diff --git a/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-07/outputs_tactile/tactile_cache/dag911262r00025a_lerobot_0326_220254_1d1fdbda/episodes/ep000360/gripper_right_tactile_force_metrics.json b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-07/outputs_tactile/tactile_cache/dag911262r00025a_lerobot_0326_220254_1d1fdbda/episodes/ep000360/gripper_right_tactile_force_metrics.json
new file mode 100644
index 0000000000000000000000000000000000000000..f10b136667cfce98f829ce0015d07657fd83cd5e
--- /dev/null
+++ b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-07/outputs_tactile/tactile_cache/dag911262r00025a_lerobot_0326_220254_1d1fdbda/episodes/ep000360/gripper_right_tactile_force_metrics.json
@@ -0,0 +1,9 @@
+{
+  "depth_peak": 0.0015876509714871645,
+  "shear_peak": 0.0009502687607891858,
+  "force_magnitude_peak": 0.001752505893819034,
+  "reference_frame_count": 0,
+  "dataset_name": "dag911262r00025a_lerobot_0326_220254",
+  "episode_index": 360,
+  "sensor": "gripper_right_tactile"
+}
\ No newline at end of file
diff --git a/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-07/outputs_tactile/tactile_cache/dag911262r00025a_lerobot_0326_220254_1d1fdbda/episodes/ep000386/gripper_right_tactile_force_metrics.json b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-07/outputs_tactile/tactile_cache/dag911262r00025a_lerobot_0326_220254_1d1fdbda/episodes/ep000386/gripper_right_tactile_force_metrics.json
new file mode 100644
index 0000000000000000000000000000000000000000..3c99b7cd1111939d417fd01434f2cacc22f0ab78
--- /dev/null
+++ b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-07/outputs_tactile/tactile_cache/dag911262r00025a_lerobot_0326_220254_1d1fdbda/episodes/ep000386/gripper_right_tactile_force_metrics.json
@@ -0,0 +1,9 @@
+{
+  "depth_peak": 0.0007578294607810676,
+  "shear_peak": 0.004159110598266125,
+  "force_magnitude_peak": 0.004667924717068672,
+  "reference_frame_count": 0,
+  "dataset_name": "dag911262r00025a_lerobot_0326_220254",
+  "episode_index": 386,
+  "sensor": "gripper_right_tactile"
+}
\ No newline at end of file
diff --git a/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-07/outputs_tactile/tactile_cache/dag911262r00025a_lerobot_0326_220254_1d1fdbda/episodes/ep000400/gripper_right_tactile_force_metrics.json b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-07/outputs_tactile/tactile_cache/dag911262r00025a_lerobot_0326_220254_1d1fdbda/episodes/ep000400/gripper_right_tactile_force_metrics.json
new file mode 100644
index 0000000000000000000000000000000000000000..f8010b981b01f36511b3164bd4bfcaee1d45a1b0
--- /dev/null
+++ b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-07/outputs_tactile/tactile_cache/dag911262r00025a_lerobot_0326_220254_1d1fdbda/episodes/ep000400/gripper_right_tactile_force_metrics.json
@@ -0,0 +1,9 @@
+{
+  "depth_peak": 0.003531801514327526,
+  "shear_peak": 0.0059951478615403175,
+  "force_magnitude_peak": 0.0066113159991800785,
+  "reference_frame_count": 0,
+  "dataset_name": "dag911262r00025a_lerobot_0326_220254",
+  "episode_index": 400,
+  "sensor": "gripper_right_tactile"
+}
\ No newline at end of file
diff --git a/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-07/outputs_tactile/tactile_cache/dag911262r00025a_lerobot_0326_220254_1d1fdbda/episodes/ep000402/gripper_left_tactile_contact_metrics.json b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-07/outputs_tactile/tactile_cache/dag911262r00025a_lerobot_0326_220254_1d1fdbda/episodes/ep000402/gripper_left_tactile_contact_metrics.json
new file mode 100644
index 0000000000000000000000000000000000000000..c93bb750cbbccc537cf22ca85610ef8695f3ea79
--- /dev/null
+++ b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-07/outputs_tactile/tactile_cache/dag911262r00025a_lerobot_0326_220254_1d1fdbda/episodes/ep000402/gripper_left_tactile_contact_metrics.json
@@ -0,0 +1,12 @@
+{
+  "contact_time": 6.9,
+  "contact_ratio": 0.8734177215189873,
+  "avg_contact_area": 1799.1642512077294,
+  "contact_entropy": 0.3626522727837665,
+  "total_frames": 237,
+  "fps": 30.0,
+  "reference_frame_count": 0,
+  "dataset_name": "dag911262r00025a_lerobot_0326_220254",
+  "episode_index": 402,
+  "sensor": "gripper_left_tactile"
+}
\ No newline at end of file
diff --git a/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-07/outputs_tactile/tactile_cache/dag911262r00025a_lerobot_0326_220254_1d1fdbda/episodes/ep000405/gripper_left_tactile_force_metrics.json b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-07/outputs_tactile/tactile_cache/dag911262r00025a_lerobot_0326_220254_1d1fdbda/episodes/ep000405/gripper_left_tactile_force_metrics.json
new file mode 100644
index 0000000000000000000000000000000000000000..e6890477e295eee84911b989a09e663bb8f27d3a
--- /dev/null
+++ b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-07/outputs_tactile/tactile_cache/dag911262r00025a_lerobot_0326_220254_1d1fdbda/episodes/ep000405/gripper_left_tactile_force_metrics.json
@@ -0,0 +1,9 @@
+{
+  "depth_peak": 0.006354131735861301,
+  "shear_peak": 0.0036903698928654194,
+  "force_magnitude_peak": 0.0065136197954416275,
+  "reference_frame_count": 0,
+  "dataset_name": "dag911262r00025a_lerobot_0326_220254",
+  "episode_index": 405,
+  "sensor": "gripper_left_tactile"
+}
\ No newline at end of file
diff --git a/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-07/outputs_tactile/tactile_cache/dag911262r00025a_lerobot_0326_220254_1d1fdbda/episodes/ep000413/gripper_right_tactile_contact_metrics.json b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-07/outputs_tactile/tactile_cache/dag911262r00025a_lerobot_0326_220254_1d1fdbda/episodes/ep000413/gripper_right_tactile_contact_metrics.json
new file mode 100644
index 0000000000000000000000000000000000000000..2faa54f50b15b3115429e14c23daf4bbeefa3f9f
--- /dev/null
+++ b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-07/outputs_tactile/tactile_cache/dag911262r00025a_lerobot_0326_220254_1d1fdbda/episodes/ep000413/gripper_right_tactile_contact_metrics.json
@@ -0,0 +1,12 @@
+{
+  "contact_time": 8.1,
+  "contact_ratio": 0.8073089700996677,
+  "avg_contact_area": 4094.432098765432,
+  "contact_entropy": 0.16108603636844587,
+  "total_frames": 301,
+  "fps": 30.0,
+  "reference_frame_count": 0,
+  "dataset_name": "dag911262r00025a_lerobot_0326_220254",
+  "episode_index": 413,
+  "sensor": "gripper_right_tactile"
+}
\ No newline at end of file
diff --git a/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-07/outputs_tactile/tactile_cache/dag911262r00025a_lerobot_0326_220254_1d1fdbda/episodes/ep000413/gripper_right_tactile_force_metrics.json b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-07/outputs_tactile/tactile_cache/dag911262r00025a_lerobot_0326_220254_1d1fdbda/episodes/ep000413/gripper_right_tactile_force_metrics.json
new file mode 100644
index 0000000000000000000000000000000000000000..c6e8024f3987e2b354970f9de6e3148c06789ef6
--- /dev/null
+++ b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-07/outputs_tactile/tactile_cache/dag911262r00025a_lerobot_0326_220254_1d1fdbda/episodes/ep000413/gripper_right_tactile_force_metrics.json
@@ -0,0 +1,9 @@
+{
+  "depth_peak": 0.0035379028413444757,
+  "shear_peak": 0.013854308053851128,
+  "force_magnitude_peak": 0.013864894397556782,
+  "reference_frame_count": 0,
+  "dataset_name": "dag911262r00025a_lerobot_0326_220254",
+  "episode_index": 413,
+  "sensor": "gripper_right_tactile"
+}
\ No newline at end of file
diff --git a/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-07/outputs_tactile/tactile_cache/dag911262r00025a_lerobot_0326_220254_1d1fdbda/episodes/ep000414/gripper_left_tactile_contact_metrics.json b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-07/outputs_tactile/tactile_cache/dag911262r00025a_lerobot_0326_220254_1d1fdbda/episodes/ep000414/gripper_left_tactile_contact_metrics.json
new file mode 100644
index 0000000000000000000000000000000000000000..2701bd399a20205eaf9eaccb69f1b17bf3e67042
--- /dev/null
+++ b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-07/outputs_tactile/tactile_cache/dag911262r00025a_lerobot_0326_220254_1d1fdbda/episodes/ep000414/gripper_left_tactile_contact_metrics.json
@@ -0,0 +1,12 @@
+{
+  "contact_time": 6.8,
+  "contact_ratio": 0.8717948717948718,
+  "avg_contact_area": 2443.524509803922,
+  "contact_entropy": 0.1526350461146846,
+  "total_frames": 234,
+  "fps": 30.0,
+  "reference_frame_count": 0,
+  "dataset_name": "dag911262r00025a_lerobot_0326_220254",
+  "episode_index": 414,
+  "sensor": "gripper_left_tactile"
+}
\ No newline at end of file
diff --git a/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-07/outputs_tactile/tactile_cache/dag911262r00025a_lerobot_0326_220254_1d1fdbda/episodes/ep000415/gripper_right_tactile_force_metrics.json b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-07/outputs_tactile/tactile_cache/dag911262r00025a_lerobot_0326_220254_1d1fdbda/episodes/ep000415/gripper_right_tactile_force_metrics.json
new file mode 100644
index 0000000000000000000000000000000000000000..a8ea4f41ca7b82806dc89b66ae96d3f42a6eade5
--- /dev/null
+++ b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-07/outputs_tactile/tactile_cache/dag911262r00025a_lerobot_0326_220254_1d1fdbda/episodes/ep000415/gripper_right_tactile_force_metrics.json
@@ -0,0 +1,9 @@
+{
+  "depth_peak": 0.003320147516205907,
+  "shear_peak": 0.006832457147538662,
+  "force_magnitude_peak": 0.007535927463322878,
+  "reference_frame_count": 0,
+  "dataset_name": "dag911262r00025a_lerobot_0326_220254",
+  "episode_index": 415,
+  "sensor": "gripper_right_tactile"
+}
\ No newline at end of file
diff --git a/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-07/outputs_tactile/tactile_cache/dag911262r00025a_lerobot_0326_220254_1d1fdbda/episodes/ep000417/gripper_left_tactile_force_metrics.json b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-07/outputs_tactile/tactile_cache/dag911262r00025a_lerobot_0326_220254_1d1fdbda/episodes/ep000417/gripper_left_tactile_force_metrics.json
new file mode 100644
index 0000000000000000000000000000000000000000..0bed59ef9c5ed237b257c041ef7a0160d855ce5f
--- /dev/null
+++ b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-07/outputs_tactile/tactile_cache/dag911262r00025a_lerobot_0326_220254_1d1fdbda/episodes/ep000417/gripper_left_tactile_force_metrics.json
@@ -0,0 +1,9 @@
+{
+  "depth_peak": 0.004909271374344826,
+  "shear_peak": 0.005372476298362017,
+  "force_magnitude_peak": 0.006805896293371916,
+  "reference_frame_count": 0,
+  "dataset_name": "dag911262r00025a_lerobot_0326_220254",
+  "episode_index": 417,
+  "sensor": "gripper_left_tactile"
+}
\ No newline at end of file
diff --git a/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-07/outputs_tactile/tactile_cache/dag911262r00025a_lerobot_0326_220254_1d1fdbda/episodes/ep000418/gripper_right_tactile_contact_metrics.json b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-07/outputs_tactile/tactile_cache/dag911262r00025a_lerobot_0326_220254_1d1fdbda/episodes/ep000418/gripper_right_tactile_contact_metrics.json
new file mode 100644
index 0000000000000000000000000000000000000000..89e7ef3868ef38cfbd70fd9efcf4aa636f6bb384
--- /dev/null
+++ b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-07/outputs_tactile/tactile_cache/dag911262r00025a_lerobot_0326_220254_1d1fdbda/episodes/ep000418/gripper_right_tactile_contact_metrics.json
@@ -0,0 +1,12 @@
+{
+  "contact_time": 7.233333333333333,
+  "contact_ratio": 0.857707509881423,
+  "avg_contact_area": 10723.935483870968,
+  "contact_entropy": 0.5338418982095975,
+  "total_frames": 253,
+  "fps": 30.0,
+  "reference_frame_count": 0,
+  "dataset_name": "dag911262r00025a_lerobot_0326_220254",
+  "episode_index": 418,
+  "sensor": "gripper_right_tactile"
+}
\ No newline at end of file
diff --git a/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-07/outputs_tactile/tactile_cache/dag911262r00025a_lerobot_0326_220254_1d1fdbda/episodes/ep000421/gripper_left_tactile_contact_metrics.json b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-07/outputs_tactile/tactile_cache/dag911262r00025a_lerobot_0326_220254_1d1fdbda/episodes/ep000421/gripper_left_tactile_contact_metrics.json
new file mode 100644
index 0000000000000000000000000000000000000000..f27a0d3c95327433d7b1eef26af07ef2d2722c28
--- /dev/null
+++ b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-07/outputs_tactile/tactile_cache/dag911262r00025a_lerobot_0326_220254_1d1fdbda/episodes/ep000421/gripper_left_tactile_contact_metrics.json
@@ -0,0 +1,12 @@
+{
+  "contact_time": 7.566666666666666,
+  "contact_ratio": 0.7937062937062938,
+  "avg_contact_area": 3309.1629955947137,
+  "contact_entropy": 0.44322491268157344,
+  "total_frames": 286,
+  "fps": 30.0,
+  "reference_frame_count": 0,
+  "dataset_name": "dag911262r00025a_lerobot_0326_220254",
+  "episode_index": 421,
+  "sensor": "gripper_left_tactile"
+}
\ No newline at end of file
diff --git a/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-07/outputs_tactile/tactile_cache/dag911262r00025a_lerobot_0326_220254_1d1fdbda/episodes/ep000426/gripper_right_tactile_force_metrics.json b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-07/outputs_tactile/tactile_cache/dag911262r00025a_lerobot_0326_220254_1d1fdbda/episodes/ep000426/gripper_right_tactile_force_metrics.json
new file mode 100644
index 0000000000000000000000000000000000000000..ebbdb927abd28d78ac29379dd63bc01493314a80
--- /dev/null
+++ b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-07/outputs_tactile/tactile_cache/dag911262r00025a_lerobot_0326_220254_1d1fdbda/episodes/ep000426/gripper_right_tactile_force_metrics.json
@@ -0,0 +1,9 @@
+{
+  "depth_peak": 0.0031531360000371933,
+  "shear_peak": 0.003247325774282217,
+  "force_magnitude_peak": 0.004102964885532856,
+  "reference_frame_count": 0,
+  "dataset_name": "dag911262r00025a_lerobot_0326_220254",
+  "episode_index": 426,
+  "sensor": "gripper_right_tactile"
+}
\ No newline at end of file
diff --git a/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-07/outputs_tactile/tactile_cache/dag911262r00025a_lerobot_0326_220254_1d1fdbda/episodes/ep000428/gripper_left_tactile_force_metrics.json b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-07/outputs_tactile/tactile_cache/dag911262r00025a_lerobot_0326_220254_1d1fdbda/episodes/ep000428/gripper_left_tactile_force_metrics.json
new file mode 100644
index 0000000000000000000000000000000000000000..9d8bd37214550061ae264ef49df7d38852c3e985
--- /dev/null
+++ b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-07/outputs_tactile/tactile_cache/dag911262r00025a_lerobot_0326_220254_1d1fdbda/episodes/ep000428/gripper_left_tactile_force_metrics.json
@@ -0,0 +1,9 @@
+{
+  "depth_peak": 0.00252565392293036,
+  "shear_peak": 0.003309618914499879,
+  "force_magnitude_peak": 0.00406192010268569,
+  "reference_frame_count": 0,
+  "dataset_name": "dag911262r00025a_lerobot_0326_220254",
+  "episode_index": 428,
+  "sensor": "gripper_left_tactile"
+}
\ No newline at end of file
diff --git a/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-07/outputs_tactile/tactile_cache/dag911262r00025a_lerobot_0326_220254_1d1fdbda/episodes/ep000428/gripper_right_tactile_contact_metrics.json b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-07/outputs_tactile/tactile_cache/dag911262r00025a_lerobot_0326_220254_1d1fdbda/episodes/ep000428/gripper_right_tactile_contact_metrics.json
new file mode 100644
index 0000000000000000000000000000000000000000..64500d87e14ce93ae6da4ac859d8b84588bb5181
--- /dev/null
+++ b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-07/outputs_tactile/tactile_cache/dag911262r00025a_lerobot_0326_220254_1d1fdbda/episodes/ep000428/gripper_right_tactile_contact_metrics.json
@@ -0,0 +1,12 @@
+{
+  "contact_time": 6.733333333333333,
+  "contact_ratio": 0.8047808764940239,
+  "avg_contact_area": 2378.8960396039606,
+  "contact_entropy": 0.175256954194303,
+  "total_frames": 251,
+  "fps": 30.0,
+  "reference_frame_count": 0,
+  "dataset_name": "dag911262r00025a_lerobot_0326_220254",
+  "episode_index": 428,
+  "sensor": "gripper_right_tactile"
+}
\ No newline at end of file
diff --git a/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-07/outputs_tactile/tactile_cache/dag911262r00025a_lerobot_0326_220254_1d1fdbda/episodes/ep000431/gripper_right_tactile_contact_metrics.json b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-07/outputs_tactile/tactile_cache/dag911262r00025a_lerobot_0326_220254_1d1fdbda/episodes/ep000431/gripper_right_tactile_contact_metrics.json
new file mode 100644
index 0000000000000000000000000000000000000000..8a64036176df7fa0241735a1da48544aae242a56
--- /dev/null
+++ b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-07/outputs_tactile/tactile_cache/dag911262r00025a_lerobot_0326_220254_1d1fdbda/episodes/ep000431/gripper_right_tactile_contact_metrics.json
@@ -0,0 +1,12 @@
+{
+  "contact_time": 6.1,
+  "contact_ratio": 0.756198347107438,
+  "avg_contact_area": 4274.628415300546,
+  "contact_entropy": 0.3837737342832853,
+  "total_frames": 242,
+  "fps": 30.0,
+  "reference_frame_count": 0,
+  "dataset_name": "dag911262r00025a_lerobot_0326_220254",
+  "episode_index": 431,
+  "sensor": "gripper_right_tactile"
+}
\ No newline at end of file
diff --git a/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-07/outputs_tactile/tactile_cache/dag911262r00025a_lerobot_0326_220254_1d1fdbda/episodes/ep000431/gripper_right_tactile_force_metrics.json b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-07/outputs_tactile/tactile_cache/dag911262r00025a_lerobot_0326_220254_1d1fdbda/episodes/ep000431/gripper_right_tactile_force_metrics.json
new file mode 100644
index 0000000000000000000000000000000000000000..8c33241734c15ef8e3b499fc0f016dd6f70a0169
--- /dev/null
+++ b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-07/outputs_tactile/tactile_cache/dag911262r00025a_lerobot_0326_220254_1d1fdbda/episodes/ep000431/gripper_right_tactile_force_metrics.json
@@ -0,0 +1,9 @@
+{
+  "depth_peak": 0.003865168895572424,
+  "shear_peak": 0.0035916997585445642,
+  "force_magnitude_peak": 0.004628859926015139,
+  "reference_frame_count": 0,
+  "dataset_name": "dag911262r00025a_lerobot_0326_220254",
+  "episode_index": 431,
+  "sensor": "gripper_right_tactile"
+}
\ No newline at end of file
diff --git a/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-07/outputs_tactile/tactile_cache/dag911262r00025a_lerobot_0326_220254_1d1fdbda/episodes/ep000433/gripper_left_tactile_force_metrics.json b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-07/outputs_tactile/tactile_cache/dag911262r00025a_lerobot_0326_220254_1d1fdbda/episodes/ep000433/gripper_left_tactile_force_metrics.json
new file mode 100644
index 0000000000000000000000000000000000000000..f89515f70b7724e71457ca435c985f2d6b5fc47f
--- /dev/null
+++ b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-07/outputs_tactile/tactile_cache/dag911262r00025a_lerobot_0326_220254_1d1fdbda/episodes/ep000433/gripper_left_tactile_force_metrics.json
@@ -0,0 +1,9 @@
+{
+  "depth_peak": 0.0031201543752104044,
+  "shear_peak": 0.0031854824628680944,
+  "force_magnitude_peak": 0.004458997864276171,
+  "reference_frame_count": 0,
+  "dataset_name": "dag911262r00025a_lerobot_0326_220254",
+  "episode_index": 433,
+  "sensor": "gripper_left_tactile"
+}
\ No newline at end of file
diff --git a/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-07/outputs_tactile/tactile_cache/dag911262r00025a_lerobot_0326_220254_1d1fdbda/episodes/ep000434/gripper_left_tactile_contact_metrics.json b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-07/outputs_tactile/tactile_cache/dag911262r00025a_lerobot_0326_220254_1d1fdbda/episodes/ep000434/gripper_left_tactile_contact_metrics.json
new file mode 100644
index 0000000000000000000000000000000000000000..32dbef99b38cb4b54bce31a39fb73c5379a2cc0f
--- /dev/null
+++ b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-07/outputs_tactile/tactile_cache/dag911262r00025a_lerobot_0326_220254_1d1fdbda/episodes/ep000434/gripper_left_tactile_contact_metrics.json
@@ -0,0 +1,12 @@
+{
+  "contact_time": 6.133333333333334,
+  "contact_ratio": 0.7479674796747967,
+  "avg_contact_area": 2790.353260869565,
+  "contact_entropy": 0.18586584879647328,
+  "total_frames": 246,
+  "fps": 30.0,
+  "reference_frame_count": 0,
+  "dataset_name": "dag911262r00025a_lerobot_0326_220254",
+  "episode_index": 434,
+  "sensor": "gripper_left_tactile"
+}
\ No newline at end of file
diff --git a/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-07/outputs_tactile/tactile_cache/dag911262r00025a_lerobot_0326_220254_1d1fdbda/episodes/ep000435/gripper_left_tactile_contact_metrics.json b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-07/outputs_tactile/tactile_cache/dag911262r00025a_lerobot_0326_220254_1d1fdbda/episodes/ep000435/gripper_left_tactile_contact_metrics.json
new file mode 100644
index 0000000000000000000000000000000000000000..b5f4ffbd91fa418c31f9f825e4233d7a510b19bb
--- /dev/null
+++ b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-07/outputs_tactile/tactile_cache/dag911262r00025a_lerobot_0326_220254_1d1fdbda/episodes/ep000435/gripper_left_tactile_contact_metrics.json
@@ -0,0 +1,12 @@
+{
+  "contact_time": 5.133333333333334,
+  "contact_ratio": 0.7979274611398963,
+  "avg_contact_area": 6979.071428571428,
+  "contact_entropy": 0.3044173613071433,
+  "total_frames": 193,
+  "fps": 30.0,
+  "reference_frame_count": 0,
+  "dataset_name": "dag911262r00025a_lerobot_0326_220254",
+  "episode_index": 435,
+  "sensor": "gripper_left_tactile"
+}
\ No newline at end of file
diff --git a/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-07/outputs_tactile/tactile_cache/dag911262r00025a_lerobot_0326_220254_1d1fdbda/episodes/ep000438/gripper_left_tactile_force_metrics.json b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-07/outputs_tactile/tactile_cache/dag911262r00025a_lerobot_0326_220254_1d1fdbda/episodes/ep000438/gripper_left_tactile_force_metrics.json
new file mode 100644
index 0000000000000000000000000000000000000000..7a4b9c1ff0ba44b775b36537d2bbded6af82c0f2
--- /dev/null
+++ b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-07/outputs_tactile/tactile_cache/dag911262r00025a_lerobot_0326_220254_1d1fdbda/episodes/ep000438/gripper_left_tactile_force_metrics.json
@@ -0,0 +1,9 @@
+{
+  "depth_peak": 0.003151556011289358,
+  "shear_peak": 0.0014152108924463391,
+  "force_magnitude_peak": 0.0031569930724799633,
+  "reference_frame_count": 0,
+  "dataset_name": "dag911262r00025a_lerobot_0326_220254",
+  "episode_index": 438,
+  "sensor": "gripper_left_tactile"
+}
\ No newline at end of file
diff --git a/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-07/outputs_tactile/tactile_cache/dag911262r00025a_lerobot_0326_220254_1d1fdbda/episodes/ep000438/gripper_right_tactile_contact_metrics.json b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-07/outputs_tactile/tactile_cache/dag911262r00025a_lerobot_0326_220254_1d1fdbda/episodes/ep000438/gripper_right_tactile_contact_metrics.json
new file mode 100644
index 0000000000000000000000000000000000000000..30d77fe281d55d81bbd701a49d83c0dfe06eba72
--- /dev/null
+++ b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-07/outputs_tactile/tactile_cache/dag911262r00025a_lerobot_0326_220254_1d1fdbda/episodes/ep000438/gripper_right_tactile_contact_metrics.json
@@ -0,0 +1,12 @@
+{
+  "contact_time": 6.233333333333333,
+  "contact_ratio": 0.751004016064257,
+  "avg_contact_area": 1894.283422459893,
+  "contact_entropy": 0.046419509035545904,
+  "total_frames": 249,
+  "fps": 30.0,
+  "reference_frame_count": 0,
+  "dataset_name": "dag911262r00025a_lerobot_0326_220254",
+  "episode_index": 438,
+  "sensor": "gripper_right_tactile"
+}
\ No newline at end of file
diff --git a/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-07/outputs_tactile/tactile_cache/dag911262r00025a_lerobot_0326_220254_1d1fdbda/episodes/ep000440/gripper_right_tactile_force_metrics.json b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-07/outputs_tactile/tactile_cache/dag911262r00025a_lerobot_0326_220254_1d1fdbda/episodes/ep000440/gripper_right_tactile_force_metrics.json
new file mode 100644
index 0000000000000000000000000000000000000000..e0925d2e2db0ea4806a2357ca3f3285c4ba3bacc
--- /dev/null
+++ b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-07/outputs_tactile/tactile_cache/dag911262r00025a_lerobot_0326_220254_1d1fdbda/episodes/ep000440/gripper_right_tactile_force_metrics.json
@@ -0,0 +1,9 @@
+{
+  "depth_peak": 0.004118354991078377,
+  "shear_peak": 0.0033062698785215616,
+  "force_magnitude_peak": 0.00420635798946023,
+  "reference_frame_count": 0,
+  "dataset_name": "dag911262r00025a_lerobot_0326_220254",
+  "episode_index": 440,
+  "sensor": "gripper_right_tactile"
+}
\ No newline at end of file
diff --git a/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-07/outputs_tactile/tactile_cache/dag911262r00025a_lerobot_0326_220254_1d1fdbda/episodes/ep000442/gripper_left_tactile_contact_metrics.json b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-07/outputs_tactile/tactile_cache/dag911262r00025a_lerobot_0326_220254_1d1fdbda/episodes/ep000442/gripper_left_tactile_contact_metrics.json
new file mode 100644
index 0000000000000000000000000000000000000000..5d5acf8fb867e757253db3b92a9fade586c79bf4
--- /dev/null
+++ b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-07/outputs_tactile/tactile_cache/dag911262r00025a_lerobot_0326_220254_1d1fdbda/episodes/ep000442/gripper_left_tactile_contact_metrics.json
@@ -0,0 +1,12 @@
+{
+  "contact_time": 7.733333333333333,
+  "contact_ratio": 0.7864406779661017,
+  "avg_contact_area": 2002.3146551724137,
+  "contact_entropy": 0.3337615399928574,
+  "total_frames": 295,
+  "fps": 30.0,
+  "reference_frame_count": 0,
+  "dataset_name": "dag911262r00025a_lerobot_0326_220254",
+  "episode_index": 442,
+  "sensor": "gripper_left_tactile"
+}
\ No newline at end of file
diff --git a/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-07/outputs_tactile/tactile_cache/dag911262r00025a_lerobot_0326_220254_1d1fdbda/episodes/ep000445/gripper_left_tactile_force_metrics.json b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-07/outputs_tactile/tactile_cache/dag911262r00025a_lerobot_0326_220254_1d1fdbda/episodes/ep000445/gripper_left_tactile_force_metrics.json
new file mode 100644
index 0000000000000000000000000000000000000000..09db0be90e51afbc8be05c3c30572c9350e2d3ec
--- /dev/null
+++ b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-07/outputs_tactile/tactile_cache/dag911262r00025a_lerobot_0326_220254_1d1fdbda/episodes/ep000445/gripper_left_tactile_force_metrics.json
@@ -0,0 +1,9 @@
+{
+  "depth_peak": 0.0006706927088089287,
+  "shear_peak": 0.001881366828456521,
+  "force_magnitude_peak": 0.002325413515791297,
+  "reference_frame_count": 0,
+  "dataset_name": "dag911262r00025a_lerobot_0326_220254",
+  "episode_index": 445,
+  "sensor": "gripper_left_tactile"
+}
\ No newline at end of file
diff --git a/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-07/outputs_tactile/tactile_cache/dag911262r00025a_lerobot_0326_220254_1d1fdbda/episodes/ep000453/gripper_right_tactile_contact_metrics.json b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-07/outputs_tactile/tactile_cache/dag911262r00025a_lerobot_0326_220254_1d1fdbda/episodes/ep000453/gripper_right_tactile_contact_metrics.json
new file mode 100644
index 0000000000000000000000000000000000000000..6819e3e82a44d0a582e617f935883130fb85efd3
--- /dev/null
+++ b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-07/outputs_tactile/tactile_cache/dag911262r00025a_lerobot_0326_220254_1d1fdbda/episodes/ep000453/gripper_right_tactile_contact_metrics.json
@@ -0,0 +1,12 @@
+{
+  "contact_time": 4.833333333333333,
+  "contact_ratio": 0.7397959183673469,
+  "avg_contact_area": 918.648275862069,
+  "contact_entropy": 0.0,
+  "total_frames": 196,
+  "fps": 30.0,
+  "reference_frame_count": 0,
+  "dataset_name": "dag911262r00025a_lerobot_0326_220254",
+  "episode_index": 453,
+  "sensor": "gripper_right_tactile"
+}
\ No newline at end of file
diff --git a/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-07/outputs_tactile/tactile_cache/dag911262r00025a_lerobot_0326_220254_1d1fdbda/episodes/ep000453/gripper_right_tactile_force_metrics.json b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-07/outputs_tactile/tactile_cache/dag911262r00025a_lerobot_0326_220254_1d1fdbda/episodes/ep000453/gripper_right_tactile_force_metrics.json
new file mode 100644
index 0000000000000000000000000000000000000000..0abff9fe58b3b41161166fe082e504dbf30227e1
--- /dev/null
+++ b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-07/outputs_tactile/tactile_cache/dag911262r00025a_lerobot_0326_220254_1d1fdbda/episodes/ep000453/gripper_right_tactile_force_metrics.json
@@ -0,0 +1,9 @@
+{
+  "depth_peak": 0.0009391569765284657,
+  "shear_peak": 0.0024632331915199757,
+  "force_magnitude_peak": 0.003333923639729619,
+  "reference_frame_count": 0,
+  "dataset_name": "dag911262r00025a_lerobot_0326_220254",
+  "episode_index": 453,
+  "sensor": "gripper_right_tactile"
+}
\ No newline at end of file
diff --git a/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-07/outputs_tactile/tactile_cache/dag911262r00025a_lerobot_0326_220254_1d1fdbda/episodes/ep000454/gripper_left_tactile_contact_metrics.json b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-07/outputs_tactile/tactile_cache/dag911262r00025a_lerobot_0326_220254_1d1fdbda/episodes/ep000454/gripper_left_tactile_contact_metrics.json
new file mode 100644
index 0000000000000000000000000000000000000000..c0850b21fe8c749cc8c2c86422f8fd1b54bd2ab2
--- /dev/null
+++ b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-07/outputs_tactile/tactile_cache/dag911262r00025a_lerobot_0326_220254_1d1fdbda/episodes/ep000454/gripper_left_tactile_contact_metrics.json
@@ -0,0 +1,12 @@
+{
+  "contact_time": 7.633333333333334,
+  "contact_ratio": 0.870722433460076,
+  "avg_contact_area": 1526.3362445414848,
+  "contact_entropy": 0.1136489774000491,
+  "total_frames": 263,
+  "fps": 30.0,
+  "reference_frame_count": 0,
+  "dataset_name": "dag911262r00025a_lerobot_0326_220254",
+  "episode_index": 454,
+  "sensor": "gripper_left_tactile"
+}
\ No newline at end of file
diff --git a/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-07/outputs_tactile/tactile_cache/dag911262r00025a_lerobot_0326_220254_1d1fdbda/episodes/ep000455/gripper_right_tactile_force_metrics.json b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-07/outputs_tactile/tactile_cache/dag911262r00025a_lerobot_0326_220254_1d1fdbda/episodes/ep000455/gripper_right_tactile_force_metrics.json
new file mode 100644
index 0000000000000000000000000000000000000000..efab31bf29330ab249ca6fb297c41d8f48bcc822
--- /dev/null
+++ b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-07/outputs_tactile/tactile_cache/dag911262r00025a_lerobot_0326_220254_1d1fdbda/episodes/ep000455/gripper_right_tactile_force_metrics.json
@@ -0,0 +1,9 @@
+{
+  "depth_peak": 0.0034922552295029163,
+  "shear_peak": 0.004229327198117971,
+  "force_magnitude_peak": 0.005266967695206404,
+  "reference_frame_count": 0,
+  "dataset_name": "dag911262r00025a_lerobot_0326_220254",
+  "episode_index": 455,
+  "sensor": "gripper_right_tactile"
+}
\ No newline at end of file
diff --git a/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-07/outputs_tactile/tactile_cache/dag911262r00025a_lerobot_0326_220254_1d1fdbda/episodes/ep000457/gripper_left_tactile_force_metrics.json b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-07/outputs_tactile/tactile_cache/dag911262r00025a_lerobot_0326_220254_1d1fdbda/episodes/ep000457/gripper_left_tactile_force_metrics.json
new file mode 100644
index 0000000000000000000000000000000000000000..532377c131e5de63af553db6f85bdfc37fe722da
--- /dev/null
+++ b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-07/outputs_tactile/tactile_cache/dag911262r00025a_lerobot_0326_220254_1d1fdbda/episodes/ep000457/gripper_left_tactile_force_metrics.json
@@ -0,0 +1,9 @@
+{
+  "depth_peak": 0.005418013781309128,
+  "shear_peak": 0.006339562125504017,
+  "force_magnitude_peak": 0.008219689130783081,
+  "reference_frame_count": 0,
+  "dataset_name": "dag911262r00025a_lerobot_0326_220254",
+  "episode_index": 457,
+  "sensor": "gripper_left_tactile"
+}
\ No newline at end of file
diff --git a/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-07/outputs_tactile/tactile_cache/dag911262r00025a_lerobot_0326_220254_1d1fdbda/episodes/ep000458/gripper_right_tactile_contact_metrics.json b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-07/outputs_tactile/tactile_cache/dag911262r00025a_lerobot_0326_220254_1d1fdbda/episodes/ep000458/gripper_right_tactile_contact_metrics.json
new file mode 100644
index 0000000000000000000000000000000000000000..ffc5328c2737304d569585965c9601c872fd9d42
--- /dev/null
+++ b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-07/outputs_tactile/tactile_cache/dag911262r00025a_lerobot_0326_220254_1d1fdbda/episodes/ep000458/gripper_right_tactile_contact_metrics.json
@@ -0,0 +1,12 @@
+{
+  "contact_time": 6.533333333333333,
+  "contact_ratio": 0.8448275862068966,
+  "avg_contact_area": 2605.464285714286,
+  "contact_entropy": 0.5741138033761916,
+  "total_frames": 232,
+  "fps": 30.0,
+  "reference_frame_count": 0,
+  "dataset_name": "dag911262r00025a_lerobot_0326_220254",
+  "episode_index": 458,
+  "sensor": "gripper_right_tactile"
+}
\ No newline at end of file
diff --git a/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-07/outputs_tactile/tactile_cache/dag911262r00025a_lerobot_0326_220254_1d1fdbda/episodes/ep000461/gripper_left_tactile_contact_metrics.json b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-07/outputs_tactile/tactile_cache/dag911262r00025a_lerobot_0326_220254_1d1fdbda/episodes/ep000461/gripper_left_tactile_contact_metrics.json
new file mode 100644
index 0000000000000000000000000000000000000000..b8cc50b2de41d90d651bf295bdd3968a3cc732f5
--- /dev/null
+++ b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-07/outputs_tactile/tactile_cache/dag911262r00025a_lerobot_0326_220254_1d1fdbda/episodes/ep000461/gripper_left_tactile_contact_metrics.json
@@ -0,0 +1,12 @@
+{
+  "contact_time": 4.7,
+  "contact_ratio": 0.6911764705882353,
+  "avg_contact_area": 11317.588652482269,
+  "contact_entropy": 0.5047107310216954,
+  "total_frames": 204,
+  "fps": 30.0,
+  "reference_frame_count": 0,
+  "dataset_name": "dag911262r00025a_lerobot_0326_220254",
+  "episode_index": 461,
+  "sensor": "gripper_left_tactile"
+}
\ No newline at end of file
diff --git a/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-07/outputs_tactile/tactile_cache/dag911262r00025a_lerobot_0326_220254_1d1fdbda/episodes/ep000466/gripper_right_tactile_force_metrics.json b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-07/outputs_tactile/tactile_cache/dag911262r00025a_lerobot_0326_220254_1d1fdbda/episodes/ep000466/gripper_right_tactile_force_metrics.json
new file mode 100644
index 0000000000000000000000000000000000000000..35f201cf68692c6293ee4189d8919187fd2d1d6a
--- /dev/null
+++ b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-07/outputs_tactile/tactile_cache/dag911262r00025a_lerobot_0326_220254_1d1fdbda/episodes/ep000466/gripper_right_tactile_force_metrics.json
@@ -0,0 +1,9 @@
+{
+  "depth_peak": 0.005738330073654652,
+  "shear_peak": 0.003781526815146208,
+  "force_magnitude_peak": 0.006677965633571148,
+  "reference_frame_count": 0,
+  "dataset_name": "dag911262r00025a_lerobot_0326_220254",
+  "episode_index": 466,
+  "sensor": "gripper_right_tactile"
+}
\ No newline at end of file
diff --git a/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-07/outputs_tactile/tactile_cache/dag911262r00025a_lerobot_0326_220254_1d1fdbda/episodes/ep000468/gripper_left_tactile_force_metrics.json b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-07/outputs_tactile/tactile_cache/dag911262r00025a_lerobot_0326_220254_1d1fdbda/episodes/ep000468/gripper_left_tactile_force_metrics.json
new file mode 100644
index 0000000000000000000000000000000000000000..152048c155b02c303b942ff3932415e0ebc3703e
--- /dev/null
+++ b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-07/outputs_tactile/tactile_cache/dag911262r00025a_lerobot_0326_220254_1d1fdbda/episodes/ep000468/gripper_left_tactile_force_metrics.json
@@ -0,0 +1,9 @@
+{
+  "depth_peak": 0.0021218385081738234,
+  "shear_peak": 0.005036124959588051,
+  "force_magnitude_peak": 0.005302963778376579,
+  "reference_frame_count": 0,
+  "dataset_name": "dag911262r00025a_lerobot_0326_220254",
+  "episode_index": 468,
+  "sensor": "gripper_left_tactile"
+}
\ No newline at end of file
diff --git a/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-07/outputs_tactile/tactile_cache/dag911262r00025a_lerobot_0326_220254_1d1fdbda/episodes/ep000468/gripper_right_tactile_contact_metrics.json b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-07/outputs_tactile/tactile_cache/dag911262r00025a_lerobot_0326_220254_1d1fdbda/episodes/ep000468/gripper_right_tactile_contact_metrics.json
new file mode 100644
index 0000000000000000000000000000000000000000..d0edc6c075b64528832e6018728a138a492b716c
--- /dev/null
+++ b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-07/outputs_tactile/tactile_cache/dag911262r00025a_lerobot_0326_220254_1d1fdbda/episodes/ep000468/gripper_right_tactile_contact_metrics.json
@@ -0,0 +1,12 @@
+{
+  "contact_time": 6.833333333333333,
+  "contact_ratio": 0.7765151515151515,
+  "avg_contact_area": 890.0536585365853,
+  "contact_entropy": 0.5385723497689241,
+  "total_frames": 264,
+  "fps": 30.0,
+  "reference_frame_count": 0,
+  "dataset_name": "dag911262r00025a_lerobot_0326_220254",
+  "episode_index": 468,
+  "sensor": "gripper_right_tactile"
+}
\ No newline at end of file
diff --git a/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-07/outputs_tactile/tactile_cache/dag911262r00025a_lerobot_0326_220254_1d1fdbda/episodes/ep000471/gripper_right_tactile_contact_metrics.json b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-07/outputs_tactile/tactile_cache/dag911262r00025a_lerobot_0326_220254_1d1fdbda/episodes/ep000471/gripper_right_tactile_contact_metrics.json
new file mode 100644
index 0000000000000000000000000000000000000000..1a36ff02141a905ced2de193ae49b592046f00fc
--- /dev/null
+++ b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-07/outputs_tactile/tactile_cache/dag911262r00025a_lerobot_0326_220254_1d1fdbda/episodes/ep000471/gripper_right_tactile_contact_metrics.json
@@ -0,0 +1,12 @@
+{
+  "contact_time": 8.566666666666666,
+  "contact_ratio": 0.8132911392405063,
+  "avg_contact_area": 2019.614785992218,
+  "contact_entropy": 0.7235794422329231,
+  "total_frames": 316,
+  "fps": 30.0,
+  "reference_frame_count": 0,
+  "dataset_name": "dag911262r00025a_lerobot_0326_220254",
+  "episode_index": 471,
+  "sensor": "gripper_right_tactile"
+}
\ No newline at end of file
diff --git a/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-07/outputs_tactile/tactile_cache/dag911262r00025a_lerobot_0326_220254_1d1fdbda/episodes/ep000471/gripper_right_tactile_force_metrics.json b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-07/outputs_tactile/tactile_cache/dag911262r00025a_lerobot_0326_220254_1d1fdbda/episodes/ep000471/gripper_right_tactile_force_metrics.json
new file mode 100644
index 0000000000000000000000000000000000000000..bd02376e72debd27704f39173aecfcedf80250ce
--- /dev/null
+++ b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-07/outputs_tactile/tactile_cache/dag911262r00025a_lerobot_0326_220254_1d1fdbda/episodes/ep000471/gripper_right_tactile_force_metrics.json
@@ -0,0 +1,9 @@
+{
+  "depth_peak": 0.014884807169437408,
+  "shear_peak": 0.00453029153868556,
+  "force_magnitude_peak": 0.01512387115508318,
+  "reference_frame_count": 0,
+  "dataset_name": "dag911262r00025a_lerobot_0326_220254",
+  "episode_index": 471,
+  "sensor": "gripper_right_tactile"
+}
\ No newline at end of file
diff --git a/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-07/outputs_tactile/tactile_cache/dag911262r00025a_lerobot_0326_220254_1d1fdbda/episodes/ep000473/gripper_left_tactile_force_metrics.json b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-07/outputs_tactile/tactile_cache/dag911262r00025a_lerobot_0326_220254_1d1fdbda/episodes/ep000473/gripper_left_tactile_force_metrics.json
new file mode 100644
index 0000000000000000000000000000000000000000..d2a00cf9b8ac7bca5afb45b681154529bef76b9b
--- /dev/null
+++ b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-07/outputs_tactile/tactile_cache/dag911262r00025a_lerobot_0326_220254_1d1fdbda/episodes/ep000473/gripper_left_tactile_force_metrics.json
@@ -0,0 +1,9 @@
+{
+  "depth_peak": 0.007428939454257488,
+  "shear_peak": 0.0031138125341385603,
+  "force_magnitude_peak": 0.008028902113437653,
+  "reference_frame_count": 0,
+  "dataset_name": "dag911262r00025a_lerobot_0326_220254",
+  "episode_index": 473,
+  "sensor": "gripper_left_tactile"
+}
\ No newline at end of file
diff --git a/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-07/outputs_tactile/tactile_cache/dag911262r00025a_lerobot_0326_220254_1d1fdbda/episodes/ep000474/gripper_left_tactile_contact_metrics.json b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-07/outputs_tactile/tactile_cache/dag911262r00025a_lerobot_0326_220254_1d1fdbda/episodes/ep000474/gripper_left_tactile_contact_metrics.json
new file mode 100644
index 0000000000000000000000000000000000000000..8c144ab03062852aaca47ffa3058da80ebe7595d
--- /dev/null
+++ b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-07/outputs_tactile/tactile_cache/dag911262r00025a_lerobot_0326_220254_1d1fdbda/episodes/ep000474/gripper_left_tactile_contact_metrics.json
@@ -0,0 +1,12 @@
+{
+  "contact_time": 6.033333333333333,
+  "contact_ratio": 0.8578199052132701,
+  "avg_contact_area": 2248.6685082872928,
+  "contact_entropy": 0.07536013953456083,
+  "total_frames": 211,
+  "fps": 30.0,
+  "reference_frame_count": 0,
+  "dataset_name": "dag911262r00025a_lerobot_0326_220254",
+  "episode_index": 474,
+  "sensor": "gripper_left_tactile"
+}
\ No newline at end of file
diff --git a/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-07/outputs_tactile/tactile_cache/dag911262r00025a_lerobot_0326_220254_1d1fdbda/episodes/ep000475/gripper_left_tactile_contact_metrics.json b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-07/outputs_tactile/tactile_cache/dag911262r00025a_lerobot_0326_220254_1d1fdbda/episodes/ep000475/gripper_left_tactile_contact_metrics.json
new file mode 100644
index 0000000000000000000000000000000000000000..72d983cd1e2a035b497d7ef50573bd7dde9b884a
--- /dev/null
+++ b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-07/outputs_tactile/tactile_cache/dag911262r00025a_lerobot_0326_220254_1d1fdbda/episodes/ep000475/gripper_left_tactile_contact_metrics.json
@@ -0,0 +1,12 @@
+{
+  "contact_time": 7.266666666666667,
+  "contact_ratio": 0.8790322580645161,
+  "avg_contact_area": 12582.215596330276,
+  "contact_entropy": 0.3288038931861451,
+  "total_frames": 248,
+  "fps": 30.0,
+  "reference_frame_count": 0,
+  "dataset_name": "dag911262r00025a_lerobot_0326_220254",
+  "episode_index": 475,
+  "sensor": "gripper_left_tactile"
+}
\ No newline at end of file
diff --git a/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-07/outputs_tactile/tactile_cache/dag911262r00025a_lerobot_0326_220254_1d1fdbda/episodes/ep000478/gripper_left_tactile_force_metrics.json b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-07/outputs_tactile/tactile_cache/dag911262r00025a_lerobot_0326_220254_1d1fdbda/episodes/ep000478/gripper_left_tactile_force_metrics.json
new file mode 100644
index 0000000000000000000000000000000000000000..d926414f2a79fa38b7dcab17784b37a54f0bd7c3
--- /dev/null
+++ b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-07/outputs_tactile/tactile_cache/dag911262r00025a_lerobot_0326_220254_1d1fdbda/episodes/ep000478/gripper_left_tactile_force_metrics.json
@@ -0,0 +1,9 @@
+{
+  "depth_peak": 0.002269257791340351,
+  "shear_peak": 0.002137398114427924,
+  "force_magnitude_peak": 0.0023380001075565815,
+  "reference_frame_count": 0,
+  "dataset_name": "dag911262r00025a_lerobot_0326_220254",
+  "episode_index": 478,
+  "sensor": "gripper_left_tactile"
+}
\ No newline at end of file
diff --git a/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-07/outputs_tactile/tactile_cache/dag911262r00025a_lerobot_0326_220254_1d1fdbda/episodes/ep000478/gripper_right_tactile_contact_metrics.json b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-07/outputs_tactile/tactile_cache/dag911262r00025a_lerobot_0326_220254_1d1fdbda/episodes/ep000478/gripper_right_tactile_contact_metrics.json
new file mode 100644
index 0000000000000000000000000000000000000000..02544c9e37cd520fd0140406c43d210a1ec542eb
--- /dev/null
+++ b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-07/outputs_tactile/tactile_cache/dag911262r00025a_lerobot_0326_220254_1d1fdbda/episodes/ep000478/gripper_right_tactile_contact_metrics.json
@@ -0,0 +1,12 @@
+{
+  "contact_time": 6.033333333333333,
+  "contact_ratio": 0.7418032786885246,
+  "avg_contact_area": 1455.3204419889503,
+  "contact_entropy": 0.17831957029991008,
+  "total_frames": 244,
+  "fps": 30.0,
+  "reference_frame_count": 0,
+  "dataset_name": "dag911262r00025a_lerobot_0326_220254",
+  "episode_index": 478,
+  "sensor": "gripper_right_tactile"
+}
\ No newline at end of file
diff --git a/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-07/outputs_tactile/tactile_cache/dag911262r00025a_lerobot_0326_220254_1d1fdbda/episodes/ep000480/gripper_right_tactile_force_metrics.json b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-07/outputs_tactile/tactile_cache/dag911262r00025a_lerobot_0326_220254_1d1fdbda/episodes/ep000480/gripper_right_tactile_force_metrics.json
new file mode 100644
index 0000000000000000000000000000000000000000..404e181120ee830526a890a77a48b336b8142581
--- /dev/null
+++ b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-07/outputs_tactile/tactile_cache/dag911262r00025a_lerobot_0326_220254_1d1fdbda/episodes/ep000480/gripper_right_tactile_force_metrics.json
@@ -0,0 +1,9 @@
+{
+  "depth_peak": 0.0018530205124989152,
+  "shear_peak": 0.0034566232934594154,
+  "force_magnitude_peak": 0.0035097235813736916,
+  "reference_frame_count": 0,
+  "dataset_name": "dag911262r00025a_lerobot_0326_220254",
+  "episode_index": 480,
+  "sensor": "gripper_right_tactile"
+}
\ No newline at end of file
diff --git a/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-07/outputs_tactile/tactile_cache/dag911262r00025a_lerobot_0326_220254_1d1fdbda/episodes/ep000482/gripper_left_tactile_contact_metrics.json b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-07/outputs_tactile/tactile_cache/dag911262r00025a_lerobot_0326_220254_1d1fdbda/episodes/ep000482/gripper_left_tactile_contact_metrics.json
new file mode 100644
index 0000000000000000000000000000000000000000..d0a1465fb29c7a36ced39f5785cd42b453ca62e0
--- /dev/null
+++ b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-07/outputs_tactile/tactile_cache/dag911262r00025a_lerobot_0326_220254_1d1fdbda/episodes/ep000482/gripper_left_tactile_contact_metrics.json
@@ -0,0 +1,12 @@
+{
+  "contact_time": 5.933333333333334,
+  "contact_ratio": 0.8557692307692307,
+  "avg_contact_area": 3670.4887640449438,
+  "contact_entropy": 0.46085479519914085,
+  "total_frames": 208,
+  "fps": 30.0,
+  "reference_frame_count": 0,
+  "dataset_name": "dag911262r00025a_lerobot_0326_220254",
+  "episode_index": 482,
+  "sensor": "gripper_left_tactile"
+}
\ No newline at end of file
diff --git a/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-07/outputs_tactile/tactile_cache/dag911262r00025a_lerobot_0326_220254_1d1fdbda/episodes/ep000485/gripper_left_tactile_force_metrics.json b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-07/outputs_tactile/tactile_cache/dag911262r00025a_lerobot_0326_220254_1d1fdbda/episodes/ep000485/gripper_left_tactile_force_metrics.json
new file mode 100644
index 0000000000000000000000000000000000000000..2127c6cb19c8d09ac87a4e98e7d1b98705fec69e
--- /dev/null
+++ b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-07/outputs_tactile/tactile_cache/dag911262r00025a_lerobot_0326_220254_1d1fdbda/episodes/ep000485/gripper_left_tactile_force_metrics.json
@@ -0,0 +1,9 @@
+{
+  "depth_peak": 0.0008535495144315064,
+  "shear_peak": 0.0035144053399562836,
+  "force_magnitude_peak": 0.003950734622776508,
+  "reference_frame_count": 0,
+  "dataset_name": "dag911262r00025a_lerobot_0326_220254",
+  "episode_index": 485,
+  "sensor": "gripper_left_tactile"
+}
\ No newline at end of file
diff --git a/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-07/outputs_tactile/tactile_cache/dag911262r00025a_lerobot_0326_220254_1d1fdbda/episodes/ep000493/gripper_right_tactile_contact_metrics.json b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-07/outputs_tactile/tactile_cache/dag911262r00025a_lerobot_0326_220254_1d1fdbda/episodes/ep000493/gripper_right_tactile_contact_metrics.json
new file mode 100644
index 0000000000000000000000000000000000000000..c6b9e2321a453ffadfc118834b003c027335f41f
--- /dev/null
+++ b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-07/outputs_tactile/tactile_cache/dag911262r00025a_lerobot_0326_220254_1d1fdbda/episodes/ep000493/gripper_right_tactile_contact_metrics.json
@@ -0,0 +1,12 @@
+{
+  "contact_time": 7.733333333333333,
+  "contact_ratio": 0.7972508591065293,
+  "avg_contact_area": 653.3836206896551,
+  "contact_entropy": 0.001192020793989644,
+  "total_frames": 291,
+  "fps": 30.0,
+  "reference_frame_count": 0,
+  "dataset_name": "dag911262r00025a_lerobot_0326_220254",
+  "episode_index": 493,
+  "sensor": "gripper_right_tactile"
+}
\ No newline at end of file
diff --git a/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-07/outputs_tactile/tactile_cache/dag911262r00025a_lerobot_0326_220254_1d1fdbda/episodes/ep000493/gripper_right_tactile_force_metrics.json b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-07/outputs_tactile/tactile_cache/dag911262r00025a_lerobot_0326_220254_1d1fdbda/episodes/ep000493/gripper_right_tactile_force_metrics.json
new file mode 100644
index 0000000000000000000000000000000000000000..6959f824194f687127ae743e635dfa9d06c6d5bd
--- /dev/null
+++ b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-07/outputs_tactile/tactile_cache/dag911262r00025a_lerobot_0326_220254_1d1fdbda/episodes/ep000493/gripper_right_tactile_force_metrics.json
@@ -0,0 +1,9 @@
+{
+  "depth_peak": 0.0018539056181907654,
+  "shear_peak": 0.002593626733869314,
+  "force_magnitude_peak": 0.003443036926910281,
+  "reference_frame_count": 0,
+  "dataset_name": "dag911262r00025a_lerobot_0326_220254",
+  "episode_index": 493,
+  "sensor": "gripper_right_tactile"
+}
\ No newline at end of file
diff --git a/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-07/outputs_tactile/tactile_cache/dag911262r00025a_lerobot_0326_220254_1d1fdbda/episodes/ep000494/gripper_left_tactile_contact_metrics.json b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-07/outputs_tactile/tactile_cache/dag911262r00025a_lerobot_0326_220254_1d1fdbda/episodes/ep000494/gripper_left_tactile_contact_metrics.json
new file mode 100644
index 0000000000000000000000000000000000000000..d500b2a48c4b23d0232a3b065a69d7149e75e6eb
--- /dev/null
+++ b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-07/outputs_tactile/tactile_cache/dag911262r00025a_lerobot_0326_220254_1d1fdbda/episodes/ep000494/gripper_left_tactile_contact_metrics.json
@@ -0,0 +1,12 @@
+{
+  "contact_time": 5.866666666666666,
+  "contact_ratio": 0.7457627118644068,
+  "avg_contact_area": 2822.6647727272725,
+  "contact_entropy": 0.01866359650757237,
+  "total_frames": 236,
+  "fps": 30.0,
+  "reference_frame_count": 0,
+  "dataset_name": "dag911262r00025a_lerobot_0326_220254",
+  "episode_index": 494,
+  "sensor": "gripper_left_tactile"
+}
\ No newline at end of file
diff --git a/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-07/outputs_tactile/tactile_cache/dag911262r00025a_lerobot_0326_220254_1d1fdbda/episodes/ep000495/gripper_right_tactile_force_metrics.json b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-07/outputs_tactile/tactile_cache/dag911262r00025a_lerobot_0326_220254_1d1fdbda/episodes/ep000495/gripper_right_tactile_force_metrics.json
new file mode 100644
index 0000000000000000000000000000000000000000..fe6877e48d4662aea9aae31ae6427f0401add464
--- /dev/null
+++ b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-07/outputs_tactile/tactile_cache/dag911262r00025a_lerobot_0326_220254_1d1fdbda/episodes/ep000495/gripper_right_tactile_force_metrics.json
@@ -0,0 +1,9 @@
+{
+  "depth_peak": 0.0021711550652980804,
+  "shear_peak": 0.0034161105286329985,
+  "force_magnitude_peak": 0.003987429663538933,
+  "reference_frame_count": 0,
+  "dataset_name": "dag911262r00025a_lerobot_0326_220254",
+  "episode_index": 495,
+  "sensor": "gripper_right_tactile"
+}
\ No newline at end of file
diff --git a/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-07/outputs_tactile/tactile_cache/dag911262r00025a_lerobot_0326_220254_1d1fdbda/episodes/ep000497/gripper_left_tactile_force_metrics.json b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-07/outputs_tactile/tactile_cache/dag911262r00025a_lerobot_0326_220254_1d1fdbda/episodes/ep000497/gripper_left_tactile_force_metrics.json
new file mode 100644
index 0000000000000000000000000000000000000000..31044d1d4092618282f23c3d7fe475d6101fc086
--- /dev/null
+++ b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-07/outputs_tactile/tactile_cache/dag911262r00025a_lerobot_0326_220254_1d1fdbda/episodes/ep000497/gripper_left_tactile_force_metrics.json
@@ -0,0 +1,9 @@
+{
+  "depth_peak": 0.0016721587162464857,
+  "shear_peak": 0.003458385355770588,
+  "force_magnitude_peak": 0.0036080079153180122,
+  "reference_frame_count": 0,
+  "dataset_name": "dag911262r00025a_lerobot_0326_220254",
+  "episode_index": 497,
+  "sensor": "gripper_left_tactile"
+}
\ No newline at end of file
diff --git a/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-07/outputs_tactile/tactile_cache/dag911262r00025a_lerobot_0326_220254_1d1fdbda/episodes/ep000498/gripper_right_tactile_contact_metrics.json b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-07/outputs_tactile/tactile_cache/dag911262r00025a_lerobot_0326_220254_1d1fdbda/episodes/ep000498/gripper_right_tactile_contact_metrics.json
new file mode 100644
index 0000000000000000000000000000000000000000..9d46fd4edbf83ee143c92728313b0aec41ff593d
--- /dev/null
+++ b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-07/outputs_tactile/tactile_cache/dag911262r00025a_lerobot_0326_220254_1d1fdbda/episodes/ep000498/gripper_right_tactile_contact_metrics.json
@@ -0,0 +1,12 @@
+{
+  "contact_time": 4.466666666666667,
+  "contact_ratio": 0.5447154471544715,
+  "avg_contact_area": 2995.1119402985073,
+  "contact_entropy": 0.46907484594304194,
+  "total_frames": 246,
+  "fps": 30.0,
+  "reference_frame_count": 0,
+  "dataset_name": "dag911262r00025a_lerobot_0326_220254",
+  "episode_index": 498,
+  "sensor": "gripper_right_tactile"
+}
\ No newline at end of file
diff --git a/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-07/outputs_tactile/tactile_cache/dag911262r00025a_lerobot_0326_220254_1d1fdbda/episodes/ep000501/gripper_left_tactile_contact_metrics.json b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-07/outputs_tactile/tactile_cache/dag911262r00025a_lerobot_0326_220254_1d1fdbda/episodes/ep000501/gripper_left_tactile_contact_metrics.json
new file mode 100644
index 0000000000000000000000000000000000000000..1c40d0587e27e604c608cd4eda5af8c737e2779e
--- /dev/null
+++ b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-07/outputs_tactile/tactile_cache/dag911262r00025a_lerobot_0326_220254_1d1fdbda/episodes/ep000501/gripper_left_tactile_contact_metrics.json
@@ -0,0 +1,12 @@
+{
+  "contact_time": 8.5,
+  "contact_ratio": 0.9205776173285198,
+  "avg_contact_area": 2960.2627450980394,
+  "contact_entropy": 0.05083151562940033,
+  "total_frames": 277,
+  "fps": 30.0,
+  "reference_frame_count": 0,
+  "dataset_name": "dag911262r00025a_lerobot_0326_220254",
+  "episode_index": 501,
+  "sensor": "gripper_left_tactile"
+}
\ No newline at end of file
diff --git a/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-07/outputs_tactile/tactile_cache/dag911262r00025a_lerobot_0326_220254_1d1fdbda/episodes/ep000506/gripper_right_tactile_force_metrics.json b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-07/outputs_tactile/tactile_cache/dag911262r00025a_lerobot_0326_220254_1d1fdbda/episodes/ep000506/gripper_right_tactile_force_metrics.json
new file mode 100644
index 0000000000000000000000000000000000000000..71bd6688e3f584fad630e4847699787962ab5170
--- /dev/null
+++ b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-07/outputs_tactile/tactile_cache/dag911262r00025a_lerobot_0326_220254_1d1fdbda/episodes/ep000506/gripper_right_tactile_force_metrics.json
@@ -0,0 +1,9 @@
+{
+  "depth_peak": 0.00928471703082323,
+  "shear_peak": 0.011950346641242504,
+  "force_magnitude_peak": 0.015127093531191349,
+  "reference_frame_count": 0,
+  "dataset_name": "dag911262r00025a_lerobot_0326_220254",
+  "episode_index": 506,
+  "sensor": "gripper_right_tactile"
+}
\ No newline at end of file
diff --git a/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-07/outputs_tactile/tactile_cache/dag911262r00025a_lerobot_0326_220254_1d1fdbda/episodes/ep000508/gripper_left_tactile_force_metrics.json b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-07/outputs_tactile/tactile_cache/dag911262r00025a_lerobot_0326_220254_1d1fdbda/episodes/ep000508/gripper_left_tactile_force_metrics.json
new file mode 100644
index 0000000000000000000000000000000000000000..d37abf27e1738626bdda6daa9a5054e05d4822bf
--- /dev/null
+++ b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-07/outputs_tactile/tactile_cache/dag911262r00025a_lerobot_0326_220254_1d1fdbda/episodes/ep000508/gripper_left_tactile_force_metrics.json
@@ -0,0 +1,9 @@
+{
+  "depth_peak": 0.001930074067786336,
+  "shear_peak": 0.002271288773044944,
+  "force_magnitude_peak": 0.0025578218046575785,
+  "reference_frame_count": 0,
+  "dataset_name": "dag911262r00025a_lerobot_0326_220254",
+  "episode_index": 508,
+  "sensor": "gripper_left_tactile"
+}
\ No newline at end of file
diff --git a/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-07/outputs_tactile/tactile_cache/dag911262r00025a_lerobot_0326_220254_1d1fdbda/episodes/ep000508/gripper_right_tactile_contact_metrics.json b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-07/outputs_tactile/tactile_cache/dag911262r00025a_lerobot_0326_220254_1d1fdbda/episodes/ep000508/gripper_right_tactile_contact_metrics.json
new file mode 100644
index 0000000000000000000000000000000000000000..6dc12bab90fbd24d8245f1e54ae06e05f3f26016
--- /dev/null
+++ b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-07/outputs_tactile/tactile_cache/dag911262r00025a_lerobot_0326_220254_1d1fdbda/episodes/ep000508/gripper_right_tactile_contact_metrics.json
@@ -0,0 +1,12 @@
+{
+  "contact_time": 3.7666666666666666,
+  "contact_ratio": 0.6457142857142857,
+  "avg_contact_area": 791.7256637168142,
+  "contact_entropy": 0.010433285342352109,
+  "total_frames": 175,
+  "fps": 30.0,
+  "reference_frame_count": 0,
+  "dataset_name": "dag911262r00025a_lerobot_0326_220254",
+  "episode_index": 508,
+  "sensor": "gripper_right_tactile"
+}
\ No newline at end of file
diff --git a/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-07/outputs_tactile/tactile_cache/dag911262r00025a_lerobot_0326_220254_1d1fdbda/episodes/ep000511/gripper_right_tactile_contact_metrics.json b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-07/outputs_tactile/tactile_cache/dag911262r00025a_lerobot_0326_220254_1d1fdbda/episodes/ep000511/gripper_right_tactile_contact_metrics.json
new file mode 100644
index 0000000000000000000000000000000000000000..2ebf43bf7931f04952446df302e679388c0726a1
--- /dev/null
+++ b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-07/outputs_tactile/tactile_cache/dag911262r00025a_lerobot_0326_220254_1d1fdbda/episodes/ep000511/gripper_right_tactile_contact_metrics.json
@@ -0,0 +1,12 @@
+{
+  "contact_time": 4.466666666666667,
+  "contact_ratio": 0.7657142857142857,
+  "avg_contact_area": 892.4776119402985,
+  "contact_entropy": 0.13836379887269673,
+  "total_frames": 175,
+  "fps": 30.0,
+  "reference_frame_count": 0,
+  "dataset_name": "dag911262r00025a_lerobot_0326_220254",
+  "episode_index": 511,
+  "sensor": "gripper_right_tactile"
+}
\ No newline at end of file
diff --git a/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-07/outputs_tactile/tactile_cache/dag911262r00025a_lerobot_0326_220254_1d1fdbda/episodes/ep000511/gripper_right_tactile_force_metrics.json b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-07/outputs_tactile/tactile_cache/dag911262r00025a_lerobot_0326_220254_1d1fdbda/episodes/ep000511/gripper_right_tactile_force_metrics.json
new file mode 100644
index 0000000000000000000000000000000000000000..18f728236c8dda75be037c8b0d70bd8f781f63e7
--- /dev/null
+++ b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-07/outputs_tactile/tactile_cache/dag911262r00025a_lerobot_0326_220254_1d1fdbda/episodes/ep000511/gripper_right_tactile_force_metrics.json
@@ -0,0 +1,9 @@
+{
+  "depth_peak": 0.0022013527341187,
+  "shear_peak": 0.001239030621945858,
+  "force_magnitude_peak": 0.0022021066397428513,
+  "reference_frame_count": 0,
+  "dataset_name": "dag911262r00025a_lerobot_0326_220254",
+  "episode_index": 511,
+  "sensor": "gripper_right_tactile"
+}
\ No newline at end of file
diff --git a/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-07/outputs_tactile/tactile_cache/dag911262r00025a_lerobot_0326_220254_1d1fdbda/episodes/ep000513/gripper_left_tactile_force_metrics.json b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-07/outputs_tactile/tactile_cache/dag911262r00025a_lerobot_0326_220254_1d1fdbda/episodes/ep000513/gripper_left_tactile_force_metrics.json
new file mode 100644
index 0000000000000000000000000000000000000000..0d545edc5e759500b3d09036aa551d1b9dc9a382
--- /dev/null
+++ b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-07/outputs_tactile/tactile_cache/dag911262r00025a_lerobot_0326_220254_1d1fdbda/episodes/ep000513/gripper_left_tactile_force_metrics.json
@@ -0,0 +1,9 @@
+{
+  "depth_peak": 0.0022337669506669044,
+  "shear_peak": 0.0026046752464026213,
+  "force_magnitude_peak": 0.002834522631019354,
+  "reference_frame_count": 0,
+  "dataset_name": "dag911262r00025a_lerobot_0326_220254",
+  "episode_index": 513,
+  "sensor": "gripper_left_tactile"
+}
\ No newline at end of file
diff --git a/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-07/outputs_tactile/tactile_cache/dag911262r00025a_lerobot_0326_220254_1d1fdbda/episodes/ep000514/gripper_left_tactile_contact_metrics.json b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-07/outputs_tactile/tactile_cache/dag911262r00025a_lerobot_0326_220254_1d1fdbda/episodes/ep000514/gripper_left_tactile_contact_metrics.json
new file mode 100644
index 0000000000000000000000000000000000000000..2927655f04b73728138975f04c099ad649b0a05f
--- /dev/null
+++ b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-07/outputs_tactile/tactile_cache/dag911262r00025a_lerobot_0326_220254_1d1fdbda/episodes/ep000514/gripper_left_tactile_contact_metrics.json
@@ -0,0 +1,12 @@
+{
+  "contact_time": 5.4,
+  "contact_ratio": 0.84375,
+  "avg_contact_area": 2897.6728395061727,
+  "contact_entropy": 0.4358224211981497,
+  "total_frames": 192,
+  "fps": 30.0,
+  "reference_frame_count": 0,
+  "dataset_name": "dag911262r00025a_lerobot_0326_220254",
+  "episode_index": 514,
+  "sensor": "gripper_left_tactile"
+}
\ No newline at end of file
diff --git a/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-07/outputs_tactile/tactile_cache/dag911262r00025a_lerobot_0326_220254_1d1fdbda/episodes/ep000515/gripper_left_tactile_contact_metrics.json b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-07/outputs_tactile/tactile_cache/dag911262r00025a_lerobot_0326_220254_1d1fdbda/episodes/ep000515/gripper_left_tactile_contact_metrics.json
new file mode 100644
index 0000000000000000000000000000000000000000..6b0734b26916f37b768de9f9cc5cd1a80928e29a
--- /dev/null
+++ b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-07/outputs_tactile/tactile_cache/dag911262r00025a_lerobot_0326_220254_1d1fdbda/episodes/ep000515/gripper_left_tactile_contact_metrics.json
@@ -0,0 +1,12 @@
+{
+  "contact_time": 5.8,
+  "contact_ratio": 0.7435897435897436,
+  "avg_contact_area": 3096.477011494253,
+  "contact_entropy": 0.06424385423207638,
+  "total_frames": 234,
+  "fps": 30.0,
+  "reference_frame_count": 0,
+  "dataset_name": "dag911262r00025a_lerobot_0326_220254",
+  "episode_index": 515,
+  "sensor": "gripper_left_tactile"
+}
\ No newline at end of file
diff --git a/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-07/outputs_tactile/tactile_cache/dag911262r00025a_lerobot_0326_220254_1d1fdbda/episodes/ep000518/gripper_left_tactile_force_metrics.json b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-07/outputs_tactile/tactile_cache/dag911262r00025a_lerobot_0326_220254_1d1fdbda/episodes/ep000518/gripper_left_tactile_force_metrics.json
new file mode 100644
index 0000000000000000000000000000000000000000..b4cdf69f08fc8639034ae4ea51978bd035540ab5
--- /dev/null
+++ b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-07/outputs_tactile/tactile_cache/dag911262r00025a_lerobot_0326_220254_1d1fdbda/episodes/ep000518/gripper_left_tactile_force_metrics.json
@@ -0,0 +1,9 @@
+{
+  "depth_peak": 0.0036689734552055597,
+  "shear_peak": 0.001904085511341691,
+  "force_magnitude_peak": 0.004132483620196581,
+  "reference_frame_count": 0,
+  "dataset_name": "dag911262r00025a_lerobot_0326_220254",
+  "episode_index": 518,
+  "sensor": "gripper_left_tactile"
+}
\ No newline at end of file
diff --git a/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-07/outputs_tactile/tactile_cache/dag911262r00025a_lerobot_0326_220254_1d1fdbda/episodes/ep000518/gripper_right_tactile_contact_metrics.json b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-07/outputs_tactile/tactile_cache/dag911262r00025a_lerobot_0326_220254_1d1fdbda/episodes/ep000518/gripper_right_tactile_contact_metrics.json
new file mode 100644
index 0000000000000000000000000000000000000000..b0db097b044774be114d5575d6abf2f982191ec5
--- /dev/null
+++ b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-07/outputs_tactile/tactile_cache/dag911262r00025a_lerobot_0326_220254_1d1fdbda/episodes/ep000518/gripper_right_tactile_contact_metrics.json
@@ -0,0 +1,12 @@
+{
+  "contact_time": 3.8333333333333335,
+  "contact_ratio": 0.7931034482758621,
+  "avg_contact_area": 701.4173913043478,
+  "contact_entropy": 0.0,
+  "total_frames": 145,
+  "fps": 30.0,
+  "reference_frame_count": 0,
+  "dataset_name": "dag911262r00025a_lerobot_0326_220254",
+  "episode_index": 518,
+  "sensor": "gripper_right_tactile"
+}
\ No newline at end of file
diff --git a/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-07/outputs_tactile/tactile_cache/dag911262r00025a_lerobot_0326_220254_1d1fdbda/episodes/ep000520/gripper_right_tactile_force_metrics.json b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-07/outputs_tactile/tactile_cache/dag911262r00025a_lerobot_0326_220254_1d1fdbda/episodes/ep000520/gripper_right_tactile_force_metrics.json
new file mode 100644
index 0000000000000000000000000000000000000000..78ea51dd6c7babd8c9d6f96ff9e9743061fd4c03
--- /dev/null
+++ b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-07/outputs_tactile/tactile_cache/dag911262r00025a_lerobot_0326_220254_1d1fdbda/episodes/ep000520/gripper_right_tactile_force_metrics.json
@@ -0,0 +1,9 @@
+{
+  "depth_peak": 0.0014200620353221893,
+  "shear_peak": 0.0013880253536626697,
+  "force_magnitude_peak": 0.0019857469014823437,
+  "reference_frame_count": 0,
+  "dataset_name": "dag911262r00025a_lerobot_0326_220254",
+  "episode_index": 520,
+  "sensor": "gripper_right_tactile"
+}
\ No newline at end of file
diff --git a/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-07/outputs_tactile/tactile_cache/dag911262r00025a_lerobot_0326_220254_1d1fdbda/episodes/ep000522/gripper_left_tactile_contact_metrics.json b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-07/outputs_tactile/tactile_cache/dag911262r00025a_lerobot_0326_220254_1d1fdbda/episodes/ep000522/gripper_left_tactile_contact_metrics.json
new file mode 100644
index 0000000000000000000000000000000000000000..a04d7e77b621f0ab737a7dd34a5e73d3c22cf7f8
--- /dev/null
+++ b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-07/outputs_tactile/tactile_cache/dag911262r00025a_lerobot_0326_220254_1d1fdbda/episodes/ep000522/gripper_left_tactile_contact_metrics.json
@@ -0,0 +1,12 @@
+{
+  "contact_time": 3.8,
+  "contact_ratio": 0.6440677966101694,
+  "avg_contact_area": 1256.140350877193,
+  "contact_entropy": 0.4045640133257643,
+  "total_frames": 177,
+  "fps": 30.0,
+  "reference_frame_count": 0,
+  "dataset_name": "dag911262r00025a_lerobot_0326_220254",
+  "episode_index": 522,
+  "sensor": "gripper_left_tactile"
+}
\ No newline at end of file
diff --git a/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-07/outputs_tactile/tactile_cache/dag911262r00025a_lerobot_0326_220254_1d1fdbda/episodes/ep000525/gripper_left_tactile_force_metrics.json b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-07/outputs_tactile/tactile_cache/dag911262r00025a_lerobot_0326_220254_1d1fdbda/episodes/ep000525/gripper_left_tactile_force_metrics.json
new file mode 100644
index 0000000000000000000000000000000000000000..ac61b9cd1d1c909aa9d9082c10ab3baea875e796
--- /dev/null
+++ b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-07/outputs_tactile/tactile_cache/dag911262r00025a_lerobot_0326_220254_1d1fdbda/episodes/ep000525/gripper_left_tactile_force_metrics.json
@@ -0,0 +1,9 @@
+{
+  "depth_peak": 0.001213020645081997,
+  "shear_peak": 0.002891424112021923,
+  "force_magnitude_peak": 0.0029639159329235554,
+  "reference_frame_count": 0,
+  "dataset_name": "dag911262r00025a_lerobot_0326_220254",
+  "episode_index": 525,
+  "sensor": "gripper_left_tactile"
+}
\ No newline at end of file
diff --git a/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-07/outputs_tactile/tactile_cache/dag911262r00025a_lerobot_0326_220254_1d1fdbda/episodes/ep000533/gripper_right_tactile_contact_metrics.json b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-07/outputs_tactile/tactile_cache/dag911262r00025a_lerobot_0326_220254_1d1fdbda/episodes/ep000533/gripper_right_tactile_contact_metrics.json
new file mode 100644
index 0000000000000000000000000000000000000000..fa9fb26be73f875f8312678f67aa861e369f4eb8
--- /dev/null
+++ b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-07/outputs_tactile/tactile_cache/dag911262r00025a_lerobot_0326_220254_1d1fdbda/episodes/ep000533/gripper_right_tactile_contact_metrics.json
@@ -0,0 +1,12 @@
+{
+  "contact_time": 6.166666666666667,
+  "contact_ratio": 0.8604651162790697,
+  "avg_contact_area": 1367.372972972973,
+  "contact_entropy": 0.0,
+  "total_frames": 215,
+  "fps": 30.0,
+  "reference_frame_count": 0,
+  "dataset_name": "dag911262r00025a_lerobot_0326_220254",
+  "episode_index": 533,
+  "sensor": "gripper_right_tactile"
+}
\ No newline at end of file
diff --git a/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-07/outputs_tactile/tactile_cache/dag911262r00025a_lerobot_0326_220254_1d1fdbda/episodes/ep000533/gripper_right_tactile_force_metrics.json b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-07/outputs_tactile/tactile_cache/dag911262r00025a_lerobot_0326_220254_1d1fdbda/episodes/ep000533/gripper_right_tactile_force_metrics.json
new file mode 100644
index 0000000000000000000000000000000000000000..5d52de55a46df44e93bf6a9988613dad2e12f0c8
--- /dev/null
+++ b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-07/outputs_tactile/tactile_cache/dag911262r00025a_lerobot_0326_220254_1d1fdbda/episodes/ep000533/gripper_right_tactile_force_metrics.json
@@ -0,0 +1,9 @@
+{
+  "depth_peak": 0.0008567448239773512,
+  "shear_peak": 0.0019408410880714655,
+  "force_magnitude_peak": 0.0022121937945485115,
+  "reference_frame_count": 0,
+  "dataset_name": "dag911262r00025a_lerobot_0326_220254",
+  "episode_index": 533,
+  "sensor": "gripper_right_tactile"
+}
\ No newline at end of file
diff --git a/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-07/outputs_tactile/tactile_cache/dag911262r00025a_lerobot_0326_220254_1d1fdbda/episodes/ep000534/gripper_left_tactile_contact_metrics.json b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-07/outputs_tactile/tactile_cache/dag911262r00025a_lerobot_0326_220254_1d1fdbda/episodes/ep000534/gripper_left_tactile_contact_metrics.json
new file mode 100644
index 0000000000000000000000000000000000000000..d537870a242270236e72788cead6e8dcf11945c2
--- /dev/null
+++ b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-07/outputs_tactile/tactile_cache/dag911262r00025a_lerobot_0326_220254_1d1fdbda/episodes/ep000534/gripper_left_tactile_contact_metrics.json
@@ -0,0 +1,12 @@
+{
+  "contact_time": 3.8,
+  "contact_ratio": 0.6589595375722543,
+  "avg_contact_area": 3128.2894736842104,
+  "contact_entropy": 0.0738213356048315,
+  "total_frames": 173,
+  "fps": 30.0,
+  "reference_frame_count": 0,
+  "dataset_name": "dag911262r00025a_lerobot_0326_220254",
+  "episode_index": 534,
+  "sensor": "gripper_left_tactile"
+}
\ No newline at end of file
diff --git a/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-07/outputs_tactile/tactile_cache/dag911262r00025a_lerobot_0326_220254_1d1fdbda/episodes/ep000535/gripper_right_tactile_force_metrics.json b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-07/outputs_tactile/tactile_cache/dag911262r00025a_lerobot_0326_220254_1d1fdbda/episodes/ep000535/gripper_right_tactile_force_metrics.json
new file mode 100644
index 0000000000000000000000000000000000000000..1ee62f4d33cb77cc2de921db2d1616551661b751
--- /dev/null
+++ b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-07/outputs_tactile/tactile_cache/dag911262r00025a_lerobot_0326_220254_1d1fdbda/episodes/ep000535/gripper_right_tactile_force_metrics.json
@@ -0,0 +1,9 @@
+{
+  "depth_peak": 0.0031188614666461945,
+  "shear_peak": 0.004868504125624895,
+  "force_magnitude_peak": 0.005226326175034046,
+  "reference_frame_count": 0,
+  "dataset_name": "dag911262r00025a_lerobot_0326_220254",
+  "episode_index": 535,
+  "sensor": "gripper_right_tactile"
+}
\ No newline at end of file
diff --git a/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-07/outputs_tactile/tactile_cache/dag911262r00025a_lerobot_0326_220254_1d1fdbda/episodes/ep000537/gripper_left_tactile_force_metrics.json b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-07/outputs_tactile/tactile_cache/dag911262r00025a_lerobot_0326_220254_1d1fdbda/episodes/ep000537/gripper_left_tactile_force_metrics.json
new file mode 100644
index 0000000000000000000000000000000000000000..d02c98c2d8ceecbddb477aa7ba035c332d90614a
--- /dev/null
+++ b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-07/outputs_tactile/tactile_cache/dag911262r00025a_lerobot_0326_220254_1d1fdbda/episodes/ep000537/gripper_left_tactile_force_metrics.json
@@ -0,0 +1,9 @@
+{
+  "depth_peak": 0.001714369049295783,
+  "shear_peak": 0.001967695541679859,
+  "force_magnitude_peak": 0.0019680196419358253,
+  "reference_frame_count": 0,
+  "dataset_name": "dag911262r00025a_lerobot_0326_220254",
+  "episode_index": 537,
+  "sensor": "gripper_left_tactile"
+}
\ No newline at end of file
diff --git a/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-07/outputs_tactile/tactile_cache/dag911262r00025a_lerobot_0326_220254_1d1fdbda/episodes/ep000538/gripper_right_tactile_contact_metrics.json b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-07/outputs_tactile/tactile_cache/dag911262r00025a_lerobot_0326_220254_1d1fdbda/episodes/ep000538/gripper_right_tactile_contact_metrics.json
new file mode 100644
index 0000000000000000000000000000000000000000..2a9f5b9bd01630f54a9e84b5cec5cb1626875dd9
--- /dev/null
+++ b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-07/outputs_tactile/tactile_cache/dag911262r00025a_lerobot_0326_220254_1d1fdbda/episodes/ep000538/gripper_right_tactile_contact_metrics.json
@@ -0,0 +1,12 @@
+{
+  "contact_time": 5.533333333333333,
+  "contact_ratio": 0.7094017094017094,
+  "avg_contact_area": 534.6927710843373,
+  "contact_entropy": 0.164225475145689,
+  "total_frames": 234,
+  "fps": 30.0,
+  "reference_frame_count": 0,
+  "dataset_name": "dag911262r00025a_lerobot_0326_220254",
+  "episode_index": 538,
+  "sensor": "gripper_right_tactile"
+}
\ No newline at end of file
diff --git a/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-07/outputs_tactile/tactile_cache/dag911262r00025a_lerobot_0326_220254_1d1fdbda/episodes/ep000541/gripper_left_tactile_contact_metrics.json b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-07/outputs_tactile/tactile_cache/dag911262r00025a_lerobot_0326_220254_1d1fdbda/episodes/ep000541/gripper_left_tactile_contact_metrics.json
new file mode 100644
index 0000000000000000000000000000000000000000..3abaad876ca675c19c664f9507dee76d36651f56
--- /dev/null
+++ b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-07/outputs_tactile/tactile_cache/dag911262r00025a_lerobot_0326_220254_1d1fdbda/episodes/ep000541/gripper_left_tactile_contact_metrics.json
@@ -0,0 +1,12 @@
+{
+  "contact_time": 4.333333333333333,
+  "contact_ratio": 0.7738095238095238,
+  "avg_contact_area": 5595.2,
+  "contact_entropy": 0.4374084187617198,
+  "total_frames": 168,
+  "fps": 30.0,
+  "reference_frame_count": 0,
+  "dataset_name": "dag911262r00025a_lerobot_0326_220254",
+  "episode_index": 541,
+  "sensor": "gripper_left_tactile"
+}
\ No newline at end of file
diff --git a/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-07/outputs_tactile/tactile_cache/dag911262r00025a_lerobot_0326_220254_1d1fdbda/episodes/ep000546/gripper_right_tactile_force_metrics.json b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-07/outputs_tactile/tactile_cache/dag911262r00025a_lerobot_0326_220254_1d1fdbda/episodes/ep000546/gripper_right_tactile_force_metrics.json
new file mode 100644
index 0000000000000000000000000000000000000000..6f1ce5a1131bc50d8f4c426df6488a9d3119d843
--- /dev/null
+++ b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-07/outputs_tactile/tactile_cache/dag911262r00025a_lerobot_0326_220254_1d1fdbda/episodes/ep000546/gripper_right_tactile_force_metrics.json
@@ -0,0 +1,9 @@
+{
+  "depth_peak": 0.0026877792552113533,
+  "shear_peak": 0.002098005497828126,
+  "force_magnitude_peak": 0.00294025638140738,
+  "reference_frame_count": 0,
+  "dataset_name": "dag911262r00025a_lerobot_0326_220254",
+  "episode_index": 546,
+  "sensor": "gripper_right_tactile"
+}
\ No newline at end of file
diff --git a/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-07/outputs_tactile/tactile_cache/dag911262r00025a_lerobot_0326_220254_1d1fdbda/episodes/ep000548/gripper_left_tactile_force_metrics.json b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-07/outputs_tactile/tactile_cache/dag911262r00025a_lerobot_0326_220254_1d1fdbda/episodes/ep000548/gripper_left_tactile_force_metrics.json
new file mode 100644
index 0000000000000000000000000000000000000000..9c2b7ae0218d84e3274ea9299ac18242a44219c0
--- /dev/null
+++ b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-07/outputs_tactile/tactile_cache/dag911262r00025a_lerobot_0326_220254_1d1fdbda/episodes/ep000548/gripper_left_tactile_force_metrics.json
@@ -0,0 +1,9 @@
+{
+  "depth_peak": 0.0009329698514193296,
+  "shear_peak": 0.0019778646528720856,
+  "force_magnitude_peak": 0.0026825880631804466,
+  "reference_frame_count": 0,
+  "dataset_name": "dag911262r00025a_lerobot_0326_220254",
+  "episode_index": 548,
+  "sensor": "gripper_left_tactile"
+}
\ No newline at end of file
diff --git a/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-07/outputs_tactile/tactile_cache/dag911262r00025a_lerobot_0326_220254_1d1fdbda/episodes/ep000548/gripper_right_tactile_contact_metrics.json b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-07/outputs_tactile/tactile_cache/dag911262r00025a_lerobot_0326_220254_1d1fdbda/episodes/ep000548/gripper_right_tactile_contact_metrics.json
new file mode 100644
index 0000000000000000000000000000000000000000..206ba5e37ccfdeaf9bce7023e415b2903d623823
--- /dev/null
+++ b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-07/outputs_tactile/tactile_cache/dag911262r00025a_lerobot_0326_220254_1d1fdbda/episodes/ep000548/gripper_right_tactile_contact_metrics.json
@@ -0,0 +1,12 @@
+{
+  "contact_time": 5.133333333333334,
+  "contact_ratio": 0.806282722513089,
+  "avg_contact_area": 1875.090909090909,
+  "contact_entropy": 0.36238126440906704,
+  "total_frames": 191,
+  "fps": 30.0,
+  "reference_frame_count": 0,
+  "dataset_name": "dag911262r00025a_lerobot_0326_220254",
+  "episode_index": 548,
+  "sensor": "gripper_right_tactile"
+}
\ No newline at end of file
diff --git a/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-07/outputs_tactile/tactile_cache/dag911262r00025a_lerobot_0326_220254_1d1fdbda/episodes/ep000551/gripper_right_tactile_contact_metrics.json b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-07/outputs_tactile/tactile_cache/dag911262r00025a_lerobot_0326_220254_1d1fdbda/episodes/ep000551/gripper_right_tactile_contact_metrics.json
new file mode 100644
index 0000000000000000000000000000000000000000..613e95a4043b9649fc547ace2e1e225677dd6033
--- /dev/null
+++ b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-07/outputs_tactile/tactile_cache/dag911262r00025a_lerobot_0326_220254_1d1fdbda/episodes/ep000551/gripper_right_tactile_contact_metrics.json
@@ -0,0 +1,12 @@
+{
+  "contact_time": 5.733333333333333,
+  "contact_ratio": 0.8958333333333334,
+  "avg_contact_area": 7559.296511627907,
+  "contact_entropy": 0.27046931213832553,
+  "total_frames": 192,
+  "fps": 30.0,
+  "reference_frame_count": 0,
+  "dataset_name": "dag911262r00025a_lerobot_0326_220254",
+  "episode_index": 551,
+  "sensor": "gripper_right_tactile"
+}
\ No newline at end of file
diff --git a/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-07/outputs_tactile/tactile_cache/dag911262r00025a_lerobot_0326_220254_1d1fdbda/episodes/ep000551/gripper_right_tactile_force_metrics.json b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-07/outputs_tactile/tactile_cache/dag911262r00025a_lerobot_0326_220254_1d1fdbda/episodes/ep000551/gripper_right_tactile_force_metrics.json
new file mode 100644
index 0000000000000000000000000000000000000000..6e5cd694272817c3f4083eb9cd372aa22b638915
--- /dev/null
+++ b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-07/outputs_tactile/tactile_cache/dag911262r00025a_lerobot_0326_220254_1d1fdbda/episodes/ep000551/gripper_right_tactile_force_metrics.json
@@ -0,0 +1,9 @@
+{
+  "depth_peak": 0.0036567123606801033,
+  "shear_peak": 0.009100876748561859,
+  "force_magnitude_peak": 0.009667977690696716,
+  "reference_frame_count": 0,
+  "dataset_name": "dag911262r00025a_lerobot_0326_220254",
+  "episode_index": 551,
+  "sensor": "gripper_right_tactile"
+}
\ No newline at end of file
diff --git a/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-07/outputs_tactile/tactile_cache/dag911262r00025a_lerobot_0326_220254_1d1fdbda/episodes/ep000553/gripper_left_tactile_force_metrics.json b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-07/outputs_tactile/tactile_cache/dag911262r00025a_lerobot_0326_220254_1d1fdbda/episodes/ep000553/gripper_left_tactile_force_metrics.json
new file mode 100644
index 0000000000000000000000000000000000000000..ff01a121c17cb1e7dfe138ef69a6a891bc7b61b8
--- /dev/null
+++ b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-07/outputs_tactile/tactile_cache/dag911262r00025a_lerobot_0326_220254_1d1fdbda/episodes/ep000553/gripper_left_tactile_force_metrics.json
@@ -0,0 +1,9 @@
+{
+  "depth_peak": 0.003799250815063715,
+  "shear_peak": 0.0029046833515167236,
+  "force_magnitude_peak": 0.0038381083868443966,
+  "reference_frame_count": 0,
+  "dataset_name": "dag911262r00025a_lerobot_0326_220254",
+  "episode_index": 553,
+  "sensor": "gripper_left_tactile"
+}
\ No newline at end of file
diff --git a/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-07/outputs_tactile/tactile_cache/dag911262r00025a_lerobot_0326_220254_1d1fdbda/episodes/ep000554/gripper_left_tactile_contact_metrics.json b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-07/outputs_tactile/tactile_cache/dag911262r00025a_lerobot_0326_220254_1d1fdbda/episodes/ep000554/gripper_left_tactile_contact_metrics.json
new file mode 100644
index 0000000000000000000000000000000000000000..5095563d9b95f76577053346ee106578addc50e1
--- /dev/null
+++ b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-07/outputs_tactile/tactile_cache/dag911262r00025a_lerobot_0326_220254_1d1fdbda/episodes/ep000554/gripper_left_tactile_contact_metrics.json
@@ -0,0 +1,12 @@
+{
+  "contact_time": 4.533333333333333,
+  "contact_ratio": 0.6938775510204082,
+  "avg_contact_area": 4772.588235294118,
+  "contact_entropy": 0.3353603211469201,
+  "total_frames": 196,
+  "fps": 30.0,
+  "reference_frame_count": 0,
+  "dataset_name": "dag911262r00025a_lerobot_0326_220254",
+  "episode_index": 554,
+  "sensor": "gripper_left_tactile"
+}
\ No newline at end of file
diff --git a/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-07/outputs_tactile/tactile_cache/dag911262r00025a_lerobot_0326_220254_1d1fdbda/episodes/ep000555/gripper_left_tactile_contact_metrics.json b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-07/outputs_tactile/tactile_cache/dag911262r00025a_lerobot_0326_220254_1d1fdbda/episodes/ep000555/gripper_left_tactile_contact_metrics.json
new file mode 100644
index 0000000000000000000000000000000000000000..c335a58347fd69cc30be97d8ace2cce0aeea6160
--- /dev/null
+++ b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-07/outputs_tactile/tactile_cache/dag911262r00025a_lerobot_0326_220254_1d1fdbda/episodes/ep000555/gripper_left_tactile_contact_metrics.json
@@ -0,0 +1,12 @@
+{
+  "contact_time": 5.966666666666667,
+  "contact_ratio": 0.7617021276595745,
+  "avg_contact_area": 1671.0391061452515,
+  "contact_entropy": 0.06402078434387237,
+  "total_frames": 235,
+  "fps": 30.0,
+  "reference_frame_count": 0,
+  "dataset_name": "dag911262r00025a_lerobot_0326_220254",
+  "episode_index": 555,
+  "sensor": "gripper_left_tactile"
+}
\ No newline at end of file
diff --git a/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-07/outputs_tactile/tactile_cache/dag911262r00025a_lerobot_0326_220254_1d1fdbda/episodes/ep000558/gripper_left_tactile_force_metrics.json b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-07/outputs_tactile/tactile_cache/dag911262r00025a_lerobot_0326_220254_1d1fdbda/episodes/ep000558/gripper_left_tactile_force_metrics.json
new file mode 100644
index 0000000000000000000000000000000000000000..bb90a86ed620ee1ff0e3821f965f22742e0ec9e3
--- /dev/null
+++ b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-07/outputs_tactile/tactile_cache/dag911262r00025a_lerobot_0326_220254_1d1fdbda/episodes/ep000558/gripper_left_tactile_force_metrics.json
@@ -0,0 +1,9 @@
+{
+  "depth_peak": 0.0025040735490620136,
+  "shear_peak": 0.0024894126690924168,
+  "force_magnitude_peak": 0.0035083983093500137,
+  "reference_frame_count": 0,
+  "dataset_name": "dag911262r00025a_lerobot_0326_220254",
+  "episode_index": 558,
+  "sensor": "gripper_left_tactile"
+}
\ No newline at end of file
diff --git a/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-07/outputs_tactile/tactile_cache/dag911262r00025a_lerobot_0326_220254_1d1fdbda/episodes/ep000558/gripper_right_tactile_contact_metrics.json b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-07/outputs_tactile/tactile_cache/dag911262r00025a_lerobot_0326_220254_1d1fdbda/episodes/ep000558/gripper_right_tactile_contact_metrics.json
new file mode 100644
index 0000000000000000000000000000000000000000..08d651ee75eeae0674b75b361c620f4cb10fdb2f
--- /dev/null
+++ b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-07/outputs_tactile/tactile_cache/dag911262r00025a_lerobot_0326_220254_1d1fdbda/episodes/ep000558/gripper_right_tactile_contact_metrics.json
@@ -0,0 +1,12 @@
+{
+  "contact_time": 5.333333333333333,
+  "contact_ratio": 0.7441860465116279,
+  "avg_contact_area": 340.76875,
+  "contact_entropy": 0.08501151139528165,
+  "total_frames": 215,
+  "fps": 30.0,
+  "reference_frame_count": 0,
+  "dataset_name": "dag911262r00025a_lerobot_0326_220254",
+  "episode_index": 558,
+  "sensor": "gripper_right_tactile"
+}
\ No newline at end of file
diff --git a/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-07/outputs_tactile/tactile_cache/dag911262r00025a_lerobot_0326_220254_1d1fdbda/episodes/ep000560/gripper_right_tactile_force_metrics.json b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-07/outputs_tactile/tactile_cache/dag911262r00025a_lerobot_0326_220254_1d1fdbda/episodes/ep000560/gripper_right_tactile_force_metrics.json
new file mode 100644
index 0000000000000000000000000000000000000000..94c09887dbb82a9b4adf34f5a7492b22675f4e57
--- /dev/null
+++ b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-07/outputs_tactile/tactile_cache/dag911262r00025a_lerobot_0326_220254_1d1fdbda/episodes/ep000560/gripper_right_tactile_force_metrics.json
@@ -0,0 +1,9 @@
+{
+  "depth_peak": 0.008334063924849033,
+  "shear_peak": 0.006514833774417639,
+  "force_magnitude_peak": 0.01010541059076786,
+  "reference_frame_count": 0,
+  "dataset_name": "dag911262r00025a_lerobot_0326_220254",
+  "episode_index": 560,
+  "sensor": "gripper_right_tactile"
+}
\ No newline at end of file
diff --git a/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-07/outputs_tactile/tactile_cache/dag911262r00025a_lerobot_0326_220254_1d1fdbda/episodes/ep000562/gripper_left_tactile_contact_metrics.json b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-07/outputs_tactile/tactile_cache/dag911262r00025a_lerobot_0326_220254_1d1fdbda/episodes/ep000562/gripper_left_tactile_contact_metrics.json
new file mode 100644
index 0000000000000000000000000000000000000000..6e2b2c6d7e9918c5d67cfacdaeb31da36f9cb5d9
--- /dev/null
+++ b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-07/outputs_tactile/tactile_cache/dag911262r00025a_lerobot_0326_220254_1d1fdbda/episodes/ep000562/gripper_left_tactile_contact_metrics.json
@@ -0,0 +1,12 @@
+{
+  "contact_time": 6.2,
+  "contact_ratio": 0.7560975609756098,
+  "avg_contact_area": 1521.7043010752689,
+  "contact_entropy": 0.08924890579670461,
+  "total_frames": 246,
+  "fps": 30.0,
+  "reference_frame_count": 0,
+  "dataset_name": "dag911262r00025a_lerobot_0326_220254",
+  "episode_index": 562,
+  "sensor": "gripper_left_tactile"
+}
\ No newline at end of file
diff --git a/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-07/outputs_tactile/tactile_cache/dag911262r00025a_lerobot_0326_220254_1d1fdbda/episodes/ep000565/gripper_left_tactile_force_metrics.json b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-07/outputs_tactile/tactile_cache/dag911262r00025a_lerobot_0326_220254_1d1fdbda/episodes/ep000565/gripper_left_tactile_force_metrics.json
new file mode 100644
index 0000000000000000000000000000000000000000..de4d670462bda0a74c68d3200a29ad80d9b4cc59
--- /dev/null
+++ b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-07/outputs_tactile/tactile_cache/dag911262r00025a_lerobot_0326_220254_1d1fdbda/episodes/ep000565/gripper_left_tactile_force_metrics.json
@@ -0,0 +1,9 @@
+{
+  "depth_peak": 0.0060311551205813885,
+  "shear_peak": 0.0013293818337842822,
+  "force_magnitude_peak": 0.006155138369649649,
+  "reference_frame_count": 0,
+  "dataset_name": "dag911262r00025a_lerobot_0326_220254",
+  "episode_index": 565,
+  "sensor": "gripper_left_tactile"
+}
\ No newline at end of file
diff --git a/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-07/outputs_tactile/tactile_cache/dag911262r00025a_lerobot_0326_220254_1d1fdbda/episodes/ep000573/gripper_right_tactile_contact_metrics.json b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-07/outputs_tactile/tactile_cache/dag911262r00025a_lerobot_0326_220254_1d1fdbda/episodes/ep000573/gripper_right_tactile_contact_metrics.json
new file mode 100644
index 0000000000000000000000000000000000000000..132e0e15e389641ebd7b2da92db6c10da3e84de1
--- /dev/null
+++ b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-07/outputs_tactile/tactile_cache/dag911262r00025a_lerobot_0326_220254_1d1fdbda/episodes/ep000573/gripper_right_tactile_contact_metrics.json
@@ -0,0 +1,12 @@
+{
+  "contact_time": 5.033333333333333,
+  "contact_ratio": 0.9041916167664671,
+  "avg_contact_area": 453.71523178807945,
+  "contact_entropy": 0.18213661591829075,
+  "total_frames": 167,
+  "fps": 30.0,
+  "reference_frame_count": 0,
+  "dataset_name": "dag911262r00025a_lerobot_0326_220254",
+  "episode_index": 573,
+  "sensor": "gripper_right_tactile"
+}
\ No newline at end of file
diff --git a/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-07/outputs_tactile/tactile_cache/dag911262r00025a_lerobot_0326_220254_1d1fdbda/episodes/ep000573/gripper_right_tactile_force_metrics.json b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-07/outputs_tactile/tactile_cache/dag911262r00025a_lerobot_0326_220254_1d1fdbda/episodes/ep000573/gripper_right_tactile_force_metrics.json
new file mode 100644
index 0000000000000000000000000000000000000000..b20215b895ac4dae885284a6c0fcc6557294d0f3
--- /dev/null
+++ b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-07/outputs_tactile/tactile_cache/dag911262r00025a_lerobot_0326_220254_1d1fdbda/episodes/ep000573/gripper_right_tactile_force_metrics.json
@@ -0,0 +1,9 @@
+{
+  "depth_peak": 0.0017344722291454673,
+  "shear_peak": 0.001960177905857563,
+  "force_magnitude_peak": 0.002047660993412137,
+  "reference_frame_count": 0,
+  "dataset_name": "dag911262r00025a_lerobot_0326_220254",
+  "episode_index": 573,
+  "sensor": "gripper_right_tactile"
+}
\ No newline at end of file
diff --git a/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-07/outputs_tactile/tactile_cache/dag911262r00025a_lerobot_0326_220254_1d1fdbda/episodes/ep000574/gripper_left_tactile_contact_metrics.json b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-07/outputs_tactile/tactile_cache/dag911262r00025a_lerobot_0326_220254_1d1fdbda/episodes/ep000574/gripper_left_tactile_contact_metrics.json
new file mode 100644
index 0000000000000000000000000000000000000000..293b1e358cea9a12dc67c9f3db4c5aaa8c9a0dc0
--- /dev/null
+++ b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-07/outputs_tactile/tactile_cache/dag911262r00025a_lerobot_0326_220254_1d1fdbda/episodes/ep000574/gripper_left_tactile_contact_metrics.json
@@ -0,0 +1,12 @@
+{
+  "contact_time": 6.9,
+  "contact_ratio": 0.7695167286245354,
+  "avg_contact_area": 4738.922705314009,
+  "contact_entropy": 0.6063900694833555,
+  "total_frames": 269,
+  "fps": 30.0,
+  "reference_frame_count": 0,
+  "dataset_name": "dag911262r00025a_lerobot_0326_220254",
+  "episode_index": 574,
+  "sensor": "gripper_left_tactile"
+}
\ No newline at end of file
diff --git a/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-07/outputs_tactile/tactile_cache/dag911262r00025a_lerobot_0326_220254_1d1fdbda/episodes/ep000575/gripper_right_tactile_force_metrics.json b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-07/outputs_tactile/tactile_cache/dag911262r00025a_lerobot_0326_220254_1d1fdbda/episodes/ep000575/gripper_right_tactile_force_metrics.json
new file mode 100644
index 0000000000000000000000000000000000000000..f531068f6482f865b5908b94a3d341f220b23f39
--- /dev/null
+++ b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-07/outputs_tactile/tactile_cache/dag911262r00025a_lerobot_0326_220254_1d1fdbda/episodes/ep000575/gripper_right_tactile_force_metrics.json
@@ -0,0 +1,9 @@
+{
+  "depth_peak": 0.008235311135649681,
+  "shear_peak": 0.010392939671874046,
+  "force_magnitude_peak": 0.0112468795850873,
+  "reference_frame_count": 0,
+  "dataset_name": "dag911262r00025a_lerobot_0326_220254",
+  "episode_index": 575,
+  "sensor": "gripper_right_tactile"
+}
\ No newline at end of file
diff --git a/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-07/outputs_tactile/tactile_cache/dag911262r00025a_lerobot_0326_220254_1d1fdbda/episodes/ep000577/gripper_left_tactile_force_metrics.json b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-07/outputs_tactile/tactile_cache/dag911262r00025a_lerobot_0326_220254_1d1fdbda/episodes/ep000577/gripper_left_tactile_force_metrics.json
new file mode 100644
index 0000000000000000000000000000000000000000..2bb24ccd3e87e7579d2204ddf881979cee66108c
--- /dev/null
+++ b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-07/outputs_tactile/tactile_cache/dag911262r00025a_lerobot_0326_220254_1d1fdbda/episodes/ep000577/gripper_left_tactile_force_metrics.json
@@ -0,0 +1,9 @@
+{
+  "depth_peak": 0.005116635002195835,
+  "shear_peak": 0.0014221089659258723,
+  "force_magnitude_peak": 0.005116781685501337,
+  "reference_frame_count": 0,
+  "dataset_name": "dag911262r00025a_lerobot_0326_220254",
+  "episode_index": 577,
+  "sensor": "gripper_left_tactile"
+}
\ No newline at end of file
diff --git a/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-07/outputs_tactile/tactile_cache/dag911262r00025a_lerobot_0326_220254_1d1fdbda/episodes/ep000578/gripper_right_tactile_contact_metrics.json b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-07/outputs_tactile/tactile_cache/dag911262r00025a_lerobot_0326_220254_1d1fdbda/episodes/ep000578/gripper_right_tactile_contact_metrics.json
new file mode 100644
index 0000000000000000000000000000000000000000..409ad1da069756f89add5428a9f98ce7542a4ea2
--- /dev/null
+++ b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-07/outputs_tactile/tactile_cache/dag911262r00025a_lerobot_0326_220254_1d1fdbda/episodes/ep000578/gripper_right_tactile_contact_metrics.json
@@ -0,0 +1,12 @@
+{
+  "contact_time": 6.0,
+  "contact_ratio": 0.7692307692307693,
+  "avg_contact_area": 9013.988888888889,
+  "contact_entropy": 0.3635648500981668,
+  "total_frames": 234,
+  "fps": 30.0,
+  "reference_frame_count": 0,
+  "dataset_name": "dag911262r00025a_lerobot_0326_220254",
+  "episode_index": 578,
+  "sensor": "gripper_right_tactile"
+}
\ No newline at end of file
diff --git a/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-07/outputs_tactile/tactile_cache/dag911262r00025a_lerobot_0326_220254_1d1fdbda/episodes/ep000581/gripper_left_tactile_contact_metrics.json b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-07/outputs_tactile/tactile_cache/dag911262r00025a_lerobot_0326_220254_1d1fdbda/episodes/ep000581/gripper_left_tactile_contact_metrics.json
new file mode 100644
index 0000000000000000000000000000000000000000..5025b3e55ad17037fab899349568cc099aad0633
--- /dev/null
+++ b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-07/outputs_tactile/tactile_cache/dag911262r00025a_lerobot_0326_220254_1d1fdbda/episodes/ep000581/gripper_left_tactile_contact_metrics.json
@@ -0,0 +1,12 @@
+{
+  "contact_time": 5.566666666666666,
+  "contact_ratio": 0.7990430622009569,
+  "avg_contact_area": 4851.437125748503,
+  "contact_entropy": 0.40381325032105864,
+  "total_frames": 209,
+  "fps": 30.0,
+  "reference_frame_count": 0,
+  "dataset_name": "dag911262r00025a_lerobot_0326_220254",
+  "episode_index": 581,
+  "sensor": "gripper_left_tactile"
+}
\ No newline at end of file
diff --git a/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-07/outputs_tactile/tactile_cache/dag911262r00025a_lerobot_0326_220254_1d1fdbda/episodes/ep000586/gripper_right_tactile_force_metrics.json b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-07/outputs_tactile/tactile_cache/dag911262r00025a_lerobot_0326_220254_1d1fdbda/episodes/ep000586/gripper_right_tactile_force_metrics.json
new file mode 100644
index 0000000000000000000000000000000000000000..37bec5b24a50792e6f61e372b3492d1dea20dd9c
--- /dev/null
+++ b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-07/outputs_tactile/tactile_cache/dag911262r00025a_lerobot_0326_220254_1d1fdbda/episodes/ep000586/gripper_right_tactile_force_metrics.json
@@ -0,0 +1,9 @@
+{
+  "depth_peak": 0.008640180341899395,
+  "shear_peak": 0.004872124642133713,
+  "force_magnitude_peak": 0.009919188916683197,
+  "reference_frame_count": 0,
+  "dataset_name": "dag911262r00025a_lerobot_0326_220254",
+  "episode_index": 586,
+  "sensor": "gripper_right_tactile"
+}
\ No newline at end of file
diff --git a/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-07/outputs_tactile/tactile_cache/dag911262r00025a_lerobot_0326_220254_1d1fdbda/episodes/ep000588/gripper_left_tactile_force_metrics.json b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-07/outputs_tactile/tactile_cache/dag911262r00025a_lerobot_0326_220254_1d1fdbda/episodes/ep000588/gripper_left_tactile_force_metrics.json
new file mode 100644
index 0000000000000000000000000000000000000000..ce43047ba57c17672cd4351ca3de23c3625b77f0
--- /dev/null
+++ b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-07/outputs_tactile/tactile_cache/dag911262r00025a_lerobot_0326_220254_1d1fdbda/episodes/ep000588/gripper_left_tactile_force_metrics.json
@@ -0,0 +1,9 @@
+{
+  "depth_peak": 0.00423903064802289,
+  "shear_peak": 0.002421767683699727,
+  "force_magnitude_peak": 0.004239272326231003,
+  "reference_frame_count": 0,
+  "dataset_name": "dag911262r00025a_lerobot_0326_220254",
+  "episode_index": 588,
+  "sensor": "gripper_left_tactile"
+}
\ No newline at end of file
diff --git a/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-07/outputs_tactile/tactile_cache/dag911262r00025a_lerobot_0326_220254_1d1fdbda/episodes/ep000588/gripper_right_tactile_contact_metrics.json b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-07/outputs_tactile/tactile_cache/dag911262r00025a_lerobot_0326_220254_1d1fdbda/episodes/ep000588/gripper_right_tactile_contact_metrics.json
new file mode 100644
index 0000000000000000000000000000000000000000..e3c9af7c73db79d6413f4fdb9dbf8ce2730b1673
--- /dev/null
+++ b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-07/outputs_tactile/tactile_cache/dag911262r00025a_lerobot_0326_220254_1d1fdbda/episodes/ep000588/gripper_right_tactile_contact_metrics.json
@@ -0,0 +1,12 @@
+{
+  "contact_time": 5.033333333333333,
+  "contact_ratio": 0.7330097087378641,
+  "avg_contact_area": 2298.6291390728475,
+  "contact_entropy": 0.618210393618159,
+  "total_frames": 206,
+  "fps": 30.0,
+  "reference_frame_count": 0,
+  "dataset_name": "dag911262r00025a_lerobot_0326_220254",
+  "episode_index": 588,
+  "sensor": "gripper_right_tactile"
+}
\ No newline at end of file
diff --git a/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-07/outputs_tactile/tactile_cache/dag911262r00025a_lerobot_0326_220254_1d1fdbda/episodes/ep000591/gripper_right_tactile_contact_metrics.json b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-07/outputs_tactile/tactile_cache/dag911262r00025a_lerobot_0326_220254_1d1fdbda/episodes/ep000591/gripper_right_tactile_contact_metrics.json
new file mode 100644
index 0000000000000000000000000000000000000000..84017edf9eb570bace613e1287097a304a502d76
--- /dev/null
+++ b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-07/outputs_tactile/tactile_cache/dag911262r00025a_lerobot_0326_220254_1d1fdbda/episodes/ep000591/gripper_right_tactile_contact_metrics.json
@@ -0,0 +1,12 @@
+{
+  "contact_time": 4.666666666666667,
+  "contact_ratio": 0.8235294117647058,
+  "avg_contact_area": 8444.407142857142,
+  "contact_entropy": 0.7419914729347656,
+  "total_frames": 170,
+  "fps": 30.0,
+  "reference_frame_count": 0,
+  "dataset_name": "dag911262r00025a_lerobot_0326_220254",
+  "episode_index": 591,
+  "sensor": "gripper_right_tactile"
+}
\ No newline at end of file
diff --git a/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-07/outputs_tactile/tactile_cache/dag911262r00025a_lerobot_0326_220254_1d1fdbda/episodes/ep000591/gripper_right_tactile_force_metrics.json b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-07/outputs_tactile/tactile_cache/dag911262r00025a_lerobot_0326_220254_1d1fdbda/episodes/ep000591/gripper_right_tactile_force_metrics.json
new file mode 100644
index 0000000000000000000000000000000000000000..bf426211458e6228b9d452eef13cbf997cb1b73b
--- /dev/null
+++ b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-07/outputs_tactile/tactile_cache/dag911262r00025a_lerobot_0326_220254_1d1fdbda/episodes/ep000591/gripper_right_tactile_force_metrics.json
@@ -0,0 +1,9 @@
+{
+  "depth_peak": 0.014370212331414223,
+  "shear_peak": 0.0025699723046272993,
+  "force_magnitude_peak": 0.014565154910087585,
+  "reference_frame_count": 0,
+  "dataset_name": "dag911262r00025a_lerobot_0326_220254",
+  "episode_index": 591,
+  "sensor": "gripper_right_tactile"
+}
\ No newline at end of file
diff --git a/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-07/outputs_tactile/tactile_cache/dag911262r00025a_lerobot_0326_220254_1d1fdbda/episodes/ep000593/gripper_left_tactile_force_metrics.json b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-07/outputs_tactile/tactile_cache/dag911262r00025a_lerobot_0326_220254_1d1fdbda/episodes/ep000593/gripper_left_tactile_force_metrics.json
new file mode 100644
index 0000000000000000000000000000000000000000..aeb447e030d1c399aecfa48f1565a56767b3e647
--- /dev/null
+++ b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-07/outputs_tactile/tactile_cache/dag911262r00025a_lerobot_0326_220254_1d1fdbda/episodes/ep000593/gripper_left_tactile_force_metrics.json
@@ -0,0 +1,9 @@
+{
+  "depth_peak": 0.002143255202099681,
+  "shear_peak": 0.00099812145344913,
+  "force_magnitude_peak": 0.002350909635424614,
+  "reference_frame_count": 0,
+  "dataset_name": "dag911262r00025a_lerobot_0326_220254",
+  "episode_index": 593,
+  "sensor": "gripper_left_tactile"
+}
\ No newline at end of file
diff --git a/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-07/outputs_tactile/tactile_cache/dag911262r00025a_lerobot_0326_220254_1d1fdbda/episodes/ep000594/gripper_left_tactile_contact_metrics.json b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-07/outputs_tactile/tactile_cache/dag911262r00025a_lerobot_0326_220254_1d1fdbda/episodes/ep000594/gripper_left_tactile_contact_metrics.json
new file mode 100644
index 0000000000000000000000000000000000000000..619a81b1860b7b8a87fe024d864acc97e8c98712
--- /dev/null
+++ b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-07/outputs_tactile/tactile_cache/dag911262r00025a_lerobot_0326_220254_1d1fdbda/episodes/ep000594/gripper_left_tactile_contact_metrics.json
@@ -0,0 +1,12 @@
+{
+  "contact_time": 4.266666666666667,
+  "contact_ratio": 0.6844919786096256,
+  "avg_contact_area": 2564.4609375,
+  "contact_entropy": 0.006469612322498304,
+  "total_frames": 187,
+  "fps": 30.0,
+  "reference_frame_count": 0,
+  "dataset_name": "dag911262r00025a_lerobot_0326_220254",
+  "episode_index": 594,
+  "sensor": "gripper_left_tactile"
+}
\ No newline at end of file
diff --git a/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-07/outputs_tactile/tactile_cache/dag911262r00025a_lerobot_0326_220254_1d1fdbda/episodes/ep000595/gripper_left_tactile_contact_metrics.json b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-07/outputs_tactile/tactile_cache/dag911262r00025a_lerobot_0326_220254_1d1fdbda/episodes/ep000595/gripper_left_tactile_contact_metrics.json
new file mode 100644
index 0000000000000000000000000000000000000000..68027a33116500cdcf10419ea3faea32b6448442
--- /dev/null
+++ b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-07/outputs_tactile/tactile_cache/dag911262r00025a_lerobot_0326_220254_1d1fdbda/episodes/ep000595/gripper_left_tactile_contact_metrics.json
@@ -0,0 +1,12 @@
+{
+  "contact_time": 4.533333333333333,
+  "contact_ratio": 0.7311827956989247,
+  "avg_contact_area": 4266.566176470588,
+  "contact_entropy": 0.47425142758078254,
+  "total_frames": 186,
+  "fps": 30.0,
+  "reference_frame_count": 0,
+  "dataset_name": "dag911262r00025a_lerobot_0326_220254",
+  "episode_index": 595,
+  "sensor": "gripper_left_tactile"
+}
\ No newline at end of file
diff --git a/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-07/outputs_tactile/tactile_cache/dag911262r00025a_lerobot_0326_220254_1d1fdbda/episodes/ep000598/gripper_left_tactile_force_metrics.json b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-07/outputs_tactile/tactile_cache/dag911262r00025a_lerobot_0326_220254_1d1fdbda/episodes/ep000598/gripper_left_tactile_force_metrics.json
new file mode 100644
index 0000000000000000000000000000000000000000..b9d072d1fc9c4bf3001642728ad0394b3546ef4c
--- /dev/null
+++ b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-07/outputs_tactile/tactile_cache/dag911262r00025a_lerobot_0326_220254_1d1fdbda/episodes/ep000598/gripper_left_tactile_force_metrics.json
@@ -0,0 +1,9 @@
+{
+  "depth_peak": 0.003562549827620387,
+  "shear_peak": 0.0018309711012989283,
+  "force_magnitude_peak": 0.004005523398518562,
+  "reference_frame_count": 0,
+  "dataset_name": "dag911262r00025a_lerobot_0326_220254",
+  "episode_index": 598,
+  "sensor": "gripper_left_tactile"
+}
\ No newline at end of file
diff --git a/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-07/outputs_tactile/tactile_cache/dag911262r00025a_lerobot_0326_220254_1d1fdbda/episodes/ep000598/gripper_right_tactile_contact_metrics.json b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-07/outputs_tactile/tactile_cache/dag911262r00025a_lerobot_0326_220254_1d1fdbda/episodes/ep000598/gripper_right_tactile_contact_metrics.json
new file mode 100644
index 0000000000000000000000000000000000000000..a3cdbf44d14a702fc9e04e75771d90e6c7f9536d
--- /dev/null
+++ b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-07/outputs_tactile/tactile_cache/dag911262r00025a_lerobot_0326_220254_1d1fdbda/episodes/ep000598/gripper_right_tactile_contact_metrics.json
@@ -0,0 +1,12 @@
+{
+  "contact_time": 3.966666666666667,
+  "contact_ratio": 0.6685393258426966,
+  "avg_contact_area": 744.6470588235294,
+  "contact_entropy": 0.20626243072568554,
+  "total_frames": 178,
+  "fps": 30.0,
+  "reference_frame_count": 0,
+  "dataset_name": "dag911262r00025a_lerobot_0326_220254",
+  "episode_index": 598,
+  "sensor": "gripper_right_tactile"
+}
\ No newline at end of file
diff --git a/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-07/outputs_tactile/tactile_cache/dag911262r00025a_lerobot_0326_220254_1d1fdbda/episodes/ep000600/gripper_right_tactile_force_metrics.json b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-07/outputs_tactile/tactile_cache/dag911262r00025a_lerobot_0326_220254_1d1fdbda/episodes/ep000600/gripper_right_tactile_force_metrics.json
new file mode 100644
index 0000000000000000000000000000000000000000..2a0cc7425c41b2237ac9983d45d2bcb0d34a69da
--- /dev/null
+++ b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-07/outputs_tactile/tactile_cache/dag911262r00025a_lerobot_0326_220254_1d1fdbda/episodes/ep000600/gripper_right_tactile_force_metrics.json
@@ -0,0 +1,9 @@
+{
+  "depth_peak": 0.010714811272919178,
+  "shear_peak": 0.006862443871796131,
+  "force_magnitude_peak": 0.010967926122248173,
+  "reference_frame_count": 0,
+  "dataset_name": "dag911262r00025a_lerobot_0326_220254",
+  "episode_index": 600,
+  "sensor": "gripper_right_tactile"
+}
\ No newline at end of file
diff --git a/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-07/outputs_tactile/tactile_cache/dag911262r00025a_lerobot_0326_220254_1d1fdbda/episodes/ep000602/gripper_left_tactile_contact_metrics.json b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-07/outputs_tactile/tactile_cache/dag911262r00025a_lerobot_0326_220254_1d1fdbda/episodes/ep000602/gripper_left_tactile_contact_metrics.json
new file mode 100644
index 0000000000000000000000000000000000000000..4ccac2bea7bb1da2e8bb4e6436e4d95d209dea89
--- /dev/null
+++ b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-07/outputs_tactile/tactile_cache/dag911262r00025a_lerobot_0326_220254_1d1fdbda/episodes/ep000602/gripper_left_tactile_contact_metrics.json
@@ -0,0 +1,12 @@
+{
+  "contact_time": 12.266666666666667,
+  "contact_ratio": 0.92,
+  "avg_contact_area": 3880.2989130434785,
+  "contact_entropy": 0.10569040798625315,
+  "total_frames": 400,
+  "fps": 30.0,
+  "reference_frame_count": 0,
+  "dataset_name": "dag911262r00025a_lerobot_0326_220254",
+  "episode_index": 602,
+  "sensor": "gripper_left_tactile"
+}
\ No newline at end of file
diff --git a/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-07/outputs_tactile/tactile_cache/dag911262r00025a_lerobot_0326_220254_1d1fdbda/episodes/ep000605/gripper_left_tactile_force_metrics.json b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-07/outputs_tactile/tactile_cache/dag911262r00025a_lerobot_0326_220254_1d1fdbda/episodes/ep000605/gripper_left_tactile_force_metrics.json
new file mode 100644
index 0000000000000000000000000000000000000000..08357eeca4458e8c048bfa91cfaee16b4f22d168
--- /dev/null
+++ b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-07/outputs_tactile/tactile_cache/dag911262r00025a_lerobot_0326_220254_1d1fdbda/episodes/ep000605/gripper_left_tactile_force_metrics.json
@@ -0,0 +1,9 @@
+{
+  "depth_peak": 0.00480245053768158,
+  "shear_peak": 0.0026545331347733736,
+  "force_magnitude_peak": 0.00539641547948122,
+  "reference_frame_count": 0,
+  "dataset_name": "dag911262r00025a_lerobot_0326_220254",
+  "episode_index": 605,
+  "sensor": "gripper_left_tactile"
+}
\ No newline at end of file
diff --git a/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-07/outputs_tactile/tactile_cache/dag911262r00025a_lerobot_0326_220254_1d1fdbda/episodes/ep000613/gripper_right_tactile_contact_metrics.json b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-07/outputs_tactile/tactile_cache/dag911262r00025a_lerobot_0326_220254_1d1fdbda/episodes/ep000613/gripper_right_tactile_contact_metrics.json
new file mode 100644
index 0000000000000000000000000000000000000000..0dd8e7b7fe8005ac512cb452ecc20f51b4fd823a
--- /dev/null
+++ b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-07/outputs_tactile/tactile_cache/dag911262r00025a_lerobot_0326_220254_1d1fdbda/episodes/ep000613/gripper_right_tactile_contact_metrics.json
@@ -0,0 +1,12 @@
+{
+  "contact_time": 16.5,
+  "contact_ratio": 0.9116022099447514,
+  "avg_contact_area": 4669.414141414141,
+  "contact_entropy": 0.390268256710194,
+  "total_frames": 543,
+  "fps": 30.0,
+  "reference_frame_count": 0,
+  "dataset_name": "dag911262r00025a_lerobot_0326_220254",
+  "episode_index": 613,
+  "sensor": "gripper_right_tactile"
+}
\ No newline at end of file
diff --git a/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-07/outputs_tactile/tactile_cache/dag911262r00025a_lerobot_0326_220254_1d1fdbda/episodes/ep000613/gripper_right_tactile_force_metrics.json b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-07/outputs_tactile/tactile_cache/dag911262r00025a_lerobot_0326_220254_1d1fdbda/episodes/ep000613/gripper_right_tactile_force_metrics.json
new file mode 100644
index 0000000000000000000000000000000000000000..61a643ce3027692c33e5c336a94c9ee2c05a4a8b
--- /dev/null
+++ b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-07/outputs_tactile/tactile_cache/dag911262r00025a_lerobot_0326_220254_1d1fdbda/episodes/ep000613/gripper_right_tactile_force_metrics.json
@@ -0,0 +1,9 @@
+{
+  "depth_peak": 0.008425350300967693,
+  "shear_peak": 0.008327173069119453,
+  "force_magnitude_peak": 0.010953729972243309,
+  "reference_frame_count": 0,
+  "dataset_name": "dag911262r00025a_lerobot_0326_220254",
+  "episode_index": 613,
+  "sensor": "gripper_right_tactile"
+}
\ No newline at end of file
diff --git a/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-07/outputs_tactile/tactile_cache/dag911262r00025a_lerobot_0326_220254_1d1fdbda/episodes/ep000614/gripper_left_tactile_contact_metrics.json b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-07/outputs_tactile/tactile_cache/dag911262r00025a_lerobot_0326_220254_1d1fdbda/episodes/ep000614/gripper_left_tactile_contact_metrics.json
new file mode 100644
index 0000000000000000000000000000000000000000..27684c32dccd6cb1644917bcf5adb6940468e03d
--- /dev/null
+++ b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-07/outputs_tactile/tactile_cache/dag911262r00025a_lerobot_0326_220254_1d1fdbda/episodes/ep000614/gripper_left_tactile_contact_metrics.json
@@ -0,0 +1,12 @@
+{
+  "contact_time": 11.733333333333333,
+  "contact_ratio": 0.8606356968215159,
+  "avg_contact_area": 3227.6164772727275,
+  "contact_entropy": 0.38271955437325716,
+  "total_frames": 409,
+  "fps": 30.0,
+  "reference_frame_count": 0,
+  "dataset_name": "dag911262r00025a_lerobot_0326_220254",
+  "episode_index": 614,
+  "sensor": "gripper_left_tactile"
+}
\ No newline at end of file
diff --git a/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-07/outputs_tactile/tactile_cache/dag911262r00025a_lerobot_0326_220254_1d1fdbda/episodes/ep000615/gripper_right_tactile_force_metrics.json b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-07/outputs_tactile/tactile_cache/dag911262r00025a_lerobot_0326_220254_1d1fdbda/episodes/ep000615/gripper_right_tactile_force_metrics.json
new file mode 100644
index 0000000000000000000000000000000000000000..ee3e8b69a4db3379a40ca0259de9a082ddf52282
--- /dev/null
+++ b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-07/outputs_tactile/tactile_cache/dag911262r00025a_lerobot_0326_220254_1d1fdbda/episodes/ep000615/gripper_right_tactile_force_metrics.json
@@ -0,0 +1,9 @@
+{
+  "depth_peak": 0.0036508766934275627,
+  "shear_peak": 0.0022735516540706158,
+  "force_magnitude_peak": 0.0036618467420339584,
+  "reference_frame_count": 0,
+  "dataset_name": "dag911262r00025a_lerobot_0326_220254",
+  "episode_index": 615,
+  "sensor": "gripper_right_tactile"
+}
\ No newline at end of file
diff --git a/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-07/outputs_tactile/tactile_cache/dag911262r00025a_lerobot_0326_220254_1d1fdbda/episodes/ep000617/gripper_left_tactile_force_metrics.json b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-07/outputs_tactile/tactile_cache/dag911262r00025a_lerobot_0326_220254_1d1fdbda/episodes/ep000617/gripper_left_tactile_force_metrics.json
new file mode 100644
index 0000000000000000000000000000000000000000..60402437770b7da758c1030e01b0e5c0d88769d6
--- /dev/null
+++ b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-07/outputs_tactile/tactile_cache/dag911262r00025a_lerobot_0326_220254_1d1fdbda/episodes/ep000617/gripper_left_tactile_force_metrics.json
@@ -0,0 +1,9 @@
+{
+  "depth_peak": 0.00934330839663744,
+  "shear_peak": 0.016415027901530266,
+  "force_magnitude_peak": 0.018679508939385414,
+  "reference_frame_count": 0,
+  "dataset_name": "dag911262r00025a_lerobot_0326_220254",
+  "episode_index": 617,
+  "sensor": "gripper_left_tactile"
+}
\ No newline at end of file
diff --git a/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-07/outputs_tactile/tactile_cache/dag911262r00025a_lerobot_0326_220254_1d1fdbda/episodes/ep000618/gripper_right_tactile_contact_metrics.json b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-07/outputs_tactile/tactile_cache/dag911262r00025a_lerobot_0326_220254_1d1fdbda/episodes/ep000618/gripper_right_tactile_contact_metrics.json
new file mode 100644
index 0000000000000000000000000000000000000000..52e53739f92c71e31d2848bf89371e6be33f948b
--- /dev/null
+++ b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-07/outputs_tactile/tactile_cache/dag911262r00025a_lerobot_0326_220254_1d1fdbda/episodes/ep000618/gripper_right_tactile_contact_metrics.json
@@ -0,0 +1,12 @@
+{
+  "contact_time": 6.866666666666666,
+  "contact_ratio": 0.7744360902255639,
+  "avg_contact_area": 1091.0631067961165,
+  "contact_entropy": 0.1556256936585662,
+  "total_frames": 266,
+  "fps": 30.0,
+  "reference_frame_count": 0,
+  "dataset_name": "dag911262r00025a_lerobot_0326_220254",
+  "episode_index": 618,
+  "sensor": "gripper_right_tactile"
+}
\ No newline at end of file
diff --git a/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-07/outputs_tactile/tactile_cache/dag911262r00025a_lerobot_0326_220254_1d1fdbda/episodes/ep000621/gripper_left_tactile_contact_metrics.json b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-07/outputs_tactile/tactile_cache/dag911262r00025a_lerobot_0326_220254_1d1fdbda/episodes/ep000621/gripper_left_tactile_contact_metrics.json
new file mode 100644
index 0000000000000000000000000000000000000000..400cf0cd3c1451393f67d8db54095c8e5f4542ce
--- /dev/null
+++ b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-07/outputs_tactile/tactile_cache/dag911262r00025a_lerobot_0326_220254_1d1fdbda/episodes/ep000621/gripper_left_tactile_contact_metrics.json
@@ -0,0 +1,12 @@
+{
+  "contact_time": 7.1,
+  "contact_ratio": 0.8693877551020408,
+  "avg_contact_area": 4602.718309859155,
+  "contact_entropy": 0.36526478489853975,
+  "total_frames": 245,
+  "fps": 30.0,
+  "reference_frame_count": 0,
+  "dataset_name": "dag911262r00025a_lerobot_0326_220254",
+  "episode_index": 621,
+  "sensor": "gripper_left_tactile"
+}
\ No newline at end of file
diff --git a/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-07/outputs_tactile/tactile_cache/dag911262r00025a_lerobot_0326_220254_1d1fdbda/episodes/ep000626/gripper_right_tactile_force_metrics.json b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-07/outputs_tactile/tactile_cache/dag911262r00025a_lerobot_0326_220254_1d1fdbda/episodes/ep000626/gripper_right_tactile_force_metrics.json
new file mode 100644
index 0000000000000000000000000000000000000000..c49cd343f2a4e83146c840dbb1002d40803a798c
--- /dev/null
+++ b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-07/outputs_tactile/tactile_cache/dag911262r00025a_lerobot_0326_220254_1d1fdbda/episodes/ep000626/gripper_right_tactile_force_metrics.json
@@ -0,0 +1,9 @@
+{
+  "depth_peak": 0.020201167091727257,
+  "shear_peak": 0.011387920007109642,
+  "force_magnitude_peak": 0.023023229092359543,
+  "reference_frame_count": 0,
+  "dataset_name": "dag911262r00025a_lerobot_0326_220254",
+  "episode_index": 626,
+  "sensor": "gripper_right_tactile"
+}
\ No newline at end of file
diff --git a/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-07/outputs_tactile/tactile_cache/dag911262r00025a_lerobot_0326_220254_1d1fdbda/episodes/ep000628/gripper_left_tactile_force_metrics.json b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-07/outputs_tactile/tactile_cache/dag911262r00025a_lerobot_0326_220254_1d1fdbda/episodes/ep000628/gripper_left_tactile_force_metrics.json
new file mode 100644
index 0000000000000000000000000000000000000000..d5737f97e2087d4428ea38b4623f96d9be1ed574
--- /dev/null
+++ b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-07/outputs_tactile/tactile_cache/dag911262r00025a_lerobot_0326_220254_1d1fdbda/episodes/ep000628/gripper_left_tactile_force_metrics.json
@@ -0,0 +1,9 @@
+{
+  "depth_peak": 0.00532334391027689,
+  "shear_peak": 0.003424119669944048,
+  "force_magnitude_peak": 0.0056771752424538136,
+  "reference_frame_count": 0,
+  "dataset_name": "dag911262r00025a_lerobot_0326_220254",
+  "episode_index": 628,
+  "sensor": "gripper_left_tactile"
+}
\ No newline at end of file
diff --git a/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-07/outputs_tactile/tactile_cache/dag911262r00025a_lerobot_0326_220254_1d1fdbda/episodes/ep000628/gripper_right_tactile_contact_metrics.json b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-07/outputs_tactile/tactile_cache/dag911262r00025a_lerobot_0326_220254_1d1fdbda/episodes/ep000628/gripper_right_tactile_contact_metrics.json
new file mode 100644
index 0000000000000000000000000000000000000000..e640088d5b715191a82fa4e56cff0e12fa72f482
--- /dev/null
+++ b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-07/outputs_tactile/tactile_cache/dag911262r00025a_lerobot_0326_220254_1d1fdbda/episodes/ep000628/gripper_right_tactile_contact_metrics.json
@@ -0,0 +1,12 @@
+{
+  "contact_time": 5.533333333333333,
+  "contact_ratio": 0.7377777777777778,
+  "avg_contact_area": 1089.7349397590363,
+  "contact_entropy": 0.23564949632843665,
+  "total_frames": 225,
+  "fps": 30.0,
+  "reference_frame_count": 0,
+  "dataset_name": "dag911262r00025a_lerobot_0326_220254",
+  "episode_index": 628,
+  "sensor": "gripper_right_tactile"
+}
\ No newline at end of file
diff --git a/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-07/outputs_tactile/tactile_cache/dag911262r00025a_lerobot_0326_220254_1d1fdbda/episodes/ep000631/gripper_right_tactile_contact_metrics.json b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-07/outputs_tactile/tactile_cache/dag911262r00025a_lerobot_0326_220254_1d1fdbda/episodes/ep000631/gripper_right_tactile_contact_metrics.json
new file mode 100644
index 0000000000000000000000000000000000000000..6816bba5e18c2c6e6d41a46daa7d67d8162ec709
--- /dev/null
+++ b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-07/outputs_tactile/tactile_cache/dag911262r00025a_lerobot_0326_220254_1d1fdbda/episodes/ep000631/gripper_right_tactile_contact_metrics.json
@@ -0,0 +1,12 @@
+{
+  "contact_time": 7.366666666666666,
+  "contact_ratio": 0.876984126984127,
+  "avg_contact_area": 6699.633484162896,
+  "contact_entropy": 0.3617957386011757,
+  "total_frames": 252,
+  "fps": 30.0,
+  "reference_frame_count": 0,
+  "dataset_name": "dag911262r00025a_lerobot_0326_220254",
+  "episode_index": 631,
+  "sensor": "gripper_right_tactile"
+}
\ No newline at end of file
diff --git a/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-07/outputs_tactile/tactile_cache/dag911262r00025a_lerobot_0326_220254_1d1fdbda/episodes/ep000631/gripper_right_tactile_force_metrics.json b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-07/outputs_tactile/tactile_cache/dag911262r00025a_lerobot_0326_220254_1d1fdbda/episodes/ep000631/gripper_right_tactile_force_metrics.json
new file mode 100644
index 0000000000000000000000000000000000000000..c88bd4cda4d1c427780a4a857613b109bab90f55
--- /dev/null
+++ b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-07/outputs_tactile/tactile_cache/dag911262r00025a_lerobot_0326_220254_1d1fdbda/episodes/ep000631/gripper_right_tactile_force_metrics.json
@@ -0,0 +1,9 @@
+{
+  "depth_peak": 0.0024797318037599325,
+  "shear_peak": 0.005508897360414267,
+  "force_magnitude_peak": 0.005516301840543747,
+  "reference_frame_count": 0,
+  "dataset_name": "dag911262r00025a_lerobot_0326_220254",
+  "episode_index": 631,
+  "sensor": "gripper_right_tactile"
+}
\ No newline at end of file
diff --git a/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-07/outputs_tactile/tactile_cache/dag911262r00025a_lerobot_0326_220254_1d1fdbda/episodes/ep000633/gripper_left_tactile_force_metrics.json b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-07/outputs_tactile/tactile_cache/dag911262r00025a_lerobot_0326_220254_1d1fdbda/episodes/ep000633/gripper_left_tactile_force_metrics.json
new file mode 100644
index 0000000000000000000000000000000000000000..e2798e549fe6effee8137860c90acf7ca3a63e6b
--- /dev/null
+++ b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-07/outputs_tactile/tactile_cache/dag911262r00025a_lerobot_0326_220254_1d1fdbda/episodes/ep000633/gripper_left_tactile_force_metrics.json
@@ -0,0 +1,9 @@
+{
+  "depth_peak": 0.006779233459383249,
+  "shear_peak": 0.006423722021281719,
+  "force_magnitude_peak": 0.009234296157956123,
+  "reference_frame_count": 0,
+  "dataset_name": "dag911262r00025a_lerobot_0326_220254",
+  "episode_index": 633,
+  "sensor": "gripper_left_tactile"
+}
\ No newline at end of file
diff --git a/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-07/outputs_tactile/tactile_cache/dag911262r00025a_lerobot_0326_220254_1d1fdbda/episodes/ep000634/gripper_left_tactile_contact_metrics.json b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-07/outputs_tactile/tactile_cache/dag911262r00025a_lerobot_0326_220254_1d1fdbda/episodes/ep000634/gripper_left_tactile_contact_metrics.json
new file mode 100644
index 0000000000000000000000000000000000000000..b4656bf21a3c5b4976fa5726ec753e23e325e77c
--- /dev/null
+++ b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-07/outputs_tactile/tactile_cache/dag911262r00025a_lerobot_0326_220254_1d1fdbda/episodes/ep000634/gripper_left_tactile_contact_metrics.json
@@ -0,0 +1,12 @@
+{
+  "contact_time": 11.733333333333333,
+  "contact_ratio": 0.9119170984455959,
+  "avg_contact_area": 5690.397727272727,
+  "contact_entropy": 0.4776206426079069,
+  "total_frames": 386,
+  "fps": 30.0,
+  "reference_frame_count": 0,
+  "dataset_name": "dag911262r00025a_lerobot_0326_220254",
+  "episode_index": 634,
+  "sensor": "gripper_left_tactile"
+}
\ No newline at end of file
diff --git a/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-07/outputs_tactile/tactile_cache/dag911262r00025a_lerobot_0326_220254_1d1fdbda/episodes/ep000635/gripper_left_tactile_contact_metrics.json b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-07/outputs_tactile/tactile_cache/dag911262r00025a_lerobot_0326_220254_1d1fdbda/episodes/ep000635/gripper_left_tactile_contact_metrics.json
new file mode 100644
index 0000000000000000000000000000000000000000..e5dafb376bd2612f627dcc6b046d8271b99fda1f
--- /dev/null
+++ b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-07/outputs_tactile/tactile_cache/dag911262r00025a_lerobot_0326_220254_1d1fdbda/episodes/ep000635/gripper_left_tactile_contact_metrics.json
@@ -0,0 +1,12 @@
+{
+  "contact_time": 7.466666666666667,
+  "contact_ratio": 0.7804878048780488,
+  "avg_contact_area": 4932.785714285715,
+  "contact_entropy": 0.44767946887741833,
+  "total_frames": 287,
+  "fps": 30.0,
+  "reference_frame_count": 0,
+  "dataset_name": "dag911262r00025a_lerobot_0326_220254",
+  "episode_index": 635,
+  "sensor": "gripper_left_tactile"
+}
\ No newline at end of file
diff --git a/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-07/outputs_tactile/tactile_cache/dag911262r00025a_lerobot_0326_220254_1d1fdbda/episodes/ep000638/gripper_left_tactile_force_metrics.json b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-07/outputs_tactile/tactile_cache/dag911262r00025a_lerobot_0326_220254_1d1fdbda/episodes/ep000638/gripper_left_tactile_force_metrics.json
new file mode 100644
index 0000000000000000000000000000000000000000..b43d4f2031c94f538046f950a39f291f281f2bcf
--- /dev/null
+++ b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-07/outputs_tactile/tactile_cache/dag911262r00025a_lerobot_0326_220254_1d1fdbda/episodes/ep000638/gripper_left_tactile_force_metrics.json
@@ -0,0 +1,9 @@
+{
+  "depth_peak": 0.005479577928781509,
+  "shear_peak": 0.006685602478682995,
+  "force_magnitude_peak": 0.008090905845165253,
+  "reference_frame_count": 0,
+  "dataset_name": "dag911262r00025a_lerobot_0326_220254",
+  "episode_index": 638,
+  "sensor": "gripper_left_tactile"
+}
\ No newline at end of file
diff --git a/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-07/outputs_tactile/tactile_cache/dag911262r00025a_lerobot_0326_220254_1d1fdbda/episodes/ep000638/gripper_right_tactile_contact_metrics.json b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-07/outputs_tactile/tactile_cache/dag911262r00025a_lerobot_0326_220254_1d1fdbda/episodes/ep000638/gripper_right_tactile_contact_metrics.json
new file mode 100644
index 0000000000000000000000000000000000000000..bd3484bfba4db8d7f199dcc75e720ff0d6439858
--- /dev/null
+++ b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-07/outputs_tactile/tactile_cache/dag911262r00025a_lerobot_0326_220254_1d1fdbda/episodes/ep000638/gripper_right_tactile_contact_metrics.json
@@ -0,0 +1,12 @@
+{
+  "contact_time": 11.066666666666666,
+  "contact_ratio": 1.0,
+  "avg_contact_area": 23832.939759036144,
+  "contact_entropy": 0.05525736461893955,
+  "total_frames": 332,
+  "fps": 30.0,
+  "reference_frame_count": 0,
+  "dataset_name": "dag911262r00025a_lerobot_0326_220254",
+  "episode_index": 638,
+  "sensor": "gripper_right_tactile"
+}
\ No newline at end of file
diff --git a/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-07/outputs_tactile/tactile_cache/dag911262r00025a_lerobot_0326_220254_1d1fdbda/episodes/ep000643/gripper_left_tactile_contact_metrics.json b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-07/outputs_tactile/tactile_cache/dag911262r00025a_lerobot_0326_220254_1d1fdbda/episodes/ep000643/gripper_left_tactile_contact_metrics.json
new file mode 100644
index 0000000000000000000000000000000000000000..a67045e54c7ad257ffd1ac72130feddc03896cba
--- /dev/null
+++ b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-07/outputs_tactile/tactile_cache/dag911262r00025a_lerobot_0326_220254_1d1fdbda/episodes/ep000643/gripper_left_tactile_contact_metrics.json
@@ -0,0 +1,12 @@
+{
+  "contact_time": 8.0,
+  "contact_ratio": 0.8888888888888888,
+  "avg_contact_area": 5317.995833333333,
+  "contact_entropy": 0.3891131326792867,
+  "total_frames": 270,
+  "fps": 30.0,
+  "reference_frame_count": 0,
+  "dataset_name": "dag911262r00025a_lerobot_0326_220254",
+  "episode_index": 643,
+  "sensor": "gripper_left_tactile"
+}
\ No newline at end of file
diff --git a/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-07/outputs_tactile/tactile_cache/dag911262r00025a_lerobot_0326_220254_1d1fdbda/episodes/ep000644/gripper_right_tactile_contact_metrics.json b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-07/outputs_tactile/tactile_cache/dag911262r00025a_lerobot_0326_220254_1d1fdbda/episodes/ep000644/gripper_right_tactile_contact_metrics.json
new file mode 100644
index 0000000000000000000000000000000000000000..c0d5ad8b5cc264c9c90d78ce975ee61dbc14af4f
--- /dev/null
+++ b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-07/outputs_tactile/tactile_cache/dag911262r00025a_lerobot_0326_220254_1d1fdbda/episodes/ep000644/gripper_right_tactile_contact_metrics.json
@@ -0,0 +1,12 @@
+{
+  "contact_time": 7.466666666666667,
+  "contact_ratio": 0.8327137546468402,
+  "avg_contact_area": 8239.85267857143,
+  "contact_entropy": 0.5586633320609075,
+  "total_frames": 269,
+  "fps": 30.0,
+  "reference_frame_count": 0,
+  "dataset_name": "dag911262r00025a_lerobot_0326_220254",
+  "episode_index": 644,
+  "sensor": "gripper_right_tactile"
+}
\ No newline at end of file
diff --git a/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-07/outputs_tactile/tactile_cache/dag911262r00035d_lerobot_0326_220254_edfea759/episodes/ep000002/gripper_right_tactile_contact_metrics.json b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-07/outputs_tactile/tactile_cache/dag911262r00035d_lerobot_0326_220254_edfea759/episodes/ep000002/gripper_right_tactile_contact_metrics.json
new file mode 100644
index 0000000000000000000000000000000000000000..c1bfdf4a468d24ec7caf5ed778899b042b77c597
--- /dev/null
+++ b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-07/outputs_tactile/tactile_cache/dag911262r00035d_lerobot_0326_220254_edfea759/episodes/ep000002/gripper_right_tactile_contact_metrics.json
@@ -0,0 +1,12 @@
+{
+  "contact_time": 3.8666666666666667,
+  "contact_ratio": 0.5550239234449761,
+  "avg_contact_area": 2343.3189655172414,
+  "contact_entropy": 0.6731323048932094,
+  "total_frames": 209,
+  "fps": 30.0,
+  "reference_frame_count": 0,
+  "dataset_name": "dag911262r00035d_lerobot_0326_220254",
+  "episode_index": 2,
+  "sensor": "gripper_right_tactile"
+}
\ No newline at end of file
diff --git a/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-07/outputs_tactile/tactile_cache/dag911262r00035d_lerobot_0326_220254_edfea759/episodes/ep000006/gripper_left_tactile_force_metrics.json b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-07/outputs_tactile/tactile_cache/dag911262r00035d_lerobot_0326_220254_edfea759/episodes/ep000006/gripper_left_tactile_force_metrics.json
new file mode 100644
index 0000000000000000000000000000000000000000..bccba2bd6de1ef063647a680cf73af3b39f21976
--- /dev/null
+++ b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-07/outputs_tactile/tactile_cache/dag911262r00035d_lerobot_0326_220254_edfea759/episodes/ep000006/gripper_left_tactile_force_metrics.json
@@ -0,0 +1,9 @@
+{
+  "depth_peak": 0.004066533874720335,
+  "shear_peak": 0.0015071647940203547,
+  "force_magnitude_peak": 0.004148583393543959,
+  "reference_frame_count": 0,
+  "dataset_name": "dag911262r00035d_lerobot_0326_220254",
+  "episode_index": 6,
+  "sensor": "gripper_left_tactile"
+}
\ No newline at end of file
diff --git a/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-07/outputs_tactile/tactile_cache/dag911262r00035d_lerobot_0326_220254_edfea759/episodes/ep000007/gripper_right_tactile_force_metrics.json b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-07/outputs_tactile/tactile_cache/dag911262r00035d_lerobot_0326_220254_edfea759/episodes/ep000007/gripper_right_tactile_force_metrics.json
new file mode 100644
index 0000000000000000000000000000000000000000..dc888e7402c4024a81e6a8b8d0bb730bc368115b
--- /dev/null
+++ b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-07/outputs_tactile/tactile_cache/dag911262r00035d_lerobot_0326_220254_edfea759/episodes/ep000007/gripper_right_tactile_force_metrics.json
@@ -0,0 +1,9 @@
+{
+  "depth_peak": 0.00033137682476080954,
+  "shear_peak": 0.0014473028713837266,
+  "force_magnitude_peak": 0.0023402413353323936,
+  "reference_frame_count": 0,
+  "dataset_name": "dag911262r00035d_lerobot_0326_220254",
+  "episode_index": 7,
+  "sensor": "gripper_right_tactile"
+}
\ No newline at end of file
diff --git a/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-07/outputs_tactile/tactile_cache/dag911262r00035d_lerobot_0326_220254_edfea759/episodes/ep000008/gripper_left_tactile_force_metrics.json b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-07/outputs_tactile/tactile_cache/dag911262r00035d_lerobot_0326_220254_edfea759/episodes/ep000008/gripper_left_tactile_force_metrics.json
new file mode 100644
index 0000000000000000000000000000000000000000..18bb15cde5556d49109e6ad0c4a72554fdbf3d80
--- /dev/null
+++ b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-07/outputs_tactile/tactile_cache/dag911262r00035d_lerobot_0326_220254_edfea759/episodes/ep000008/gripper_left_tactile_force_metrics.json
@@ -0,0 +1,9 @@
+{
+  "depth_peak": 0.008957751095294952,
+  "shear_peak": 0.001555462833493948,
+  "force_magnitude_peak": 0.009044679813086987,
+  "reference_frame_count": 0,
+  "dataset_name": "dag911262r00035d_lerobot_0326_220254",
+  "episode_index": 8,
+  "sensor": "gripper_left_tactile"
+}
\ No newline at end of file
diff --git a/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-07/outputs_tactile/tactile_cache/dag911262r00035d_lerobot_0326_220254_edfea759/episodes/ep000009/gripper_left_tactile_contact_metrics.json b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-07/outputs_tactile/tactile_cache/dag911262r00035d_lerobot_0326_220254_edfea759/episodes/ep000009/gripper_left_tactile_contact_metrics.json
new file mode 100644
index 0000000000000000000000000000000000000000..8fa1db0db3780292c369f5349d5c22aa5bdfc332
--- /dev/null
+++ b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-07/outputs_tactile/tactile_cache/dag911262r00035d_lerobot_0326_220254_edfea759/episodes/ep000009/gripper_left_tactile_contact_metrics.json
@@ -0,0 +1,12 @@
+{
+  "contact_time": 7.633333333333334,
+  "contact_ratio": 0.6735294117647059,
+  "avg_contact_area": 78.34934497816595,
+  "contact_entropy": 0.0,
+  "total_frames": 340,
+  "fps": 30.0,
+  "reference_frame_count": 0,
+  "dataset_name": "dag911262r00035d_lerobot_0326_220254",
+  "episode_index": 9,
+  "sensor": "gripper_left_tactile"
+}
\ No newline at end of file
diff --git a/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-07/outputs_tactile/tactile_cache/dag911262r00035d_lerobot_0326_220254_edfea759/episodes/ep000010/gripper_right_tactile_contact_metrics.json b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-07/outputs_tactile/tactile_cache/dag911262r00035d_lerobot_0326_220254_edfea759/episodes/ep000010/gripper_right_tactile_contact_metrics.json
new file mode 100644
index 0000000000000000000000000000000000000000..144bd812dc389dfcb60a2196af097941014cab5b
--- /dev/null
+++ b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-07/outputs_tactile/tactile_cache/dag911262r00035d_lerobot_0326_220254_edfea759/episodes/ep000010/gripper_right_tactile_contact_metrics.json
@@ -0,0 +1,12 @@
+{
+  "contact_time": 3.7,
+  "contact_ratio": 0.5441176470588235,
+  "avg_contact_area": 664.2252252252252,
+  "contact_entropy": 0.3447766399920923,
+  "total_frames": 204,
+  "fps": 30.0,
+  "reference_frame_count": 0,
+  "dataset_name": "dag911262r00035d_lerobot_0326_220254",
+  "episode_index": 10,
+  "sensor": "gripper_right_tactile"
+}
\ No newline at end of file
diff --git a/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-07/outputs_tactile/tactile_cache/dag911262r00035d_lerobot_0326_220254_edfea759/episodes/ep000011/gripper_left_tactile_contact_metrics.json b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-07/outputs_tactile/tactile_cache/dag911262r00035d_lerobot_0326_220254_edfea759/episodes/ep000011/gripper_left_tactile_contact_metrics.json
new file mode 100644
index 0000000000000000000000000000000000000000..454cb46f6314fe47932face57d2c35eff10ce261
--- /dev/null
+++ b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-07/outputs_tactile/tactile_cache/dag911262r00035d_lerobot_0326_220254_edfea759/episodes/ep000011/gripper_left_tactile_contact_metrics.json
@@ -0,0 +1,12 @@
+{
+  "contact_time": 8.0,
+  "contact_ratio": 0.7667731629392971,
+  "avg_contact_area": 5767.729166666667,
+  "contact_entropy": 1.2476316318933451,
+  "total_frames": 313,
+  "fps": 30.0,
+  "reference_frame_count": 0,
+  "dataset_name": "dag911262r00035d_lerobot_0326_220254",
+  "episode_index": 11,
+  "sensor": "gripper_left_tactile"
+}
\ No newline at end of file
diff --git a/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-07/outputs_tactile/tactile_cache/dag911262r00035d_lerobot_0326_220254_edfea759/episodes/ep000011/gripper_right_tactile_contact_metrics.json b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-07/outputs_tactile/tactile_cache/dag911262r00035d_lerobot_0326_220254_edfea759/episodes/ep000011/gripper_right_tactile_contact_metrics.json
new file mode 100644
index 0000000000000000000000000000000000000000..ba9dcf938e881dbf23d3d4ea0aba60b92bcfe502
--- /dev/null
+++ b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-07/outputs_tactile/tactile_cache/dag911262r00035d_lerobot_0326_220254_edfea759/episodes/ep000011/gripper_right_tactile_contact_metrics.json
@@ -0,0 +1,12 @@
+{
+  "contact_time": 7.133333333333334,
+  "contact_ratio": 0.6837060702875399,
+  "avg_contact_area": 2345.5233644859813,
+  "contact_entropy": 0.6038616483949267,
+  "total_frames": 313,
+  "fps": 30.0,
+  "reference_frame_count": 0,
+  "dataset_name": "dag911262r00035d_lerobot_0326_220254",
+  "episode_index": 11,
+  "sensor": "gripper_right_tactile"
+}
\ No newline at end of file
diff --git a/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-07/outputs_tactile/tactile_cache/dag911262r00035d_lerobot_0326_220254_edfea759/episodes/ep000012/gripper_left_tactile_force_metrics.json b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-07/outputs_tactile/tactile_cache/dag911262r00035d_lerobot_0326_220254_edfea759/episodes/ep000012/gripper_left_tactile_force_metrics.json
new file mode 100644
index 0000000000000000000000000000000000000000..ac29a2970f075608d34416136de36b16ceec7ec6
--- /dev/null
+++ b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-07/outputs_tactile/tactile_cache/dag911262r00035d_lerobot_0326_220254_edfea759/episodes/ep000012/gripper_left_tactile_force_metrics.json
@@ -0,0 +1,9 @@
+{
+  "depth_peak": 0.0015779813984408975,
+  "shear_peak": 0.0021942907478660345,
+  "force_magnitude_peak": 0.0023757959716022015,
+  "reference_frame_count": 0,
+  "dataset_name": "dag911262r00035d_lerobot_0326_220254",
+  "episode_index": 12,
+  "sensor": "gripper_left_tactile"
+}
\ No newline at end of file
diff --git a/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-07/outputs_tactile/tactile_cache/dag911262r00035d_lerobot_0326_220254_edfea759/episodes/ep000013/gripper_right_tactile_force_metrics.json b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-07/outputs_tactile/tactile_cache/dag911262r00035d_lerobot_0326_220254_edfea759/episodes/ep000013/gripper_right_tactile_force_metrics.json
new file mode 100644
index 0000000000000000000000000000000000000000..3cd2e7b711d13968466f8dda5769493d3eaf86fe
--- /dev/null
+++ b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-07/outputs_tactile/tactile_cache/dag911262r00035d_lerobot_0326_220254_edfea759/episodes/ep000013/gripper_right_tactile_force_metrics.json
@@ -0,0 +1,9 @@
+{
+  "depth_peak": 0.0036303496453911066,
+  "shear_peak": 0.0031408804934471846,
+  "force_magnitude_peak": 0.004084315150976181,
+  "reference_frame_count": 0,
+  "dataset_name": "dag911262r00035d_lerobot_0326_220254",
+  "episode_index": 13,
+  "sensor": "gripper_right_tactile"
+}
\ No newline at end of file
diff --git a/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-07/outputs_tactile/tactile_cache/dag911262r00035d_lerobot_0326_220254_edfea759/episodes/ep000020/gripper_right_tactile_force_metrics.json b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-07/outputs_tactile/tactile_cache/dag911262r00035d_lerobot_0326_220254_edfea759/episodes/ep000020/gripper_right_tactile_force_metrics.json
new file mode 100644
index 0000000000000000000000000000000000000000..f8ffd14ad7b7245de38839ea4f79ec00f4ca2e41
--- /dev/null
+++ b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-07/outputs_tactile/tactile_cache/dag911262r00035d_lerobot_0326_220254_edfea759/episodes/ep000020/gripper_right_tactile_force_metrics.json
@@ -0,0 +1,9 @@
+{
+  "depth_peak": 0.0006477514398284256,
+  "shear_peak": 0.003444282803684473,
+  "force_magnitude_peak": 0.004624553490430117,
+  "reference_frame_count": 0,
+  "dataset_name": "dag911262r00035d_lerobot_0326_220254",
+  "episode_index": 20,
+  "sensor": "gripper_right_tactile"
+}
\ No newline at end of file
diff --git a/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-07/outputs_tactile/tactile_cache/dag911262r00035d_lerobot_0326_220254_edfea759/episodes/ep000023/gripper_right_tactile_contact_metrics.json b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-07/outputs_tactile/tactile_cache/dag911262r00035d_lerobot_0326_220254_edfea759/episodes/ep000023/gripper_right_tactile_contact_metrics.json
new file mode 100644
index 0000000000000000000000000000000000000000..f01a2d4f387260e1c1e06c7d8bb9053acaa0efc0
--- /dev/null
+++ b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-07/outputs_tactile/tactile_cache/dag911262r00035d_lerobot_0326_220254_edfea759/episodes/ep000023/gripper_right_tactile_contact_metrics.json
@@ -0,0 +1,12 @@
+{
+  "contact_time": 7.566666666666666,
+  "contact_ratio": 0.7827586206896552,
+  "avg_contact_area": 725.0572687224669,
+  "contact_entropy": 0.20512777348737657,
+  "total_frames": 290,
+  "fps": 30.0,
+  "reference_frame_count": 0,
+  "dataset_name": "dag911262r00035d_lerobot_0326_220254",
+  "episode_index": 23,
+  "sensor": "gripper_right_tactile"
+}
\ No newline at end of file
diff --git a/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-07/outputs_tactile/tactile_cache/dag911262r00035d_lerobot_0326_220254_edfea759/episodes/ep000024/gripper_left_tactile_contact_metrics.json b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-07/outputs_tactile/tactile_cache/dag911262r00035d_lerobot_0326_220254_edfea759/episodes/ep000024/gripper_left_tactile_contact_metrics.json
new file mode 100644
index 0000000000000000000000000000000000000000..eadb41d445a4112c6b64f1dfa9753ccf111aa7fe
--- /dev/null
+++ b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-07/outputs_tactile/tactile_cache/dag911262r00035d_lerobot_0326_220254_edfea759/episodes/ep000024/gripper_left_tactile_contact_metrics.json
@@ -0,0 +1,12 @@
+{
+  "contact_time": 10.4,
+  "contact_ratio": 0.6527196652719666,
+  "avg_contact_area": 2117.391025641026,
+  "contact_entropy": 0.7154389748822838,
+  "total_frames": 478,
+  "fps": 30.0,
+  "reference_frame_count": 0,
+  "dataset_name": "dag911262r00035d_lerobot_0326_220254",
+  "episode_index": 24,
+  "sensor": "gripper_left_tactile"
+}
\ No newline at end of file
diff --git a/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-07/outputs_tactile/tactile_cache/dag911262r00035d_lerobot_0326_220254_edfea759/episodes/ep000026/gripper_right_tactile_force_metrics.json b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-07/outputs_tactile/tactile_cache/dag911262r00035d_lerobot_0326_220254_edfea759/episodes/ep000026/gripper_right_tactile_force_metrics.json
new file mode 100644
index 0000000000000000000000000000000000000000..750f8f63de59377a618329573177c2a4e1b88c8b
--- /dev/null
+++ b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-07/outputs_tactile/tactile_cache/dag911262r00035d_lerobot_0326_220254_edfea759/episodes/ep000026/gripper_right_tactile_force_metrics.json
@@ -0,0 +1,9 @@
+{
+  "depth_peak": 0.00539275910705328,
+  "shear_peak": 0.00406687892973423,
+  "force_magnitude_peak": 0.005516014527529478,
+  "reference_frame_count": 0,
+  "dataset_name": "dag911262r00035d_lerobot_0326_220254",
+  "episode_index": 26,
+  "sensor": "gripper_right_tactile"
+}
\ No newline at end of file
diff --git a/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-07/outputs_tactile/tactile_cache/dag911262r00035d_lerobot_0326_220254_edfea759/episodes/ep000027/gripper_left_tactile_force_metrics.json b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-07/outputs_tactile/tactile_cache/dag911262r00035d_lerobot_0326_220254_edfea759/episodes/ep000027/gripper_left_tactile_force_metrics.json
new file mode 100644
index 0000000000000000000000000000000000000000..df5dd75669987e4485e7c85754a3d0917a3f3938
--- /dev/null
+++ b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-07/outputs_tactile/tactile_cache/dag911262r00035d_lerobot_0326_220254_edfea759/episodes/ep000027/gripper_left_tactile_force_metrics.json
@@ -0,0 +1,9 @@
+{
+  "depth_peak": 0.00784401223063469,
+  "shear_peak": 0.003196736564859748,
+  "force_magnitude_peak": 0.008450229652225971,
+  "reference_frame_count": 0,
+  "dataset_name": "dag911262r00035d_lerobot_0326_220254",
+  "episode_index": 27,
+  "sensor": "gripper_left_tactile"
+}
\ No newline at end of file
diff --git a/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-07/outputs_tactile/tactile_cache/dag911262r00035d_lerobot_0326_220254_edfea759/episodes/ep000029/gripper_right_tactile_force_metrics.json b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-07/outputs_tactile/tactile_cache/dag911262r00035d_lerobot_0326_220254_edfea759/episodes/ep000029/gripper_right_tactile_force_metrics.json
new file mode 100644
index 0000000000000000000000000000000000000000..96e560a0e987767be0239c401b005c6869362a59
--- /dev/null
+++ b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-07/outputs_tactile/tactile_cache/dag911262r00035d_lerobot_0326_220254_edfea759/episodes/ep000029/gripper_right_tactile_force_metrics.json
@@ -0,0 +1,9 @@
+{
+  "depth_peak": 0.013907257467508316,
+  "shear_peak": 0.007570809684693813,
+  "force_magnitude_peak": 0.014651637524366379,
+  "reference_frame_count": 0,
+  "dataset_name": "dag911262r00035d_lerobot_0326_220254",
+  "episode_index": 29,
+  "sensor": "gripper_right_tactile"
+}
\ No newline at end of file
diff --git a/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-07/outputs_tactile/tactile_cache/dag911262r00035d_lerobot_0326_220254_edfea759/episodes/ep000030/gripper_left_tactile_contact_metrics.json b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-07/outputs_tactile/tactile_cache/dag911262r00035d_lerobot_0326_220254_edfea759/episodes/ep000030/gripper_left_tactile_contact_metrics.json
new file mode 100644
index 0000000000000000000000000000000000000000..eb05be2f3b16d764bb6e0f4ec6a3c45edf82c90c
--- /dev/null
+++ b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-07/outputs_tactile/tactile_cache/dag911262r00035d_lerobot_0326_220254_edfea759/episodes/ep000030/gripper_left_tactile_contact_metrics.json
@@ -0,0 +1,12 @@
+{
+  "contact_time": 4.1,
+  "contact_ratio": 0.4785992217898833,
+  "avg_contact_area": 121.7479674796748,
+  "contact_entropy": 0.0,
+  "total_frames": 257,
+  "fps": 30.0,
+  "reference_frame_count": 0,
+  "dataset_name": "dag911262r00035d_lerobot_0326_220254",
+  "episode_index": 30,
+  "sensor": "gripper_left_tactile"
+}
\ No newline at end of file
diff --git a/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-07/outputs_tactile/tactile_cache/dag911262r00035d_lerobot_0326_220254_edfea759/episodes/ep000033/gripper_left_tactile_force_metrics.json b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-07/outputs_tactile/tactile_cache/dag911262r00035d_lerobot_0326_220254_edfea759/episodes/ep000033/gripper_left_tactile_force_metrics.json
new file mode 100644
index 0000000000000000000000000000000000000000..b3506ecd17bcc005ccc32a5d1a8c3f8a65900d8d
--- /dev/null
+++ b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-07/outputs_tactile/tactile_cache/dag911262r00035d_lerobot_0326_220254_edfea759/episodes/ep000033/gripper_left_tactile_force_metrics.json
@@ -0,0 +1,9 @@
+{
+  "depth_peak": 0.002745970617979765,
+  "shear_peak": 0.0018366529839113355,
+  "force_magnitude_peak": 0.0030849140603095293,
+  "reference_frame_count": 0,
+  "dataset_name": "dag911262r00035d_lerobot_0326_220254",
+  "episode_index": 33,
+  "sensor": "gripper_left_tactile"
+}
\ No newline at end of file
diff --git a/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-07/outputs_tactile/tactile_cache/dag911262r00035d_lerobot_0326_220254_edfea759/episodes/ep000035/gripper_right_tactile_force_metrics.json b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-07/outputs_tactile/tactile_cache/dag911262r00035d_lerobot_0326_220254_edfea759/episodes/ep000035/gripper_right_tactile_force_metrics.json
new file mode 100644
index 0000000000000000000000000000000000000000..7a59391c6515460e43f38124a45d70f694f5e8a7
--- /dev/null
+++ b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-07/outputs_tactile/tactile_cache/dag911262r00035d_lerobot_0326_220254_edfea759/episodes/ep000035/gripper_right_tactile_force_metrics.json
@@ -0,0 +1,9 @@
+{
+  "depth_peak": 0.015193473547697067,
+  "shear_peak": 0.021610461175441742,
+  "force_magnitude_peak": 0.025736592710018158,
+  "reference_frame_count": 0,
+  "dataset_name": "dag911262r00035d_lerobot_0326_220254",
+  "episode_index": 35,
+  "sensor": "gripper_right_tactile"
+}
\ No newline at end of file
diff --git a/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-07/outputs_tactile/tactile_cache/dag911262r00035d_lerobot_0326_220254_edfea759/episodes/ep000039/gripper_left_tactile_force_metrics.json b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-07/outputs_tactile/tactile_cache/dag911262r00035d_lerobot_0326_220254_edfea759/episodes/ep000039/gripper_left_tactile_force_metrics.json
new file mode 100644
index 0000000000000000000000000000000000000000..5a3a84787b99d692dd3989765fa5a5cbf9889ab5
--- /dev/null
+++ b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-07/outputs_tactile/tactile_cache/dag911262r00035d_lerobot_0326_220254_edfea759/episodes/ep000039/gripper_left_tactile_force_metrics.json
@@ -0,0 +1,9 @@
+{
+  "depth_peak": 0.00226602959446609,
+  "shear_peak": 0.0030454248189926147,
+  "force_magnitude_peak": 0.0033133849501609802,
+  "reference_frame_count": 0,
+  "dataset_name": "dag911262r00035d_lerobot_0326_220254",
+  "episode_index": 39,
+  "sensor": "gripper_left_tactile"
+}
\ No newline at end of file
diff --git a/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-07/outputs_tactile/tactile_cache/dag911262r00035d_lerobot_0326_220254_edfea759/episodes/ep000041/gripper_left_tactile_force_metrics.json b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-07/outputs_tactile/tactile_cache/dag911262r00035d_lerobot_0326_220254_edfea759/episodes/ep000041/gripper_left_tactile_force_metrics.json
new file mode 100644
index 0000000000000000000000000000000000000000..f235e0d84d996e65ee937b53961c673cf879770d
--- /dev/null
+++ b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-07/outputs_tactile/tactile_cache/dag911262r00035d_lerobot_0326_220254_edfea759/episodes/ep000041/gripper_left_tactile_force_metrics.json
@@ -0,0 +1,9 @@
+{
+  "depth_peak": 0.0019949895795434713,
+  "shear_peak": 0.003833322087302804,
+  "force_magnitude_peak": 0.003919984679669142,
+  "reference_frame_count": 0,
+  "dataset_name": "dag911262r00035d_lerobot_0326_220254",
+  "episode_index": 41,
+  "sensor": "gripper_left_tactile"
+}
\ No newline at end of file
diff --git a/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-07/outputs_tactile/tactile_cache/dag911262r00035d_lerobot_0326_220254_edfea759/episodes/ep000042/gripper_right_tactile_contact_metrics.json b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-07/outputs_tactile/tactile_cache/dag911262r00035d_lerobot_0326_220254_edfea759/episodes/ep000042/gripper_right_tactile_contact_metrics.json
new file mode 100644
index 0000000000000000000000000000000000000000..eef0b4bf60ae051a7369993409f68b3c6541d088
--- /dev/null
+++ b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-07/outputs_tactile/tactile_cache/dag911262r00035d_lerobot_0326_220254_edfea759/episodes/ep000042/gripper_right_tactile_contact_metrics.json
@@ -0,0 +1,12 @@
+{
+  "contact_time": 5.3,
+  "contact_ratio": 0.5658362989323843,
+  "avg_contact_area": 2275.553459119497,
+  "contact_entropy": 0.37320095746140264,
+  "total_frames": 281,
+  "fps": 30.0,
+  "reference_frame_count": 0,
+  "dataset_name": "dag911262r00035d_lerobot_0326_220254",
+  "episode_index": 42,
+  "sensor": "gripper_right_tactile"
+}
\ No newline at end of file
diff --git a/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-07/outputs_tactile/tactile_cache/dag911262r00035d_lerobot_0326_220254_edfea759/episodes/ep000042/gripper_right_tactile_force_metrics.json b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-07/outputs_tactile/tactile_cache/dag911262r00035d_lerobot_0326_220254_edfea759/episodes/ep000042/gripper_right_tactile_force_metrics.json
new file mode 100644
index 0000000000000000000000000000000000000000..113b7b1f6e63e999b1fcfaa1b968b9cdab11c86c
--- /dev/null
+++ b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-07/outputs_tactile/tactile_cache/dag911262r00035d_lerobot_0326_220254_edfea759/episodes/ep000042/gripper_right_tactile_force_metrics.json
@@ -0,0 +1,9 @@
+{
+  "depth_peak": 0.0067528425715863705,
+  "shear_peak": 0.001796418335288763,
+  "force_magnitude_peak": 0.006830614525824785,
+  "reference_frame_count": 0,
+  "dataset_name": "dag911262r00035d_lerobot_0326_220254",
+  "episode_index": 42,
+  "sensor": "gripper_right_tactile"
+}
\ No newline at end of file
diff --git a/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-07/outputs_tactile/tactile_cache/dag911262r00035d_lerobot_0326_220254_edfea759/episodes/ep000043/gripper_left_tactile_force_metrics.json b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-07/outputs_tactile/tactile_cache/dag911262r00035d_lerobot_0326_220254_edfea759/episodes/ep000043/gripper_left_tactile_force_metrics.json
new file mode 100644
index 0000000000000000000000000000000000000000..d635d8eff89bd7cf64677886943b4d6c7f3fec76
--- /dev/null
+++ b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-07/outputs_tactile/tactile_cache/dag911262r00035d_lerobot_0326_220254_edfea759/episodes/ep000043/gripper_left_tactile_force_metrics.json
@@ -0,0 +1,9 @@
+{
+  "depth_peak": 0.0008586143376305699,
+  "shear_peak": 0.002269080374389887,
+  "force_magnitude_peak": 0.0023097770754247904,
+  "reference_frame_count": 0,
+  "dataset_name": "dag911262r00035d_lerobot_0326_220254",
+  "episode_index": 43,
+  "sensor": "gripper_left_tactile"
+}
\ No newline at end of file
diff --git a/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-07/outputs_tactile/tactile_cache/dag911262r00035d_lerobot_0326_220254_edfea759/episodes/ep000045/gripper_right_tactile_contact_metrics.json b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-07/outputs_tactile/tactile_cache/dag911262r00035d_lerobot_0326_220254_edfea759/episodes/ep000045/gripper_right_tactile_contact_metrics.json
new file mode 100644
index 0000000000000000000000000000000000000000..0d83cb47cd8422d5ea09907ef383c26f0a27777f
--- /dev/null
+++ b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-07/outputs_tactile/tactile_cache/dag911262r00035d_lerobot_0326_220254_edfea759/episodes/ep000045/gripper_right_tactile_contact_metrics.json
@@ -0,0 +1,12 @@
+{
+  "contact_time": 9.433333333333334,
+  "contact_ratio": 0.6247240618101545,
+  "avg_contact_area": 14507.081272084806,
+  "contact_entropy": 0.5552064484253932,
+  "total_frames": 453,
+  "fps": 30.0,
+  "reference_frame_count": 0,
+  "dataset_name": "dag911262r00035d_lerobot_0326_220254",
+  "episode_index": 45,
+  "sensor": "gripper_right_tactile"
+}
\ No newline at end of file
diff --git a/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-07/outputs_tactile/tactile_cache/dag911262r00035d_lerobot_0326_220254_edfea759/episodes/ep000048/gripper_left_tactile_force_metrics.json b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-07/outputs_tactile/tactile_cache/dag911262r00035d_lerobot_0326_220254_edfea759/episodes/ep000048/gripper_left_tactile_force_metrics.json
new file mode 100644
index 0000000000000000000000000000000000000000..108245465fbcbcc1cef3e5b7897e6080102aaa97
--- /dev/null
+++ b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-07/outputs_tactile/tactile_cache/dag911262r00035d_lerobot_0326_220254_edfea759/episodes/ep000048/gripper_left_tactile_force_metrics.json
@@ -0,0 +1,9 @@
+{
+  "depth_peak": 0.0034067926462739706,
+  "shear_peak": 0.0029917173087596893,
+  "force_magnitude_peak": 0.003841487690806389,
+  "reference_frame_count": 0,
+  "dataset_name": "dag911262r00035d_lerobot_0326_220254",
+  "episode_index": 48,
+  "sensor": "gripper_left_tactile"
+}
\ No newline at end of file
diff --git a/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-07/outputs_tactile/tactile_cache/dag911262r00035d_lerobot_0326_220254_edfea759/episodes/ep000048/gripper_right_tactile_contact_metrics.json b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-07/outputs_tactile/tactile_cache/dag911262r00035d_lerobot_0326_220254_edfea759/episodes/ep000048/gripper_right_tactile_contact_metrics.json
new file mode 100644
index 0000000000000000000000000000000000000000..3c9420ac886478ab3767ce043470a2c3da577dfe
--- /dev/null
+++ b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-07/outputs_tactile/tactile_cache/dag911262r00035d_lerobot_0326_220254_edfea759/episodes/ep000048/gripper_right_tactile_contact_metrics.json
@@ -0,0 +1,12 @@
+{
+  "contact_time": 6.2,
+  "contact_ratio": 0.5923566878980892,
+  "avg_contact_area": 1512.779569892473,
+  "contact_entropy": 0.9653348989000117,
+  "total_frames": 314,
+  "fps": 30.0,
+  "reference_frame_count": 0,
+  "dataset_name": "dag911262r00035d_lerobot_0326_220254",
+  "episode_index": 48,
+  "sensor": "gripper_right_tactile"
+}
\ No newline at end of file
diff --git a/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-07/outputs_tactile/tactile_cache/dag911262r00035d_lerobot_0326_220254_edfea759/episodes/ep000049/gripper_left_tactile_contact_metrics.json b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-07/outputs_tactile/tactile_cache/dag911262r00035d_lerobot_0326_220254_edfea759/episodes/ep000049/gripper_left_tactile_contact_metrics.json
new file mode 100644
index 0000000000000000000000000000000000000000..bc2fa4894719110ec4ee33bbb4446bcf530718a3
--- /dev/null
+++ b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-07/outputs_tactile/tactile_cache/dag911262r00035d_lerobot_0326_220254_edfea759/episodes/ep000049/gripper_left_tactile_contact_metrics.json
@@ -0,0 +1,12 @@
+{
+  "contact_time": 10.866666666666667,
+  "contact_ratio": 0.509375,
+  "avg_contact_area": 1457.7085889570553,
+  "contact_entropy": 0.16017224330877639,
+  "total_frames": 640,
+  "fps": 30.0,
+  "reference_frame_count": 0,
+  "dataset_name": "dag911262r00035d_lerobot_0326_220254",
+  "episode_index": 49,
+  "sensor": "gripper_left_tactile"
+}
\ No newline at end of file
diff --git a/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-07/outputs_tactile/tactile_cache/dag911262r00035d_lerobot_0326_220254_edfea759/episodes/ep000052/gripper_left_tactile_force_metrics.json b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-07/outputs_tactile/tactile_cache/dag911262r00035d_lerobot_0326_220254_edfea759/episodes/ep000052/gripper_left_tactile_force_metrics.json
new file mode 100644
index 0000000000000000000000000000000000000000..bb82718c953ee145fb37d7e15fe01fef9fe2d904
--- /dev/null
+++ b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-07/outputs_tactile/tactile_cache/dag911262r00035d_lerobot_0326_220254_edfea759/episodes/ep000052/gripper_left_tactile_force_metrics.json
@@ -0,0 +1,9 @@
+{
+  "depth_peak": 0.002638635691255331,
+  "shear_peak": 0.001652428531087935,
+  "force_magnitude_peak": 0.002987480256706476,
+  "reference_frame_count": 0,
+  "dataset_name": "dag911262r00035d_lerobot_0326_220254",
+  "episode_index": 52,
+  "sensor": "gripper_left_tactile"
+}
\ No newline at end of file
diff --git a/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-07/outputs_tactile/tactile_cache/dag911262r00035d_lerobot_0326_220254_edfea759/episodes/ep000057/gripper_right_tactile_contact_metrics.json b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-07/outputs_tactile/tactile_cache/dag911262r00035d_lerobot_0326_220254_edfea759/episodes/ep000057/gripper_right_tactile_contact_metrics.json
new file mode 100644
index 0000000000000000000000000000000000000000..905017f140a3c3cf59d254d7406f49f4f0c81af8
--- /dev/null
+++ b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-07/outputs_tactile/tactile_cache/dag911262r00035d_lerobot_0326_220254_edfea759/episodes/ep000057/gripper_right_tactile_contact_metrics.json
@@ -0,0 +1,12 @@
+{
+  "contact_time": 11.933333333333334,
+  "contact_ratio": 0.8564593301435407,
+  "avg_contact_area": 4272.153631284917,
+  "contact_entropy": 0.3815312716947038,
+  "total_frames": 418,
+  "fps": 30.0,
+  "reference_frame_count": 0,
+  "dataset_name": "dag911262r00035d_lerobot_0326_220254",
+  "episode_index": 57,
+  "sensor": "gripper_right_tactile"
+}
\ No newline at end of file
diff --git a/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-07/outputs_tactile/tactile_cache/dag911262r00035d_lerobot_0326_220254_edfea759/episodes/ep000059/gripper_left_tactile_contact_metrics.json b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-07/outputs_tactile/tactile_cache/dag911262r00035d_lerobot_0326_220254_edfea759/episodes/ep000059/gripper_left_tactile_contact_metrics.json
new file mode 100644
index 0000000000000000000000000000000000000000..4316000cdd2c5a5e450b4f13df32ee366ba6af3e
--- /dev/null
+++ b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-07/outputs_tactile/tactile_cache/dag911262r00035d_lerobot_0326_220254_edfea759/episodes/ep000059/gripper_left_tactile_contact_metrics.json
@@ -0,0 +1,12 @@
+{
+  "contact_time": 13.133333333333333,
+  "contact_ratio": 0.7309833024118738,
+  "avg_contact_area": 4265.624365482234,
+  "contact_entropy": 0.49138598009378026,
+  "total_frames": 539,
+  "fps": 30.0,
+  "reference_frame_count": 0,
+  "dataset_name": "dag911262r00035d_lerobot_0326_220254",
+  "episode_index": 59,
+  "sensor": "gripper_left_tactile"
+}
\ No newline at end of file
diff --git a/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-07/outputs_tactile/tactile_cache/dag911262r00035d_lerobot_0326_220254_edfea759/episodes/ep000060/gripper_right_tactile_force_metrics.json b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-07/outputs_tactile/tactile_cache/dag911262r00035d_lerobot_0326_220254_edfea759/episodes/ep000060/gripper_right_tactile_force_metrics.json
new file mode 100644
index 0000000000000000000000000000000000000000..c9e8126c27eeae2417295fa38d6a15ef28d9254a
--- /dev/null
+++ b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-07/outputs_tactile/tactile_cache/dag911262r00035d_lerobot_0326_220254_edfea759/episodes/ep000060/gripper_right_tactile_force_metrics.json
@@ -0,0 +1,9 @@
+{
+  "depth_peak": 0.0011173299280926585,
+  "shear_peak": 0.001687553129158914,
+  "force_magnitude_peak": 0.0019278493709862232,
+  "reference_frame_count": 0,
+  "dataset_name": "dag911262r00035d_lerobot_0326_220254",
+  "episode_index": 60,
+  "sensor": "gripper_right_tactile"
+}
\ No newline at end of file
diff --git a/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-07/outputs_tactile/tactile_cache/dag911262r00035d_lerobot_0326_220254_edfea759/episodes/ep000063/gripper_left_tactile_contact_metrics.json b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-07/outputs_tactile/tactile_cache/dag911262r00035d_lerobot_0326_220254_edfea759/episodes/ep000063/gripper_left_tactile_contact_metrics.json
new file mode 100644
index 0000000000000000000000000000000000000000..97b4db3d9afda3d4354dd799d5021689eac0323e
--- /dev/null
+++ b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-07/outputs_tactile/tactile_cache/dag911262r00035d_lerobot_0326_220254_edfea759/episodes/ep000063/gripper_left_tactile_contact_metrics.json
@@ -0,0 +1,12 @@
+{
+  "contact_time": 8.866666666666667,
+  "contact_ratio": 0.5833333333333334,
+  "avg_contact_area": 529.5751879699249,
+  "contact_entropy": 0.3179478917633666,
+  "total_frames": 456,
+  "fps": 30.0,
+  "reference_frame_count": 0,
+  "dataset_name": "dag911262r00035d_lerobot_0326_220254",
+  "episode_index": 63,
+  "sensor": "gripper_left_tactile"
+}
\ No newline at end of file
diff --git a/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-07/outputs_tactile/tactile_cache/dag911262r00035d_lerobot_0326_220254_edfea759/episodes/ep000063/gripper_right_tactile_contact_metrics.json b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-07/outputs_tactile/tactile_cache/dag911262r00035d_lerobot_0326_220254_edfea759/episodes/ep000063/gripper_right_tactile_contact_metrics.json
new file mode 100644
index 0000000000000000000000000000000000000000..287db066758f2894cae84eb4920ffff30efa1747
--- /dev/null
+++ b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-07/outputs_tactile/tactile_cache/dag911262r00035d_lerobot_0326_220254_edfea759/episodes/ep000063/gripper_right_tactile_contact_metrics.json
@@ -0,0 +1,12 @@
+{
+  "contact_time": 14.633333333333333,
+  "contact_ratio": 0.9627192982456141,
+  "avg_contact_area": 3286.749430523918,
+  "contact_entropy": 0.5058296336989692,
+  "total_frames": 456,
+  "fps": 30.0,
+  "reference_frame_count": 0,
+  "dataset_name": "dag911262r00035d_lerobot_0326_220254",
+  "episode_index": 63,
+  "sensor": "gripper_right_tactile"
+}
\ No newline at end of file
diff --git a/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-07/outputs_tactile/tactile_cache/dag911262r00035d_lerobot_0326_220254_edfea759/episodes/ep000066/gripper_right_tactile_force_metrics.json b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-07/outputs_tactile/tactile_cache/dag911262r00035d_lerobot_0326_220254_edfea759/episodes/ep000066/gripper_right_tactile_force_metrics.json
new file mode 100644
index 0000000000000000000000000000000000000000..9dc11d74fea0f013ea286568ee0b5dedfae3e04d
--- /dev/null
+++ b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-07/outputs_tactile/tactile_cache/dag911262r00035d_lerobot_0326_220254_edfea759/episodes/ep000066/gripper_right_tactile_force_metrics.json
@@ -0,0 +1,9 @@
+{
+  "depth_peak": 0.0039831665344536304,
+  "shear_peak": 0.00266265869140625,
+  "force_magnitude_peak": 0.004671680275350809,
+  "reference_frame_count": 0,
+  "dataset_name": "dag911262r00035d_lerobot_0326_220254",
+  "episode_index": 66,
+  "sensor": "gripper_right_tactile"
+}
\ No newline at end of file
diff --git a/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-07/outputs_tactile/tactile_cache/dag911262r00035d_lerobot_0326_220254_edfea759/episodes/ep000069/gripper_right_tactile_force_metrics.json b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-07/outputs_tactile/tactile_cache/dag911262r00035d_lerobot_0326_220254_edfea759/episodes/ep000069/gripper_right_tactile_force_metrics.json
new file mode 100644
index 0000000000000000000000000000000000000000..427b14cf8b23e9e13c485509a962f7d519610604
--- /dev/null
+++ b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-07/outputs_tactile/tactile_cache/dag911262r00035d_lerobot_0326_220254_edfea759/episodes/ep000069/gripper_right_tactile_force_metrics.json
@@ -0,0 +1,9 @@
+{
+  "depth_peak": 0.005697058979421854,
+  "shear_peak": 0.004437893163412809,
+  "force_magnitude_peak": 0.007201947271823883,
+  "reference_frame_count": 0,
+  "dataset_name": "dag911262r00035d_lerobot_0326_220254",
+  "episode_index": 69,
+  "sensor": "gripper_right_tactile"
+}
\ No newline at end of file
diff --git a/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-07/outputs_tactile/tactile_cache/dag911262r00035d_lerobot_0326_220254_edfea759/episodes/ep000070/gripper_left_tactile_contact_metrics.json b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-07/outputs_tactile/tactile_cache/dag911262r00035d_lerobot_0326_220254_edfea759/episodes/ep000070/gripper_left_tactile_contact_metrics.json
new file mode 100644
index 0000000000000000000000000000000000000000..064175b7181a1eedb6e5b0d774c196b363244ca5
--- /dev/null
+++ b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-07/outputs_tactile/tactile_cache/dag911262r00035d_lerobot_0326_220254_edfea759/episodes/ep000070/gripper_left_tactile_contact_metrics.json
@@ -0,0 +1,12 @@
+{
+  "contact_time": 9.466666666666667,
+  "contact_ratio": 0.605543710021322,
+  "avg_contact_area": 322.65492957746477,
+  "contact_entropy": 0.2619050265677696,
+  "total_frames": 469,
+  "fps": 30.0,
+  "reference_frame_count": 0,
+  "dataset_name": "dag911262r00035d_lerobot_0326_220254",
+  "episode_index": 70,
+  "sensor": "gripper_left_tactile"
+}
\ No newline at end of file
diff --git a/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-07/outputs_tactile/tactile_cache/dag911262r00035d_lerobot_0326_220254_edfea759/episodes/ep000073/gripper_left_tactile_contact_metrics.json b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-07/outputs_tactile/tactile_cache/dag911262r00035d_lerobot_0326_220254_edfea759/episodes/ep000073/gripper_left_tactile_contact_metrics.json
new file mode 100644
index 0000000000000000000000000000000000000000..9f1c390566bfcaf2576e3b61e3e6a65ed705d9e8
--- /dev/null
+++ b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-07/outputs_tactile/tactile_cache/dag911262r00035d_lerobot_0326_220254_edfea759/episodes/ep000073/gripper_left_tactile_contact_metrics.json
@@ -0,0 +1,12 @@
+{
+  "contact_time": 13.166666666666666,
+  "contact_ratio": 0.44937428896473264,
+  "avg_contact_area": 2393.0962025316458,
+  "contact_entropy": 1.0901447092074383,
+  "total_frames": 879,
+  "fps": 30.0,
+  "reference_frame_count": 0,
+  "dataset_name": "dag911262r00035d_lerobot_0326_220254",
+  "episode_index": 73,
+  "sensor": "gripper_left_tactile"
+}
\ No newline at end of file
diff --git a/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-07/outputs_tactile/tactile_cache/dag911262r00035d_lerobot_0326_220254_edfea759/episodes/ep000075/gripper_right_tactile_force_metrics.json b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-07/outputs_tactile/tactile_cache/dag911262r00035d_lerobot_0326_220254_edfea759/episodes/ep000075/gripper_right_tactile_force_metrics.json
new file mode 100644
index 0000000000000000000000000000000000000000..7edd2518493cc65fcf130c2717071a86d5bd1f30
--- /dev/null
+++ b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-07/outputs_tactile/tactile_cache/dag911262r00035d_lerobot_0326_220254_edfea759/episodes/ep000075/gripper_right_tactile_force_metrics.json
@@ -0,0 +1,9 @@
+{
+  "depth_peak": 0.0029422054067254066,
+  "shear_peak": 0.0013259119587019086,
+  "force_magnitude_peak": 0.0031006105709820986,
+  "reference_frame_count": 0,
+  "dataset_name": "dag911262r00035d_lerobot_0326_220254",
+  "episode_index": 75,
+  "sensor": "gripper_right_tactile"
+}
\ No newline at end of file
diff --git a/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-07/outputs_tactile/tactile_cache/dag911262r00035d_lerobot_0326_220254_edfea759/episodes/ep000079/gripper_left_tactile_force_metrics.json b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-07/outputs_tactile/tactile_cache/dag911262r00035d_lerobot_0326_220254_edfea759/episodes/ep000079/gripper_left_tactile_force_metrics.json
new file mode 100644
index 0000000000000000000000000000000000000000..3dad737d7c66c1085ab29dbf5ce48647c074ddd4
--- /dev/null
+++ b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-07/outputs_tactile/tactile_cache/dag911262r00035d_lerobot_0326_220254_edfea759/episodes/ep000079/gripper_left_tactile_force_metrics.json
@@ -0,0 +1,9 @@
+{
+  "depth_peak": 0.00229815230704844,
+  "shear_peak": 0.001906984718516469,
+  "force_magnitude_peak": 0.0025046407245099545,
+  "reference_frame_count": 0,
+  "dataset_name": "dag911262r00035d_lerobot_0326_220254",
+  "episode_index": 79,
+  "sensor": "gripper_left_tactile"
+}
\ No newline at end of file
diff --git a/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-07/outputs_tactile/tactile_cache/dag911262r00035d_lerobot_0326_220254_edfea759/episodes/ep000081/gripper_left_tactile_force_metrics.json b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-07/outputs_tactile/tactile_cache/dag911262r00035d_lerobot_0326_220254_edfea759/episodes/ep000081/gripper_left_tactile_force_metrics.json
new file mode 100644
index 0000000000000000000000000000000000000000..0406bcd300e1e45ed74f2f6c22436206a45d449e
--- /dev/null
+++ b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-07/outputs_tactile/tactile_cache/dag911262r00035d_lerobot_0326_220254_edfea759/episodes/ep000081/gripper_left_tactile_force_metrics.json
@@ -0,0 +1,9 @@
+{
+  "depth_peak": 0.003919543232768774,
+  "shear_peak": 0.0034903010819107294,
+  "force_magnitude_peak": 0.0050462475046515465,
+  "reference_frame_count": 0,
+  "dataset_name": "dag911262r00035d_lerobot_0326_220254",
+  "episode_index": 81,
+  "sensor": "gripper_left_tactile"
+}
\ No newline at end of file
diff --git a/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-07/outputs_tactile/tactile_cache/dag911262r00035d_lerobot_0326_220254_edfea759/episodes/ep000082/gripper_right_tactile_contact_metrics.json b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-07/outputs_tactile/tactile_cache/dag911262r00035d_lerobot_0326_220254_edfea759/episodes/ep000082/gripper_right_tactile_contact_metrics.json
new file mode 100644
index 0000000000000000000000000000000000000000..488c27e87787cc84ff298bfbcfcad8ed8f82c227
--- /dev/null
+++ b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-07/outputs_tactile/tactile_cache/dag911262r00035d_lerobot_0326_220254_edfea759/episodes/ep000082/gripper_right_tactile_contact_metrics.json
@@ -0,0 +1,12 @@
+{
+  "contact_time": 16.333333333333332,
+  "contact_ratio": 0.8566433566433567,
+  "avg_contact_area": 4279.95306122449,
+  "contact_entropy": 0.6172297868018426,
+  "total_frames": 572,
+  "fps": 30.0,
+  "reference_frame_count": 0,
+  "dataset_name": "dag911262r00035d_lerobot_0326_220254",
+  "episode_index": 82,
+  "sensor": "gripper_right_tactile"
+}
\ No newline at end of file
diff --git a/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-07/outputs_tactile/tactile_cache/dag911262r00035d_lerobot_0326_220254_edfea759/episodes/ep000082/gripper_right_tactile_force_metrics.json b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-07/outputs_tactile/tactile_cache/dag911262r00035d_lerobot_0326_220254_edfea759/episodes/ep000082/gripper_right_tactile_force_metrics.json
new file mode 100644
index 0000000000000000000000000000000000000000..1114ec59b4693c496da795d7edff808c29cf2d5d
--- /dev/null
+++ b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-07/outputs_tactile/tactile_cache/dag911262r00035d_lerobot_0326_220254_edfea759/episodes/ep000082/gripper_right_tactile_force_metrics.json
@@ -0,0 +1,9 @@
+{
+  "depth_peak": 0.009304434061050415,
+  "shear_peak": 0.004836753476411104,
+  "force_magnitude_peak": 0.010486499406397343,
+  "reference_frame_count": 0,
+  "dataset_name": "dag911262r00035d_lerobot_0326_220254",
+  "episode_index": 82,
+  "sensor": "gripper_right_tactile"
+}
\ No newline at end of file
diff --git a/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-07/outputs_tactile/tactile_cache/dag911262r00035d_lerobot_0326_220254_edfea759/episodes/ep000083/gripper_left_tactile_force_metrics.json b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-07/outputs_tactile/tactile_cache/dag911262r00035d_lerobot_0326_220254_edfea759/episodes/ep000083/gripper_left_tactile_force_metrics.json
new file mode 100644
index 0000000000000000000000000000000000000000..0929402c14645adca337fa48eaf521364f07342b
--- /dev/null
+++ b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-07/outputs_tactile/tactile_cache/dag911262r00035d_lerobot_0326_220254_edfea759/episodes/ep000083/gripper_left_tactile_force_metrics.json
@@ -0,0 +1,9 @@
+{
+  "depth_peak": 0.00027181440964341164,
+  "shear_peak": 0.0016016563167795539,
+  "force_magnitude_peak": 0.0019605434499680996,
+  "reference_frame_count": 0,
+  "dataset_name": "dag911262r00035d_lerobot_0326_220254",
+  "episode_index": 83,
+  "sensor": "gripper_left_tactile"
+}
\ No newline at end of file
diff --git a/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-07/outputs_tactile/tactile_cache/dag911262r00035d_lerobot_0326_220254_edfea759/episodes/ep000085/gripper_right_tactile_contact_metrics.json b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-07/outputs_tactile/tactile_cache/dag911262r00035d_lerobot_0326_220254_edfea759/episodes/ep000085/gripper_right_tactile_contact_metrics.json
new file mode 100644
index 0000000000000000000000000000000000000000..911c8a1e07b6dd2dafca2cbc91685912392ea67b
--- /dev/null
+++ b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-07/outputs_tactile/tactile_cache/dag911262r00035d_lerobot_0326_220254_edfea759/episodes/ep000085/gripper_right_tactile_contact_metrics.json
@@ -0,0 +1,12 @@
+{
+  "contact_time": 4.9,
+  "contact_ratio": 0.5610687022900763,
+  "avg_contact_area": 244.8843537414966,
+  "contact_entropy": 0.024069674566223442,
+  "total_frames": 262,
+  "fps": 30.0,
+  "reference_frame_count": 0,
+  "dataset_name": "dag911262r00035d_lerobot_0326_220254",
+  "episode_index": 85,
+  "sensor": "gripper_right_tactile"
+}
\ No newline at end of file
diff --git a/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-07/outputs_tactile/tactile_cache/dag911262r00035d_lerobot_0326_220254_edfea759/episodes/ep000088/gripper_left_tactile_force_metrics.json b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-07/outputs_tactile/tactile_cache/dag911262r00035d_lerobot_0326_220254_edfea759/episodes/ep000088/gripper_left_tactile_force_metrics.json
new file mode 100644
index 0000000000000000000000000000000000000000..a54e3bb9506ee551cac7561ab7e4289597d73552
--- /dev/null
+++ b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-07/outputs_tactile/tactile_cache/dag911262r00035d_lerobot_0326_220254_edfea759/episodes/ep000088/gripper_left_tactile_force_metrics.json
@@ -0,0 +1,9 @@
+{
+  "depth_peak": 0.0005792269948869944,
+  "shear_peak": 0.004374371375888586,
+  "force_magnitude_peak": 0.004375474993139505,
+  "reference_frame_count": 0,
+  "dataset_name": "dag911262r00035d_lerobot_0326_220254",
+  "episode_index": 88,
+  "sensor": "gripper_left_tactile"
+}
\ No newline at end of file
diff --git a/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-07/outputs_tactile/tactile_cache/dag911262r00035d_lerobot_0326_220254_edfea759/episodes/ep000088/gripper_right_tactile_contact_metrics.json b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-07/outputs_tactile/tactile_cache/dag911262r00035d_lerobot_0326_220254_edfea759/episodes/ep000088/gripper_right_tactile_contact_metrics.json
new file mode 100644
index 0000000000000000000000000000000000000000..0048e64304b6f33775eff21984fd061e2d90c97f
--- /dev/null
+++ b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-07/outputs_tactile/tactile_cache/dag911262r00035d_lerobot_0326_220254_edfea759/episodes/ep000088/gripper_right_tactile_contact_metrics.json
@@ -0,0 +1,12 @@
+{
+  "contact_time": 10.533333333333333,
+  "contact_ratio": 0.6884531590413944,
+  "avg_contact_area": 2369.268987341772,
+  "contact_entropy": 0.4990949580000094,
+  "total_frames": 459,
+  "fps": 30.0,
+  "reference_frame_count": 0,
+  "dataset_name": "dag911262r00035d_lerobot_0326_220254",
+  "episode_index": 88,
+  "sensor": "gripper_right_tactile"
+}
\ No newline at end of file
diff --git a/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-07/outputs_tactile/tactile_cache/dag911262r00035d_lerobot_0326_220254_edfea759/episodes/ep000089/gripper_left_tactile_contact_metrics.json b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-07/outputs_tactile/tactile_cache/dag911262r00035d_lerobot_0326_220254_edfea759/episodes/ep000089/gripper_left_tactile_contact_metrics.json
new file mode 100644
index 0000000000000000000000000000000000000000..80d0724fe5ed32fd3c3bee99e717417334866669
--- /dev/null
+++ b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-07/outputs_tactile/tactile_cache/dag911262r00035d_lerobot_0326_220254_edfea759/episodes/ep000089/gripper_left_tactile_contact_metrics.json
@@ -0,0 +1,12 @@
+{
+  "contact_time": 2.1,
+  "contact_ratio": 0.21070234113712374,
+  "avg_contact_area": 44.84126984126984,
+  "contact_entropy": 0.0,
+  "total_frames": 299,
+  "fps": 30.0,
+  "reference_frame_count": 0,
+  "dataset_name": "dag911262r00035d_lerobot_0326_220254",
+  "episode_index": 89,
+  "sensor": "gripper_left_tactile"
+}
\ No newline at end of file
diff --git a/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-07/outputs_tactile/tactile_cache/dag911262r00035d_lerobot_0326_220254_edfea759/episodes/ep000092/gripper_left_tactile_force_metrics.json b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-07/outputs_tactile/tactile_cache/dag911262r00035d_lerobot_0326_220254_edfea759/episodes/ep000092/gripper_left_tactile_force_metrics.json
new file mode 100644
index 0000000000000000000000000000000000000000..370a2fb28bbe151816b502fcfcc18f681669cb0e
--- /dev/null
+++ b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-07/outputs_tactile/tactile_cache/dag911262r00035d_lerobot_0326_220254_edfea759/episodes/ep000092/gripper_left_tactile_force_metrics.json
@@ -0,0 +1,9 @@
+{
+  "depth_peak": 0.016928955912590027,
+  "shear_peak": 0.0064446162432432175,
+  "force_magnitude_peak": 0.017364894971251488,
+  "reference_frame_count": 0,
+  "dataset_name": "dag911262r00035d_lerobot_0326_220254",
+  "episode_index": 92,
+  "sensor": "gripper_left_tactile"
+}
\ No newline at end of file
diff --git a/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-07/outputs_tactile/tactile_cache/dag911262r00035d_lerobot_0326_220254_edfea759/episodes/ep000097/gripper_right_tactile_contact_metrics.json b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-07/outputs_tactile/tactile_cache/dag911262r00035d_lerobot_0326_220254_edfea759/episodes/ep000097/gripper_right_tactile_contact_metrics.json
new file mode 100644
index 0000000000000000000000000000000000000000..386d0fec07c224602774c706916f2b2360eab381
--- /dev/null
+++ b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-07/outputs_tactile/tactile_cache/dag911262r00035d_lerobot_0326_220254_edfea759/episodes/ep000097/gripper_right_tactile_contact_metrics.json
@@ -0,0 +1,12 @@
+{
+  "contact_time": 6.866666666666666,
+  "contact_ratio": 0.5435356200527705,
+  "avg_contact_area": 29.990291262135923,
+  "contact_entropy": 0.0,
+  "total_frames": 379,
+  "fps": 30.0,
+  "reference_frame_count": 0,
+  "dataset_name": "dag911262r00035d_lerobot_0326_220254",
+  "episode_index": 97,
+  "sensor": "gripper_right_tactile"
+}
\ No newline at end of file
diff --git a/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-07/outputs_tactile/tactile_cache/dag911262r00035d_lerobot_0326_220254_edfea759/episodes/ep000099/gripper_left_tactile_contact_metrics.json b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-07/outputs_tactile/tactile_cache/dag911262r00035d_lerobot_0326_220254_edfea759/episodes/ep000099/gripper_left_tactile_contact_metrics.json
new file mode 100644
index 0000000000000000000000000000000000000000..14a03cdd9273af96e290a26d9bf86c20ca6490be
--- /dev/null
+++ b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-07/outputs_tactile/tactile_cache/dag911262r00035d_lerobot_0326_220254_edfea759/episodes/ep000099/gripper_left_tactile_contact_metrics.json
@@ -0,0 +1,12 @@
+{
+  "contact_time": 7.133333333333334,
+  "contact_ratio": 0.4533898305084746,
+  "avg_contact_area": 3048.6682242990655,
+  "contact_entropy": 0.7281392756802314,
+  "total_frames": 472,
+  "fps": 30.0,
+  "reference_frame_count": 0,
+  "dataset_name": "dag911262r00035d_lerobot_0326_220254",
+  "episode_index": 99,
+  "sensor": "gripper_left_tactile"
+}
\ No newline at end of file
diff --git a/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-07/outputs_tactile/tactile_cache/dag911262r00035d_lerobot_0326_220254_edfea759/episodes/ep000100/gripper_right_tactile_force_metrics.json b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-07/outputs_tactile/tactile_cache/dag911262r00035d_lerobot_0326_220254_edfea759/episodes/ep000100/gripper_right_tactile_force_metrics.json
new file mode 100644
index 0000000000000000000000000000000000000000..773ae9c6e29602114c6393d563c3003ddfa0cacd
--- /dev/null
+++ b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-07/outputs_tactile/tactile_cache/dag911262r00035d_lerobot_0326_220254_edfea759/episodes/ep000100/gripper_right_tactile_force_metrics.json
@@ -0,0 +1,9 @@
+{
+  "depth_peak": 0.004411209840327501,
+  "shear_peak": 0.01082468219101429,
+  "force_magnitude_peak": 0.0113688874989748,
+  "reference_frame_count": 0,
+  "dataset_name": "dag911262r00035d_lerobot_0326_220254",
+  "episode_index": 100,
+  "sensor": "gripper_right_tactile"
+}
\ No newline at end of file
diff --git a/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-07/outputs_tactile/tactile_cache/dag911262r00035d_lerobot_0326_220254_edfea759/episodes/ep000103/gripper_left_tactile_contact_metrics.json b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-07/outputs_tactile/tactile_cache/dag911262r00035d_lerobot_0326_220254_edfea759/episodes/ep000103/gripper_left_tactile_contact_metrics.json
new file mode 100644
index 0000000000000000000000000000000000000000..bfb99cb3f3d4f7bd27cb9161086afe86bcb29955
--- /dev/null
+++ b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-07/outputs_tactile/tactile_cache/dag911262r00035d_lerobot_0326_220254_edfea759/episodes/ep000103/gripper_left_tactile_contact_metrics.json
@@ -0,0 +1,12 @@
+{
+  "contact_time": 6.233333333333333,
+  "contact_ratio": 0.38716356107660455,
+  "avg_contact_area": 7761.775401069519,
+  "contact_entropy": 0.7613723685807157,
+  "total_frames": 483,
+  "fps": 30.0,
+  "reference_frame_count": 0,
+  "dataset_name": "dag911262r00035d_lerobot_0326_220254",
+  "episode_index": 103,
+  "sensor": "gripper_left_tactile"
+}
\ No newline at end of file
diff --git a/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-07/outputs_tactile/tactile_cache/dag911262r00035d_lerobot_0326_220254_edfea759/episodes/ep000103/gripper_right_tactile_contact_metrics.json b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-07/outputs_tactile/tactile_cache/dag911262r00035d_lerobot_0326_220254_edfea759/episodes/ep000103/gripper_right_tactile_contact_metrics.json
new file mode 100644
index 0000000000000000000000000000000000000000..a00705f5308ca75ee4de1dd449b7ab9b3d096626
--- /dev/null
+++ b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-07/outputs_tactile/tactile_cache/dag911262r00035d_lerobot_0326_220254_edfea759/episodes/ep000103/gripper_right_tactile_contact_metrics.json
@@ -0,0 +1,12 @@
+{
+  "contact_time": 9.1,
+  "contact_ratio": 0.5652173913043478,
+  "avg_contact_area": 4399.399267399267,
+  "contact_entropy": 0.9734450201338702,
+  "total_frames": 483,
+  "fps": 30.0,
+  "reference_frame_count": 0,
+  "dataset_name": "dag911262r00035d_lerobot_0326_220254",
+  "episode_index": 103,
+  "sensor": "gripper_right_tactile"
+}
\ No newline at end of file
diff --git a/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-07/outputs_tactile/tactile_cache/dag911262r00035d_lerobot_0326_220254_edfea759/episodes/ep000106/gripper_right_tactile_force_metrics.json b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-07/outputs_tactile/tactile_cache/dag911262r00035d_lerobot_0326_220254_edfea759/episodes/ep000106/gripper_right_tactile_force_metrics.json
new file mode 100644
index 0000000000000000000000000000000000000000..aa103d0645a52b86fc7851f01961cab40cff3b92
--- /dev/null
+++ b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-07/outputs_tactile/tactile_cache/dag911262r00035d_lerobot_0326_220254_edfea759/episodes/ep000106/gripper_right_tactile_force_metrics.json
@@ -0,0 +1,9 @@
+{
+  "depth_peak": 0.0016865935176610947,
+  "shear_peak": 0.0053522721864283085,
+  "force_magnitude_peak": 0.005352664738893509,
+  "reference_frame_count": 0,
+  "dataset_name": "dag911262r00035d_lerobot_0326_220254",
+  "episode_index": 106,
+  "sensor": "gripper_right_tactile"
+}
\ No newline at end of file
diff --git a/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-07/outputs_tactile/tactile_cache/dag911262r00035d_lerobot_0326_220254_edfea759/episodes/ep000109/gripper_right_tactile_force_metrics.json b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-07/outputs_tactile/tactile_cache/dag911262r00035d_lerobot_0326_220254_edfea759/episodes/ep000109/gripper_right_tactile_force_metrics.json
new file mode 100644
index 0000000000000000000000000000000000000000..5d250c2032fd29878a3748ca2d3163121374bc40
--- /dev/null
+++ b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-07/outputs_tactile/tactile_cache/dag911262r00035d_lerobot_0326_220254_edfea759/episodes/ep000109/gripper_right_tactile_force_metrics.json
@@ -0,0 +1,9 @@
+{
+  "depth_peak": 0.0005372834275476635,
+  "shear_peak": 0.0025051948614418507,
+  "force_magnitude_peak": 0.002525918884202838,
+  "reference_frame_count": 0,
+  "dataset_name": "dag911262r00035d_lerobot_0326_220254",
+  "episode_index": 109,
+  "sensor": "gripper_right_tactile"
+}
\ No newline at end of file
diff --git a/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-07/outputs_tactile/tactile_cache/dag911262r00035d_lerobot_0326_220254_edfea759/episodes/ep000110/gripper_left_tactile_contact_metrics.json b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-07/outputs_tactile/tactile_cache/dag911262r00035d_lerobot_0326_220254_edfea759/episodes/ep000110/gripper_left_tactile_contact_metrics.json
new file mode 100644
index 0000000000000000000000000000000000000000..40a9c1c556213f23c9c3b7bc947ae7c3829fcff7
--- /dev/null
+++ b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-07/outputs_tactile/tactile_cache/dag911262r00035d_lerobot_0326_220254_edfea759/episodes/ep000110/gripper_left_tactile_contact_metrics.json
@@ -0,0 +1,12 @@
+{
+  "contact_time": 7.766666666666667,
+  "contact_ratio": 0.5753086419753086,
+  "avg_contact_area": 1634.4291845493563,
+  "contact_entropy": 0.6926438669803886,
+  "total_frames": 405,
+  "fps": 30.0,
+  "reference_frame_count": 0,
+  "dataset_name": "dag911262r00035d_lerobot_0326_220254",
+  "episode_index": 110,
+  "sensor": "gripper_left_tactile"
+}
\ No newline at end of file
diff --git a/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-07/outputs_tactile/tactile_cache/dag911262r00035d_lerobot_0326_220254_edfea759/episodes/ep000113/gripper_left_tactile_contact_metrics.json b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-07/outputs_tactile/tactile_cache/dag911262r00035d_lerobot_0326_220254_edfea759/episodes/ep000113/gripper_left_tactile_contact_metrics.json
new file mode 100644
index 0000000000000000000000000000000000000000..61b34f024b42bc79dd35b792d8639e4cc8dbe4d8
--- /dev/null
+++ b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-07/outputs_tactile/tactile_cache/dag911262r00035d_lerobot_0326_220254_edfea759/episodes/ep000113/gripper_left_tactile_contact_metrics.json
@@ -0,0 +1,12 @@
+{
+  "contact_time": 5.1,
+  "contact_ratio": 0.35498839907192575,
+  "avg_contact_area": 1384.0718954248366,
+  "contact_entropy": 0.5748397475572106,
+  "total_frames": 431,
+  "fps": 30.0,
+  "reference_frame_count": 0,
+  "dataset_name": "dag911262r00035d_lerobot_0326_220254",
+  "episode_index": 113,
+  "sensor": "gripper_left_tactile"
+}
\ No newline at end of file
diff --git a/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-07/outputs_tactile/tactile_cache/dag911262r00035d_lerobot_0326_220254_edfea759/episodes/ep000115/gripper_right_tactile_force_metrics.json b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-07/outputs_tactile/tactile_cache/dag911262r00035d_lerobot_0326_220254_edfea759/episodes/ep000115/gripper_right_tactile_force_metrics.json
new file mode 100644
index 0000000000000000000000000000000000000000..98fdb279368d267878ec8614cdcb59b399f6e708
--- /dev/null
+++ b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-07/outputs_tactile/tactile_cache/dag911262r00035d_lerobot_0326_220254_edfea759/episodes/ep000115/gripper_right_tactile_force_metrics.json
@@ -0,0 +1,9 @@
+{
+  "depth_peak": 0.004687601700425148,
+  "shear_peak": 0.011330077424645424,
+  "force_magnitude_peak": 0.01215396635234356,
+  "reference_frame_count": 0,
+  "dataset_name": "dag911262r00035d_lerobot_0326_220254",
+  "episode_index": 115,
+  "sensor": "gripper_right_tactile"
+}
\ No newline at end of file
diff --git a/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-07/outputs_tactile/tactile_cache/dag911262r00035d_lerobot_0326_220254_edfea759/episodes/ep000119/gripper_left_tactile_force_metrics.json b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-07/outputs_tactile/tactile_cache/dag911262r00035d_lerobot_0326_220254_edfea759/episodes/ep000119/gripper_left_tactile_force_metrics.json
new file mode 100644
index 0000000000000000000000000000000000000000..99b6e6972bf85b45e422274e386fadbbfdc39fca
--- /dev/null
+++ b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-07/outputs_tactile/tactile_cache/dag911262r00035d_lerobot_0326_220254_edfea759/episodes/ep000119/gripper_left_tactile_force_metrics.json
@@ -0,0 +1,9 @@
+{
+  "depth_peak": 0.003113433951511979,
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+  "force_magnitude_peak": 0.004111239220947027,
+  "reference_frame_count": 0,
+  "dataset_name": "dag911262r00035d_lerobot_0326_220254",
+  "episode_index": 119,
+  "sensor": "gripper_left_tactile"
+}
\ No newline at end of file
diff --git a/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-07/outputs_tactile/tactile_cache/dag911262r00035d_lerobot_0326_220254_edfea759/episodes/ep000121/gripper_left_tactile_force_metrics.json b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-07/outputs_tactile/tactile_cache/dag911262r00035d_lerobot_0326_220254_edfea759/episodes/ep000121/gripper_left_tactile_force_metrics.json
new file mode 100644
index 0000000000000000000000000000000000000000..b9d83f1b64043f6b3546aaf4969f82e9ec3829b8
--- /dev/null
+++ b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-07/outputs_tactile/tactile_cache/dag911262r00035d_lerobot_0326_220254_edfea759/episodes/ep000121/gripper_left_tactile_force_metrics.json
@@ -0,0 +1,9 @@
+{
+  "depth_peak": 0.004069525748491287,
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+  "force_magnitude_peak": 0.005156741477549076,
+  "reference_frame_count": 0,
+  "dataset_name": "dag911262r00035d_lerobot_0326_220254",
+  "episode_index": 121,
+  "sensor": "gripper_left_tactile"
+}
\ No newline at end of file
diff --git a/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-07/outputs_tactile/tactile_cache/dag911262r00035d_lerobot_0326_220254_edfea759/episodes/ep000122/gripper_right_tactile_contact_metrics.json b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-07/outputs_tactile/tactile_cache/dag911262r00035d_lerobot_0326_220254_edfea759/episodes/ep000122/gripper_right_tactile_contact_metrics.json
new file mode 100644
index 0000000000000000000000000000000000000000..a01e0741cf146379085b8ff1080473a92ec33f60
--- /dev/null
+++ b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-07/outputs_tactile/tactile_cache/dag911262r00035d_lerobot_0326_220254_edfea759/episodes/ep000122/gripper_right_tactile_contact_metrics.json
@@ -0,0 +1,12 @@
+{
+  "contact_time": 4.7,
+  "contact_ratio": 0.6714285714285714,
+  "avg_contact_area": 1902.886524822695,
+  "contact_entropy": 0.0,
+  "total_frames": 210,
+  "fps": 30.0,
+  "reference_frame_count": 0,
+  "dataset_name": "dag911262r00035d_lerobot_0326_220254",
+  "episode_index": 122,
+  "sensor": "gripper_right_tactile"
+}
\ No newline at end of file
diff --git a/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-07/outputs_tactile/tactile_cache/dag911262r00035d_lerobot_0326_220254_edfea759/episodes/ep000123/gripper_left_tactile_force_metrics.json b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-07/outputs_tactile/tactile_cache/dag911262r00035d_lerobot_0326_220254_edfea759/episodes/ep000123/gripper_left_tactile_force_metrics.json
new file mode 100644
index 0000000000000000000000000000000000000000..7925777e0b097f50deef41ee7cb5c4c3cb2ff027
--- /dev/null
+++ b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-07/outputs_tactile/tactile_cache/dag911262r00035d_lerobot_0326_220254_edfea759/episodes/ep000123/gripper_left_tactile_force_metrics.json
@@ -0,0 +1,9 @@
+{
+  "depth_peak": 0.007049097213894129,
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+  "force_magnitude_peak": 0.007925616577267647,
+  "reference_frame_count": 0,
+  "dataset_name": "dag911262r00035d_lerobot_0326_220254",
+  "episode_index": 123,
+  "sensor": "gripper_left_tactile"
+}
\ No newline at end of file
diff --git a/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-07/outputs_tactile/tactile_cache/dag911262r00035d_lerobot_0326_220254_edfea759/episodes/ep000125/gripper_right_tactile_contact_metrics.json b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-07/outputs_tactile/tactile_cache/dag911262r00035d_lerobot_0326_220254_edfea759/episodes/ep000125/gripper_right_tactile_contact_metrics.json
new file mode 100644
index 0000000000000000000000000000000000000000..62ca36906152e067ce97965bd41694d7f845f593
--- /dev/null
+++ b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-07/outputs_tactile/tactile_cache/dag911262r00035d_lerobot_0326_220254_edfea759/episodes/ep000125/gripper_right_tactile_contact_metrics.json
@@ -0,0 +1,12 @@
+{
+  "contact_time": 11.3,
+  "contact_ratio": 0.601063829787234,
+  "avg_contact_area": 685.47197640118,
+  "contact_entropy": 0.6384557659191256,
+  "total_frames": 564,
+  "fps": 30.0,
+  "reference_frame_count": 0,
+  "dataset_name": "dag911262r00035d_lerobot_0326_220254",
+  "episode_index": 125,
+  "sensor": "gripper_right_tactile"
+}
\ No newline at end of file
diff --git a/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-07/outputs_tactile/tactile_cache/dag911262r00035d_lerobot_0326_220254_edfea759/episodes/ep000128/gripper_left_tactile_force_metrics.json b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-07/outputs_tactile/tactile_cache/dag911262r00035d_lerobot_0326_220254_edfea759/episodes/ep000128/gripper_left_tactile_force_metrics.json
new file mode 100644
index 0000000000000000000000000000000000000000..24be6f7eb1f9f07f67445ace460b41d0d103ea63
--- /dev/null
+++ b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-07/outputs_tactile/tactile_cache/dag911262r00035d_lerobot_0326_220254_edfea759/episodes/ep000128/gripper_left_tactile_force_metrics.json
@@ -0,0 +1,9 @@
+{
+  "depth_peak": 0.005009236745536327,
+  "shear_peak": 0.006635031197220087,
+  "force_magnitude_peak": 0.008190150372684002,
+  "reference_frame_count": 0,
+  "dataset_name": "dag911262r00035d_lerobot_0326_220254",
+  "episode_index": 128,
+  "sensor": "gripper_left_tactile"
+}
\ No newline at end of file
diff --git a/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-07/outputs_tactile/tactile_cache/dag911262r00035d_lerobot_0326_220254_edfea759/episodes/ep000128/gripper_right_tactile_contact_metrics.json b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-07/outputs_tactile/tactile_cache/dag911262r00035d_lerobot_0326_220254_edfea759/episodes/ep000128/gripper_right_tactile_contact_metrics.json
new file mode 100644
index 0000000000000000000000000000000000000000..bce9df005aeaf6b052e1e6d12691c4855b341b33
--- /dev/null
+++ b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-07/outputs_tactile/tactile_cache/dag911262r00035d_lerobot_0326_220254_edfea759/episodes/ep000128/gripper_right_tactile_contact_metrics.json
@@ -0,0 +1,12 @@
+{
+  "contact_time": 5.133333333333334,
+  "contact_ratio": 0.43380281690140843,
+  "avg_contact_area": 1740.909090909091,
+  "contact_entropy": 0.32776282547031077,
+  "total_frames": 355,
+  "fps": 30.0,
+  "reference_frame_count": 0,
+  "dataset_name": "dag911262r00035d_lerobot_0326_220254",
+  "episode_index": 128,
+  "sensor": "gripper_right_tactile"
+}
\ No newline at end of file
diff --git a/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-07/outputs_tactile/tactile_cache/dag911262r00035d_lerobot_0326_220254_edfea759/episodes/ep000129/gripper_left_tactile_contact_metrics.json b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-07/outputs_tactile/tactile_cache/dag911262r00035d_lerobot_0326_220254_edfea759/episodes/ep000129/gripper_left_tactile_contact_metrics.json
new file mode 100644
index 0000000000000000000000000000000000000000..02072cc94bbcb6668b719553e1aad5b4ec4cab2b
--- /dev/null
+++ b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-07/outputs_tactile/tactile_cache/dag911262r00035d_lerobot_0326_220254_edfea759/episodes/ep000129/gripper_left_tactile_contact_metrics.json
@@ -0,0 +1,12 @@
+{
+  "contact_time": 8.4,
+  "contact_ratio": 0.4970414201183432,
+  "avg_contact_area": 2566.0079365079364,
+  "contact_entropy": 0.7669793681920423,
+  "total_frames": 507,
+  "fps": 30.0,
+  "reference_frame_count": 0,
+  "dataset_name": "dag911262r00035d_lerobot_0326_220254",
+  "episode_index": 129,
+  "sensor": "gripper_left_tactile"
+}
\ No newline at end of file
diff --git a/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-07/outputs_tactile/tactile_cache/dag911262r00035d_lerobot_0326_220254_edfea759/episodes/ep000132/gripper_left_tactile_force_metrics.json b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-07/outputs_tactile/tactile_cache/dag911262r00035d_lerobot_0326_220254_edfea759/episodes/ep000132/gripper_left_tactile_force_metrics.json
new file mode 100644
index 0000000000000000000000000000000000000000..243664bc24328dbd3baf75e2969b000068049c32
--- /dev/null
+++ b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-07/outputs_tactile/tactile_cache/dag911262r00035d_lerobot_0326_220254_edfea759/episodes/ep000132/gripper_left_tactile_force_metrics.json
@@ -0,0 +1,9 @@
+{
+  "depth_peak": 0.00640143733471632,
+  "shear_peak": 0.0040816618129611015,
+  "force_magnitude_peak": 0.007563652936369181,
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+  "dataset_name": "dag911262r00035d_lerobot_0326_220254",
+  "episode_index": 132,
+  "sensor": "gripper_left_tactile"
+}
\ No newline at end of file
diff --git a/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-07/outputs_tactile/tactile_cache/dag911262r00035d_lerobot_0326_220254_edfea759/episodes/ep000137/gripper_right_tactile_contact_metrics.json b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-07/outputs_tactile/tactile_cache/dag911262r00035d_lerobot_0326_220254_edfea759/episodes/ep000137/gripper_right_tactile_contact_metrics.json
new file mode 100644
index 0000000000000000000000000000000000000000..232f8fcb28478de475766f983ec3f2abacac6376
--- /dev/null
+++ b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-07/outputs_tactile/tactile_cache/dag911262r00035d_lerobot_0326_220254_edfea759/episodes/ep000137/gripper_right_tactile_contact_metrics.json
@@ -0,0 +1,12 @@
+{
+  "contact_time": 7.533333333333333,
+  "contact_ratio": 0.48394004282655245,
+  "avg_contact_area": 216.99557522123894,
+  "contact_entropy": 0.0,
+  "total_frames": 467,
+  "fps": 30.0,
+  "reference_frame_count": 0,
+  "dataset_name": "dag911262r00035d_lerobot_0326_220254",
+  "episode_index": 137,
+  "sensor": "gripper_right_tactile"
+}
\ No newline at end of file
diff --git a/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-07/outputs_tactile/tactile_cache/dag911262r00035d_lerobot_0326_220254_edfea759/episodes/ep000139/gripper_left_tactile_contact_metrics.json b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-07/outputs_tactile/tactile_cache/dag911262r00035d_lerobot_0326_220254_edfea759/episodes/ep000139/gripper_left_tactile_contact_metrics.json
new file mode 100644
index 0000000000000000000000000000000000000000..aad986c052288574a9317c09816849aa7b82b3d5
--- /dev/null
+++ b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-07/outputs_tactile/tactile_cache/dag911262r00035d_lerobot_0326_220254_edfea759/episodes/ep000139/gripper_left_tactile_contact_metrics.json
@@ -0,0 +1,12 @@
+{
+  "contact_time": 15.966666666666667,
+  "contact_ratio": 0.9937759336099585,
+  "avg_contact_area": 1738.2129436325679,
+  "contact_entropy": 0.6017357209194798,
+  "total_frames": 482,
+  "fps": 30.0,
+  "reference_frame_count": 0,
+  "dataset_name": "dag911262r00035d_lerobot_0326_220254",
+  "episode_index": 139,
+  "sensor": "gripper_left_tactile"
+}
\ No newline at end of file
diff --git a/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-07/outputs_tactile/tactile_cache/dag911262r00035d_lerobot_0326_220254_edfea759/episodes/ep000143/gripper_left_tactile_contact_metrics.json b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-07/outputs_tactile/tactile_cache/dag911262r00035d_lerobot_0326_220254_edfea759/episodes/ep000143/gripper_left_tactile_contact_metrics.json
new file mode 100644
index 0000000000000000000000000000000000000000..51b47ec6a3292a58806b62225fa70cbdf3ae1dfc
--- /dev/null
+++ b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-07/outputs_tactile/tactile_cache/dag911262r00035d_lerobot_0326_220254_edfea759/episodes/ep000143/gripper_left_tactile_contact_metrics.json
@@ -0,0 +1,12 @@
+{
+  "contact_time": 10.833333333333334,
+  "contact_ratio": 0.5824372759856631,
+  "avg_contact_area": 533.0553846153846,
+  "contact_entropy": 0.24857240468388797,
+  "total_frames": 558,
+  "fps": 30.0,
+  "reference_frame_count": 0,
+  "dataset_name": "dag911262r00035d_lerobot_0326_220254",
+  "episode_index": 143,
+  "sensor": "gripper_left_tactile"
+}
\ No newline at end of file
diff --git a/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-07/outputs_tactile/tactile_cache/dag911262r00035d_lerobot_0326_220254_edfea759/episodes/ep000143/gripper_right_tactile_contact_metrics.json b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-07/outputs_tactile/tactile_cache/dag911262r00035d_lerobot_0326_220254_edfea759/episodes/ep000143/gripper_right_tactile_contact_metrics.json
new file mode 100644
index 0000000000000000000000000000000000000000..2cd003483eced483e1f6562663a86ed9e0c931e5
--- /dev/null
+++ b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-07/outputs_tactile/tactile_cache/dag911262r00035d_lerobot_0326_220254_edfea759/episodes/ep000143/gripper_right_tactile_contact_metrics.json
@@ -0,0 +1,12 @@
+{
+  "contact_time": 4.466666666666667,
+  "contact_ratio": 0.24014336917562723,
+  "avg_contact_area": 303.24626865671644,
+  "contact_entropy": 0.05652671052560305,
+  "total_frames": 558,
+  "fps": 30.0,
+  "reference_frame_count": 0,
+  "dataset_name": "dag911262r00035d_lerobot_0326_220254",
+  "episode_index": 143,
+  "sensor": "gripper_right_tactile"
+}
\ No newline at end of file
diff --git a/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-07/outputs_tactile/tactile_cache/dag911262r00035d_lerobot_0326_220254_edfea759/episodes/ep000146/gripper_right_tactile_force_metrics.json b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-07/outputs_tactile/tactile_cache/dag911262r00035d_lerobot_0326_220254_edfea759/episodes/ep000146/gripper_right_tactile_force_metrics.json
new file mode 100644
index 0000000000000000000000000000000000000000..145240fc8d562eeaf5533ac154bca72a5bafb5d8
--- /dev/null
+++ b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-07/outputs_tactile/tactile_cache/dag911262r00035d_lerobot_0326_220254_edfea759/episodes/ep000146/gripper_right_tactile_force_metrics.json
@@ -0,0 +1,9 @@
+{
+  "depth_peak": 0.0004976829513907433,
+  "shear_peak": 0.001359354704618454,
+  "force_magnitude_peak": 0.0016258658142760396,
+  "reference_frame_count": 0,
+  "dataset_name": "dag911262r00035d_lerobot_0326_220254",
+  "episode_index": 146,
+  "sensor": "gripper_right_tactile"
+}
\ No newline at end of file
diff --git a/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-07/outputs_tactile/tactile_cache/dag911262r00035d_lerobot_0326_220254_edfea759/episodes/ep000149/gripper_right_tactile_force_metrics.json b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-07/outputs_tactile/tactile_cache/dag911262r00035d_lerobot_0326_220254_edfea759/episodes/ep000149/gripper_right_tactile_force_metrics.json
new file mode 100644
index 0000000000000000000000000000000000000000..8faa330cd9f7fac1715da46b35540fd0f4d781b5
--- /dev/null
+++ b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-07/outputs_tactile/tactile_cache/dag911262r00035d_lerobot_0326_220254_edfea759/episodes/ep000149/gripper_right_tactile_force_metrics.json
@@ -0,0 +1,9 @@
+{
+  "depth_peak": 0.002292092889547348,
+  "shear_peak": 0.0021476903930306435,
+  "force_magnitude_peak": 0.0027562943287193775,
+  "reference_frame_count": 0,
+  "dataset_name": "dag911262r00035d_lerobot_0326_220254",
+  "episode_index": 149,
+  "sensor": "gripper_right_tactile"
+}
\ No newline at end of file
diff --git a/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-07/outputs_tactile/tactile_cache/dag911262r00035d_lerobot_0326_220254_edfea759/episodes/ep000150/gripper_left_tactile_contact_metrics.json b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-07/outputs_tactile/tactile_cache/dag911262r00035d_lerobot_0326_220254_edfea759/episodes/ep000150/gripper_left_tactile_contact_metrics.json
new file mode 100644
index 0000000000000000000000000000000000000000..10aaa31bf039ba19263b0a21cc17390c0a60d58e
--- /dev/null
+++ b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-07/outputs_tactile/tactile_cache/dag911262r00035d_lerobot_0326_220254_edfea759/episodes/ep000150/gripper_left_tactile_contact_metrics.json
@@ -0,0 +1,12 @@
+{
+  "contact_time": 2.566666666666667,
+  "contact_ratio": 0.22713864306784662,
+  "avg_contact_area": 163.02597402597402,
+  "contact_entropy": 0.17618088327842246,
+  "total_frames": 339,
+  "fps": 30.0,
+  "reference_frame_count": 0,
+  "dataset_name": "dag911262r00035d_lerobot_0326_220254",
+  "episode_index": 150,
+  "sensor": "gripper_left_tactile"
+}
\ No newline at end of file
diff --git a/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-07/outputs_tactile/tactile_cache/dag911262r00035d_lerobot_0326_220254_edfea759/episodes/ep000153/gripper_left_tactile_contact_metrics.json b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-07/outputs_tactile/tactile_cache/dag911262r00035d_lerobot_0326_220254_edfea759/episodes/ep000153/gripper_left_tactile_contact_metrics.json
new file mode 100644
index 0000000000000000000000000000000000000000..acbecee5d5c95d0c409740d058895c1b35c420a6
--- /dev/null
+++ b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-07/outputs_tactile/tactile_cache/dag911262r00035d_lerobot_0326_220254_edfea759/episodes/ep000153/gripper_left_tactile_contact_metrics.json
@@ -0,0 +1,12 @@
+{
+  "contact_time": 16.1,
+  "contact_ratio": 0.8327586206896552,
+  "avg_contact_area": 1442.561076604555,
+  "contact_entropy": 0.4987268704951782,
+  "total_frames": 580,
+  "fps": 30.0,
+  "reference_frame_count": 0,
+  "dataset_name": "dag911262r00035d_lerobot_0326_220254",
+  "episode_index": 153,
+  "sensor": "gripper_left_tactile"
+}
\ No newline at end of file