper_right_tactile_force_metrics.json
new file mode 100644
index 0000000000000000000000000000000000000000..2f180e4827c23ed78871817246498cfc1af0f56c
--- /dev/null
+++ b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_18-30/outputs_tactile/tactile_cache/dag911262r000646_lerobot_0327_114548_f27f7061/episodes/ep000440/gripper_right_tactile_force_metrics.json
@@ -0,0 +1,9 @@
+{
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+  "dataset_name": "dag911262r000646_lerobot_0327_114548",
+  "episode_index": 440,
+  "sensor": "gripper_right_tactile"
+}
\ No newline at end of file
diff --git a/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_18-30/outputs_tactile/tactile_cache/dag911262r000646_lerobot_0327_114548_f27f7061/episodes/ep000475/gripper_left_tactile_force_metrics.json b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_18-30/outputs_tactile/tactile_cache/dag911262r000646_lerobot_0327_114548_f27f7061/episodes/ep000475/gripper_left_tactile_force_metrics.json
new file mode 100644
index 0000000000000000000000000000000000000000..9a64f55b28eb179f4577b760259e1bf1d7b25c80
--- /dev/null
+++ b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_18-30/outputs_tactile/tactile_cache/dag911262r000646_lerobot_0327_114548_f27f7061/episodes/ep000475/gripper_left_tactile_force_metrics.json
@@ -0,0 +1,9 @@
+{
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+  "force_magnitude_peak": 0.0019562970846891403,
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+  "dataset_name": "dag911262r000646_lerobot_0327_114548",
+  "episode_index": 475,
+  "sensor": "gripper_left_tactile"
+}
\ No newline at end of file
diff --git a/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_18-30/outputs_tactile/tactile_cache/dag911262r000646_lerobot_0327_114548_f27f7061/episodes/ep000486/gripper_left_tactile_force_metrics.json b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_18-30/outputs_tactile/tactile_cache/dag911262r000646_lerobot_0327_114548_f27f7061/episodes/ep000486/gripper_left_tactile_force_metrics.json
new file mode 100644
index 0000000000000000000000000000000000000000..7cdf436352b393ea72859e4fac63b24f76a91b99
--- /dev/null
+++ b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_18-30/outputs_tactile/tactile_cache/dag911262r000646_lerobot_0327_114548_f27f7061/episodes/ep000486/gripper_left_tactile_force_metrics.json
@@ -0,0 +1,9 @@
+{
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+  "force_magnitude_peak": 0.0013900999911129475,
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+  "dataset_name": "dag911262r000646_lerobot_0327_114548",
+  "episode_index": 486,
+  "sensor": "gripper_left_tactile"
+}
\ No newline at end of file
diff --git a/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_18-30/outputs_tactile/tactile_cache/dag911262r000646_lerobot_0327_114548_f27f7061/episodes/ep000489/gripper_right_tactile_force_metrics.json b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_18-30/outputs_tactile/tactile_cache/dag911262r000646_lerobot_0327_114548_f27f7061/episodes/ep000489/gripper_right_tactile_force_metrics.json
new file mode 100644
index 0000000000000000000000000000000000000000..9a9387b677ac799cd0172d9da674a3d7d57a2bfa
--- /dev/null
+++ b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_18-30/outputs_tactile/tactile_cache/dag911262r000646_lerobot_0327_114548_f27f7061/episodes/ep000489/gripper_right_tactile_force_metrics.json
@@ -0,0 +1,9 @@
+{
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+  "dataset_name": "dag911262r000646_lerobot_0327_114548",
+  "episode_index": 489,
+  "sensor": "gripper_right_tactile"
+}
\ No newline at end of file
diff --git a/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_18-30/outputs_tactile/tactile_cache/dag911262r000646_lerobot_0327_114548_f27f7061/episodes/ep000497/gripper_left_tactile_force_metrics.json b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_18-30/outputs_tactile/tactile_cache/dag911262r000646_lerobot_0327_114548_f27f7061/episodes/ep000497/gripper_left_tactile_force_metrics.json
new file mode 100644
index 0000000000000000000000000000000000000000..c3e7f2866e1024c95a721524a72bcac39e860c5b
--- /dev/null
+++ b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_18-30/outputs_tactile/tactile_cache/dag911262r000646_lerobot_0327_114548_f27f7061/episodes/ep000497/gripper_left_tactile_force_metrics.json
@@ -0,0 +1,9 @@
+{
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+  "dataset_name": "dag911262r000646_lerobot_0327_114548",
+  "episode_index": 497,
+  "sensor": "gripper_left_tactile"
+}
\ No newline at end of file
diff --git a/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_18-30/outputs_tactile/tactile_cache/dag911262r000646_lerobot_0327_114548_f27f7061/episodes/ep000520/gripper_right_tactile_force_metrics.json b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_18-30/outputs_tactile/tactile_cache/dag911262r000646_lerobot_0327_114548_f27f7061/episodes/ep000520/gripper_right_tactile_force_metrics.json
new file mode 100644
index 0000000000000000000000000000000000000000..4fa8dd9ff0c275fd7671912a83ab539163fc50e7
--- /dev/null
+++ b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_18-30/outputs_tactile/tactile_cache/dag911262r000646_lerobot_0327_114548_f27f7061/episodes/ep000520/gripper_right_tactile_force_metrics.json
@@ -0,0 +1,9 @@
+{
+  "depth_peak": 0.0068101477809250355,
+  "shear_peak": 0.003486619796603918,
+  "force_magnitude_peak": 0.0069037857465445995,
+  "reference_frame_count": 0,
+  "dataset_name": "dag911262r000646_lerobot_0327_114548",
+  "episode_index": 520,
+  "sensor": "gripper_right_tactile"
+}
\ No newline at end of file
diff --git a/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_18-30/outputs_tactile/tactile_cache/dag911262r000646_lerobot_0327_114548_f27f7061/episodes/ep000537/gripper_left_tactile_force_metrics.json b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_18-30/outputs_tactile/tactile_cache/dag911262r000646_lerobot_0327_114548_f27f7061/episodes/ep000537/gripper_left_tactile_force_metrics.json
new file mode 100644
index 0000000000000000000000000000000000000000..8a2bca278adcf6b1c93d4596b626799d91736cae
--- /dev/null
+++ b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_18-30/outputs_tactile/tactile_cache/dag911262r000646_lerobot_0327_114548_f27f7061/episodes/ep000537/gripper_left_tactile_force_metrics.json
@@ -0,0 +1,9 @@
+{
+  "depth_peak": 0.0029973280616104603,
+  "shear_peak": 0.0017958498792722821,
+  "force_magnitude_peak": 0.0034665714483708143,
+  "reference_frame_count": 0,
+  "dataset_name": "dag911262r000646_lerobot_0327_114548",
+  "episode_index": 537,
+  "sensor": "gripper_left_tactile"
+}
\ No newline at end of file
diff --git a/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_18-30/outputs_tactile/tactile_cache/dag911262r000646_lerobot_0327_114548_f27f7061/episodes/ep000555/gripper_left_tactile_force_metrics.json b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_18-30/outputs_tactile/tactile_cache/dag911262r000646_lerobot_0327_114548_f27f7061/episodes/ep000555/gripper_left_tactile_force_metrics.json
new file mode 100644
index 0000000000000000000000000000000000000000..245f2e1a79fe06e54fe7489e6e64d23c1fba9bc5
--- /dev/null
+++ b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_18-30/outputs_tactile/tactile_cache/dag911262r000646_lerobot_0327_114548_f27f7061/episodes/ep000555/gripper_left_tactile_force_metrics.json
@@ -0,0 +1,9 @@
+{
+  "depth_peak": 0.0003040579322259873,
+  "shear_peak": 0.0031534198205918074,
+  "force_magnitude_peak": 0.0031535341404378414,
+  "reference_frame_count": 0,
+  "dataset_name": "dag911262r000646_lerobot_0327_114548",
+  "episode_index": 555,
+  "sensor": "gripper_left_tactile"
+}
\ No newline at end of file
diff --git a/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_18-30/outputs_tactile/tactile_cache/dag911262r000646_lerobot_0327_114548_f27f7061/episodes/ep000577/gripper_left_tactile_force_metrics.json b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_18-30/outputs_tactile/tactile_cache/dag911262r000646_lerobot_0327_114548_f27f7061/episodes/ep000577/gripper_left_tactile_force_metrics.json
new file mode 100644
index 0000000000000000000000000000000000000000..78f2a58ca266ba546181a241ed8628a5329f92e3
--- /dev/null
+++ b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_18-30/outputs_tactile/tactile_cache/dag911262r000646_lerobot_0327_114548_f27f7061/episodes/ep000577/gripper_left_tactile_force_metrics.json
@@ -0,0 +1,9 @@
+{
+  "depth_peak": 0.0010642451234161854,
+  "shear_peak": 0.0024926532059907913,
+  "force_magnitude_peak": 0.0034978867042809725,
+  "reference_frame_count": 0,
+  "dataset_name": "dag911262r000646_lerobot_0327_114548",
+  "episode_index": 577,
+  "sensor": "gripper_left_tactile"
+}
\ No newline at end of file
diff --git a/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_18-30/outputs_tactile/tactile_cache/dag911262r000646_lerobot_0327_114548_f27f7061/episodes/ep000600/gripper_right_tactile_force_metrics.json b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_18-30/outputs_tactile/tactile_cache/dag911262r000646_lerobot_0327_114548_f27f7061/episodes/ep000600/gripper_right_tactile_force_metrics.json
new file mode 100644
index 0000000000000000000000000000000000000000..fda8161074f03d6b379a9660038a4aecd03f6f72
--- /dev/null
+++ b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_18-30/outputs_tactile/tactile_cache/dag911262r000646_lerobot_0327_114548_f27f7061/episodes/ep000600/gripper_right_tactile_force_metrics.json
@@ -0,0 +1,9 @@
+{
+  "depth_peak": 0.0007379726739600301,
+  "shear_peak": 0.0033623611088842154,
+  "force_magnitude_peak": 0.003374597756192088,
+  "reference_frame_count": 0,
+  "dataset_name": "dag911262r000646_lerobot_0327_114548",
+  "episode_index": 600,
+  "sensor": "gripper_right_tactile"
+}
\ No newline at end of file
diff --git a/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_18-30/outputs_tactile/tactile_cache/dag911262r000646_lerobot_0327_114548_f27f7061/episodes/ep000626/gripper_right_tactile_force_metrics.json b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_18-30/outputs_tactile/tactile_cache/dag911262r000646_lerobot_0327_114548_f27f7061/episodes/ep000626/gripper_right_tactile_force_metrics.json
new file mode 100644
index 0000000000000000000000000000000000000000..137b45abf2f0bb55f20f8ce2e4b1995bfdcfb0af
--- /dev/null
+++ b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_18-30/outputs_tactile/tactile_cache/dag911262r000646_lerobot_0327_114548_f27f7061/episodes/ep000626/gripper_right_tactile_force_metrics.json
@@ -0,0 +1,9 @@
+{
+  "depth_peak": 0.0007867228123359382,
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+  "force_magnitude_peak": 0.0030067877378314734,
+  "reference_frame_count": 0,
+  "dataset_name": "dag911262r000646_lerobot_0327_114548",
+  "episode_index": 626,
+  "sensor": "gripper_right_tactile"
+}
\ No newline at end of file
diff --git a/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_18-30/outputs_tactile/tactile_cache/dag911262r000646_lerobot_0327_114548_f27f7061/episodes/ep000641/gripper_left_tactile_force_metrics.json b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_18-30/outputs_tactile/tactile_cache/dag911262r000646_lerobot_0327_114548_f27f7061/episodes/ep000641/gripper_left_tactile_force_metrics.json
new file mode 100644
index 0000000000000000000000000000000000000000..d3b50f3c0a4c124560393c19ca0fcc2fa6e68119
--- /dev/null
+++ b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_18-30/outputs_tactile/tactile_cache/dag911262r000646_lerobot_0327_114548_f27f7061/episodes/ep000641/gripper_left_tactile_force_metrics.json
@@ -0,0 +1,9 @@
+{
+  "depth_peak": 0.0009127479861490428,
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+  "force_magnitude_peak": 0.0025467188097536564,
+  "reference_frame_count": 0,
+  "dataset_name": "dag911262r000646_lerobot_0327_114548",
+  "episode_index": 641,
+  "sensor": "gripper_left_tactile"
+}
\ No newline at end of file
diff --git a/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_18-30/outputs_tactile/tactile_cache/dag911262r000646_lerobot_0327_114548_f27f7061/episodes/ep000642/gripper_right_tactile_force_metrics.json b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_18-30/outputs_tactile/tactile_cache/dag911262r000646_lerobot_0327_114548_f27f7061/episodes/ep000642/gripper_right_tactile_force_metrics.json
new file mode 100644
index 0000000000000000000000000000000000000000..faad8c919b11ce78de98d3e5cac3ac60fdea1ae2
--- /dev/null
+++ b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_18-30/outputs_tactile/tactile_cache/dag911262r000646_lerobot_0327_114548_f27f7061/episodes/ep000642/gripper_right_tactile_force_metrics.json
@@ -0,0 +1,9 @@
+{
+  "depth_peak": 0.001634335028938949,
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+  "force_magnitude_peak": 0.0028636616189032793,
+  "reference_frame_count": 0,
+  "dataset_name": "dag911262r000646_lerobot_0327_114548",
+  "episode_index": 642,
+  "sensor": "gripper_right_tactile"
+}
\ No newline at end of file
diff --git a/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_18-30/outputs_tactile/tactile_cache/dag911262r000646_lerobot_0327_114548_f27f7061/episodes/ep000646/gripper_left_tactile_force_metrics.json b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_18-30/outputs_tactile/tactile_cache/dag911262r000646_lerobot_0327_114548_f27f7061/episodes/ep000646/gripper_left_tactile_force_metrics.json
new file mode 100644
index 0000000000000000000000000000000000000000..51f61aaa4d41ad85ca6771f6cb20c31658e5f1dc
--- /dev/null
+++ b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_18-30/outputs_tactile/tactile_cache/dag911262r000646_lerobot_0327_114548_f27f7061/episodes/ep000646/gripper_left_tactile_force_metrics.json
@@ -0,0 +1,9 @@
+{
+  "depth_peak": 0.0019990280270576477,
+  "shear_peak": 0.0012578113237395883,
+  "force_magnitude_peak": 0.0023111156187951565,
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+  "dataset_name": "dag911262r000646_lerobot_0327_114548",
+  "episode_index": 646,
+  "sensor": "gripper_left_tactile"
+}
\ No newline at end of file
diff --git a/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_18-30/outputs_tactile/tactile_cache/dag911262r000646_lerobot_0327_114548_f27f7061/episodes/ep000689/gripper_right_tactile_force_metrics.json b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_18-30/outputs_tactile/tactile_cache/dag911262r000646_lerobot_0327_114548_f27f7061/episodes/ep000689/gripper_right_tactile_force_metrics.json
new file mode 100644
index 0000000000000000000000000000000000000000..7a3619a040d2796b0ae337b8de65c6839d4a7514
--- /dev/null
+++ b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_18-30/outputs_tactile/tactile_cache/dag911262r000646_lerobot_0327_114548_f27f7061/episodes/ep000689/gripper_right_tactile_force_metrics.json
@@ -0,0 +1,9 @@
+{
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+  "force_magnitude_peak": 0.006312598939985037,
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+  "dataset_name": "dag911262r000646_lerobot_0327_114548",
+  "episode_index": 689,
+  "sensor": "gripper_right_tactile"
+}
\ No newline at end of file
diff --git a/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_18-30/outputs_tactile/tactile_cache/dag911262r000646_lerobot_0327_114548_f27f7061/episodes/ep000714/gripper_right_tactile_force_metrics.json b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_18-30/outputs_tactile/tactile_cache/dag911262r000646_lerobot_0327_114548_f27f7061/episodes/ep000714/gripper_right_tactile_force_metrics.json
new file mode 100644
index 0000000000000000000000000000000000000000..a33c004450788cb4b2748b16e4303e2d144c2593
--- /dev/null
+++ b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_18-30/outputs_tactile/tactile_cache/dag911262r000646_lerobot_0327_114548_f27f7061/episodes/ep000714/gripper_right_tactile_force_metrics.json
@@ -0,0 +1,9 @@
+{
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+  "force_magnitude_peak": 0.003079127985984087,
+  "reference_frame_count": 0,
+  "dataset_name": "dag911262r000646_lerobot_0327_114548",
+  "episode_index": 714,
+  "sensor": "gripper_right_tactile"
+}
\ No newline at end of file
diff --git a/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_18-30/outputs_tactile/tactile_cache/dag911262r000646_lerobot_0327_114548_f27f7061/episodes/ep000769/gripper_right_tactile_force_metrics.json b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_18-30/outputs_tactile/tactile_cache/dag911262r000646_lerobot_0327_114548_f27f7061/episodes/ep000769/gripper_right_tactile_force_metrics.json
new file mode 100644
index 0000000000000000000000000000000000000000..89052af0fb0116fbefb197944005a73dfc162ff4
--- /dev/null
+++ b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_18-30/outputs_tactile/tactile_cache/dag911262r000646_lerobot_0327_114548_f27f7061/episodes/ep000769/gripper_right_tactile_force_metrics.json
@@ -0,0 +1,9 @@
+{
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+  "force_magnitude_peak": 0.005585388280451298,
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+  "dataset_name": "dag911262r000646_lerobot_0327_114548",
+  "episode_index": 769,
+  "sensor": "gripper_right_tactile"
+}
\ No newline at end of file
diff --git a/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_18-30/outputs_tactile/tactile_cache/dag911262r000646_lerobot_0327_114548_f27f7061/episodes/ep000809/gripper_right_tactile_force_metrics.json b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_18-30/outputs_tactile/tactile_cache/dag911262r000646_lerobot_0327_114548_f27f7061/episodes/ep000809/gripper_right_tactile_force_metrics.json
new file mode 100644
index 0000000000000000000000000000000000000000..d2b1b55d1820e700d74f09c2918c6c93294cd07c
--- /dev/null
+++ b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_18-30/outputs_tactile/tactile_cache/dag911262r000646_lerobot_0327_114548_f27f7061/episodes/ep000809/gripper_right_tactile_force_metrics.json
@@ -0,0 +1,9 @@
+{
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+  "dataset_name": "dag911262r000646_lerobot_0327_114548",
+  "episode_index": 809,
+  "sensor": "gripper_right_tactile"
+}
\ No newline at end of file
diff --git a/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_18-30/outputs_tactile/tactile_cache/dag911262r000646_lerobot_0327_114548_f27f7061/episodes/ep000826/gripper_right_tactile_force_metrics.json b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_18-30/outputs_tactile/tactile_cache/dag911262r000646_lerobot_0327_114548_f27f7061/episodes/ep000826/gripper_right_tactile_force_metrics.json
new file mode 100644
index 0000000000000000000000000000000000000000..288cb708324934587cfa772bac7295e52db4ed3e
--- /dev/null
+++ b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_18-30/outputs_tactile/tactile_cache/dag911262r000646_lerobot_0327_114548_f27f7061/episodes/ep000826/gripper_right_tactile_force_metrics.json
@@ -0,0 +1,9 @@
+{
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+  "dataset_name": "dag911262r000646_lerobot_0327_114548",
+  "episode_index": 826,
+  "sensor": "gripper_right_tactile"
+}
\ No newline at end of file
diff --git a/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_18-30/outputs_tactile/tactile_cache/dag911262r001146_lerobot_0327_114548_c6203e48/episodes/ep000284/gripper_right_tactile_force_metrics.json b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_18-30/outputs_tactile/tactile_cache/dag911262r001146_lerobot_0327_114548_c6203e48/episodes/ep000284/gripper_right_tactile_force_metrics.json
new file mode 100644
index 0000000000000000000000000000000000000000..70e03fab290ab57604ef95945838724888e2bac3
--- /dev/null
+++ b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_18-30/outputs_tactile/tactile_cache/dag911262r001146_lerobot_0327_114548_c6203e48/episodes/ep000284/gripper_right_tactile_force_metrics.json
@@ -0,0 +1,9 @@
+{
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+  "force_magnitude_peak": 0.003978908061981201,
+  "reference_frame_count": 0,
+  "dataset_name": "dag911262r001146_lerobot_0327_114548",
+  "episode_index": 284,
+  "sensor": "gripper_right_tactile"
+}
\ No newline at end of file
diff --git a/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-09_18-30/outputs_tactile/tactile_cache/dag911262r000153_lerobot_0327_114714_98f8d6e6/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/dag911262r000153_lerobot_0327_114714_98f8d6e6/episodes/ep000199/gripper_left_tactile_force_metrics.json
new file mode 100644
index 0000000000000000000000000000000000000000..590b72c934b5a2f16079455f0a8a97076e37729c
--- /dev/null
+++ b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-09_18-30/outputs_tactile/tactile_cache/dag911262r000153_lerobot_0327_114714_98f8d6e6/episodes/ep000199/gripper_left_tactile_force_metrics.json
@@ -0,0 +1,9 @@
+{
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+  "reference_frame_count": 0,
+  "dataset_name": "dag911262r000153_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/dag911262r000153_lerobot_0327_114714_98f8d6e6/episodes/ep000245/gripper_right_tactile_force_metrics.json b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-09_18-30/outputs_tactile/tactile_cache/dag911262r000153_lerobot_0327_114714_98f8d6e6/episodes/ep000245/gripper_right_tactile_force_metrics.json
new file mode 100644
index 0000000000000000000000000000000000000000..2509ac0deeec658f8062ef5c244da28e1aa72223
--- /dev/null
+++ b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-09_18-30/outputs_tactile/tactile_cache/dag911262r000153_lerobot_0327_114714_98f8d6e6/episodes/ep000245/gripper_right_tactile_force_metrics.json
@@ -0,0 +1,9 @@
+{
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+  "force_magnitude_peak": 0.004563276655972004,
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+  "dataset_name": "dag911262r000153_lerobot_0327_114714",
+  "episode_index": 245,
+  "sensor": "gripper_right_tactile"
+}
\ No newline at end of file
diff --git a/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-09_18-30/outputs_tactile/tactile_cache/dag911262r000153_lerobot_0327_114714_98f8d6e6/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/dag911262r000153_lerobot_0327_114714_98f8d6e6/episodes/ep000251/gripper_right_tactile_force_metrics.json
new file mode 100644
index 0000000000000000000000000000000000000000..2362d8c4e7e71c2f778ee80cc934ff79a37611b2
--- /dev/null
+++ b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-09_18-30/outputs_tactile/tactile_cache/dag911262r000153_lerobot_0327_114714_98f8d6e6/episodes/ep000251/gripper_right_tactile_force_metrics.json
@@ -0,0 +1,9 @@
+{
+  "depth_peak": 0.0033922367729246616,
+  "shear_peak": 0.0033111299853771925,
+  "force_magnitude_peak": 0.004709087312221527,
+  "reference_frame_count": 0,
+  "dataset_name": "dag911262r000153_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/dag911262r000153_lerobot_0327_114714_98f8d6e6/episodes/ep000259/gripper_left_tactile_force_metrics.json b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-09_18-30/outputs_tactile/tactile_cache/dag911262r000153_lerobot_0327_114714_98f8d6e6/episodes/ep000259/gripper_left_tactile_force_metrics.json
new file mode 100644
index 0000000000000000000000000000000000000000..cae0183112a2621eaf195251a17bb2c273bc6364
--- /dev/null
+++ b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-09_18-30/outputs_tactile/tactile_cache/dag911262r000153_lerobot_0327_114714_98f8d6e6/episodes/ep000259/gripper_left_tactile_force_metrics.json
@@ -0,0 +1,9 @@
+{
+  "depth_peak": 0.0011897323420271277,
+  "shear_peak": 0.0027264426462352276,
+  "force_magnitude_peak": 0.0028357552364468575,
+  "reference_frame_count": 0,
+  "dataset_name": "dag911262r000153_lerobot_0327_114714",
+  "episode_index": 259,
+  "sensor": "gripper_left_tactile"
+}
\ No newline at end of file
diff --git a/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-09_18-30/outputs_tactile/tactile_cache/dag911262r000153_lerobot_0327_114714_98f8d6e6/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/dag911262r000153_lerobot_0327_114714_98f8d6e6/episodes/ep000269/gripper_right_tactile_force_metrics.json
new file mode 100644
index 0000000000000000000000000000000000000000..28f2827316a74747abc2109887e341453d7414d5
--- /dev/null
+++ b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-09_18-30/outputs_tactile/tactile_cache/dag911262r000153_lerobot_0327_114714_98f8d6e6/episodes/ep000269/gripper_right_tactile_force_metrics.json
@@ -0,0 +1,9 @@
+{
+  "depth_peak": 0.0029007364064455032,
+  "shear_peak": 0.0062868413515388966,
+  "force_magnitude_peak": 0.006857419852167368,
+  "reference_frame_count": 0,
+  "dataset_name": "dag911262r000153_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/dag911262r000153_lerobot_0327_114714_98f8d6e6/episodes/ep000291/gripper_right_tactile_force_metrics.json b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-09_18-30/outputs_tactile/tactile_cache/dag911262r000153_lerobot_0327_114714_98f8d6e6/episodes/ep000291/gripper_right_tactile_force_metrics.json
new file mode 100644
index 0000000000000000000000000000000000000000..6d0c225a5b5cf6d17d3618630c1c9ad9e46f59ad
--- /dev/null
+++ b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-09_18-30/outputs_tactile/tactile_cache/dag911262r000153_lerobot_0327_114714_98f8d6e6/episodes/ep000291/gripper_right_tactile_force_metrics.json
@@ -0,0 +1,9 @@
+{
+  "depth_peak": 0.0036720274947583675,
+  "shear_peak": 0.003603181103244424,
+  "force_magnitude_peak": 0.0048325578682124615,
+  "reference_frame_count": 0,
+  "dataset_name": "dag911262r000153_lerobot_0327_114714",
+  "episode_index": 291,
+  "sensor": "gripper_right_tactile"
+}
\ No newline at end of file
diff --git a/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-09_18-30/outputs_tactile/tactile_cache/dag911262r00025a_lerobot_0327_114714_2184f5aa/episodes/ep000040/gripper_right_tactile_force_metrics.json b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-09_18-30/outputs_tactile/tactile_cache/dag911262r00025a_lerobot_0327_114714_2184f5aa/episodes/ep000040/gripper_right_tactile_force_metrics.json
new file mode 100644
index 0000000000000000000000000000000000000000..652d64462192aa880959e1e6a04132ee81129267
--- /dev/null
+++ b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-09_18-30/outputs_tactile/tactile_cache/dag911262r00025a_lerobot_0327_114714_2184f5aa/episodes/ep000040/gripper_right_tactile_force_metrics.json
@@ -0,0 +1,9 @@
+{
+  "depth_peak": 8.863434777595103e-05,
+  "shear_peak": 0.0018008433980867267,
+  "force_magnitude_peak": 0.0022414657287299633,
+  "reference_frame_count": 0,
+  "dataset_name": "dag911262r00025a_lerobot_0327_114714",
+  "episode_index": 40,
+  "sensor": "gripper_right_tactile"
+}
\ No newline at end of file
diff --git a/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-09_18-30/outputs_tactile/tactile_cache/dag911262r00025a_lerobot_0327_114714_2184f5aa/episodes/ep000110/gripper_right_tactile_force_metrics.json b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-09_18-30/outputs_tactile/tactile_cache/dag911262r00025a_lerobot_0327_114714_2184f5aa/episodes/ep000110/gripper_right_tactile_force_metrics.json
new file mode 100644
index 0000000000000000000000000000000000000000..77b941267d3217f797a38565b52b15eec089c5df
--- /dev/null
+++ b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-09_18-30/outputs_tactile/tactile_cache/dag911262r00025a_lerobot_0327_114714_2184f5aa/episodes/ep000110/gripper_right_tactile_force_metrics.json
@@ -0,0 +1,9 @@
+{
+  "depth_peak": 0.0025327804032713175,
+  "shear_peak": 0.001333485939539969,
+  "force_magnitude_peak": 0.0027288515120744705,
+  "reference_frame_count": 0,
+  "dataset_name": "dag911262r00025a_lerobot_0327_114714",
+  "episode_index": 110,
+  "sensor": "gripper_right_tactile"
+}
\ No newline at end of file
diff --git a/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-09_18-30/outputs_tactile/tactile_cache/dag911262r00025a_lerobot_0327_114714_2184f5aa/episodes/ep000120/gripper_right_tactile_force_metrics.json b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-09_18-30/outputs_tactile/tactile_cache/dag911262r00025a_lerobot_0327_114714_2184f5aa/episodes/ep000120/gripper_right_tactile_force_metrics.json
new file mode 100644
index 0000000000000000000000000000000000000000..af8a5932b4ca540d6875507c47e42da3049c421e
--- /dev/null
+++ b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-09_18-30/outputs_tactile/tactile_cache/dag911262r00025a_lerobot_0327_114714_2184f5aa/episodes/ep000120/gripper_right_tactile_force_metrics.json
@@ -0,0 +1,9 @@
+{
+  "depth_peak": 0.002120882272720337,
+  "shear_peak": 0.0019486502278596163,
+  "force_magnitude_peak": 0.0023350357078015804,
+  "reference_frame_count": 0,
+  "dataset_name": "dag911262r00025a_lerobot_0327_114714",
+  "episode_index": 120,
+  "sensor": "gripper_right_tactile"
+}
\ No newline at end of file
diff --git a/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-09_18-30/outputs_tactile/tactile_cache/dag911262r00025a_lerobot_0327_114714_2184f5aa/episodes/ep000141/gripper_left_tactile_force_metrics.json b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-09_18-30/outputs_tactile/tactile_cache/dag911262r00025a_lerobot_0327_114714_2184f5aa/episodes/ep000141/gripper_left_tactile_force_metrics.json
new file mode 100644
index 0000000000000000000000000000000000000000..7292d9546497480fe37780af8005a93f4a765e5c
--- /dev/null
+++ b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-09_18-30/outputs_tactile/tactile_cache/dag911262r00025a_lerobot_0327_114714_2184f5aa/episodes/ep000141/gripper_left_tactile_force_metrics.json
@@ -0,0 +1,9 @@
+{
+  "depth_peak": 0.0017882984830066562,
+  "shear_peak": 0.0038598179817199707,
+  "force_magnitude_peak": 0.0038598475512117147,
+  "reference_frame_count": 0,
+  "dataset_name": "dag911262r00025a_lerobot_0327_114714",
+  "episode_index": 141,
+  "sensor": "gripper_left_tactile"
+}
\ No newline at end of file
diff --git a/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-09_18-30/outputs_tactile/tactile_cache/dag911262r00025a_lerobot_0327_114714_2184f5aa/episodes/ep000150/gripper_right_tactile_force_metrics.json b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-09_18-30/outputs_tactile/tactile_cache/dag911262r00025a_lerobot_0327_114714_2184f5aa/episodes/ep000150/gripper_right_tactile_force_metrics.json
new file mode 100644
index 0000000000000000000000000000000000000000..7e09618dec137c6f42230c8645f0396852283c63
--- /dev/null
+++ b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-09_18-30/outputs_tactile/tactile_cache/dag911262r00025a_lerobot_0327_114714_2184f5aa/episodes/ep000150/gripper_right_tactile_force_metrics.json
@@ -0,0 +1,9 @@
+{
+  "depth_peak": 0.0009234596509486437,
+  "shear_peak": 0.001494979253038764,
+  "force_magnitude_peak": 0.0015750230522826314,
+  "reference_frame_count": 0,
+  "dataset_name": "dag911262r00025a_lerobot_0327_114714",
+  "episode_index": 150,
+  "sensor": "gripper_right_tactile"
+}
\ No newline at end of file
diff --git a/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-09_18-30/outputs_tactile/tactile_cache/dag911262r00025a_lerobot_0327_114714_2184f5aa/episodes/ep000161/gripper_left_tactile_force_metrics.json b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-09_18-30/outputs_tactile/tactile_cache/dag911262r00025a_lerobot_0327_114714_2184f5aa/episodes/ep000161/gripper_left_tactile_force_metrics.json
new file mode 100644
index 0000000000000000000000000000000000000000..a773ed68700d0cab158af8e243a0d7b75da35632
--- /dev/null
+++ b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-09_18-30/outputs_tactile/tactile_cache/dag911262r00025a_lerobot_0327_114714_2184f5aa/episodes/ep000161/gripper_left_tactile_force_metrics.json
@@ -0,0 +1,9 @@
+{
+  "depth_peak": 0.0018527391366660595,
+  "shear_peak": 0.0011046674335375428,
+  "force_magnitude_peak": 0.0023326079826802015,
+  "reference_frame_count": 0,
+  "dataset_name": "dag911262r00025a_lerobot_0327_114714",
+  "episode_index": 161,
+  "sensor": "gripper_left_tactile"
+}
\ No newline at end of file
diff --git a/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-09_18-30/outputs_tactile/tactile_cache/dag911262r00025a_lerobot_0327_114714_2184f5aa/episodes/ep000164/gripper_right_tactile_force_metrics.json b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-09_18-30/outputs_tactile/tactile_cache/dag911262r00025a_lerobot_0327_114714_2184f5aa/episodes/ep000164/gripper_right_tactile_force_metrics.json
new file mode 100644
index 0000000000000000000000000000000000000000..ca403bf5359d87ca1eae7bc972fe6a88f965d171
--- /dev/null
+++ b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-09_18-30/outputs_tactile/tactile_cache/dag911262r00025a_lerobot_0327_114714_2184f5aa/episodes/ep000164/gripper_right_tactile_force_metrics.json
@@ -0,0 +1,9 @@
+{
+  "depth_peak": 0.0019896680023521185,
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+  "force_magnitude_peak": 0.002233362989500165,
+  "reference_frame_count": 0,
+  "dataset_name": "dag911262r00025a_lerobot_0327_114714",
+  "episode_index": 164,
+  "sensor": "gripper_right_tactile"
+}
\ No newline at end of file
diff --git a/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-09_18-30/outputs_tactile/tactile_cache/dag911262r00025a_lerobot_0327_114714_2184f5aa/episodes/ep000201/gripper_right_tactile_force_metrics.json b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-09_18-30/outputs_tactile/tactile_cache/dag911262r00025a_lerobot_0327_114714_2184f5aa/episodes/ep000201/gripper_right_tactile_force_metrics.json
new file mode 100644
index 0000000000000000000000000000000000000000..d3aa69e5e5ba2e9433b2954ae0aa6b96f011a776
--- /dev/null
+++ b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-09_18-30/outputs_tactile/tactile_cache/dag911262r00025a_lerobot_0327_114714_2184f5aa/episodes/ep000201/gripper_right_tactile_force_metrics.json
@@ -0,0 +1,9 @@
+{
+  "depth_peak": 0.0011578889098018408,
+  "shear_peak": 0.0028695238288491964,
+  "force_magnitude_peak": 0.002869606716558337,
+  "reference_frame_count": 0,
+  "dataset_name": "dag911262r00025a_lerobot_0327_114714",
+  "episode_index": 201,
+  "sensor": "gripper_right_tactile"
+}
\ No newline at end of file
diff --git a/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-09_18-30/outputs_tactile/tactile_cache/dag911262r00025a_lerobot_0327_114714_2184f5aa/episodes/ep000260/gripper_right_tactile_force_metrics.json b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-09_18-30/outputs_tactile/tactile_cache/dag911262r00025a_lerobot_0327_114714_2184f5aa/episodes/ep000260/gripper_right_tactile_force_metrics.json
new file mode 100644
index 0000000000000000000000000000000000000000..d3d327ed8b72b5f31eb2e67195b708b59f5890af
--- /dev/null
+++ b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-09_18-30/outputs_tactile/tactile_cache/dag911262r00025a_lerobot_0327_114714_2184f5aa/episodes/ep000260/gripper_right_tactile_force_metrics.json
@@ -0,0 +1,9 @@
+{
+  "depth_peak": 0.0029660577420145273,
+  "shear_peak": 0.0016139798099175096,
+  "force_magnitude_peak": 0.003246794454753399,
+  "reference_frame_count": 0,
+  "dataset_name": "dag911262r00025a_lerobot_0327_114714",
+  "episode_index": 260,
+  "sensor": "gripper_right_tactile"
+}
\ No newline at end of file
diff --git a/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-09_18-30/outputs_tactile/tactile_cache/dag911262r00025a_lerobot_0327_114714_2184f5aa/episodes/ep000284/gripper_right_tactile_force_metrics.json b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-09_18-30/outputs_tactile/tactile_cache/dag911262r00025a_lerobot_0327_114714_2184f5aa/episodes/ep000284/gripper_right_tactile_force_metrics.json
new file mode 100644
index 0000000000000000000000000000000000000000..c367cfdaa2a8a7525343cc14495158eded7b5e29
--- /dev/null
+++ b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-09_18-30/outputs_tactile/tactile_cache/dag911262r00025a_lerobot_0327_114714_2184f5aa/episodes/ep000284/gripper_right_tactile_force_metrics.json
@@ -0,0 +1,9 @@
+{
+  "depth_peak": 0.002076046308502555,
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+  "force_magnitude_peak": 0.0037301285192370415,
+  "reference_frame_count": 0,
+  "dataset_name": "dag911262r00025a_lerobot_0327_114714",
+  "episode_index": 284,
+  "sensor": "gripper_right_tactile"
+}
\ No newline at end of file
diff --git a/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-09_18-30/outputs_tactile/tactile_cache/dag911262r00025a_lerobot_0327_114714_2184f5aa/episodes/ep000420/gripper_right_tactile_force_metrics.json b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-09_18-30/outputs_tactile/tactile_cache/dag911262r00025a_lerobot_0327_114714_2184f5aa/episodes/ep000420/gripper_right_tactile_force_metrics.json
new file mode 100644
index 0000000000000000000000000000000000000000..4c2649c6d2eea96b61bd1f549ab6c5897a81bf45
--- /dev/null
+++ b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-09_18-30/outputs_tactile/tactile_cache/dag911262r00025a_lerobot_0327_114714_2184f5aa/episodes/ep000420/gripper_right_tactile_force_metrics.json
@@ -0,0 +1,9 @@
+{
+  "depth_peak": 0.0016837259754538536,
+  "shear_peak": 0.0028874760027974844,
+  "force_magnitude_peak": 0.003054925939068198,
+  "reference_frame_count": 0,
+  "dataset_name": "dag911262r00025a_lerobot_0327_114714",
+  "episode_index": 420,
+  "sensor": "gripper_right_tactile"
+}
\ No newline at end of file
diff --git a/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-09_18-30/outputs_tactile/tactile_cache/dag911262r00025a_lerobot_0327_114714_2184f5aa/episodes/ep000430/gripper_right_tactile_force_metrics.json b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-09_18-30/outputs_tactile/tactile_cache/dag911262r00025a_lerobot_0327_114714_2184f5aa/episodes/ep000430/gripper_right_tactile_force_metrics.json
new file mode 100644
index 0000000000000000000000000000000000000000..0b4098f38b213f296ec6cb47302f269f371f4cd0
--- /dev/null
+++ b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-09_18-30/outputs_tactile/tactile_cache/dag911262r00025a_lerobot_0327_114714_2184f5aa/episodes/ep000430/gripper_right_tactile_force_metrics.json
@@ -0,0 +1,9 @@
+{
+  "depth_peak": 0.0006358732935041189,
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+  "force_magnitude_peak": 0.004104597494006157,
+  "reference_frame_count": 0,
+  "dataset_name": "dag911262r00025a_lerobot_0327_114714",
+  "episode_index": 430,
+  "sensor": "gripper_right_tactile"
+}
\ No newline at end of file
diff --git a/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-09_18-30/outputs_tactile/tactile_cache/dag911262r00025a_lerobot_0327_114714_2184f5aa/episodes/ep000441/gripper_right_tactile_force_metrics.json b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-09_18-30/outputs_tactile/tactile_cache/dag911262r00025a_lerobot_0327_114714_2184f5aa/episodes/ep000441/gripper_right_tactile_force_metrics.json
new file mode 100644
index 0000000000000000000000000000000000000000..cfb9ffdc9a61bb9b71b31e4c349852ce5dabb316
--- /dev/null
+++ b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-09_18-30/outputs_tactile/tactile_cache/dag911262r00025a_lerobot_0327_114714_2184f5aa/episodes/ep000441/gripper_right_tactile_force_metrics.json
@@ -0,0 +1,9 @@
+{
+  "depth_peak": 0.005347032565623522,
+  "shear_peak": 0.0023121756967157125,
+  "force_magnitude_peak": 0.0056067220866680145,
+  "reference_frame_count": 0,
+  "dataset_name": "dag911262r00025a_lerobot_0327_114714",
+  "episode_index": 441,
+  "sensor": "gripper_right_tactile"
+}
\ No newline at end of file
diff --git a/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-09_18-30/outputs_tactile/tactile_cache/dag911262r00025a_lerobot_0327_114714_2184f5aa/episodes/ep000460/gripper_right_tactile_force_metrics.json b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-09_18-30/outputs_tactile/tactile_cache/dag911262r00025a_lerobot_0327_114714_2184f5aa/episodes/ep000460/gripper_right_tactile_force_metrics.json
new file mode 100644
index 0000000000000000000000000000000000000000..402a33348eefad8053732464733f6fe3e7314651
--- /dev/null
+++ b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-09_18-30/outputs_tactile/tactile_cache/dag911262r00025a_lerobot_0327_114714_2184f5aa/episodes/ep000460/gripper_right_tactile_force_metrics.json
@@ -0,0 +1,9 @@
+{
+  "depth_peak": 0.0012281369417905807,
+  "shear_peak": 0.001582434750162065,
+  "force_magnitude_peak": 0.0030714794993400574,
+  "reference_frame_count": 0,
+  "dataset_name": "dag911262r00025a_lerobot_0327_114714",
+  "episode_index": 460,
+  "sensor": "gripper_right_tactile"
+}
\ No newline at end of file
diff --git a/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-09_18-30/outputs_tactile/tactile_cache/dag911262r00025a_lerobot_0327_114714_2184f5aa/episodes/ep000470/gripper_right_tactile_force_metrics.json b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-09_18-30/outputs_tactile/tactile_cache/dag911262r00025a_lerobot_0327_114714_2184f5aa/episodes/ep000470/gripper_right_tactile_force_metrics.json
new file mode 100644
index 0000000000000000000000000000000000000000..fac6992125d23cf3ba052e6d01e3da354bcaeaa4
--- /dev/null
+++ b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-09_18-30/outputs_tactile/tactile_cache/dag911262r00025a_lerobot_0327_114714_2184f5aa/episodes/ep000470/gripper_right_tactile_force_metrics.json
@@ -0,0 +1,9 @@
+{
+  "depth_peak": 0.0008267370285466313,
+  "shear_peak": 0.002282468369230628,
+  "force_magnitude_peak": 0.0055986871011555195,
+  "reference_frame_count": 0,
+  "dataset_name": "dag911262r00025a_lerobot_0327_114714",
+  "episode_index": 470,
+  "sensor": "gripper_right_tactile"
+}
\ No newline at end of file
diff --git a/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-09_18-30/outputs_tactile/tactile_cache/dag911262r00025a_lerobot_0327_114714_2184f5aa/episodes/ep000521/gripper_right_tactile_force_metrics.json b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-09_18-30/outputs_tactile/tactile_cache/dag911262r00025a_lerobot_0327_114714_2184f5aa/episodes/ep000521/gripper_right_tactile_force_metrics.json
new file mode 100644
index 0000000000000000000000000000000000000000..14585ba8925a6e0e42f87803cd70c32eb57accc6
--- /dev/null
+++ b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-09_18-30/outputs_tactile/tactile_cache/dag911262r00025a_lerobot_0327_114714_2184f5aa/episodes/ep000521/gripper_right_tactile_force_metrics.json
@@ -0,0 +1,9 @@
+{
+  "depth_peak": 0.0021483595483005047,
+  "shear_peak": 0.002062990562990308,
+  "force_magnitude_peak": 0.0025842662435024977,
+  "reference_frame_count": 0,
+  "dataset_name": "dag911262r00025a_lerobot_0327_114714",
+  "episode_index": 521,
+  "sensor": "gripper_right_tactile"
+}
\ No newline at end of file
diff --git a/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-09_18-30/outputs_tactile/tactile_cache/dag911262r00025a_lerobot_0327_114714_2184f5aa/episodes/ep000524/gripper_right_tactile_force_metrics.json b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-09_18-30/outputs_tactile/tactile_cache/dag911262r00025a_lerobot_0327_114714_2184f5aa/episodes/ep000524/gripper_right_tactile_force_metrics.json
new file mode 100644
index 0000000000000000000000000000000000000000..c13dcb5934dac01ce2a26afa057dbd7383808c0e
--- /dev/null
+++ b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-09_18-30/outputs_tactile/tactile_cache/dag911262r00025a_lerobot_0327_114714_2184f5aa/episodes/ep000524/gripper_right_tactile_force_metrics.json
@@ -0,0 +1,9 @@
+{
+  "depth_peak": 0.002307495102286339,
+  "shear_peak": 0.0028517027385532856,
+  "force_magnitude_peak": 0.0033281531650573015,
+  "reference_frame_count": 0,
+  "dataset_name": "dag911262r00025a_lerobot_0327_114714",
+  "episode_index": 524,
+  "sensor": "gripper_right_tactile"
+}
\ No newline at end of file
diff --git a/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-09_18-30/outputs_tactile/tactile_cache/dag911262r00025a_lerobot_0327_114714_2184f5aa/episodes/ep000550/gripper_right_tactile_force_metrics.json b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-09_18-30/outputs_tactile/tactile_cache/dag911262r00025a_lerobot_0327_114714_2184f5aa/episodes/ep000550/gripper_right_tactile_force_metrics.json
new file mode 100644
index 0000000000000000000000000000000000000000..ade73dac661bf5986e972af0ee3656f08cc1469d
--- /dev/null
+++ b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-09_18-30/outputs_tactile/tactile_cache/dag911262r00025a_lerobot_0327_114714_2184f5aa/episodes/ep000550/gripper_right_tactile_force_metrics.json
@@ -0,0 +1,9 @@
+{
+  "depth_peak": 0.002299204468727112,
+  "shear_peak": 0.0019493487197905779,
+  "force_magnitude_peak": 0.0028282366693019867,
+  "reference_frame_count": 0,
+  "dataset_name": "dag911262r00025a_lerobot_0327_114714",
+  "episode_index": 550,
+  "sensor": "gripper_right_tactile"
+}
\ No newline at end of file
diff --git a/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-09_18-30/outputs_tactile/tactile_cache/dag911262r00035d_lerobot_0327_114714_86e4452f/episodes/ep000100/gripper_right_tactile_force_metrics.json b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-09_18-30/outputs_tactile/tactile_cache/dag911262r00035d_lerobot_0327_114714_86e4452f/episodes/ep000100/gripper_right_tactile_force_metrics.json
new file mode 100644
index 0000000000000000000000000000000000000000..efb69c77127aed78c5b02c8a680d795c6342486d
--- /dev/null
+++ b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-09_18-30/outputs_tactile/tactile_cache/dag911262r00035d_lerobot_0327_114714_86e4452f/episodes/ep000100/gripper_right_tactile_force_metrics.json
@@ -0,0 +1,9 @@
+{
+  "depth_peak": 0.0042433119378983974,
+  "shear_peak": 0.0020422283560037613,
+  "force_magnitude_peak": 0.004651568364351988,
+  "reference_frame_count": 0,
+  "dataset_name": "dag911262r00035d_lerobot_0327_114714",
+  "episode_index": 100,
+  "sensor": "gripper_right_tactile"
+}
\ No newline at end of file
diff --git a/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-09_18-30/outputs_tactile/tactile_cache/dag911262r00035d_lerobot_0327_114714_86e4452f/episodes/ep000140/gripper_right_tactile_force_metrics.json b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-09_18-30/outputs_tactile/tactile_cache/dag911262r00035d_lerobot_0327_114714_86e4452f/episodes/ep000140/gripper_right_tactile_force_metrics.json
new file mode 100644
index 0000000000000000000000000000000000000000..6d8eb8f2612d1cf5bd597658ce7ac480af2a37be
--- /dev/null
+++ b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-09_18-30/outputs_tactile/tactile_cache/dag911262r00035d_lerobot_0327_114714_86e4452f/episodes/ep000140/gripper_right_tactile_force_metrics.json
@@ -0,0 +1,9 @@
+{
+  "depth_peak": 0.0016629344318062067,
+  "shear_peak": 0.0038486700505018234,
+  "force_magnitude_peak": 0.003854186739772558,
+  "reference_frame_count": 0,
+  "dataset_name": "dag911262r00035d_lerobot_0327_114714",
+  "episode_index": 140,
+  "sensor": "gripper_right_tactile"
+}
\ No newline at end of file
diff --git a/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-09_18-30/outputs_tactile/tactile_cache/dag911262r00035d_lerobot_0327_114714_86e4452f/episodes/ep000153/gripper_right_tactile_force_metrics.json b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-09_18-30/outputs_tactile/tactile_cache/dag911262r00035d_lerobot_0327_114714_86e4452f/episodes/ep000153/gripper_right_tactile_force_metrics.json
new file mode 100644
index 0000000000000000000000000000000000000000..daaf5e0feec674a0843bdd8e656c9b657536891b
--- /dev/null
+++ b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-09_18-30/outputs_tactile/tactile_cache/dag911262r00035d_lerobot_0327_114714_86e4452f/episodes/ep000153/gripper_right_tactile_force_metrics.json
@@ -0,0 +1,9 @@
+{
+  "depth_peak": 0.0029674998950213194,
+  "shear_peak": 0.003914193715900183,
+  "force_magnitude_peak": 0.0042029027827084064,
+  "reference_frame_count": 0,
+  "dataset_name": "dag911262r00035d_lerobot_0327_114714",
+  "episode_index": 153,
+  "sensor": "gripper_right_tactile"
+}
\ No newline at end of file
diff --git a/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-09_18-30/outputs_tactile/tactile_cache/dag911262r00035d_lerobot_0327_114714_86e4452f/episodes/ep000156/gripper_left_tactile_force_metrics.json b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-09_18-30/outputs_tactile/tactile_cache/dag911262r00035d_lerobot_0327_114714_86e4452f/episodes/ep000156/gripper_left_tactile_force_metrics.json
new file mode 100644
index 0000000000000000000000000000000000000000..9353a5026cc281cb539281ac1714704c6cd02ebe
--- /dev/null
+++ b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-09_18-30/outputs_tactile/tactile_cache/dag911262r00035d_lerobot_0327_114714_86e4452f/episodes/ep000156/gripper_left_tactile_force_metrics.json
@@ -0,0 +1,9 @@
+{
+  "depth_peak": 0.0013974779285490513,
+  "shear_peak": 0.0017271637916564941,
+  "force_magnitude_peak": 0.0021089077927172184,
+  "reference_frame_count": 0,
+  "dataset_name": "dag911262r00035d_lerobot_0327_114714",
+  "episode_index": 156,
+  "sensor": "gripper_left_tactile"
+}
\ No newline at end of file
diff --git a/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-09_18-30/outputs_tactile/tactile_cache/dag911262r00035d_lerobot_0327_114714_86e4452f/episodes/ep000158/gripper_left_tactile_force_metrics.json b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-09_18-30/outputs_tactile/tactile_cache/dag911262r00035d_lerobot_0327_114714_86e4452f/episodes/ep000158/gripper_left_tactile_force_metrics.json
new file mode 100644
index 0000000000000000000000000000000000000000..dfb8cfbc56cc3824b98acecf8167986eaec9a949
--- /dev/null
+++ b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-09_18-30/outputs_tactile/tactile_cache/dag911262r00035d_lerobot_0327_114714_86e4452f/episodes/ep000158/gripper_left_tactile_force_metrics.json
@@ -0,0 +1,9 @@
+{
+  "depth_peak": 0.0004112424503546208,
+  "shear_peak": 0.0019557937048375607,
+  "force_magnitude_peak": 0.0019614705815911293,
+  "reference_frame_count": 0,
+  "dataset_name": "dag911262r00035d_lerobot_0327_114714",
+  "episode_index": 158,
+  "sensor": "gripper_left_tactile"
+}
\ No newline at end of file
diff --git a/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-09_18-30/outputs_tactile/tactile_cache/dag911262r00035d_lerobot_0327_114714_86e4452f/episodes/ep000167/gripper_right_tactile_force_metrics.json b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-09_18-30/outputs_tactile/tactile_cache/dag911262r00035d_lerobot_0327_114714_86e4452f/episodes/ep000167/gripper_right_tactile_force_metrics.json
new file mode 100644
index 0000000000000000000000000000000000000000..a9a87e4ae39f7d0b4d282cd896274917c76c57a2
--- /dev/null
+++ b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-09_18-30/outputs_tactile/tactile_cache/dag911262r00035d_lerobot_0327_114714_86e4452f/episodes/ep000167/gripper_right_tactile_force_metrics.json
@@ -0,0 +1,9 @@
+{
+  "depth_peak": 0.001411575940437615,
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+  "force_magnitude_peak": 0.0018614698201417923,
+  "reference_frame_count": 0,
+  "dataset_name": "dag911262r00035d_lerobot_0327_114714",
+  "episode_index": 167,
+  "sensor": "gripper_right_tactile"
+}
\ No newline at end of file
diff --git a/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-09_18-30/outputs_tactile/tactile_cache/dag911262r00035d_lerobot_0327_114714_86e4452f/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/dag911262r00035d_lerobot_0327_114714_86e4452f/episodes/ep000189/gripper_left_tactile_force_metrics.json
new file mode 100644
index 0000000000000000000000000000000000000000..b751d45bbef1c7c25b3ab0d8e9598a29009ec29d
--- /dev/null
+++ b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-09_18-30/outputs_tactile/tactile_cache/dag911262r00035d_lerobot_0327_114714_86e4452f/episodes/ep000189/gripper_left_tactile_force_metrics.json
@@ -0,0 +1,9 @@
+{
+  "depth_peak": 0.0059281568974256516,
+  "shear_peak": 0.0027983251493424177,
+  "force_magnitude_peak": 0.0065222978591918945,
+  "reference_frame_count": 0,
+  "dataset_name": "dag911262r00035d_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/dag911262r00035d_lerobot_0327_114714_86e4452f/episodes/ep000196/gripper_left_tactile_force_metrics.json b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-09_18-30/outputs_tactile/tactile_cache/dag911262r00035d_lerobot_0327_114714_86e4452f/episodes/ep000196/gripper_left_tactile_force_metrics.json
new file mode 100644
index 0000000000000000000000000000000000000000..d7b95dc01609948b4532a072cf8a3c3d5c5041fd
--- /dev/null
+++ b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-09_18-30/outputs_tactile/tactile_cache/dag911262r00035d_lerobot_0327_114714_86e4452f/episodes/ep000196/gripper_left_tactile_force_metrics.json
@@ -0,0 +1,9 @@
+{
+  "depth_peak": 0.0006054653786122799,
+  "shear_peak": 0.0014790287241339684,
+  "force_magnitude_peak": 0.0021438729017972946,
+  "reference_frame_count": 0,
+  "dataset_name": "dag911262r00035d_lerobot_0327_114714",
+  "episode_index": 196,
+  "sensor": "gripper_left_tactile"
+}
\ No newline at end of file
diff --git a/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-09_18-30/outputs_tactile/tactile_cache/dag911262r00035d_lerobot_0327_114714_86e4452f/episodes/ep000198/gripper_left_tactile_force_metrics.json b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-09_18-30/outputs_tactile/tactile_cache/dag911262r00035d_lerobot_0327_114714_86e4452f/episodes/ep000198/gripper_left_tactile_force_metrics.json
new file mode 100644
index 0000000000000000000000000000000000000000..4cdcd43db95d6f15f68e3e047e171056ed37455c
--- /dev/null
+++ b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-09_18-30/outputs_tactile/tactile_cache/dag911262r00035d_lerobot_0327_114714_86e4452f/episodes/ep000198/gripper_left_tactile_force_metrics.json
@@ -0,0 +1,9 @@
+{
+  "depth_peak": 0.0035287996288388968,
+  "shear_peak": 0.0020235199481248856,
+  "force_magnitude_peak": 0.0035834917798638344,
+  "reference_frame_count": 0,
+  "dataset_name": "dag911262r00035d_lerobot_0327_114714",
+  "episode_index": 198,
+  "sensor": "gripper_left_tactile"
+}
\ No newline at end of file
diff --git a/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-09_18-30/outputs_tactile/tactile_cache/dag911262r00035d_lerobot_0327_114714_86e4452f/episodes/ep000207/gripper_right_tactile_force_metrics.json b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-09_18-30/outputs_tactile/tactile_cache/dag911262r00035d_lerobot_0327_114714_86e4452f/episodes/ep000207/gripper_right_tactile_force_metrics.json
new file mode 100644
index 0000000000000000000000000000000000000000..9a822a5695112b870f3d453a8eaca724dfceea76
--- /dev/null
+++ b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-09_18-30/outputs_tactile/tactile_cache/dag911262r00035d_lerobot_0327_114714_86e4452f/episodes/ep000207/gripper_right_tactile_force_metrics.json
@@ -0,0 +1,9 @@
+{
+  "depth_peak": 0.0002848635194823146,
+  "shear_peak": 0.0023061714600771666,
+  "force_magnitude_peak": 0.002523957286030054,
+  "reference_frame_count": 0,
+  "dataset_name": "dag911262r00035d_lerobot_0327_114714",
+  "episode_index": 207,
+  "sensor": "gripper_right_tactile"
+}
\ No newline at end of file
diff --git a/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-09_18-30/outputs_tactile/tactile_cache/dag911262r00035d_lerobot_0327_114714_86e4452f/episodes/ep000407/gripper_right_tactile_force_metrics.json b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-09_18-30/outputs_tactile/tactile_cache/dag911262r00035d_lerobot_0327_114714_86e4452f/episodes/ep000407/gripper_right_tactile_force_metrics.json
new file mode 100644
index 0000000000000000000000000000000000000000..b2c13dd176862347ff11572ae610d952a67aba76
--- /dev/null
+++ b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-09_18-30/outputs_tactile/tactile_cache/dag911262r00035d_lerobot_0327_114714_86e4452f/episodes/ep000407/gripper_right_tactile_force_metrics.json
@@ -0,0 +1,9 @@
+{
+  "depth_peak": 0.0019000164465978742,
+  "shear_peak": 0.0008735746960155666,
+  "force_magnitude_peak": 0.001909837475977838,
+  "reference_frame_count": 0,
+  "dataset_name": "dag911262r00035d_lerobot_0327_114714",
+  "episode_index": 407,
+  "sensor": "gripper_right_tactile"
+}
\ No newline at end of file
diff --git a/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-09_18-30/outputs_tactile/tactile_cache/dag911262r00035d_lerobot_0327_114714_86e4452f/episodes/ep000414/gripper_right_tactile_force_metrics.json b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-09_18-30/outputs_tactile/tactile_cache/dag911262r00035d_lerobot_0327_114714_86e4452f/episodes/ep000414/gripper_right_tactile_force_metrics.json
new file mode 100644
index 0000000000000000000000000000000000000000..d00ff68b2d4817f8919c2bd1c7056624f5644fb0
--- /dev/null
+++ b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-09_18-30/outputs_tactile/tactile_cache/dag911262r00035d_lerobot_0327_114714_86e4452f/episodes/ep000414/gripper_right_tactile_force_metrics.json
@@ -0,0 +1,9 @@
+{
+  "depth_peak": 0.0016520442441105843,
+  "shear_peak": 0.002318526618182659,
+  "force_magnitude_peak": 0.0027420681435614824,
+  "reference_frame_count": 0,
+  "dataset_name": "dag911262r00035d_lerobot_0327_114714",
+  "episode_index": 414,
+  "sensor": "gripper_right_tactile"
+}
\ No newline at end of file
diff --git a/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-09_18-30/outputs_tactile/tactile_cache/dag911262r00035d_lerobot_0327_114714_86e4452f/episodes/ep000438/gripper_left_tactile_force_metrics.json b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-09_18-30/outputs_tactile/tactile_cache/dag911262r00035d_lerobot_0327_114714_86e4452f/episodes/ep000438/gripper_left_tactile_force_metrics.json
new file mode 100644
index 0000000000000000000000000000000000000000..fabff52d376d619d51a800a9f43c1a1c13185f3a
--- /dev/null
+++ b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-09_18-30/outputs_tactile/tactile_cache/dag911262r00035d_lerobot_0327_114714_86e4452f/episodes/ep000438/gripper_left_tactile_force_metrics.json
@@ -0,0 +1,9 @@
+{
+  "depth_peak": 0.0030134322587400675,
+  "shear_peak": 0.0017142492579296231,
+  "force_magnitude_peak": 0.0034492691047489643,
+  "reference_frame_count": 0,
+  "dataset_name": "dag911262r00035d_lerobot_0327_114714",
+  "episode_index": 438,
+  "sensor": "gripper_left_tactile"
+}
\ No newline at end of file
diff --git a/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-09_18-30/outputs_tactile/tactile_cache/dag911262r00035d_lerobot_0327_114714_86e4452f/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/dag911262r00035d_lerobot_0327_114714_86e4452f/episodes/ep000459/gripper_left_tactile_force_metrics.json
new file mode 100644
index 0000000000000000000000000000000000000000..66159f1ba7b39f0e5eb1280726a0a253f6b2b786
--- /dev/null
+++ b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-09_18-30/outputs_tactile/tactile_cache/dag911262r00035d_lerobot_0327_114714_86e4452f/episodes/ep000459/gripper_left_tactile_force_metrics.json
@@ -0,0 +1,9 @@
+{
+  "depth_peak": 0.0019073858857154846,
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+  "force_magnitude_peak": 0.0020415473263710737,
+  "reference_frame_count": 0,
+  "dataset_name": "dag911262r00035d_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/dag911262r00035d_lerobot_0327_114714_86e4452f/episodes/ep000487/gripper_left_tactile_force_metrics.json b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-09_18-30/outputs_tactile/tactile_cache/dag911262r00035d_lerobot_0327_114714_86e4452f/episodes/ep000487/gripper_left_tactile_force_metrics.json
new file mode 100644
index 0000000000000000000000000000000000000000..da4651a2c47d20b623b47fc199a6c14e2cab309c
--- /dev/null
+++ b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-09_18-30/outputs_tactile/tactile_cache/dag911262r00035d_lerobot_0327_114714_86e4452f/episodes/ep000487/gripper_left_tactile_force_metrics.json
@@ -0,0 +1,9 @@
+{
+  "depth_peak": 0.0009953794069588184,
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+  "force_magnitude_peak": 0.0014045994030311704,
+  "reference_frame_count": 0,
+  "dataset_name": "dag911262r00035d_lerobot_0327_114714",
+  "episode_index": 487,
+  "sensor": "gripper_left_tactile"
+}
\ No newline at end of file
diff --git a/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-09_18-30/outputs_tactile/tactile_cache/dag911262r00035d_lerobot_0327_114714_86e4452f/episodes/ep000492/gripper_right_tactile_force_metrics.json b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-09_18-30/outputs_tactile/tactile_cache/dag911262r00035d_lerobot_0327_114714_86e4452f/episodes/ep000492/gripper_right_tactile_force_metrics.json
new file mode 100644
index 0000000000000000000000000000000000000000..4d8f4b6c5802c5d4160f2a93395fc2d621310674
--- /dev/null
+++ b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-09_18-30/outputs_tactile/tactile_cache/dag911262r00035d_lerobot_0327_114714_86e4452f/episodes/ep000492/gripper_right_tactile_force_metrics.json
@@ -0,0 +1,9 @@
+{
+  "depth_peak": 0.0026525550056248903,
+  "shear_peak": 0.002697613788768649,
+  "force_magnitude_peak": 0.0037397637497633696,
+  "reference_frame_count": 0,
+  "dataset_name": "dag911262r00035d_lerobot_0327_114714",
+  "episode_index": 492,
+  "sensor": "gripper_right_tactile"
+}
\ No newline at end of file
diff --git a/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-09_18-30/outputs_tactile/tactile_cache/dag911262r00035d_lerobot_0327_114714_86e4452f/episodes/ep000499/gripper_left_tactile_force_metrics.json b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-09_18-30/outputs_tactile/tactile_cache/dag911262r00035d_lerobot_0327_114714_86e4452f/episodes/ep000499/gripper_left_tactile_force_metrics.json
new file mode 100644
index 0000000000000000000000000000000000000000..6b4b06752ac818d363bb0598d0f3ec6447f37d9a
--- /dev/null
+++ b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-09_18-30/outputs_tactile/tactile_cache/dag911262r00035d_lerobot_0327_114714_86e4452f/episodes/ep000499/gripper_left_tactile_force_metrics.json
@@ -0,0 +1,9 @@
+{
+  "depth_peak": 0.0015308668371289968,
+  "shear_peak": 0.0012154665309935808,
+  "force_magnitude_peak": 0.0015753282932564616,
+  "reference_frame_count": 0,
+  "dataset_name": "dag911262r00035d_lerobot_0327_114714",
+  "episode_index": 499,
+  "sensor": "gripper_left_tactile"
+}
\ No newline at end of file
diff --git a/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-09_18-30/outputs_tactile/tactile_cache/dag911262r00035d_lerobot_0327_114714_86e4452f/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/dag911262r00035d_lerobot_0327_114714_86e4452f/episodes/ep000509/gripper_left_tactile_force_metrics.json
new file mode 100644
index 0000000000000000000000000000000000000000..4c7c8f3274d769049b6060899a0dcdd54934df56
--- /dev/null
+++ b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-09_18-30/outputs_tactile/tactile_cache/dag911262r00035d_lerobot_0327_114714_86e4452f/episodes/ep000509/gripper_left_tactile_force_metrics.json
@@ -0,0 +1,9 @@
+{
+  "depth_peak": 0.0018460048595443368,
+  "shear_peak": 0.0013221220578998327,
+  "force_magnitude_peak": 0.0020753247663378716,
+  "reference_frame_count": 0,
+  "dataset_name": "dag911262r00035d_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/dag911262r00035d_lerobot_0327_114714_86e4452f/episodes/ep000518/gripper_left_tactile_force_metrics.json b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-09_18-30/outputs_tactile/tactile_cache/dag911262r00035d_lerobot_0327_114714_86e4452f/episodes/ep000518/gripper_left_tactile_force_metrics.json
new file mode 100644
index 0000000000000000000000000000000000000000..9ddf717249cf0cf284b674c6c4cb62976407f6ce
--- /dev/null
+++ b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-09_18-30/outputs_tactile/tactile_cache/dag911262r00035d_lerobot_0327_114714_86e4452f/episodes/ep000518/gripper_left_tactile_force_metrics.json
@@ -0,0 +1,9 @@
+{
+  "depth_peak": 0.0033985720947384834,
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+  "force_magnitude_peak": 0.0037114047445356846,
+  "reference_frame_count": 0,
+  "dataset_name": "dag911262r00035d_lerobot_0327_114714",
+  "episode_index": 518,
+  "sensor": "gripper_left_tactile"
+}
\ No newline at end of file
diff --git a/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-09_18-30/outputs_tactile/tactile_cache/dag911262r00035d_lerobot_0327_114714_86e4452f/episodes/ep000527/gripper_left_tactile_force_metrics.json b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-09_18-30/outputs_tactile/tactile_cache/dag911262r00035d_lerobot_0327_114714_86e4452f/episodes/ep000527/gripper_left_tactile_force_metrics.json
new file mode 100644
index 0000000000000000000000000000000000000000..a9fc66114546f14622b5b005bc2440d509b12aa7
--- /dev/null
+++ b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-09_18-30/outputs_tactile/tactile_cache/dag911262r00035d_lerobot_0327_114714_86e4452f/episodes/ep000527/gripper_left_tactile_force_metrics.json
@@ -0,0 +1,9 @@
+{
+  "depth_peak": 0.0006526150391437113,
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+  "force_magnitude_peak": 0.0034079542383551598,
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+  "dataset_name": "dag911262r00035d_lerobot_0327_114714",
+  "episode_index": 527,
+  "sensor": "gripper_left_tactile"
+}
\ No newline at end of file
diff --git a/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-09_18-30/outputs_tactile/tactile_cache/dag911262r00035d_lerobot_0327_114714_86e4452f/episodes/ep000556/gripper_left_tactile_force_metrics.json b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-09_18-30/outputs_tactile/tactile_cache/dag911262r00035d_lerobot_0327_114714_86e4452f/episodes/ep000556/gripper_left_tactile_force_metrics.json
new file mode 100644
index 0000000000000000000000000000000000000000..89436d5bf99317dcc3eb088aa4d5f753b1c4256b
--- /dev/null
+++ b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-09_18-30/outputs_tactile/tactile_cache/dag911262r00035d_lerobot_0327_114714_86e4452f/episodes/ep000556/gripper_left_tactile_force_metrics.json
@@ -0,0 +1,9 @@
+{
+  "depth_peak": 0.0027343230322003365,
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+  "force_magnitude_peak": 0.0029156666714698076,
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+  "dataset_name": "dag911262r00035d_lerobot_0327_114714",
+  "episode_index": 556,
+  "sensor": "gripper_left_tactile"
+}
\ No 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/ep000053/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/ep000053/gripper_right_tactile_force_metrics.json
new file mode 100644
index 0000000000000000000000000000000000000000..31131fd8731a0a681b149468547ee425fb272ea3
--- /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/ep000053/gripper_right_tactile_force_metrics.json
@@ -0,0 +1,9 @@
+{
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+  "reference_frame_count": 0,
+  "dataset_name": "dag911262r000448_lerobot_0327_114714",
+  "episode_index": 53,
+  "sensor": "gripper_right_tactile"
+}
\ No 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/ep000062/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/ep000062/gripper_right_tactile_force_metrics.json
new file mode 100644
index 0000000000000000000000000000000000000000..45a41a9b599f9e742fc1c1b8eb3bbf6498794277
--- /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/ep000062/gripper_right_tactile_force_metrics.json
@@ -0,0 +1,9 @@
+{
+  "depth_peak": 0.0017863260582089424,
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+  "force_magnitude_peak": 0.0045994361862540245,
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+  "dataset_name": "dag911262r000448_lerobot_0327_114714",
+  "episode_index": 62,
+  "sensor": "gripper_right_tactile"
+}
\ No 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/ep000154/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/ep000154/gripper_left_tactile_force_metrics.json
new file mode 100644
index 0000000000000000000000000000000000000000..436f92eeab421ae080e0f1f407f198f136107fa3
--- /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/ep000154/gripper_left_tactile_force_metrics.json
@@ -0,0 +1,9 @@
+{
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+  "force_magnitude_peak": 0.006470227148383856,
+  "reference_frame_count": 0,
+  "dataset_name": "dag911262r000448_lerobot_0327_114714",
+  "episode_index": 154,
+  "sensor": "gripper_left_tactile"
+}
\ No 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/ep000182/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/ep000182/gripper_right_tactile_force_metrics.json
new file mode 100644
index 0000000000000000000000000000000000000000..178092d9596f258a44b8b3470d50fa451b12e129
--- /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/ep000182/gripper_right_tactile_force_metrics.json
@@ -0,0 +1,9 @@
+{
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+  "dataset_name": "dag911262r000448_lerobot_0327_114714",
+  "episode_index": 182,
+  "sensor": "gripper_right_tactile"
+}
\ No 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/ep000207/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/ep000207/gripper_right_tactile_force_metrics.json
new file mode 100644
index 0000000000000000000000000000000000000000..49685d6a2512f2f960fedd3bf3556b2e16146e25
--- /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/ep000207/gripper_right_tactile_force_metrics.json
@@ -0,0 +1,9 @@
+{
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+  "force_magnitude_peak": 0.003258015727624297,
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+  "dataset_name": "dag911262r000448_lerobot_0327_114714",
+  "episode_index": 207,
+  "sensor": "gripper_right_tactile"
+}
\ No newline at end of file
diff --git a/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-09_18-30/outputs_tactile/tactile_cache/dag911262r000448_lerobot_0327_114714_4b260549/episodes/ep000242/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/ep000242/gripper_right_tactile_force_metrics.json
new file mode 100644
index 0000000000000000000000000000000000000000..18bc3d38a74aec2b545042e1f35d6ef00c924940
--- /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/ep000242/gripper_right_tactile_force_metrics.json
@@ -0,0 +1,9 @@
+{
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+  "dataset_name": "dag911262r000448_lerobot_0327_114714",
+  "episode_index": 242,
+  "sensor": "gripper_right_tactile"
+}
\ No 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/ep000293/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/ep000293/gripper_right_tactile_force_metrics.json
new file mode 100644
index 0000000000000000000000000000000000000000..ef5399a1958e2f0af0544e5e9c41141149e81a79
--- /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/ep000293/gripper_right_tactile_force_metrics.json
@@ -0,0 +1,9 @@
+{
+  "depth_peak": 0.0023797969333827496,
+  "shear_peak": 0.0034335372038185596,
+  "force_magnitude_peak": 0.003640871262177825,
+  "reference_frame_count": 0,
+  "dataset_name": "dag911262r000448_lerobot_0327_114714",
+  "episode_index": 293,
+  "sensor": "gripper_right_tactile"
+}
\ No 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/ep000322/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/ep000322/gripper_right_tactile_force_metrics.json
new file mode 100644
index 0000000000000000000000000000000000000000..c4a226aac61f1831f8bccaaf451c89dbf912ce6c
--- /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/ep000322/gripper_right_tactile_force_metrics.json
@@ -0,0 +1,9 @@
+{
+  "depth_peak": 0.0037345062009990215,
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+  "force_magnitude_peak": 0.0066583347506821156,
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+  "dataset_name": "dag911262r000448_lerobot_0327_114714",
+  "episode_index": 322,
+  "sensor": "gripper_right_tactile"
+}
\ No 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/ep000327/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/ep000327/gripper_right_tactile_force_metrics.json
new file mode 100644
index 0000000000000000000000000000000000000000..a3d7547ad38e3b0b0747529307c4df30425b12d1
--- /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/ep000327/gripper_right_tactile_force_metrics.json
@@ -0,0 +1,9 @@
+{
+  "depth_peak": 0.0013444270007312298,
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+  "force_magnitude_peak": 0.0020776221062988043,
+  "reference_frame_count": 0,
+  "dataset_name": "dag911262r000448_lerobot_0327_114714",
+  "episode_index": 327,
+  "sensor": "gripper_right_tactile"
+}
\ No newline at end of file
diff --git a/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-09_18-30/outputs_tactile/tactile_cache/dag911262r000448_lerobot_0327_114714_4b260549/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/dag911262r000448_lerobot_0327_114714_4b260549/episodes/ep000333/gripper_right_tactile_force_metrics.json
new file mode 100644
index 0000000000000000000000000000000000000000..8fe6c496d8bc8705d6003449a8aeb55b4c74b093
--- /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/ep000333/gripper_right_tactile_force_metrics.json
@@ -0,0 +1,9 @@
+{
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+  "force_magnitude_peak": 0.0026887606363743544,
+  "reference_frame_count": 0,
+  "dataset_name": "dag911262r000448_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/dag911262r000448_lerobot_0327_114714_4b260549/episodes/ep000362/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/ep000362/gripper_right_tactile_force_metrics.json
new file mode 100644
index 0000000000000000000000000000000000000000..7d7ad4c891d64430a023afb7f77747ddbde403ab
--- /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/ep000362/gripper_right_tactile_force_metrics.json
@@ -0,0 +1,9 @@
+{
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+  "force_magnitude_peak": 0.006396222859621048,
+  "reference_frame_count": 0,
+  "dataset_name": "dag911262r000448_lerobot_0327_114714",
+  "episode_index": 362,
+  "sensor": "gripper_right_tactile"
+}
\ No 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/ep000407/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/ep000407/gripper_right_tactile_force_metrics.json
new file mode 100644
index 0000000000000000000000000000000000000000..c9ec69327770de25059242b2233ee1b358fc963e
--- /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/ep000407/gripper_right_tactile_force_metrics.json
@@ -0,0 +1,9 @@
+{
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+  "shear_peak": 0.003046593628823757,
+  "force_magnitude_peak": 0.0036219123285263777,
+  "reference_frame_count": 0,
+  "dataset_name": "dag911262r000448_lerobot_0327_114714",
+  "episode_index": 407,
+  "sensor": "gripper_right_tactile"
+}
\ No newline at end of file
diff --git a/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-09_18-30/outputs_tactile/tactile_cache/dag911262r000448_lerobot_0327_114714_4b260549/episodes/ep000442/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/ep000442/gripper_right_tactile_force_metrics.json
new file mode 100644
index 0000000000000000000000000000000000000000..855125b19c27e39cf22dcd233b1edcd391f149eb
--- /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/ep000442/gripper_right_tactile_force_metrics.json
@@ -0,0 +1,9 @@
+{
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+  "force_magnitude_peak": 0.0052197822369635105,
+  "reference_frame_count": 0,
+  "dataset_name": "dag911262r000448_lerobot_0327_114714",
+  "episode_index": 442,
+  "sensor": "gripper_right_tactile"
+}
\ No 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/ep000447/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/ep000447/gripper_right_tactile_force_metrics.json
new file mode 100644
index 0000000000000000000000000000000000000000..1a38ca97047e571b933c4124df2c844f6c92821a
--- /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/ep000447/gripper_right_tactile_force_metrics.json
@@ -0,0 +1,9 @@
+{
+  "depth_peak": 0.0019173775799572468,
+  "shear_peak": 0.002519075758755207,
+  "force_magnitude_peak": 0.0041512358002364635,
+  "reference_frame_count": 0,
+  "dataset_name": "dag911262r000448_lerobot_0327_114714",
+  "episode_index": 447,
+  "sensor": "gripper_right_tactile"
+}
\ No newline at end of file
diff --git a/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-09_18-30/outputs_tactile/tactile_cache/dag911262r000448_lerobot_0327_114714_4b260549/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/dag911262r000448_lerobot_0327_114714_4b260549/episodes/ep000462/gripper_right_tactile_force_metrics.json
new file mode 100644
index 0000000000000000000000000000000000000000..4b1cf74388ec9ad134bb5d25b805bbf4ab0f04ce
--- /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/ep000462/gripper_right_tactile_force_metrics.json
@@ -0,0 +1,9 @@
+{
+  "depth_peak": 0.0021668486297130585,
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+  "force_magnitude_peak": 0.004101094324141741,
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+  "dataset_name": "dag911262r000448_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/dag911262r000448_lerobot_0327_114714_4b260549/episodes/ep000474/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/ep000474/gripper_left_tactile_force_metrics.json
new file mode 100644
index 0000000000000000000000000000000000000000..45619c8afb514117d7e38b04839b2517873410d4
--- /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/ep000474/gripper_left_tactile_force_metrics.json
@@ -0,0 +1,9 @@
+{
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+  "force_magnitude_peak": 0.0028837972786277533,
+  "reference_frame_count": 0,
+  "dataset_name": "dag911262r000448_lerobot_0327_114714",
+  "episode_index": 474,
+  "sensor": "gripper_left_tactile"
+}
\ No 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/ep000477/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/ep000477/gripper_right_tactile_force_metrics.json
new file mode 100644
index 0000000000000000000000000000000000000000..3741f9a1bf17805b7ed0f88950df105317f3fdf3
--- /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/ep000477/gripper_right_tactile_force_metrics.json
@@ -0,0 +1,9 @@
+{
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+  "dataset_name": "dag911262r000448_lerobot_0327_114714",
+  "episode_index": 477,
+  "sensor": "gripper_right_tactile"
+}
\ No 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/ep000502/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/ep000502/gripper_right_tactile_force_metrics.json
new file mode 100644
index 0000000000000000000000000000000000000000..8dfa76512347196201b019948787ada537a5d71d
--- /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/ep000502/gripper_right_tactile_force_metrics.json
@@ -0,0 +1,9 @@
+{
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+  "dataset_name": "dag911262r000448_lerobot_0327_114714",
+  "episode_index": 502,
+  "sensor": "gripper_right_tactile"
+}
\ No newline at end of file
diff --git a/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-09_18-30/outputs_tactile/tactile_cache/dag911262r000448_lerobot_0327_114714_4b260549/episodes/ep000542/gripper_left_tactile_force_metrics.json b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-09_18-30/outputs_tactile/tactile_cache/dag911262r000448_lerobot_0327_114714_4b260549/episodes/ep000542/gripper_left_tactile_force_metrics.json
new file mode 100644
index 0000000000000000000000000000000000000000..99d86e0881bcaffae6f23ea0828241d3bae0a870
--- /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/ep000542/gripper_left_tactile_force_metrics.json
@@ -0,0 +1,9 @@
+{
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+  "force_magnitude_peak": 0.0041548688896000385,
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+  "dataset_name": "dag911262r000448_lerobot_0327_114714",
+  "episode_index": 542,
+  "sensor": "gripper_left_tactile"
+}
\ No newline at end of file
diff --git a/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-09_18-30/outputs_tactile/tactile_cache/dag911262r000448_lerobot_0327_114714_4b260549/episodes/ep000557/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/ep000557/gripper_right_tactile_force_metrics.json
new file mode 100644
index 0000000000000000000000000000000000000000..e2ef7ffc6bd041f09b4f070375e0fa61d369619e
--- /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/ep000557/gripper_right_tactile_force_metrics.json
@@ -0,0 +1,9 @@
+{
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+  "dataset_name": "dag911262r000448_lerobot_0327_114714",
+  "episode_index": 557,
+  "sensor": "gripper_right_tactile"
+}
\ No 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/ep000608/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/ep000608/gripper_left_tactile_force_metrics.json
new file mode 100644
index 0000000000000000000000000000000000000000..ca2b346aa059f8d880f8f2d1ce0894d6130f06c9
--- /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/ep000608/gripper_left_tactile_force_metrics.json
@@ -0,0 +1,9 @@
+{
+  "depth_peak": 0.0013386399950832129,
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+  "force_magnitude_peak": 0.0025228627491742373,
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+  "dataset_name": "dag911262r000448_lerobot_0327_114714",
+  "episode_index": 608,
+  "sensor": "gripper_left_tactile"
+}
\ No 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/ep000613/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/ep000613/gripper_right_tactile_force_metrics.json
new file mode 100644
index 0000000000000000000000000000000000000000..2a348516783ae17c4b5ec80366a12d8302455257
--- /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/ep000613/gripper_right_tactile_force_metrics.json
@@ -0,0 +1,9 @@
+{
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+  "dataset_name": "dag911262r000448_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/dag911262r000448_lerobot_0327_114714_4b260549/episodes/ep000615/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/ep000615/gripper_left_tactile_force_metrics.json
new file mode 100644
index 0000000000000000000000000000000000000000..a5368a73b74f234555f05e9dc42a366d94214c29
--- /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/ep000615/gripper_left_tactile_force_metrics.json
@@ -0,0 +1,9 @@
+{
+  "depth_peak": 0.0028418758884072304,
+  "shear_peak": 0.0019081352511420846,
+  "force_magnitude_peak": 0.0031438120640814304,
+  "reference_frame_count": 0,
+  "dataset_name": "dag911262r000448_lerobot_0327_114714",
+  "episode_index": 615,
+  "sensor": "gripper_left_tactile"
+}
\ No 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/ep000113/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/ep000113/gripper_right_tactile_force_metrics.json
new file mode 100644
index 0000000000000000000000000000000000000000..8ecc2b1f103edf0e327caa794b9766b5e5ca456a
--- /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/ep000113/gripper_right_tactile_force_metrics.json
@@ -0,0 +1,9 @@
+{
+  "depth_peak": 0.001941847032867372,
+  "shear_peak": 0.0036373708862811327,
+  "force_magnitude_peak": 0.0036430563777685165,
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+  "dataset_name": "dag911262r00054f_lerobot_0327_114714",
+  "episode_index": 113,
+  "sensor": "gripper_right_tactile"
+}
\ No 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/ep000154/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/ep000154/gripper_left_tactile_force_metrics.json
new file mode 100644
index 0000000000000000000000000000000000000000..f4994a36b009b2f34e97effa88e51bb931639614
--- /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/ep000154/gripper_left_tactile_force_metrics.json
@@ -0,0 +1,9 @@
+{
+  "depth_peak": 0.0021223619114607573,
+  "shear_peak": 0.0024361403193324804,
+  "force_magnitude_peak": 0.0025462573394179344,
+  "reference_frame_count": 0,
+  "dataset_name": "dag911262r00054f_lerobot_0327_114714",
+  "episode_index": 154,
+  "sensor": "gripper_left_tactile"
+}
\ No 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/ep000168/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/ep000168/gripper_left_tactile_force_metrics.json
new file mode 100644
index 0000000000000000000000000000000000000000..34c684ff60b14ec909bd212566bfa1ed3ea4f415
--- /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/ep000168/gripper_left_tactile_force_metrics.json
@@ -0,0 +1,9 @@
+{
+  "depth_peak": 0.00045938222319819033,
+  "shear_peak": 0.0025275403168052435,
+  "force_magnitude_peak": 0.003027705242857337,
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+  "dataset_name": "dag911262r00054f_lerobot_0327_114714",
+  "episode_index": 168,
+  "sensor": "gripper_left_tactile"
+}
\ No newline at end of file
diff --git a/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-09_18-30/outputs_tactile/tactile_cache/dag911262r00054f_lerobot_0327_114714_c83a1436/episodes/ep000234/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/ep000234/gripper_left_tactile_force_metrics.json
new file mode 100644
index 0000000000000000000000000000000000000000..5a0640ec1bf1bf0eed13920f50ed66326be1ca79
--- /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/ep000234/gripper_left_tactile_force_metrics.json
@@ -0,0 +1,9 @@
+{
+  "depth_peak": 0.0017136908136308193,
+  "shear_peak": 0.0030042114667594433,
+  "force_magnitude_peak": 0.0031450402457267046,
+  "reference_frame_count": 0,
+  "dataset_name": "dag911262r00054f_lerobot_0327_114714",
+  "episode_index": 234,
+  "sensor": "gripper_left_tactile"
+}
\ No 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/ep000298/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/ep000298/gripper_right_tactile_force_metrics.json
new file mode 100644
index 0000000000000000000000000000000000000000..8f6f23619ece4bfff018455c4ecc8b57617a7cfa
--- /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/ep000298/gripper_right_tactile_force_metrics.json
@@ -0,0 +1,9 @@
+{
+  "depth_peak": 0.0028103264048695564,
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+  "force_magnitude_peak": 0.003997785970568657,
+  "reference_frame_count": 0,
+  "dataset_name": "dag911262r00054f_lerobot_0327_114714",
+  "episode_index": 298,
+  "sensor": "gripper_right_tactile"
+}
\ No 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/ep000443/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/ep000443/gripper_right_tactile_force_metrics.json
new file mode 100644
index 0000000000000000000000000000000000000000..109d92ca32018c7283ae5c576a30bde1553f3784
--- /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/ep000443/gripper_right_tactile_force_metrics.json
@@ -0,0 +1,9 @@
+{
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+  "force_magnitude_peak": 0.004156972281634808,
+  "reference_frame_count": 0,
+  "dataset_name": "dag911262r00054f_lerobot_0327_114714",
+  "episode_index": 443,
+  "sensor": "gripper_right_tactile"
+}
\ No 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/ep000473/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/ep000473/gripper_right_tactile_force_metrics.json
new file mode 100644
index 0000000000000000000000000000000000000000..b8284d5a3a39974164f68dbc975dbbe36c7da6d2
--- /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/ep000473/gripper_right_tactile_force_metrics.json
@@ -0,0 +1,9 @@
+{
+  "depth_peak": 0.0033069956116378307,
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+  "force_magnitude_peak": 0.0059022074565291405,
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+  "dataset_name": "dag911262r00054f_lerobot_0327_114714",
+  "episode_index": 473,
+  "sensor": "gripper_right_tactile"
+}
\ No newline at end of file
diff --git a/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-09_18-30/outputs_tactile/tactile_cache/dag911262r00054f_lerobot_0327_114714_c83a1436/episodes/ep000494/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/ep000494/gripper_left_tactile_force_metrics.json
new file mode 100644
index 0000000000000000000000000000000000000000..406e4b135def44c2dcf6663242c9078db138522c
--- /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/ep000494/gripper_left_tactile_force_metrics.json
@@ -0,0 +1,9 @@
+{
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+  "force_magnitude_peak": 0.0035015044268220663,
+  "reference_frame_count": 0,
+  "dataset_name": "dag911262r00054f_lerobot_0327_114714",
+  "episode_index": 494,
+  "sensor": "gripper_left_tactile"
+}
\ No 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/ep000529/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/ep000529/gripper_left_tactile_force_metrics.json
new file mode 100644
index 0000000000000000000000000000000000000000..aef6cda418b0ab0728ffd1e5d69e9f97872f0183
--- /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/ep000529/gripper_left_tactile_force_metrics.json
@@ -0,0 +1,9 @@
+{
+  "depth_peak": 0.0026612391229718924,
+  "shear_peak": 0.0036419846583157778,
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+  "reference_frame_count": 0,
+  "dataset_name": "dag911262r00054f_lerobot_0327_114714",
+  "episode_index": 529,
+  "sensor": "gripper_left_tactile"
+}
\ No newline at end of file
diff --git a/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-09_18-30/outputs_tactile/tactile_cache/dag911262r00054f_lerobot_0327_114714_c83a1436/episodes/ep000584/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/ep000584/gripper_right_tactile_force_metrics.json
new file mode 100644
index 0000000000000000000000000000000000000000..bc56df5e480a168ad104b26dd74e4e39c640a177
--- /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/ep000584/gripper_right_tactile_force_metrics.json
@@ -0,0 +1,9 @@
+{
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+  "force_magnitude_peak": 0.005676859524101019,
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+  "dataset_name": "dag911262r00054f_lerobot_0327_114714",
+  "episode_index": 584,
+  "sensor": "gripper_right_tactile"
+}
\ No 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/ep000130/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/ep000130/gripper_right_tactile_force_metrics.json
new file mode 100644
index 0000000000000000000000000000000000000000..70f624ddbd81be25a01d555da374d98315372d2c
--- /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/ep000130/gripper_right_tactile_force_metrics.json
@@ -0,0 +1,9 @@
+{
+  "depth_peak": 0.0009419295820407569,
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+  "dataset_name": "dag911262r000646_lerobot_0327_114714",
+  "episode_index": 130,
+  "sensor": "gripper_right_tactile"
+}
\ No 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/ep000132/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/ep000132/gripper_left_tactile_force_metrics.json
new file mode 100644
index 0000000000000000000000000000000000000000..2640848d2ad5ed487f49108a5c13bdd2120da1f8
--- /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/ep000132/gripper_left_tactile_force_metrics.json
@@ -0,0 +1,9 @@
+{
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+  "shear_peak": 0.0026805170346051455,
+  "force_magnitude_peak": 0.0028644667472690344,
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+  "dataset_name": "dag911262r000646_lerobot_0327_114714",
+  "episode_index": 132,
+  "sensor": "gripper_left_tactile"
+}
\ No 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/ep000158/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/ep000158/gripper_right_tactile_force_metrics.json
new file mode 100644
index 0000000000000000000000000000000000000000..ec3441e12b51590b2ce655908260515e32a0b132
--- /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/ep000158/gripper_right_tactile_force_metrics.json
@@ -0,0 +1,9 @@
+{
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+  "force_magnitude_peak": 0.0044263373129069805,
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+  "dataset_name": "dag911262r000646_lerobot_0327_114714",
+  "episode_index": 158,
+  "sensor": "gripper_right_tactile"
+}
\ No 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/ep000170/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/ep000170/gripper_left_tactile_force_metrics.json
new file mode 100644
index 0000000000000000000000000000000000000000..e09e9bd84083165b1837e6e357bac199aa51ea15
--- /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/ep000170/gripper_left_tactile_force_metrics.json
@@ -0,0 +1,9 @@
+{
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+  "force_magnitude_peak": 0.0035829285625368357,
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+  "dataset_name": "dag911262r000646_lerobot_0327_114714",
+  "episode_index": 170,
+  "sensor": "gripper_left_tactile"
+}
\ No newline at end of file
diff --git a/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-09_18-30/outputs_tactile/tactile_cache/dag911262r00145d_lerobot_0327_114714_e46ad16b/episodes/ep000265/gripper_right_tactile_force_metrics.json b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-09_18-30/outputs_tactile/tactile_cache/dag911262r00145d_lerobot_0327_114714_e46ad16b/episodes/ep000265/gripper_right_tactile_force_metrics.json
new file mode 100644
index 0000000000000000000000000000000000000000..b0ae4fef75054777a40b93b288529e0946b27df2
--- /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/ep000265/gripper_right_tactile_force_metrics.json
@@ -0,0 +1,9 @@
+{
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+  "dataset_name": "dag911262r00145d_lerobot_0327_114714",
+  "episode_index": 265,
+  "sensor": "gripper_right_tactile"
+}
\ No newline at end of file
diff --git a/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-09_18-30/outputs_tactile/tactile_cache/dag911262r00145d_lerobot_0327_114714_e46ad16b/episodes/ep000283/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/ep000283/gripper_right_tactile_force_metrics.json
new file mode 100644
index 0000000000000000000000000000000000000000..c2296022db16ae78ac563ed2f19a815c9617348f
--- /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/ep000283/gripper_right_tactile_force_metrics.json
@@ -0,0 +1,9 @@
+{
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+  "dataset_name": "dag911262r00145d_lerobot_0327_114714",
+  "episode_index": 283,
+  "sensor": "gripper_right_tactile"
+}
\ No newline at end of file
diff --git a/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-09_18-30/outputs_tactile/tactile_cache/dag911262r00145d_lerobot_0327_114714_e46ad16b/episodes/ep000421/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/ep000421/gripper_left_tactile_force_metrics.json
new file mode 100644
index 0000000000000000000000000000000000000000..555f21380270303d2cb601e2d04bb44f2bd609c8
--- /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/ep000421/gripper_left_tactile_force_metrics.json
@@ -0,0 +1,9 @@
+{
+  "depth_peak": 0.00010783781908685341,
+  "shear_peak": 0.0034394385293126106,
+  "force_magnitude_peak": 0.0038104921113699675,
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+  "dataset_name": "dag911262r00145d_lerobot_0327_114714",
+  "episode_index": 421,
+  "sensor": "gripper_left_tactile"
+}
\ No newline at end of file
diff --git a/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-09_18-30/outputs_tactile/tactile_cache/dag911262r00145d_lerobot_0327_114714_e46ad16b/episodes/ep000563/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/ep000563/gripper_right_tactile_force_metrics.json
new file mode 100644
index 0000000000000000000000000000000000000000..6240301fc8941aa7f52165352cbacfe54cb68be2
--- /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/ep000563/gripper_right_tactile_force_metrics.json
@@ -0,0 +1,9 @@
+{
+  "depth_peak": 0.0005316387978382409,
+  "shear_peak": 0.0019585853442549706,
+  "force_magnitude_peak": 0.0020340546034276485,
+  "reference_frame_count": 0,
+  "dataset_name": "dag911262r00145d_lerobot_0327_114714",
+  "episode_index": 563,
+  "sensor": "gripper_right_tactile"
+}
\ No 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/ep000603/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/ep000603/gripper_right_tactile_force_metrics.json
new file mode 100644
index 0000000000000000000000000000000000000000..8084da3123f1e50eebf741c015ed72d5f2c6285c
--- /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/ep000603/gripper_right_tactile_force_metrics.json
@@ -0,0 +1,9 @@
+{
+  "depth_peak": 0.0026221913285553455,
+  "shear_peak": 0.0031088776886463165,
+  "force_magnitude_peak": 0.0037788019981235266,
+  "reference_frame_count": 0,
+  "dataset_name": "dag911262r00145d_lerobot_0327_114714",
+  "episode_index": 603,
+  "sensor": "gripper_right_tactile"
+}
\ No 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/ep000627/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/ep000627/gripper_right_tactile_force_metrics.json
new file mode 100644
index 0000000000000000000000000000000000000000..e76359b4ec54ec2237da97c0a9258df14ed38a0e
--- /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/ep000627/gripper_right_tactile_force_metrics.json
@@ -0,0 +1,9 @@
+{
+  "depth_peak": 0.0012199899647384882,
+  "shear_peak": 0.0037909173406660557,
+  "force_magnitude_peak": 0.0038689442444592714,
+  "reference_frame_count": 0,
+  "dataset_name": "dag911262r00145d_lerobot_0327_114714",
+  "episode_index": 627,
+  "sensor": "gripper_right_tactile"
+}
\ No 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/ep000696/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/ep000696/gripper_right_tactile_force_metrics.json
new file mode 100644
index 0000000000000000000000000000000000000000..51ca7ab05337ebbdaa1d6ad1a159c7d8fe7ce8fb
--- /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/ep000696/gripper_right_tactile_force_metrics.json
@@ -0,0 +1,9 @@
+{
+  "depth_peak": 0.00033880051341839135,
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+  "force_magnitude_peak": 0.003499450162053108,
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+  "dataset_name": "dag911262r00145d_lerobot_0327_114714",
+  "episode_index": 696,
+  "sensor": "gripper_right_tactile"
+}
\ No 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/ep000184/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/ep000184/gripper_right_tactile_force_metrics.json
new file mode 100644
index 0000000000000000000000000000000000000000..8b6a70c14c72fa8cab9b76150928037a64500006
--- /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/ep000184/gripper_right_tactile_force_metrics.json
@@ -0,0 +1,9 @@
+{
+  "depth_peak": 0.0013315067626535892,
+  "shear_peak": 0.0012473337119445205,
+  "force_magnitude_peak": 0.0015919188736006618,
+  "reference_frame_count": 0,
+  "dataset_name": "dag911262r001653_lerobot_0327_114714",
+  "episode_index": 184,
+  "sensor": "gripper_right_tactile"
+}
\ No 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/ep000306/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/ep000306/gripper_right_tactile_force_metrics.json
new file mode 100644
index 0000000000000000000000000000000000000000..2efe5a317df4e3fedb7ef82e352ea7cfc7371e84
--- /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/ep000306/gripper_right_tactile_force_metrics.json
@@ -0,0 +1,9 @@
+{
+  "depth_peak": 0.0010925225215032697,
+  "shear_peak": 0.0032659415155649185,
+  "force_magnitude_peak": 0.0045240772888064384,
+  "reference_frame_count": 0,
+  "dataset_name": "dag911262r001653_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/dag911262r00207e_lerobot_0327_114714_df3cd5a7/episodes/ep000184/gripper_right_tactile_force_metrics.json b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-09_18-30/outputs_tactile/tactile_cache/dag911262r00207e_lerobot_0327_114714_df3cd5a7/episodes/ep000184/gripper_right_tactile_force_metrics.json
new file mode 100644
index 0000000000000000000000000000000000000000..66266db5d71e6a3872ffcc2d8d00759bb5dcb8c8
--- /dev/null
+++ b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-09_18-30/outputs_tactile/tactile_cache/dag911262r00207e_lerobot_0327_114714_df3cd5a7/episodes/ep000184/gripper_right_tactile_force_metrics.json
@@ -0,0 +1,9 @@
+{
+  "depth_peak": 0.0035894052125513554,
+  "shear_peak": 0.0017486967844888568,
+  "force_magnitude_peak": 0.0037021248135715723,
+  "reference_frame_count": 0,
+  "dataset_name": "dag911262r00207e_lerobot_0327_114714",
+  "episode_index": 184,
+  "sensor": "gripper_right_tactile"
+}
\ No newline at end of file
diff --git a/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-09_18-30/outputs_tactile/tactile_cache/dag911262r00207e_lerobot_0327_114714_df3cd5a7/episodes/ep000232/gripper_left_tactile_force_metrics.json b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-09_18-30/outputs_tactile/tactile_cache/dag911262r00207e_lerobot_0327_114714_df3cd5a7/episodes/ep000232/gripper_left_tactile_force_metrics.json
new file mode 100644
index 0000000000000000000000000000000000000000..d37345cf63a5647f5bde7250bdf868f0ab6ea6bf
--- /dev/null
+++ b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-09_18-30/outputs_tactile/tactile_cache/dag911262r00207e_lerobot_0327_114714_df3cd5a7/episodes/ep000232/gripper_left_tactile_force_metrics.json
@@ -0,0 +1,9 @@
+{
+  "depth_peak": 0.00027667463291436434,
+  "shear_peak": 0.0012220775242894888,
+  "force_magnitude_peak": 0.0013000838225707412,
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+  "dataset_name": "dag911262r00207e_lerobot_0327_114714",
+  "episode_index": 232,
+  "sensor": "gripper_left_tactile"
+}
\ No newline at end of file
diff --git a/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-09_18-30/outputs_tactile/tactile_cache/dag911262r00207e_lerobot_0327_114714_df3cd5a7/episodes/ep000257/gripper_left_tactile_force_metrics.json b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-09_18-30/outputs_tactile/tactile_cache/dag911262r00207e_lerobot_0327_114714_df3cd5a7/episodes/ep000257/gripper_left_tactile_force_metrics.json
new file mode 100644
index 0000000000000000000000000000000000000000..b564d39ebc6c73aa10376e35d55c3a6e6f7386cd
--- /dev/null
+++ b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-09_18-30/outputs_tactile/tactile_cache/dag911262r00207e_lerobot_0327_114714_df3cd5a7/episodes/ep000257/gripper_left_tactile_force_metrics.json
@@ -0,0 +1,9 @@
+{
+  "depth_peak": 0.00041496221092529595,
+  "shear_peak": 0.0012635622406378388,
+  "force_magnitude_peak": 0.0032596164382994175,
+  "reference_frame_count": 0,
+  "dataset_name": "dag911262r00207e_lerobot_0327_114714",
+  "episode_index": 257,
+  "sensor": "gripper_left_tactile"
+}
\ No newline at end of file
diff --git a/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-09_18-30/outputs_tactile/tactile_cache/dag911262r00207e_lerobot_0327_114714_df3cd5a7/episodes/ep000257/gripper_right_tactile_force_metrics.json b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-09_18-30/outputs_tactile/tactile_cache/dag911262r00207e_lerobot_0327_114714_df3cd5a7/episodes/ep000257/gripper_right_tactile_force_metrics.json
new file mode 100644
index 0000000000000000000000000000000000000000..d50601f6d80489e4ec45019562241e54cc9e15fe
--- /dev/null
+++ b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-09_18-30/outputs_tactile/tactile_cache/dag911262r00207e_lerobot_0327_114714_df3cd5a7/episodes/ep000257/gripper_right_tactile_force_metrics.json
@@ -0,0 +1,9 @@
+{
+  "depth_peak": 0.0003005054604727775,
+  "shear_peak": 0.0016028499230742455,
+  "force_magnitude_peak": 0.0019338118145242333,
+  "reference_frame_count": 0,
+  "dataset_name": "dag911262r00207e_lerobot_0327_114714",
+  "episode_index": 257,
+  "sensor": "gripper_right_tactile"
+}
\ No newline at end of file
diff --git a/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-09_18-30/outputs_tactile/tactile_cache/dag911262r00207e_lerobot_0327_114714_df3cd5a7/episodes/ep000264/gripper_right_tactile_force_metrics.json b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-09_18-30/outputs_tactile/tactile_cache/dag911262r00207e_lerobot_0327_114714_df3cd5a7/episodes/ep000264/gripper_right_tactile_force_metrics.json
new file mode 100644
index 0000000000000000000000000000000000000000..5c33b8e17eb15b9c71ec6aca881c16378e002fa2
--- /dev/null
+++ b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-09_18-30/outputs_tactile/tactile_cache/dag911262r00207e_lerobot_0327_114714_df3cd5a7/episodes/ep000264/gripper_right_tactile_force_metrics.json
@@ -0,0 +1,9 @@
+{
+  "depth_peak": 0.0013837935402989388,
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+  "force_magnitude_peak": 0.0020898194052278996,
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+  "dataset_name": "dag911262r00207e_lerobot_0327_114714",
+  "episode_index": 264,
+  "sensor": "gripper_right_tactile"
+}
\ No newline at end of file
diff --git a/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-09_18-30/outputs_tactile/tactile_cache/dag911262r00207e_lerobot_0327_114714_df3cd5a7/episodes/ep000568/gripper_right_tactile_force_metrics.json b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-09_18-30/outputs_tactile/tactile_cache/dag911262r00207e_lerobot_0327_114714_df3cd5a7/episodes/ep000568/gripper_right_tactile_force_metrics.json
new file mode 100644
index 0000000000000000000000000000000000000000..f65a1feba164a30da2fdb3c4cfd50f22fdf7e206
--- /dev/null
+++ b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-09_18-30/outputs_tactile/tactile_cache/dag911262r00207e_lerobot_0327_114714_df3cd5a7/episodes/ep000568/gripper_right_tactile_force_metrics.json
@@ -0,0 +1,9 @@
+{
+  "depth_peak": 0.0031860137823969126,
+  "shear_peak": 0.0015420758863911033,
+  "force_magnitude_peak": 0.0034631374292075634,
+  "reference_frame_count": 0,
+  "dataset_name": "dag911262r00207e_lerobot_0327_114714",
+  "episode_index": 568,
+  "sensor": "gripper_right_tactile"
+}
\ No newline at end of file
diff --git a/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-09_18-30/outputs_tactile/tactile_cache/dag911262r00207e_lerobot_0327_114714_df3cd5a7/episodes/ep000624/gripper_right_tactile_force_metrics.json b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-09_18-30/outputs_tactile/tactile_cache/dag911262r00207e_lerobot_0327_114714_df3cd5a7/episodes/ep000624/gripper_right_tactile_force_metrics.json
new file mode 100644
index 0000000000000000000000000000000000000000..9d9f347a12f04f8cb8e431cd4346e71f3c60c3fa
--- /dev/null
+++ b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-09_18-30/outputs_tactile/tactile_cache/dag911262r00207e_lerobot_0327_114714_df3cd5a7/episodes/ep000624/gripper_right_tactile_force_metrics.json
@@ -0,0 +1,9 @@
+{
+  "depth_peak": 0.0016240867553278804,
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+  "reference_frame_count": 0,
+  "dataset_name": "dag911262r00207e_lerobot_0327_114714",
+  "episode_index": 624,
+  "sensor": "gripper_right_tactile"
+}
\ No newline at end of file
diff --git a/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-09_18-30/outputs_tactile/tactile_cache/dag911262r00207e_lerobot_0327_114714_df3cd5a7/episodes/ep000666/gripper_right_tactile_force_metrics.json b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-09_18-30/outputs_tactile/tactile_cache/dag911262r00207e_lerobot_0327_114714_df3cd5a7/episodes/ep000666/gripper_right_tactile_force_metrics.json
new file mode 100644
index 0000000000000000000000000000000000000000..3865a16bd70c7024a8c5f0219e206a39048e76a1
--- /dev/null
+++ b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-09_18-30/outputs_tactile/tactile_cache/dag911262r00207e_lerobot_0327_114714_df3cd5a7/episodes/ep000666/gripper_right_tactile_force_metrics.json
@@ -0,0 +1,9 @@
+{
+  "depth_peak": 0.0025275235529989004,
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+  "force_magnitude_peak": 0.0032239428255707026,
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+  "dataset_name": "dag911262r00207e_lerobot_0327_114714",
+  "episode_index": 666,
+  "sensor": "gripper_right_tactile"
+}
\ No newline at end of file
diff --git a/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-09_18-30/outputs_tactile/tactile_cache/dag911262r00207e_lerobot_0327_114714_df3cd5a7/episodes/ep000728/gripper_right_tactile_force_metrics.json b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-09_18-30/outputs_tactile/tactile_cache/dag911262r00207e_lerobot_0327_114714_df3cd5a7/episodes/ep000728/gripper_right_tactile_force_metrics.json
new file mode 100644
index 0000000000000000000000000000000000000000..1838e21564c545cbb6b47364f7b902b7f64e61cb
--- /dev/null
+++ b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-09_18-30/outputs_tactile/tactile_cache/dag911262r00207e_lerobot_0327_114714_df3cd5a7/episodes/ep000728/gripper_right_tactile_force_metrics.json
@@ -0,0 +1,9 @@
+{
+  "depth_peak": 0.0011277736630290747,
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+  "force_magnitude_peak": 0.0024871265050023794,
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+  "dataset_name": "dag911262r00207e_lerobot_0327_114714",
+  "episode_index": 728,
+  "sensor": "gripper_right_tactile"
+}
\ No newline at end of file
diff --git a/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-09_18-30/outputs_tactile/tactile_cache/dag911262r00207e_lerobot_0327_114714_df3cd5a7/episodes/ep000808/gripper_right_tactile_force_metrics.json b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-09_18-30/outputs_tactile/tactile_cache/dag911262r00207e_lerobot_0327_114714_df3cd5a7/episodes/ep000808/gripper_right_tactile_force_metrics.json
new file mode 100644
index 0000000000000000000000000000000000000000..9ab843204ced5636b8704093dfbd4c5897ab2279
--- /dev/null
+++ b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-09_18-30/outputs_tactile/tactile_cache/dag911262r00207e_lerobot_0327_114714_df3cd5a7/episodes/ep000808/gripper_right_tactile_force_metrics.json
@@ -0,0 +1,9 @@
+{
+  "depth_peak": 0.00036794139305129647,
+  "shear_peak": 0.0014092023484408855,
+  "force_magnitude_peak": 0.001504995976574719,
+  "reference_frame_count": 0,
+  "dataset_name": "dag911262r00207e_lerobot_0327_114714",
+  "episode_index": 808,
+  "sensor": "gripper_right_tactile"
+}
\ No newline at end of file
diff --git a/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-09_18-30/outputs_tactile/tactile_cache/dag911262r00207e_lerobot_0327_114714_df3cd5a7/episodes/ep000824/gripper_right_tactile_force_metrics.json b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-09_18-30/outputs_tactile/tactile_cache/dag911262r00207e_lerobot_0327_114714_df3cd5a7/episodes/ep000824/gripper_right_tactile_force_metrics.json
new file mode 100644
index 0000000000000000000000000000000000000000..b7506910cfc30dea19473931203ed5da2bdcbf6d
--- /dev/null
+++ b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-09_18-30/outputs_tactile/tactile_cache/dag911262r00207e_lerobot_0327_114714_df3cd5a7/episodes/ep000824/gripper_right_tactile_force_metrics.json
@@ -0,0 +1,9 @@
+{
+  "depth_peak": 0.0008230218081735075,
+  "shear_peak": 0.0023897874634712934,
+  "force_magnitude_peak": 0.0024887947365641594,
+  "reference_frame_count": 0,
+  "dataset_name": "dag911262r00207e_lerobot_0327_114714",
+  "episode_index": 824,
+  "sensor": "gripper_right_tactile"
+}
\ No newline at end of file
diff --git a/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-09_18-30/outputs_tactile/tactile_cache/dag911262r002377_lerobot_0327_114714_729e31e8/episodes/ep000233/gripper_right_tactile_force_metrics.json b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-09_18-30/outputs_tactile/tactile_cache/dag911262r002377_lerobot_0327_114714_729e31e8/episodes/ep000233/gripper_right_tactile_force_metrics.json
new file mode 100644
index 0000000000000000000000000000000000000000..b4dbf2d6c113d42c85e48369fb5a42e712fc5168
--- /dev/null
+++ b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-09_18-30/outputs_tactile/tactile_cache/dag911262r002377_lerobot_0327_114714_729e31e8/episodes/ep000233/gripper_right_tactile_force_metrics.json
@@ -0,0 +1,9 @@
+{
+  "depth_peak": 0.0008146577165462077,
+  "shear_peak": 0.0018185559893026948,
+  "force_magnitude_peak": 0.0021103904582560062,
+  "reference_frame_count": 0,
+  "dataset_name": "dag911262r002377_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/dag911262r002377_lerobot_0327_114714_729e31e8/episodes/ep000262/gripper_right_tactile_force_metrics.json b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-09_18-30/outputs_tactile/tactile_cache/dag911262r002377_lerobot_0327_114714_729e31e8/episodes/ep000262/gripper_right_tactile_force_metrics.json
new file mode 100644
index 0000000000000000000000000000000000000000..acb330bad78bd29312110d24150c73e30f169af5
--- /dev/null
+++ b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-09_18-30/outputs_tactile/tactile_cache/dag911262r002377_lerobot_0327_114714_729e31e8/episodes/ep000262/gripper_right_tactile_force_metrics.json
@@ -0,0 +1,9 @@
+{
+  "depth_peak": 0.0005989662604406476,
+  "shear_peak": 0.0013569336151704192,
+  "force_magnitude_peak": 0.0013596670469269156,
+  "reference_frame_count": 0,
+  "dataset_name": "dag911262r002377_lerobot_0327_114714",
+  "episode_index": 262,
+  "sensor": "gripper_right_tactile"
+}
\ No newline at end of file
diff --git a/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-09_18-30/outputs_tactile/tactile_cache/dag911262r002377_lerobot_0327_114714_729e31e8/episodes/ep000284/gripper_right_tactile_force_metrics.json b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-09_18-30/outputs_tactile/tactile_cache/dag911262r002377_lerobot_0327_114714_729e31e8/episodes/ep000284/gripper_right_tactile_force_metrics.json
new file mode 100644
index 0000000000000000000000000000000000000000..595c8bc61b388b1306c57c219ce91265f8ecdab3
--- /dev/null
+++ b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-09_18-30/outputs_tactile/tactile_cache/dag911262r002377_lerobot_0327_114714_729e31e8/episodes/ep000284/gripper_right_tactile_force_metrics.json
@@ -0,0 +1,9 @@
+{
+  "depth_peak": 0.0007737415726296604,
+  "shear_peak": 0.0032212603837251663,
+  "force_magnitude_peak": 0.0033890448976308107,
+  "reference_frame_count": 0,
+  "dataset_name": "dag911262r002377_lerobot_0327_114714",
+  "episode_index": 284,
+  "sensor": "gripper_right_tactile"
+}
\ No newline at end of file
diff --git a/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-09_18-30/outputs_tactile/tactile_cache/dag911262r002377_lerobot_0327_114714_729e31e8/episodes/ep000324/gripper_right_tactile_force_metrics.json b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-09_18-30/outputs_tactile/tactile_cache/dag911262r002377_lerobot_0327_114714_729e31e8/episodes/ep000324/gripper_right_tactile_force_metrics.json
new file mode 100644
index 0000000000000000000000000000000000000000..57fb25ed9a6b2aad82a141815d419fc01d2e826d
--- /dev/null
+++ b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-09_18-30/outputs_tactile/tactile_cache/dag911262r002377_lerobot_0327_114714_729e31e8/episodes/ep000324/gripper_right_tactile_force_metrics.json
@@ -0,0 +1,9 @@
+{
+  "depth_peak": 0.0010967464186251163,
+  "shear_peak": 0.0033034272491931915,
+  "force_magnitude_peak": 0.0033065651077777147,
+  "reference_frame_count": 0,
+  "dataset_name": "dag911262r002377_lerobot_0327_114714",
+  "episode_index": 324,
+  "sensor": "gripper_right_tactile"
+}
\ No newline at end of file
diff --git a/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-09_18-30/outputs_tactile/tactile_cache/dag911262r002377_lerobot_0327_114714_729e31e8/episodes/ep000402/gripper_right_tactile_force_metrics.json b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-09_18-30/outputs_tactile/tactile_cache/dag911262r002377_lerobot_0327_114714_729e31e8/episodes/ep000402/gripper_right_tactile_force_metrics.json
new file mode 100644
index 0000000000000000000000000000000000000000..2ab19c77730e265f2607e1cbad51bbc483a124ed
--- /dev/null
+++ b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-09_18-30/outputs_tactile/tactile_cache/dag911262r002377_lerobot_0327_114714_729e31e8/episodes/ep000402/gripper_right_tactile_force_metrics.json
@@ -0,0 +1,9 @@
+{
+  "depth_peak": 0.0007323314785026014,
+  "shear_peak": 0.0034655083436518908,
+  "force_magnitude_peak": 0.0036950085777789354,
+  "reference_frame_count": 0,
+  "dataset_name": "dag911262r002377_lerobot_0327_114714",
+  "episode_index": 402,
+  "sensor": "gripper_right_tactile"
+}
\ No newline at end of file
diff --git a/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-09_18-30/outputs_tactile/tactile_cache/dag911262r002377_lerobot_0327_114714_729e31e8/episodes/ep000404/gripper_right_tactile_force_metrics.json b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-09_18-30/outputs_tactile/tactile_cache/dag911262r002377_lerobot_0327_114714_729e31e8/episodes/ep000404/gripper_right_tactile_force_metrics.json
new file mode 100644
index 0000000000000000000000000000000000000000..0e0cd004f14c641380e5f03666428a5c5444cc69
--- /dev/null
+++ b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-09_18-30/outputs_tactile/tactile_cache/dag911262r002377_lerobot_0327_114714_729e31e8/episodes/ep000404/gripper_right_tactile_force_metrics.json
@@ -0,0 +1,9 @@
+{
+  "depth_peak": 0.0006893695099279284,
+  "shear_peak": 0.0028917393647134304,
+  "force_magnitude_peak": 0.0033713991288095713,
+  "reference_frame_count": 0,
+  "dataset_name": "dag911262r002377_lerobot_0327_114714",
+  "episode_index": 404,
+  "sensor": "gripper_right_tactile"
+}
\ No newline at end of file
diff --git a/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-09_18-30/outputs_tactile/tactile_cache/dag911262r002377_lerobot_0327_114714_729e31e8/episodes/ep000582/gripper_right_tactile_force_metrics.json b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-09_18-30/outputs_tactile/tactile_cache/dag911262r002377_lerobot_0327_114714_729e31e8/episodes/ep000582/gripper_right_tactile_force_metrics.json
new file mode 100644
index 0000000000000000000000000000000000000000..a6fbfa1081b1c1d53979d77ae30d6438feebe1ad
--- /dev/null
+++ b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-09_18-30/outputs_tactile/tactile_cache/dag911262r002377_lerobot_0327_114714_729e31e8/episodes/ep000582/gripper_right_tactile_force_metrics.json
@@ -0,0 +1,9 @@
+{
+  "depth_peak": 0.0009126598015427589,
+  "shear_peak": 0.0037757116369903088,
+  "force_magnitude_peak": 0.0038619311526417732,
+  "reference_frame_count": 0,
+  "dataset_name": "dag911262r002377_lerobot_0327_114714",
+  "episode_index": 582,
+  "sensor": "gripper_right_tactile"
+}
\ No newline at end of file
diff --git a/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-09_18-30/outputs_tactile/tactile_cache/dag911262r00276b_lerobot_0327_114714_464bb7f1/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/dag911262r00276b_lerobot_0327_114714_464bb7f1/episodes/ep000106/gripper_right_tactile_force_metrics.json
new file mode 100644
index 0000000000000000000000000000000000000000..d1b814fbcdddd25c0c53d02d63539c252d0858f7
--- /dev/null
+++ b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-09_18-30/outputs_tactile/tactile_cache/dag911262r00276b_lerobot_0327_114714_464bb7f1/episodes/ep000106/gripper_right_tactile_force_metrics.json
@@ -0,0 +1,9 @@
+{
+  "depth_peak": 0.0008299945038743317,
+  "shear_peak": 0.0020794179290533066,
+  "force_magnitude_peak": 0.0020809380803257227,
+  "reference_frame_count": 0,
+  "dataset_name": "dag911262r00276b_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/dag911262r00276b_lerobot_0327_114714_464bb7f1/episodes/ep000115/gripper_right_tactile_force_metrics.json b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-09_18-30/outputs_tactile/tactile_cache/dag911262r00276b_lerobot_0327_114714_464bb7f1/episodes/ep000115/gripper_right_tactile_force_metrics.json
new file mode 100644
index 0000000000000000000000000000000000000000..9bf84de784f4eba5361b647564ab71640e23f37d
--- /dev/null
+++ b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-09_18-30/outputs_tactile/tactile_cache/dag911262r00276b_lerobot_0327_114714_464bb7f1/episodes/ep000115/gripper_right_tactile_force_metrics.json
@@ -0,0 +1,9 @@
+{
+  "depth_peak": 0.0007421987829729915,
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+  "force_magnitude_peak": 0.0017420850927010179,
+  "reference_frame_count": 0,
+  "dataset_name": "dag911262r00276b_lerobot_0327_114714",
+  "episode_index": 115,
+  "sensor": "gripper_right_tactile"
+}
\ No newline at end of file
diff --git a/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-09_18-30/outputs_tactile/tactile_cache/dag911262r00276b_lerobot_0327_114714_464bb7f1/episodes/ep000117/gripper_right_tactile_force_metrics.json b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-09_18-30/outputs_tactile/tactile_cache/dag911262r00276b_lerobot_0327_114714_464bb7f1/episodes/ep000117/gripper_right_tactile_force_metrics.json
new file mode 100644
index 0000000000000000000000000000000000000000..528fd5f0516a3a350206091050aa7e301021399d
--- /dev/null
+++ b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-09_18-30/outputs_tactile/tactile_cache/dag911262r00276b_lerobot_0327_114714_464bb7f1/episodes/ep000117/gripper_right_tactile_force_metrics.json
@@ -0,0 +1,9 @@
+{
+  "depth_peak": 0.0007018116302788258,
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+  "force_magnitude_peak": 0.0027980897575616837,
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+  "dataset_name": "dag911262r00276b_lerobot_0327_114714",
+  "episode_index": 117,
+  "sensor": "gripper_right_tactile"
+}
\ No newline at end of file
diff --git a/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-09_18-30/outputs_tactile/tactile_cache/dag911262r00276b_lerobot_0327_114714_464bb7f1/episodes/ep000153/gripper_right_tactile_force_metrics.json b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-09_18-30/outputs_tactile/tactile_cache/dag911262r00276b_lerobot_0327_114714_464bb7f1/episodes/ep000153/gripper_right_tactile_force_metrics.json
new file mode 100644
index 0000000000000000000000000000000000000000..c01862cbad1624adec075a84715c3e85265ac7b2
--- /dev/null
+++ b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-09_18-30/outputs_tactile/tactile_cache/dag911262r00276b_lerobot_0327_114714_464bb7f1/episodes/ep000153/gripper_right_tactile_force_metrics.json
@@ -0,0 +1,9 @@
+{
+  "depth_peak": 0.0013244267320260406,
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+  "dataset_name": "dag911262r00276b_lerobot_0327_114714",
+  "episode_index": 153,
+  "sensor": "gripper_right_tactile"
+}
\ No newline at end of file
diff --git a/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-09_18-30/outputs_tactile/tactile_cache/dag911262r00276b_lerobot_0327_114714_464bb7f1/episodes/ep000186/gripper_right_tactile_force_metrics.json b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-09_18-30/outputs_tactile/tactile_cache/dag911262r00276b_lerobot_0327_114714_464bb7f1/episodes/ep000186/gripper_right_tactile_force_metrics.json
new file mode 100644
index 0000000000000000000000000000000000000000..9bbc5837170d040118d1ac384cbcad94fd8c9266
--- /dev/null
+++ b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-09_18-30/outputs_tactile/tactile_cache/dag911262r00276b_lerobot_0327_114714_464bb7f1/episodes/ep000186/gripper_right_tactile_force_metrics.json
@@ -0,0 +1,9 @@
+{
+  "depth_peak": 0.0002949761401396245,
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+  "force_magnitude_peak": 0.0011867198627442122,
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+  "dataset_name": "dag911262r00276b_lerobot_0327_114714",
+  "episode_index": 186,
+  "sensor": "gripper_right_tactile"
+}
\ No newline at end of file
diff --git a/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-09_18-30/outputs_tactile/tactile_cache/dag911262r00276b_lerobot_0327_114714_464bb7f1/episodes/ep000197/gripper_right_tactile_force_metrics.json b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-09_18-30/outputs_tactile/tactile_cache/dag911262r00276b_lerobot_0327_114714_464bb7f1/episodes/ep000197/gripper_right_tactile_force_metrics.json
new file mode 100644
index 0000000000000000000000000000000000000000..dfaa962e15f66ad6e8319e85dcc872b68e2e8933
--- /dev/null
+++ b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-09_18-30/outputs_tactile/tactile_cache/dag911262r00276b_lerobot_0327_114714_464bb7f1/episodes/ep000197/gripper_right_tactile_force_metrics.json
@@ -0,0 +1,9 @@
+{
+  "depth_peak": 0.0008638576837256551,
+  "shear_peak": 0.0016701038694009185,
+  "force_magnitude_peak": 0.0018378213280811906,
+  "reference_frame_count": 0,
+  "dataset_name": "dag911262r00276b_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/dag911262r00276b_lerobot_0327_114714_464bb7f1/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/dag911262r00276b_lerobot_0327_114714_464bb7f1/episodes/ep000213/gripper_right_tactile_force_metrics.json
new file mode 100644
index 0000000000000000000000000000000000000000..b66f45e1ae41d8581f36b92147e7131f7246cff7
--- /dev/null
+++ b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-09_18-30/outputs_tactile/tactile_cache/dag911262r00276b_lerobot_0327_114714_464bb7f1/episodes/ep000213/gripper_right_tactile_force_metrics.json
@@ -0,0 +1,9 @@
+{
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+  "force_magnitude_peak": 0.0021375841461122036,
+  "reference_frame_count": 0,
+  "dataset_name": "dag911262r00276b_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/dag911262r00276b_lerobot_0327_114714_464bb7f1/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/dag911262r00276b_lerobot_0327_114714_464bb7f1/episodes/ep000233/gripper_right_tactile_force_metrics.json
new file mode 100644
index 0000000000000000000000000000000000000000..21166aea1bb1c805ea34a4ee47b561b4d9929d1d
--- /dev/null
+++ b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-09_18-30/outputs_tactile/tactile_cache/dag911262r00276b_lerobot_0327_114714_464bb7f1/episodes/ep000233/gripper_right_tactile_force_metrics.json
@@ -0,0 +1,9 @@
+{
+  "depth_peak": 0.0011317827738821507,
+  "shear_peak": 0.0011814122553914785,
+  "force_magnitude_peak": 0.0013060483615845442,
+  "reference_frame_count": 0,
+  "dataset_name": "dag911262r00276b_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/dag911262r00276b_lerobot_0327_114714_464bb7f1/episodes/ep000253/gripper_right_tactile_force_metrics.json b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-09_18-30/outputs_tactile/tactile_cache/dag911262r00276b_lerobot_0327_114714_464bb7f1/episodes/ep000253/gripper_right_tactile_force_metrics.json
new file mode 100644
index 0000000000000000000000000000000000000000..9a87d2173b3f8a707d5d3e3a959234fa75594398
--- /dev/null
+++ b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-09_18-30/outputs_tactile/tactile_cache/dag911262r00276b_lerobot_0327_114714_464bb7f1/episodes/ep000253/gripper_right_tactile_force_metrics.json
@@ -0,0 +1,9 @@
+{
+  "depth_peak": 0.0006261935923248529,
+  "shear_peak": 0.0013638780219480395,
+  "force_magnitude_peak": 0.0014654499245807528,
+  "reference_frame_count": 0,
+  "dataset_name": "dag911262r00276b_lerobot_0327_114714",
+  "episode_index": 253,
+  "sensor": "gripper_right_tactile"
+}
\ No newline at end of file
diff --git a/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-09_18-30/outputs_tactile/tactile_cache/dag911262r00276b_lerobot_0327_114714_464bb7f1/episodes/ep000266/gripper_right_tactile_force_metrics.json b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-09_18-30/outputs_tactile/tactile_cache/dag911262r00276b_lerobot_0327_114714_464bb7f1/episodes/ep000266/gripper_right_tactile_force_metrics.json
new file mode 100644
index 0000000000000000000000000000000000000000..6fffd467bd2b1365adb2e90d8ef1f6e1679aa7cf
--- /dev/null
+++ b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-09_18-30/outputs_tactile/tactile_cache/dag911262r00276b_lerobot_0327_114714_464bb7f1/episodes/ep000266/gripper_right_tactile_force_metrics.json
@@ -0,0 +1,9 @@
+{
+  "depth_peak": 0.0022336007095873356,
+  "shear_peak": 0.0016757823759689927,
+  "force_magnitude_peak": 0.0023288929369300604,
+  "reference_frame_count": 0,
+  "dataset_name": "dag911262r00276b_lerobot_0327_114714",
+  "episode_index": 266,
+  "sensor": "gripper_right_tactile"
+}
\ No newline at end of file
diff --git a/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-09_18-30/outputs_tactile/tactile_cache/dag911262r00276b_lerobot_0327_114714_464bb7f1/episodes/ep000275/gripper_right_tactile_force_metrics.json b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-09_18-30/outputs_tactile/tactile_cache/dag911262r00276b_lerobot_0327_114714_464bb7f1/episodes/ep000275/gripper_right_tactile_force_metrics.json
new file mode 100644
index 0000000000000000000000000000000000000000..c740069aa8c5554ef2d88dfb10797a84da8744d6
--- /dev/null
+++ b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-09_18-30/outputs_tactile/tactile_cache/dag911262r00276b_lerobot_0327_114714_464bb7f1/episodes/ep000275/gripper_right_tactile_force_metrics.json
@@ -0,0 +1,9 @@
+{
+  "depth_peak": 0.0008852742612361908,
+  "shear_peak": 0.0016868839738890529,
+  "force_magnitude_peak": 0.0018058918649330735,
+  "reference_frame_count": 0,
+  "dataset_name": "dag911262r00276b_lerobot_0327_114714",
+  "episode_index": 275,
+  "sensor": "gripper_right_tactile"
+}
\ No newline at end of file
diff --git a/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-09_18-30/outputs_tactile/tactile_cache/dag911262r00276b_lerobot_0327_114714_464bb7f1/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/dag911262r00276b_lerobot_0327_114714_464bb7f1/episodes/ep000317/gripper_right_tactile_force_metrics.json
new file mode 100644
index 0000000000000000000000000000000000000000..8f0273365348b27d2ed8263b9993be65495a4a97
--- /dev/null
+++ b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-09_18-30/outputs_tactile/tactile_cache/dag911262r00276b_lerobot_0327_114714_464bb7f1/episodes/ep000317/gripper_right_tactile_force_metrics.json
@@ -0,0 +1,9 @@
+{
+  "depth_peak": 0.0004720368597190827,
+  "shear_peak": 0.0016942364163696766,
+  "force_magnitude_peak": 0.0021848813630640507,
+  "reference_frame_count": 0,
+  "dataset_name": "dag911262r00276b_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/dag911262r00276b_lerobot_0327_114714_464bb7f1/episodes/ep000555/gripper_right_tactile_force_metrics.json b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-09_18-30/outputs_tactile/tactile_cache/dag911262r00276b_lerobot_0327_114714_464bb7f1/episodes/ep000555/gripper_right_tactile_force_metrics.json
new file mode 100644
index 0000000000000000000000000000000000000000..d85e81be966c8d435a0fcfe32f23996c682c7a6c
--- /dev/null
+++ b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-09_18-30/outputs_tactile/tactile_cache/dag911262r00276b_lerobot_0327_114714_464bb7f1/episodes/ep000555/gripper_right_tactile_force_metrics.json
@@ -0,0 +1,9 @@
+{
+  "depth_peak": 0.0010851859115064144,
+  "shear_peak": 0.0020666730124503374,
+  "force_magnitude_peak": 0.0023020622320473194,
+  "reference_frame_count": 0,
+  "dataset_name": "dag911262r00276b_lerobot_0327_114714",
+  "episode_index": 555,
+  "sensor": "gripper_right_tactile"
+}
\ No newline at end of file
diff --git a/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-09_18-30/outputs_tactile/tactile_cache/dag911262r00276b_lerobot_0327_114714_464bb7f1/episodes/ep000557/gripper_right_tactile_force_metrics.json b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-09_18-30/outputs_tactile/tactile_cache/dag911262r00276b_lerobot_0327_114714_464bb7f1/episodes/ep000557/gripper_right_tactile_force_metrics.json
new file mode 100644
index 0000000000000000000000000000000000000000..8fce412033ebb14e868e8dc50e5d44ee4a5859d6
--- /dev/null
+++ b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-09_18-30/outputs_tactile/tactile_cache/dag911262r00276b_lerobot_0327_114714_464bb7f1/episodes/ep000557/gripper_right_tactile_force_metrics.json
@@ -0,0 +1,9 @@
+{
+  "depth_peak": 0.0013084354577586055,
+  "shear_peak": 0.0017239809967577457,
+  "force_magnitude_peak": 0.0017245557392016053,
+  "reference_frame_count": 0,
+  "dataset_name": "dag911262r00276b_lerobot_0327_114714",
+  "episode_index": 557,
+  "sensor": "gripper_right_tactile"
+}
\ No newline at end of file
diff --git a/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-09_18-30/outputs_tactile/tactile_cache/dag911262r00276b_lerobot_0327_114714_464bb7f1/episodes/ep000587/gripper_left_tactile_force_metrics.json b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-09_18-30/outputs_tactile/tactile_cache/dag911262r00276b_lerobot_0327_114714_464bb7f1/episodes/ep000587/gripper_left_tactile_force_metrics.json
new file mode 100644
index 0000000000000000000000000000000000000000..268c55d196be32c03623ce138f0bff48c7358a02
--- /dev/null
+++ b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-09_18-30/outputs_tactile/tactile_cache/dag911262r00276b_lerobot_0327_114714_464bb7f1/episodes/ep000587/gripper_left_tactile_force_metrics.json
@@ -0,0 +1,9 @@
+{
+  "depth_peak": 0.00025869865203276277,
+  "shear_peak": 0.0015172322746366262,
+  "force_magnitude_peak": 0.0015294488985091448,
+  "reference_frame_count": 0,
+  "dataset_name": "dag911262r00276b_lerobot_0327_114714",
+  "episode_index": 587,
+  "sensor": "gripper_left_tactile"
+}
\ No newline at end of file
diff --git a/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-09_18-30/outputs_tactile/tactile_cache/dag911262r00276b_lerobot_0327_114714_464bb7f1/episodes/ep000666/gripper_right_tactile_force_metrics.json b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-09_18-30/outputs_tactile/tactile_cache/dag911262r00276b_lerobot_0327_114714_464bb7f1/episodes/ep000666/gripper_right_tactile_force_metrics.json
new file mode 100644
index 0000000000000000000000000000000000000000..da47b3aeecb49c7cbeee7acf6724c81c2a72bd70
--- /dev/null
+++ b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-09_18-30/outputs_tactile/tactile_cache/dag911262r00276b_lerobot_0327_114714_464bb7f1/episodes/ep000666/gripper_right_tactile_force_metrics.json
@@ -0,0 +1,9 @@
+{
+  "depth_peak": 0.00045366978156380355,
+  "shear_peak": 0.001109111588448286,
+  "force_magnitude_peak": 0.0016897197347134352,
+  "reference_frame_count": 0,
+  "dataset_name": "dag911262r00276b_lerobot_0327_114714",
+  "episode_index": 666,
+  "sensor": "gripper_right_tactile"
+}
\ No newline at end of file
diff --git a/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-09_18-30/outputs_tactile/tactile_cache/dag911262r00276b_lerobot_0327_114714_464bb7f1/episodes/ep000670/gripper_left_tactile_force_metrics.json b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-09_18-30/outputs_tactile/tactile_cache/dag911262r00276b_lerobot_0327_114714_464bb7f1/episodes/ep000670/gripper_left_tactile_force_metrics.json
new file mode 100644
index 0000000000000000000000000000000000000000..543926e3f9888e4591b6b71c30411fc77499f5cd
--- /dev/null
+++ b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-09_18-30/outputs_tactile/tactile_cache/dag911262r00276b_lerobot_0327_114714_464bb7f1/episodes/ep000670/gripper_left_tactile_force_metrics.json
@@ -0,0 +1,9 @@
+{
+  "depth_peak": 0.00011581082071643323,
+  "shear_peak": 0.0020367996767163277,
+  "force_magnitude_peak": 0.0022117490880191326,
+  "reference_frame_count": 0,
+  "dataset_name": "dag911262r00276b_lerobot_0327_114714",
+  "episode_index": 670,
+  "sensor": "gripper_left_tactile"
+}
\ No newline at end of file
diff --git a/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-09_18-30/outputs_tactile/tactile_cache/dag911262r00276b_lerobot_0327_114714_464bb7f1/episodes/ep000706/gripper_right_tactile_force_metrics.json b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-09_18-30/outputs_tactile/tactile_cache/dag911262r00276b_lerobot_0327_114714_464bb7f1/episodes/ep000706/gripper_right_tactile_force_metrics.json
new file mode 100644
index 0000000000000000000000000000000000000000..042fc048f0f770676cf68e0043e4713120211c62
--- /dev/null
+++ b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-09_18-30/outputs_tactile/tactile_cache/dag911262r00276b_lerobot_0327_114714_464bb7f1/episodes/ep000706/gripper_right_tactile_force_metrics.json
@@ -0,0 +1,9 @@
+{
+  "depth_peak": 0.0004435040464159101,
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+  "force_magnitude_peak": 0.0017000390216708183,
+  "reference_frame_count": 0,
+  "dataset_name": "dag911262r00276b_lerobot_0327_114714",
+  "episode_index": 706,
+  "sensor": "gripper_right_tactile"
+}
\ No newline at end of file
diff --git a/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-09_18-30/outputs_tactile/tactile_cache/dag911262r00276b_lerobot_0327_114714_464bb7f1/episodes/ep000715/gripper_right_tactile_force_metrics.json b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-09_18-30/outputs_tactile/tactile_cache/dag911262r00276b_lerobot_0327_114714_464bb7f1/episodes/ep000715/gripper_right_tactile_force_metrics.json
new file mode 100644
index 0000000000000000000000000000000000000000..1b74a3bfcae103b504975c8c0885e98f2916c5c5
--- /dev/null
+++ b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-09_18-30/outputs_tactile/tactile_cache/dag911262r00276b_lerobot_0327_114714_464bb7f1/episodes/ep000715/gripper_right_tactile_force_metrics.json
@@ -0,0 +1,9 @@
+{
+  "depth_peak": 0.0006276516360230744,
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+  "force_magnitude_peak": 0.0020356292370706797,
+  "reference_frame_count": 0,
+  "dataset_name": "dag911262r00276b_lerobot_0327_114714",
+  "episode_index": 715,
+  "sensor": "gripper_right_tactile"
+}
\ No newline at end of file
diff --git a/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-09_18-30/outputs_tactile/tactile_cache/dag911262r00276b_lerobot_0327_114714_464bb7f1/episodes/ep000746/gripper_right_tactile_force_metrics.json b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-09_18-30/outputs_tactile/tactile_cache/dag911262r00276b_lerobot_0327_114714_464bb7f1/episodes/ep000746/gripper_right_tactile_force_metrics.json
new file mode 100644
index 0000000000000000000000000000000000000000..87fa7a63e2150c54162992a9e3a945e2291b1502
--- /dev/null
+++ b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-09_18-30/outputs_tactile/tactile_cache/dag911262r00276b_lerobot_0327_114714_464bb7f1/episodes/ep000746/gripper_right_tactile_force_metrics.json
@@ -0,0 +1,9 @@
+{
+  "depth_peak": 0.0031860938761383295,
+  "shear_peak": 0.0011130812345072627,
+  "force_magnitude_peak": 0.0033231417182832956,
+  "reference_frame_count": 0,
+  "dataset_name": "dag911262r00276b_lerobot_0327_114714",
+  "episode_index": 746,
+  "sensor": "gripper_right_tactile"
+}
\ No newline at end of file
diff --git a/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-09_18-30/outputs_tactile/tactile_cache/dag911262r00276b_lerobot_0327_114714_464bb7f1/episodes/ep000795/gripper_right_tactile_force_metrics.json b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-09_18-30/outputs_tactile/tactile_cache/dag911262r00276b_lerobot_0327_114714_464bb7f1/episodes/ep000795/gripper_right_tactile_force_metrics.json
new file mode 100644
index 0000000000000000000000000000000000000000..e5d5ac6556e6140c21bf6636a8d875b3f59fcb13
--- /dev/null
+++ b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-09_18-30/outputs_tactile/tactile_cache/dag911262r00276b_lerobot_0327_114714_464bb7f1/episodes/ep000795/gripper_right_tactile_force_metrics.json
@@ -0,0 +1,9 @@
+{
+  "depth_peak": 0.0011309294495731592,
+  "shear_peak": 0.0016624066047370434,
+  "force_magnitude_peak": 0.0016827099025249481,
+  "reference_frame_count": 0,
+  "dataset_name": "dag911262r00276b_lerobot_0327_114714",
+  "episode_index": 795,
+  "sensor": "gripper_right_tactile"
+}
\ No newline at end of file
diff --git a/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-09_18-30/outputs_tactile/tactile_cache/dag911262r00276b_lerobot_0327_114714_464bb7f1/episodes/ep000813/gripper_right_tactile_force_metrics.json b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-09_18-30/outputs_tactile/tactile_cache/dag911262r00276b_lerobot_0327_114714_464bb7f1/episodes/ep000813/gripper_right_tactile_force_metrics.json
new file mode 100644
index 0000000000000000000000000000000000000000..db3d818e970c7027f6a993b4b5c1bc391cb37cae
--- /dev/null
+++ b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-09_18-30/outputs_tactile/tactile_cache/dag911262r00276b_lerobot_0327_114714_464bb7f1/episodes/ep000813/gripper_right_tactile_force_metrics.json
@@ -0,0 +1,9 @@
+{
+  "depth_peak": 0.0013449391117319465,
+  "shear_peak": 0.0012666095281019807,
+  "force_magnitude_peak": 0.0018461976433172822,
+  "reference_frame_count": 0,
+  "dataset_name": "dag911262r00276b_lerobot_0327_114714",
+  "episode_index": 813,
+  "sensor": "gripper_right_tactile"
+}
\ No newline at end of file
diff --git a/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-09_18-30/outputs_tactile/tactile_cache/dag911262r00276b_lerobot_0327_114714_464bb7f1/episodes/ep000826/gripper_right_tactile_force_metrics.json b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-09_18-30/outputs_tactile/tactile_cache/dag911262r00276b_lerobot_0327_114714_464bb7f1/episodes/ep000826/gripper_right_tactile_force_metrics.json
new file mode 100644
index 0000000000000000000000000000000000000000..8c1b679153240c5c3ea498dff505ac585cc9009b
--- /dev/null
+++ b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-09_18-30/outputs_tactile/tactile_cache/dag911262r00276b_lerobot_0327_114714_464bb7f1/episodes/ep000826/gripper_right_tactile_force_metrics.json
@@ -0,0 +1,9 @@
+{
+  "depth_peak": 0.0006475163390859962,
+  "shear_peak": 0.0004016045422758907,
+  "force_magnitude_peak": 0.0006914254045113921,
+  "reference_frame_count": 0,
+  "dataset_name": "dag911262r00276b_lerobot_0327_114714",
+  "episode_index": 826,
+  "sensor": "gripper_right_tactile"
+}
\ No newline at end of file
diff --git a/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-09_18-30/outputs_tactile/tactile_cache/dag911262r00276b_lerobot_0327_114714_464bb7f1/episodes/ep000835/gripper_right_tactile_force_metrics.json b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-09_18-30/outputs_tactile/tactile_cache/dag911262r00276b_lerobot_0327_114714_464bb7f1/episodes/ep000835/gripper_right_tactile_force_metrics.json
new file mode 100644
index 0000000000000000000000000000000000000000..9a72ffdda252b7b53d1089543b73c8ce369c2e0e
--- /dev/null
+++ b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-09_18-30/outputs_tactile/tactile_cache/dag911262r00276b_lerobot_0327_114714_464bb7f1/episodes/ep000835/gripper_right_tactile_force_metrics.json
@@ -0,0 +1,9 @@
+{
+  "depth_peak": 0.0015903128078207374,
+  "shear_peak": 0.0013413210399448872,
+  "force_magnitude_peak": 0.0015921645099297166,
+  "reference_frame_count": 0,
+  "dataset_name": "dag911262r00276b_lerobot_0327_114714",
+  "episode_index": 835,
+  "sensor": "gripper_right_tactile"
+}
\ No newline at end of file
diff --git a/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-09_18-30/outputs_tactile/tactile_cache/dag911262r00276b_lerobot_0327_114714_464bb7f1/episodes/ep000856/gripper_right_tactile_force_metrics.json b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-09_18-30/outputs_tactile/tactile_cache/dag911262r00276b_lerobot_0327_114714_464bb7f1/episodes/ep000856/gripper_right_tactile_force_metrics.json
new file mode 100644
index 0000000000000000000000000000000000000000..517a014191dc328b4649fdab98c6aa23878edf64
--- /dev/null
+++ b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-09_18-30/outputs_tactile/tactile_cache/dag911262r00276b_lerobot_0327_114714_464bb7f1/episodes/ep000856/gripper_right_tactile_force_metrics.json
@@ -0,0 +1,9 @@
+{
+  "depth_peak": 0.0008526249439455569,
+  "shear_peak": 0.0014957840321585536,
+  "force_magnitude_peak": 0.0016047870740294456,
+  "reference_frame_count": 0,
+  "dataset_name": "dag911262r00276b_lerobot_0327_114714",
+  "episode_index": 856,
+  "sensor": "gripper_right_tactile"
+}
\ No newline at end of file
diff --git a/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-09_18-30/outputs_tactile/tactile_cache/dag911262r00276b_lerobot_0327_114714_464bb7f1/episodes/ep000858/gripper_right_tactile_force_metrics.json b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-09_18-30/outputs_tactile/tactile_cache/dag911262r00276b_lerobot_0327_114714_464bb7f1/episodes/ep000858/gripper_right_tactile_force_metrics.json
new file mode 100644
index 0000000000000000000000000000000000000000..91e4c256013e25cb0b5b3746fa1bdf60a651577e
--- /dev/null
+++ b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-09_18-30/outputs_tactile/tactile_cache/dag911262r00276b_lerobot_0327_114714_464bb7f1/episodes/ep000858/gripper_right_tactile_force_metrics.json
@@ -0,0 +1,9 @@
+{
+  "depth_peak": 0.0005446121795102954,
+  "shear_peak": 0.0032867160625755787,
+  "force_magnitude_peak": 0.0032879160717129707,
+  "reference_frame_count": 0,
+  "dataset_name": "dag911262r00276b_lerobot_0327_114714",
+  "episode_index": 858,
+  "sensor": "gripper_right_tactile"
+}
\ No newline at end of file
diff --git a/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-09_18-30/outputs_tactile/tactile_cache/dag911262r00276b_lerobot_0327_114714_464bb7f1/episodes/ep000863/gripper_right_tactile_force_metrics.json b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-09_18-30/outputs_tactile/tactile_cache/dag911262r00276b_lerobot_0327_114714_464bb7f1/episodes/ep000863/gripper_right_tactile_force_metrics.json
new file mode 100644
index 0000000000000000000000000000000000000000..5ab21465abe1203c9dfdb46cfcbaa1bf4cda91e7
--- /dev/null
+++ b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-09_18-30/outputs_tactile/tactile_cache/dag911262r00276b_lerobot_0327_114714_464bb7f1/episodes/ep000863/gripper_right_tactile_force_metrics.json
@@ -0,0 +1,9 @@
+{
+  "depth_peak": 0.0014177212724462152,
+  "shear_peak": 0.0019334728131070733,
+  "force_magnitude_peak": 0.0019394515547901392,
+  "reference_frame_count": 0,
+  "dataset_name": "dag911262r00276b_lerobot_0327_114714",
+  "episode_index": 863,
+  "sensor": "gripper_right_tactile"
+}
\ No newline at end of file