diff --git a/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_09-30/outputs_tactile/tactile_cache/dag911262r000646_lerobot_0327_114353_5bdfbac6/episodes/ep000285/gripper_right_tactile_force_metrics.json b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_09-30/outputs_tactile/tactile_cache/dag911262r000646_lerobot_0327_114353_5bdfbac6/episodes/ep000285/gripper_right_tactile_force_metrics.json
new file mode 100644
index 0000000000000000000000000000000000000000..697a192307e2f6b25f4996ddd7a35c061f93a784
--- /dev/null
+++ b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_09-30/outputs_tactile/tactile_cache/dag911262r000646_lerobot_0327_114353_5bdfbac6/episodes/ep000285/gripper_right_tactile_force_metrics.json
@@ -0,0 +1,9 @@
+{
+  "depth_peak": 0.009491532109677792,
+  "shear_peak": 0.0023002037778496742,
+  "force_magnitude_peak": 0.009557516314089298,
+  "reference_frame_count": 0,
+  "dataset_name": "dag911262r000646_lerobot_0327_114353",
+  "episode_index": 285,
+  "sensor": "gripper_right_tactile"
+}
\ No newline at end of file
diff --git a/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_09-30/outputs_tactile/tactile_cache/dag911262r000646_lerobot_0327_114353_5bdfbac6/episodes/ep000287/gripper_right_tactile_force_metrics.json b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_09-30/outputs_tactile/tactile_cache/dag911262r000646_lerobot_0327_114353_5bdfbac6/episodes/ep000287/gripper_right_tactile_force_metrics.json
new file mode 100644
index 0000000000000000000000000000000000000000..0aad93d25cdaf8d51a52e49669dac0dbfc5c0a25
--- /dev/null
+++ b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_09-30/outputs_tactile/tactile_cache/dag911262r000646_lerobot_0327_114353_5bdfbac6/episodes/ep000287/gripper_right_tactile_force_metrics.json
@@ -0,0 +1,9 @@
+{
+  "depth_peak": 0.004539416171610355,
+  "shear_peak": 0.0026229124050587416,
+  "force_magnitude_peak": 0.004541909787803888,
+  "reference_frame_count": 0,
+  "dataset_name": "dag911262r000646_lerobot_0327_114353",
+  "episode_index": 287,
+  "sensor": "gripper_right_tactile"
+}
\ No newline at end of file
diff --git a/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_09-30/outputs_tactile/tactile_cache/dag911262r000646_lerobot_0327_114353_5bdfbac6/episodes/ep000290/gripper_right_tactile_contact_metrics.json b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_09-30/outputs_tactile/tactile_cache/dag911262r000646_lerobot_0327_114353_5bdfbac6/episodes/ep000290/gripper_right_tactile_contact_metrics.json
new file mode 100644
index 0000000000000000000000000000000000000000..07571d6b7f6fd7cedff06522ee5631b5dee8d419
--- /dev/null
+++ b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_09-30/outputs_tactile/tactile_cache/dag911262r000646_lerobot_0327_114353_5bdfbac6/episodes/ep000290/gripper_right_tactile_contact_metrics.json
@@ -0,0 +1,12 @@
+{
+  "contact_time": 7.0,
+  "contact_ratio": 0.695364238410596,
+  "avg_contact_area": 13790.380952380952,
+  "contact_entropy": 0.8861584281667398,
+  "total_frames": 302,
+  "fps": 30.0,
+  "reference_frame_count": 0,
+  "dataset_name": "dag911262r000646_lerobot_0327_114353",
+  "episode_index": 290,
+  "sensor": "gripper_right_tactile"
+}
\ No newline at end of file
diff --git a/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_09-30/outputs_tactile/tactile_cache/dag911262r000646_lerobot_0327_114353_5bdfbac6/episodes/ep000292/gripper_right_tactile_contact_metrics.json b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_09-30/outputs_tactile/tactile_cache/dag911262r000646_lerobot_0327_114353_5bdfbac6/episodes/ep000292/gripper_right_tactile_contact_metrics.json
new file mode 100644
index 0000000000000000000000000000000000000000..31a67890e5ed5dbbf8f606bc729eb0c37b239261
--- /dev/null
+++ b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_09-30/outputs_tactile/tactile_cache/dag911262r000646_lerobot_0327_114353_5bdfbac6/episodes/ep000292/gripper_right_tactile_contact_metrics.json
@@ -0,0 +1,12 @@
+{
+  "contact_time": 11.433333333333334,
+  "contact_ratio": 0.8469135802469135,
+  "avg_contact_area": 6669.565597667638,
+  "contact_entropy": 0.6877190385440052,
+  "total_frames": 405,
+  "fps": 30.0,
+  "reference_frame_count": 0,
+  "dataset_name": "dag911262r000646_lerobot_0327_114353",
+  "episode_index": 292,
+  "sensor": "gripper_right_tactile"
+}
\ No newline at end of file
diff --git a/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_09-30/outputs_tactile/tactile_cache/dag911262r000646_lerobot_0327_114353_5bdfbac6/episodes/ep000292/gripper_right_tactile_force_metrics.json b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_09-30/outputs_tactile/tactile_cache/dag911262r000646_lerobot_0327_114353_5bdfbac6/episodes/ep000292/gripper_right_tactile_force_metrics.json
new file mode 100644
index 0000000000000000000000000000000000000000..72e484024e122af923fd2c40e8e4de0f92267e0d
--- /dev/null
+++ b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_09-30/outputs_tactile/tactile_cache/dag911262r000646_lerobot_0327_114353_5bdfbac6/episodes/ep000292/gripper_right_tactile_force_metrics.json
@@ -0,0 +1,9 @@
+{
+  "depth_peak": 0.011731687001883984,
+  "shear_peak": 0.003975661471486092,
+  "force_magnitude_peak": 0.012097951024770737,
+  "reference_frame_count": 0,
+  "dataset_name": "dag911262r000646_lerobot_0327_114353",
+  "episode_index": 292,
+  "sensor": "gripper_right_tactile"
+}
\ No newline at end of file
diff --git a/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_09-30/outputs_tactile/tactile_cache/dag911262r000646_lerobot_0327_114353_5bdfbac6/episodes/ep000303/gripper_right_tactile_contact_metrics.json b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_09-30/outputs_tactile/tactile_cache/dag911262r000646_lerobot_0327_114353_5bdfbac6/episodes/ep000303/gripper_right_tactile_contact_metrics.json
new file mode 100644
index 0000000000000000000000000000000000000000..bb8f6f68a3d2ac97851fa58d04bba8938fc0ac19
--- /dev/null
+++ b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_09-30/outputs_tactile/tactile_cache/dag911262r000646_lerobot_0327_114353_5bdfbac6/episodes/ep000303/gripper_right_tactile_contact_metrics.json
@@ -0,0 +1,12 @@
+{
+  "contact_time": 15.1,
+  "contact_ratio": 0.9041916167664671,
+  "avg_contact_area": 816.4172185430464,
+  "contact_entropy": 0.4902898243293693,
+  "total_frames": 501,
+  "fps": 30.0,
+  "reference_frame_count": 0,
+  "dataset_name": "dag911262r000646_lerobot_0327_114353",
+  "episode_index": 303,
+  "sensor": "gripper_right_tactile"
+}
\ No newline at end of file
diff --git a/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_09-30/outputs_tactile/tactile_cache/dag911262r000646_lerobot_0327_114353_5bdfbac6/episodes/ep000305/gripper_right_tactile_contact_metrics.json b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_09-30/outputs_tactile/tactile_cache/dag911262r000646_lerobot_0327_114353_5bdfbac6/episodes/ep000305/gripper_right_tactile_contact_metrics.json
new file mode 100644
index 0000000000000000000000000000000000000000..114bb62d514945fa1d037e7f69be29d41978f94a
--- /dev/null
+++ b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_09-30/outputs_tactile/tactile_cache/dag911262r000646_lerobot_0327_114353_5bdfbac6/episodes/ep000305/gripper_right_tactile_contact_metrics.json
@@ -0,0 +1,12 @@
+{
+  "contact_time": 12.5,
+  "contact_ratio": 0.8640552995391705,
+  "avg_contact_area": 9347.128,
+  "contact_entropy": 0.825051813104725,
+  "total_frames": 434,
+  "fps": 30.0,
+  "reference_frame_count": 0,
+  "dataset_name": "dag911262r000646_lerobot_0327_114353",
+  "episode_index": 305,
+  "sensor": "gripper_right_tactile"
+}
\ No newline at end of file
diff --git a/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_09-30/outputs_tactile/tactile_cache/dag911262r000646_lerobot_0327_114353_5bdfbac6/episodes/ep000307/gripper_right_tactile_force_metrics.json b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_09-30/outputs_tactile/tactile_cache/dag911262r000646_lerobot_0327_114353_5bdfbac6/episodes/ep000307/gripper_right_tactile_force_metrics.json
new file mode 100644
index 0000000000000000000000000000000000000000..0d3a7f9be96c8851f2d3ce1bdf9682631df88cae
--- /dev/null
+++ b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_09-30/outputs_tactile/tactile_cache/dag911262r000646_lerobot_0327_114353_5bdfbac6/episodes/ep000307/gripper_right_tactile_force_metrics.json
@@ -0,0 +1,9 @@
+{
+  "depth_peak": 0.004670923110097647,
+  "shear_peak": 0.0055727832950651646,
+  "force_magnitude_peak": 0.007024433929473162,
+  "reference_frame_count": 0,
+  "dataset_name": "dag911262r000646_lerobot_0327_114353",
+  "episode_index": 307,
+  "sensor": "gripper_right_tactile"
+}
\ No newline at end of file
diff --git a/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_09-30/outputs_tactile/tactile_cache/dag911262r000646_lerobot_0327_114353_5bdfbac6/episodes/ep000318/gripper_right_tactile_force_metrics.json b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_09-30/outputs_tactile/tactile_cache/dag911262r000646_lerobot_0327_114353_5bdfbac6/episodes/ep000318/gripper_right_tactile_force_metrics.json
new file mode 100644
index 0000000000000000000000000000000000000000..679c917f9a846f2d8c5946c1194769a474e530b3
--- /dev/null
+++ b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_09-30/outputs_tactile/tactile_cache/dag911262r000646_lerobot_0327_114353_5bdfbac6/episodes/ep000318/gripper_right_tactile_force_metrics.json
@@ -0,0 +1,9 @@
+{
+  "depth_peak": 0.0056442394852638245,
+  "shear_peak": 0.005543178878724575,
+  "force_magnitude_peak": 0.007627219893038273,
+  "reference_frame_count": 0,
+  "dataset_name": "dag911262r000646_lerobot_0327_114353",
+  "episode_index": 318,
+  "sensor": "gripper_right_tactile"
+}
\ No newline at end of file
diff --git a/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_09-30/outputs_tactile/tactile_cache/dag911262r000646_lerobot_0327_114353_5bdfbac6/episodes/ep000320/gripper_right_tactile_contact_metrics.json b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_09-30/outputs_tactile/tactile_cache/dag911262r000646_lerobot_0327_114353_5bdfbac6/episodes/ep000320/gripper_right_tactile_contact_metrics.json
new file mode 100644
index 0000000000000000000000000000000000000000..8ec488bf58ed821b86b2e6cdfc4ca7b6dc93e988
--- /dev/null
+++ b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_09-30/outputs_tactile/tactile_cache/dag911262r000646_lerobot_0327_114353_5bdfbac6/episodes/ep000320/gripper_right_tactile_contact_metrics.json
@@ -0,0 +1,12 @@
+{
+  "contact_time": 14.5,
+  "contact_ratio": 0.8805668016194332,
+  "avg_contact_area": 3087.183908045977,
+  "contact_entropy": 0.5111566413825582,
+  "total_frames": 494,
+  "fps": 30.0,
+  "reference_frame_count": 0,
+  "dataset_name": "dag911262r000646_lerobot_0327_114353",
+  "episode_index": 320,
+  "sensor": "gripper_right_tactile"
+}
\ No newline at end of file
diff --git a/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_09-30/outputs_tactile/tactile_cache/dag911262r000646_lerobot_0327_114353_5bdfbac6/episodes/ep000325/gripper_right_tactile_force_metrics.json b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_09-30/outputs_tactile/tactile_cache/dag911262r000646_lerobot_0327_114353_5bdfbac6/episodes/ep000325/gripper_right_tactile_force_metrics.json
new file mode 100644
index 0000000000000000000000000000000000000000..96d17adbcdb4e3c8c90179c4b963d7807c97cecf
--- /dev/null
+++ b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_09-30/outputs_tactile/tactile_cache/dag911262r000646_lerobot_0327_114353_5bdfbac6/episodes/ep000325/gripper_right_tactile_force_metrics.json
@@ -0,0 +1,9 @@
+{
+  "depth_peak": 0.006358086597174406,
+  "shear_peak": 0.004898419603705406,
+  "force_magnitude_peak": 0.007212297059595585,
+  "reference_frame_count": 0,
+  "dataset_name": "dag911262r000646_lerobot_0327_114353",
+  "episode_index": 325,
+  "sensor": "gripper_right_tactile"
+}
\ No newline at end of file
diff --git a/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_09-30/outputs_tactile/tactile_cache/dag911262r000646_lerobot_0327_114353_5bdfbac6/episodes/ep000326/gripper_left_tactile_force_metrics.json b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_09-30/outputs_tactile/tactile_cache/dag911262r000646_lerobot_0327_114353_5bdfbac6/episodes/ep000326/gripper_left_tactile_force_metrics.json
new file mode 100644
index 0000000000000000000000000000000000000000..527dcb22cd053584006bb7674e90c534ad1ea8f7
--- /dev/null
+++ b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_09-30/outputs_tactile/tactile_cache/dag911262r000646_lerobot_0327_114353_5bdfbac6/episodes/ep000326/gripper_left_tactile_force_metrics.json
@@ -0,0 +1,9 @@
+{
+  "depth_peak": 0.005747027229517698,
+  "shear_peak": 0.0021899708081036806,
+  "force_magnitude_peak": 0.005749521777033806,
+  "reference_frame_count": 0,
+  "dataset_name": "dag911262r000646_lerobot_0327_114353",
+  "episode_index": 326,
+  "sensor": "gripper_left_tactile"
+}
\ No newline at end of file
diff --git a/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_09-30/outputs_tactile/tactile_cache/dag911262r000646_lerobot_0327_114353_5bdfbac6/episodes/ep000327/gripper_right_tactile_force_metrics.json b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_09-30/outputs_tactile/tactile_cache/dag911262r000646_lerobot_0327_114353_5bdfbac6/episodes/ep000327/gripper_right_tactile_force_metrics.json
new file mode 100644
index 0000000000000000000000000000000000000000..43ab9c001f04cbdf9b380dafb15b3a2e0dd9829e
--- /dev/null
+++ b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_09-30/outputs_tactile/tactile_cache/dag911262r000646_lerobot_0327_114353_5bdfbac6/episodes/ep000327/gripper_right_tactile_force_metrics.json
@@ -0,0 +1,9 @@
+{
+  "depth_peak": 0.009676346555352211,
+  "shear_peak": 0.0055729844607412815,
+  "force_magnitude_peak": 0.011158625595271587,
+  "reference_frame_count": 0,
+  "dataset_name": "dag911262r000646_lerobot_0327_114353",
+  "episode_index": 327,
+  "sensor": "gripper_right_tactile"
+}
\ No newline at end of file
diff --git a/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_09-30/outputs_tactile/tactile_cache/dag911262r000646_lerobot_0327_114353_5bdfbac6/episodes/ep000328/gripper_left_tactile_contact_metrics.json b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_09-30/outputs_tactile/tactile_cache/dag911262r000646_lerobot_0327_114353_5bdfbac6/episodes/ep000328/gripper_left_tactile_contact_metrics.json
new file mode 100644
index 0000000000000000000000000000000000000000..05489f5308786049776446b1c7ed485733a17bb7
--- /dev/null
+++ b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_09-30/outputs_tactile/tactile_cache/dag911262r000646_lerobot_0327_114353_5bdfbac6/episodes/ep000328/gripper_left_tactile_contact_metrics.json
@@ -0,0 +1,12 @@
+{
+  "contact_time": 13.4,
+  "contact_ratio": 0.8663793103448276,
+  "avg_contact_area": 2156.955223880597,
+  "contact_entropy": 0.7629044304526766,
+  "total_frames": 464,
+  "fps": 30.0,
+  "reference_frame_count": 0,
+  "dataset_name": "dag911262r000646_lerobot_0327_114353",
+  "episode_index": 328,
+  "sensor": "gripper_left_tactile"
+}
\ No newline at end of file
diff --git a/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_09-30/outputs_tactile/tactile_cache/dag911262r000646_lerobot_0327_114353_5bdfbac6/episodes/ep000330/gripper_right_tactile_contact_metrics.json b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_09-30/outputs_tactile/tactile_cache/dag911262r000646_lerobot_0327_114353_5bdfbac6/episodes/ep000330/gripper_right_tactile_contact_metrics.json
new file mode 100644
index 0000000000000000000000000000000000000000..7a853c03dcaca154af50f8ecf7ecb81465fc5b24
--- /dev/null
+++ b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_09-30/outputs_tactile/tactile_cache/dag911262r000646_lerobot_0327_114353_5bdfbac6/episodes/ep000330/gripper_right_tactile_contact_metrics.json
@@ -0,0 +1,12 @@
+{
+  "contact_time": 10.133333333333333,
+  "contact_ratio": 0.7290167865707434,
+  "avg_contact_area": 1720.1809210526317,
+  "contact_entropy": 0.5129111225922719,
+  "total_frames": 417,
+  "fps": 30.0,
+  "reference_frame_count": 0,
+  "dataset_name": "dag911262r000646_lerobot_0327_114353",
+  "episode_index": 330,
+  "sensor": "gripper_right_tactile"
+}
\ No newline at end of file
diff --git a/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_09-30/outputs_tactile/tactile_cache/dag911262r000646_lerobot_0327_114353_5bdfbac6/episodes/ep000332/gripper_right_tactile_contact_metrics.json b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_09-30/outputs_tactile/tactile_cache/dag911262r000646_lerobot_0327_114353_5bdfbac6/episodes/ep000332/gripper_right_tactile_contact_metrics.json
new file mode 100644
index 0000000000000000000000000000000000000000..c2394fcd40434614b3233c3c2268721d0075a485
--- /dev/null
+++ b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_09-30/outputs_tactile/tactile_cache/dag911262r000646_lerobot_0327_114353_5bdfbac6/episodes/ep000332/gripper_right_tactile_contact_metrics.json
@@ -0,0 +1,12 @@
+{
+  "contact_time": 16.666666666666668,
+  "contact_ratio": 1.0,
+  "avg_contact_area": 2349.782,
+  "contact_entropy": 0.726975125557292,
+  "total_frames": 500,
+  "fps": 30.0,
+  "reference_frame_count": 0,
+  "dataset_name": "dag911262r000646_lerobot_0327_114353",
+  "episode_index": 332,
+  "sensor": "gripper_right_tactile"
+}
\ No newline at end of file
diff --git a/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_09-30/outputs_tactile/tactile_cache/dag911262r000646_lerobot_0327_114353_5bdfbac6/episodes/ep000332/gripper_right_tactile_force_metrics.json b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_09-30/outputs_tactile/tactile_cache/dag911262r000646_lerobot_0327_114353_5bdfbac6/episodes/ep000332/gripper_right_tactile_force_metrics.json
new file mode 100644
index 0000000000000000000000000000000000000000..63313c0accdd3efd147f6913239536f80c48fb05
--- /dev/null
+++ b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_09-30/outputs_tactile/tactile_cache/dag911262r000646_lerobot_0327_114353_5bdfbac6/episodes/ep000332/gripper_right_tactile_force_metrics.json
@@ -0,0 +1,9 @@
+{
+  "depth_peak": 0.0062361788004636765,
+  "shear_peak": 0.005202540662139654,
+  "force_magnitude_peak": 0.006687292363494635,
+  "reference_frame_count": 0,
+  "dataset_name": "dag911262r000646_lerobot_0327_114353",
+  "episode_index": 332,
+  "sensor": "gripper_right_tactile"
+}
\ No newline at end of file
diff --git a/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_09-30/outputs_tactile/tactile_cache/dag911262r000646_lerobot_0327_114353_5bdfbac6/episodes/ep000333/gripper_left_tactile_contact_metrics.json b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_09-30/outputs_tactile/tactile_cache/dag911262r000646_lerobot_0327_114353_5bdfbac6/episodes/ep000333/gripper_left_tactile_contact_metrics.json
new file mode 100644
index 0000000000000000000000000000000000000000..7b003728d1d7dadcd20ad074f487f32a4fc7cf7a
--- /dev/null
+++ b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_09-30/outputs_tactile/tactile_cache/dag911262r000646_lerobot_0327_114353_5bdfbac6/episodes/ep000333/gripper_left_tactile_contact_metrics.json
@@ -0,0 +1,12 @@
+{
+  "contact_time": 19.3,
+  "contact_ratio": 0.8552437223042836,
+  "avg_contact_area": 3478.7720207253888,
+  "contact_entropy": 0.5483925955449268,
+  "total_frames": 677,
+  "fps": 30.0,
+  "reference_frame_count": 0,
+  "dataset_name": "dag911262r000646_lerobot_0327_114353",
+  "episode_index": 333,
+  "sensor": "gripper_left_tactile"
+}
\ No newline at end of file
diff --git a/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_09-30/outputs_tactile/tactile_cache/dag911262r000646_lerobot_0327_114353_5bdfbac6/episodes/ep000335/gripper_left_tactile_force_metrics.json b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_09-30/outputs_tactile/tactile_cache/dag911262r000646_lerobot_0327_114353_5bdfbac6/episodes/ep000335/gripper_left_tactile_force_metrics.json
new file mode 100644
index 0000000000000000000000000000000000000000..ffabaaf875f4fb32a1b62aa7ba97fd6cb2a47242
--- /dev/null
+++ b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_09-30/outputs_tactile/tactile_cache/dag911262r000646_lerobot_0327_114353_5bdfbac6/episodes/ep000335/gripper_left_tactile_force_metrics.json
@@ -0,0 +1,9 @@
+{
+  "depth_peak": 0.009254480712115765,
+  "shear_peak": 0.0048028226010501385,
+  "force_magnitude_peak": 0.00926784798502922,
+  "reference_frame_count": 0,
+  "dataset_name": "dag911262r000646_lerobot_0327_114353",
+  "episode_index": 335,
+  "sensor": "gripper_left_tactile"
+}
\ No newline at end of file
diff --git a/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_09-30/outputs_tactile/tactile_cache/dag911262r000646_lerobot_0327_114353_5bdfbac6/episodes/ep000336/gripper_left_tactile_force_metrics.json b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_09-30/outputs_tactile/tactile_cache/dag911262r000646_lerobot_0327_114353_5bdfbac6/episodes/ep000336/gripper_left_tactile_force_metrics.json
new file mode 100644
index 0000000000000000000000000000000000000000..92d75bb946f6a5744c4cbf9eccb500a464d39b35
--- /dev/null
+++ b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_09-30/outputs_tactile/tactile_cache/dag911262r000646_lerobot_0327_114353_5bdfbac6/episodes/ep000336/gripper_left_tactile_force_metrics.json
@@ -0,0 +1,9 @@
+{
+  "depth_peak": 0.006964391563087702,
+  "shear_peak": 0.0031551027204841375,
+  "force_magnitude_peak": 0.0075842756778001785,
+  "reference_frame_count": 0,
+  "dataset_name": "dag911262r000646_lerobot_0327_114353",
+  "episode_index": 336,
+  "sensor": "gripper_left_tactile"
+}
\ No newline at end of file
diff --git a/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_09-30/outputs_tactile/tactile_cache/dag911262r000646_lerobot_0327_114353_5bdfbac6/episodes/ep000341/gripper_left_tactile_contact_metrics.json b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_09-30/outputs_tactile/tactile_cache/dag911262r000646_lerobot_0327_114353_5bdfbac6/episodes/ep000341/gripper_left_tactile_contact_metrics.json
new file mode 100644
index 0000000000000000000000000000000000000000..873cb986c979f52462ab8b9d48c4f83cae3ff241
--- /dev/null
+++ b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_09-30/outputs_tactile/tactile_cache/dag911262r000646_lerobot_0327_114353_5bdfbac6/episodes/ep000341/gripper_left_tactile_contact_metrics.json
@@ -0,0 +1,12 @@
+{
+  "contact_time": 22.533333333333335,
+  "contact_ratio": 0.9534555712270804,
+  "avg_contact_area": 2414.1257396449705,
+  "contact_entropy": 0.8571904981798771,
+  "total_frames": 709,
+  "fps": 30.0,
+  "reference_frame_count": 0,
+  "dataset_name": "dag911262r000646_lerobot_0327_114353",
+  "episode_index": 341,
+  "sensor": "gripper_left_tactile"
+}
\ No newline at end of file
diff --git a/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_09-30/outputs_tactile/tactile_cache/dag911262r000646_lerobot_0327_114353_5bdfbac6/episodes/ep000343/gripper_right_tactile_contact_metrics.json b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_09-30/outputs_tactile/tactile_cache/dag911262r000646_lerobot_0327_114353_5bdfbac6/episodes/ep000343/gripper_right_tactile_contact_metrics.json
new file mode 100644
index 0000000000000000000000000000000000000000..3befc377d73a0300a4508053c26f54b88e9e1bfe
--- /dev/null
+++ b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_09-30/outputs_tactile/tactile_cache/dag911262r000646_lerobot_0327_114353_5bdfbac6/episodes/ep000343/gripper_right_tactile_contact_metrics.json
@@ -0,0 +1,12 @@
+{
+  "contact_time": 14.366666666666667,
+  "contact_ratio": 0.7807971014492754,
+  "avg_contact_area": 4463.2227378190255,
+  "contact_entropy": 0.8646432176925306,
+  "total_frames": 552,
+  "fps": 30.0,
+  "reference_frame_count": 0,
+  "dataset_name": "dag911262r000646_lerobot_0327_114353",
+  "episode_index": 343,
+  "sensor": "gripper_right_tactile"
+}
\ No newline at end of file
diff --git a/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_09-30/outputs_tactile/tactile_cache/dag911262r000646_lerobot_0327_114353_5bdfbac6/episodes/ep000344/gripper_left_tactile_force_metrics.json b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_09-30/outputs_tactile/tactile_cache/dag911262r000646_lerobot_0327_114353_5bdfbac6/episodes/ep000344/gripper_left_tactile_force_metrics.json
new file mode 100644
index 0000000000000000000000000000000000000000..130c64bd831d66bc051aba74e91433a7a09e749a
--- /dev/null
+++ b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_09-30/outputs_tactile/tactile_cache/dag911262r000646_lerobot_0327_114353_5bdfbac6/episodes/ep000344/gripper_left_tactile_force_metrics.json
@@ -0,0 +1,9 @@
+{
+  "depth_peak": 0.011165224015712738,
+  "shear_peak": 0.006634633522480726,
+  "force_magnitude_peak": 0.011310587637126446,
+  "reference_frame_count": 0,
+  "dataset_name": "dag911262r000646_lerobot_0327_114353",
+  "episode_index": 344,
+  "sensor": "gripper_left_tactile"
+}
\ No newline at end of file
diff --git a/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_09-30/outputs_tactile/tactile_cache/dag911262r000646_lerobot_0327_114353_5bdfbac6/episodes/ep000345/gripper_right_tactile_contact_metrics.json b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_09-30/outputs_tactile/tactile_cache/dag911262r000646_lerobot_0327_114353_5bdfbac6/episodes/ep000345/gripper_right_tactile_contact_metrics.json
new file mode 100644
index 0000000000000000000000000000000000000000..5d5909ab38e6a2bfa102aee644e4e48a384b6127
--- /dev/null
+++ b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_09-30/outputs_tactile/tactile_cache/dag911262r000646_lerobot_0327_114353_5bdfbac6/episodes/ep000345/gripper_right_tactile_contact_metrics.json
@@ -0,0 +1,12 @@
+{
+  "contact_time": 12.533333333333333,
+  "contact_ratio": 0.8604118993135011,
+  "avg_contact_area": 4176.204787234043,
+  "contact_entropy": 1.0983322493855647,
+  "total_frames": 437,
+  "fps": 30.0,
+  "reference_frame_count": 0,
+  "dataset_name": "dag911262r000646_lerobot_0327_114353",
+  "episode_index": 345,
+  "sensor": "gripper_right_tactile"
+}
\ No newline at end of file
diff --git a/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_09-30/outputs_tactile/tactile_cache/dag911262r000646_lerobot_0327_114353_5bdfbac6/episodes/ep000347/gripper_left_tactile_contact_metrics.json b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_09-30/outputs_tactile/tactile_cache/dag911262r000646_lerobot_0327_114353_5bdfbac6/episodes/ep000347/gripper_left_tactile_contact_metrics.json
new file mode 100644
index 0000000000000000000000000000000000000000..48b1f831f88aac2bb36264d8c5443217343c3e44
--- /dev/null
+++ b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_09-30/outputs_tactile/tactile_cache/dag911262r000646_lerobot_0327_114353_5bdfbac6/episodes/ep000347/gripper_left_tactile_contact_metrics.json
@@ -0,0 +1,12 @@
+{
+  "contact_time": 11.666666666666666,
+  "contact_ratio": 0.8620689655172413,
+  "avg_contact_area": 4657.34,
+  "contact_entropy": 0.7749173007016014,
+  "total_frames": 406,
+  "fps": 30.0,
+  "reference_frame_count": 0,
+  "dataset_name": "dag911262r000646_lerobot_0327_114353",
+  "episode_index": 347,
+  "sensor": "gripper_left_tactile"
+}
\ No newline at end of file
diff --git a/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_09-30/outputs_tactile/tactile_cache/dag911262r000646_lerobot_0327_114353_5bdfbac6/episodes/ep000347/gripper_right_tactile_force_metrics.json b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_09-30/outputs_tactile/tactile_cache/dag911262r000646_lerobot_0327_114353_5bdfbac6/episodes/ep000347/gripper_right_tactile_force_metrics.json
new file mode 100644
index 0000000000000000000000000000000000000000..77cdbf9aad176c9164592df6ff455e0bccb0af90
--- /dev/null
+++ b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_09-30/outputs_tactile/tactile_cache/dag911262r000646_lerobot_0327_114353_5bdfbac6/episodes/ep000347/gripper_right_tactile_force_metrics.json
@@ -0,0 +1,9 @@
+{
+  "depth_peak": 0.006991263944655657,
+  "shear_peak": 0.007001583464443684,
+  "force_magnitude_peak": 0.00887963455170393,
+  "reference_frame_count": 0,
+  "dataset_name": "dag911262r000646_lerobot_0327_114353",
+  "episode_index": 347,
+  "sensor": "gripper_right_tactile"
+}
\ No newline at end of file
diff --git a/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_09-30/outputs_tactile/tactile_cache/dag911262r000646_lerobot_0327_114353_5bdfbac6/episodes/ep000349/gripper_left_tactile_contact_metrics.json b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_09-30/outputs_tactile/tactile_cache/dag911262r000646_lerobot_0327_114353_5bdfbac6/episodes/ep000349/gripper_left_tactile_contact_metrics.json
new file mode 100644
index 0000000000000000000000000000000000000000..1fd2daf6a54c6b42b522c861dda5367580d1af73
--- /dev/null
+++ b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_09-30/outputs_tactile/tactile_cache/dag911262r000646_lerobot_0327_114353_5bdfbac6/episodes/ep000349/gripper_left_tactile_contact_metrics.json
@@ -0,0 +1,12 @@
+{
+  "contact_time": 10.466666666666667,
+  "contact_ratio": 0.8351063829787234,
+  "avg_contact_area": 4758.550955414013,
+  "contact_entropy": 0.464196961508052,
+  "total_frames": 376,
+  "fps": 30.0,
+  "reference_frame_count": 0,
+  "dataset_name": "dag911262r000646_lerobot_0327_114353",
+  "episode_index": 349,
+  "sensor": "gripper_left_tactile"
+}
\ No newline at end of file
diff --git a/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_09-30/outputs_tactile/tactile_cache/dag911262r000646_lerobot_0327_114353_5bdfbac6/episodes/ep000350/gripper_left_tactile_force_metrics.json b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_09-30/outputs_tactile/tactile_cache/dag911262r000646_lerobot_0327_114353_5bdfbac6/episodes/ep000350/gripper_left_tactile_force_metrics.json
new file mode 100644
index 0000000000000000000000000000000000000000..2a6ba01536c2680b05846cafab6a8f6e11c5ffd4
--- /dev/null
+++ b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_09-30/outputs_tactile/tactile_cache/dag911262r000646_lerobot_0327_114353_5bdfbac6/episodes/ep000350/gripper_left_tactile_force_metrics.json
@@ -0,0 +1,9 @@
+{
+  "depth_peak": 0.008549053221940994,
+  "shear_peak": 0.0020636359695345163,
+  "force_magnitude_peak": 0.008559283800423145,
+  "reference_frame_count": 0,
+  "dataset_name": "dag911262r000646_lerobot_0327_114353",
+  "episode_index": 350,
+  "sensor": "gripper_left_tactile"
+}
\ No newline at end of file
diff --git a/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_09-30/outputs_tactile/tactile_cache/dag911262r000646_lerobot_0327_114353_5bdfbac6/episodes/ep000358/gripper_right_tactile_force_metrics.json b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_09-30/outputs_tactile/tactile_cache/dag911262r000646_lerobot_0327_114353_5bdfbac6/episodes/ep000358/gripper_right_tactile_force_metrics.json
new file mode 100644
index 0000000000000000000000000000000000000000..68f3b8393c55fc5fc967828985e33c04ab8fdf28
--- /dev/null
+++ b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_09-30/outputs_tactile/tactile_cache/dag911262r000646_lerobot_0327_114353_5bdfbac6/episodes/ep000358/gripper_right_tactile_force_metrics.json
@@ -0,0 +1,9 @@
+{
+  "depth_peak": 0.01344974059611559,
+  "shear_peak": 0.019584188237786293,
+  "force_magnitude_peak": 0.023665497079491615,
+  "reference_frame_count": 0,
+  "dataset_name": "dag911262r000646_lerobot_0327_114353",
+  "episode_index": 358,
+  "sensor": "gripper_right_tactile"
+}
\ No newline at end of file
diff --git a/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_09-30/outputs_tactile/tactile_cache/dag911262r000646_lerobot_0327_114353_5bdfbac6/episodes/ep000360/gripper_right_tactile_contact_metrics.json b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_09-30/outputs_tactile/tactile_cache/dag911262r000646_lerobot_0327_114353_5bdfbac6/episodes/ep000360/gripper_right_tactile_contact_metrics.json
new file mode 100644
index 0000000000000000000000000000000000000000..dbbdaffd41db636f3267cd8cb4b41540f0e0998b
--- /dev/null
+++ b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_09-30/outputs_tactile/tactile_cache/dag911262r000646_lerobot_0327_114353_5bdfbac6/episodes/ep000360/gripper_right_tactile_contact_metrics.json
@@ -0,0 +1,12 @@
+{
+  "contact_time": 18.466666666666665,
+  "contact_ratio": 0.9037520391517129,
+  "avg_contact_area": 3876.7184115523464,
+  "contact_entropy": 0.6854793385651712,
+  "total_frames": 613,
+  "fps": 30.0,
+  "reference_frame_count": 0,
+  "dataset_name": "dag911262r000646_lerobot_0327_114353",
+  "episode_index": 360,
+  "sensor": "gripper_right_tactile"
+}
\ No newline at end of file
diff --git a/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_09-30/outputs_tactile/tactile_cache/dag911262r000646_lerobot_0327_114353_5bdfbac6/episodes/ep000365/gripper_right_tactile_force_metrics.json b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_09-30/outputs_tactile/tactile_cache/dag911262r000646_lerobot_0327_114353_5bdfbac6/episodes/ep000365/gripper_right_tactile_force_metrics.json
new file mode 100644
index 0000000000000000000000000000000000000000..2931ee3083828145049fab6d604a712d242c618a
--- /dev/null
+++ b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_09-30/outputs_tactile/tactile_cache/dag911262r000646_lerobot_0327_114353_5bdfbac6/episodes/ep000365/gripper_right_tactile_force_metrics.json
@@ -0,0 +1,9 @@
+{
+  "depth_peak": 0.006800220813602209,
+  "shear_peak": 0.009138859808444977,
+  "force_magnitude_peak": 0.010922367684543133,
+  "reference_frame_count": 0,
+  "dataset_name": "dag911262r000646_lerobot_0327_114353",
+  "episode_index": 365,
+  "sensor": "gripper_right_tactile"
+}
\ No newline at end of file
diff --git a/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_09-30/outputs_tactile/tactile_cache/dag911262r000646_lerobot_0327_114353_5bdfbac6/episodes/ep000366/gripper_left_tactile_force_metrics.json b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_09-30/outputs_tactile/tactile_cache/dag911262r000646_lerobot_0327_114353_5bdfbac6/episodes/ep000366/gripper_left_tactile_force_metrics.json
new file mode 100644
index 0000000000000000000000000000000000000000..18b506447ceb20aaee7f93f7ab73f044095c0361
--- /dev/null
+++ b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_09-30/outputs_tactile/tactile_cache/dag911262r000646_lerobot_0327_114353_5bdfbac6/episodes/ep000366/gripper_left_tactile_force_metrics.json
@@ -0,0 +1,9 @@
+{
+  "depth_peak": 0.006325819063931704,
+  "shear_peak": 0.0030282752122730017,
+  "force_magnitude_peak": 0.0067730979062616825,
+  "reference_frame_count": 0,
+  "dataset_name": "dag911262r000646_lerobot_0327_114353",
+  "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_09-30/outputs_tactile/tactile_cache/dag911262r000646_lerobot_0327_114353_5bdfbac6/episodes/ep000367/gripper_right_tactile_force_metrics.json b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_09-30/outputs_tactile/tactile_cache/dag911262r000646_lerobot_0327_114353_5bdfbac6/episodes/ep000367/gripper_right_tactile_force_metrics.json
new file mode 100644
index 0000000000000000000000000000000000000000..cbd25e35a3c9009664d989992de9edea26f4e0bf
--- /dev/null
+++ b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_09-30/outputs_tactile/tactile_cache/dag911262r000646_lerobot_0327_114353_5bdfbac6/episodes/ep000367/gripper_right_tactile_force_metrics.json
@@ -0,0 +1,9 @@
+{
+  "depth_peak": 0.0176241435110569,
+  "shear_peak": 0.007903682999312878,
+  "force_magnitude_peak": 0.018232109025120735,
+  "reference_frame_count": 0,
+  "dataset_name": "dag911262r000646_lerobot_0327_114353",
+  "episode_index": 367,
+  "sensor": "gripper_right_tactile"
+}
\ No newline at end of file
diff --git a/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_09-30/outputs_tactile/tactile_cache/dag911262r000646_lerobot_0327_114353_5bdfbac6/episodes/ep000368/gripper_left_tactile_contact_metrics.json b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_09-30/outputs_tactile/tactile_cache/dag911262r000646_lerobot_0327_114353_5bdfbac6/episodes/ep000368/gripper_left_tactile_contact_metrics.json
new file mode 100644
index 0000000000000000000000000000000000000000..c8d1b89ad76c09e0c58397d1d8a99b81fd1f4514
--- /dev/null
+++ b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_09-30/outputs_tactile/tactile_cache/dag911262r000646_lerobot_0327_114353_5bdfbac6/episodes/ep000368/gripper_left_tactile_contact_metrics.json
@@ -0,0 +1,12 @@
+{
+  "contact_time": 10.6,
+  "contact_ratio": 0.8760330578512396,
+  "avg_contact_area": 3811.185534591195,
+  "contact_entropy": 0.4627319339853008,
+  "total_frames": 363,
+  "fps": 30.0,
+  "reference_frame_count": 0,
+  "dataset_name": "dag911262r000646_lerobot_0327_114353",
+  "episode_index": 368,
+  "sensor": "gripper_left_tactile"
+}
\ No newline at end of file
diff --git a/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_09-30/outputs_tactile/tactile_cache/dag911262r000646_lerobot_0327_114353_5bdfbac6/episodes/ep000370/gripper_right_tactile_contact_metrics.json b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_09-30/outputs_tactile/tactile_cache/dag911262r000646_lerobot_0327_114353_5bdfbac6/episodes/ep000370/gripper_right_tactile_contact_metrics.json
new file mode 100644
index 0000000000000000000000000000000000000000..211be28a7d4dbf16373c228ee04750e7ac2221d8
--- /dev/null
+++ b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_09-30/outputs_tactile/tactile_cache/dag911262r000646_lerobot_0327_114353_5bdfbac6/episodes/ep000370/gripper_right_tactile_contact_metrics.json
@@ -0,0 +1,12 @@
+{
+  "contact_time": 10.533333333333333,
+  "contact_ratio": 0.8426666666666667,
+  "avg_contact_area": 9961.37658227848,
+  "contact_entropy": 0.6799020681732099,
+  "total_frames": 375,
+  "fps": 30.0,
+  "reference_frame_count": 0,
+  "dataset_name": "dag911262r000646_lerobot_0327_114353",
+  "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_09-30/outputs_tactile/tactile_cache/dag911262r000646_lerobot_0327_114353_5bdfbac6/episodes/ep000372/gripper_right_tactile_contact_metrics.json b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_09-30/outputs_tactile/tactile_cache/dag911262r000646_lerobot_0327_114353_5bdfbac6/episodes/ep000372/gripper_right_tactile_contact_metrics.json
new file mode 100644
index 0000000000000000000000000000000000000000..bd8eb13500c2546a3fad6dc9d44df310105fb57c
--- /dev/null
+++ b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_09-30/outputs_tactile/tactile_cache/dag911262r000646_lerobot_0327_114353_5bdfbac6/episodes/ep000372/gripper_right_tactile_contact_metrics.json
@@ -0,0 +1,12 @@
+{
+  "contact_time": 9.966666666666667,
+  "contact_ratio": 0.8470254957507082,
+  "avg_contact_area": 7177.742474916388,
+  "contact_entropy": 0.39532954515768237,
+  "total_frames": 353,
+  "fps": 30.0,
+  "reference_frame_count": 0,
+  "dataset_name": "dag911262r000646_lerobot_0327_114353",
+  "episode_index": 372,
+  "sensor": "gripper_right_tactile"
+}
\ No newline at end of file
diff --git a/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_09-30/outputs_tactile/tactile_cache/dag911262r000646_lerobot_0327_114353_5bdfbac6/episodes/ep000372/gripper_right_tactile_force_metrics.json b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_09-30/outputs_tactile/tactile_cache/dag911262r000646_lerobot_0327_114353_5bdfbac6/episodes/ep000372/gripper_right_tactile_force_metrics.json
new file mode 100644
index 0000000000000000000000000000000000000000..9701bd1378572bca989915ace08ed2190abf27ca
--- /dev/null
+++ b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_09-30/outputs_tactile/tactile_cache/dag911262r000646_lerobot_0327_114353_5bdfbac6/episodes/ep000372/gripper_right_tactile_force_metrics.json
@@ -0,0 +1,9 @@
+{
+  "depth_peak": 0.003950134385377169,
+  "shear_peak": 0.009539540857076645,
+  "force_magnitude_peak": 0.009722419083118439,
+  "reference_frame_count": 0,
+  "dataset_name": "dag911262r000646_lerobot_0327_114353",
+  "episode_index": 372,
+  "sensor": "gripper_right_tactile"
+}
\ No newline at end of file
diff --git a/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_09-30/outputs_tactile/tactile_cache/dag911262r000646_lerobot_0327_114353_5bdfbac6/episodes/ep000373/gripper_left_tactile_contact_metrics.json b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_09-30/outputs_tactile/tactile_cache/dag911262r000646_lerobot_0327_114353_5bdfbac6/episodes/ep000373/gripper_left_tactile_contact_metrics.json
new file mode 100644
index 0000000000000000000000000000000000000000..e6c1322e7130b4b3fc329fda8478228836313781
--- /dev/null
+++ b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_09-30/outputs_tactile/tactile_cache/dag911262r000646_lerobot_0327_114353_5bdfbac6/episodes/ep000373/gripper_left_tactile_contact_metrics.json
@@ -0,0 +1,12 @@
+{
+  "contact_time": 10.766666666666667,
+  "contact_ratio": 0.8801089918256131,
+  "avg_contact_area": 7612.145510835913,
+  "contact_entropy": 0.7611656291174217,
+  "total_frames": 367,
+  "fps": 30.0,
+  "reference_frame_count": 0,
+  "dataset_name": "dag911262r000646_lerobot_0327_114353",
+  "episode_index": 373,
+  "sensor": "gripper_left_tactile"
+}
\ No newline at end of file
diff --git a/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_09-30/outputs_tactile/tactile_cache/dag911262r000646_lerobot_0327_114353_5bdfbac6/episodes/ep000375/gripper_left_tactile_force_metrics.json b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_09-30/outputs_tactile/tactile_cache/dag911262r000646_lerobot_0327_114353_5bdfbac6/episodes/ep000375/gripper_left_tactile_force_metrics.json
new file mode 100644
index 0000000000000000000000000000000000000000..307cb46fa1b620094a9b7266fe6e0cb6c3220fb6
--- /dev/null
+++ b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_09-30/outputs_tactile/tactile_cache/dag911262r000646_lerobot_0327_114353_5bdfbac6/episodes/ep000375/gripper_left_tactile_force_metrics.json
@@ -0,0 +1,9 @@
+{
+  "depth_peak": 0.01032167673110962,
+  "shear_peak": 0.0044522411189973354,
+  "force_magnitude_peak": 0.010551541112363338,
+  "reference_frame_count": 0,
+  "dataset_name": "dag911262r000646_lerobot_0327_114353",
+  "episode_index": 375,
+  "sensor": "gripper_left_tactile"
+}
\ No newline at end of file
diff --git a/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_09-30/outputs_tactile/tactile_cache/dag911262r000646_lerobot_0327_114353_5bdfbac6/episodes/ep000376/gripper_left_tactile_force_metrics.json b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_09-30/outputs_tactile/tactile_cache/dag911262r000646_lerobot_0327_114353_5bdfbac6/episodes/ep000376/gripper_left_tactile_force_metrics.json
new file mode 100644
index 0000000000000000000000000000000000000000..f95491a4d1ef19c9d9fffb62bef22a6429a919dd
--- /dev/null
+++ b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_09-30/outputs_tactile/tactile_cache/dag911262r000646_lerobot_0327_114353_5bdfbac6/episodes/ep000376/gripper_left_tactile_force_metrics.json
@@ -0,0 +1,9 @@
+{
+  "depth_peak": 0.009800064377486706,
+  "shear_peak": 0.0074882181361317635,
+  "force_magnitude_peak": 0.012323969975113869,
+  "reference_frame_count": 0,
+  "dataset_name": "dag911262r000646_lerobot_0327_114353",
+  "episode_index": 376,
+  "sensor": "gripper_left_tactile"
+}
\ No newline at end of file
diff --git a/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_09-30/outputs_tactile/tactile_cache/dag911262r000646_lerobot_0327_114353_5bdfbac6/episodes/ep000381/gripper_left_tactile_contact_metrics.json b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_09-30/outputs_tactile/tactile_cache/dag911262r000646_lerobot_0327_114353_5bdfbac6/episodes/ep000381/gripper_left_tactile_contact_metrics.json
new file mode 100644
index 0000000000000000000000000000000000000000..6043934476d6f06e7e4fe223ba9a250b1d7bc0da
--- /dev/null
+++ b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_09-30/outputs_tactile/tactile_cache/dag911262r000646_lerobot_0327_114353_5bdfbac6/episodes/ep000381/gripper_left_tactile_contact_metrics.json
@@ -0,0 +1,12 @@
+{
+  "contact_time": 10.0,
+  "contact_ratio": 0.8379888268156425,
+  "avg_contact_area": 2233.2566666666667,
+  "contact_entropy": 0.6346519000269111,
+  "total_frames": 358,
+  "fps": 30.0,
+  "reference_frame_count": 0,
+  "dataset_name": "dag911262r000646_lerobot_0327_114353",
+  "episode_index": 381,
+  "sensor": "gripper_left_tactile"
+}
\ No newline at end of file
diff --git a/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_09-30/outputs_tactile/tactile_cache/dag911262r000646_lerobot_0327_114353_5bdfbac6/episodes/ep000383/gripper_right_tactile_contact_metrics.json b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_09-30/outputs_tactile/tactile_cache/dag911262r000646_lerobot_0327_114353_5bdfbac6/episodes/ep000383/gripper_right_tactile_contact_metrics.json
new file mode 100644
index 0000000000000000000000000000000000000000..72a33824007db530a519238bb7db91ffd2789ba2
--- /dev/null
+++ b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_09-30/outputs_tactile/tactile_cache/dag911262r000646_lerobot_0327_114353_5bdfbac6/episodes/ep000383/gripper_right_tactile_contact_metrics.json
@@ -0,0 +1,12 @@
+{
+  "contact_time": 11.033333333333333,
+  "contact_ratio": 1.0,
+  "avg_contact_area": 5209.353474320242,
+  "contact_entropy": 0.8259710582204441,
+  "total_frames": 331,
+  "fps": 30.0,
+  "reference_frame_count": 0,
+  "dataset_name": "dag911262r000646_lerobot_0327_114353",
+  "episode_index": 383,
+  "sensor": "gripper_right_tactile"
+}
\ No newline at end of file
diff --git a/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_09-30/outputs_tactile/tactile_cache/dag911262r000646_lerobot_0327_114353_5bdfbac6/episodes/ep000384/gripper_left_tactile_force_metrics.json b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_09-30/outputs_tactile/tactile_cache/dag911262r000646_lerobot_0327_114353_5bdfbac6/episodes/ep000384/gripper_left_tactile_force_metrics.json
new file mode 100644
index 0000000000000000000000000000000000000000..a780f94b86e24c60b5f1d6a63f7b74f79ce48a7f
--- /dev/null
+++ b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_09-30/outputs_tactile/tactile_cache/dag911262r000646_lerobot_0327_114353_5bdfbac6/episodes/ep000384/gripper_left_tactile_force_metrics.json
@@ -0,0 +1,9 @@
+{
+  "depth_peak": 0.0076688434928655624,
+  "shear_peak": 0.009469087235629559,
+  "force_magnitude_peak": 0.010582361370325089,
+  "reference_frame_count": 0,
+  "dataset_name": "dag911262r000646_lerobot_0327_114353",
+  "episode_index": 384,
+  "sensor": "gripper_left_tactile"
+}
\ No newline at end of file
diff --git a/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_09-30/outputs_tactile/tactile_cache/dag911262r000646_lerobot_0327_114353_5bdfbac6/episodes/ep000385/gripper_right_tactile_contact_metrics.json b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_09-30/outputs_tactile/tactile_cache/dag911262r000646_lerobot_0327_114353_5bdfbac6/episodes/ep000385/gripper_right_tactile_contact_metrics.json
new file mode 100644
index 0000000000000000000000000000000000000000..1e368c5a5e4a46e20d79f8d6118eba89fb661d44
--- /dev/null
+++ b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_09-30/outputs_tactile/tactile_cache/dag911262r000646_lerobot_0327_114353_5bdfbac6/episodes/ep000385/gripper_right_tactile_contact_metrics.json
@@ -0,0 +1,12 @@
+{
+  "contact_time": 12.266666666666667,
+  "contact_ratio": 0.9223057644110275,
+  "avg_contact_area": 1843.804347826087,
+  "contact_entropy": 0.6998984506855417,
+  "total_frames": 399,
+  "fps": 30.0,
+  "reference_frame_count": 0,
+  "dataset_name": "dag911262r000646_lerobot_0327_114353",
+  "episode_index": 385,
+  "sensor": "gripper_right_tactile"
+}
\ No newline at end of file
diff --git a/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_09-30/outputs_tactile/tactile_cache/dag911262r000646_lerobot_0327_114353_5bdfbac6/episodes/ep000387/gripper_left_tactile_contact_metrics.json b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_09-30/outputs_tactile/tactile_cache/dag911262r000646_lerobot_0327_114353_5bdfbac6/episodes/ep000387/gripper_left_tactile_contact_metrics.json
new file mode 100644
index 0000000000000000000000000000000000000000..84eaa037133911c45fd3eda42fa94bd7e21c4861
--- /dev/null
+++ b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_09-30/outputs_tactile/tactile_cache/dag911262r000646_lerobot_0327_114353_5bdfbac6/episodes/ep000387/gripper_left_tactile_contact_metrics.json
@@ -0,0 +1,12 @@
+{
+  "contact_time": 13.733333333333333,
+  "contact_ratio": 0.8728813559322034,
+  "avg_contact_area": 3272.8883495145633,
+  "contact_entropy": 0.7731504769754721,
+  "total_frames": 472,
+  "fps": 30.0,
+  "reference_frame_count": 0,
+  "dataset_name": "dag911262r000646_lerobot_0327_114353",
+  "episode_index": 387,
+  "sensor": "gripper_left_tactile"
+}
\ No newline at end of file
diff --git a/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_09-30/outputs_tactile/tactile_cache/dag911262r000646_lerobot_0327_114353_5bdfbac6/episodes/ep000387/gripper_right_tactile_force_metrics.json b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_09-30/outputs_tactile/tactile_cache/dag911262r000646_lerobot_0327_114353_5bdfbac6/episodes/ep000387/gripper_right_tactile_force_metrics.json
new file mode 100644
index 0000000000000000000000000000000000000000..69777b0ac9bbebc99cfa814334decd587b4c6ed6
--- /dev/null
+++ b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_09-30/outputs_tactile/tactile_cache/dag911262r000646_lerobot_0327_114353_5bdfbac6/episodes/ep000387/gripper_right_tactile_force_metrics.json
@@ -0,0 +1,9 @@
+{
+  "depth_peak": 0.0020833017770200968,
+  "shear_peak": 0.002969390945509076,
+  "force_magnitude_peak": 0.0033634549472481012,
+  "reference_frame_count": 0,
+  "dataset_name": "dag911262r000646_lerobot_0327_114353",
+  "episode_index": 387,
+  "sensor": "gripper_right_tactile"
+}
\ No newline at end of file
diff --git a/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_09-30/outputs_tactile/tactile_cache/dag911262r000646_lerobot_0327_114353_5bdfbac6/episodes/ep000389/gripper_left_tactile_contact_metrics.json b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_09-30/outputs_tactile/tactile_cache/dag911262r000646_lerobot_0327_114353_5bdfbac6/episodes/ep000389/gripper_left_tactile_contact_metrics.json
new file mode 100644
index 0000000000000000000000000000000000000000..cedaccb8a1de1a52d4b7430f9e745c92a2b61d2b
--- /dev/null
+++ b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_09-30/outputs_tactile/tactile_cache/dag911262r000646_lerobot_0327_114353_5bdfbac6/episodes/ep000389/gripper_left_tactile_contact_metrics.json
@@ -0,0 +1,12 @@
+{
+  "contact_time": 15.133333333333333,
+  "contact_ratio": 0.9153225806451613,
+  "avg_contact_area": 2771.6211453744495,
+  "contact_entropy": 0.6644797819932957,
+  "total_frames": 496,
+  "fps": 30.0,
+  "reference_frame_count": 0,
+  "dataset_name": "dag911262r000646_lerobot_0327_114353",
+  "episode_index": 389,
+  "sensor": "gripper_left_tactile"
+}
\ No newline at end of file
diff --git a/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_09-30/outputs_tactile/tactile_cache/dag911262r000646_lerobot_0327_114353_5bdfbac6/episodes/ep000390/gripper_left_tactile_force_metrics.json b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_09-30/outputs_tactile/tactile_cache/dag911262r000646_lerobot_0327_114353_5bdfbac6/episodes/ep000390/gripper_left_tactile_force_metrics.json
new file mode 100644
index 0000000000000000000000000000000000000000..a4c769c058e6111dd59021e36244d6331b0ed600
--- /dev/null
+++ b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_09-30/outputs_tactile/tactile_cache/dag911262r000646_lerobot_0327_114353_5bdfbac6/episodes/ep000390/gripper_left_tactile_force_metrics.json
@@ -0,0 +1,9 @@
+{
+  "depth_peak": 0.00319545716047287,
+  "shear_peak": 0.0027482355944812298,
+  "force_magnitude_peak": 0.003571550128981471,
+  "reference_frame_count": 0,
+  "dataset_name": "dag911262r000646_lerobot_0327_114353",
+  "episode_index": 390,
+  "sensor": "gripper_left_tactile"
+}
\ No newline at end of file
diff --git a/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_09-30/outputs_tactile/tactile_cache/dag911262r000646_lerobot_0327_114353_5bdfbac6/episodes/ep000398/gripper_right_tactile_force_metrics.json b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_09-30/outputs_tactile/tactile_cache/dag911262r000646_lerobot_0327_114353_5bdfbac6/episodes/ep000398/gripper_right_tactile_force_metrics.json
new file mode 100644
index 0000000000000000000000000000000000000000..3c291c9285a9a8149933d048e9f87e9c663074ec
--- /dev/null
+++ b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_09-30/outputs_tactile/tactile_cache/dag911262r000646_lerobot_0327_114353_5bdfbac6/episodes/ep000398/gripper_right_tactile_force_metrics.json
@@ -0,0 +1,9 @@
+{
+  "depth_peak": 0.004989383276551962,
+  "shear_peak": 0.00801720842719078,
+  "force_magnitude_peak": 0.009442964568734169,
+  "reference_frame_count": 0,
+  "dataset_name": "dag911262r000646_lerobot_0327_114353",
+  "episode_index": 398,
+  "sensor": "gripper_right_tactile"
+}
\ No newline at end of file
diff --git a/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_09-30/outputs_tactile/tactile_cache/dag911262r000646_lerobot_0327_114353_5bdfbac6/episodes/ep000400/gripper_right_tactile_contact_metrics.json b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_09-30/outputs_tactile/tactile_cache/dag911262r000646_lerobot_0327_114353_5bdfbac6/episodes/ep000400/gripper_right_tactile_contact_metrics.json
new file mode 100644
index 0000000000000000000000000000000000000000..a8e7652af049c60a9374001c421a78ce4886c32a
--- /dev/null
+++ b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_09-30/outputs_tactile/tactile_cache/dag911262r000646_lerobot_0327_114353_5bdfbac6/episodes/ep000400/gripper_right_tactile_contact_metrics.json
@@ -0,0 +1,12 @@
+{
+  "contact_time": 14.133333333333333,
+  "contact_ratio": 0.9040511727078892,
+  "avg_contact_area": 3715.3207547169814,
+  "contact_entropy": 0.6596773109851579,
+  "total_frames": 469,
+  "fps": 30.0,
+  "reference_frame_count": 0,
+  "dataset_name": "dag911262r000646_lerobot_0327_114353",
+  "episode_index": 400,
+  "sensor": "gripper_right_tactile"
+}
\ No newline at end of file
diff --git a/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_09-30/outputs_tactile/tactile_cache/dag911262r000646_lerobot_0327_114353_5bdfbac6/episodes/ep000405/gripper_right_tactile_force_metrics.json b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_09-30/outputs_tactile/tactile_cache/dag911262r000646_lerobot_0327_114353_5bdfbac6/episodes/ep000405/gripper_right_tactile_force_metrics.json
new file mode 100644
index 0000000000000000000000000000000000000000..c215bb0ec6907d85dd78bab7f6972e3d1a779bb8
--- /dev/null
+++ b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_09-30/outputs_tactile/tactile_cache/dag911262r000646_lerobot_0327_114353_5bdfbac6/episodes/ep000405/gripper_right_tactile_force_metrics.json
@@ -0,0 +1,9 @@
+{
+  "depth_peak": 0.010349045507609844,
+  "shear_peak": 0.012282144278287888,
+  "force_magnitude_peak": 0.014898537658154964,
+  "reference_frame_count": 0,
+  "dataset_name": "dag911262r000646_lerobot_0327_114353",
+  "episode_index": 405,
+  "sensor": "gripper_right_tactile"
+}
\ No newline at end of file
diff --git a/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_09-30/outputs_tactile/tactile_cache/dag911262r000646_lerobot_0327_114353_5bdfbac6/episodes/ep000406/gripper_left_tactile_force_metrics.json b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_09-30/outputs_tactile/tactile_cache/dag911262r000646_lerobot_0327_114353_5bdfbac6/episodes/ep000406/gripper_left_tactile_force_metrics.json
new file mode 100644
index 0000000000000000000000000000000000000000..411596a5484e6168229b45b61ab47269901a7487
--- /dev/null
+++ b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_09-30/outputs_tactile/tactile_cache/dag911262r000646_lerobot_0327_114353_5bdfbac6/episodes/ep000406/gripper_left_tactile_force_metrics.json
@@ -0,0 +1,9 @@
+{
+  "depth_peak": 0.013708679005503654,
+  "shear_peak": 0.0028835574630647898,
+  "force_magnitude_peak": 0.013754352927207947,
+  "reference_frame_count": 0,
+  "dataset_name": "dag911262r000646_lerobot_0327_114353",
+  "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_09-30/outputs_tactile/tactile_cache/dag911262r000646_lerobot_0327_114353_5bdfbac6/episodes/ep000407/gripper_right_tactile_force_metrics.json b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_09-30/outputs_tactile/tactile_cache/dag911262r000646_lerobot_0327_114353_5bdfbac6/episodes/ep000407/gripper_right_tactile_force_metrics.json
new file mode 100644
index 0000000000000000000000000000000000000000..c0b797f27015b4b8c97dececac8a748378fbf5f9
--- /dev/null
+++ b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_09-30/outputs_tactile/tactile_cache/dag911262r000646_lerobot_0327_114353_5bdfbac6/episodes/ep000407/gripper_right_tactile_force_metrics.json
@@ -0,0 +1,9 @@
+{
+  "depth_peak": 0.010881347581744194,
+  "shear_peak": 0.006364899687469006,
+  "force_magnitude_peak": 0.011315450072288513,
+  "reference_frame_count": 0,
+  "dataset_name": "dag911262r000646_lerobot_0327_114353",
+  "episode_index": 407,
+  "sensor": "gripper_right_tactile"
+}
\ No newline at end of file
diff --git a/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_09-30/outputs_tactile/tactile_cache/dag911262r000646_lerobot_0327_114353_5bdfbac6/episodes/ep000408/gripper_left_tactile_contact_metrics.json b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_09-30/outputs_tactile/tactile_cache/dag911262r000646_lerobot_0327_114353_5bdfbac6/episodes/ep000408/gripper_left_tactile_contact_metrics.json
new file mode 100644
index 0000000000000000000000000000000000000000..2e26620f54b6166b236d025e22417caee1e57fb3
--- /dev/null
+++ b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_09-30/outputs_tactile/tactile_cache/dag911262r000646_lerobot_0327_114353_5bdfbac6/episodes/ep000408/gripper_left_tactile_contact_metrics.json
@@ -0,0 +1,12 @@
+{
+  "contact_time": 10.566666666666666,
+  "contact_ratio": 0.8149100257069408,
+  "avg_contact_area": 4064.4447949526816,
+  "contact_entropy": 0.8216739675567561,
+  "total_frames": 389,
+  "fps": 30.0,
+  "reference_frame_count": 0,
+  "dataset_name": "dag911262r000646_lerobot_0327_114353",
+  "episode_index": 408,
+  "sensor": "gripper_left_tactile"
+}
\ No newline at end of file
diff --git a/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_09-30/outputs_tactile/tactile_cache/dag911262r000646_lerobot_0327_114353_5bdfbac6/episodes/ep000410/gripper_right_tactile_contact_metrics.json b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_09-30/outputs_tactile/tactile_cache/dag911262r000646_lerobot_0327_114353_5bdfbac6/episodes/ep000410/gripper_right_tactile_contact_metrics.json
new file mode 100644
index 0000000000000000000000000000000000000000..8f95f0e2809ee16810eb2c0d2aa3702eb6a52c07
--- /dev/null
+++ b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_09-30/outputs_tactile/tactile_cache/dag911262r000646_lerobot_0327_114353_5bdfbac6/episodes/ep000410/gripper_right_tactile_contact_metrics.json
@@ -0,0 +1,12 @@
+{
+  "contact_time": 13.4,
+  "contact_ratio": 0.8701298701298701,
+  "avg_contact_area": 3297.363184079602,
+  "contact_entropy": 0.5119666643729315,
+  "total_frames": 462,
+  "fps": 30.0,
+  "reference_frame_count": 0,
+  "dataset_name": "dag911262r000646_lerobot_0327_114353",
+  "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_09-30/outputs_tactile/tactile_cache/dag911262r000646_lerobot_0327_114353_5bdfbac6/episodes/ep000412/gripper_right_tactile_contact_metrics.json b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_09-30/outputs_tactile/tactile_cache/dag911262r000646_lerobot_0327_114353_5bdfbac6/episodes/ep000412/gripper_right_tactile_contact_metrics.json
new file mode 100644
index 0000000000000000000000000000000000000000..8d29fa19546c6588376e78300f99dbf0b415f316
--- /dev/null
+++ b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_09-30/outputs_tactile/tactile_cache/dag911262r000646_lerobot_0327_114353_5bdfbac6/episodes/ep000412/gripper_right_tactile_contact_metrics.json
@@ -0,0 +1,12 @@
+{
+  "contact_time": 9.033333333333333,
+  "contact_ratio": 0.6008869179600886,
+  "avg_contact_area": 2612.3653136531366,
+  "contact_entropy": 0.5061711762717835,
+  "total_frames": 451,
+  "fps": 30.0,
+  "reference_frame_count": 0,
+  "dataset_name": "dag911262r000646_lerobot_0327_114353",
+  "episode_index": 412,
+  "sensor": "gripper_right_tactile"
+}
\ No newline at end of file
diff --git a/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_09-30/outputs_tactile/tactile_cache/dag911262r000646_lerobot_0327_114353_5bdfbac6/episodes/ep000412/gripper_right_tactile_force_metrics.json b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_09-30/outputs_tactile/tactile_cache/dag911262r000646_lerobot_0327_114353_5bdfbac6/episodes/ep000412/gripper_right_tactile_force_metrics.json
new file mode 100644
index 0000000000000000000000000000000000000000..8fb2789e047564b4a0db38db59daad0fc454f71a
--- /dev/null
+++ b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_09-30/outputs_tactile/tactile_cache/dag911262r000646_lerobot_0327_114353_5bdfbac6/episodes/ep000412/gripper_right_tactile_force_metrics.json
@@ -0,0 +1,9 @@
+{
+  "depth_peak": 0.004199450369924307,
+  "shear_peak": 0.0057914722710847855,
+  "force_magnitude_peak": 0.006575379520654678,
+  "reference_frame_count": 0,
+  "dataset_name": "dag911262r000646_lerobot_0327_114353",
+  "episode_index": 412,
+  "sensor": "gripper_right_tactile"
+}
\ No newline at end of file
diff --git a/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_09-30/outputs_tactile/tactile_cache/dag911262r000646_lerobot_0327_114353_5bdfbac6/episodes/ep000413/gripper_left_tactile_contact_metrics.json b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_09-30/outputs_tactile/tactile_cache/dag911262r000646_lerobot_0327_114353_5bdfbac6/episodes/ep000413/gripper_left_tactile_contact_metrics.json
new file mode 100644
index 0000000000000000000000000000000000000000..7f5eca70892a7c49b2d1fc13686ffdbb3f062a09
--- /dev/null
+++ b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_09-30/outputs_tactile/tactile_cache/dag911262r000646_lerobot_0327_114353_5bdfbac6/episodes/ep000413/gripper_left_tactile_contact_metrics.json
@@ -0,0 +1,12 @@
+{
+  "contact_time": 11.933333333333334,
+  "contact_ratio": 0.8585131894484412,
+  "avg_contact_area": 4226.405027932961,
+  "contact_entropy": 0.5709401515484698,
+  "total_frames": 417,
+  "fps": 30.0,
+  "reference_frame_count": 0,
+  "dataset_name": "dag911262r000646_lerobot_0327_114353",
+  "episode_index": 413,
+  "sensor": "gripper_left_tactile"
+}
\ No newline at end of file
diff --git a/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_09-30/outputs_tactile/tactile_cache/dag911262r000646_lerobot_0327_114353_5bdfbac6/episodes/ep000415/gripper_left_tactile_force_metrics.json b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_09-30/outputs_tactile/tactile_cache/dag911262r000646_lerobot_0327_114353_5bdfbac6/episodes/ep000415/gripper_left_tactile_force_metrics.json
new file mode 100644
index 0000000000000000000000000000000000000000..9a55a4028ad93ee8cecad4ddccd35f36a2e5296f
--- /dev/null
+++ b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_09-30/outputs_tactile/tactile_cache/dag911262r000646_lerobot_0327_114353_5bdfbac6/episodes/ep000415/gripper_left_tactile_force_metrics.json
@@ -0,0 +1,9 @@
+{
+  "depth_peak": 0.007125901058316231,
+  "shear_peak": 0.008168949745595455,
+  "force_magnitude_peak": 0.010789169929921627,
+  "reference_frame_count": 0,
+  "dataset_name": "dag911262r000646_lerobot_0327_114353",
+  "episode_index": 415,
+  "sensor": "gripper_left_tactile"
+}
\ No newline at end of file
diff --git a/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_09-30/outputs_tactile/tactile_cache/dag911262r000646_lerobot_0327_114353_5bdfbac6/episodes/ep000416/gripper_left_tactile_force_metrics.json b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_09-30/outputs_tactile/tactile_cache/dag911262r000646_lerobot_0327_114353_5bdfbac6/episodes/ep000416/gripper_left_tactile_force_metrics.json
new file mode 100644
index 0000000000000000000000000000000000000000..8cfa670499875ebe30b771d2d61ae9cc2209177d
--- /dev/null
+++ b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_09-30/outputs_tactile/tactile_cache/dag911262r000646_lerobot_0327_114353_5bdfbac6/episodes/ep000416/gripper_left_tactile_force_metrics.json
@@ -0,0 +1,9 @@
+{
+  "depth_peak": 0.00937159638851881,
+  "shear_peak": 0.0036656369920819998,
+  "force_magnitude_peak": 0.009873325936496258,
+  "reference_frame_count": 0,
+  "dataset_name": "dag911262r000646_lerobot_0327_114353",
+  "episode_index": 416,
+  "sensor": "gripper_left_tactile"
+}
\ No newline at end of file
diff --git a/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_09-30/outputs_tactile/tactile_cache/dag911262r000646_lerobot_0327_114353_5bdfbac6/episodes/ep000421/gripper_left_tactile_contact_metrics.json b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_09-30/outputs_tactile/tactile_cache/dag911262r000646_lerobot_0327_114353_5bdfbac6/episodes/ep000421/gripper_left_tactile_contact_metrics.json
new file mode 100644
index 0000000000000000000000000000000000000000..3abb2b3406f36c4a043cc436e106bf67aeff1d6e
--- /dev/null
+++ b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_09-30/outputs_tactile/tactile_cache/dag911262r000646_lerobot_0327_114353_5bdfbac6/episodes/ep000421/gripper_left_tactile_contact_metrics.json
@@ -0,0 +1,12 @@
+{
+  "contact_time": 11.966666666666667,
+  "contact_ratio": 0.8568019093078759,
+  "avg_contact_area": 2120.623955431755,
+  "contact_entropy": 0.3476139681846569,
+  "total_frames": 419,
+  "fps": 30.0,
+  "reference_frame_count": 0,
+  "dataset_name": "dag911262r000646_lerobot_0327_114353",
+  "episode_index": 421,
+  "sensor": "gripper_left_tactile"
+}
\ No newline at end of file
diff --git a/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_09-30/outputs_tactile/tactile_cache/dag911262r000646_lerobot_0327_114353_5bdfbac6/episodes/ep000423/gripper_right_tactile_contact_metrics.json b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_09-30/outputs_tactile/tactile_cache/dag911262r000646_lerobot_0327_114353_5bdfbac6/episodes/ep000423/gripper_right_tactile_contact_metrics.json
new file mode 100644
index 0000000000000000000000000000000000000000..f4089541a12cda8bb046e29e035df029fcab1423
--- /dev/null
+++ b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_09-30/outputs_tactile/tactile_cache/dag911262r000646_lerobot_0327_114353_5bdfbac6/episodes/ep000423/gripper_right_tactile_contact_metrics.json
@@ -0,0 +1,12 @@
+{
+  "contact_time": 13.233333333333333,
+  "contact_ratio": 0.8706140350877193,
+  "avg_contact_area": 4511.841309823678,
+  "contact_entropy": 0.5421870839055063,
+  "total_frames": 456,
+  "fps": 30.0,
+  "reference_frame_count": 0,
+  "dataset_name": "dag911262r000646_lerobot_0327_114353",
+  "episode_index": 423,
+  "sensor": "gripper_right_tactile"
+}
\ No newline at end of file
diff --git a/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_09-30/outputs_tactile/tactile_cache/dag911262r000646_lerobot_0327_114353_5bdfbac6/episodes/ep000424/gripper_left_tactile_force_metrics.json b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_09-30/outputs_tactile/tactile_cache/dag911262r000646_lerobot_0327_114353_5bdfbac6/episodes/ep000424/gripper_left_tactile_force_metrics.json
new file mode 100644
index 0000000000000000000000000000000000000000..ed498cdb273986794ef97fa11054990fc44543cd
--- /dev/null
+++ b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_09-30/outputs_tactile/tactile_cache/dag911262r000646_lerobot_0327_114353_5bdfbac6/episodes/ep000424/gripper_left_tactile_force_metrics.json
@@ -0,0 +1,9 @@
+{
+  "depth_peak": 0.004409664776176214,
+  "shear_peak": 0.003148037474602461,
+  "force_magnitude_peak": 0.004842017777264118,
+  "reference_frame_count": 0,
+  "dataset_name": "dag911262r000646_lerobot_0327_114353",
+  "episode_index": 424,
+  "sensor": "gripper_left_tactile"
+}
\ No newline at end of file
diff --git a/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_09-30/outputs_tactile/tactile_cache/dag911262r000646_lerobot_0327_114353_5bdfbac6/episodes/ep000425/gripper_right_tactile_contact_metrics.json b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_09-30/outputs_tactile/tactile_cache/dag911262r000646_lerobot_0327_114353_5bdfbac6/episodes/ep000425/gripper_right_tactile_contact_metrics.json
new file mode 100644
index 0000000000000000000000000000000000000000..1dabfb4e3c003f118373ccfb070ecaa9e8dfd478
--- /dev/null
+++ b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_09-30/outputs_tactile/tactile_cache/dag911262r000646_lerobot_0327_114353_5bdfbac6/episodes/ep000425/gripper_right_tactile_contact_metrics.json
@@ -0,0 +1,12 @@
+{
+  "contact_time": 13.866666666666667,
+  "contact_ratio": 1.0,
+  "avg_contact_area": 6282.629807692308,
+  "contact_entropy": 0.8482931136005689,
+  "total_frames": 416,
+  "fps": 30.0,
+  "reference_frame_count": 0,
+  "dataset_name": "dag911262r000646_lerobot_0327_114353",
+  "episode_index": 425,
+  "sensor": "gripper_right_tactile"
+}
\ No newline at end of file
diff --git a/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_09-30/outputs_tactile/tactile_cache/dag911262r000646_lerobot_0327_114353_5bdfbac6/episodes/ep000427/gripper_left_tactile_contact_metrics.json b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_09-30/outputs_tactile/tactile_cache/dag911262r000646_lerobot_0327_114353_5bdfbac6/episodes/ep000427/gripper_left_tactile_contact_metrics.json
new file mode 100644
index 0000000000000000000000000000000000000000..976e588656b4a90643d81f229113b1a7f3b2a5b6
--- /dev/null
+++ b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_09-30/outputs_tactile/tactile_cache/dag911262r000646_lerobot_0327_114353_5bdfbac6/episodes/ep000427/gripper_left_tactile_contact_metrics.json
@@ -0,0 +1,12 @@
+{
+  "contact_time": 10.0,
+  "contact_ratio": 0.8356545961002786,
+  "avg_contact_area": 2932.8166666666666,
+  "contact_entropy": 0.19156193724414425,
+  "total_frames": 359,
+  "fps": 30.0,
+  "reference_frame_count": 0,
+  "dataset_name": "dag911262r000646_lerobot_0327_114353",
+  "episode_index": 427,
+  "sensor": "gripper_left_tactile"
+}
\ No newline at end of file
diff --git a/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_09-30/outputs_tactile/tactile_cache/dag911262r000646_lerobot_0327_114353_5bdfbac6/episodes/ep000427/gripper_right_tactile_force_metrics.json b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_09-30/outputs_tactile/tactile_cache/dag911262r000646_lerobot_0327_114353_5bdfbac6/episodes/ep000427/gripper_right_tactile_force_metrics.json
new file mode 100644
index 0000000000000000000000000000000000000000..bd0c7288a381d83f12b5e4222433da6a0e0f4092
--- /dev/null
+++ b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_09-30/outputs_tactile/tactile_cache/dag911262r000646_lerobot_0327_114353_5bdfbac6/episodes/ep000427/gripper_right_tactile_force_metrics.json
@@ -0,0 +1,9 @@
+{
+  "depth_peak": 0.015099282376468182,
+  "shear_peak": 0.017458301037549973,
+  "force_magnitude_peak": 0.021216318011283875,
+  "reference_frame_count": 0,
+  "dataset_name": "dag911262r000646_lerobot_0327_114353",
+  "episode_index": 427,
+  "sensor": "gripper_right_tactile"
+}
\ No newline at end of file
diff --git a/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_09-30/outputs_tactile/tactile_cache/dag911262r000646_lerobot_0327_114353_5bdfbac6/episodes/ep000429/gripper_left_tactile_contact_metrics.json b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_09-30/outputs_tactile/tactile_cache/dag911262r000646_lerobot_0327_114353_5bdfbac6/episodes/ep000429/gripper_left_tactile_contact_metrics.json
new file mode 100644
index 0000000000000000000000000000000000000000..97c1696f8b3259c0ec89ab3b5fbbeef747771f20
--- /dev/null
+++ b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_09-30/outputs_tactile/tactile_cache/dag911262r000646_lerobot_0327_114353_5bdfbac6/episodes/ep000429/gripper_left_tactile_contact_metrics.json
@@ -0,0 +1,12 @@
+{
+  "contact_time": 11.566666666666666,
+  "contact_ratio": 0.854679802955665,
+  "avg_contact_area": 3936.8040345821328,
+  "contact_entropy": 0.6463166617176991,
+  "total_frames": 406,
+  "fps": 30.0,
+  "reference_frame_count": 0,
+  "dataset_name": "dag911262r000646_lerobot_0327_114353",
+  "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_09-30/outputs_tactile/tactile_cache/dag911262r000646_lerobot_0327_114353_5bdfbac6/episodes/ep000430/gripper_left_tactile_force_metrics.json b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_09-30/outputs_tactile/tactile_cache/dag911262r000646_lerobot_0327_114353_5bdfbac6/episodes/ep000430/gripper_left_tactile_force_metrics.json
new file mode 100644
index 0000000000000000000000000000000000000000..7180570c5d2333cb66180270766edd92afe4f7cc
--- /dev/null
+++ b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_09-30/outputs_tactile/tactile_cache/dag911262r000646_lerobot_0327_114353_5bdfbac6/episodes/ep000430/gripper_left_tactile_force_metrics.json
@@ -0,0 +1,9 @@
+{
+  "depth_peak": 0.0019083240767940879,
+  "shear_peak": 0.005114820785820484,
+  "force_magnitude_peak": 0.0052565038204193115,
+  "reference_frame_count": 0,
+  "dataset_name": "dag911262r000646_lerobot_0327_114353",
+  "episode_index": 430,
+  "sensor": "gripper_left_tactile"
+}
\ No newline at end of file
diff --git a/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_09-30/outputs_tactile/tactile_cache/dag911262r000646_lerobot_0327_114353_5bdfbac6/episodes/ep000438/gripper_right_tactile_force_metrics.json b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_09-30/outputs_tactile/tactile_cache/dag911262r000646_lerobot_0327_114353_5bdfbac6/episodes/ep000438/gripper_right_tactile_force_metrics.json
new file mode 100644
index 0000000000000000000000000000000000000000..4912e8d5a424806482f3196725ac8d1c5139deaf
--- /dev/null
+++ b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_09-30/outputs_tactile/tactile_cache/dag911262r000646_lerobot_0327_114353_5bdfbac6/episodes/ep000438/gripper_right_tactile_force_metrics.json
@@ -0,0 +1,9 @@
+{
+  "depth_peak": 0.01014662068337202,
+  "shear_peak": 0.008816755376756191,
+  "force_magnitude_peak": 0.012344682589173317,
+  "reference_frame_count": 0,
+  "dataset_name": "dag911262r000646_lerobot_0327_114353",
+  "episode_index": 438,
+  "sensor": "gripper_right_tactile"
+}
\ No newline at end of file
diff --git a/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_09-30/outputs_tactile/tactile_cache/dag911262r000646_lerobot_0327_114353_5bdfbac6/episodes/ep000440/gripper_right_tactile_contact_metrics.json b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_09-30/outputs_tactile/tactile_cache/dag911262r000646_lerobot_0327_114353_5bdfbac6/episodes/ep000440/gripper_right_tactile_contact_metrics.json
new file mode 100644
index 0000000000000000000000000000000000000000..4c201baa6a8cd0192c78ec4820537401d9c6357c
--- /dev/null
+++ b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_09-30/outputs_tactile/tactile_cache/dag911262r000646_lerobot_0327_114353_5bdfbac6/episodes/ep000440/gripper_right_tactile_contact_metrics.json
@@ -0,0 +1,12 @@
+{
+  "contact_time": 14.466666666666667,
+  "contact_ratio": 0.909853249475891,
+  "avg_contact_area": 8874.935483870968,
+  "contact_entropy": 0.750970542411901,
+  "total_frames": 477,
+  "fps": 30.0,
+  "reference_frame_count": 0,
+  "dataset_name": "dag911262r000646_lerobot_0327_114353",
+  "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_09-30/outputs_tactile/tactile_cache/dag911262r000646_lerobot_0327_114353_5bdfbac6/episodes/ep000445/gripper_right_tactile_force_metrics.json b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_09-30/outputs_tactile/tactile_cache/dag911262r000646_lerobot_0327_114353_5bdfbac6/episodes/ep000445/gripper_right_tactile_force_metrics.json
new file mode 100644
index 0000000000000000000000000000000000000000..9e44bcbb157cd2b05452cf2642d4228b13325c68
--- /dev/null
+++ b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_09-30/outputs_tactile/tactile_cache/dag911262r000646_lerobot_0327_114353_5bdfbac6/episodes/ep000445/gripper_right_tactile_force_metrics.json
@@ -0,0 +1,9 @@
+{
+  "depth_peak": 0.0010238150134682655,
+  "shear_peak": 0.002616822486743331,
+  "force_magnitude_peak": 0.003295155242085457,
+  "reference_frame_count": 0,
+  "dataset_name": "dag911262r000646_lerobot_0327_114353",
+  "episode_index": 445,
+  "sensor": "gripper_right_tactile"
+}
\ No newline at end of file
diff --git a/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_09-30/outputs_tactile/tactile_cache/dag911262r000646_lerobot_0327_114353_5bdfbac6/episodes/ep000446/gripper_left_tactile_force_metrics.json b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_09-30/outputs_tactile/tactile_cache/dag911262r000646_lerobot_0327_114353_5bdfbac6/episodes/ep000446/gripper_left_tactile_force_metrics.json
new file mode 100644
index 0000000000000000000000000000000000000000..dd15722dfd9a1feb4e70cc2b8c60f03437c3db79
--- /dev/null
+++ b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_09-30/outputs_tactile/tactile_cache/dag911262r000646_lerobot_0327_114353_5bdfbac6/episodes/ep000446/gripper_left_tactile_force_metrics.json
@@ -0,0 +1,9 @@
+{
+  "depth_peak": 0.005960226524621248,
+  "shear_peak": 0.0023288563825190067,
+  "force_magnitude_peak": 0.006390290800482035,
+  "reference_frame_count": 0,
+  "dataset_name": "dag911262r000646_lerobot_0327_114353",
+  "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_09-30/outputs_tactile/tactile_cache/dag911262r000646_lerobot_0327_114353_5bdfbac6/episodes/ep000447/gripper_right_tactile_force_metrics.json b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_09-30/outputs_tactile/tactile_cache/dag911262r000646_lerobot_0327_114353_5bdfbac6/episodes/ep000447/gripper_right_tactile_force_metrics.json
new file mode 100644
index 0000000000000000000000000000000000000000..2cb35d806b6d1f427a08712341aa81df1081ed8d
--- /dev/null
+++ b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_09-30/outputs_tactile/tactile_cache/dag911262r000646_lerobot_0327_114353_5bdfbac6/episodes/ep000447/gripper_right_tactile_force_metrics.json
@@ -0,0 +1,9 @@
+{
+  "depth_peak": 0.002567615592852235,
+  "shear_peak": 0.0022964500822126865,
+  "force_magnitude_peak": 0.002731179352849722,
+  "reference_frame_count": 0,
+  "dataset_name": "dag911262r000646_lerobot_0327_114353",
+  "episode_index": 447,
+  "sensor": "gripper_right_tactile"
+}
\ No newline at end of file
diff --git a/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_09-30/outputs_tactile/tactile_cache/dag911262r000646_lerobot_0327_114353_5bdfbac6/episodes/ep000448/gripper_left_tactile_contact_metrics.json b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_09-30/outputs_tactile/tactile_cache/dag911262r000646_lerobot_0327_114353_5bdfbac6/episodes/ep000448/gripper_left_tactile_contact_metrics.json
new file mode 100644
index 0000000000000000000000000000000000000000..6e81fed8148060d125dd5f81094c65ec87858f16
--- /dev/null
+++ b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_09-30/outputs_tactile/tactile_cache/dag911262r000646_lerobot_0327_114353_5bdfbac6/episodes/ep000448/gripper_left_tactile_contact_metrics.json
@@ -0,0 +1,12 @@
+{
+  "contact_time": 12.6,
+  "contact_ratio": 0.8590909090909091,
+  "avg_contact_area": 1389.8809523809523,
+  "contact_entropy": 0.21938597164359822,
+  "total_frames": 440,
+  "fps": 30.0,
+  "reference_frame_count": 0,
+  "dataset_name": "dag911262r000646_lerobot_0327_114353",
+  "episode_index": 448,
+  "sensor": "gripper_left_tactile"
+}
\ No newline at end of file
diff --git a/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_09-30/outputs_tactile/tactile_cache/dag911262r000646_lerobot_0327_114353_5bdfbac6/episodes/ep000450/gripper_right_tactile_contact_metrics.json b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_09-30/outputs_tactile/tactile_cache/dag911262r000646_lerobot_0327_114353_5bdfbac6/episodes/ep000450/gripper_right_tactile_contact_metrics.json
new file mode 100644
index 0000000000000000000000000000000000000000..e56f5b4d3a26f4d25af3f89eb5e358b790a073b5
--- /dev/null
+++ b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_09-30/outputs_tactile/tactile_cache/dag911262r000646_lerobot_0327_114353_5bdfbac6/episodes/ep000450/gripper_right_tactile_contact_metrics.json
@@ -0,0 +1,12 @@
+{
+  "contact_time": 12.133333333333333,
+  "contact_ratio": 0.7964989059080962,
+  "avg_contact_area": 591.4120879120879,
+  "contact_entropy": 0.007023812333325694,
+  "total_frames": 457,
+  "fps": 30.0,
+  "reference_frame_count": 0,
+  "dataset_name": "dag911262r000646_lerobot_0327_114353",
+  "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_09-30/outputs_tactile/tactile_cache/dag911262r000646_lerobot_0327_114353_5bdfbac6/episodes/ep000452/gripper_right_tactile_contact_metrics.json b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_09-30/outputs_tactile/tactile_cache/dag911262r000646_lerobot_0327_114353_5bdfbac6/episodes/ep000452/gripper_right_tactile_contact_metrics.json
new file mode 100644
index 0000000000000000000000000000000000000000..04a31a62c00106ff84ebc38b12b81cf561083503
--- /dev/null
+++ b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_09-30/outputs_tactile/tactile_cache/dag911262r000646_lerobot_0327_114353_5bdfbac6/episodes/ep000452/gripper_right_tactile_contact_metrics.json
@@ -0,0 +1,12 @@
+{
+  "contact_time": 14.6,
+  "contact_ratio": 0.8795180722891566,
+  "avg_contact_area": 218.75570776255708,
+  "contact_entropy": 0.0,
+  "total_frames": 498,
+  "fps": 30.0,
+  "reference_frame_count": 0,
+  "dataset_name": "dag911262r000646_lerobot_0327_114353",
+  "episode_index": 452,
+  "sensor": "gripper_right_tactile"
+}
\ No newline at end of file
diff --git a/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_09-30/outputs_tactile/tactile_cache/dag911262r000646_lerobot_0327_114353_5bdfbac6/episodes/ep000452/gripper_right_tactile_force_metrics.json b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_09-30/outputs_tactile/tactile_cache/dag911262r000646_lerobot_0327_114353_5bdfbac6/episodes/ep000452/gripper_right_tactile_force_metrics.json
new file mode 100644
index 0000000000000000000000000000000000000000..8452b538e2ab5082b3b6547caa9c5a4c771402a9
--- /dev/null
+++ b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_09-30/outputs_tactile/tactile_cache/dag911262r000646_lerobot_0327_114353_5bdfbac6/episodes/ep000452/gripper_right_tactile_force_metrics.json
@@ -0,0 +1,9 @@
+{
+  "depth_peak": 0.001921572140417993,
+  "shear_peak": 0.002059878781437874,
+  "force_magnitude_peak": 0.002618253929540515,
+  "reference_frame_count": 0,
+  "dataset_name": "dag911262r000646_lerobot_0327_114353",
+  "episode_index": 452,
+  "sensor": "gripper_right_tactile"
+}
\ No newline at end of file
diff --git a/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_09-30/outputs_tactile/tactile_cache/dag911262r000646_lerobot_0327_114353_5bdfbac6/episodes/ep000453/gripper_left_tactile_contact_metrics.json b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_09-30/outputs_tactile/tactile_cache/dag911262r000646_lerobot_0327_114353_5bdfbac6/episodes/ep000453/gripper_left_tactile_contact_metrics.json
new file mode 100644
index 0000000000000000000000000000000000000000..c395081f1c4e0482fd997246107101a956a50b2f
--- /dev/null
+++ b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_09-30/outputs_tactile/tactile_cache/dag911262r000646_lerobot_0327_114353_5bdfbac6/episodes/ep000453/gripper_left_tactile_contact_metrics.json
@@ -0,0 +1,12 @@
+{
+  "contact_time": 9.9,
+  "contact_ratio": 0.7369727047146402,
+  "avg_contact_area": 2175.3872053872055,
+  "contact_entropy": 0.5179722446353291,
+  "total_frames": 403,
+  "fps": 30.0,
+  "reference_frame_count": 0,
+  "dataset_name": "dag911262r000646_lerobot_0327_114353",
+  "episode_index": 453,
+  "sensor": "gripper_left_tactile"
+}
\ No newline at end of file
diff --git a/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_09-30/outputs_tactile/tactile_cache/dag911262r000646_lerobot_0327_114353_5bdfbac6/episodes/ep000455/gripper_left_tactile_force_metrics.json b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_09-30/outputs_tactile/tactile_cache/dag911262r000646_lerobot_0327_114353_5bdfbac6/episodes/ep000455/gripper_left_tactile_force_metrics.json
new file mode 100644
index 0000000000000000000000000000000000000000..451d2a654af1e4672cb4067211151f1bfd0ba075
--- /dev/null
+++ b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_09-30/outputs_tactile/tactile_cache/dag911262r000646_lerobot_0327_114353_5bdfbac6/episodes/ep000455/gripper_left_tactile_force_metrics.json
@@ -0,0 +1,9 @@
+{
+  "depth_peak": 0.001971018500626087,
+  "shear_peak": 0.0023410168942064047,
+  "force_magnitude_peak": 0.0029261820018291473,
+  "reference_frame_count": 0,
+  "dataset_name": "dag911262r000646_lerobot_0327_114353",
+  "episode_index": 455,
+  "sensor": "gripper_left_tactile"
+}
\ No newline at end of file
diff --git a/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_09-30/outputs_tactile/tactile_cache/dag911262r000646_lerobot_0327_114353_5bdfbac6/episodes/ep000456/gripper_left_tactile_force_metrics.json b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_09-30/outputs_tactile/tactile_cache/dag911262r000646_lerobot_0327_114353_5bdfbac6/episodes/ep000456/gripper_left_tactile_force_metrics.json
new file mode 100644
index 0000000000000000000000000000000000000000..14ff607ea1ad1b58f9842d13d7a4a6123778ec25
--- /dev/null
+++ b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_09-30/outputs_tactile/tactile_cache/dag911262r000646_lerobot_0327_114353_5bdfbac6/episodes/ep000456/gripper_left_tactile_force_metrics.json
@@ -0,0 +1,9 @@
+{
+  "depth_peak": 0.0037071737460792065,
+  "shear_peak": 0.0022752629593014717,
+  "force_magnitude_peak": 0.004097647033631802,
+  "reference_frame_count": 0,
+  "dataset_name": "dag911262r000646_lerobot_0327_114353",
+  "episode_index": 456,
+  "sensor": "gripper_left_tactile"
+}
\ No newline at end of file
diff --git a/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_09-30/outputs_tactile/tactile_cache/dag911262r000646_lerobot_0327_114353_5bdfbac6/episodes/ep000461/gripper_left_tactile_contact_metrics.json b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_09-30/outputs_tactile/tactile_cache/dag911262r000646_lerobot_0327_114353_5bdfbac6/episodes/ep000461/gripper_left_tactile_contact_metrics.json
new file mode 100644
index 0000000000000000000000000000000000000000..0a7b4c6f946d0c3fdb947c0af394f2d9a051985e
--- /dev/null
+++ b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_09-30/outputs_tactile/tactile_cache/dag911262r000646_lerobot_0327_114353_5bdfbac6/episodes/ep000461/gripper_left_tactile_contact_metrics.json
@@ -0,0 +1,12 @@
+{
+  "contact_time": 12.833333333333334,
+  "contact_ratio": 0.8632286995515696,
+  "avg_contact_area": 705.0311688311689,
+  "contact_entropy": 0.09413148317259361,
+  "total_frames": 446,
+  "fps": 30.0,
+  "reference_frame_count": 0,
+  "dataset_name": "dag911262r000646_lerobot_0327_114353",
+  "episode_index": 461,
+  "sensor": "gripper_left_tactile"
+}
\ No newline at end of file
diff --git a/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_09-30/outputs_tactile/tactile_cache/dag911262r000646_lerobot_0327_114353_5bdfbac6/episodes/ep000463/gripper_right_tactile_contact_metrics.json b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_09-30/outputs_tactile/tactile_cache/dag911262r000646_lerobot_0327_114353_5bdfbac6/episodes/ep000463/gripper_right_tactile_contact_metrics.json
new file mode 100644
index 0000000000000000000000000000000000000000..b3f6266189dfa2f79913485223698408fe363c0d
--- /dev/null
+++ b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_09-30/outputs_tactile/tactile_cache/dag911262r000646_lerobot_0327_114353_5bdfbac6/episodes/ep000463/gripper_right_tactile_contact_metrics.json
@@ -0,0 +1,12 @@
+{
+  "contact_time": 9.166666666666666,
+  "contact_ratio": 0.7834757834757835,
+  "avg_contact_area": 465.3781818181818,
+  "contact_entropy": 0.14724902969843712,
+  "total_frames": 351,
+  "fps": 30.0,
+  "reference_frame_count": 0,
+  "dataset_name": "dag911262r000646_lerobot_0327_114353",
+  "episode_index": 463,
+  "sensor": "gripper_right_tactile"
+}
\ No newline at end of file
diff --git a/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_09-30/outputs_tactile/tactile_cache/dag911262r000646_lerobot_0327_114353_5bdfbac6/episodes/ep000464/gripper_left_tactile_force_metrics.json b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_09-30/outputs_tactile/tactile_cache/dag911262r000646_lerobot_0327_114353_5bdfbac6/episodes/ep000464/gripper_left_tactile_force_metrics.json
new file mode 100644
index 0000000000000000000000000000000000000000..40bd4d23f144eeb1ec6831f3b2de56e6c5bde2c2
--- /dev/null
+++ b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_09-30/outputs_tactile/tactile_cache/dag911262r000646_lerobot_0327_114353_5bdfbac6/episodes/ep000464/gripper_left_tactile_force_metrics.json
@@ -0,0 +1,9 @@
+{
+  "depth_peak": 0.0013876523589715362,
+  "shear_peak": 0.0037608868442475796,
+  "force_magnitude_peak": 0.003869648789986968,
+  "reference_frame_count": 0,
+  "dataset_name": "dag911262r000646_lerobot_0327_114353",
+  "episode_index": 464,
+  "sensor": "gripper_left_tactile"
+}
\ No newline at end of file
diff --git a/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_09-30/outputs_tactile/tactile_cache/dag911262r000646_lerobot_0327_114353_5bdfbac6/episodes/ep000465/gripper_right_tactile_contact_metrics.json b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_09-30/outputs_tactile/tactile_cache/dag911262r000646_lerobot_0327_114353_5bdfbac6/episodes/ep000465/gripper_right_tactile_contact_metrics.json
new file mode 100644
index 0000000000000000000000000000000000000000..a4c1c7160024ae4f2f9dcc12dcb3ff62b7b8d1c4
--- /dev/null
+++ b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_09-30/outputs_tactile/tactile_cache/dag911262r000646_lerobot_0327_114353_5bdfbac6/episodes/ep000465/gripper_right_tactile_contact_metrics.json
@@ -0,0 +1,12 @@
+{
+  "contact_time": 9.166666666666666,
+  "contact_ratio": 0.8233532934131736,
+  "avg_contact_area": 376.0436363636364,
+  "contact_entropy": 0.0019295526483759818,
+  "total_frames": 334,
+  "fps": 30.0,
+  "reference_frame_count": 0,
+  "dataset_name": "dag911262r000646_lerobot_0327_114353",
+  "episode_index": 465,
+  "sensor": "gripper_right_tactile"
+}
\ No newline at end of file
diff --git a/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_09-30/outputs_tactile/tactile_cache/dag911262r000646_lerobot_0327_114353_5bdfbac6/episodes/ep000467/gripper_left_tactile_contact_metrics.json b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_09-30/outputs_tactile/tactile_cache/dag911262r000646_lerobot_0327_114353_5bdfbac6/episodes/ep000467/gripper_left_tactile_contact_metrics.json
new file mode 100644
index 0000000000000000000000000000000000000000..1e0366e2f0d08ad785401eee18131ddc27f4edf3
--- /dev/null
+++ b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_09-30/outputs_tactile/tactile_cache/dag911262r000646_lerobot_0327_114353_5bdfbac6/episodes/ep000467/gripper_left_tactile_contact_metrics.json
@@ -0,0 +1,12 @@
+{
+  "contact_time": 12.933333333333334,
+  "contact_ratio": 0.8680089485458613,
+  "avg_contact_area": 784.3221649484536,
+  "contact_entropy": 0.1344849508265995,
+  "total_frames": 447,
+  "fps": 30.0,
+  "reference_frame_count": 0,
+  "dataset_name": "dag911262r000646_lerobot_0327_114353",
+  "episode_index": 467,
+  "sensor": "gripper_left_tactile"
+}
\ No newline at end of file
diff --git a/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_09-30/outputs_tactile/tactile_cache/dag911262r000646_lerobot_0327_114353_5bdfbac6/episodes/ep000467/gripper_right_tactile_force_metrics.json b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_09-30/outputs_tactile/tactile_cache/dag911262r000646_lerobot_0327_114353_5bdfbac6/episodes/ep000467/gripper_right_tactile_force_metrics.json
new file mode 100644
index 0000000000000000000000000000000000000000..00ee7b3407ed010992327d3c209728e73fcc3941
--- /dev/null
+++ b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_09-30/outputs_tactile/tactile_cache/dag911262r000646_lerobot_0327_114353_5bdfbac6/episodes/ep000467/gripper_right_tactile_force_metrics.json
@@ -0,0 +1,9 @@
+{
+  "depth_peak": 0.001015893998555839,
+  "shear_peak": 0.0032070018351078033,
+  "force_magnitude_peak": 0.00365763739682734,
+  "reference_frame_count": 0,
+  "dataset_name": "dag911262r000646_lerobot_0327_114353",
+  "episode_index": 467,
+  "sensor": "gripper_right_tactile"
+}
\ No newline at end of file
diff --git a/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_09-30/outputs_tactile/tactile_cache/dag911262r000646_lerobot_0327_114353_5bdfbac6/episodes/ep000469/gripper_left_tactile_contact_metrics.json b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_09-30/outputs_tactile/tactile_cache/dag911262r000646_lerobot_0327_114353_5bdfbac6/episodes/ep000469/gripper_left_tactile_contact_metrics.json
new file mode 100644
index 0000000000000000000000000000000000000000..63f007443abe1ba4343cb9d92fc3fab4de928a43
--- /dev/null
+++ b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_09-30/outputs_tactile/tactile_cache/dag911262r000646_lerobot_0327_114353_5bdfbac6/episodes/ep000469/gripper_left_tactile_contact_metrics.json
@@ -0,0 +1,12 @@
+{
+  "contact_time": 10.8,
+  "contact_ratio": 0.8350515463917526,
+  "avg_contact_area": 378.24074074074076,
+  "contact_entropy": 0.010191604421384273,
+  "total_frames": 388,
+  "fps": 30.0,
+  "reference_frame_count": 0,
+  "dataset_name": "dag911262r000646_lerobot_0327_114353",
+  "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_09-30/outputs_tactile/tactile_cache/dag911262r000646_lerobot_0327_114353_5bdfbac6/episodes/ep000470/gripper_left_tactile_force_metrics.json b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_09-30/outputs_tactile/tactile_cache/dag911262r000646_lerobot_0327_114353_5bdfbac6/episodes/ep000470/gripper_left_tactile_force_metrics.json
new file mode 100644
index 0000000000000000000000000000000000000000..9346fe9e39441112e6c37fc6a9c9cb724615e7e9
--- /dev/null
+++ b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_09-30/outputs_tactile/tactile_cache/dag911262r000646_lerobot_0327_114353_5bdfbac6/episodes/ep000470/gripper_left_tactile_force_metrics.json
@@ -0,0 +1,9 @@
+{
+  "depth_peak": 0.003498661797493696,
+  "shear_peak": 0.0015749918529763818,
+  "force_magnitude_peak": 0.0037761160638183355,
+  "reference_frame_count": 0,
+  "dataset_name": "dag911262r000646_lerobot_0327_114353",
+  "episode_index": 470,
+  "sensor": "gripper_left_tactile"
+}
\ No newline at end of file
diff --git a/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_09-30/outputs_tactile/tactile_cache/dag911262r000646_lerobot_0327_114353_5bdfbac6/episodes/ep000478/gripper_right_tactile_force_metrics.json b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_09-30/outputs_tactile/tactile_cache/dag911262r000646_lerobot_0327_114353_5bdfbac6/episodes/ep000478/gripper_right_tactile_force_metrics.json
new file mode 100644
index 0000000000000000000000000000000000000000..3ee16c0ec3e9f6d879c1b4b233cee903e3c36c20
--- /dev/null
+++ b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_09-30/outputs_tactile/tactile_cache/dag911262r000646_lerobot_0327_114353_5bdfbac6/episodes/ep000478/gripper_right_tactile_force_metrics.json
@@ -0,0 +1,9 @@
+{
+  "depth_peak": 0.004443223588168621,
+  "shear_peak": 0.003695924999192357,
+  "force_magnitude_peak": 0.004977880045771599,
+  "reference_frame_count": 0,
+  "dataset_name": "dag911262r000646_lerobot_0327_114353",
+  "episode_index": 478,
+  "sensor": "gripper_right_tactile"
+}
\ No newline at end of file
diff --git a/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_09-30/outputs_tactile/tactile_cache/dag911262r000646_lerobot_0327_114353_5bdfbac6/episodes/ep000480/gripper_right_tactile_contact_metrics.json b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_09-30/outputs_tactile/tactile_cache/dag911262r000646_lerobot_0327_114353_5bdfbac6/episodes/ep000480/gripper_right_tactile_contact_metrics.json
new file mode 100644
index 0000000000000000000000000000000000000000..17c81bc40de93a04b7cc365f4768727170fcb59c
--- /dev/null
+++ b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_09-30/outputs_tactile/tactile_cache/dag911262r000646_lerobot_0327_114353_5bdfbac6/episodes/ep000480/gripper_right_tactile_contact_metrics.json
@@ -0,0 +1,12 @@
+{
+  "contact_time": 8.733333333333333,
+  "contact_ratio": 0.8161993769470405,
+  "avg_contact_area": 844.2824427480916,
+  "contact_entropy": 0.00016557100551103782,
+  "total_frames": 321,
+  "fps": 30.0,
+  "reference_frame_count": 0,
+  "dataset_name": "dag911262r000646_lerobot_0327_114353",
+  "episode_index": 480,
+  "sensor": "gripper_right_tactile"
+}
\ No newline at end of file
diff --git a/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_09-30/outputs_tactile/tactile_cache/dag911262r000646_lerobot_0327_114353_5bdfbac6/episodes/ep000485/gripper_right_tactile_force_metrics.json b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_09-30/outputs_tactile/tactile_cache/dag911262r000646_lerobot_0327_114353_5bdfbac6/episodes/ep000485/gripper_right_tactile_force_metrics.json
new file mode 100644
index 0000000000000000000000000000000000000000..530bbb68dbbfe168b3c9377e17a78b58d7b22b98
--- /dev/null
+++ b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_09-30/outputs_tactile/tactile_cache/dag911262r000646_lerobot_0327_114353_5bdfbac6/episodes/ep000485/gripper_right_tactile_force_metrics.json
@@ -0,0 +1,9 @@
+{
+  "depth_peak": 0.0004732213856186718,
+  "shear_peak": 0.0020278794690966606,
+  "force_magnitude_peak": 0.002996343420818448,
+  "reference_frame_count": 0,
+  "dataset_name": "dag911262r000646_lerobot_0327_114353",
+  "episode_index": 485,
+  "sensor": "gripper_right_tactile"
+}
\ No newline at end of file
diff --git a/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_09-30/outputs_tactile/tactile_cache/dag911262r000646_lerobot_0327_114353_5bdfbac6/episodes/ep000486/gripper_left_tactile_force_metrics.json b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_09-30/outputs_tactile/tactile_cache/dag911262r000646_lerobot_0327_114353_5bdfbac6/episodes/ep000486/gripper_left_tactile_force_metrics.json
new file mode 100644
index 0000000000000000000000000000000000000000..6ff574c32537a86154362c32a4680e81ef66ac08
--- /dev/null
+++ b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_09-30/outputs_tactile/tactile_cache/dag911262r000646_lerobot_0327_114353_5bdfbac6/episodes/ep000486/gripper_left_tactile_force_metrics.json
@@ -0,0 +1,9 @@
+{
+  "depth_peak": 0.00214409944601357,
+  "shear_peak": 0.001972912810742855,
+  "force_magnitude_peak": 0.002857739571481943,
+  "reference_frame_count": 0,
+  "dataset_name": "dag911262r000646_lerobot_0327_114353",
+  "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_09-30/outputs_tactile/tactile_cache/dag911262r000646_lerobot_0327_114353_5bdfbac6/episodes/ep000487/gripper_right_tactile_force_metrics.json b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_09-30/outputs_tactile/tactile_cache/dag911262r000646_lerobot_0327_114353_5bdfbac6/episodes/ep000487/gripper_right_tactile_force_metrics.json
new file mode 100644
index 0000000000000000000000000000000000000000..1ca950096a65c6bd8ad3d1f5f04ccf4912ab6e2e
--- /dev/null
+++ b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_09-30/outputs_tactile/tactile_cache/dag911262r000646_lerobot_0327_114353_5bdfbac6/episodes/ep000487/gripper_right_tactile_force_metrics.json
@@ -0,0 +1,9 @@
+{
+  "depth_peak": 0.0011168664786964655,
+  "shear_peak": 0.003335791639983654,
+  "force_magnitude_peak": 0.0034488197416067123,
+  "reference_frame_count": 0,
+  "dataset_name": "dag911262r000646_lerobot_0327_114353",
+  "episode_index": 487,
+  "sensor": "gripper_right_tactile"
+}
\ No newline at end of file
diff --git a/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_09-30/outputs_tactile/tactile_cache/dag911262r000646_lerobot_0327_114353_5bdfbac6/episodes/ep000488/gripper_left_tactile_contact_metrics.json b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_09-30/outputs_tactile/tactile_cache/dag911262r000646_lerobot_0327_114353_5bdfbac6/episodes/ep000488/gripper_left_tactile_contact_metrics.json
new file mode 100644
index 0000000000000000000000000000000000000000..d3adc93d17f29656d9cb252036db2963fa29067a
--- /dev/null
+++ b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_09-30/outputs_tactile/tactile_cache/dag911262r000646_lerobot_0327_114353_5bdfbac6/episodes/ep000488/gripper_left_tactile_contact_metrics.json
@@ -0,0 +1,12 @@
+{
+  "contact_time": 8.833333333333334,
+  "contact_ratio": 0.8745874587458746,
+  "avg_contact_area": 1264.2490566037736,
+  "contact_entropy": 0.5387427257163636,
+  "total_frames": 303,
+  "fps": 30.0,
+  "reference_frame_count": 0,
+  "dataset_name": "dag911262r000646_lerobot_0327_114353",
+  "episode_index": 488,
+  "sensor": "gripper_left_tactile"
+}
\ No newline at end of file
diff --git a/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_09-30/outputs_tactile/tactile_cache/dag911262r000646_lerobot_0327_114353_5bdfbac6/episodes/ep000490/gripper_right_tactile_contact_metrics.json b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_09-30/outputs_tactile/tactile_cache/dag911262r000646_lerobot_0327_114353_5bdfbac6/episodes/ep000490/gripper_right_tactile_contact_metrics.json
new file mode 100644
index 0000000000000000000000000000000000000000..732c3c2f1656cbe745b542b42ca4bef1b8272d73
--- /dev/null
+++ b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_09-30/outputs_tactile/tactile_cache/dag911262r000646_lerobot_0327_114353_5bdfbac6/episodes/ep000490/gripper_right_tactile_contact_metrics.json
@@ -0,0 +1,12 @@
+{
+  "contact_time": 7.2,
+  "contact_ratio": 0.7769784172661871,
+  "avg_contact_area": 681.800925925926,
+  "contact_entropy": 0.01121241456360016,
+  "total_frames": 278,
+  "fps": 30.0,
+  "reference_frame_count": 0,
+  "dataset_name": "dag911262r000646_lerobot_0327_114353",
+  "episode_index": 490,
+  "sensor": "gripper_right_tactile"
+}
\ No newline at end of file
diff --git a/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_09-30/outputs_tactile/tactile_cache/dag911262r000646_lerobot_0327_114353_5bdfbac6/episodes/ep000492/gripper_right_tactile_contact_metrics.json b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_09-30/outputs_tactile/tactile_cache/dag911262r000646_lerobot_0327_114353_5bdfbac6/episodes/ep000492/gripper_right_tactile_contact_metrics.json
new file mode 100644
index 0000000000000000000000000000000000000000..01672371fbca9ba03d06748de7c504941c1a772a
--- /dev/null
+++ b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_09-30/outputs_tactile/tactile_cache/dag911262r000646_lerobot_0327_114353_5bdfbac6/episodes/ep000492/gripper_right_tactile_contact_metrics.json
@@ -0,0 +1,12 @@
+{
+  "contact_time": 5.8,
+  "contact_ratio": 0.5370370370370371,
+  "avg_contact_area": 550.8735632183908,
+  "contact_entropy": 0.0,
+  "total_frames": 324,
+  "fps": 30.0,
+  "reference_frame_count": 0,
+  "dataset_name": "dag911262r000646_lerobot_0327_114353",
+  "episode_index": 492,
+  "sensor": "gripper_right_tactile"
+}
\ No newline at end of file
diff --git a/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_09-30/outputs_tactile/tactile_cache/dag911262r000646_lerobot_0327_114353_5bdfbac6/episodes/ep000492/gripper_right_tactile_force_metrics.json b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_09-30/outputs_tactile/tactile_cache/dag911262r000646_lerobot_0327_114353_5bdfbac6/episodes/ep000492/gripper_right_tactile_force_metrics.json
new file mode 100644
index 0000000000000000000000000000000000000000..1852c2a63600e732807b8b4f27fc5823d8d5ddbc
--- /dev/null
+++ b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_09-30/outputs_tactile/tactile_cache/dag911262r000646_lerobot_0327_114353_5bdfbac6/episodes/ep000492/gripper_right_tactile_force_metrics.json
@@ -0,0 +1,9 @@
+{
+  "depth_peak": 0.0004946017870679498,
+  "shear_peak": 0.0026095625944435596,
+  "force_magnitude_peak": 0.0029015352483838797,
+  "reference_frame_count": 0,
+  "dataset_name": "dag911262r000646_lerobot_0327_114353",
+  "episode_index": 492,
+  "sensor": "gripper_right_tactile"
+}
\ No newline at end of file
diff --git a/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_09-30/outputs_tactile/tactile_cache/dag911262r000646_lerobot_0327_114353_5bdfbac6/episodes/ep000493/gripper_left_tactile_contact_metrics.json b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_09-30/outputs_tactile/tactile_cache/dag911262r000646_lerobot_0327_114353_5bdfbac6/episodes/ep000493/gripper_left_tactile_contact_metrics.json
new file mode 100644
index 0000000000000000000000000000000000000000..bd92b59687f6520fa62e50dc8b0427e8e5f4445e
--- /dev/null
+++ b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_09-30/outputs_tactile/tactile_cache/dag911262r000646_lerobot_0327_114353_5bdfbac6/episodes/ep000493/gripper_left_tactile_contact_metrics.json
@@ -0,0 +1,12 @@
+{
+  "contact_time": 10.933333333333334,
+  "contact_ratio": 0.841025641025641,
+  "avg_contact_area": 330.3689024390244,
+  "contact_entropy": 0.010979264279647662,
+  "total_frames": 390,
+  "fps": 30.0,
+  "reference_frame_count": 0,
+  "dataset_name": "dag911262r000646_lerobot_0327_114353",
+  "episode_index": 493,
+  "sensor": "gripper_left_tactile"
+}
\ No newline at end of file
diff --git a/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_09-30/outputs_tactile/tactile_cache/dag911262r000646_lerobot_0327_114353_5bdfbac6/episodes/ep000495/gripper_left_tactile_force_metrics.json b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_09-30/outputs_tactile/tactile_cache/dag911262r000646_lerobot_0327_114353_5bdfbac6/episodes/ep000495/gripper_left_tactile_force_metrics.json
new file mode 100644
index 0000000000000000000000000000000000000000..bdd1b6fc6f54d54c9284e0ad74e6461ff7d836ce
--- /dev/null
+++ b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_09-30/outputs_tactile/tactile_cache/dag911262r000646_lerobot_0327_114353_5bdfbac6/episodes/ep000495/gripper_left_tactile_force_metrics.json
@@ -0,0 +1,9 @@
+{
+  "depth_peak": 0.0004516771005000919,
+  "shear_peak": 0.0016488749533891678,
+  "force_magnitude_peak": 0.003197163576260209,
+  "reference_frame_count": 0,
+  "dataset_name": "dag911262r000646_lerobot_0327_114353",
+  "episode_index": 495,
+  "sensor": "gripper_left_tactile"
+}
\ No newline at end of file
diff --git a/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_09-30/outputs_tactile/tactile_cache/dag911262r000646_lerobot_0327_114353_5bdfbac6/episodes/ep000496/gripper_left_tactile_force_metrics.json b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_09-30/outputs_tactile/tactile_cache/dag911262r000646_lerobot_0327_114353_5bdfbac6/episodes/ep000496/gripper_left_tactile_force_metrics.json
new file mode 100644
index 0000000000000000000000000000000000000000..1bda285c371ef8652ee83ed2279546d6d2b860e5
--- /dev/null
+++ b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_09-30/outputs_tactile/tactile_cache/dag911262r000646_lerobot_0327_114353_5bdfbac6/episodes/ep000496/gripper_left_tactile_force_metrics.json
@@ -0,0 +1,9 @@
+{
+  "depth_peak": 0.0017687908839434385,
+  "shear_peak": 0.0019294308731332421,
+  "force_magnitude_peak": 0.0022571326699107885,
+  "reference_frame_count": 0,
+  "dataset_name": "dag911262r000646_lerobot_0327_114353",
+  "episode_index": 496,
+  "sensor": "gripper_left_tactile"
+}
\ No newline at end of file
diff --git a/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_09-30/outputs_tactile/tactile_cache/dag911262r000646_lerobot_0327_114353_5bdfbac6/episodes/ep000501/gripper_left_tactile_contact_metrics.json b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_09-30/outputs_tactile/tactile_cache/dag911262r000646_lerobot_0327_114353_5bdfbac6/episodes/ep000501/gripper_left_tactile_contact_metrics.json
new file mode 100644
index 0000000000000000000000000000000000000000..ac47e950d982431bd4639a550efa5381c534bf4f
--- /dev/null
+++ b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_09-30/outputs_tactile/tactile_cache/dag911262r000646_lerobot_0327_114353_5bdfbac6/episodes/ep000501/gripper_left_tactile_contact_metrics.json
@@ -0,0 +1,12 @@
+{
+  "contact_time": 11.333333333333334,
+  "contact_ratio": 0.845771144278607,
+  "avg_contact_area": 3813.485294117647,
+  "contact_entropy": 0.5485121165769751,
+  "total_frames": 402,
+  "fps": 30.0,
+  "reference_frame_count": 0,
+  "dataset_name": "dag911262r000646_lerobot_0327_114353",
+  "episode_index": 501,
+  "sensor": "gripper_left_tactile"
+}
\ No newline at end of file
diff --git a/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_09-30/outputs_tactile/tactile_cache/dag911262r000646_lerobot_0327_114353_5bdfbac6/episodes/ep000503/gripper_right_tactile_contact_metrics.json b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_09-30/outputs_tactile/tactile_cache/dag911262r000646_lerobot_0327_114353_5bdfbac6/episodes/ep000503/gripper_right_tactile_contact_metrics.json
new file mode 100644
index 0000000000000000000000000000000000000000..a236d18d5f0ad6b68d0cd82f0221e5b347579dc2
--- /dev/null
+++ b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_09-30/outputs_tactile/tactile_cache/dag911262r000646_lerobot_0327_114353_5bdfbac6/episodes/ep000503/gripper_right_tactile_contact_metrics.json
@@ -0,0 +1,12 @@
+{
+  "contact_time": 11.633333333333333,
+  "contact_ratio": 0.7895927601809954,
+  "avg_contact_area": 2463.103151862464,
+  "contact_entropy": 0.8304309277192548,
+  "total_frames": 442,
+  "fps": 30.0,
+  "reference_frame_count": 0,
+  "dataset_name": "dag911262r000646_lerobot_0327_114353",
+  "episode_index": 503,
+  "sensor": "gripper_right_tactile"
+}
\ No newline at end of file
diff --git a/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_09-30/outputs_tactile/tactile_cache/dag911262r000646_lerobot_0327_114353_5bdfbac6/episodes/ep000504/gripper_left_tactile_force_metrics.json b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_09-30/outputs_tactile/tactile_cache/dag911262r000646_lerobot_0327_114353_5bdfbac6/episodes/ep000504/gripper_left_tactile_force_metrics.json
new file mode 100644
index 0000000000000000000000000000000000000000..70cbc1b3fb233c189ba51fb3cae869d4f57ee986
--- /dev/null
+++ b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_09-30/outputs_tactile/tactile_cache/dag911262r000646_lerobot_0327_114353_5bdfbac6/episodes/ep000504/gripper_left_tactile_force_metrics.json
@@ -0,0 +1,9 @@
+{
+  "depth_peak": 0.002626650268211961,
+  "shear_peak": 0.0031164088286459446,
+  "force_magnitude_peak": 0.004063809290528297,
+  "reference_frame_count": 0,
+  "dataset_name": "dag911262r000646_lerobot_0327_114353",
+  "episode_index": 504,
+  "sensor": "gripper_left_tactile"
+}
\ No newline at end of file
diff --git a/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_09-30/outputs_tactile/tactile_cache/dag911262r000646_lerobot_0327_114353_5bdfbac6/episodes/ep000505/gripper_right_tactile_contact_metrics.json b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_09-30/outputs_tactile/tactile_cache/dag911262r000646_lerobot_0327_114353_5bdfbac6/episodes/ep000505/gripper_right_tactile_contact_metrics.json
new file mode 100644
index 0000000000000000000000000000000000000000..a341644cd4381726fbdf94e6780e9f1b3e96ce9b
--- /dev/null
+++ b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_09-30/outputs_tactile/tactile_cache/dag911262r000646_lerobot_0327_114353_5bdfbac6/episodes/ep000505/gripper_right_tactile_contact_metrics.json
@@ -0,0 +1,12 @@
+{
+  "contact_time": 14.533333333333333,
+  "contact_ratio": 0.7870036101083032,
+  "avg_contact_area": 1328.2591743119267,
+  "contact_entropy": 0.2209437456559618,
+  "total_frames": 554,
+  "fps": 30.0,
+  "reference_frame_count": 0,
+  "dataset_name": "dag911262r000646_lerobot_0327_114353",
+  "episode_index": 505,
+  "sensor": "gripper_right_tactile"
+}
\ No newline at end of file
diff --git a/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_09-30/outputs_tactile/tactile_cache/dag911262r000646_lerobot_0327_114353_5bdfbac6/episodes/ep000507/gripper_left_tactile_contact_metrics.json b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_09-30/outputs_tactile/tactile_cache/dag911262r000646_lerobot_0327_114353_5bdfbac6/episodes/ep000507/gripper_left_tactile_contact_metrics.json
new file mode 100644
index 0000000000000000000000000000000000000000..e798b0278f3d057ce25867abf868e9055f5ba23b
--- /dev/null
+++ b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_09-30/outputs_tactile/tactile_cache/dag911262r000646_lerobot_0327_114353_5bdfbac6/episodes/ep000507/gripper_left_tactile_contact_metrics.json
@@ -0,0 +1,12 @@
+{
+  "contact_time": 12.033333333333333,
+  "contact_ratio": 0.8514150943396226,
+  "avg_contact_area": 519.1939058171745,
+  "contact_entropy": 0.1275680476182428,
+  "total_frames": 424,
+  "fps": 30.0,
+  "reference_frame_count": 0,
+  "dataset_name": "dag911262r000646_lerobot_0327_114353",
+  "episode_index": 507,
+  "sensor": "gripper_left_tactile"
+}
\ No newline at end of file
diff --git a/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_09-30/outputs_tactile/tactile_cache/dag911262r000646_lerobot_0327_114353_5bdfbac6/episodes/ep000507/gripper_right_tactile_force_metrics.json b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_09-30/outputs_tactile/tactile_cache/dag911262r000646_lerobot_0327_114353_5bdfbac6/episodes/ep000507/gripper_right_tactile_force_metrics.json
new file mode 100644
index 0000000000000000000000000000000000000000..7a5cadea9b29e0570f3ad331c0454f39ec47a117
--- /dev/null
+++ b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_09-30/outputs_tactile/tactile_cache/dag911262r000646_lerobot_0327_114353_5bdfbac6/episodes/ep000507/gripper_right_tactile_force_metrics.json
@@ -0,0 +1,9 @@
+{
+  "depth_peak": 0.001083480310626328,
+  "shear_peak": 0.0023929092567414045,
+  "force_magnitude_peak": 0.0026332673151046038,
+  "reference_frame_count": 0,
+  "dataset_name": "dag911262r000646_lerobot_0327_114353",
+  "episode_index": 507,
+  "sensor": "gripper_right_tactile"
+}
\ No newline at end of file
diff --git a/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_09-30/outputs_tactile/tactile_cache/dag911262r000646_lerobot_0327_114353_5bdfbac6/episodes/ep000509/gripper_left_tactile_contact_metrics.json b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_09-30/outputs_tactile/tactile_cache/dag911262r000646_lerobot_0327_114353_5bdfbac6/episodes/ep000509/gripper_left_tactile_contact_metrics.json
new file mode 100644
index 0000000000000000000000000000000000000000..f4a78425b78f5feeabd868dca7d78dc4bc7720ad
--- /dev/null
+++ b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_09-30/outputs_tactile/tactile_cache/dag911262r000646_lerobot_0327_114353_5bdfbac6/episodes/ep000509/gripper_left_tactile_contact_metrics.json
@@ -0,0 +1,12 @@
+{
+  "contact_time": 9.033333333333333,
+  "contact_ratio": 0.6948717948717948,
+  "avg_contact_area": 707.9040590405904,
+  "contact_entropy": 0.005469630970812242,
+  "total_frames": 390,
+  "fps": 30.0,
+  "reference_frame_count": 0,
+  "dataset_name": "dag911262r000646_lerobot_0327_114353",
+  "episode_index": 509,
+  "sensor": "gripper_left_tactile"
+}
\ No newline at end of file
diff --git a/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_09-30/outputs_tactile/tactile_cache/dag911262r000646_lerobot_0327_114353_5bdfbac6/episodes/ep000510/gripper_left_tactile_force_metrics.json b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_09-30/outputs_tactile/tactile_cache/dag911262r000646_lerobot_0327_114353_5bdfbac6/episodes/ep000510/gripper_left_tactile_force_metrics.json
new file mode 100644
index 0000000000000000000000000000000000000000..523cbfb11e084bd75c85be800ab2ccb29349d22f
--- /dev/null
+++ b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_09-30/outputs_tactile/tactile_cache/dag911262r000646_lerobot_0327_114353_5bdfbac6/episodes/ep000510/gripper_left_tactile_force_metrics.json
@@ -0,0 +1,9 @@
+{
+  "depth_peak": 0.0030668391846120358,
+  "shear_peak": 0.0013116454938426614,
+  "force_magnitude_peak": 0.003283396130427718,
+  "reference_frame_count": 0,
+  "dataset_name": "dag911262r000646_lerobot_0327_114353",
+  "episode_index": 510,
+  "sensor": "gripper_left_tactile"
+}
\ No newline at end of file
diff --git a/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_09-30/outputs_tactile/tactile_cache/dag911262r000646_lerobot_0327_114353_5bdfbac6/episodes/ep000518/gripper_right_tactile_force_metrics.json b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_09-30/outputs_tactile/tactile_cache/dag911262r000646_lerobot_0327_114353_5bdfbac6/episodes/ep000518/gripper_right_tactile_force_metrics.json
new file mode 100644
index 0000000000000000000000000000000000000000..88a7c597dc88054a4245f6bb2304fa88a2e07e39
--- /dev/null
+++ b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_09-30/outputs_tactile/tactile_cache/dag911262r000646_lerobot_0327_114353_5bdfbac6/episodes/ep000518/gripper_right_tactile_force_metrics.json
@@ -0,0 +1,9 @@
+{
+  "depth_peak": 0.013848710805177689,
+  "shear_peak": 0.003983491100370884,
+  "force_magnitude_peak": 0.014403415843844414,
+  "reference_frame_count": 0,
+  "dataset_name": "dag911262r000646_lerobot_0327_114353",
+  "episode_index": 518,
+  "sensor": "gripper_right_tactile"
+}
\ No newline at end of file
diff --git a/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_09-30/outputs_tactile/tactile_cache/dag911262r000646_lerobot_0327_114353_5bdfbac6/episodes/ep000520/gripper_right_tactile_contact_metrics.json b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_09-30/outputs_tactile/tactile_cache/dag911262r000646_lerobot_0327_114353_5bdfbac6/episodes/ep000520/gripper_right_tactile_contact_metrics.json
new file mode 100644
index 0000000000000000000000000000000000000000..4898420d2e22a6e813d49ed795e468f7f38c818f
--- /dev/null
+++ b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_09-30/outputs_tactile/tactile_cache/dag911262r000646_lerobot_0327_114353_5bdfbac6/episodes/ep000520/gripper_right_tactile_contact_metrics.json
@@ -0,0 +1,12 @@
+{
+  "contact_time": 10.033333333333333,
+  "contact_ratio": 0.8292011019283747,
+  "avg_contact_area": 13337.308970099668,
+  "contact_entropy": 0.6292286994269036,
+  "total_frames": 363,
+  "fps": 30.0,
+  "reference_frame_count": 0,
+  "dataset_name": "dag911262r000646_lerobot_0327_114353",
+  "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_09-30/outputs_tactile/tactile_cache/dag911262r000646_lerobot_0327_114353_5bdfbac6/episodes/ep000525/gripper_right_tactile_force_metrics.json b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_09-30/outputs_tactile/tactile_cache/dag911262r000646_lerobot_0327_114353_5bdfbac6/episodes/ep000525/gripper_right_tactile_force_metrics.json
new file mode 100644
index 0000000000000000000000000000000000000000..d0ae73a3f3611fc370ed63d49cf541b732080426
--- /dev/null
+++ b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_09-30/outputs_tactile/tactile_cache/dag911262r000646_lerobot_0327_114353_5bdfbac6/episodes/ep000525/gripper_right_tactile_force_metrics.json
@@ -0,0 +1,9 @@
+{
+  "depth_peak": 0.001805448206141591,
+  "shear_peak": 0.002708901884034276,
+  "force_magnitude_peak": 0.0028388623613864183,
+  "reference_frame_count": 0,
+  "dataset_name": "dag911262r000646_lerobot_0327_114353",
+  "episode_index": 525,
+  "sensor": "gripper_right_tactile"
+}
\ No newline at end of file
diff --git a/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_09-30/outputs_tactile/tactile_cache/dag911262r000646_lerobot_0327_114353_5bdfbac6/episodes/ep000526/gripper_left_tactile_force_metrics.json b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_09-30/outputs_tactile/tactile_cache/dag911262r000646_lerobot_0327_114353_5bdfbac6/episodes/ep000526/gripper_left_tactile_force_metrics.json
new file mode 100644
index 0000000000000000000000000000000000000000..a556f36230dcf2251eabdaf018b05efd092d1a45
--- /dev/null
+++ b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_09-30/outputs_tactile/tactile_cache/dag911262r000646_lerobot_0327_114353_5bdfbac6/episodes/ep000526/gripper_left_tactile_force_metrics.json
@@ -0,0 +1,9 @@
+{
+  "depth_peak": 0.002907706890255213,
+  "shear_peak": 0.002321860985830426,
+  "force_magnitude_peak": 0.0037209943402558565,
+  "reference_frame_count": 0,
+  "dataset_name": "dag911262r000646_lerobot_0327_114353",
+  "episode_index": 526,
+  "sensor": "gripper_left_tactile"
+}
\ No newline at end of file
diff --git a/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_09-30/outputs_tactile/tactile_cache/dag911262r000646_lerobot_0327_114353_5bdfbac6/episodes/ep000527/gripper_right_tactile_force_metrics.json b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_09-30/outputs_tactile/tactile_cache/dag911262r000646_lerobot_0327_114353_5bdfbac6/episodes/ep000527/gripper_right_tactile_force_metrics.json
new file mode 100644
index 0000000000000000000000000000000000000000..3367f6f09001c95e7eb3ff9938ee09813e2f2ae5
--- /dev/null
+++ b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_09-30/outputs_tactile/tactile_cache/dag911262r000646_lerobot_0327_114353_5bdfbac6/episodes/ep000527/gripper_right_tactile_force_metrics.json
@@ -0,0 +1,9 @@
+{
+  "depth_peak": 0.002399924909695983,
+  "shear_peak": 0.0030409647151827812,
+  "force_magnitude_peak": 0.0032453173771500587,
+  "reference_frame_count": 0,
+  "dataset_name": "dag911262r000646_lerobot_0327_114353",
+  "episode_index": 527,
+  "sensor": "gripper_right_tactile"
+}
\ No newline at end of file
diff --git a/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_09-30/outputs_tactile/tactile_cache/dag911262r000646_lerobot_0327_114353_5bdfbac6/episodes/ep000528/gripper_left_tactile_contact_metrics.json b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_09-30/outputs_tactile/tactile_cache/dag911262r000646_lerobot_0327_114353_5bdfbac6/episodes/ep000528/gripper_left_tactile_contact_metrics.json
new file mode 100644
index 0000000000000000000000000000000000000000..96ef4c03d88a8478f1dc70875054bc93a61f7b52
--- /dev/null
+++ b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_09-30/outputs_tactile/tactile_cache/dag911262r000646_lerobot_0327_114353_5bdfbac6/episodes/ep000528/gripper_left_tactile_contact_metrics.json
@@ -0,0 +1,12 @@
+{
+  "contact_time": 9.733333333333333,
+  "contact_ratio": 0.9573770491803278,
+  "avg_contact_area": 4606.222602739726,
+  "contact_entropy": 1.0130622572062606,
+  "total_frames": 305,
+  "fps": 30.0,
+  "reference_frame_count": 0,
+  "dataset_name": "dag911262r000646_lerobot_0327_114353",
+  "episode_index": 528,
+  "sensor": "gripper_left_tactile"
+}
\ No newline at end of file
diff --git a/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_09-30/outputs_tactile/tactile_cache/dag911262r000646_lerobot_0327_114353_5bdfbac6/episodes/ep000530/gripper_right_tactile_contact_metrics.json b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_09-30/outputs_tactile/tactile_cache/dag911262r000646_lerobot_0327_114353_5bdfbac6/episodes/ep000530/gripper_right_tactile_contact_metrics.json
new file mode 100644
index 0000000000000000000000000000000000000000..4dd12959d44ec75432a8409b175f677c10b95686
--- /dev/null
+++ b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_09-30/outputs_tactile/tactile_cache/dag911262r000646_lerobot_0327_114353_5bdfbac6/episodes/ep000530/gripper_right_tactile_contact_metrics.json
@@ -0,0 +1,12 @@
+{
+  "contact_time": 10.666666666666666,
+  "contact_ratio": 0.837696335078534,
+  "avg_contact_area": 7154.253125,
+  "contact_entropy": 0.4086573768634893,
+  "total_frames": 382,
+  "fps": 30.0,
+  "reference_frame_count": 0,
+  "dataset_name": "dag911262r000646_lerobot_0327_114353",
+  "episode_index": 530,
+  "sensor": "gripper_right_tactile"
+}
\ No newline at end of file
diff --git a/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_09-30/outputs_tactile/tactile_cache/dag911262r000646_lerobot_0327_114353_5bdfbac6/episodes/ep000532/gripper_right_tactile_contact_metrics.json b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_09-30/outputs_tactile/tactile_cache/dag911262r000646_lerobot_0327_114353_5bdfbac6/episodes/ep000532/gripper_right_tactile_contact_metrics.json
new file mode 100644
index 0000000000000000000000000000000000000000..07d146d1fae7bd44246a1189b09533de2b9772e3
--- /dev/null
+++ b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_09-30/outputs_tactile/tactile_cache/dag911262r000646_lerobot_0327_114353_5bdfbac6/episodes/ep000532/gripper_right_tactile_contact_metrics.json
@@ -0,0 +1,12 @@
+{
+  "contact_time": 9.0,
+  "contact_ratio": 0.8681672025723473,
+  "avg_contact_area": 14557.662962962962,
+  "contact_entropy": 0.7035697549979455,
+  "total_frames": 311,
+  "fps": 30.0,
+  "reference_frame_count": 0,
+  "dataset_name": "dag911262r000646_lerobot_0327_114353",
+  "episode_index": 532,
+  "sensor": "gripper_right_tactile"
+}
\ No newline at end of file
diff --git a/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_09-30/outputs_tactile/tactile_cache/dag911262r000646_lerobot_0327_114353_5bdfbac6/episodes/ep000532/gripper_right_tactile_force_metrics.json b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_09-30/outputs_tactile/tactile_cache/dag911262r000646_lerobot_0327_114353_5bdfbac6/episodes/ep000532/gripper_right_tactile_force_metrics.json
new file mode 100644
index 0000000000000000000000000000000000000000..7f334083e6b3e13cf037bc79ad10aa65eeab169f
--- /dev/null
+++ b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_09-30/outputs_tactile/tactile_cache/dag911262r000646_lerobot_0327_114353_5bdfbac6/episodes/ep000532/gripper_right_tactile_force_metrics.json
@@ -0,0 +1,9 @@
+{
+  "depth_peak": 0.015571340918540955,
+  "shear_peak": 0.013076381757855415,
+  "force_magnitude_peak": 0.01909494586288929,
+  "reference_frame_count": 0,
+  "dataset_name": "dag911262r000646_lerobot_0327_114353",
+  "episode_index": 532,
+  "sensor": "gripper_right_tactile"
+}
\ No newline at end of file
diff --git a/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_09-30/outputs_tactile/tactile_cache/dag911262r000646_lerobot_0327_114353_5bdfbac6/episodes/ep000533/gripper_left_tactile_contact_metrics.json b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_09-30/outputs_tactile/tactile_cache/dag911262r000646_lerobot_0327_114353_5bdfbac6/episodes/ep000533/gripper_left_tactile_contact_metrics.json
new file mode 100644
index 0000000000000000000000000000000000000000..9b0a891bf86f3ac8623bb33749595f5aa4f5608c
--- /dev/null
+++ b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_09-30/outputs_tactile/tactile_cache/dag911262r000646_lerobot_0327_114353_5bdfbac6/episodes/ep000533/gripper_left_tactile_contact_metrics.json
@@ -0,0 +1,12 @@
+{
+  "contact_time": 6.933333333333334,
+  "contact_ratio": 0.7819548872180451,
+  "avg_contact_area": 6736.451923076923,
+  "contact_entropy": 0.8319186803342186,
+  "total_frames": 266,
+  "fps": 30.0,
+  "reference_frame_count": 0,
+  "dataset_name": "dag911262r000646_lerobot_0327_114353",
+  "episode_index": 533,
+  "sensor": "gripper_left_tactile"
+}
\ No newline at end of file
diff --git a/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_09-30/outputs_tactile/tactile_cache/dag911262r000646_lerobot_0327_114353_5bdfbac6/episodes/ep000535/gripper_left_tactile_force_metrics.json b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_09-30/outputs_tactile/tactile_cache/dag911262r000646_lerobot_0327_114353_5bdfbac6/episodes/ep000535/gripper_left_tactile_force_metrics.json
new file mode 100644
index 0000000000000000000000000000000000000000..1e40a92587bf15a558c35803d5f95e03a4e448c9
--- /dev/null
+++ b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_09-30/outputs_tactile/tactile_cache/dag911262r000646_lerobot_0327_114353_5bdfbac6/episodes/ep000535/gripper_left_tactile_force_metrics.json
@@ -0,0 +1,9 @@
+{
+  "depth_peak": 0.00508163683116436,
+  "shear_peak": 0.0031517809256911278,
+  "force_magnitude_peak": 0.005082421004772186,
+  "reference_frame_count": 0,
+  "dataset_name": "dag911262r000646_lerobot_0327_114353",
+  "episode_index": 535,
+  "sensor": "gripper_left_tactile"
+}
\ No newline at end of file
diff --git a/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_09-30/outputs_tactile/tactile_cache/dag911262r000646_lerobot_0327_114353_5bdfbac6/episodes/ep000536/gripper_left_tactile_force_metrics.json b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_09-30/outputs_tactile/tactile_cache/dag911262r000646_lerobot_0327_114353_5bdfbac6/episodes/ep000536/gripper_left_tactile_force_metrics.json
new file mode 100644
index 0000000000000000000000000000000000000000..49542b9d4e24d6a9241f510ef5ba3e9d198d72ff
--- /dev/null
+++ b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_09-30/outputs_tactile/tactile_cache/dag911262r000646_lerobot_0327_114353_5bdfbac6/episodes/ep000536/gripper_left_tactile_force_metrics.json
@@ -0,0 +1,9 @@
+{
+  "depth_peak": 0.007282413076609373,
+  "shear_peak": 0.0028766298200935125,
+  "force_magnitude_peak": 0.007734726183116436,
+  "reference_frame_count": 0,
+  "dataset_name": "dag911262r000646_lerobot_0327_114353",
+  "episode_index": 536,
+  "sensor": "gripper_left_tactile"
+}
\ No newline at end of file
diff --git a/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_09-30/outputs_tactile/tactile_cache/dag911262r000646_lerobot_0327_114353_5bdfbac6/episodes/ep000541/gripper_left_tactile_contact_metrics.json b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_09-30/outputs_tactile/tactile_cache/dag911262r000646_lerobot_0327_114353_5bdfbac6/episodes/ep000541/gripper_left_tactile_contact_metrics.json
new file mode 100644
index 0000000000000000000000000000000000000000..3f8c3688bb632b26965b042bac5a381950a74560
--- /dev/null
+++ b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_09-30/outputs_tactile/tactile_cache/dag911262r000646_lerobot_0327_114353_5bdfbac6/episodes/ep000541/gripper_left_tactile_contact_metrics.json
@@ -0,0 +1,12 @@
+{
+  "contact_time": 9.833333333333334,
+  "contact_ratio": 0.8263305322128851,
+  "avg_contact_area": 1245.4101694915255,
+  "contact_entropy": 0.1946275859600537,
+  "total_frames": 357,
+  "fps": 30.0,
+  "reference_frame_count": 0,
+  "dataset_name": "dag911262r000646_lerobot_0327_114353",
+  "episode_index": 541,
+  "sensor": "gripper_left_tactile"
+}
\ No newline at end of file
diff --git a/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_09-30/outputs_tactile/tactile_cache/dag911262r000646_lerobot_0327_114353_5bdfbac6/episodes/ep000543/gripper_right_tactile_contact_metrics.json b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_09-30/outputs_tactile/tactile_cache/dag911262r000646_lerobot_0327_114353_5bdfbac6/episodes/ep000543/gripper_right_tactile_contact_metrics.json
new file mode 100644
index 0000000000000000000000000000000000000000..ccaae7367d2930a669ba294036346e1e2710709b
--- /dev/null
+++ b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_09-30/outputs_tactile/tactile_cache/dag911262r000646_lerobot_0327_114353_5bdfbac6/episodes/ep000543/gripper_right_tactile_contact_metrics.json
@@ -0,0 +1,12 @@
+{
+  "contact_time": 6.066666666666666,
+  "contact_ratio": 0.6453900709219859,
+  "avg_contact_area": 1866.3131868131868,
+  "contact_entropy": 0.0,
+  "total_frames": 282,
+  "fps": 30.0,
+  "reference_frame_count": 0,
+  "dataset_name": "dag911262r000646_lerobot_0327_114353",
+  "episode_index": 543,
+  "sensor": "gripper_right_tactile"
+}
\ No newline at end of file
diff --git a/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_09-30/outputs_tactile/tactile_cache/dag911262r000646_lerobot_0327_114353_5bdfbac6/episodes/ep000544/gripper_left_tactile_force_metrics.json b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_09-30/outputs_tactile/tactile_cache/dag911262r000646_lerobot_0327_114353_5bdfbac6/episodes/ep000544/gripper_left_tactile_force_metrics.json
new file mode 100644
index 0000000000000000000000000000000000000000..22ac36abf5b668924b3e95873abb562116e5e1f0
--- /dev/null
+++ b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_09-30/outputs_tactile/tactile_cache/dag911262r000646_lerobot_0327_114353_5bdfbac6/episodes/ep000544/gripper_left_tactile_force_metrics.json
@@ -0,0 +1,9 @@
+{
+  "depth_peak": 0.006198726128786802,
+  "shear_peak": 0.002218986162915826,
+  "force_magnitude_peak": 0.00620128633454442,
+  "reference_frame_count": 0,
+  "dataset_name": "dag911262r000646_lerobot_0327_114353",
+  "episode_index": 544,
+  "sensor": "gripper_left_tactile"
+}
\ No newline at end of file
diff --git a/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_09-30/outputs_tactile/tactile_cache/dag911262r000646_lerobot_0327_114353_5bdfbac6/episodes/ep000545/gripper_right_tactile_contact_metrics.json b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_09-30/outputs_tactile/tactile_cache/dag911262r000646_lerobot_0327_114353_5bdfbac6/episodes/ep000545/gripper_right_tactile_contact_metrics.json
new file mode 100644
index 0000000000000000000000000000000000000000..7804ba60a5776e927b3fffd69c9e2d02c146318a
--- /dev/null
+++ b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_09-30/outputs_tactile/tactile_cache/dag911262r000646_lerobot_0327_114353_5bdfbac6/episodes/ep000545/gripper_right_tactile_contact_metrics.json
@@ -0,0 +1,12 @@
+{
+  "contact_time": 9.133333333333333,
+  "contact_ratio": 0.7486338797814208,
+  "avg_contact_area": 1546.1240875912408,
+  "contact_entropy": 0.0,
+  "total_frames": 366,
+  "fps": 30.0,
+  "reference_frame_count": 0,
+  "dataset_name": "dag911262r000646_lerobot_0327_114353",
+  "episode_index": 545,
+  "sensor": "gripper_right_tactile"
+}
\ No newline at end of file
diff --git a/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_09-30/outputs_tactile/tactile_cache/dag911262r000646_lerobot_0327_114353_5bdfbac6/episodes/ep000547/gripper_left_tactile_contact_metrics.json b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_09-30/outputs_tactile/tactile_cache/dag911262r000646_lerobot_0327_114353_5bdfbac6/episodes/ep000547/gripper_left_tactile_contact_metrics.json
new file mode 100644
index 0000000000000000000000000000000000000000..84264476d4524c0fbf1c21eb472bf67d0ea2cb57
--- /dev/null
+++ b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_09-30/outputs_tactile/tactile_cache/dag911262r000646_lerobot_0327_114353_5bdfbac6/episodes/ep000547/gripper_left_tactile_contact_metrics.json
@@ -0,0 +1,12 @@
+{
+  "contact_time": 12.333333333333334,
+  "contact_ratio": 0.8726415094339622,
+  "avg_contact_area": 2155.908108108108,
+  "contact_entropy": 0.5695516000771125,
+  "total_frames": 424,
+  "fps": 30.0,
+  "reference_frame_count": 0,
+  "dataset_name": "dag911262r000646_lerobot_0327_114353",
+  "episode_index": 547,
+  "sensor": "gripper_left_tactile"
+}
\ No newline at end of file
diff --git a/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_09-30/outputs_tactile/tactile_cache/dag911262r000646_lerobot_0327_114353_5bdfbac6/episodes/ep000547/gripper_right_tactile_force_metrics.json b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_09-30/outputs_tactile/tactile_cache/dag911262r000646_lerobot_0327_114353_5bdfbac6/episodes/ep000547/gripper_right_tactile_force_metrics.json
new file mode 100644
index 0000000000000000000000000000000000000000..de4a4793679fd72922cf355a4ead585a580d8758
--- /dev/null
+++ b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_09-30/outputs_tactile/tactile_cache/dag911262r000646_lerobot_0327_114353_5bdfbac6/episodes/ep000547/gripper_right_tactile_force_metrics.json
@@ -0,0 +1,9 @@
+{
+  "depth_peak": 0.0012394511140882969,
+  "shear_peak": 0.005471677519381046,
+  "force_magnitude_peak": 0.0055849021300673485,
+  "reference_frame_count": 0,
+  "dataset_name": "dag911262r000646_lerobot_0327_114353",
+  "episode_index": 547,
+  "sensor": "gripper_right_tactile"
+}
\ No newline at end of file
diff --git a/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_09-30/outputs_tactile/tactile_cache/dag911262r000646_lerobot_0327_114353_5bdfbac6/episodes/ep000549/gripper_left_tactile_contact_metrics.json b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_09-30/outputs_tactile/tactile_cache/dag911262r000646_lerobot_0327_114353_5bdfbac6/episodes/ep000549/gripper_left_tactile_contact_metrics.json
new file mode 100644
index 0000000000000000000000000000000000000000..1b0bc1532e0360197b66e70569365092fa760b55
--- /dev/null
+++ b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_09-30/outputs_tactile/tactile_cache/dag911262r000646_lerobot_0327_114353_5bdfbac6/episodes/ep000549/gripper_left_tactile_contact_metrics.json
@@ -0,0 +1,12 @@
+{
+  "contact_time": 7.066666666666666,
+  "contact_ratio": 0.7709090909090909,
+  "avg_contact_area": 4437.334905660377,
+  "contact_entropy": 0.4204004959389219,
+  "total_frames": 275,
+  "fps": 30.0,
+  "reference_frame_count": 0,
+  "dataset_name": "dag911262r000646_lerobot_0327_114353",
+  "episode_index": 549,
+  "sensor": "gripper_left_tactile"
+}
\ No newline at end of file
diff --git a/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_09-30/outputs_tactile/tactile_cache/dag911262r000646_lerobot_0327_114353_5bdfbac6/episodes/ep000550/gripper_left_tactile_force_metrics.json b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_09-30/outputs_tactile/tactile_cache/dag911262r000646_lerobot_0327_114353_5bdfbac6/episodes/ep000550/gripper_left_tactile_force_metrics.json
new file mode 100644
index 0000000000000000000000000000000000000000..9a237cb0b624067b040eeb1041bdc949591b49cb
--- /dev/null
+++ b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_09-30/outputs_tactile/tactile_cache/dag911262r000646_lerobot_0327_114353_5bdfbac6/episodes/ep000550/gripper_left_tactile_force_metrics.json
@@ -0,0 +1,9 @@
+{
+  "depth_peak": 0.00694769062101841,
+  "shear_peak": 0.005897387396544218,
+  "force_magnitude_peak": 0.009076621383428574,
+  "reference_frame_count": 0,
+  "dataset_name": "dag911262r000646_lerobot_0327_114353",
+  "episode_index": 550,
+  "sensor": "gripper_left_tactile"
+}
\ No newline at end of file
diff --git a/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_09-30/outputs_tactile/tactile_cache/dag911262r000646_lerobot_0327_114353_5bdfbac6/episodes/ep000558/gripper_right_tactile_force_metrics.json b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_09-30/outputs_tactile/tactile_cache/dag911262r000646_lerobot_0327_114353_5bdfbac6/episodes/ep000558/gripper_right_tactile_force_metrics.json
new file mode 100644
index 0000000000000000000000000000000000000000..ef3939361de1f2007d743e4ee6621582eb52219a
--- /dev/null
+++ b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_09-30/outputs_tactile/tactile_cache/dag911262r000646_lerobot_0327_114353_5bdfbac6/episodes/ep000558/gripper_right_tactile_force_metrics.json
@@ -0,0 +1,9 @@
+{
+  "depth_peak": 0.005741550121456385,
+  "shear_peak": 0.00233822176232934,
+  "force_magnitude_peak": 0.005984916351735592,
+  "reference_frame_count": 0,
+  "dataset_name": "dag911262r000646_lerobot_0327_114353",
+  "episode_index": 558,
+  "sensor": "gripper_right_tactile"
+}
\ No newline at end of file
diff --git a/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_09-30/outputs_tactile/tactile_cache/dag911262r000646_lerobot_0327_114353_5bdfbac6/episodes/ep000560/gripper_right_tactile_contact_metrics.json b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_09-30/outputs_tactile/tactile_cache/dag911262r000646_lerobot_0327_114353_5bdfbac6/episodes/ep000560/gripper_right_tactile_contact_metrics.json
new file mode 100644
index 0000000000000000000000000000000000000000..10c413e47b0615a11e8920c8062b1b2fa0b1fd31
--- /dev/null
+++ b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_09-30/outputs_tactile/tactile_cache/dag911262r000646_lerobot_0327_114353_5bdfbac6/episodes/ep000560/gripper_right_tactile_contact_metrics.json
@@ -0,0 +1,12 @@
+{
+  "contact_time": 9.8,
+  "contact_ratio": 0.8305084745762712,
+  "avg_contact_area": 1958.4319727891157,
+  "contact_entropy": 0.6438915558886388,
+  "total_frames": 354,
+  "fps": 30.0,
+  "reference_frame_count": 0,
+  "dataset_name": "dag911262r000646_lerobot_0327_114353",
+  "episode_index": 560,
+  "sensor": "gripper_right_tactile"
+}
\ No newline at end of file
diff --git a/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_09-30/outputs_tactile/tactile_cache/dag911262r000646_lerobot_0327_114353_5bdfbac6/episodes/ep000565/gripper_right_tactile_force_metrics.json b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_09-30/outputs_tactile/tactile_cache/dag911262r000646_lerobot_0327_114353_5bdfbac6/episodes/ep000565/gripper_right_tactile_force_metrics.json
new file mode 100644
index 0000000000000000000000000000000000000000..f11c51c7183a0eb90208600116d598ddd36abb9e
--- /dev/null
+++ b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_09-30/outputs_tactile/tactile_cache/dag911262r000646_lerobot_0327_114353_5bdfbac6/episodes/ep000565/gripper_right_tactile_force_metrics.json
@@ -0,0 +1,9 @@
+{
+  "depth_peak": 0.003708228236064315,
+  "shear_peak": 0.007344244979321957,
+  "force_magnitude_peak": 0.007379987742751837,
+  "reference_frame_count": 0,
+  "dataset_name": "dag911262r000646_lerobot_0327_114353",
+  "episode_index": 565,
+  "sensor": "gripper_right_tactile"
+}
\ No newline at end of file
diff --git a/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_09-30/outputs_tactile/tactile_cache/dag911262r000646_lerobot_0327_114353_5bdfbac6/episodes/ep000566/gripper_left_tactile_force_metrics.json b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_09-30/outputs_tactile/tactile_cache/dag911262r000646_lerobot_0327_114353_5bdfbac6/episodes/ep000566/gripper_left_tactile_force_metrics.json
new file mode 100644
index 0000000000000000000000000000000000000000..982fe104edaed35dee54e34e291adb0e5c9fd046
--- /dev/null
+++ b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_09-30/outputs_tactile/tactile_cache/dag911262r000646_lerobot_0327_114353_5bdfbac6/episodes/ep000566/gripper_left_tactile_force_metrics.json
@@ -0,0 +1,9 @@
+{
+  "depth_peak": 0.016761548817157745,
+  "shear_peak": 0.010940195992588997,
+  "force_magnitude_peak": 0.016806645318865776,
+  "reference_frame_count": 0,
+  "dataset_name": "dag911262r000646_lerobot_0327_114353",
+  "episode_index": 566,
+  "sensor": "gripper_left_tactile"
+}
\ No newline at end of file
diff --git a/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_09-30/outputs_tactile/tactile_cache/dag911262r000646_lerobot_0327_114353_5bdfbac6/episodes/ep000567/gripper_right_tactile_force_metrics.json b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_09-30/outputs_tactile/tactile_cache/dag911262r000646_lerobot_0327_114353_5bdfbac6/episodes/ep000567/gripper_right_tactile_force_metrics.json
new file mode 100644
index 0000000000000000000000000000000000000000..8db4bc3603d9c2b77439f8bfcbaf8d17305e16d4
--- /dev/null
+++ b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_09-30/outputs_tactile/tactile_cache/dag911262r000646_lerobot_0327_114353_5bdfbac6/episodes/ep000567/gripper_right_tactile_force_metrics.json
@@ -0,0 +1,9 @@
+{
+  "depth_peak": 0.005588842090219259,
+  "shear_peak": 0.004617689177393913,
+  "force_magnitude_peak": 0.006115250755101442,
+  "reference_frame_count": 0,
+  "dataset_name": "dag911262r000646_lerobot_0327_114353",
+  "episode_index": 567,
+  "sensor": "gripper_right_tactile"
+}
\ No newline at end of file
diff --git a/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_09-30/outputs_tactile/tactile_cache/dag911262r000646_lerobot_0327_114353_5bdfbac6/episodes/ep000568/gripper_left_tactile_contact_metrics.json b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_09-30/outputs_tactile/tactile_cache/dag911262r000646_lerobot_0327_114353_5bdfbac6/episodes/ep000568/gripper_left_tactile_contact_metrics.json
new file mode 100644
index 0000000000000000000000000000000000000000..e6852ec749acbb1f589088e57799d34b4abb6bdc
--- /dev/null
+++ b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_09-30/outputs_tactile/tactile_cache/dag911262r000646_lerobot_0327_114353_5bdfbac6/episodes/ep000568/gripper_left_tactile_contact_metrics.json
@@ -0,0 +1,12 @@
+{
+  "contact_time": 8.1,
+  "contact_ratio": 0.804635761589404,
+  "avg_contact_area": 2515.2181069958847,
+  "contact_entropy": 0.2397970892722593,
+  "total_frames": 302,
+  "fps": 30.0,
+  "reference_frame_count": 0,
+  "dataset_name": "dag911262r000646_lerobot_0327_114353",
+  "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_09-30/outputs_tactile/tactile_cache/dag911262r000646_lerobot_0327_114353_5bdfbac6/episodes/ep000570/gripper_right_tactile_contact_metrics.json b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_09-30/outputs_tactile/tactile_cache/dag911262r000646_lerobot_0327_114353_5bdfbac6/episodes/ep000570/gripper_right_tactile_contact_metrics.json
new file mode 100644
index 0000000000000000000000000000000000000000..fba46a49aeca9935c78943e36c68bedcc0de6257
--- /dev/null
+++ b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_09-30/outputs_tactile/tactile_cache/dag911262r000646_lerobot_0327_114353_5bdfbac6/episodes/ep000570/gripper_right_tactile_contact_metrics.json
@@ -0,0 +1,12 @@
+{
+  "contact_time": 5.166666666666667,
+  "contact_ratio": 0.6512605042016807,
+  "avg_contact_area": 1131.7354838709678,
+  "contact_entropy": 0.5275233064623462,
+  "total_frames": 238,
+  "fps": 30.0,
+  "reference_frame_count": 0,
+  "dataset_name": "dag911262r000646_lerobot_0327_114353",
+  "episode_index": 570,
+  "sensor": "gripper_right_tactile"
+}
\ No newline at end of file
diff --git a/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_09-30/outputs_tactile/tactile_cache/dag911262r000646_lerobot_0327_114353_5bdfbac6/episodes/ep000572/gripper_right_tactile_contact_metrics.json b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_09-30/outputs_tactile/tactile_cache/dag911262r000646_lerobot_0327_114353_5bdfbac6/episodes/ep000572/gripper_right_tactile_contact_metrics.json
new file mode 100644
index 0000000000000000000000000000000000000000..826e60a4975080b57f7056bf74009bd94a5bad39
--- /dev/null
+++ b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_09-30/outputs_tactile/tactile_cache/dag911262r000646_lerobot_0327_114353_5bdfbac6/episodes/ep000572/gripper_right_tactile_contact_metrics.json
@@ -0,0 +1,12 @@
+{
+  "contact_time": 7.133333333333334,
+  "contact_ratio": 0.5529715762273901,
+  "avg_contact_area": 401.2102803738318,
+  "contact_entropy": 0.012986707425022741,
+  "total_frames": 387,
+  "fps": 30.0,
+  "reference_frame_count": 0,
+  "dataset_name": "dag911262r000646_lerobot_0327_114353",
+  "episode_index": 572,
+  "sensor": "gripper_right_tactile"
+}
\ No newline at end of file
diff --git a/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_09-30/outputs_tactile/tactile_cache/dag911262r000646_lerobot_0327_114353_5bdfbac6/episodes/ep000572/gripper_right_tactile_force_metrics.json b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_09-30/outputs_tactile/tactile_cache/dag911262r000646_lerobot_0327_114353_5bdfbac6/episodes/ep000572/gripper_right_tactile_force_metrics.json
new file mode 100644
index 0000000000000000000000000000000000000000..57012ef40489089d961719d5e344fb81b456d7ae
--- /dev/null
+++ b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_09-30/outputs_tactile/tactile_cache/dag911262r000646_lerobot_0327_114353_5bdfbac6/episodes/ep000572/gripper_right_tactile_force_metrics.json
@@ -0,0 +1,9 @@
+{
+  "depth_peak": 0.0012182515347376466,
+  "shear_peak": 0.0021805556025356054,
+  "force_magnitude_peak": 0.0032066749408841133,
+  "reference_frame_count": 0,
+  "dataset_name": "dag911262r000646_lerobot_0327_114353",
+  "episode_index": 572,
+  "sensor": "gripper_right_tactile"
+}
\ No newline at end of file
diff --git a/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_09-30/outputs_tactile/tactile_cache/dag911262r000646_lerobot_0327_114353_5bdfbac6/episodes/ep000573/gripper_left_tactile_contact_metrics.json b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_09-30/outputs_tactile/tactile_cache/dag911262r000646_lerobot_0327_114353_5bdfbac6/episodes/ep000573/gripper_left_tactile_contact_metrics.json
new file mode 100644
index 0000000000000000000000000000000000000000..8ed166b1d7478248f6b7a66aa67e048f89fa2fb5
--- /dev/null
+++ b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_09-30/outputs_tactile/tactile_cache/dag911262r000646_lerobot_0327_114353_5bdfbac6/episodes/ep000573/gripper_left_tactile_contact_metrics.json
@@ -0,0 +1,12 @@
+{
+  "contact_time": 9.133333333333333,
+  "contact_ratio": 0.8154761904761905,
+  "avg_contact_area": 993.8941605839416,
+  "contact_entropy": 0.1015548012283603,
+  "total_frames": 336,
+  "fps": 30.0,
+  "reference_frame_count": 0,
+  "dataset_name": "dag911262r000646_lerobot_0327_114353",
+  "episode_index": 573,
+  "sensor": "gripper_left_tactile"
+}
\ No newline at end of file
diff --git a/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_09-30/outputs_tactile/tactile_cache/dag911262r000646_lerobot_0327_114353_5bdfbac6/episodes/ep000575/gripper_left_tactile_force_metrics.json b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_09-30/outputs_tactile/tactile_cache/dag911262r000646_lerobot_0327_114353_5bdfbac6/episodes/ep000575/gripper_left_tactile_force_metrics.json
new file mode 100644
index 0000000000000000000000000000000000000000..13b2d8f6a0e51df6b5e8a13b36764663dec534b3
--- /dev/null
+++ b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_09-30/outputs_tactile/tactile_cache/dag911262r000646_lerobot_0327_114353_5bdfbac6/episodes/ep000575/gripper_left_tactile_force_metrics.json
@@ -0,0 +1,9 @@
+{
+  "depth_peak": 0.003782589454203844,
+  "shear_peak": 0.0016361614689230919,
+  "force_magnitude_peak": 0.0037845096085220575,
+  "reference_frame_count": 0,
+  "dataset_name": "dag911262r000646_lerobot_0327_114353",
+  "episode_index": 575,
+  "sensor": "gripper_left_tactile"
+}
\ No newline at end of file
diff --git a/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_09-30/outputs_tactile/tactile_cache/dag911262r000646_lerobot_0327_114353_5bdfbac6/episodes/ep000576/gripper_left_tactile_force_metrics.json b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_09-30/outputs_tactile/tactile_cache/dag911262r000646_lerobot_0327_114353_5bdfbac6/episodes/ep000576/gripper_left_tactile_force_metrics.json
new file mode 100644
index 0000000000000000000000000000000000000000..dd25bc1b70a268f32b69bf818eeb98159540b64a
--- /dev/null
+++ b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_09-30/outputs_tactile/tactile_cache/dag911262r000646_lerobot_0327_114353_5bdfbac6/episodes/ep000576/gripper_left_tactile_force_metrics.json
@@ -0,0 +1,9 @@
+{
+  "depth_peak": 0.0032045412808656693,
+  "shear_peak": 0.0033621916081756353,
+  "force_magnitude_peak": 0.0035068339202553034,
+  "reference_frame_count": 0,
+  "dataset_name": "dag911262r000646_lerobot_0327_114353",
+  "episode_index": 576,
+  "sensor": "gripper_left_tactile"
+}
\ No newline at end of file
diff --git a/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_09-30/outputs_tactile/tactile_cache/dag911262r000646_lerobot_0327_114353_5bdfbac6/episodes/ep000581/gripper_left_tactile_contact_metrics.json b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_09-30/outputs_tactile/tactile_cache/dag911262r000646_lerobot_0327_114353_5bdfbac6/episodes/ep000581/gripper_left_tactile_contact_metrics.json
new file mode 100644
index 0000000000000000000000000000000000000000..106f138eb8b3c91502e061e4af4434143efc243e
--- /dev/null
+++ b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_09-30/outputs_tactile/tactile_cache/dag911262r000646_lerobot_0327_114353_5bdfbac6/episodes/ep000581/gripper_left_tactile_contact_metrics.json
@@ -0,0 +1,12 @@
+{
+  "contact_time": 10.4,
+  "contact_ratio": 0.8914285714285715,
+  "avg_contact_area": 1105.7692307692307,
+  "contact_entropy": 0.3859345395696116,
+  "total_frames": 350,
+  "fps": 30.0,
+  "reference_frame_count": 0,
+  "dataset_name": "dag911262r000646_lerobot_0327_114353",
+  "episode_index": 581,
+  "sensor": "gripper_left_tactile"
+}
\ No newline at end of file
diff --git a/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_09-30/outputs_tactile/tactile_cache/dag911262r000646_lerobot_0327_114353_5bdfbac6/episodes/ep000583/gripper_right_tactile_contact_metrics.json b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_09-30/outputs_tactile/tactile_cache/dag911262r000646_lerobot_0327_114353_5bdfbac6/episodes/ep000583/gripper_right_tactile_contact_metrics.json
new file mode 100644
index 0000000000000000000000000000000000000000..c4372897fef84196cc870073f915a4e51e3a628e
--- /dev/null
+++ b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_09-30/outputs_tactile/tactile_cache/dag911262r000646_lerobot_0327_114353_5bdfbac6/episodes/ep000583/gripper_right_tactile_contact_metrics.json
@@ -0,0 +1,12 @@
+{
+  "contact_time": 9.433333333333334,
+  "contact_ratio": 0.8202898550724638,
+  "avg_contact_area": 357.92226148409895,
+  "contact_entropy": 0.11891526572241586,
+  "total_frames": 345,
+  "fps": 30.0,
+  "reference_frame_count": 0,
+  "dataset_name": "dag911262r000646_lerobot_0327_114353",
+  "episode_index": 583,
+  "sensor": "gripper_right_tactile"
+}
\ No newline at end of file
diff --git a/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_09-30/outputs_tactile/tactile_cache/dag911262r000646_lerobot_0327_114353_5bdfbac6/episodes/ep000584/gripper_left_tactile_force_metrics.json b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_09-30/outputs_tactile/tactile_cache/dag911262r000646_lerobot_0327_114353_5bdfbac6/episodes/ep000584/gripper_left_tactile_force_metrics.json
new file mode 100644
index 0000000000000000000000000000000000000000..ea07653795278307c6c9f98c6030056f79cc4cb8
--- /dev/null
+++ b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_09-30/outputs_tactile/tactile_cache/dag911262r000646_lerobot_0327_114353_5bdfbac6/episodes/ep000584/gripper_left_tactile_force_metrics.json
@@ -0,0 +1,9 @@
+{
+  "depth_peak": 0.0017836835468187928,
+  "shear_peak": 0.0015421187272295356,
+  "force_magnitude_peak": 0.0020302627235651016,
+  "reference_frame_count": 0,
+  "dataset_name": "dag911262r000646_lerobot_0327_114353",
+  "episode_index": 584,
+  "sensor": "gripper_left_tactile"
+}
\ No newline at end of file
diff --git a/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_09-30/outputs_tactile/tactile_cache/dag911262r000646_lerobot_0327_114353_5bdfbac6/episodes/ep000585/gripper_right_tactile_contact_metrics.json b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_09-30/outputs_tactile/tactile_cache/dag911262r000646_lerobot_0327_114353_5bdfbac6/episodes/ep000585/gripper_right_tactile_contact_metrics.json
new file mode 100644
index 0000000000000000000000000000000000000000..758ea588a0a549590315bd78919c7349c5b0d516
--- /dev/null
+++ b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_09-30/outputs_tactile/tactile_cache/dag911262r000646_lerobot_0327_114353_5bdfbac6/episodes/ep000585/gripper_right_tactile_contact_metrics.json
@@ -0,0 +1,12 @@
+{
+  "contact_time": 9.0,
+  "contact_ratio": 0.8132530120481928,
+  "avg_contact_area": 391.7925925925926,
+  "contact_entropy": 0.10290427890296423,
+  "total_frames": 332,
+  "fps": 30.0,
+  "reference_frame_count": 0,
+  "dataset_name": "dag911262r000646_lerobot_0327_114353",
+  "episode_index": 585,
+  "sensor": "gripper_right_tactile"
+}
\ No newline at end of file
diff --git a/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_09-30/outputs_tactile/tactile_cache/dag911262r000646_lerobot_0327_114353_5bdfbac6/episodes/ep000587/gripper_left_tactile_contact_metrics.json b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_09-30/outputs_tactile/tactile_cache/dag911262r000646_lerobot_0327_114353_5bdfbac6/episodes/ep000587/gripper_left_tactile_contact_metrics.json
new file mode 100644
index 0000000000000000000000000000000000000000..f66f313d3cd31b0d9f8613afe01e4e256271c857
--- /dev/null
+++ b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_09-30/outputs_tactile/tactile_cache/dag911262r000646_lerobot_0327_114353_5bdfbac6/episodes/ep000587/gripper_left_tactile_contact_metrics.json
@@ -0,0 +1,12 @@
+{
+  "contact_time": 9.7,
+  "contact_ratio": 0.8314285714285714,
+  "avg_contact_area": 429.8006872852234,
+  "contact_entropy": 0.0,
+  "total_frames": 350,
+  "fps": 30.0,
+  "reference_frame_count": 0,
+  "dataset_name": "dag911262r000646_lerobot_0327_114353",
+  "episode_index": 587,
+  "sensor": "gripper_left_tactile"
+}
\ No newline at end of file
diff --git a/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_09-30/outputs_tactile/tactile_cache/dag911262r000646_lerobot_0327_114353_5bdfbac6/episodes/ep000587/gripper_right_tactile_force_metrics.json b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_09-30/outputs_tactile/tactile_cache/dag911262r000646_lerobot_0327_114353_5bdfbac6/episodes/ep000587/gripper_right_tactile_force_metrics.json
new file mode 100644
index 0000000000000000000000000000000000000000..bd9226f144a8c192301abcca8b8c269acbaa72bb
--- /dev/null
+++ b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_09-30/outputs_tactile/tactile_cache/dag911262r000646_lerobot_0327_114353_5bdfbac6/episodes/ep000587/gripper_right_tactile_force_metrics.json
@@ -0,0 +1,9 @@
+{
+  "depth_peak": 0.0006548461969941854,
+  "shear_peak": 0.0012259375071153045,
+  "force_magnitude_peak": 0.0017187155317515135,
+  "reference_frame_count": 0,
+  "dataset_name": "dag911262r000646_lerobot_0327_114353",
+  "episode_index": 587,
+  "sensor": "gripper_right_tactile"
+}
\ No newline at end of file
diff --git a/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_09-30/outputs_tactile/tactile_cache/dag911262r000646_lerobot_0327_114353_5bdfbac6/episodes/ep000589/gripper_left_tactile_contact_metrics.json b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_09-30/outputs_tactile/tactile_cache/dag911262r000646_lerobot_0327_114353_5bdfbac6/episodes/ep000589/gripper_left_tactile_contact_metrics.json
new file mode 100644
index 0000000000000000000000000000000000000000..89410efd188cca40192f65ebdd7565c0acb6d83a
--- /dev/null
+++ b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_09-30/outputs_tactile/tactile_cache/dag911262r000646_lerobot_0327_114353_5bdfbac6/episodes/ep000589/gripper_left_tactile_contact_metrics.json
@@ -0,0 +1,12 @@
+{
+  "contact_time": 8.266666666666667,
+  "contact_ratio": 0.8,
+  "avg_contact_area": 2795.5967741935483,
+  "contact_entropy": 0.5454995140009665,
+  "total_frames": 310,
+  "fps": 30.0,
+  "reference_frame_count": 0,
+  "dataset_name": "dag911262r000646_lerobot_0327_114353",
+  "episode_index": 589,
+  "sensor": "gripper_left_tactile"
+}
\ No newline at end of file
diff --git a/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_09-30/outputs_tactile/tactile_cache/dag911262r000646_lerobot_0327_114353_5bdfbac6/episodes/ep000590/gripper_left_tactile_force_metrics.json b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_09-30/outputs_tactile/tactile_cache/dag911262r000646_lerobot_0327_114353_5bdfbac6/episodes/ep000590/gripper_left_tactile_force_metrics.json
new file mode 100644
index 0000000000000000000000000000000000000000..ef8ee95b586d04aaee000894171bf9169bbf8417
--- /dev/null
+++ b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_09-30/outputs_tactile/tactile_cache/dag911262r000646_lerobot_0327_114353_5bdfbac6/episodes/ep000590/gripper_left_tactile_force_metrics.json
@@ -0,0 +1,9 @@
+{
+  "depth_peak": 0.00263692787848413,
+  "shear_peak": 0.0042214831337332726,
+  "force_magnitude_peak": 0.004336195532232523,
+  "reference_frame_count": 0,
+  "dataset_name": "dag911262r000646_lerobot_0327_114353",
+  "episode_index": 590,
+  "sensor": "gripper_left_tactile"
+}
\ No newline at end of file
diff --git a/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_09-30/outputs_tactile/tactile_cache/dag911262r000646_lerobot_0327_114353_5bdfbac6/episodes/ep000598/gripper_right_tactile_force_metrics.json b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_09-30/outputs_tactile/tactile_cache/dag911262r000646_lerobot_0327_114353_5bdfbac6/episodes/ep000598/gripper_right_tactile_force_metrics.json
new file mode 100644
index 0000000000000000000000000000000000000000..7f5dc1f7626a3f4313c1129e31f71014dbff8b20
--- /dev/null
+++ b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_09-30/outputs_tactile/tactile_cache/dag911262r000646_lerobot_0327_114353_5bdfbac6/episodes/ep000598/gripper_right_tactile_force_metrics.json
@@ -0,0 +1,9 @@
+{
+  "depth_peak": 0.011274010874330997,
+  "shear_peak": 0.009976698085665703,
+  "force_magnitude_peak": 0.014712893404066563,
+  "reference_frame_count": 0,
+  "dataset_name": "dag911262r000646_lerobot_0327_114353",
+  "episode_index": 598,
+  "sensor": "gripper_right_tactile"
+}
\ No newline at end of file
diff --git a/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_09-30/outputs_tactile/tactile_cache/dag911262r000646_lerobot_0327_114353_5bdfbac6/episodes/ep000600/gripper_right_tactile_contact_metrics.json b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_09-30/outputs_tactile/tactile_cache/dag911262r000646_lerobot_0327_114353_5bdfbac6/episodes/ep000600/gripper_right_tactile_contact_metrics.json
new file mode 100644
index 0000000000000000000000000000000000000000..555456f26a9e7ea4abbdb22688414c7c5c6e78e5
--- /dev/null
+++ b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_09-30/outputs_tactile/tactile_cache/dag911262r000646_lerobot_0327_114353_5bdfbac6/episodes/ep000600/gripper_right_tactile_contact_metrics.json
@@ -0,0 +1,12 @@
+{
+  "contact_time": 23.433333333333334,
+  "contact_ratio": 0.8820577164366374,
+  "avg_contact_area": 6445.051209103841,
+  "contact_entropy": 0.7408605133053232,
+  "total_frames": 797,
+  "fps": 30.0,
+  "reference_frame_count": 0,
+  "dataset_name": "dag911262r000646_lerobot_0327_114353",
+  "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_09-30/outputs_tactile/tactile_cache/dag911262r000646_lerobot_0327_114353_5bdfbac6/episodes/ep000605/gripper_right_tactile_force_metrics.json b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_09-30/outputs_tactile/tactile_cache/dag911262r000646_lerobot_0327_114353_5bdfbac6/episodes/ep000605/gripper_right_tactile_force_metrics.json
new file mode 100644
index 0000000000000000000000000000000000000000..b2a9fc354e94693a86b8d59b3bda8c5de0264ead
--- /dev/null
+++ b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_09-30/outputs_tactile/tactile_cache/dag911262r000646_lerobot_0327_114353_5bdfbac6/episodes/ep000605/gripper_right_tactile_force_metrics.json
@@ -0,0 +1,9 @@
+{
+  "depth_peak": 0.002673135371878743,
+  "shear_peak": 0.0032410549465566874,
+  "force_magnitude_peak": 0.003276105271652341,
+  "reference_frame_count": 0,
+  "dataset_name": "dag911262r000646_lerobot_0327_114353",
+  "episode_index": 605,
+  "sensor": "gripper_right_tactile"
+}
\ No newline at end of file
diff --git a/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_09-30/outputs_tactile/tactile_cache/dag911262r000646_lerobot_0327_114353_5bdfbac6/episodes/ep000606/gripper_left_tactile_force_metrics.json b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_09-30/outputs_tactile/tactile_cache/dag911262r000646_lerobot_0327_114353_5bdfbac6/episodes/ep000606/gripper_left_tactile_force_metrics.json
new file mode 100644
index 0000000000000000000000000000000000000000..6f17a0fb49753db76b848798a60832ba658789d4
--- /dev/null
+++ b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_09-30/outputs_tactile/tactile_cache/dag911262r000646_lerobot_0327_114353_5bdfbac6/episodes/ep000606/gripper_left_tactile_force_metrics.json
@@ -0,0 +1,9 @@
+{
+  "depth_peak": 0.0043870373629033566,
+  "shear_peak": 0.002942994236946106,
+  "force_magnitude_peak": 0.004831294529139996,
+  "reference_frame_count": 0,
+  "dataset_name": "dag911262r000646_lerobot_0327_114353",
+  "episode_index": 606,
+  "sensor": "gripper_left_tactile"
+}
\ No newline at end of file
diff --git a/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_09-30/outputs_tactile/tactile_cache/dag911262r000646_lerobot_0327_114353_5bdfbac6/episodes/ep000607/gripper_right_tactile_force_metrics.json b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_09-30/outputs_tactile/tactile_cache/dag911262r000646_lerobot_0327_114353_5bdfbac6/episodes/ep000607/gripper_right_tactile_force_metrics.json
new file mode 100644
index 0000000000000000000000000000000000000000..96cc457a6e5789511991c360a2a118c0685ffba0
--- /dev/null
+++ b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_09-30/outputs_tactile/tactile_cache/dag911262r000646_lerobot_0327_114353_5bdfbac6/episodes/ep000607/gripper_right_tactile_force_metrics.json
@@ -0,0 +1,9 @@
+{
+  "depth_peak": 0.006949943490326405,
+  "shear_peak": 0.006484613288193941,
+  "force_magnitude_peak": 0.00895357970148325,
+  "reference_frame_count": 0,
+  "dataset_name": "dag911262r000646_lerobot_0327_114353",
+  "episode_index": 607,
+  "sensor": "gripper_right_tactile"
+}
\ No newline at end of file
diff --git a/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_09-30/outputs_tactile/tactile_cache/dag911262r000646_lerobot_0327_114353_5bdfbac6/episodes/ep000608/gripper_left_tactile_contact_metrics.json b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_09-30/outputs_tactile/tactile_cache/dag911262r000646_lerobot_0327_114353_5bdfbac6/episodes/ep000608/gripper_left_tactile_contact_metrics.json
new file mode 100644
index 0000000000000000000000000000000000000000..3685e0e20bda3792064a17d90835feebb524b699
--- /dev/null
+++ b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_09-30/outputs_tactile/tactile_cache/dag911262r000646_lerobot_0327_114353_5bdfbac6/episodes/ep000608/gripper_left_tactile_contact_metrics.json
@@ -0,0 +1,12 @@
+{
+  "contact_time": 22.566666666666666,
+  "contact_ratio": 0.9741007194244604,
+  "avg_contact_area": 3897.202363367799,
+  "contact_entropy": 0.7631146670369855,
+  "total_frames": 695,
+  "fps": 30.0,
+  "reference_frame_count": 0,
+  "dataset_name": "dag911262r000646_lerobot_0327_114353",
+  "episode_index": 608,
+  "sensor": "gripper_left_tactile"
+}
\ No newline at end of file
diff --git a/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_09-30/outputs_tactile/tactile_cache/dag911262r000646_lerobot_0327_114353_5bdfbac6/episodes/ep000610/gripper_right_tactile_contact_metrics.json b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_09-30/outputs_tactile/tactile_cache/dag911262r000646_lerobot_0327_114353_5bdfbac6/episodes/ep000610/gripper_right_tactile_contact_metrics.json
new file mode 100644
index 0000000000000000000000000000000000000000..fd86f6f51f0b78a83d102d1c62eba5f9a3979699
--- /dev/null
+++ b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_09-30/outputs_tactile/tactile_cache/dag911262r000646_lerobot_0327_114353_5bdfbac6/episodes/ep000610/gripper_right_tactile_contact_metrics.json
@@ -0,0 +1,12 @@
+{
+  "contact_time": 7.566666666666666,
+  "contact_ratio": 0.4142335766423358,
+  "avg_contact_area": 4790.0176211453745,
+  "contact_entropy": 0.4007666981202575,
+  "total_frames": 548,
+  "fps": 30.0,
+  "reference_frame_count": 0,
+  "dataset_name": "dag911262r000646_lerobot_0327_114353",
+  "episode_index": 610,
+  "sensor": "gripper_right_tactile"
+}
\ No newline at end of file
diff --git a/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_09-30/outputs_tactile/tactile_cache/dag911262r000646_lerobot_0327_114353_5bdfbac6/episodes/ep000612/gripper_right_tactile_contact_metrics.json b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_09-30/outputs_tactile/tactile_cache/dag911262r000646_lerobot_0327_114353_5bdfbac6/episodes/ep000612/gripper_right_tactile_contact_metrics.json
new file mode 100644
index 0000000000000000000000000000000000000000..520183e6ce9aaa22c280b10976e35932b1693b54
--- /dev/null
+++ b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_09-30/outputs_tactile/tactile_cache/dag911262r000646_lerobot_0327_114353_5bdfbac6/episodes/ep000612/gripper_right_tactile_contact_metrics.json
@@ -0,0 +1,12 @@
+{
+  "contact_time": 17.233333333333334,
+  "contact_ratio": 0.8040435458786936,
+  "avg_contact_area": 5353.822050290136,
+  "contact_entropy": 0.4641788422697367,
+  "total_frames": 643,
+  "fps": 30.0,
+  "reference_frame_count": 0,
+  "dataset_name": "dag911262r000646_lerobot_0327_114353",
+  "episode_index": 612,
+  "sensor": "gripper_right_tactile"
+}
\ No newline at end of file
diff --git a/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_09-30/outputs_tactile/tactile_cache/dag911262r000646_lerobot_0327_114353_5bdfbac6/episodes/ep000612/gripper_right_tactile_force_metrics.json b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_09-30/outputs_tactile/tactile_cache/dag911262r000646_lerobot_0327_114353_5bdfbac6/episodes/ep000612/gripper_right_tactile_force_metrics.json
new file mode 100644
index 0000000000000000000000000000000000000000..018330e8e7bc17997a4cdd02325f2c07a72576f0
--- /dev/null
+++ b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_09-30/outputs_tactile/tactile_cache/dag911262r000646_lerobot_0327_114353_5bdfbac6/episodes/ep000612/gripper_right_tactile_force_metrics.json
@@ -0,0 +1,9 @@
+{
+  "depth_peak": 0.006041291635483503,
+  "shear_peak": 0.00757612194865942,
+  "force_magnitude_peak": 0.008847363293170929,
+  "reference_frame_count": 0,
+  "dataset_name": "dag911262r000646_lerobot_0327_114353",
+  "episode_index": 612,
+  "sensor": "gripper_right_tactile"
+}
\ No newline at end of file
diff --git a/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_09-30/outputs_tactile/tactile_cache/dag911262r000646_lerobot_0327_114353_5bdfbac6/episodes/ep000613/gripper_left_tactile_contact_metrics.json b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_09-30/outputs_tactile/tactile_cache/dag911262r000646_lerobot_0327_114353_5bdfbac6/episodes/ep000613/gripper_left_tactile_contact_metrics.json
new file mode 100644
index 0000000000000000000000000000000000000000..1d4ec6d600c56a7ca6cf82a1e10ac667652e963d
--- /dev/null
+++ b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_09-30/outputs_tactile/tactile_cache/dag911262r000646_lerobot_0327_114353_5bdfbac6/episodes/ep000613/gripper_left_tactile_contact_metrics.json
@@ -0,0 +1,12 @@
+{
+  "contact_time": 15.0,
+  "contact_ratio": 0.9375,
+  "avg_contact_area": 2214.153333333333,
+  "contact_entropy": 0.6018785655079537,
+  "total_frames": 480,
+  "fps": 30.0,
+  "reference_frame_count": 0,
+  "dataset_name": "dag911262r000646_lerobot_0327_114353",
+  "episode_index": 613,
+  "sensor": "gripper_left_tactile"
+}
\ No newline at end of file
diff --git a/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_09-30/outputs_tactile/tactile_cache/dag911262r000646_lerobot_0327_114353_5bdfbac6/episodes/ep000615/gripper_left_tactile_force_metrics.json b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_09-30/outputs_tactile/tactile_cache/dag911262r000646_lerobot_0327_114353_5bdfbac6/episodes/ep000615/gripper_left_tactile_force_metrics.json
new file mode 100644
index 0000000000000000000000000000000000000000..e508484db12a7dfaf15242852722842f40065212
--- /dev/null
+++ b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_09-30/outputs_tactile/tactile_cache/dag911262r000646_lerobot_0327_114353_5bdfbac6/episodes/ep000615/gripper_left_tactile_force_metrics.json
@@ -0,0 +1,9 @@
+{
+  "depth_peak": 0.006710391491651535,
+  "shear_peak": 0.002713216235861182,
+  "force_magnitude_peak": 0.006732695735991001,
+  "reference_frame_count": 0,
+  "dataset_name": "dag911262r000646_lerobot_0327_114353",
+  "episode_index": 615,
+  "sensor": "gripper_left_tactile"
+}
\ No newline at end of file
diff --git a/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_09-30/outputs_tactile/tactile_cache/dag911262r000646_lerobot_0327_114353_5bdfbac6/episodes/ep000616/gripper_left_tactile_force_metrics.json b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_09-30/outputs_tactile/tactile_cache/dag911262r000646_lerobot_0327_114353_5bdfbac6/episodes/ep000616/gripper_left_tactile_force_metrics.json
new file mode 100644
index 0000000000000000000000000000000000000000..cf8b24d12192d532416306336063dab986851d24
--- /dev/null
+++ b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_09-30/outputs_tactile/tactile_cache/dag911262r000646_lerobot_0327_114353_5bdfbac6/episodes/ep000616/gripper_left_tactile_force_metrics.json
@@ -0,0 +1,9 @@
+{
+  "depth_peak": 0.008814818225800991,
+  "shear_peak": 0.007471919525414705,
+  "force_magnitude_peak": 0.011237355880439281,
+  "reference_frame_count": 0,
+  "dataset_name": "dag911262r000646_lerobot_0327_114353",
+  "episode_index": 616,
+  "sensor": "gripper_left_tactile"
+}
\ No newline at end of file
diff --git a/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_09-30/outputs_tactile/tactile_cache/dag911262r000646_lerobot_0327_114353_5bdfbac6/episodes/ep000621/gripper_left_tactile_contact_metrics.json b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_09-30/outputs_tactile/tactile_cache/dag911262r000646_lerobot_0327_114353_5bdfbac6/episodes/ep000621/gripper_left_tactile_contact_metrics.json
new file mode 100644
index 0000000000000000000000000000000000000000..1419e2889c8a0bac6ab0233ada1f1d42a732d088
--- /dev/null
+++ b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_09-30/outputs_tactile/tactile_cache/dag911262r000646_lerobot_0327_114353_5bdfbac6/episodes/ep000621/gripper_left_tactile_contact_metrics.json
@@ -0,0 +1,12 @@
+{
+  "contact_time": 17.866666666666667,
+  "contact_ratio": 0.8948247078464107,
+  "avg_contact_area": 2500.945895522388,
+  "contact_entropy": 0.8817544728951224,
+  "total_frames": 599,
+  "fps": 30.0,
+  "reference_frame_count": 0,
+  "dataset_name": "dag911262r000646_lerobot_0327_114353",
+  "episode_index": 621,
+  "sensor": "gripper_left_tactile"
+}
\ No newline at end of file
diff --git a/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_09-30/outputs_tactile/tactile_cache/dag911262r000646_lerobot_0327_114353_5bdfbac6/episodes/ep000623/gripper_right_tactile_contact_metrics.json b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_09-30/outputs_tactile/tactile_cache/dag911262r000646_lerobot_0327_114353_5bdfbac6/episodes/ep000623/gripper_right_tactile_contact_metrics.json
new file mode 100644
index 0000000000000000000000000000000000000000..0f0b775d2722a95191375be7e1ba8c21d7254d1e
--- /dev/null
+++ b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_09-30/outputs_tactile/tactile_cache/dag911262r000646_lerobot_0327_114353_5bdfbac6/episodes/ep000623/gripper_right_tactile_contact_metrics.json
@@ -0,0 +1,12 @@
+{
+  "contact_time": 12.433333333333334,
+  "contact_ratio": 0.8161925601750547,
+  "avg_contact_area": 2762.1930294906165,
+  "contact_entropy": 0.2246612337370047,
+  "total_frames": 457,
+  "fps": 30.0,
+  "reference_frame_count": 0,
+  "dataset_name": "dag911262r000646_lerobot_0327_114353",
+  "episode_index": 623,
+  "sensor": "gripper_right_tactile"
+}
\ No newline at end of file
diff --git a/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_09-30/outputs_tactile/tactile_cache/dag911262r000646_lerobot_0327_114353_5bdfbac6/episodes/ep000624/gripper_left_tactile_force_metrics.json b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_09-30/outputs_tactile/tactile_cache/dag911262r000646_lerobot_0327_114353_5bdfbac6/episodes/ep000624/gripper_left_tactile_force_metrics.json
new file mode 100644
index 0000000000000000000000000000000000000000..a7ece1de9785424212aa0f893f9670d55c928266
--- /dev/null
+++ b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_09-30/outputs_tactile/tactile_cache/dag911262r000646_lerobot_0327_114353_5bdfbac6/episodes/ep000624/gripper_left_tactile_force_metrics.json
@@ -0,0 +1,9 @@
+{
+  "depth_peak": 0.004433386959135532,
+  "shear_peak": 0.006270816549658775,
+  "force_magnitude_peak": 0.006330682430416346,
+  "reference_frame_count": 0,
+  "dataset_name": "dag911262r000646_lerobot_0327_114353",
+  "episode_index": 624,
+  "sensor": "gripper_left_tactile"
+}
\ No newline at end of file
diff --git a/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_09-30/outputs_tactile/tactile_cache/dag911262r000646_lerobot_0327_114353_5bdfbac6/episodes/ep000625/gripper_right_tactile_contact_metrics.json b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_09-30/outputs_tactile/tactile_cache/dag911262r000646_lerobot_0327_114353_5bdfbac6/episodes/ep000625/gripper_right_tactile_contact_metrics.json
new file mode 100644
index 0000000000000000000000000000000000000000..ff725e0e6d7530b3abaa888ccfe53c5be73c7c1d
--- /dev/null
+++ b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_09-30/outputs_tactile/tactile_cache/dag911262r000646_lerobot_0327_114353_5bdfbac6/episodes/ep000625/gripper_right_tactile_contact_metrics.json
@@ -0,0 +1,12 @@
+{
+  "contact_time": 8.966666666666667,
+  "contact_ratio": 0.7078947368421052,
+  "avg_contact_area": 4563.933085501859,
+  "contact_entropy": 0.4248602871112349,
+  "total_frames": 380,
+  "fps": 30.0,
+  "reference_frame_count": 0,
+  "dataset_name": "dag911262r000646_lerobot_0327_114353",
+  "episode_index": 625,
+  "sensor": "gripper_right_tactile"
+}
\ No newline at end of file
diff --git a/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_09-30/outputs_tactile/tactile_cache/dag911262r000646_lerobot_0327_114353_5bdfbac6/episodes/ep000627/gripper_left_tactile_contact_metrics.json b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_09-30/outputs_tactile/tactile_cache/dag911262r000646_lerobot_0327_114353_5bdfbac6/episodes/ep000627/gripper_left_tactile_contact_metrics.json
new file mode 100644
index 0000000000000000000000000000000000000000..37f2e1b776851f85291bae3c3112b60a588cc5e5
--- /dev/null
+++ b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_09-30/outputs_tactile/tactile_cache/dag911262r000646_lerobot_0327_114353_5bdfbac6/episodes/ep000627/gripper_left_tactile_contact_metrics.json
@@ -0,0 +1,12 @@
+{
+  "contact_time": 14.2,
+  "contact_ratio": 1.0,
+  "avg_contact_area": 4153.347417840376,
+  "contact_entropy": 0.6885868328934257,
+  "total_frames": 426,
+  "fps": 30.0,
+  "reference_frame_count": 0,
+  "dataset_name": "dag911262r000646_lerobot_0327_114353",
+  "episode_index": 627,
+  "sensor": "gripper_left_tactile"
+}
\ No newline at end of file
diff --git a/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_09-30/outputs_tactile/tactile_cache/dag911262r000646_lerobot_0327_114353_5bdfbac6/episodes/ep000627/gripper_right_tactile_force_metrics.json b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_09-30/outputs_tactile/tactile_cache/dag911262r000646_lerobot_0327_114353_5bdfbac6/episodes/ep000627/gripper_right_tactile_force_metrics.json
new file mode 100644
index 0000000000000000000000000000000000000000..120161afa210bb7907b18ee7d3337533d8ee97aa
--- /dev/null
+++ b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_09-30/outputs_tactile/tactile_cache/dag911262r000646_lerobot_0327_114353_5bdfbac6/episodes/ep000627/gripper_right_tactile_force_metrics.json
@@ -0,0 +1,9 @@
+{
+  "depth_peak": 0.011109206825494766,
+  "shear_peak": 0.00989837758243084,
+  "force_magnitude_peak": 0.014242319390177727,
+  "reference_frame_count": 0,
+  "dataset_name": "dag911262r000646_lerobot_0327_114353",
+  "episode_index": 627,
+  "sensor": "gripper_right_tactile"
+}
\ No newline at end of file
diff --git a/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_09-30/outputs_tactile/tactile_cache/dag911262r000646_lerobot_0327_114353_5bdfbac6/episodes/ep000629/gripper_left_tactile_contact_metrics.json b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_09-30/outputs_tactile/tactile_cache/dag911262r000646_lerobot_0327_114353_5bdfbac6/episodes/ep000629/gripper_left_tactile_contact_metrics.json
new file mode 100644
index 0000000000000000000000000000000000000000..edbd52176bc5cd0653e55147f92d7f41c40bf2c7
--- /dev/null
+++ b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_09-30/outputs_tactile/tactile_cache/dag911262r000646_lerobot_0327_114353_5bdfbac6/episodes/ep000629/gripper_left_tactile_contact_metrics.json
@@ -0,0 +1,12 @@
+{
+  "contact_time": 14.6,
+  "contact_ratio": 0.8812877263581489,
+  "avg_contact_area": 3938.9771689497716,
+  "contact_entropy": 0.962940758920533,
+  "total_frames": 497,
+  "fps": 30.0,
+  "reference_frame_count": 0,
+  "dataset_name": "dag911262r000646_lerobot_0327_114353",
+  "episode_index": 629,
+  "sensor": "gripper_left_tactile"
+}
\ No newline at end of file
diff --git a/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_09-30/outputs_tactile/tactile_cache/dag911262r000646_lerobot_0327_114353_5bdfbac6/episodes/ep000630/gripper_left_tactile_force_metrics.json b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_09-30/outputs_tactile/tactile_cache/dag911262r000646_lerobot_0327_114353_5bdfbac6/episodes/ep000630/gripper_left_tactile_force_metrics.json
new file mode 100644
index 0000000000000000000000000000000000000000..c6554484878212f4d663ac75e1da8047f31a0c09
--- /dev/null
+++ b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_09-30/outputs_tactile/tactile_cache/dag911262r000646_lerobot_0327_114353_5bdfbac6/episodes/ep000630/gripper_left_tactile_force_metrics.json
@@ -0,0 +1,9 @@
+{
+  "depth_peak": 0.00939481146633625,
+  "shear_peak": 0.005033000838011503,
+  "force_magnitude_peak": 0.010370172560214996,
+  "reference_frame_count": 0,
+  "dataset_name": "dag911262r000646_lerobot_0327_114353",
+  "episode_index": 630,
+  "sensor": "gripper_left_tactile"
+}
\ No newline at end of file
diff --git a/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_09-30/outputs_tactile/tactile_cache/dag911262r000646_lerobot_0327_114353_5bdfbac6/episodes/ep000638/gripper_right_tactile_force_metrics.json b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_09-30/outputs_tactile/tactile_cache/dag911262r000646_lerobot_0327_114353_5bdfbac6/episodes/ep000638/gripper_right_tactile_force_metrics.json
new file mode 100644
index 0000000000000000000000000000000000000000..2e88fda8bee981460cdc50e6d737864f3328c358
--- /dev/null
+++ b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_09-30/outputs_tactile/tactile_cache/dag911262r000646_lerobot_0327_114353_5bdfbac6/episodes/ep000638/gripper_right_tactile_force_metrics.json
@@ -0,0 +1,9 @@
+{
+  "depth_peak": 0.0029953003395348787,
+  "shear_peak": 0.007036431226879358,
+  "force_magnitude_peak": 0.007601152639836073,
+  "reference_frame_count": 0,
+  "dataset_name": "dag911262r000646_lerobot_0327_114353",
+  "episode_index": 638,
+  "sensor": "gripper_right_tactile"
+}
\ No newline at end of file
diff --git a/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_09-30/outputs_tactile/tactile_cache/dag911262r000646_lerobot_0327_114353_5bdfbac6/episodes/ep000640/gripper_right_tactile_contact_metrics.json b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_09-30/outputs_tactile/tactile_cache/dag911262r000646_lerobot_0327_114353_5bdfbac6/episodes/ep000640/gripper_right_tactile_contact_metrics.json
new file mode 100644
index 0000000000000000000000000000000000000000..1a2555073d571d3e360177684a685bd79b7e911a
--- /dev/null
+++ b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_09-30/outputs_tactile/tactile_cache/dag911262r000646_lerobot_0327_114353_5bdfbac6/episodes/ep000640/gripper_right_tactile_contact_metrics.json
@@ -0,0 +1,12 @@
+{
+  "contact_time": 11.766666666666667,
+  "contact_ratio": 0.6360360360360361,
+  "avg_contact_area": 5030.351274787536,
+  "contact_entropy": 0.216455605686495,
+  "total_frames": 555,
+  "fps": 30.0,
+  "reference_frame_count": 0,
+  "dataset_name": "dag911262r000646_lerobot_0327_114353",
+  "episode_index": 640,
+  "sensor": "gripper_right_tactile"
+}
\ No newline at end of file
diff --git a/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_09-30/outputs_tactile/tactile_cache/dag911262r000646_lerobot_0327_114353_5bdfbac6/episodes/ep000645/gripper_right_tactile_force_metrics.json b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_09-30/outputs_tactile/tactile_cache/dag911262r000646_lerobot_0327_114353_5bdfbac6/episodes/ep000645/gripper_right_tactile_force_metrics.json
new file mode 100644
index 0000000000000000000000000000000000000000..f1166f18ca013f4933aaa03424521c990c61a257
--- /dev/null
+++ b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_09-30/outputs_tactile/tactile_cache/dag911262r000646_lerobot_0327_114353_5bdfbac6/episodes/ep000645/gripper_right_tactile_force_metrics.json
@@ -0,0 +1,9 @@
+{
+  "depth_peak": 0.016440948471426964,
+  "shear_peak": 0.01073235273361206,
+  "force_magnitude_peak": 0.019633853808045387,
+  "reference_frame_count": 0,
+  "dataset_name": "dag911262r000646_lerobot_0327_114353",
+  "episode_index": 645,
+  "sensor": "gripper_right_tactile"
+}
\ No newline at end of file
diff --git a/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_09-30/outputs_tactile/tactile_cache/dag911262r000646_lerobot_0327_114353_5bdfbac6/episodes/ep000646/gripper_left_tactile_force_metrics.json b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_09-30/outputs_tactile/tactile_cache/dag911262r000646_lerobot_0327_114353_5bdfbac6/episodes/ep000646/gripper_left_tactile_force_metrics.json
new file mode 100644
index 0000000000000000000000000000000000000000..1446f277968128eece7f56b5760b18ff7a718909
--- /dev/null
+++ b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_09-30/outputs_tactile/tactile_cache/dag911262r000646_lerobot_0327_114353_5bdfbac6/episodes/ep000646/gripper_left_tactile_force_metrics.json
@@ -0,0 +1,9 @@
+{
+  "depth_peak": 0.016407262533903122,
+  "shear_peak": 0.012524915859103203,
+  "force_magnitude_peak": 0.017268139868974686,
+  "reference_frame_count": 0,
+  "dataset_name": "dag911262r000646_lerobot_0327_114353",
+  "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_09-30/outputs_tactile/tactile_cache/dag911262r000646_lerobot_0327_114353_5bdfbac6/episodes/ep000647/gripper_right_tactile_force_metrics.json b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_09-30/outputs_tactile/tactile_cache/dag911262r000646_lerobot_0327_114353_5bdfbac6/episodes/ep000647/gripper_right_tactile_force_metrics.json
new file mode 100644
index 0000000000000000000000000000000000000000..064b92698ce76e2025a1c631d64c8aa9146d0789
--- /dev/null
+++ b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_09-30/outputs_tactile/tactile_cache/dag911262r000646_lerobot_0327_114353_5bdfbac6/episodes/ep000647/gripper_right_tactile_force_metrics.json
@@ -0,0 +1,9 @@
+{
+  "depth_peak": 0.005787926726043224,
+  "shear_peak": 0.008112874813377857,
+  "force_magnitude_peak": 0.008662351407110691,
+  "reference_frame_count": 0,
+  "dataset_name": "dag911262r000646_lerobot_0327_114353",
+  "episode_index": 647,
+  "sensor": "gripper_right_tactile"
+}
\ No newline at end of file
diff --git a/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_09-30/outputs_tactile/tactile_cache/dag911262r000646_lerobot_0327_114353_5bdfbac6/episodes/ep000648/gripper_left_tactile_contact_metrics.json b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_09-30/outputs_tactile/tactile_cache/dag911262r000646_lerobot_0327_114353_5bdfbac6/episodes/ep000648/gripper_left_tactile_contact_metrics.json
new file mode 100644
index 0000000000000000000000000000000000000000..1f27e73dcd43453fe366bd6de59dac14f8d8cf3f
--- /dev/null
+++ b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_09-30/outputs_tactile/tactile_cache/dag911262r000646_lerobot_0327_114353_5bdfbac6/episodes/ep000648/gripper_left_tactile_contact_metrics.json
@@ -0,0 +1,12 @@
+{
+  "contact_time": 13.533333333333333,
+  "contact_ratio": 0.9290617848970252,
+  "avg_contact_area": 2444.1650246305417,
+  "contact_entropy": 0.5987103159611696,
+  "total_frames": 437,
+  "fps": 30.0,
+  "reference_frame_count": 0,
+  "dataset_name": "dag911262r000646_lerobot_0327_114353",
+  "episode_index": 648,
+  "sensor": "gripper_left_tactile"
+}
\ No newline at end of file
diff --git a/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_09-30/outputs_tactile/tactile_cache/dag911262r000646_lerobot_0327_114353_5bdfbac6/episodes/ep000650/gripper_right_tactile_contact_metrics.json b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_09-30/outputs_tactile/tactile_cache/dag911262r000646_lerobot_0327_114353_5bdfbac6/episodes/ep000650/gripper_right_tactile_contact_metrics.json
new file mode 100644
index 0000000000000000000000000000000000000000..2f3b1360de5881b04284e25f002ec86550aea821
--- /dev/null
+++ b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_09-30/outputs_tactile/tactile_cache/dag911262r000646_lerobot_0327_114353_5bdfbac6/episodes/ep000650/gripper_right_tactile_contact_metrics.json
@@ -0,0 +1,12 @@
+{
+  "contact_time": 14.3,
+  "contact_ratio": 0.8719512195121951,
+  "avg_contact_area": 8223.498834498834,
+  "contact_entropy": 0.6182751142420875,
+  "total_frames": 492,
+  "fps": 30.0,
+  "reference_frame_count": 0,
+  "dataset_name": "dag911262r000646_lerobot_0327_114353",
+  "episode_index": 650,
+  "sensor": "gripper_right_tactile"
+}
\ No newline at end of file
diff --git a/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_09-30/outputs_tactile/tactile_cache/dag911262r000646_lerobot_0327_114353_5bdfbac6/episodes/ep000652/gripper_right_tactile_contact_metrics.json b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_09-30/outputs_tactile/tactile_cache/dag911262r000646_lerobot_0327_114353_5bdfbac6/episodes/ep000652/gripper_right_tactile_contact_metrics.json
new file mode 100644
index 0000000000000000000000000000000000000000..89925afdb183ac7fe8a08914b12e761f07e638f0
--- /dev/null
+++ b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_09-30/outputs_tactile/tactile_cache/dag911262r000646_lerobot_0327_114353_5bdfbac6/episodes/ep000652/gripper_right_tactile_contact_metrics.json
@@ -0,0 +1,12 @@
+{
+  "contact_time": 14.733333333333333,
+  "contact_ratio": 1.0,
+  "avg_contact_area": 14073.101809954751,
+  "contact_entropy": 0.6153166161962765,
+  "total_frames": 442,
+  "fps": 30.0,
+  "reference_frame_count": 0,
+  "dataset_name": "dag911262r000646_lerobot_0327_114353",
+  "episode_index": 652,
+  "sensor": "gripper_right_tactile"
+}
\ No newline at end of file
diff --git a/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_09-30/outputs_tactile/tactile_cache/dag911262r000646_lerobot_0327_114353_5bdfbac6/episodes/ep000652/gripper_right_tactile_force_metrics.json b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_09-30/outputs_tactile/tactile_cache/dag911262r000646_lerobot_0327_114353_5bdfbac6/episodes/ep000652/gripper_right_tactile_force_metrics.json
new file mode 100644
index 0000000000000000000000000000000000000000..4c6e77dba7468ed30d919fb7c03bd7665c8247ea
--- /dev/null
+++ b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_09-30/outputs_tactile/tactile_cache/dag911262r000646_lerobot_0327_114353_5bdfbac6/episodes/ep000652/gripper_right_tactile_force_metrics.json
@@ -0,0 +1,9 @@
+{
+  "depth_peak": 0.02017545886337757,
+  "shear_peak": 0.019465887919068336,
+  "force_magnitude_peak": 0.02406875230371952,
+  "reference_frame_count": 0,
+  "dataset_name": "dag911262r000646_lerobot_0327_114353",
+  "episode_index": 652,
+  "sensor": "gripper_right_tactile"
+}
\ No newline at end of file
diff --git a/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_09-30/outputs_tactile/tactile_cache/dag911262r000646_lerobot_0327_114353_5bdfbac6/episodes/ep000653/gripper_left_tactile_contact_metrics.json b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_09-30/outputs_tactile/tactile_cache/dag911262r000646_lerobot_0327_114353_5bdfbac6/episodes/ep000653/gripper_left_tactile_contact_metrics.json
new file mode 100644
index 0000000000000000000000000000000000000000..3cfb8af3c74dcb0f098b989ecc61cc9754c37b70
--- /dev/null
+++ b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_09-30/outputs_tactile/tactile_cache/dag911262r000646_lerobot_0327_114353_5bdfbac6/episodes/ep000653/gripper_left_tactile_contact_metrics.json
@@ -0,0 +1,12 @@
+{
+  "contact_time": 13.5,
+  "contact_ratio": 0.9462616822429907,
+  "avg_contact_area": 2794.222222222222,
+  "contact_entropy": 0.5081022180494547,
+  "total_frames": 428,
+  "fps": 30.0,
+  "reference_frame_count": 0,
+  "dataset_name": "dag911262r000646_lerobot_0327_114353",
+  "episode_index": 653,
+  "sensor": "gripper_left_tactile"
+}
\ No newline at end of file
diff --git a/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_09-30/outputs_tactile/tactile_cache/dag911262r000646_lerobot_0327_114353_5bdfbac6/episodes/ep000655/gripper_left_tactile_force_metrics.json b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_09-30/outputs_tactile/tactile_cache/dag911262r000646_lerobot_0327_114353_5bdfbac6/episodes/ep000655/gripper_left_tactile_force_metrics.json
new file mode 100644
index 0000000000000000000000000000000000000000..29796f22812153ca6f2bf60e842177d38583156b
--- /dev/null
+++ b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_09-30/outputs_tactile/tactile_cache/dag911262r000646_lerobot_0327_114353_5bdfbac6/episodes/ep000655/gripper_left_tactile_force_metrics.json
@@ -0,0 +1,9 @@
+{
+  "depth_peak": 0.014107556082308292,
+  "shear_peak": 0.00611214991658926,
+  "force_magnitude_peak": 0.015364566817879677,
+  "reference_frame_count": 0,
+  "dataset_name": "dag911262r000646_lerobot_0327_114353",
+  "episode_index": 655,
+  "sensor": "gripper_left_tactile"
+}
\ No newline at end of file
diff --git a/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_09-30/outputs_tactile/tactile_cache/dag911262r000646_lerobot_0327_114353_5bdfbac6/episodes/ep000656/gripper_left_tactile_force_metrics.json b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_09-30/outputs_tactile/tactile_cache/dag911262r000646_lerobot_0327_114353_5bdfbac6/episodes/ep000656/gripper_left_tactile_force_metrics.json
new file mode 100644
index 0000000000000000000000000000000000000000..b73d56a007f0c7c09e97634fec3c4b35fc14297d
--- /dev/null
+++ b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_09-30/outputs_tactile/tactile_cache/dag911262r000646_lerobot_0327_114353_5bdfbac6/episodes/ep000656/gripper_left_tactile_force_metrics.json
@@ -0,0 +1,9 @@
+{
+  "depth_peak": 0.01799740083515644,
+  "shear_peak": 0.015528894029557705,
+  "force_magnitude_peak": 0.02377084270119667,
+  "reference_frame_count": 0,
+  "dataset_name": "dag911262r000646_lerobot_0327_114353",
+  "episode_index": 656,
+  "sensor": "gripper_left_tactile"
+}
\ No newline at end of file
diff --git a/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_09-30/outputs_tactile/tactile_cache/dag911262r000646_lerobot_0327_114353_5bdfbac6/episodes/ep000661/gripper_left_tactile_contact_metrics.json b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_09-30/outputs_tactile/tactile_cache/dag911262r000646_lerobot_0327_114353_5bdfbac6/episodes/ep000661/gripper_left_tactile_contact_metrics.json
new file mode 100644
index 0000000000000000000000000000000000000000..4c8118aa17951f7a7ab6f6b6c071c3b335addd7d
--- /dev/null
+++ b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_09-30/outputs_tactile/tactile_cache/dag911262r000646_lerobot_0327_114353_5bdfbac6/episodes/ep000661/gripper_left_tactile_contact_metrics.json
@@ -0,0 +1,12 @@
+{
+  "contact_time": 15.766666666666667,
+  "contact_ratio": 0.8992395437262357,
+  "avg_contact_area": 2092.9471458773783,
+  "contact_entropy": 0.7167161163977813,
+  "total_frames": 526,
+  "fps": 30.0,
+  "reference_frame_count": 0,
+  "dataset_name": "dag911262r000646_lerobot_0327_114353",
+  "episode_index": 661,
+  "sensor": "gripper_left_tactile"
+}
\ No newline at end of file
diff --git a/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_09-30/outputs_tactile/tactile_cache/dag911262r000646_lerobot_0327_114353_5bdfbac6/episodes/ep000663/gripper_right_tactile_contact_metrics.json b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_09-30/outputs_tactile/tactile_cache/dag911262r000646_lerobot_0327_114353_5bdfbac6/episodes/ep000663/gripper_right_tactile_contact_metrics.json
new file mode 100644
index 0000000000000000000000000000000000000000..6cecb94cdd9efc24afb4cb8eaacbeea61bfc3fb1
--- /dev/null
+++ b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_09-30/outputs_tactile/tactile_cache/dag911262r000646_lerobot_0327_114353_5bdfbac6/episodes/ep000663/gripper_right_tactile_contact_metrics.json
@@ -0,0 +1,12 @@
+{
+  "contact_time": 9.766666666666667,
+  "contact_ratio": 0.8851963746223565,
+  "avg_contact_area": 11113.580204778156,
+  "contact_entropy": 0.39391713108195114,
+  "total_frames": 331,
+  "fps": 30.0,
+  "reference_frame_count": 0,
+  "dataset_name": "dag911262r000646_lerobot_0327_114353",
+  "episode_index": 663,
+  "sensor": "gripper_right_tactile"
+}
\ No newline at end of file
diff --git a/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_09-30/outputs_tactile/tactile_cache/dag911262r000646_lerobot_0327_114353_5bdfbac6/episodes/ep000664/gripper_left_tactile_force_metrics.json b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_09-30/outputs_tactile/tactile_cache/dag911262r000646_lerobot_0327_114353_5bdfbac6/episodes/ep000664/gripper_left_tactile_force_metrics.json
new file mode 100644
index 0000000000000000000000000000000000000000..6c5a60c5bed4453af6f3da33765ae40a2aed7ef5
--- /dev/null
+++ b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_09-30/outputs_tactile/tactile_cache/dag911262r000646_lerobot_0327_114353_5bdfbac6/episodes/ep000664/gripper_left_tactile_force_metrics.json
@@ -0,0 +1,9 @@
+{
+  "depth_peak": 0.006150702480226755,
+  "shear_peak": 0.004842384718358517,
+  "force_magnitude_peak": 0.006681142374873161,
+  "reference_frame_count": 0,
+  "dataset_name": "dag911262r000646_lerobot_0327_114353",
+  "episode_index": 664,
+  "sensor": "gripper_left_tactile"
+}
\ No newline at end of file
diff --git a/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_09-30/outputs_tactile/tactile_cache/dag911262r000646_lerobot_0327_114353_5bdfbac6/episodes/ep000665/gripper_right_tactile_contact_metrics.json b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_09-30/outputs_tactile/tactile_cache/dag911262r000646_lerobot_0327_114353_5bdfbac6/episodes/ep000665/gripper_right_tactile_contact_metrics.json
new file mode 100644
index 0000000000000000000000000000000000000000..c5af44fe83a9019690fb882443c5577b8d8a6c8d
--- /dev/null
+++ b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_09-30/outputs_tactile/tactile_cache/dag911262r000646_lerobot_0327_114353_5bdfbac6/episodes/ep000665/gripper_right_tactile_contact_metrics.json
@@ -0,0 +1,12 @@
+{
+  "contact_time": 10.4,
+  "contact_ratio": 0.8342245989304813,
+  "avg_contact_area": 14014.288461538461,
+  "contact_entropy": 0.3607099418089447,
+  "total_frames": 374,
+  "fps": 30.0,
+  "reference_frame_count": 0,
+  "dataset_name": "dag911262r000646_lerobot_0327_114353",
+  "episode_index": 665,
+  "sensor": "gripper_right_tactile"
+}
\ No newline at end of file
diff --git a/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_09-30/outputs_tactile/tactile_cache/dag911262r000646_lerobot_0327_114353_5bdfbac6/episodes/ep000667/gripper_left_tactile_contact_metrics.json b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_09-30/outputs_tactile/tactile_cache/dag911262r000646_lerobot_0327_114353_5bdfbac6/episodes/ep000667/gripper_left_tactile_contact_metrics.json
new file mode 100644
index 0000000000000000000000000000000000000000..02b88ed43230c51801e66e4537cd700e8cd794af
--- /dev/null
+++ b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_09-30/outputs_tactile/tactile_cache/dag911262r000646_lerobot_0327_114353_5bdfbac6/episodes/ep000667/gripper_left_tactile_contact_metrics.json
@@ -0,0 +1,12 @@
+{
+  "contact_time": 8.933333333333334,
+  "contact_ratio": 0.8195718654434251,
+  "avg_contact_area": 1513.5410447761194,
+  "contact_entropy": 0.6706326285088957,
+  "total_frames": 327,
+  "fps": 30.0,
+  "reference_frame_count": 0,
+  "dataset_name": "dag911262r000646_lerobot_0327_114353",
+  "episode_index": 667,
+  "sensor": "gripper_left_tactile"
+}
\ No newline at end of file
diff --git a/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_09-30/outputs_tactile/tactile_cache/dag911262r000646_lerobot_0327_114353_5bdfbac6/episodes/ep000667/gripper_right_tactile_force_metrics.json b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_09-30/outputs_tactile/tactile_cache/dag911262r000646_lerobot_0327_114353_5bdfbac6/episodes/ep000667/gripper_right_tactile_force_metrics.json
new file mode 100644
index 0000000000000000000000000000000000000000..dbce367c0e1da7ee1b5642dfb56d87ccdabefc95
--- /dev/null
+++ b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_09-30/outputs_tactile/tactile_cache/dag911262r000646_lerobot_0327_114353_5bdfbac6/episodes/ep000667/gripper_right_tactile_force_metrics.json
@@ -0,0 +1,9 @@
+{
+  "depth_peak": 0.004548733122646809,
+  "shear_peak": 0.016071410849690437,
+  "force_magnitude_peak": 0.016071688383817673,
+  "reference_frame_count": 0,
+  "dataset_name": "dag911262r000646_lerobot_0327_114353",
+  "episode_index": 667,
+  "sensor": "gripper_right_tactile"
+}
\ No newline at end of file
diff --git a/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_09-30/outputs_tactile/tactile_cache/dag911262r000646_lerobot_0327_114353_5bdfbac6/episodes/ep000669/gripper_left_tactile_contact_metrics.json b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_09-30/outputs_tactile/tactile_cache/dag911262r000646_lerobot_0327_114353_5bdfbac6/episodes/ep000669/gripper_left_tactile_contact_metrics.json
new file mode 100644
index 0000000000000000000000000000000000000000..76c22599c43e353b00ba2c0f393351b93db42ca1
--- /dev/null
+++ b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_09-30/outputs_tactile/tactile_cache/dag911262r000646_lerobot_0327_114353_5bdfbac6/episodes/ep000669/gripper_left_tactile_contact_metrics.json
@@ -0,0 +1,12 @@
+{
+  "contact_time": 12.2,
+  "contact_ratio": 0.9219143576826196,
+  "avg_contact_area": 4292.549180327869,
+  "contact_entropy": 0.6313069434038959,
+  "total_frames": 397,
+  "fps": 30.0,
+  "reference_frame_count": 0,
+  "dataset_name": "dag911262r000646_lerobot_0327_114353",
+  "episode_index": 669,
+  "sensor": "gripper_left_tactile"
+}
\ No newline at end of file
diff --git a/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_09-30/outputs_tactile/tactile_cache/dag911262r000646_lerobot_0327_114353_5bdfbac6/episodes/ep000670/gripper_left_tactile_force_metrics.json b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_09-30/outputs_tactile/tactile_cache/dag911262r000646_lerobot_0327_114353_5bdfbac6/episodes/ep000670/gripper_left_tactile_force_metrics.json
new file mode 100644
index 0000000000000000000000000000000000000000..f995c7e5fce83b46ef8ba89bff0f8ad9e86876e6
--- /dev/null
+++ b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_09-30/outputs_tactile/tactile_cache/dag911262r000646_lerobot_0327_114353_5bdfbac6/episodes/ep000670/gripper_left_tactile_force_metrics.json
@@ -0,0 +1,9 @@
+{
+  "depth_peak": 0.0037050205282866955,
+  "shear_peak": 0.0028070383705198765,
+  "force_magnitude_peak": 0.004261447582393885,
+  "reference_frame_count": 0,
+  "dataset_name": "dag911262r000646_lerobot_0327_114353",
+  "episode_index": 670,
+  "sensor": "gripper_left_tactile"
+}
\ No newline at end of file
diff --git a/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_09-30/outputs_tactile/tactile_cache/dag911262r000646_lerobot_0327_114353_5bdfbac6/episodes/ep000678/gripper_right_tactile_force_metrics.json b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_09-30/outputs_tactile/tactile_cache/dag911262r000646_lerobot_0327_114353_5bdfbac6/episodes/ep000678/gripper_right_tactile_force_metrics.json
new file mode 100644
index 0000000000000000000000000000000000000000..aeb0d686734f4262573e94b1dca922bd1485204e
--- /dev/null
+++ b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_09-30/outputs_tactile/tactile_cache/dag911262r000646_lerobot_0327_114353_5bdfbac6/episodes/ep000678/gripper_right_tactile_force_metrics.json
@@ -0,0 +1,9 @@
+{
+  "depth_peak": 0.01854335516691208,
+  "shear_peak": 0.026092134416103363,
+  "force_magnitude_peak": 0.032010242342948914,
+  "reference_frame_count": 0,
+  "dataset_name": "dag911262r000646_lerobot_0327_114353",
+  "episode_index": 678,
+  "sensor": "gripper_right_tactile"
+}
\ No newline at end of file
diff --git a/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_09-30/outputs_tactile/tactile_cache/dag911262r000646_lerobot_0327_114353_5bdfbac6/episodes/ep000680/gripper_right_tactile_contact_metrics.json b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_09-30/outputs_tactile/tactile_cache/dag911262r000646_lerobot_0327_114353_5bdfbac6/episodes/ep000680/gripper_right_tactile_contact_metrics.json
new file mode 100644
index 0000000000000000000000000000000000000000..1c78c8787175c653b7c2c99338a46cb3ebd24159
--- /dev/null
+++ b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_09-30/outputs_tactile/tactile_cache/dag911262r000646_lerobot_0327_114353_5bdfbac6/episodes/ep000680/gripper_right_tactile_contact_metrics.json
@@ -0,0 +1,12 @@
+{
+  "contact_time": 26.666666666666668,
+  "contact_ratio": 0.8465608465608465,
+  "avg_contact_area": 2316.98,
+  "contact_entropy": 0.6145037101781636,
+  "total_frames": 945,
+  "fps": 30.0,
+  "reference_frame_count": 0,
+  "dataset_name": "dag911262r000646_lerobot_0327_114353",
+  "episode_index": 680,
+  "sensor": "gripper_right_tactile"
+}
\ No newline at end of file
diff --git a/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_09-30/outputs_tactile/tactile_cache/dag911262r000646_lerobot_0327_114353_5bdfbac6/episodes/ep000690/gripper_left_tactile_force_metrics.json b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_09-30/outputs_tactile/tactile_cache/dag911262r000646_lerobot_0327_114353_5bdfbac6/episodes/ep000690/gripper_left_tactile_force_metrics.json
new file mode 100644
index 0000000000000000000000000000000000000000..943439542713a0abae95e46ccaf4c60055575afa
--- /dev/null
+++ b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_09-30/outputs_tactile/tactile_cache/dag911262r000646_lerobot_0327_114353_5bdfbac6/episodes/ep000690/gripper_left_tactile_force_metrics.json
@@ -0,0 +1,9 @@
+{
+  "depth_peak": 0.004441746510565281,
+  "shear_peak": 0.0017614542739465833,
+  "force_magnitude_peak": 0.0047782668843865395,
+  "reference_frame_count": 0,
+  "dataset_name": "dag911262r000646_lerobot_0327_114353",
+  "episode_index": 690,
+  "sensor": "gripper_left_tactile"
+}
\ No newline at end of file
diff --git a/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_09-30/outputs_tactile/tactile_cache/dag911262r000646_lerobot_0327_114353_5bdfbac6/episodes/ep000695/gripper_left_tactile_contact_metrics.json b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_09-30/outputs_tactile/tactile_cache/dag911262r000646_lerobot_0327_114353_5bdfbac6/episodes/ep000695/gripper_left_tactile_contact_metrics.json
new file mode 100644
index 0000000000000000000000000000000000000000..6210fe295ab50c489536f16e56def1e9f1f67137
--- /dev/null
+++ b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_09-30/outputs_tactile/tactile_cache/dag911262r000646_lerobot_0327_114353_5bdfbac6/episodes/ep000695/gripper_left_tactile_contact_metrics.json
@@ -0,0 +1,12 @@
+{
+  "contact_time": 6.5,
+  "contact_ratio": 0.7558139534883721,
+  "avg_contact_area": 758.0410256410256,
+  "contact_entropy": 0.048351727689809436,
+  "total_frames": 258,
+  "fps": 30.0,
+  "reference_frame_count": 0,
+  "dataset_name": "dag911262r000646_lerobot_0327_114353",
+  "episode_index": 695,
+  "sensor": "gripper_left_tactile"
+}
\ No newline at end of file
diff --git a/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_09-30/outputs_tactile/tactile_cache/dag911262r000646_lerobot_0327_114353_5bdfbac6/episodes/ep000696/gripper_left_tactile_force_metrics.json b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_09-30/outputs_tactile/tactile_cache/dag911262r000646_lerobot_0327_114353_5bdfbac6/episodes/ep000696/gripper_left_tactile_force_metrics.json
new file mode 100644
index 0000000000000000000000000000000000000000..f7b7831eca623d5b6d97ca8bfc625ddb09021828
--- /dev/null
+++ b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_09-30/outputs_tactile/tactile_cache/dag911262r000646_lerobot_0327_114353_5bdfbac6/episodes/ep000696/gripper_left_tactile_force_metrics.json
@@ -0,0 +1,9 @@
+{
+  "depth_peak": 0.012562686577439308,
+  "shear_peak": 0.0019186062272638083,
+  "force_magnitude_peak": 0.012632731348276138,
+  "reference_frame_count": 0,
+  "dataset_name": "dag911262r000646_lerobot_0327_114353",
+  "episode_index": 696,
+  "sensor": "gripper_left_tactile"
+}
\ No newline at end of file
diff --git a/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_09-30/outputs_tactile/tactile_cache/dag911262r000646_lerobot_0327_114353_5bdfbac6/episodes/ep000701/gripper_left_tactile_contact_metrics.json b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_09-30/outputs_tactile/tactile_cache/dag911262r000646_lerobot_0327_114353_5bdfbac6/episodes/ep000701/gripper_left_tactile_contact_metrics.json
new file mode 100644
index 0000000000000000000000000000000000000000..75b7dd0d4a363c925163b555d99024459dbac556
--- /dev/null
+++ b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_09-30/outputs_tactile/tactile_cache/dag911262r000646_lerobot_0327_114353_5bdfbac6/episodes/ep000701/gripper_left_tactile_contact_metrics.json
@@ -0,0 +1,12 @@
+{
+  "contact_time": 8.666666666666666,
+  "contact_ratio": 0.8496732026143791,
+  "avg_contact_area": 2245.8307692307694,
+  "contact_entropy": 0.14116993421710053,
+  "total_frames": 306,
+  "fps": 30.0,
+  "reference_frame_count": 0,
+  "dataset_name": "dag911262r000646_lerobot_0327_114353",
+  "episode_index": 701,
+  "sensor": "gripper_left_tactile"
+}
\ No newline at end of file
diff --git a/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_09-30/outputs_tactile/tactile_cache/dag911262r001146_lerobot_0327_114353_da149aa2/episodes/ep000008/gripper_left_tactile_force_metrics.json b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_09-30/outputs_tactile/tactile_cache/dag911262r001146_lerobot_0327_114353_da149aa2/episodes/ep000008/gripper_left_tactile_force_metrics.json
new file mode 100644
index 0000000000000000000000000000000000000000..439af76c95b6ab287029494f6eadd0804ab08f16
--- /dev/null
+++ b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_09-30/outputs_tactile/tactile_cache/dag911262r001146_lerobot_0327_114353_da149aa2/episodes/ep000008/gripper_left_tactile_force_metrics.json
@@ -0,0 +1,9 @@
+{
+  "depth_peak": 0.007808727212250233,
+  "shear_peak": 0.003979080822318792,
+  "force_magnitude_peak": 0.008121056482195854,
+  "reference_frame_count": 0,
+  "dataset_name": "dag911262r001146_lerobot_0327_114353",
+  "episode_index": 8,
+  "sensor": "gripper_left_tactile"
+}
\ No newline at end of file
diff --git a/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_09-30/outputs_tactile/tactile_cache/dag911262r001146_lerobot_0327_114353_da149aa2/episodes/ep000009/gripper_left_tactile_contact_metrics.json b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_09-30/outputs_tactile/tactile_cache/dag911262r001146_lerobot_0327_114353_da149aa2/episodes/ep000009/gripper_left_tactile_contact_metrics.json
new file mode 100644
index 0000000000000000000000000000000000000000..98270eb15fba9e2ce69a7db1268867c5012403cc
--- /dev/null
+++ b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_09-30/outputs_tactile/tactile_cache/dag911262r001146_lerobot_0327_114353_da149aa2/episodes/ep000009/gripper_left_tactile_contact_metrics.json
@@ -0,0 +1,12 @@
+{
+  "contact_time": 8.266666666666667,
+  "contact_ratio": 1.0,
+  "avg_contact_area": 8392.016129032258,
+  "contact_entropy": 1.1965450052838131,
+  "total_frames": 248,
+  "fps": 30.0,
+  "reference_frame_count": 0,
+  "dataset_name": "dag911262r001146_lerobot_0327_114353",
+  "episode_index": 9,
+  "sensor": "gripper_left_tactile"
+}
\ No newline at end of file
diff --git a/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_09-30/outputs_tactile/tactile_cache/dag911262r001146_lerobot_0327_114353_da149aa2/episodes/ep000010/gripper_left_tactile_contact_metrics.json b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_09-30/outputs_tactile/tactile_cache/dag911262r001146_lerobot_0327_114353_da149aa2/episodes/ep000010/gripper_left_tactile_contact_metrics.json
new file mode 100644
index 0000000000000000000000000000000000000000..f9cbce12534deffe93b4a3c91e9754c72516229a
--- /dev/null
+++ b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_09-30/outputs_tactile/tactile_cache/dag911262r001146_lerobot_0327_114353_da149aa2/episodes/ep000010/gripper_left_tactile_contact_metrics.json
@@ -0,0 +1,12 @@
+{
+  "contact_time": 3.1666666666666665,
+  "contact_ratio": 0.6089743589743589,
+  "avg_contact_area": 8813.273684210526,
+  "contact_entropy": 0.712713023765932,
+  "total_frames": 156,
+  "fps": 30.0,
+  "reference_frame_count": 0,
+  "dataset_name": "dag911262r001146_lerobot_0327_114353",
+  "episode_index": 10,
+  "sensor": "gripper_left_tactile"
+}
\ No newline at end of file
diff --git a/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_09-30/outputs_tactile/tactile_cache/dag911262r001146_lerobot_0327_114353_da149aa2/episodes/ep000016/gripper_left_tactile_force_metrics.json b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_09-30/outputs_tactile/tactile_cache/dag911262r001146_lerobot_0327_114353_da149aa2/episodes/ep000016/gripper_left_tactile_force_metrics.json
new file mode 100644
index 0000000000000000000000000000000000000000..8f966cccea245105b48fe8833dfe896bdfc84770
--- /dev/null
+++ b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_09-30/outputs_tactile/tactile_cache/dag911262r001146_lerobot_0327_114353_da149aa2/episodes/ep000016/gripper_left_tactile_force_metrics.json
@@ -0,0 +1,9 @@
+{
+  "depth_peak": 0.0005330855492502451,
+  "shear_peak": 0.0010691788047552109,
+  "force_magnitude_peak": 0.0013291010400280356,
+  "reference_frame_count": 0,
+  "dataset_name": "dag911262r001146_lerobot_0327_114353",
+  "episode_index": 16,
+  "sensor": "gripper_left_tactile"
+}
\ No newline at end of file
diff --git a/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_09-30/outputs_tactile/tactile_cache/dag911262r001146_lerobot_0327_114353_da149aa2/episodes/ep000017/gripper_left_tactile_contact_metrics.json b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_09-30/outputs_tactile/tactile_cache/dag911262r001146_lerobot_0327_114353_da149aa2/episodes/ep000017/gripper_left_tactile_contact_metrics.json
new file mode 100644
index 0000000000000000000000000000000000000000..7998bdf0c4a3712cfeb519f84b196f506db53e5e
--- /dev/null
+++ b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_09-30/outputs_tactile/tactile_cache/dag911262r001146_lerobot_0327_114353_da149aa2/episodes/ep000017/gripper_left_tactile_contact_metrics.json
@@ -0,0 +1,12 @@
+{
+  "contact_time": 3.3333333333333335,
+  "contact_ratio": 0.6493506493506493,
+  "avg_contact_area": 3755.62,
+  "contact_entropy": 0.4146602513272124,
+  "total_frames": 154,
+  "fps": 30.0,
+  "reference_frame_count": 0,
+  "dataset_name": "dag911262r001146_lerobot_0327_114353",
+  "episode_index": 17,
+  "sensor": "gripper_left_tactile"
+}
\ No newline at end of file
diff --git a/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_09-30/outputs_tactile/tactile_cache/dag911262r001146_lerobot_0327_114353_da149aa2/episodes/ep000017/gripper_left_tactile_force_metrics.json b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_09-30/outputs_tactile/tactile_cache/dag911262r001146_lerobot_0327_114353_da149aa2/episodes/ep000017/gripper_left_tactile_force_metrics.json
new file mode 100644
index 0000000000000000000000000000000000000000..5b657c7e7a01a617914aadbc41a5f50eded93476
--- /dev/null
+++ b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_09-30/outputs_tactile/tactile_cache/dag911262r001146_lerobot_0327_114353_da149aa2/episodes/ep000017/gripper_left_tactile_force_metrics.json
@@ -0,0 +1,9 @@
+{
+  "depth_peak": 0.0028183062095195055,
+  "shear_peak": 0.005745421163737774,
+  "force_magnitude_peak": 0.006228453945368528,
+  "reference_frame_count": 0,
+  "dataset_name": "dag911262r001146_lerobot_0327_114353",
+  "episode_index": 17,
+  "sensor": "gripper_left_tactile"
+}
\ No newline at end of file