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_force_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_force_metrics.json
new file mode 100644
index 0000000000000000000000000000000000000000..a4da6de97ed15364e4d9c9ec74b66655d3a1cbd4
--- /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_force_metrics.json
@@ -0,0 +1,9 @@
+{
+  "depth_peak": 0.0009846801403909922,
+  "shear_peak": 0.01130111888051033,
+  "force_magnitude_peak": 0.011416317895054817,
+  "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/ep000140/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/ep000140/gripper_right_tactile_force_metrics.json
new file mode 100644
index 0000000000000000000000000000000000000000..5599e88fb212c2b9e3939b9c41423a062aab346b
--- /dev/null
+++ b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-07/outputs_tactile/tactile_cache/dag911262r00035d_lerobot_0326_220254_edfea759/episodes/ep000140/gripper_right_tactile_force_metrics.json
@@ -0,0 +1,9 @@
+{
+  "depth_peak": 0.002242814749479294,
+  "shear_peak": 0.003909457940608263,
+  "force_magnitude_peak": 0.004279352258890867,
+  "reference_frame_count": 0,
+  "dataset_name": "dag911262r00035d_lerobot_0326_220254",
+  "episode_index": 140,
+  "sensor": "gripper_right_tactile"
+}
\ No newline at end of file
diff --git a/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-07/outputs_tactile/tactile_cache/dag911262r00035d_lerobot_0326_220254_edfea759/episodes/ep000155/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/ep000155/gripper_right_tactile_force_metrics.json
new file mode 100644
index 0000000000000000000000000000000000000000..135fb63f8adfac7fd96d7e03bf2ee407e5ce5a61
--- /dev/null
+++ b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-07/outputs_tactile/tactile_cache/dag911262r00035d_lerobot_0326_220254_edfea759/episodes/ep000155/gripper_right_tactile_force_metrics.json
@@ -0,0 +1,9 @@
+{
+  "depth_peak": 0.0003831346402876079,
+  "shear_peak": 0.006658134050667286,
+  "force_magnitude_peak": 0.0069770412519574165,
+  "reference_frame_count": 0,
+  "dataset_name": "dag911262r00035d_lerobot_0326_220254",
+  "episode_index": 155,
+  "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/ep000159/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/ep000159/gripper_left_tactile_force_metrics.json
new file mode 100644
index 0000000000000000000000000000000000000000..e82d0832b39367eadd2cf482612e8b33993febb1
--- /dev/null
+++ b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-07/outputs_tactile/tactile_cache/dag911262r00035d_lerobot_0326_220254_edfea759/episodes/ep000159/gripper_left_tactile_force_metrics.json
@@ -0,0 +1,9 @@
+{
+  "depth_peak": 0.006686388980597258,
+  "shear_peak": 0.002819873858243227,
+  "force_magnitude_peak": 0.007255252450704575,
+  "reference_frame_count": 0,
+  "dataset_name": "dag911262r00035d_lerobot_0326_220254",
+  "episode_index": 159,
+  "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/ep000161/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/ep000161/gripper_left_tactile_force_metrics.json
new file mode 100644
index 0000000000000000000000000000000000000000..31217824f32b458679baf43ca2436c8a5ac38c4d
--- /dev/null
+++ b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-07/outputs_tactile/tactile_cache/dag911262r00035d_lerobot_0326_220254_edfea759/episodes/ep000161/gripper_left_tactile_force_metrics.json
@@ -0,0 +1,9 @@
+{
+  "depth_peak": 0.006642286665737629,
+  "shear_peak": 0.0019168915459886193,
+  "force_magnitude_peak": 0.006652659270912409,
+  "reference_frame_count": 0,
+  "dataset_name": "dag911262r00035d_lerobot_0326_220254",
+  "episode_index": 161,
+  "sensor": "gripper_left_tactile"
+}
\ No newline at end of file
diff --git a/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-07/outputs_tactile/tactile_cache/dag911262r00035d_lerobot_0326_220254_edfea759/episodes/ep000162/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/ep000162/gripper_right_tactile_contact_metrics.json
new file mode 100644
index 0000000000000000000000000000000000000000..2aa943eef9b226e3749de0362dd2bc13a5a2a127
--- /dev/null
+++ b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-07/outputs_tactile/tactile_cache/dag911262r00035d_lerobot_0326_220254_edfea759/episodes/ep000162/gripper_right_tactile_contact_metrics.json
@@ -0,0 +1,12 @@
+{
+  "contact_time": 4.0,
+  "contact_ratio": 0.36585365853658536,
+  "avg_contact_area": 55.708333333333336,
+  "contact_entropy": 0.0,
+  "total_frames": 328,
+  "fps": 30.0,
+  "reference_frame_count": 0,
+  "dataset_name": "dag911262r00035d_lerobot_0326_220254",
+  "episode_index": 162,
+  "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/ep000162/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/ep000162/gripper_right_tactile_force_metrics.json
new file mode 100644
index 0000000000000000000000000000000000000000..1974379b267447429a17fe2138e0091d8a689513
--- /dev/null
+++ b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-07/outputs_tactile/tactile_cache/dag911262r00035d_lerobot_0326_220254_edfea759/episodes/ep000162/gripper_right_tactile_force_metrics.json
@@ -0,0 +1,9 @@
+{
+  "depth_peak": 0.0013864542124792933,
+  "shear_peak": 0.0017608585767447948,
+  "force_magnitude_peak": 0.0018198237521573901,
+  "reference_frame_count": 0,
+  "dataset_name": "dag911262r00035d_lerobot_0326_220254",
+  "episode_index": 162,
+  "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/ep000163/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/ep000163/gripper_left_tactile_force_metrics.json
new file mode 100644
index 0000000000000000000000000000000000000000..f54dd0ae4af0358422cb69cff466daf3225d982f
--- /dev/null
+++ b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-07/outputs_tactile/tactile_cache/dag911262r00035d_lerobot_0326_220254_edfea759/episodes/ep000163/gripper_left_tactile_force_metrics.json
@@ -0,0 +1,9 @@
+{
+  "depth_peak": 0.006980819161981344,
+  "shear_peak": 0.0015780391404405236,
+  "force_magnitude_peak": 0.006985275074839592,
+  "reference_frame_count": 0,
+  "dataset_name": "dag911262r00035d_lerobot_0326_220254",
+  "episode_index": 163,
+  "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/ep000165/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/ep000165/gripper_right_tactile_contact_metrics.json
new file mode 100644
index 0000000000000000000000000000000000000000..73d495ab07c25a5f12bd037997c5685a4bf5eb02
--- /dev/null
+++ b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-07/outputs_tactile/tactile_cache/dag911262r00035d_lerobot_0326_220254_edfea759/episodes/ep000165/gripper_right_tactile_contact_metrics.json
@@ -0,0 +1,12 @@
+{
+  "contact_time": 7.3,
+  "contact_ratio": 0.5165094339622641,
+  "avg_contact_area": 1287.8995433789955,
+  "contact_entropy": 0.4110055869653151,
+  "total_frames": 424,
+  "fps": 30.0,
+  "reference_frame_count": 0,
+  "dataset_name": "dag911262r00035d_lerobot_0326_220254",
+  "episode_index": 165,
+  "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/ep000168/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/ep000168/gripper_left_tactile_force_metrics.json
new file mode 100644
index 0000000000000000000000000000000000000000..377389d43fe34a20741d750c8e13108f4de5230d
--- /dev/null
+++ b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-07/outputs_tactile/tactile_cache/dag911262r00035d_lerobot_0326_220254_edfea759/episodes/ep000168/gripper_left_tactile_force_metrics.json
@@ -0,0 +1,9 @@
+{
+  "depth_peak": 0.0013540355721488595,
+  "shear_peak": 0.0016791201196610928,
+  "force_magnitude_peak": 0.0016828171210363507,
+  "reference_frame_count": 0,
+  "dataset_name": "dag911262r00035d_lerobot_0326_220254",
+  "episode_index": 168,
+  "sensor": "gripper_left_tactile"
+}
\ No newline at end of file
diff --git a/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-07/outputs_tactile/tactile_cache/dag911262r00035d_lerobot_0326_220254_edfea759/episodes/ep000168/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/ep000168/gripper_right_tactile_contact_metrics.json
new file mode 100644
index 0000000000000000000000000000000000000000..90e2402d9db9635d3a3dbe5685bcfb556ee0852f
--- /dev/null
+++ b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-07/outputs_tactile/tactile_cache/dag911262r00035d_lerobot_0326_220254_edfea759/episodes/ep000168/gripper_right_tactile_contact_metrics.json
@@ -0,0 +1,12 @@
+{
+  "contact_time": 4.233333333333333,
+  "contact_ratio": 0.3681159420289855,
+  "avg_contact_area": 35.08661417322835,
+  "contact_entropy": 0.0,
+  "total_frames": 345,
+  "fps": 30.0,
+  "reference_frame_count": 0,
+  "dataset_name": "dag911262r00035d_lerobot_0326_220254",
+  "episode_index": 168,
+  "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/ep000169/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/ep000169/gripper_left_tactile_contact_metrics.json
new file mode 100644
index 0000000000000000000000000000000000000000..c2cc445a25e986d560b0a6b2fa91196cf8dd3013
--- /dev/null
+++ b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-07/outputs_tactile/tactile_cache/dag911262r00035d_lerobot_0326_220254_edfea759/episodes/ep000169/gripper_left_tactile_contact_metrics.json
@@ -0,0 +1,12 @@
+{
+  "contact_time": 6.233333333333333,
+  "contact_ratio": 0.4410377358490566,
+  "avg_contact_area": 2464.909090909091,
+  "contact_entropy": 1.2522613867825254,
+  "total_frames": 424,
+  "fps": 30.0,
+  "reference_frame_count": 0,
+  "dataset_name": "dag911262r00035d_lerobot_0326_220254",
+  "episode_index": 169,
+  "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/ep000172/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/ep000172/gripper_left_tactile_force_metrics.json
new file mode 100644
index 0000000000000000000000000000000000000000..77ddf22c4b334634d3a786675d3851599ce8c6df
--- /dev/null
+++ b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-07/outputs_tactile/tactile_cache/dag911262r00035d_lerobot_0326_220254_edfea759/episodes/ep000172/gripper_left_tactile_force_metrics.json
@@ -0,0 +1,9 @@
+{
+  "depth_peak": 0.005724202375859022,
+  "shear_peak": 0.0019047897076234221,
+  "force_magnitude_peak": 0.005831954535096884,
+  "reference_frame_count": 0,
+  "dataset_name": "dag911262r00035d_lerobot_0326_220254",
+  "episode_index": 172,
+  "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/ep000177/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/ep000177/gripper_right_tactile_contact_metrics.json
new file mode 100644
index 0000000000000000000000000000000000000000..c05528f800e11aedf57d8e37cb79c6dc6c4cdf6f
--- /dev/null
+++ b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-07/outputs_tactile/tactile_cache/dag911262r00035d_lerobot_0326_220254_edfea759/episodes/ep000177/gripper_right_tactile_contact_metrics.json
@@ -0,0 +1,12 @@
+{
+  "contact_time": 4.0,
+  "contact_ratio": 0.29850746268656714,
+  "avg_contact_area": 265.73333333333335,
+  "contact_entropy": 0.0,
+  "total_frames": 402,
+  "fps": 30.0,
+  "reference_frame_count": 0,
+  "dataset_name": "dag911262r00035d_lerobot_0326_220254",
+  "episode_index": 177,
+  "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/ep000179/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/ep000179/gripper_left_tactile_contact_metrics.json
new file mode 100644
index 0000000000000000000000000000000000000000..56c767b3088c5558d29774fe2782c7c111c30706
--- /dev/null
+++ b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-07/outputs_tactile/tactile_cache/dag911262r00035d_lerobot_0326_220254_edfea759/episodes/ep000179/gripper_left_tactile_contact_metrics.json
@@ -0,0 +1,12 @@
+{
+  "contact_time": 8.066666666666666,
+  "contact_ratio": 0.587378640776699,
+  "avg_contact_area": 2427.380165289256,
+  "contact_entropy": 1.254288255610917,
+  "total_frames": 412,
+  "fps": 30.0,
+  "reference_frame_count": 0,
+  "dataset_name": "dag911262r00035d_lerobot_0326_220254",
+  "episode_index": 179,
+  "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/ep000180/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/ep000180/gripper_right_tactile_force_metrics.json
new file mode 100644
index 0000000000000000000000000000000000000000..fbcba6025590c8a0ca58a62aa647e4dac1139f76
--- /dev/null
+++ b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-07/outputs_tactile/tactile_cache/dag911262r00035d_lerobot_0326_220254_edfea759/episodes/ep000180/gripper_right_tactile_force_metrics.json
@@ -0,0 +1,9 @@
+{
+  "depth_peak": 0.0014311851700767875,
+  "shear_peak": 0.002352046314626932,
+  "force_magnitude_peak": 0.002623199252411723,
+  "reference_frame_count": 0,
+  "dataset_name": "dag911262r00035d_lerobot_0326_220254",
+  "episode_index": 180,
+  "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/ep000183/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/ep000183/gripper_left_tactile_contact_metrics.json
new file mode 100644
index 0000000000000000000000000000000000000000..45d4d0bdc12042b98f7aa27b55d93e9e3ceb871f
--- /dev/null
+++ b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-07/outputs_tactile/tactile_cache/dag911262r00035d_lerobot_0326_220254_edfea759/episodes/ep000183/gripper_left_tactile_contact_metrics.json
@@ -0,0 +1,12 @@
+{
+  "contact_time": 7.933333333333334,
+  "contact_ratio": 0.6329787234042553,
+  "avg_contact_area": 1880.8865546218487,
+  "contact_entropy": 0.9162275168353609,
+  "total_frames": 376,
+  "fps": 30.0,
+  "reference_frame_count": 0,
+  "dataset_name": "dag911262r00035d_lerobot_0326_220254",
+  "episode_index": 183,
+  "sensor": "gripper_left_tactile"
+}
\ No newline at end of file
diff --git a/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-07/outputs_tactile/tactile_cache/dag911262r00035d_lerobot_0326_220254_edfea759/episodes/ep000183/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/ep000183/gripper_right_tactile_contact_metrics.json
new file mode 100644
index 0000000000000000000000000000000000000000..2df608f6dbdf5bc8afccd6048971c2a4a68da2fd
--- /dev/null
+++ b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-07/outputs_tactile/tactile_cache/dag911262r00035d_lerobot_0326_220254_edfea759/episodes/ep000183/gripper_right_tactile_contact_metrics.json
@@ -0,0 +1,12 @@
+{
+  "contact_time": 9.4,
+  "contact_ratio": 0.75,
+  "avg_contact_area": 849.113475177305,
+  "contact_entropy": 0.15049700102661373,
+  "total_frames": 376,
+  "fps": 30.0,
+  "reference_frame_count": 0,
+  "dataset_name": "dag911262r00035d_lerobot_0326_220254",
+  "episode_index": 183,
+  "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/ep000186/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/ep000186/gripper_right_tactile_force_metrics.json
new file mode 100644
index 0000000000000000000000000000000000000000..02edcfb8d91c60f7d5bb9d1b4ec2b7221a02667c
--- /dev/null
+++ b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-07/outputs_tactile/tactile_cache/dag911262r00035d_lerobot_0326_220254_edfea759/episodes/ep000186/gripper_right_tactile_force_metrics.json
@@ -0,0 +1,9 @@
+{
+  "depth_peak": 0.0008019612869247794,
+  "shear_peak": 0.0012953841360285878,
+  "force_magnitude_peak": 0.0013621628750115633,
+  "reference_frame_count": 0,
+  "dataset_name": "dag911262r00035d_lerobot_0326_220254",
+  "episode_index": 186,
+  "sensor": "gripper_right_tactile"
+}
\ No newline at end of file
diff --git a/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-07/outputs_tactile/tactile_cache/dag911262r00035d_lerobot_0326_220254_edfea759/episodes/ep000189/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/ep000189/gripper_right_tactile_force_metrics.json
new file mode 100644
index 0000000000000000000000000000000000000000..77788dbbb34666510c0627c198b826ae6c0e7b3e
--- /dev/null
+++ b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-07/outputs_tactile/tactile_cache/dag911262r00035d_lerobot_0326_220254_edfea759/episodes/ep000189/gripper_right_tactile_force_metrics.json
@@ -0,0 +1,9 @@
+{
+  "depth_peak": 0.001419434673152864,
+  "shear_peak": 0.001740533858537674,
+  "force_magnitude_peak": 0.001964687369763851,
+  "reference_frame_count": 0,
+  "dataset_name": "dag911262r00035d_lerobot_0326_220254",
+  "episode_index": 189,
+  "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/ep000190/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/ep000190/gripper_left_tactile_contact_metrics.json
new file mode 100644
index 0000000000000000000000000000000000000000..db515aaa074ccd9f5a2e8773e6745fd30488d2c6
--- /dev/null
+++ b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-07/outputs_tactile/tactile_cache/dag911262r00035d_lerobot_0326_220254_edfea759/episodes/ep000190/gripper_left_tactile_contact_metrics.json
@@ -0,0 +1,12 @@
+{
+  "contact_time": 4.733333333333333,
+  "contact_ratio": 0.4,
+  "avg_contact_area": 1258.7323943661972,
+  "contact_entropy": 0.5737720262591534,
+  "total_frames": 355,
+  "fps": 30.0,
+  "reference_frame_count": 0,
+  "dataset_name": "dag911262r00035d_lerobot_0326_220254",
+  "episode_index": 190,
+  "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/ep000193/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/ep000193/gripper_left_tactile_contact_metrics.json
new file mode 100644
index 0000000000000000000000000000000000000000..6019206f8f6a520654edf7baad1a2dda94c45fca
--- /dev/null
+++ b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-07/outputs_tactile/tactile_cache/dag911262r00035d_lerobot_0326_220254_edfea759/episodes/ep000193/gripper_left_tactile_contact_metrics.json
@@ -0,0 +1,12 @@
+{
+  "contact_time": 9.6,
+  "contact_ratio": 0.7559055118110236,
+  "avg_contact_area": 947.3194444444445,
+  "contact_entropy": 0.9641113510194961,
+  "total_frames": 381,
+  "fps": 30.0,
+  "reference_frame_count": 0,
+  "dataset_name": "dag911262r00035d_lerobot_0326_220254",
+  "episode_index": 193,
+  "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/ep000195/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/ep000195/gripper_right_tactile_force_metrics.json
new file mode 100644
index 0000000000000000000000000000000000000000..921c4d8a10ec7f22335d122d27782a6be03ceee4
--- /dev/null
+++ b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-07/outputs_tactile/tactile_cache/dag911262r00035d_lerobot_0326_220254_edfea759/episodes/ep000195/gripper_right_tactile_force_metrics.json
@@ -0,0 +1,9 @@
+{
+  "depth_peak": 0.0011278019519522786,
+  "shear_peak": 0.0014680062886327505,
+  "force_magnitude_peak": 0.001579721225425601,
+  "reference_frame_count": 0,
+  "dataset_name": "dag911262r00035d_lerobot_0326_220254",
+  "episode_index": 195,
+  "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/ep000199/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/ep000199/gripper_left_tactile_force_metrics.json
new file mode 100644
index 0000000000000000000000000000000000000000..44ebec773bdb1919aca130b49ffd0416a31afd3e
--- /dev/null
+++ b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-07/outputs_tactile/tactile_cache/dag911262r00035d_lerobot_0326_220254_edfea759/episodes/ep000199/gripper_left_tactile_force_metrics.json
@@ -0,0 +1,9 @@
+{
+  "depth_peak": 0.004605651833117008,
+  "shear_peak": 0.0024141562171280384,
+  "force_magnitude_peak": 0.004644961562007666,
+  "reference_frame_count": 0,
+  "dataset_name": "dag911262r00035d_lerobot_0326_220254",
+  "episode_index": 199,
+  "sensor": "gripper_left_tactile"
+}
\ No newline at end of file
diff --git a/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-07/outputs_tactile/tactile_cache/dag911262r00035d_lerobot_0326_220254_edfea759/episodes/ep000201/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/ep000201/gripper_left_tactile_force_metrics.json
new file mode 100644
index 0000000000000000000000000000000000000000..5c3cb109e24df09cf8b86c39959b009feac8d10c
--- /dev/null
+++ b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-07/outputs_tactile/tactile_cache/dag911262r00035d_lerobot_0326_220254_edfea759/episodes/ep000201/gripper_left_tactile_force_metrics.json
@@ -0,0 +1,9 @@
+{
+  "depth_peak": 0.0018612919375300407,
+  "shear_peak": 0.001841035089455545,
+  "force_magnitude_peak": 0.002672701608389616,
+  "reference_frame_count": 0,
+  "dataset_name": "dag911262r00035d_lerobot_0326_220254",
+  "episode_index": 201,
+  "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/ep000202/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/ep000202/gripper_right_tactile_contact_metrics.json
new file mode 100644
index 0000000000000000000000000000000000000000..275d5ab2fb4da7b23db10ce28eff3b7fc7f9e10a
--- /dev/null
+++ b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-07/outputs_tactile/tactile_cache/dag911262r00035d_lerobot_0326_220254_edfea759/episodes/ep000202/gripper_right_tactile_contact_metrics.json
@@ -0,0 +1,12 @@
+{
+  "contact_time": 2.8,
+  "contact_ratio": 0.2616822429906542,
+  "avg_contact_area": 633.9285714285714,
+  "contact_entropy": 0.11433394564155672,
+  "total_frames": 321,
+  "fps": 30.0,
+  "reference_frame_count": 0,
+  "dataset_name": "dag911262r00035d_lerobot_0326_220254",
+  "episode_index": 202,
+  "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/ep000202/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/ep000202/gripper_right_tactile_force_metrics.json
new file mode 100644
index 0000000000000000000000000000000000000000..c9c1080d2753f4ec6f857d1dcaecd38d7147c7bd
--- /dev/null
+++ b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-07/outputs_tactile/tactile_cache/dag911262r00035d_lerobot_0326_220254_edfea759/episodes/ep000202/gripper_right_tactile_force_metrics.json
@@ -0,0 +1,9 @@
+{
+  "depth_peak": 0.0011641823220998049,
+  "shear_peak": 0.0012914711842313409,
+  "force_magnitude_peak": 0.0017387403640896082,
+  "reference_frame_count": 0,
+  "dataset_name": "dag911262r00035d_lerobot_0326_220254",
+  "episode_index": 202,
+  "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/ep000203/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/ep000203/gripper_left_tactile_force_metrics.json
new file mode 100644
index 0000000000000000000000000000000000000000..15dc67b6b38e70929f01770e2d30eca1e5bad840
--- /dev/null
+++ b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-07/outputs_tactile/tactile_cache/dag911262r00035d_lerobot_0326_220254_edfea759/episodes/ep000203/gripper_left_tactile_force_metrics.json
@@ -0,0 +1,9 @@
+{
+  "depth_peak": 0.004123822320252657,
+  "shear_peak": 0.002066092099994421,
+  "force_magnitude_peak": 0.004172744229435921,
+  "reference_frame_count": 0,
+  "dataset_name": "dag911262r00035d_lerobot_0326_220254",
+  "episode_index": 203,
+  "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/ep000205/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/ep000205/gripper_right_tactile_contact_metrics.json
new file mode 100644
index 0000000000000000000000000000000000000000..2862ddc3bdcbe9ffc503e26d8b4fd3739c348aa4
--- /dev/null
+++ b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-07/outputs_tactile/tactile_cache/dag911262r00035d_lerobot_0326_220254_edfea759/episodes/ep000205/gripper_right_tactile_contact_metrics.json
@@ -0,0 +1,12 @@
+{
+  "contact_time": 6.0,
+  "contact_ratio": 0.5232558139534884,
+  "avg_contact_area": 2386.6222222222223,
+  "contact_entropy": 0.6764081083165008,
+  "total_frames": 344,
+  "fps": 30.0,
+  "reference_frame_count": 0,
+  "dataset_name": "dag911262r00035d_lerobot_0326_220254",
+  "episode_index": 205,
+  "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/ep000208/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/ep000208/gripper_left_tactile_force_metrics.json
new file mode 100644
index 0000000000000000000000000000000000000000..000b20ba7c5a29ccb9fd1c392ca47287e3f194d2
--- /dev/null
+++ b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-07/outputs_tactile/tactile_cache/dag911262r00035d_lerobot_0326_220254_edfea759/episodes/ep000208/gripper_left_tactile_force_metrics.json
@@ -0,0 +1,9 @@
+{
+  "depth_peak": 0.0028030090034008026,
+  "shear_peak": 0.0038603199645876884,
+  "force_magnitude_peak": 0.004313810728490353,
+  "reference_frame_count": 0,
+  "dataset_name": "dag911262r00035d_lerobot_0326_220254",
+  "episode_index": 208,
+  "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/ep000208/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/ep000208/gripper_right_tactile_contact_metrics.json
new file mode 100644
index 0000000000000000000000000000000000000000..6eafc557f2e351d3092df2a53a3709953c1524fb
--- /dev/null
+++ b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-07/outputs_tactile/tactile_cache/dag911262r00035d_lerobot_0326_220254_edfea759/episodes/ep000208/gripper_right_tactile_contact_metrics.json
@@ -0,0 +1,12 @@
+{
+  "contact_time": 19.5,
+  "contact_ratio": 0.8251057827926658,
+  "avg_contact_area": 4569.165811965812,
+  "contact_entropy": 0.5678551207506738,
+  "total_frames": 709,
+  "fps": 30.0,
+  "reference_frame_count": 0,
+  "dataset_name": "dag911262r00035d_lerobot_0326_220254",
+  "episode_index": 208,
+  "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/ep000209/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/ep000209/gripper_left_tactile_contact_metrics.json
new file mode 100644
index 0000000000000000000000000000000000000000..47617c220ae65c001d898d29de43b2ce7e615071
--- /dev/null
+++ b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-07/outputs_tactile/tactile_cache/dag911262r00035d_lerobot_0326_220254_edfea759/episodes/ep000209/gripper_left_tactile_contact_metrics.json
@@ -0,0 +1,12 @@
+{
+  "contact_time": 0.7666666666666667,
+  "contact_ratio": 0.07348242811501597,
+  "avg_contact_area": 19.0,
+  "contact_entropy": 0.0,
+  "total_frames": 313,
+  "fps": 30.0,
+  "reference_frame_count": 0,
+  "dataset_name": "dag911262r00035d_lerobot_0326_220254",
+  "episode_index": 209,
+  "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/ep000212/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/ep000212/gripper_left_tactile_force_metrics.json
new file mode 100644
index 0000000000000000000000000000000000000000..9fc05ba56f15d628eb8c4372cd5aaf88db0c4b05
--- /dev/null
+++ b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-07/outputs_tactile/tactile_cache/dag911262r00035d_lerobot_0326_220254_edfea759/episodes/ep000212/gripper_left_tactile_force_metrics.json
@@ -0,0 +1,9 @@
+{
+  "depth_peak": 0.014236344024538994,
+  "shear_peak": 0.006315059028565884,
+  "force_magnitude_peak": 0.01439598761498928,
+  "reference_frame_count": 0,
+  "dataset_name": "dag911262r00035d_lerobot_0326_220254",
+  "episode_index": 212,
+  "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/ep000217/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/ep000217/gripper_right_tactile_contact_metrics.json
new file mode 100644
index 0000000000000000000000000000000000000000..0e992f34bb88305d41f7ca39133d38e887bc743f
--- /dev/null
+++ b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-07/outputs_tactile/tactile_cache/dag911262r00035d_lerobot_0326_220254_edfea759/episodes/ep000217/gripper_right_tactile_contact_metrics.json
@@ -0,0 +1,12 @@
+{
+  "contact_time": 4.7,
+  "contact_ratio": 0.47157190635451507,
+  "avg_contact_area": 15.24113475177305,
+  "contact_entropy": 0.0,
+  "total_frames": 299,
+  "fps": 30.0,
+  "reference_frame_count": 0,
+  "dataset_name": "dag911262r00035d_lerobot_0326_220254",
+  "episode_index": 217,
+  "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/ep000219/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/ep000219/gripper_left_tactile_contact_metrics.json
new file mode 100644
index 0000000000000000000000000000000000000000..ed316f321d56fc4abba8566acd88f40e37eb7388
--- /dev/null
+++ b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-07/outputs_tactile/tactile_cache/dag911262r00035d_lerobot_0326_220254_edfea759/episodes/ep000219/gripper_left_tactile_contact_metrics.json
@@ -0,0 +1,12 @@
+{
+  "contact_time": 5.566666666666666,
+  "contact_ratio": 0.5964285714285714,
+  "avg_contact_area": 1071.688622754491,
+  "contact_entropy": 0.3103807065004779,
+  "total_frames": 280,
+  "fps": 30.0,
+  "reference_frame_count": 0,
+  "dataset_name": "dag911262r00035d_lerobot_0326_220254",
+  "episode_index": 219,
+  "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/ep000220/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/ep000220/gripper_right_tactile_force_metrics.json
new file mode 100644
index 0000000000000000000000000000000000000000..1dd75b6b411bc711eded7c121baa31a6b1190b0b
--- /dev/null
+++ b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-07/outputs_tactile/tactile_cache/dag911262r00035d_lerobot_0326_220254_edfea759/episodes/ep000220/gripper_right_tactile_force_metrics.json
@@ -0,0 +1,9 @@
+{
+  "depth_peak": 0.011040639132261276,
+  "shear_peak": 0.0055044000037014484,
+  "force_magnitude_peak": 0.011840732768177986,
+  "reference_frame_count": 0,
+  "dataset_name": "dag911262r00035d_lerobot_0326_220254",
+  "episode_index": 220,
+  "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/ep000223/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/ep000223/gripper_left_tactile_contact_metrics.json
new file mode 100644
index 0000000000000000000000000000000000000000..027503255b4d6847806b3712ba93a0feefe23d2f
--- /dev/null
+++ b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-07/outputs_tactile/tactile_cache/dag911262r00035d_lerobot_0326_220254_edfea759/episodes/ep000223/gripper_left_tactile_contact_metrics.json
@@ -0,0 +1,12 @@
+{
+  "contact_time": 4.533333333333333,
+  "contact_ratio": 0.4689655172413793,
+  "avg_contact_area": 32.4485294117647,
+  "contact_entropy": 0.0,
+  "total_frames": 290,
+  "fps": 30.0,
+  "reference_frame_count": 0,
+  "dataset_name": "dag911262r00035d_lerobot_0326_220254",
+  "episode_index": 223,
+  "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/ep000223/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/ep000223/gripper_right_tactile_contact_metrics.json
new file mode 100644
index 0000000000000000000000000000000000000000..e173884ccbfef0b41cc1a9e92d7d13e19e8126bb
--- /dev/null
+++ b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-07/outputs_tactile/tactile_cache/dag911262r00035d_lerobot_0326_220254_edfea759/episodes/ep000223/gripper_right_tactile_contact_metrics.json
@@ -0,0 +1,12 @@
+{
+  "contact_time": 6.2,
+  "contact_ratio": 0.6413793103448275,
+  "avg_contact_area": 2684.3279569892475,
+  "contact_entropy": 0.3747166516073143,
+  "total_frames": 290,
+  "fps": 30.0,
+  "reference_frame_count": 0,
+  "dataset_name": "dag911262r00035d_lerobot_0326_220254",
+  "episode_index": 223,
+  "sensor": "gripper_right_tactile"
+}
\ No newline at end of file
diff --git a/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-07/outputs_tactile/tactile_cache/dag911262r00035d_lerobot_0326_220254_edfea759/episodes/ep000226/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/ep000226/gripper_right_tactile_force_metrics.json
new file mode 100644
index 0000000000000000000000000000000000000000..cf8c21027f7f7978922265cee24e84f908d19866
--- /dev/null
+++ b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-07/outputs_tactile/tactile_cache/dag911262r00035d_lerobot_0326_220254_edfea759/episodes/ep000226/gripper_right_tactile_force_metrics.json
@@ -0,0 +1,9 @@
+{
+  "depth_peak": 0.01048476155847311,
+  "shear_peak": 0.006512283813208342,
+  "force_magnitude_peak": 0.01065650675445795,
+  "reference_frame_count": 0,
+  "dataset_name": "dag911262r00035d_lerobot_0326_220254",
+  "episode_index": 226,
+  "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/ep000229/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/ep000229/gripper_right_tactile_force_metrics.json
new file mode 100644
index 0000000000000000000000000000000000000000..a1549e176e70f43ad9d42c913fe20f9fbd4b99bf
--- /dev/null
+++ b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-07/outputs_tactile/tactile_cache/dag911262r00035d_lerobot_0326_220254_edfea759/episodes/ep000229/gripper_right_tactile_force_metrics.json
@@ -0,0 +1,9 @@
+{
+  "depth_peak": 0.007976097986102104,
+  "shear_peak": 0.011691872030496597,
+  "force_magnitude_peak": 0.011846130713820457,
+  "reference_frame_count": 0,
+  "dataset_name": "dag911262r00035d_lerobot_0326_220254",
+  "episode_index": 229,
+  "sensor": "gripper_right_tactile"
+}
\ No newline at end of file
diff --git a/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-07/outputs_tactile/tactile_cache/dag911262r00035d_lerobot_0326_220254_edfea759/episodes/ep000230/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/ep000230/gripper_left_tactile_contact_metrics.json
new file mode 100644
index 0000000000000000000000000000000000000000..811776f47c53dfdce7a03f1131309e9d47d3b6ae
--- /dev/null
+++ b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-07/outputs_tactile/tactile_cache/dag911262r00035d_lerobot_0326_220254_edfea759/episodes/ep000230/gripper_left_tactile_contact_metrics.json
@@ -0,0 +1,12 @@
+{
+  "contact_time": 0.8666666666666667,
+  "contact_ratio": 0.09090909090909091,
+  "avg_contact_area": 2.769230769230769,
+  "contact_entropy": 0.0,
+  "total_frames": 286,
+  "fps": 30.0,
+  "reference_frame_count": 0,
+  "dataset_name": "dag911262r00035d_lerobot_0326_220254",
+  "episode_index": 230,
+  "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/ep000233/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/ep000233/gripper_left_tactile_contact_metrics.json
new file mode 100644
index 0000000000000000000000000000000000000000..a30fe274d61830fe9b32e583fdc9a3a5feb4e586
--- /dev/null
+++ b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-07/outputs_tactile/tactile_cache/dag911262r00035d_lerobot_0326_220254_edfea759/episodes/ep000233/gripper_left_tactile_contact_metrics.json
@@ -0,0 +1,12 @@
+{
+  "contact_time": 20.666666666666668,
+  "contact_ratio": 0.42995839112343964,
+  "avg_contact_area": 2594.7112903225807,
+  "contact_entropy": 0.6144220258838474,
+  "total_frames": 1442,
+  "fps": 30.0,
+  "reference_frame_count": 0,
+  "dataset_name": "dag911262r00035d_lerobot_0326_220254",
+  "episode_index": 233,
+  "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/ep000235/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/ep000235/gripper_right_tactile_force_metrics.json
new file mode 100644
index 0000000000000000000000000000000000000000..03e3abd9fa625848bdec2a67383358588350120e
--- /dev/null
+++ b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-07/outputs_tactile/tactile_cache/dag911262r00035d_lerobot_0326_220254_edfea759/episodes/ep000235/gripper_right_tactile_force_metrics.json
@@ -0,0 +1,9 @@
+{
+  "depth_peak": 0.009559465572237968,
+  "shear_peak": 0.01133307721465826,
+  "force_magnitude_peak": 0.014677668921649456,
+  "reference_frame_count": 0,
+  "dataset_name": "dag911262r00035d_lerobot_0326_220254",
+  "episode_index": 235,
+  "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/ep000239/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/ep000239/gripper_left_tactile_force_metrics.json
new file mode 100644
index 0000000000000000000000000000000000000000..cfa5048fb3da012f0318b734e8bb1146c4faa901
--- /dev/null
+++ b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-07/outputs_tactile/tactile_cache/dag911262r00035d_lerobot_0326_220254_edfea759/episodes/ep000239/gripper_left_tactile_force_metrics.json
@@ -0,0 +1,9 @@
+{
+  "depth_peak": 0.009444515220820904,
+  "shear_peak": 0.008771967142820358,
+  "force_magnitude_peak": 0.009989578276872635,
+  "reference_frame_count": 0,
+  "dataset_name": "dag911262r00035d_lerobot_0326_220254",
+  "episode_index": 239,
+  "sensor": "gripper_left_tactile"
+}
\ No newline at end of file
diff --git a/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-07/outputs_tactile/tactile_cache/dag911262r00035d_lerobot_0326_220254_edfea759/episodes/ep000241/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/ep000241/gripper_left_tactile_force_metrics.json
new file mode 100644
index 0000000000000000000000000000000000000000..ebcf52b5ae79b6f0040c97a341b374a379cc86ba
--- /dev/null
+++ b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-07/outputs_tactile/tactile_cache/dag911262r00035d_lerobot_0326_220254_edfea759/episodes/ep000241/gripper_left_tactile_force_metrics.json
@@ -0,0 +1,9 @@
+{
+  "depth_peak": 0.01090562716126442,
+  "shear_peak": 0.0071756658144295216,
+  "force_magnitude_peak": 0.012435649521648884,
+  "reference_frame_count": 0,
+  "dataset_name": "dag911262r00035d_lerobot_0326_220254",
+  "episode_index": 241,
+  "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/ep000242/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/ep000242/gripper_right_tactile_contact_metrics.json
new file mode 100644
index 0000000000000000000000000000000000000000..fd98e7bf5f4b25e7559f6710b2b50ccfa27fb9b4
--- /dev/null
+++ b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-07/outputs_tactile/tactile_cache/dag911262r00035d_lerobot_0326_220254_edfea759/episodes/ep000242/gripper_right_tactile_contact_metrics.json
@@ -0,0 +1,12 @@
+{
+  "contact_time": 5.533333333333333,
+  "contact_ratio": 0.5824561403508772,
+  "avg_contact_area": 3484.60843373494,
+  "contact_entropy": 0.7187786851030974,
+  "total_frames": 285,
+  "fps": 30.0,
+  "reference_frame_count": 0,
+  "dataset_name": "dag911262r00035d_lerobot_0326_220254",
+  "episode_index": 242,
+  "sensor": "gripper_right_tactile"
+}
\ No newline at end of file
diff --git a/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-07/outputs_tactile/tactile_cache/dag911262r00035d_lerobot_0326_220254_edfea759/episodes/ep000242/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/ep000242/gripper_right_tactile_force_metrics.json
new file mode 100644
index 0000000000000000000000000000000000000000..3fe707d51ae210953ee0177bd34ebb6b8c4f5f4e
--- /dev/null
+++ b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-07/outputs_tactile/tactile_cache/dag911262r00035d_lerobot_0326_220254_edfea759/episodes/ep000242/gripper_right_tactile_force_metrics.json
@@ -0,0 +1,9 @@
+{
+  "depth_peak": 0.007071475498378277,
+  "shear_peak": 0.0013870069524273276,
+  "force_magnitude_peak": 0.007075112778693438,
+  "reference_frame_count": 0,
+  "dataset_name": "dag911262r00035d_lerobot_0326_220254",
+  "episode_index": 242,
+  "sensor": "gripper_right_tactile"
+}
\ No newline at end of file
diff --git a/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-07/outputs_tactile/tactile_cache/dag911262r00035d_lerobot_0326_220254_edfea759/episodes/ep000243/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/ep000243/gripper_left_tactile_force_metrics.json
new file mode 100644
index 0000000000000000000000000000000000000000..96c82b32fcee539374501a497b42cd6683f67949
--- /dev/null
+++ b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-07/outputs_tactile/tactile_cache/dag911262r00035d_lerobot_0326_220254_edfea759/episodes/ep000243/gripper_left_tactile_force_metrics.json
@@ -0,0 +1,9 @@
+{
+  "depth_peak": 0.008199222385883331,
+  "shear_peak": 0.013024025596678257,
+  "force_magnitude_peak": 0.01501384750008583,
+  "reference_frame_count": 0,
+  "dataset_name": "dag911262r00035d_lerobot_0326_220254",
+  "episode_index": 243,
+  "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/ep000245/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/ep000245/gripper_right_tactile_contact_metrics.json
new file mode 100644
index 0000000000000000000000000000000000000000..85801a29690564f57bcb2edd0a5ee7d29cec8009
--- /dev/null
+++ b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-07/outputs_tactile/tactile_cache/dag911262r00035d_lerobot_0326_220254_edfea759/episodes/ep000245/gripper_right_tactile_contact_metrics.json
@@ -0,0 +1,12 @@
+{
+  "contact_time": 19.466666666666665,
+  "contact_ratio": 0.6613816534541337,
+  "avg_contact_area": 8846.275684931506,
+  "contact_entropy": 0.667308152213421,
+  "total_frames": 883,
+  "fps": 30.0,
+  "reference_frame_count": 0,
+  "dataset_name": "dag911262r00035d_lerobot_0326_220254",
+  "episode_index": 245,
+  "sensor": "gripper_right_tactile"
+}
\ No newline at end of file
diff --git a/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-07/outputs_tactile/tactile_cache/dag911262r00035d_lerobot_0326_220254_edfea759/episodes/ep000248/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/ep000248/gripper_left_tactile_force_metrics.json
new file mode 100644
index 0000000000000000000000000000000000000000..ae959e13b5936415ceeb101270336b00607a077d
--- /dev/null
+++ b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-07/outputs_tactile/tactile_cache/dag911262r00035d_lerobot_0326_220254_edfea759/episodes/ep000248/gripper_left_tactile_force_metrics.json
@@ -0,0 +1,9 @@
+{
+  "depth_peak": 0.002089701360091567,
+  "shear_peak": 0.0018525548512116075,
+  "force_magnitude_peak": 0.002766117686405778,
+  "reference_frame_count": 0,
+  "dataset_name": "dag911262r00035d_lerobot_0326_220254",
+  "episode_index": 248,
+  "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/ep000248/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/ep000248/gripper_right_tactile_contact_metrics.json
new file mode 100644
index 0000000000000000000000000000000000000000..5dc7d7702c922713e85da1cd3ce21363825a05e9
--- /dev/null
+++ b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-07/outputs_tactile/tactile_cache/dag911262r00035d_lerobot_0326_220254_edfea759/episodes/ep000248/gripper_right_tactile_contact_metrics.json
@@ -0,0 +1,12 @@
+{
+  "contact_time": 6.433333333333334,
+  "contact_ratio": 0.75390625,
+  "avg_contact_area": 3891.077720207254,
+  "contact_entropy": 0.5584438994848036,
+  "total_frames": 256,
+  "fps": 30.0,
+  "reference_frame_count": 0,
+  "dataset_name": "dag911262r00035d_lerobot_0326_220254",
+  "episode_index": 248,
+  "sensor": "gripper_right_tactile"
+}
\ No newline at end of file
diff --git a/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-07/outputs_tactile/tactile_cache/dag911262r00035d_lerobot_0326_220254_edfea759/episodes/ep000249/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/ep000249/gripper_left_tactile_contact_metrics.json
new file mode 100644
index 0000000000000000000000000000000000000000..239ffbc3a7bca495feeb67eabfc02d6a8da0de17
--- /dev/null
+++ b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-07/outputs_tactile/tactile_cache/dag911262r00035d_lerobot_0326_220254_edfea759/episodes/ep000249/gripper_left_tactile_contact_metrics.json
@@ -0,0 +1,12 @@
+{
+  "contact_time": 14.333333333333334,
+  "contact_ratio": 0.5842391304347826,
+  "avg_contact_area": 1223.539534883721,
+  "contact_entropy": 0.12303453190742869,
+  "total_frames": 736,
+  "fps": 30.0,
+  "reference_frame_count": 0,
+  "dataset_name": "dag911262r00035d_lerobot_0326_220254",
+  "episode_index": 249,
+  "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/ep000252/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/ep000252/gripper_left_tactile_force_metrics.json
new file mode 100644
index 0000000000000000000000000000000000000000..482756b19bee2a7c3881f2adae0bc89a7f5fd685
--- /dev/null
+++ b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-07/outputs_tactile/tactile_cache/dag911262r00035d_lerobot_0326_220254_edfea759/episodes/ep000252/gripper_left_tactile_force_metrics.json
@@ -0,0 +1,9 @@
+{
+  "depth_peak": 0.006394291762262583,
+  "shear_peak": 0.007698819972574711,
+  "force_magnitude_peak": 0.008969349786639214,
+  "reference_frame_count": 0,
+  "dataset_name": "dag911262r00035d_lerobot_0326_220254",
+  "episode_index": 252,
+  "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/ep000257/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/ep000257/gripper_right_tactile_contact_metrics.json
new file mode 100644
index 0000000000000000000000000000000000000000..5781aac7e0c1ce74c63473a528eb51db97df3d61
--- /dev/null
+++ b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-07/outputs_tactile/tactile_cache/dag911262r00035d_lerobot_0326_220254_edfea759/episodes/ep000257/gripper_right_tactile_contact_metrics.json
@@ -0,0 +1,12 @@
+{
+  "contact_time": 24.6,
+  "contact_ratio": 0.8744075829383886,
+  "avg_contact_area": 5804.266937669377,
+  "contact_entropy": 0.6181806104904207,
+  "total_frames": 844,
+  "fps": 30.0,
+  "reference_frame_count": 0,
+  "dataset_name": "dag911262r00035d_lerobot_0326_220254",
+  "episode_index": 257,
+  "sensor": "gripper_right_tactile"
+}
\ No newline at end of file
diff --git a/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-07/outputs_tactile/tactile_cache/dag911262r00035d_lerobot_0326_220254_edfea759/episodes/ep000259/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/ep000259/gripper_left_tactile_contact_metrics.json
new file mode 100644
index 0000000000000000000000000000000000000000..c1b7806290cf5f7429dfb723fd20d87eb65623f6
--- /dev/null
+++ b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-07/outputs_tactile/tactile_cache/dag911262r00035d_lerobot_0326_220254_edfea759/episodes/ep000259/gripper_left_tactile_contact_metrics.json
@@ -0,0 +1,12 @@
+{
+  "contact_time": 15.266666666666667,
+  "contact_ratio": 0.4557213930348259,
+  "avg_contact_area": 3758.0764192139736,
+  "contact_entropy": 0.3401578790310554,
+  "total_frames": 1005,
+  "fps": 30.0,
+  "reference_frame_count": 0,
+  "dataset_name": "dag911262r00035d_lerobot_0326_220254",
+  "episode_index": 259,
+  "sensor": "gripper_left_tactile"
+}
\ No newline at end of file
diff --git a/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-07/outputs_tactile/tactile_cache/dag911262r00035d_lerobot_0326_220254_edfea759/episodes/ep000260/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/ep000260/gripper_right_tactile_force_metrics.json
new file mode 100644
index 0000000000000000000000000000000000000000..72959eca4260be7f9a76478c5382cc3c815f719c
--- /dev/null
+++ b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-07/outputs_tactile/tactile_cache/dag911262r00035d_lerobot_0326_220254_edfea759/episodes/ep000260/gripper_right_tactile_force_metrics.json
@@ -0,0 +1,9 @@
+{
+  "depth_peak": 0.0053864880464971066,
+  "shear_peak": 0.002748911501839757,
+  "force_magnitude_peak": 0.005981018301099539,
+  "reference_frame_count": 0,
+  "dataset_name": "dag911262r00035d_lerobot_0326_220254",
+  "episode_index": 260,
+  "sensor": "gripper_right_tactile"
+}
\ No newline at end of file
diff --git a/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-07/outputs_tactile/tactile_cache/dag911262r00035d_lerobot_0326_220254_edfea759/episodes/ep000263/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/ep000263/gripper_left_tactile_contact_metrics.json
new file mode 100644
index 0000000000000000000000000000000000000000..31beb098e687635fdf1a7e3fa5c40a7f9b269bd6
--- /dev/null
+++ b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-07/outputs_tactile/tactile_cache/dag911262r00035d_lerobot_0326_220254_edfea759/episodes/ep000263/gripper_left_tactile_contact_metrics.json
@@ -0,0 +1,12 @@
+{
+  "contact_time": 18.366666666666667,
+  "contact_ratio": 0.6333333333333333,
+  "avg_contact_area": 4133.829401088929,
+  "contact_entropy": 0.872513996683187,
+  "total_frames": 870,
+  "fps": 30.0,
+  "reference_frame_count": 0,
+  "dataset_name": "dag911262r00035d_lerobot_0326_220254",
+  "episode_index": 263,
+  "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/ep000263/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/ep000263/gripper_right_tactile_contact_metrics.json
new file mode 100644
index 0000000000000000000000000000000000000000..5b6f82ad9c3b20b050b6b10e424d1faa912e6cf3
--- /dev/null
+++ b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-07/outputs_tactile/tactile_cache/dag911262r00035d_lerobot_0326_220254_edfea759/episodes/ep000263/gripper_right_tactile_contact_metrics.json
@@ -0,0 +1,12 @@
+{
+  "contact_time": 27.1,
+  "contact_ratio": 0.9344827586206896,
+  "avg_contact_area": 6055.30135301353,
+  "contact_entropy": 0.5498930423889505,
+  "total_frames": 870,
+  "fps": 30.0,
+  "reference_frame_count": 0,
+  "dataset_name": "dag911262r00035d_lerobot_0326_220254",
+  "episode_index": 263,
+  "sensor": "gripper_right_tactile"
+}
\ No newline at end of file
diff --git a/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-07/outputs_tactile/tactile_cache/dag911262r00035d_lerobot_0326_220254_edfea759/episodes/ep000266/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/ep000266/gripper_right_tactile_force_metrics.json
new file mode 100644
index 0000000000000000000000000000000000000000..03ac3d49746fb26a11512b3aa0fcf3711ab1e8d0
--- /dev/null
+++ b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-07/outputs_tactile/tactile_cache/dag911262r00035d_lerobot_0326_220254_edfea759/episodes/ep000266/gripper_right_tactile_force_metrics.json
@@ -0,0 +1,9 @@
+{
+  "depth_peak": 0.007921634241938591,
+  "shear_peak": 0.006529193837195635,
+  "force_magnitude_peak": 0.010150565765798092,
+  "reference_frame_count": 0,
+  "dataset_name": "dag911262r00035d_lerobot_0326_220254",
+  "episode_index": 266,
+  "sensor": "gripper_right_tactile"
+}
\ No newline at end of file
diff --git a/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-07/outputs_tactile/tactile_cache/dag911262r00035d_lerobot_0326_220254_edfea759/episodes/ep000269/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/ep000269/gripper_right_tactile_force_metrics.json
new file mode 100644
index 0000000000000000000000000000000000000000..33a79b975a220a234c6886aa74253d5eabb85573
--- /dev/null
+++ b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-07/outputs_tactile/tactile_cache/dag911262r00035d_lerobot_0326_220254_edfea759/episodes/ep000269/gripper_right_tactile_force_metrics.json
@@ -0,0 +1,9 @@
+{
+  "depth_peak": 0.008912453427910805,
+  "shear_peak": 0.010133310221135616,
+  "force_magnitude_peak": 0.01097546610981226,
+  "reference_frame_count": 0,
+  "dataset_name": "dag911262r00035d_lerobot_0326_220254",
+  "episode_index": 269,
+  "sensor": "gripper_right_tactile"
+}
\ No newline at end of file
diff --git a/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-07/outputs_tactile/tactile_cache/dag911262r00035d_lerobot_0326_220254_edfea759/episodes/ep000270/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/ep000270/gripper_left_tactile_contact_metrics.json
new file mode 100644
index 0000000000000000000000000000000000000000..7386b4aa9490210b10a28b1fa74f606be7b156b9
--- /dev/null
+++ b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-07/outputs_tactile/tactile_cache/dag911262r00035d_lerobot_0326_220254_edfea759/episodes/ep000270/gripper_left_tactile_contact_metrics.json
@@ -0,0 +1,12 @@
+{
+  "contact_time": 12.8,
+  "contact_ratio": 0.5597667638483965,
+  "avg_contact_area": 2218.1302083333335,
+  "contact_entropy": 0.7472074574916076,
+  "total_frames": 686,
+  "fps": 30.0,
+  "reference_frame_count": 0,
+  "dataset_name": "dag911262r00035d_lerobot_0326_220254",
+  "episode_index": 270,
+  "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/ep000273/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/ep000273/gripper_left_tactile_contact_metrics.json
new file mode 100644
index 0000000000000000000000000000000000000000..7d5169cb2b153231e6c06c7cc20cc5ed20424692
--- /dev/null
+++ b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-07/outputs_tactile/tactile_cache/dag911262r00035d_lerobot_0326_220254_edfea759/episodes/ep000273/gripper_left_tactile_contact_metrics.json
@@ -0,0 +1,12 @@
+{
+  "contact_time": 31.1,
+  "contact_ratio": 0.6865342163355408,
+  "avg_contact_area": 1960.7491961414792,
+  "contact_entropy": 0.5802821633787633,
+  "total_frames": 1359,
+  "fps": 30.0,
+  "reference_frame_count": 0,
+  "dataset_name": "dag911262r00035d_lerobot_0326_220254",
+  "episode_index": 273,
+  "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/ep000275/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/ep000275/gripper_right_tactile_force_metrics.json
new file mode 100644
index 0000000000000000000000000000000000000000..fcfe7a722c0648b2664f8de98969fac62e33ad5d
--- /dev/null
+++ b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-07/outputs_tactile/tactile_cache/dag911262r00035d_lerobot_0326_220254_edfea759/episodes/ep000275/gripper_right_tactile_force_metrics.json
@@ -0,0 +1,9 @@
+{
+  "depth_peak": 0.010472806170582771,
+  "shear_peak": 0.010469559580087662,
+  "force_magnitude_peak": 0.014402307569980621,
+  "reference_frame_count": 0,
+  "dataset_name": "dag911262r00035d_lerobot_0326_220254",
+  "episode_index": 275,
+  "sensor": "gripper_right_tactile"
+}
\ No newline at end of file
diff --git a/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-07/outputs_tactile/tactile_cache/dag911262r00035d_lerobot_0326_220254_edfea759/episodes/ep000279/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/ep000279/gripper_left_tactile_force_metrics.json
new file mode 100644
index 0000000000000000000000000000000000000000..28bb6b97f2e603e2d7019497aa9176972ced37e7
--- /dev/null
+++ b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-07/outputs_tactile/tactile_cache/dag911262r00035d_lerobot_0326_220254_edfea759/episodes/ep000279/gripper_left_tactile_force_metrics.json
@@ -0,0 +1,9 @@
+{
+  "depth_peak": 0.0032683839090168476,
+  "shear_peak": 0.0037578826304525137,
+  "force_magnitude_peak": 0.004955044947564602,
+  "reference_frame_count": 0,
+  "dataset_name": "dag911262r00035d_lerobot_0326_220254",
+  "episode_index": 279,
+  "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/ep000281/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/ep000281/gripper_left_tactile_force_metrics.json
new file mode 100644
index 0000000000000000000000000000000000000000..115e1734adccf954d76ef0053dd8e68a794ad945
--- /dev/null
+++ b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-07/outputs_tactile/tactile_cache/dag911262r00035d_lerobot_0326_220254_edfea759/episodes/ep000281/gripper_left_tactile_force_metrics.json
@@ -0,0 +1,9 @@
+{
+  "depth_peak": 0.010493450798094273,
+  "shear_peak": 0.0056667085736989975,
+  "force_magnitude_peak": 0.011911781504750252,
+  "reference_frame_count": 0,
+  "dataset_name": "dag911262r00035d_lerobot_0326_220254",
+  "episode_index": 281,
+  "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/ep000282/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/ep000282/gripper_right_tactile_contact_metrics.json
new file mode 100644
index 0000000000000000000000000000000000000000..e4a66fc553a4fa0aabd68bad87d7aff17ab33479
--- /dev/null
+++ b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-07/outputs_tactile/tactile_cache/dag911262r00035d_lerobot_0326_220254_edfea759/episodes/ep000282/gripper_right_tactile_contact_metrics.json
@@ -0,0 +1,12 @@
+{
+  "contact_time": 24.0,
+  "contact_ratio": 0.6005004170141784,
+  "avg_contact_area": 4884.343055555555,
+  "contact_entropy": 0.5270627960608301,
+  "total_frames": 1199,
+  "fps": 30.0,
+  "reference_frame_count": 0,
+  "dataset_name": "dag911262r00035d_lerobot_0326_220254",
+  "episode_index": 282,
+  "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/ep000282/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/ep000282/gripper_right_tactile_force_metrics.json
new file mode 100644
index 0000000000000000000000000000000000000000..2ea99095abede76017530c4e813d2592e228190a
--- /dev/null
+++ b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-07/outputs_tactile/tactile_cache/dag911262r00035d_lerobot_0326_220254_edfea759/episodes/ep000282/gripper_right_tactile_force_metrics.json
@@ -0,0 +1,9 @@
+{
+  "depth_peak": 0.010697534307837486,
+  "shear_peak": 0.011479837819933891,
+  "force_magnitude_peak": 0.015691522508859634,
+  "reference_frame_count": 0,
+  "dataset_name": "dag911262r00035d_lerobot_0326_220254",
+  "episode_index": 282,
+  "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/ep000283/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/ep000283/gripper_left_tactile_force_metrics.json
new file mode 100644
index 0000000000000000000000000000000000000000..e3da39a2cf22aaf09e7668c10ca466b90ee1ae60
--- /dev/null
+++ b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-07/outputs_tactile/tactile_cache/dag911262r00035d_lerobot_0326_220254_edfea759/episodes/ep000283/gripper_left_tactile_force_metrics.json
@@ -0,0 +1,9 @@
+{
+  "depth_peak": 0.005840934347361326,
+  "shear_peak": 0.0024820477701723576,
+  "force_magnitude_peak": 0.0060867671854794025,
+  "reference_frame_count": 0,
+  "dataset_name": "dag911262r00035d_lerobot_0326_220254",
+  "episode_index": 283,
+  "sensor": "gripper_left_tactile"
+}
\ No newline at end of file
diff --git a/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-07/outputs_tactile/tactile_cache/dag911262r00035d_lerobot_0326_220254_edfea759/episodes/ep000285/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/ep000285/gripper_right_tactile_contact_metrics.json
new file mode 100644
index 0000000000000000000000000000000000000000..c75a51f45c055e58115cfb0a3d3a55fbb10ee3f4
--- /dev/null
+++ b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-07/outputs_tactile/tactile_cache/dag911262r00035d_lerobot_0326_220254_edfea759/episodes/ep000285/gripper_right_tactile_contact_metrics.json
@@ -0,0 +1,12 @@
+{
+  "contact_time": 8.566666666666666,
+  "contact_ratio": 0.3204488778054863,
+  "avg_contact_area": 5497.214007782101,
+  "contact_entropy": 0.516300424579163,
+  "total_frames": 802,
+  "fps": 30.0,
+  "reference_frame_count": 0,
+  "dataset_name": "dag911262r00035d_lerobot_0326_220254",
+  "episode_index": 285,
+  "sensor": "gripper_right_tactile"
+}
\ No newline at end of file
diff --git a/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-07/outputs_tactile/tactile_cache/dag911262r00035d_lerobot_0326_220254_edfea759/episodes/ep000288/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/ep000288/gripper_left_tactile_force_metrics.json
new file mode 100644
index 0000000000000000000000000000000000000000..7dadbb7a82a7a43e0b84a0528f605976e9b38aad
--- /dev/null
+++ b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-07/outputs_tactile/tactile_cache/dag911262r00035d_lerobot_0326_220254_edfea759/episodes/ep000288/gripper_left_tactile_force_metrics.json
@@ -0,0 +1,9 @@
+{
+  "depth_peak": 0.003767143003642559,
+  "shear_peak": 0.005150963552296162,
+  "force_magnitude_peak": 0.005709625314921141,
+  "reference_frame_count": 0,
+  "dataset_name": "dag911262r00035d_lerobot_0326_220254",
+  "episode_index": 288,
+  "sensor": "gripper_left_tactile"
+}
\ No newline at end of file
diff --git a/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-07/outputs_tactile/tactile_cache/dag911262r00035d_lerobot_0326_220254_edfea759/episodes/ep000288/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/ep000288/gripper_right_tactile_contact_metrics.json
new file mode 100644
index 0000000000000000000000000000000000000000..183fc67989683ebc9422a3c145faf9476bed1a11
--- /dev/null
+++ b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-07/outputs_tactile/tactile_cache/dag911262r00035d_lerobot_0326_220254_edfea759/episodes/ep000288/gripper_right_tactile_contact_metrics.json
@@ -0,0 +1,12 @@
+{
+  "contact_time": 25.2,
+  "contact_ratio": 0.6993524514338575,
+  "avg_contact_area": 3105.8108465608466,
+  "contact_entropy": 0.5927216370150736,
+  "total_frames": 1081,
+  "fps": 30.0,
+  "reference_frame_count": 0,
+  "dataset_name": "dag911262r00035d_lerobot_0326_220254",
+  "episode_index": 288,
+  "sensor": "gripper_right_tactile"
+}
\ No newline at end of file
diff --git a/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-07/outputs_tactile/tactile_cache/dag911262r00035d_lerobot_0326_220254_edfea759/episodes/ep000289/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/ep000289/gripper_left_tactile_contact_metrics.json
new file mode 100644
index 0000000000000000000000000000000000000000..9eba453af35b33f2bb97038c6f6b57f21e840f11
--- /dev/null
+++ b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-07/outputs_tactile/tactile_cache/dag911262r00035d_lerobot_0326_220254_edfea759/episodes/ep000289/gripper_left_tactile_contact_metrics.json
@@ -0,0 +1,12 @@
+{
+  "contact_time": 9.033333333333333,
+  "contact_ratio": 0.3528645833333333,
+  "avg_contact_area": 1434.2583025830259,
+  "contact_entropy": 0.8093737292930422,
+  "total_frames": 768,
+  "fps": 30.0,
+  "reference_frame_count": 0,
+  "dataset_name": "dag911262r00035d_lerobot_0326_220254",
+  "episode_index": 289,
+  "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/ep000292/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/ep000292/gripper_left_tactile_force_metrics.json
new file mode 100644
index 0000000000000000000000000000000000000000..65260e08ad23eca9dc1e345d5056ab036b540348
--- /dev/null
+++ b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-07/outputs_tactile/tactile_cache/dag911262r00035d_lerobot_0326_220254_edfea759/episodes/ep000292/gripper_left_tactile_force_metrics.json
@@ -0,0 +1,9 @@
+{
+  "depth_peak": 0.007415857166051865,
+  "shear_peak": 0.009007472544908524,
+  "force_magnitude_peak": 0.01158736553043127,
+  "reference_frame_count": 0,
+  "dataset_name": "dag911262r00035d_lerobot_0326_220254",
+  "episode_index": 292,
+  "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/ep000297/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/ep000297/gripper_right_tactile_contact_metrics.json
new file mode 100644
index 0000000000000000000000000000000000000000..f010f3f3e0303ca5c9d7fec496e42a2cc035de27
--- /dev/null
+++ b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-07/outputs_tactile/tactile_cache/dag911262r00035d_lerobot_0326_220254_edfea759/episodes/ep000297/gripper_right_tactile_contact_metrics.json
@@ -0,0 +1,12 @@
+{
+  "contact_time": 19.833333333333332,
+  "contact_ratio": 0.8463726884779517,
+  "avg_contact_area": 4547.803361344538,
+  "contact_entropy": 0.4854228814707901,
+  "total_frames": 703,
+  "fps": 30.0,
+  "reference_frame_count": 0,
+  "dataset_name": "dag911262r00035d_lerobot_0326_220254",
+  "episode_index": 297,
+  "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/ep000299/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/ep000299/gripper_left_tactile_contact_metrics.json
new file mode 100644
index 0000000000000000000000000000000000000000..b2892d6f76c93a0fac61fe7e196d148c4e9d965e
--- /dev/null
+++ b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-07/outputs_tactile/tactile_cache/dag911262r00035d_lerobot_0326_220254_edfea759/episodes/ep000299/gripper_left_tactile_contact_metrics.json
@@ -0,0 +1,12 @@
+{
+  "contact_time": 27.233333333333334,
+  "contact_ratio": 0.6494435612082671,
+  "avg_contact_area": 3610.09547123623,
+  "contact_entropy": 0.6064457771800124,
+  "total_frames": 1258,
+  "fps": 30.0,
+  "reference_frame_count": 0,
+  "dataset_name": "dag911262r00035d_lerobot_0326_220254",
+  "episode_index": 299,
+  "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/ep000300/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/ep000300/gripper_right_tactile_force_metrics.json
new file mode 100644
index 0000000000000000000000000000000000000000..15671d4497dac9682f296d14202e21a5f28432a6
--- /dev/null
+++ b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-07/outputs_tactile/tactile_cache/dag911262r00035d_lerobot_0326_220254_edfea759/episodes/ep000300/gripper_right_tactile_force_metrics.json
@@ -0,0 +1,9 @@
+{
+  "depth_peak": 0.00448337709531188,
+  "shear_peak": 0.006784402299672365,
+  "force_magnitude_peak": 0.0080106845125556,
+  "reference_frame_count": 0,
+  "dataset_name": "dag911262r00035d_lerobot_0326_220254",
+  "episode_index": 300,
+  "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/ep000303/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/ep000303/gripper_left_tactile_contact_metrics.json
new file mode 100644
index 0000000000000000000000000000000000000000..fdab6a167552edaa6d8923b628d1b4ff592cef95
--- /dev/null
+++ b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-07/outputs_tactile/tactile_cache/dag911262r00035d_lerobot_0326_220254_edfea759/episodes/ep000303/gripper_left_tactile_contact_metrics.json
@@ -0,0 +1,12 @@
+{
+  "contact_time": 18.8,
+  "contact_ratio": 0.4908616187989556,
+  "avg_contact_area": 4168.891843971631,
+  "contact_entropy": 0.4073345419136276,
+  "total_frames": 1149,
+  "fps": 30.0,
+  "reference_frame_count": 0,
+  "dataset_name": "dag911262r00035d_lerobot_0326_220254",
+  "episode_index": 303,
+  "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/ep000303/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/ep000303/gripper_right_tactile_contact_metrics.json
new file mode 100644
index 0000000000000000000000000000000000000000..e3af571cfa4c350c5619fe64d0cf70fd2ded2605
--- /dev/null
+++ b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-07/outputs_tactile/tactile_cache/dag911262r00035d_lerobot_0326_220254_edfea759/episodes/ep000303/gripper_right_tactile_contact_metrics.json
@@ -0,0 +1,12 @@
+{
+  "contact_time": 31.633333333333333,
+  "contact_ratio": 0.8259355961705831,
+  "avg_contact_area": 2976.905163329821,
+  "contact_entropy": 0.36979116282146574,
+  "total_frames": 1149,
+  "fps": 30.0,
+  "reference_frame_count": 0,
+  "dataset_name": "dag911262r00035d_lerobot_0326_220254",
+  "episode_index": 303,
+  "sensor": "gripper_right_tactile"
+}
\ No newline at end of file
diff --git a/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-07/outputs_tactile/tactile_cache/dag911262r00035d_lerobot_0326_220254_edfea759/episodes/ep000306/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/ep000306/gripper_right_tactile_force_metrics.json
new file mode 100644
index 0000000000000000000000000000000000000000..27eeb1b6db97af5c342f0cf1df26299db1e9c12c
--- /dev/null
+++ b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-07/outputs_tactile/tactile_cache/dag911262r00035d_lerobot_0326_220254_edfea759/episodes/ep000306/gripper_right_tactile_force_metrics.json
@@ -0,0 +1,9 @@
+{
+  "depth_peak": 0.006360418163239956,
+  "shear_peak": 0.0086357481777668,
+  "force_magnitude_peak": 0.010272447019815445,
+  "reference_frame_count": 0,
+  "dataset_name": "dag911262r00035d_lerobot_0326_220254",
+  "episode_index": 306,
+  "sensor": "gripper_right_tactile"
+}
\ No newline at end of file
diff --git a/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-07/outputs_tactile/tactile_cache/dag911262r00035d_lerobot_0326_220254_edfea759/episodes/ep000309/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/ep000309/gripper_right_tactile_force_metrics.json
new file mode 100644
index 0000000000000000000000000000000000000000..c273b048536a201793720c1be90273863f74c7c3
--- /dev/null
+++ b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-07/outputs_tactile/tactile_cache/dag911262r00035d_lerobot_0326_220254_edfea759/episodes/ep000309/gripper_right_tactile_force_metrics.json
@@ -0,0 +1,9 @@
+{
+  "depth_peak": 0.009642397984862328,
+  "shear_peak": 0.007906578481197357,
+  "force_magnitude_peak": 0.012291593477129936,
+  "reference_frame_count": 0,
+  "dataset_name": "dag911262r00035d_lerobot_0326_220254",
+  "episode_index": 309,
+  "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/ep000310/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/ep000310/gripper_left_tactile_contact_metrics.json
new file mode 100644
index 0000000000000000000000000000000000000000..8af26b3aa10d9c2b11df26ede17dd08f082084da
--- /dev/null
+++ b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-07/outputs_tactile/tactile_cache/dag911262r00035d_lerobot_0326_220254_edfea759/episodes/ep000310/gripper_left_tactile_contact_metrics.json
@@ -0,0 +1,12 @@
+{
+  "contact_time": 10.8,
+  "contact_ratio": 0.3995067817509248,
+  "avg_contact_area": 2238.1234567901233,
+  "contact_entropy": 0.9032116358653505,
+  "total_frames": 811,
+  "fps": 30.0,
+  "reference_frame_count": 0,
+  "dataset_name": "dag911262r00035d_lerobot_0326_220254",
+  "episode_index": 310,
+  "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/ep000313/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/ep000313/gripper_left_tactile_contact_metrics.json
new file mode 100644
index 0000000000000000000000000000000000000000..5a02f31e12e0362c39a88fd0af9ae0409d11c966
--- /dev/null
+++ b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-07/outputs_tactile/tactile_cache/dag911262r00035d_lerobot_0326_220254_edfea759/episodes/ep000313/gripper_left_tactile_contact_metrics.json
@@ -0,0 +1,12 @@
+{
+  "contact_time": 9.866666666666667,
+  "contact_ratio": 0.30833333333333335,
+  "avg_contact_area": 3760.060810810811,
+  "contact_entropy": 0.6582446464253491,
+  "total_frames": 960,
+  "fps": 30.0,
+  "reference_frame_count": 0,
+  "dataset_name": "dag911262r00035d_lerobot_0326_220254",
+  "episode_index": 313,
+  "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/ep000315/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/ep000315/gripper_right_tactile_force_metrics.json
new file mode 100644
index 0000000000000000000000000000000000000000..5481fa0d1ec8952e8ccb412603f72bdff9583d97
--- /dev/null
+++ b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-07/outputs_tactile/tactile_cache/dag911262r00035d_lerobot_0326_220254_edfea759/episodes/ep000315/gripper_right_tactile_force_metrics.json
@@ -0,0 +1,9 @@
+{
+  "depth_peak": 0.00886702910065651,
+  "shear_peak": 0.010387944057583809,
+  "force_magnitude_peak": 0.011939570307731628,
+  "reference_frame_count": 0,
+  "dataset_name": "dag911262r00035d_lerobot_0326_220254",
+  "episode_index": 315,
+  "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/ep000319/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/ep000319/gripper_left_tactile_force_metrics.json
new file mode 100644
index 0000000000000000000000000000000000000000..d039cc16fd4736daaead6cdf4c81dfa1f4f8eae4
--- /dev/null
+++ b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-07/outputs_tactile/tactile_cache/dag911262r00035d_lerobot_0326_220254_edfea759/episodes/ep000319/gripper_left_tactile_force_metrics.json
@@ -0,0 +1,9 @@
+{
+  "depth_peak": 0.0035702018067240715,
+  "shear_peak": 0.004695076495409012,
+  "force_magnitude_peak": 0.0056700389832258224,
+  "reference_frame_count": 0,
+  "dataset_name": "dag911262r00035d_lerobot_0326_220254",
+  "episode_index": 319,
+  "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/ep000321/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/ep000321/gripper_left_tactile_force_metrics.json
new file mode 100644
index 0000000000000000000000000000000000000000..14acd02a28f1a216eb4365df64d8ce8d96bd5474
--- /dev/null
+++ b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-07/outputs_tactile/tactile_cache/dag911262r00035d_lerobot_0326_220254_edfea759/episodes/ep000321/gripper_left_tactile_force_metrics.json
@@ -0,0 +1,9 @@
+{
+  "depth_peak": 0.0032381003256887197,
+  "shear_peak": 0.007348420098423958,
+  "force_magnitude_peak": 0.008030228316783905,
+  "reference_frame_count": 0,
+  "dataset_name": "dag911262r00035d_lerobot_0326_220254",
+  "episode_index": 321,
+  "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/ep000322/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/ep000322/gripper_right_tactile_contact_metrics.json
new file mode 100644
index 0000000000000000000000000000000000000000..9f2d88f8753a5ac1dcf2293f6bb9f582ee38ef5f
--- /dev/null
+++ b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-07/outputs_tactile/tactile_cache/dag911262r00035d_lerobot_0326_220254_edfea759/episodes/ep000322/gripper_right_tactile_contact_metrics.json
@@ -0,0 +1,12 @@
+{
+  "contact_time": 10.966666666666667,
+  "contact_ratio": 0.543801652892562,
+  "avg_contact_area": 2233.711246200608,
+  "contact_entropy": 0.05317350909298658,
+  "total_frames": 605,
+  "fps": 30.0,
+  "reference_frame_count": 0,
+  "dataset_name": "dag911262r00035d_lerobot_0326_220254",
+  "episode_index": 322,
+  "sensor": "gripper_right_tactile"
+}
\ No newline at end of file
diff --git a/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-07/outputs_tactile/tactile_cache/dag911262r00035d_lerobot_0326_220254_edfea759/episodes/ep000322/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/ep000322/gripper_right_tactile_force_metrics.json
new file mode 100644
index 0000000000000000000000000000000000000000..e9f4ccc48895d652d6a7ca2ca689b0e0ee029b08
--- /dev/null
+++ b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-07/outputs_tactile/tactile_cache/dag911262r00035d_lerobot_0326_220254_edfea759/episodes/ep000322/gripper_right_tactile_force_metrics.json
@@ -0,0 +1,9 @@
+{
+  "depth_peak": 0.0017758472822606564,
+  "shear_peak": 0.004002861678600311,
+  "force_magnitude_peak": 0.004049138631671667,
+  "reference_frame_count": 0,
+  "dataset_name": "dag911262r00035d_lerobot_0326_220254",
+  "episode_index": 322,
+  "sensor": "gripper_right_tactile"
+}
\ No newline at end of file
diff --git a/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-07/outputs_tactile/tactile_cache/dag911262r00035d_lerobot_0326_220254_edfea759/episodes/ep000323/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/ep000323/gripper_left_tactile_force_metrics.json
new file mode 100644
index 0000000000000000000000000000000000000000..9ab86aefbef2aaee86bde76add455170e872f028
--- /dev/null
+++ b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-07/outputs_tactile/tactile_cache/dag911262r00035d_lerobot_0326_220254_edfea759/episodes/ep000323/gripper_left_tactile_force_metrics.json
@@ -0,0 +1,9 @@
+{
+  "depth_peak": 0.0064291334711015224,
+  "shear_peak": 0.007422581315040588,
+  "force_magnitude_peak": 0.009237444028258324,
+  "reference_frame_count": 0,
+  "dataset_name": "dag911262r00035d_lerobot_0326_220254",
+  "episode_index": 323,
+  "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/ep000325/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/ep000325/gripper_right_tactile_contact_metrics.json
new file mode 100644
index 0000000000000000000000000000000000000000..6a0d2d50e8aba5063efd5afb3ca85b417228b249
--- /dev/null
+++ b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-07/outputs_tactile/tactile_cache/dag911262r00035d_lerobot_0326_220254_edfea759/episodes/ep000325/gripper_right_tactile_contact_metrics.json
@@ -0,0 +1,12 @@
+{
+  "contact_time": 19.9,
+  "contact_ratio": 0.9691558441558441,
+  "avg_contact_area": 4681.7202680067,
+  "contact_entropy": 0.5173325510674603,
+  "total_frames": 616,
+  "fps": 30.0,
+  "reference_frame_count": 0,
+  "dataset_name": "dag911262r00035d_lerobot_0326_220254",
+  "episode_index": 325,
+  "sensor": "gripper_right_tactile"
+}
\ No newline at end of file
diff --git a/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-07/outputs_tactile/tactile_cache/dag911262r00035d_lerobot_0326_220254_edfea759/episodes/ep000328/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/ep000328/gripper_left_tactile_force_metrics.json
new file mode 100644
index 0000000000000000000000000000000000000000..eb18b66cb18d8bc7b83589f9b5ac43e2e3eb408e
--- /dev/null
+++ b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-07/outputs_tactile/tactile_cache/dag911262r00035d_lerobot_0326_220254_edfea759/episodes/ep000328/gripper_left_tactile_force_metrics.json
@@ -0,0 +1,9 @@
+{
+  "depth_peak": 0.0015668391715735197,
+  "shear_peak": 0.0024535465054214,
+  "force_magnitude_peak": 0.0024712381418794394,
+  "reference_frame_count": 0,
+  "dataset_name": "dag911262r00035d_lerobot_0326_220254",
+  "episode_index": 328,
+  "sensor": "gripper_left_tactile"
+}
\ No newline at end of file
diff --git a/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-07/outputs_tactile/tactile_cache/dag911262r00035d_lerobot_0326_220254_edfea759/episodes/ep000328/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/ep000328/gripper_right_tactile_contact_metrics.json
new file mode 100644
index 0000000000000000000000000000000000000000..5a6062792c479a5c73adfa796f44141942dc8fbc
--- /dev/null
+++ b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-07/outputs_tactile/tactile_cache/dag911262r00035d_lerobot_0326_220254_edfea759/episodes/ep000328/gripper_right_tactile_contact_metrics.json
@@ -0,0 +1,12 @@
+{
+  "contact_time": 12.666666666666666,
+  "contact_ratio": 0.59375,
+  "avg_contact_area": 1050.2,
+  "contact_entropy": 0.0,
+  "total_frames": 640,
+  "fps": 30.0,
+  "reference_frame_count": 0,
+  "dataset_name": "dag911262r00035d_lerobot_0326_220254",
+  "episode_index": 328,
+  "sensor": "gripper_right_tactile"
+}
\ No newline at end of file
diff --git a/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-07/outputs_tactile/tactile_cache/dag911262r00035d_lerobot_0326_220254_edfea759/episodes/ep000329/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/ep000329/gripper_left_tactile_contact_metrics.json
new file mode 100644
index 0000000000000000000000000000000000000000..fd9afcff485766dbb6aeb5eb48d90af53c32ba43
--- /dev/null
+++ b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-07/outputs_tactile/tactile_cache/dag911262r00035d_lerobot_0326_220254_edfea759/episodes/ep000329/gripper_left_tactile_contact_metrics.json
@@ -0,0 +1,12 @@
+{
+  "contact_time": 8.466666666666667,
+  "contact_ratio": 0.5720720720720721,
+  "avg_contact_area": 1769.8267716535433,
+  "contact_entropy": 0.3567141395475605,
+  "total_frames": 444,
+  "fps": 30.0,
+  "reference_frame_count": 0,
+  "dataset_name": "dag911262r00035d_lerobot_0326_220254",
+  "episode_index": 329,
+  "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/ep000332/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/ep000332/gripper_left_tactile_force_metrics.json
new file mode 100644
index 0000000000000000000000000000000000000000..df6809a9424f2e9e35c4dde09ee30186f542d3eb
--- /dev/null
+++ b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-07/outputs_tactile/tactile_cache/dag911262r00035d_lerobot_0326_220254_edfea759/episodes/ep000332/gripper_left_tactile_force_metrics.json
@@ -0,0 +1,9 @@
+{
+  "depth_peak": 0.0010871932609006763,
+  "shear_peak": 0.0019465795485302806,
+  "force_magnitude_peak": 0.0023098199162632227,
+  "reference_frame_count": 0,
+  "dataset_name": "dag911262r00035d_lerobot_0326_220254",
+  "episode_index": 332,
+  "sensor": "gripper_left_tactile"
+}
\ No newline at end of file
diff --git a/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-07/outputs_tactile/tactile_cache/dag911262r00035d_lerobot_0326_220254_edfea759/episodes/ep000337/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/ep000337/gripper_right_tactile_contact_metrics.json
new file mode 100644
index 0000000000000000000000000000000000000000..1a00dbf3a9a5ec38ec819a3d9c93512d407571b1
--- /dev/null
+++ b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-07/outputs_tactile/tactile_cache/dag911262r00035d_lerobot_0326_220254_edfea759/episodes/ep000337/gripper_right_tactile_contact_metrics.json
@@ -0,0 +1,12 @@
+{
+  "contact_time": 5.533333333333333,
+  "contact_ratio": 0.31086142322097376,
+  "avg_contact_area": 816.9698795180723,
+  "contact_entropy": 0.20270913614156003,
+  "total_frames": 534,
+  "fps": 30.0,
+  "reference_frame_count": 0,
+  "dataset_name": "dag911262r00035d_lerobot_0326_220254",
+  "episode_index": 337,
+  "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/ep000339/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/ep000339/gripper_left_tactile_contact_metrics.json
new file mode 100644
index 0000000000000000000000000000000000000000..0dfde0ef620a41e940d51f2e5fbab2d0ca1cb734
--- /dev/null
+++ b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-07/outputs_tactile/tactile_cache/dag911262r00035d_lerobot_0326_220254_edfea759/episodes/ep000339/gripper_left_tactile_contact_metrics.json
@@ -0,0 +1,12 @@
+{
+  "contact_time": 8.966666666666667,
+  "contact_ratio": 0.49722735674676527,
+  "avg_contact_area": 1425.4312267657992,
+  "contact_entropy": 0.7222007503983799,
+  "total_frames": 541,
+  "fps": 30.0,
+  "reference_frame_count": 0,
+  "dataset_name": "dag911262r00035d_lerobot_0326_220254",
+  "episode_index": 339,
+  "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/ep000340/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/ep000340/gripper_right_tactile_force_metrics.json
new file mode 100644
index 0000000000000000000000000000000000000000..ecd193dd7f87b3ea47ab8a3d94e7aa3942362aec
--- /dev/null
+++ b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-07/outputs_tactile/tactile_cache/dag911262r00035d_lerobot_0326_220254_edfea759/episodes/ep000340/gripper_right_tactile_force_metrics.json
@@ -0,0 +1,9 @@
+{
+  "depth_peak": 0.010596825741231441,
+  "shear_peak": 0.005199408624321222,
+  "force_magnitude_peak": 0.010966057889163494,
+  "reference_frame_count": 0,
+  "dataset_name": "dag911262r00035d_lerobot_0326_220254",
+  "episode_index": 340,
+  "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/ep000343/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/ep000343/gripper_left_tactile_contact_metrics.json
new file mode 100644
index 0000000000000000000000000000000000000000..c10d9a197c208b6985c48e00f07684cfb5a7ad6b
--- /dev/null
+++ b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-07/outputs_tactile/tactile_cache/dag911262r00035d_lerobot_0326_220254_edfea759/episodes/ep000343/gripper_left_tactile_contact_metrics.json
@@ -0,0 +1,12 @@
+{
+  "contact_time": 5.633333333333334,
+  "contact_ratio": 0.25037037037037035,
+  "avg_contact_area": 79.40236686390533,
+  "contact_entropy": 0.0,
+  "total_frames": 675,
+  "fps": 30.0,
+  "reference_frame_count": 0,
+  "dataset_name": "dag911262r00035d_lerobot_0326_220254",
+  "episode_index": 343,
+  "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/ep000343/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/ep000343/gripper_right_tactile_contact_metrics.json
new file mode 100644
index 0000000000000000000000000000000000000000..1a55ea4f81fd02102ab0cbaef1d326304dbbe449
--- /dev/null
+++ b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-07/outputs_tactile/tactile_cache/dag911262r00035d_lerobot_0326_220254_edfea759/episodes/ep000343/gripper_right_tactile_contact_metrics.json
@@ -0,0 +1,12 @@
+{
+  "contact_time": 11.033333333333333,
+  "contact_ratio": 0.49037037037037035,
+  "avg_contact_area": 462.3867069486405,
+  "contact_entropy": 0.0,
+  "total_frames": 675,
+  "fps": 30.0,
+  "reference_frame_count": 0,
+  "dataset_name": "dag911262r00035d_lerobot_0326_220254",
+  "episode_index": 343,
+  "sensor": "gripper_right_tactile"
+}
\ No newline at end of file
diff --git a/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-07/outputs_tactile/tactile_cache/dag911262r00035d_lerobot_0326_220254_edfea759/episodes/ep000346/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/ep000346/gripper_right_tactile_force_metrics.json
new file mode 100644
index 0000000000000000000000000000000000000000..8cf2b1b7bc48470a75564fc31a0f5d0ea6ce5595
--- /dev/null
+++ b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-07/outputs_tactile/tactile_cache/dag911262r00035d_lerobot_0326_220254_edfea759/episodes/ep000346/gripper_right_tactile_force_metrics.json
@@ -0,0 +1,9 @@
+{
+  "depth_peak": 0.006710539571940899,
+  "shear_peak": 0.003832596354186535,
+  "force_magnitude_peak": 0.006766662001609802,
+  "reference_frame_count": 0,
+  "dataset_name": "dag911262r00035d_lerobot_0326_220254",
+  "episode_index": 346,
+  "sensor": "gripper_right_tactile"
+}
\ No newline at end of file
diff --git a/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-07/outputs_tactile/tactile_cache/dag911262r00035d_lerobot_0326_220254_edfea759/episodes/ep000349/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/ep000349/gripper_right_tactile_force_metrics.json
new file mode 100644
index 0000000000000000000000000000000000000000..6a35bcaee70134c7c6e6c84f5ea5c24e42ce9b59
--- /dev/null
+++ b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-07/outputs_tactile/tactile_cache/dag911262r00035d_lerobot_0326_220254_edfea759/episodes/ep000349/gripper_right_tactile_force_metrics.json
@@ -0,0 +1,9 @@
+{
+  "depth_peak": 0.002566661685705185,
+  "shear_peak": 0.002714526141062379,
+  "force_magnitude_peak": 0.00373582704924047,
+  "reference_frame_count": 0,
+  "dataset_name": "dag911262r00035d_lerobot_0326_220254",
+  "episode_index": 349,
+  "sensor": "gripper_right_tactile"
+}
\ No newline at end of file
diff --git a/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-07/outputs_tactile/tactile_cache/dag911262r00035d_lerobot_0326_220254_edfea759/episodes/ep000350/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/ep000350/gripper_left_tactile_contact_metrics.json
new file mode 100644
index 0000000000000000000000000000000000000000..57578b43621a9b2a7c7d7c45797ac09025ff0e25
--- /dev/null
+++ b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-07/outputs_tactile/tactile_cache/dag911262r00035d_lerobot_0326_220254_edfea759/episodes/ep000350/gripper_left_tactile_contact_metrics.json
@@ -0,0 +1,12 @@
+{
+  "contact_time": 7.233333333333333,
+  "contact_ratio": 0.5,
+  "avg_contact_area": 219.65437788018434,
+  "contact_entropy": 0.065373593262007,
+  "total_frames": 434,
+  "fps": 30.0,
+  "reference_frame_count": 0,
+  "dataset_name": "dag911262r00035d_lerobot_0326_220254",
+  "episode_index": 350,
+  "sensor": "gripper_left_tactile"
+}
\ No newline at end of file
diff --git a/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-07/outputs_tactile/tactile_cache/dag911262r00035d_lerobot_0326_220254_edfea759/episodes/ep000353/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/ep000353/gripper_left_tactile_contact_metrics.json
new file mode 100644
index 0000000000000000000000000000000000000000..f8848c0bc708f1e69e31c78223e39c539d2ae8c0
--- /dev/null
+++ b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-07/outputs_tactile/tactile_cache/dag911262r00035d_lerobot_0326_220254_edfea759/episodes/ep000353/gripper_left_tactile_contact_metrics.json
@@ -0,0 +1,12 @@
+{
+  "contact_time": 3.2666666666666666,
+  "contact_ratio": 0.18047882136279927,
+  "avg_contact_area": 7.357142857142857,
+  "contact_entropy": 0.0,
+  "total_frames": 543,
+  "fps": 30.0,
+  "reference_frame_count": 0,
+  "dataset_name": "dag911262r00035d_lerobot_0326_220254",
+  "episode_index": 353,
+  "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/ep000355/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/ep000355/gripper_right_tactile_force_metrics.json
new file mode 100644
index 0000000000000000000000000000000000000000..193d10769da119ea43ec5b1767e673bf1269edb1
--- /dev/null
+++ b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-07/outputs_tactile/tactile_cache/dag911262r00035d_lerobot_0326_220254_edfea759/episodes/ep000355/gripper_right_tactile_force_metrics.json
@@ -0,0 +1,9 @@
+{
+  "depth_peak": 0.0017693379195407033,
+  "shear_peak": 0.0017929484602063894,
+  "force_magnitude_peak": 0.001793034141883254,
+  "reference_frame_count": 0,
+  "dataset_name": "dag911262r00035d_lerobot_0326_220254",
+  "episode_index": 355,
+  "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/ep000359/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/ep000359/gripper_left_tactile_force_metrics.json
new file mode 100644
index 0000000000000000000000000000000000000000..dbaba9ad79f1be27e55113da5ce1a060cc0adcb1
--- /dev/null
+++ b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-07/outputs_tactile/tactile_cache/dag911262r00035d_lerobot_0326_220254_edfea759/episodes/ep000359/gripper_left_tactile_force_metrics.json
@@ -0,0 +1,9 @@
+{
+  "depth_peak": 0.0022075241431593895,
+  "shear_peak": 0.0022325869649648666,
+  "force_magnitude_peak": 0.0024064669851213694,
+  "reference_frame_count": 0,
+  "dataset_name": "dag911262r00035d_lerobot_0326_220254",
+  "episode_index": 359,
+  "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/ep000361/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/ep000361/gripper_left_tactile_force_metrics.json
new file mode 100644
index 0000000000000000000000000000000000000000..b6a5abc4004eefc02153f19d7704f7676b0dd0b2
--- /dev/null
+++ b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-07/outputs_tactile/tactile_cache/dag911262r00035d_lerobot_0326_220254_edfea759/episodes/ep000361/gripper_left_tactile_force_metrics.json
@@ -0,0 +1,9 @@
+{
+  "depth_peak": 0.0009335044305771589,
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+  "force_magnitude_peak": 0.0017405595863237977,
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+  "dataset_name": "dag911262r00035d_lerobot_0326_220254",
+  "episode_index": 361,
+  "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/ep000362/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/ep000362/gripper_right_tactile_contact_metrics.json
new file mode 100644
index 0000000000000000000000000000000000000000..c95e185c33517985f708803c245c24a51ac43769
--- /dev/null
+++ b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-07/outputs_tactile/tactile_cache/dag911262r00035d_lerobot_0326_220254_edfea759/episodes/ep000362/gripper_right_tactile_contact_metrics.json
@@ -0,0 +1,12 @@
+{
+  "contact_time": 13.666666666666666,
+  "contact_ratio": 0.7205623901581723,
+  "avg_contact_area": 6152.441463414634,
+  "contact_entropy": 0.6674008546720558,
+  "total_frames": 569,
+  "fps": 30.0,
+  "reference_frame_count": 0,
+  "dataset_name": "dag911262r00035d_lerobot_0326_220254",
+  "episode_index": 362,
+  "sensor": "gripper_right_tactile"
+}
\ No newline at end of file
diff --git a/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-07/outputs_tactile/tactile_cache/dag911262r00035d_lerobot_0326_220254_edfea759/episodes/ep000362/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/ep000362/gripper_right_tactile_force_metrics.json
new file mode 100644
index 0000000000000000000000000000000000000000..f1f10e430b9eccde48321c9553b619588e93d3f4
--- /dev/null
+++ b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-07/outputs_tactile/tactile_cache/dag911262r00035d_lerobot_0326_220254_edfea759/episodes/ep000362/gripper_right_tactile_force_metrics.json
@@ -0,0 +1,9 @@
+{
+  "depth_peak": 0.009048606269061565,
+  "shear_peak": 0.0023384513333439827,
+  "force_magnitude_peak": 0.009078959934413433,
+  "reference_frame_count": 0,
+  "dataset_name": "dag911262r00035d_lerobot_0326_220254",
+  "episode_index": 362,
+  "sensor": "gripper_right_tactile"
+}
\ No newline at end of file
diff --git a/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-07/outputs_tactile/tactile_cache/dag911262r00035d_lerobot_0326_220254_edfea759/episodes/ep000363/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/ep000363/gripper_left_tactile_force_metrics.json
new file mode 100644
index 0000000000000000000000000000000000000000..f2ec4b8fc6a48351b24505202d2912d186760188
--- /dev/null
+++ b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-07/outputs_tactile/tactile_cache/dag911262r00035d_lerobot_0326_220254_edfea759/episodes/ep000363/gripper_left_tactile_force_metrics.json
@@ -0,0 +1,9 @@
+{
+  "depth_peak": 0.0020690138917416334,
+  "shear_peak": 0.002188684418797493,
+  "force_magnitude_peak": 0.0028574755415320396,
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+  "dataset_name": "dag911262r00035d_lerobot_0326_220254",
+  "episode_index": 363,
+  "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/ep000365/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/ep000365/gripper_right_tactile_contact_metrics.json
new file mode 100644
index 0000000000000000000000000000000000000000..ba0c56bcf3159b82357b5e3ef4a9bb4a86476f90
--- /dev/null
+++ b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-07/outputs_tactile/tactile_cache/dag911262r00035d_lerobot_0326_220254_edfea759/episodes/ep000365/gripper_right_tactile_contact_metrics.json
@@ -0,0 +1,12 @@
+{
+  "contact_time": 4.5,
+  "contact_ratio": 0.2119309262166405,
+  "avg_contact_area": 510.06666666666666,
+  "contact_entropy": 0.0026558441750978547,
+  "total_frames": 637,
+  "fps": 30.0,
+  "reference_frame_count": 0,
+  "dataset_name": "dag911262r00035d_lerobot_0326_220254",
+  "episode_index": 365,
+  "sensor": "gripper_right_tactile"
+}
\ No newline at end of file
diff --git a/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-07/outputs_tactile/tactile_cache/dag911262r00035d_lerobot_0326_220254_edfea759/episodes/ep000368/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/ep000368/gripper_left_tactile_force_metrics.json
new file mode 100644
index 0000000000000000000000000000000000000000..5d8be8a95773932e65ea47963294c90525e6746b
--- /dev/null
+++ b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-07/outputs_tactile/tactile_cache/dag911262r00035d_lerobot_0326_220254_edfea759/episodes/ep000368/gripper_left_tactile_force_metrics.json
@@ -0,0 +1,9 @@
+{
+  "depth_peak": 0.0010966842528432608,
+  "shear_peak": 0.0019460064359009266,
+  "force_magnitude_peak": 0.001997151179239154,
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+  "dataset_name": "dag911262r00035d_lerobot_0326_220254",
+  "episode_index": 368,
+  "sensor": "gripper_left_tactile"
+}
\ No newline at end of file
diff --git a/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-07/outputs_tactile/tactile_cache/dag911262r00035d_lerobot_0326_220254_edfea759/episodes/ep000368/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/ep000368/gripper_right_tactile_contact_metrics.json
new file mode 100644
index 0000000000000000000000000000000000000000..f0ab05e5a4052a6118770b7cc927bbf428b896a8
--- /dev/null
+++ b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-07/outputs_tactile/tactile_cache/dag911262r00035d_lerobot_0326_220254_edfea759/episodes/ep000368/gripper_right_tactile_contact_metrics.json
@@ -0,0 +1,12 @@
+{
+  "contact_time": 7.633333333333334,
+  "contact_ratio": 0.33925925925925926,
+  "avg_contact_area": 649.0393013100437,
+  "contact_entropy": 0.08357924677740204,
+  "total_frames": 675,
+  "fps": 30.0,
+  "reference_frame_count": 0,
+  "dataset_name": "dag911262r00035d_lerobot_0326_220254",
+  "episode_index": 368,
+  "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/ep000369/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/ep000369/gripper_left_tactile_contact_metrics.json
new file mode 100644
index 0000000000000000000000000000000000000000..6315dabdc260e859d37dbb63e4b136f4ba3cb8c1
--- /dev/null
+++ b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-07/outputs_tactile/tactile_cache/dag911262r00035d_lerobot_0326_220254_edfea759/episodes/ep000369/gripper_left_tactile_contact_metrics.json
@@ -0,0 +1,12 @@
+{
+  "contact_time": 6.166666666666667,
+  "contact_ratio": 0.3530534351145038,
+  "avg_contact_area": 519.1783783783784,
+  "contact_entropy": 0.4173589131679242,
+  "total_frames": 524,
+  "fps": 30.0,
+  "reference_frame_count": 0,
+  "dataset_name": "dag911262r00035d_lerobot_0326_220254",
+  "episode_index": 369,
+  "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/ep000372/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/ep000372/gripper_left_tactile_force_metrics.json
new file mode 100644
index 0000000000000000000000000000000000000000..02df0dc208513ff547dd86a59acea9ded5d4cc19
--- /dev/null
+++ b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-07/outputs_tactile/tactile_cache/dag911262r00035d_lerobot_0326_220254_edfea759/episodes/ep000372/gripper_left_tactile_force_metrics.json
@@ -0,0 +1,9 @@
+{
+  "depth_peak": 0.004250450991094112,
+  "shear_peak": 0.0026051760651171207,
+  "force_magnitude_peak": 0.0049313995987176895,
+  "reference_frame_count": 0,
+  "dataset_name": "dag911262r00035d_lerobot_0326_220254",
+  "episode_index": 372,
+  "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/ep000377/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/ep000377/gripper_right_tactile_contact_metrics.json
new file mode 100644
index 0000000000000000000000000000000000000000..d288101f18913477e5f42dc8fb4119a62f21eb00
--- /dev/null
+++ b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-07/outputs_tactile/tactile_cache/dag911262r00035d_lerobot_0326_220254_edfea759/episodes/ep000377/gripper_right_tactile_contact_metrics.json
@@ -0,0 +1,12 @@
+{
+  "contact_time": 5.866666666666666,
+  "contact_ratio": 0.3876651982378855,
+  "avg_contact_area": 5482.221590909091,
+  "contact_entropy": 0.5654532040699982,
+  "total_frames": 454,
+  "fps": 30.0,
+  "reference_frame_count": 0,
+  "dataset_name": "dag911262r00035d_lerobot_0326_220254",
+  "episode_index": 377,
+  "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/ep000379/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/ep000379/gripper_left_tactile_contact_metrics.json
new file mode 100644
index 0000000000000000000000000000000000000000..8afdbb8e252fb728a92be59b28a3da729c491661
--- /dev/null
+++ b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-07/outputs_tactile/tactile_cache/dag911262r00035d_lerobot_0326_220254_edfea759/episodes/ep000379/gripper_left_tactile_contact_metrics.json
@@ -0,0 +1,12 @@
+{
+  "contact_time": 10.4,
+  "contact_ratio": 0.5252525252525253,
+  "avg_contact_area": 986.875,
+  "contact_entropy": 0.05996317768170082,
+  "total_frames": 594,
+  "fps": 30.0,
+  "reference_frame_count": 0,
+  "dataset_name": "dag911262r00035d_lerobot_0326_220254",
+  "episode_index": 379,
+  "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/ep000380/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/ep000380/gripper_right_tactile_force_metrics.json
new file mode 100644
index 0000000000000000000000000000000000000000..5cc866d755d2bb321d48ad62a518da96fa88b399
--- /dev/null
+++ b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-07/outputs_tactile/tactile_cache/dag911262r00035d_lerobot_0326_220254_edfea759/episodes/ep000380/gripper_right_tactile_force_metrics.json
@@ -0,0 +1,9 @@
+{
+  "depth_peak": 0.0016727950423955917,
+  "shear_peak": 0.002061976585537195,
+  "force_magnitude_peak": 0.0021636325400322676,
+  "reference_frame_count": 0,
+  "dataset_name": "dag911262r00035d_lerobot_0326_220254",
+  "episode_index": 380,
+  "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/ep000383/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/ep000383/gripper_left_tactile_contact_metrics.json
new file mode 100644
index 0000000000000000000000000000000000000000..0e98442ec85cd35923cfd6e614e637eb28ba2029
--- /dev/null
+++ b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-07/outputs_tactile/tactile_cache/dag911262r00035d_lerobot_0326_220254_edfea759/episodes/ep000383/gripper_left_tactile_contact_metrics.json
@@ -0,0 +1,12 @@
+{
+  "contact_time": 6.633333333333334,
+  "contact_ratio": 0.39641434262948205,
+  "avg_contact_area": 2105.0201005025124,
+  "contact_entropy": 0.5121733955281481,
+  "total_frames": 502,
+  "fps": 30.0,
+  "reference_frame_count": 0,
+  "dataset_name": "dag911262r00035d_lerobot_0326_220254",
+  "episode_index": 383,
+  "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/ep000383/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/ep000383/gripper_right_tactile_contact_metrics.json
new file mode 100644
index 0000000000000000000000000000000000000000..e696b4ffbbea8cb4c69fab58e579d462dd1060f3
--- /dev/null
+++ b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-07/outputs_tactile/tactile_cache/dag911262r00035d_lerobot_0326_220254_edfea759/episodes/ep000383/gripper_right_tactile_contact_metrics.json
@@ -0,0 +1,12 @@
+{
+  "contact_time": 10.733333333333333,
+  "contact_ratio": 0.6414342629482072,
+  "avg_contact_area": 4766.487577639751,
+  "contact_entropy": 0.5242576368591356,
+  "total_frames": 502,
+  "fps": 30.0,
+  "reference_frame_count": 0,
+  "dataset_name": "dag911262r00035d_lerobot_0326_220254",
+  "episode_index": 383,
+  "sensor": "gripper_right_tactile"
+}
\ No newline at end of file
diff --git a/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-07/outputs_tactile/tactile_cache/dag911262r00035d_lerobot_0326_220254_edfea759/episodes/ep000386/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/ep000386/gripper_right_tactile_force_metrics.json
new file mode 100644
index 0000000000000000000000000000000000000000..9fa4c1247c04d41439e9aa20fdd52f5f3f7f481e
--- /dev/null
+++ b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-07/outputs_tactile/tactile_cache/dag911262r00035d_lerobot_0326_220254_edfea759/episodes/ep000386/gripper_right_tactile_force_metrics.json
@@ -0,0 +1,9 @@
+{
+  "depth_peak": 0.0012683896347880363,
+  "shear_peak": 0.0021940579172223806,
+  "force_magnitude_peak": 0.0022098992485553026,
+  "reference_frame_count": 0,
+  "dataset_name": "dag911262r00035d_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/dag911262r00035d_lerobot_0326_220254_edfea759/episodes/ep000389/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/ep000389/gripper_right_tactile_force_metrics.json
new file mode 100644
index 0000000000000000000000000000000000000000..4bb9a9d86e6c5698268c48f5a5926defdd2cb7e0
--- /dev/null
+++ b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-07/outputs_tactile/tactile_cache/dag911262r00035d_lerobot_0326_220254_edfea759/episodes/ep000389/gripper_right_tactile_force_metrics.json
@@ -0,0 +1,9 @@
+{
+  "depth_peak": 0.007875023409724236,
+  "shear_peak": 0.00226267846301198,
+  "force_magnitude_peak": 0.007893664762377739,
+  "reference_frame_count": 0,
+  "dataset_name": "dag911262r00035d_lerobot_0326_220254",
+  "episode_index": 389,
+  "sensor": "gripper_right_tactile"
+}
\ No newline at end of file
diff --git a/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-07/outputs_tactile/tactile_cache/dag911262r00035d_lerobot_0326_220254_edfea759/episodes/ep000390/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/ep000390/gripper_left_tactile_contact_metrics.json
new file mode 100644
index 0000000000000000000000000000000000000000..f42d174711947dd6366f82b07c733a97e15d13c8
--- /dev/null
+++ b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-07/outputs_tactile/tactile_cache/dag911262r00035d_lerobot_0326_220254_edfea759/episodes/ep000390/gripper_left_tactile_contact_metrics.json
@@ -0,0 +1,12 @@
+{
+  "contact_time": 3.8666666666666667,
+  "contact_ratio": 0.14967741935483872,
+  "avg_contact_area": 66.16379310344827,
+  "contact_entropy": 0.0,
+  "total_frames": 775,
+  "fps": 30.0,
+  "reference_frame_count": 0,
+  "dataset_name": "dag911262r00035d_lerobot_0326_220254",
+  "episode_index": 390,
+  "sensor": "gripper_left_tactile"
+}
\ No newline at end of file
diff --git a/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-07/outputs_tactile/tactile_cache/dag911262r00035d_lerobot_0326_220254_edfea759/episodes/ep000393/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/ep000393/gripper_left_tactile_contact_metrics.json
new file mode 100644
index 0000000000000000000000000000000000000000..ff80167f4aa92a60aabd097d485169555f610513
--- /dev/null
+++ b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-07/outputs_tactile/tactile_cache/dag911262r00035d_lerobot_0326_220254_edfea759/episodes/ep000393/gripper_left_tactile_contact_metrics.json
@@ -0,0 +1,12 @@
+{
+  "contact_time": 7.333333333333333,
+  "contact_ratio": 0.47413793103448276,
+  "avg_contact_area": 1274.7136363636364,
+  "contact_entropy": 0.6017576146849677,
+  "total_frames": 464,
+  "fps": 30.0,
+  "reference_frame_count": 0,
+  "dataset_name": "dag911262r00035d_lerobot_0326_220254",
+  "episode_index": 393,
+  "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/ep000395/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/ep000395/gripper_right_tactile_force_metrics.json
new file mode 100644
index 0000000000000000000000000000000000000000..b1f5a5f20dd93c79ea2dd66e4adc92e22e616333
--- /dev/null
+++ b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-07/outputs_tactile/tactile_cache/dag911262r00035d_lerobot_0326_220254_edfea759/episodes/ep000395/gripper_right_tactile_force_metrics.json
@@ -0,0 +1,9 @@
+{
+  "depth_peak": 0.01134643703699112,
+  "shear_peak": 0.004535942804068327,
+  "force_magnitude_peak": 0.011524283327162266,
+  "reference_frame_count": 0,
+  "dataset_name": "dag911262r00035d_lerobot_0326_220254",
+  "episode_index": 395,
+  "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/ep000399/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/ep000399/gripper_left_tactile_force_metrics.json
new file mode 100644
index 0000000000000000000000000000000000000000..6865fa08709ce9b0ea80b740982dee501728b6e5
--- /dev/null
+++ b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-07/outputs_tactile/tactile_cache/dag911262r00035d_lerobot_0326_220254_edfea759/episodes/ep000399/gripper_left_tactile_force_metrics.json
@@ -0,0 +1,9 @@
+{
+  "depth_peak": 0.0014194900868460536,
+  "shear_peak": 0.0031757925171405077,
+  "force_magnitude_peak": 0.003177058417350054,
+  "reference_frame_count": 0,
+  "dataset_name": "dag911262r00035d_lerobot_0326_220254",
+  "episode_index": 399,
+  "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/ep000401/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/ep000401/gripper_left_tactile_force_metrics.json
new file mode 100644
index 0000000000000000000000000000000000000000..a7a62ceeb8a326989798327b71190412edb78e58
--- /dev/null
+++ b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-07/outputs_tactile/tactile_cache/dag911262r00035d_lerobot_0326_220254_edfea759/episodes/ep000401/gripper_left_tactile_force_metrics.json
@@ -0,0 +1,9 @@
+{
+  "depth_peak": 0.0003604804223868996,
+  "shear_peak": 0.0031431205570697784,
+  "force_magnitude_peak": 0.00348427495919168,
+  "reference_frame_count": 0,
+  "dataset_name": "dag911262r00035d_lerobot_0326_220254",
+  "episode_index": 401,
+  "sensor": "gripper_left_tactile"
+}
\ No newline at end of file
diff --git a/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-07/outputs_tactile/tactile_cache/dag911262r00035d_lerobot_0326_220254_edfea759/episodes/ep000402/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/ep000402/gripper_right_tactile_contact_metrics.json
new file mode 100644
index 0000000000000000000000000000000000000000..a414089fe3b4de53038d9a9c800c6fbb1d806579
--- /dev/null
+++ b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-07/outputs_tactile/tactile_cache/dag911262r00035d_lerobot_0326_220254_edfea759/episodes/ep000402/gripper_right_tactile_contact_metrics.json
@@ -0,0 +1,12 @@
+{
+  "contact_time": 8.266666666666667,
+  "contact_ratio": 0.3641703377386197,
+  "avg_contact_area": 2093.8790322580644,
+  "contact_entropy": 0.0,
+  "total_frames": 681,
+  "fps": 30.0,
+  "reference_frame_count": 0,
+  "dataset_name": "dag911262r00035d_lerobot_0326_220254",
+  "episode_index": 402,
+  "sensor": "gripper_right_tactile"
+}
\ No newline at end of file
diff --git a/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-07/outputs_tactile/tactile_cache/dag911262r00035d_lerobot_0326_220254_edfea759/episodes/ep000402/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/ep000402/gripper_right_tactile_force_metrics.json
new file mode 100644
index 0000000000000000000000000000000000000000..32b198e22bb13bd35d8b0558e6bc61a5925c2eea
--- /dev/null
+++ b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-07/outputs_tactile/tactile_cache/dag911262r00035d_lerobot_0326_220254_edfea759/episodes/ep000402/gripper_right_tactile_force_metrics.json
@@ -0,0 +1,9 @@
+{
+  "depth_peak": 0.0021971187088638544,
+  "shear_peak": 0.008018397726118565,
+  "force_magnitude_peak": 0.008172594010829926,
+  "reference_frame_count": 0,
+  "dataset_name": "dag911262r00035d_lerobot_0326_220254",
+  "episode_index": 402,
+  "sensor": "gripper_right_tactile"
+}
\ No newline at end of file
diff --git a/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-07/outputs_tactile/tactile_cache/dag911262r00035d_lerobot_0326_220254_edfea759/episodes/ep000403/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/ep000403/gripper_left_tactile_force_metrics.json
new file mode 100644
index 0000000000000000000000000000000000000000..f11a3290bb958822e0276f375159f018adf5fbb7
--- /dev/null
+++ b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-07/outputs_tactile/tactile_cache/dag911262r00035d_lerobot_0326_220254_edfea759/episodes/ep000403/gripper_left_tactile_force_metrics.json
@@ -0,0 +1,9 @@
+{
+  "depth_peak": 0.0011332216672599316,
+  "shear_peak": 0.0028160943184047937,
+  "force_magnitude_peak": 0.003003140911459923,
+  "reference_frame_count": 0,
+  "dataset_name": "dag911262r00035d_lerobot_0326_220254",
+  "episode_index": 403,
+  "sensor": "gripper_left_tactile"
+}
\ No newline at end of file
diff --git a/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-07/outputs_tactile/tactile_cache/dag911262r00035d_lerobot_0326_220254_edfea759/episodes/ep000405/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/ep000405/gripper_right_tactile_contact_metrics.json
new file mode 100644
index 0000000000000000000000000000000000000000..fe7bbb7408f922f3f6f60b080ee46754ce4d9570
--- /dev/null
+++ b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-07/outputs_tactile/tactile_cache/dag911262r00035d_lerobot_0326_220254_edfea759/episodes/ep000405/gripper_right_tactile_contact_metrics.json
@@ -0,0 +1,12 @@
+{
+  "contact_time": 7.033333333333333,
+  "contact_ratio": 0.5844875346260388,
+  "avg_contact_area": 11930.094786729858,
+  "contact_entropy": 0.6202844180078873,
+  "total_frames": 361,
+  "fps": 30.0,
+  "reference_frame_count": 0,
+  "dataset_name": "dag911262r00035d_lerobot_0326_220254",
+  "episode_index": 405,
+  "sensor": "gripper_right_tactile"
+}
\ No newline at end of file
diff --git a/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-07/outputs_tactile/tactile_cache/dag911262r00035d_lerobot_0326_220254_edfea759/episodes/ep000408/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/ep000408/gripper_left_tactile_force_metrics.json
new file mode 100644
index 0000000000000000000000000000000000000000..f114fadb7df4d2dde9387b529c90a808dc1a1736
--- /dev/null
+++ b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-07/outputs_tactile/tactile_cache/dag911262r00035d_lerobot_0326_220254_edfea759/episodes/ep000408/gripper_left_tactile_force_metrics.json
@@ -0,0 +1,9 @@
+{
+  "depth_peak": 0.00898305606096983,
+  "shear_peak": 0.009888304397463799,
+  "force_magnitude_peak": 0.01194965559989214,
+  "reference_frame_count": 0,
+  "dataset_name": "dag911262r00035d_lerobot_0326_220254",
+  "episode_index": 408,
+  "sensor": "gripper_left_tactile"
+}
\ No newline at end of file
diff --git a/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-07/outputs_tactile/tactile_cache/dag911262r00035d_lerobot_0326_220254_edfea759/episodes/ep000408/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/ep000408/gripper_right_tactile_contact_metrics.json
new file mode 100644
index 0000000000000000000000000000000000000000..dd74bd99d6213274ffb9eb7257a49747be77eb80
--- /dev/null
+++ b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-07/outputs_tactile/tactile_cache/dag911262r00035d_lerobot_0326_220254_edfea759/episodes/ep000408/gripper_right_tactile_contact_metrics.json
@@ -0,0 +1,12 @@
+{
+  "contact_time": 4.266666666666667,
+  "contact_ratio": 0.3368421052631579,
+  "avg_contact_area": 1724.734375,
+  "contact_entropy": 0.5307719736547561,
+  "total_frames": 380,
+  "fps": 30.0,
+  "reference_frame_count": 0,
+  "dataset_name": "dag911262r00035d_lerobot_0326_220254",
+  "episode_index": 408,
+  "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/ep000409/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/ep000409/gripper_left_tactile_contact_metrics.json
new file mode 100644
index 0000000000000000000000000000000000000000..58d7432e6ee42f55968a1cdb62f2847843fba1fb
--- /dev/null
+++ b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-07/outputs_tactile/tactile_cache/dag911262r00035d_lerobot_0326_220254_edfea759/episodes/ep000409/gripper_left_tactile_contact_metrics.json
@@ -0,0 +1,12 @@
+{
+  "contact_time": 7.833333333333333,
+  "contact_ratio": 0.4400749063670412,
+  "avg_contact_area": 3255.378723404255,
+  "contact_entropy": 0.2939337387071577,
+  "total_frames": 534,
+  "fps": 30.0,
+  "reference_frame_count": 0,
+  "dataset_name": "dag911262r00035d_lerobot_0326_220254",
+  "episode_index": 409,
+  "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/ep000412/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/ep000412/gripper_left_tactile_force_metrics.json
new file mode 100644
index 0000000000000000000000000000000000000000..2dce6fa3bfe6a890abe7a7e735bbf377f4fd9d0d
--- /dev/null
+++ b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-07/outputs_tactile/tactile_cache/dag911262r00035d_lerobot_0326_220254_edfea759/episodes/ep000412/gripper_left_tactile_force_metrics.json
@@ -0,0 +1,9 @@
+{
+  "depth_peak": 0.007264813408255577,
+  "shear_peak": 0.006697853561490774,
+  "force_magnitude_peak": 0.009148254990577698,
+  "reference_frame_count": 0,
+  "dataset_name": "dag911262r00035d_lerobot_0326_220254",
+  "episode_index": 412,
+  "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/ep000417/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/ep000417/gripper_right_tactile_contact_metrics.json
new file mode 100644
index 0000000000000000000000000000000000000000..31e902b26c3443f81707b02835ff8fd664dcd50a
--- /dev/null
+++ b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-07/outputs_tactile/tactile_cache/dag911262r00035d_lerobot_0326_220254_edfea759/episodes/ep000417/gripper_right_tactile_contact_metrics.json
@@ -0,0 +1,12 @@
+{
+  "contact_time": 11.2,
+  "contact_ratio": 0.4546684709066306,
+  "avg_contact_area": 5691.4375,
+  "contact_entropy": 0.4808589659827716,
+  "total_frames": 739,
+  "fps": 30.0,
+  "reference_frame_count": 0,
+  "dataset_name": "dag911262r00035d_lerobot_0326_220254",
+  "episode_index": 417,
+  "sensor": "gripper_right_tactile"
+}
\ No newline at end of file
diff --git a/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-07/outputs_tactile/tactile_cache/dag911262r00035d_lerobot_0326_220254_edfea759/episodes/ep000419/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/ep000419/gripper_left_tactile_contact_metrics.json
new file mode 100644
index 0000000000000000000000000000000000000000..c339b91973f40384568629d2330fc6b9a2e6ceb0
--- /dev/null
+++ b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-07/outputs_tactile/tactile_cache/dag911262r00035d_lerobot_0326_220254_edfea759/episodes/ep000419/gripper_left_tactile_contact_metrics.json
@@ -0,0 +1,12 @@
+{
+  "contact_time": 10.0,
+  "contact_ratio": 0.32432432432432434,
+  "avg_contact_area": 3432.016666666667,
+  "contact_entropy": 0.7229212648494212,
+  "total_frames": 925,
+  "fps": 30.0,
+  "reference_frame_count": 0,
+  "dataset_name": "dag911262r00035d_lerobot_0326_220254",
+  "episode_index": 419,
+  "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/ep000420/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/ep000420/gripper_right_tactile_force_metrics.json
new file mode 100644
index 0000000000000000000000000000000000000000..79ba33ce97d361b26b56b39cdee2b230b9ecb89a
--- /dev/null
+++ b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-07/outputs_tactile/tactile_cache/dag911262r00035d_lerobot_0326_220254_edfea759/episodes/ep000420/gripper_right_tactile_force_metrics.json
@@ -0,0 +1,9 @@
+{
+  "depth_peak": 0.01023209746927023,
+  "shear_peak": 0.005661318078637123,
+  "force_magnitude_peak": 0.010234206914901733,
+  "reference_frame_count": 0,
+  "dataset_name": "dag911262r00035d_lerobot_0326_220254",
+  "episode_index": 420,
+  "sensor": "gripper_right_tactile"
+}
\ No newline at end of file
diff --git a/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-07/outputs_tactile/tactile_cache/dag911262r00035d_lerobot_0326_220254_edfea759/episodes/ep000423/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/ep000423/gripper_left_tactile_contact_metrics.json
new file mode 100644
index 0000000000000000000000000000000000000000..de8b41a7ede5a6c14e5646fd9acc11da4fe684e6
--- /dev/null
+++ b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-07/outputs_tactile/tactile_cache/dag911262r00035d_lerobot_0326_220254_edfea759/episodes/ep000423/gripper_left_tactile_contact_metrics.json
@@ -0,0 +1,12 @@
+{
+  "contact_time": 6.533333333333333,
+  "contact_ratio": 0.28613138686131384,
+  "avg_contact_area": 13721.32142857143,
+  "contact_entropy": 0.17459169680333947,
+  "total_frames": 685,
+  "fps": 30.0,
+  "reference_frame_count": 0,
+  "dataset_name": "dag911262r00035d_lerobot_0326_220254",
+  "episode_index": 423,
+  "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/ep000423/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/ep000423/gripper_right_tactile_contact_metrics.json
new file mode 100644
index 0000000000000000000000000000000000000000..98acad0ca381f8eeb8322efca173be23bd666bda
--- /dev/null
+++ b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-07/outputs_tactile/tactile_cache/dag911262r00035d_lerobot_0326_220254_edfea759/episodes/ep000423/gripper_right_tactile_contact_metrics.json
@@ -0,0 +1,12 @@
+{
+  "contact_time": 9.966666666666667,
+  "contact_ratio": 0.4364963503649635,
+  "avg_contact_area": 10968.538461538461,
+  "contact_entropy": 0.19556240237989903,
+  "total_frames": 685,
+  "fps": 30.0,
+  "reference_frame_count": 0,
+  "dataset_name": "dag911262r00035d_lerobot_0326_220254",
+  "episode_index": 423,
+  "sensor": "gripper_right_tactile"
+}
\ No newline at end of file
diff --git a/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-07/outputs_tactile/tactile_cache/dag911262r00035d_lerobot_0326_220254_edfea759/episodes/ep000426/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/ep000426/gripper_right_tactile_force_metrics.json
new file mode 100644
index 0000000000000000000000000000000000000000..6b27e109c345a51988597fa1ca684d733fefce02
--- /dev/null
+++ b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-07/outputs_tactile/tactile_cache/dag911262r00035d_lerobot_0326_220254_edfea759/episodes/ep000426/gripper_right_tactile_force_metrics.json
@@ -0,0 +1,9 @@
+{
+  "depth_peak": 0.011785772629082203,
+  "shear_peak": 0.002807356184348464,
+  "force_magnitude_peak": 0.011834193952381611,
+  "reference_frame_count": 0,
+  "dataset_name": "dag911262r00035d_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/dag911262r00035d_lerobot_0326_220254_edfea759/episodes/ep000429/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/ep000429/gripper_right_tactile_force_metrics.json
new file mode 100644
index 0000000000000000000000000000000000000000..e287c565aecfa6faf80aa06904f90568d1988450
--- /dev/null
+++ b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-07/outputs_tactile/tactile_cache/dag911262r00035d_lerobot_0326_220254_edfea759/episodes/ep000429/gripper_right_tactile_force_metrics.json
@@ -0,0 +1,9 @@
+{
+  "depth_peak": 0.0022977045737206936,
+  "shear_peak": 0.0069143520668148994,
+  "force_magnitude_peak": 0.006985520478338003,
+  "reference_frame_count": 0,
+  "dataset_name": "dag911262r00035d_lerobot_0326_220254",
+  "episode_index": 429,
+  "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/ep000430/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/ep000430/gripper_left_tactile_contact_metrics.json
new file mode 100644
index 0000000000000000000000000000000000000000..ceec572221c81db30cb49a178f3f9a2655513ade
--- /dev/null
+++ b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-07/outputs_tactile/tactile_cache/dag911262r00035d_lerobot_0326_220254_edfea759/episodes/ep000430/gripper_left_tactile_contact_metrics.json
@@ -0,0 +1,12 @@
+{
+  "contact_time": 11.0,
+  "contact_ratio": 0.39615846338535415,
+  "avg_contact_area": 4305.054545454545,
+  "contact_entropy": 0.4969206138761314,
+  "total_frames": 833,
+  "fps": 30.0,
+  "reference_frame_count": 0,
+  "dataset_name": "dag911262r00035d_lerobot_0326_220254",
+  "episode_index": 430,
+  "sensor": "gripper_left_tactile"
+}
\ No newline at end of file
diff --git a/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-07/outputs_tactile/tactile_cache/dag911262r00035d_lerobot_0326_220254_edfea759/episodes/ep000433/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/ep000433/gripper_left_tactile_contact_metrics.json
new file mode 100644
index 0000000000000000000000000000000000000000..840047d39797130a3fdc0fadc26324869cc7feb4
--- /dev/null
+++ b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-07/outputs_tactile/tactile_cache/dag911262r00035d_lerobot_0326_220254_edfea759/episodes/ep000433/gripper_left_tactile_contact_metrics.json
@@ -0,0 +1,12 @@
+{
+  "contact_time": 7.233333333333333,
+  "contact_ratio": 0.3640939597315436,
+  "avg_contact_area": 6224.193548387097,
+  "contact_entropy": 0.5750074189522799,
+  "total_frames": 596,
+  "fps": 30.0,
+  "reference_frame_count": 0,
+  "dataset_name": "dag911262r00035d_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/dag911262r00035d_lerobot_0326_220254_edfea759/episodes/ep000435/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/ep000435/gripper_right_tactile_force_metrics.json
new file mode 100644
index 0000000000000000000000000000000000000000..18d674310a04d701ab88c7e4ed338faf6d58cbf0
--- /dev/null
+++ b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-07/outputs_tactile/tactile_cache/dag911262r00035d_lerobot_0326_220254_edfea759/episodes/ep000435/gripper_right_tactile_force_metrics.json
@@ -0,0 +1,9 @@
+{
+  "depth_peak": 0.003359053982421756,
+  "shear_peak": 0.0039983587339520454,
+  "force_magnitude_peak": 0.005222079809755087,
+  "reference_frame_count": 0,
+  "dataset_name": "dag911262r00035d_lerobot_0326_220254",
+  "episode_index": 435,
+  "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/ep000439/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/ep000439/gripper_left_tactile_force_metrics.json
new file mode 100644
index 0000000000000000000000000000000000000000..8b07906c90d0f1b8b4ddaa7e7676b9ca4f18af2a
--- /dev/null
+++ b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-07/outputs_tactile/tactile_cache/dag911262r00035d_lerobot_0326_220254_edfea759/episodes/ep000439/gripper_left_tactile_force_metrics.json
@@ -0,0 +1,9 @@
+{
+  "depth_peak": 0.002879038453102112,
+  "shear_peak": 0.0030665022786706686,
+  "force_magnitude_peak": 0.004151955246925354,
+  "reference_frame_count": 0,
+  "dataset_name": "dag911262r00035d_lerobot_0326_220254",
+  "episode_index": 439,
+  "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/ep000441/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/ep000441/gripper_left_tactile_force_metrics.json
new file mode 100644
index 0000000000000000000000000000000000000000..fd50159dc4f289aaf45b1b63c6b5121c219e1102
--- /dev/null
+++ b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-07/outputs_tactile/tactile_cache/dag911262r00035d_lerobot_0326_220254_edfea759/episodes/ep000441/gripper_left_tactile_force_metrics.json
@@ -0,0 +1,9 @@
+{
+  "depth_peak": 0.010530215688049793,
+  "shear_peak": 0.010515148751437664,
+  "force_magnitude_peak": 0.014467406086623669,
+  "reference_frame_count": 0,
+  "dataset_name": "dag911262r00035d_lerobot_0326_220254",
+  "episode_index": 441,
+  "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/ep000442/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/ep000442/gripper_right_tactile_contact_metrics.json
new file mode 100644
index 0000000000000000000000000000000000000000..f43fe27d1f4dfc8be0a63278c93da483953dab5f
--- /dev/null
+++ b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-07/outputs_tactile/tactile_cache/dag911262r00035d_lerobot_0326_220254_edfea759/episodes/ep000442/gripper_right_tactile_contact_metrics.json
@@ -0,0 +1,12 @@
+{
+  "contact_time": 9.9,
+  "contact_ratio": 0.7406483790523691,
+  "avg_contact_area": 7101.589225589226,
+  "contact_entropy": 0.835528281331891,
+  "total_frames": 401,
+  "fps": 30.0,
+  "reference_frame_count": 0,
+  "dataset_name": "dag911262r00035d_lerobot_0326_220254",
+  "episode_index": 442,
+  "sensor": "gripper_right_tactile"
+}
\ No newline at end of file
diff --git a/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-07/outputs_tactile/tactile_cache/dag911262r00035d_lerobot_0326_220254_edfea759/episodes/ep000442/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/ep000442/gripper_right_tactile_force_metrics.json
new file mode 100644
index 0000000000000000000000000000000000000000..63a0911edb72bdabae3ff224cc218bbc63fb890a
--- /dev/null
+++ b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-07/outputs_tactile/tactile_cache/dag911262r00035d_lerobot_0326_220254_edfea759/episodes/ep000442/gripper_right_tactile_force_metrics.json
@@ -0,0 +1,9 @@
+{
+  "depth_peak": 0.01120840385556221,
+  "shear_peak": 0.020069826394319534,
+  "force_magnitude_peak": 0.022987524047493935,
+  "reference_frame_count": 0,
+  "dataset_name": "dag911262r00035d_lerobot_0326_220254",
+  "episode_index": 442,
+  "sensor": "gripper_right_tactile"
+}
\ No newline at end of file
diff --git a/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-07/outputs_tactile/tactile_cache/dag911262r00035d_lerobot_0326_220254_edfea759/episodes/ep000443/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/ep000443/gripper_left_tactile_force_metrics.json
new file mode 100644
index 0000000000000000000000000000000000000000..9b7ef0b617dee56dbb392d43ed9a8f271dce7f16
--- /dev/null
+++ b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-07/outputs_tactile/tactile_cache/dag911262r00035d_lerobot_0326_220254_edfea759/episodes/ep000443/gripper_left_tactile_force_metrics.json
@@ -0,0 +1,9 @@
+{
+  "depth_peak": 0.0035484156105667353,
+  "shear_peak": 0.002632095944136381,
+  "force_magnitude_peak": 0.00354848918505013,
+  "reference_frame_count": 0,
+  "dataset_name": "dag911262r00035d_lerobot_0326_220254",
+  "episode_index": 443,
+  "sensor": "gripper_left_tactile"
+}
\ No newline at end of file
diff --git a/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-07/outputs_tactile/tactile_cache/dag911262r00035d_lerobot_0326_220254_edfea759/episodes/ep000445/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/ep000445/gripper_right_tactile_contact_metrics.json
new file mode 100644
index 0000000000000000000000000000000000000000..8cbbc2b135e1ab46ba4833665463e3e429185cd7
--- /dev/null
+++ b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-07/outputs_tactile/tactile_cache/dag911262r00035d_lerobot_0326_220254_edfea759/episodes/ep000445/gripper_right_tactile_contact_metrics.json
@@ -0,0 +1,12 @@
+{
+  "contact_time": 6.533333333333333,
+  "contact_ratio": 0.4558139534883721,
+  "avg_contact_area": 2392.2244897959185,
+  "contact_entropy": 0.6809474783318649,
+  "total_frames": 430,
+  "fps": 30.0,
+  "reference_frame_count": 0,
+  "dataset_name": "dag911262r00035d_lerobot_0326_220254",
+  "episode_index": 445,
+  "sensor": "gripper_right_tactile"
+}
\ No newline at end of file
diff --git a/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-07/outputs_tactile/tactile_cache/dag911262r00035d_lerobot_0326_220254_edfea759/episodes/ep000448/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/ep000448/gripper_left_tactile_force_metrics.json
new file mode 100644
index 0000000000000000000000000000000000000000..5fffaa4cd330c346a716fbfcd84614de543a0c3a
--- /dev/null
+++ b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-07/outputs_tactile/tactile_cache/dag911262r00035d_lerobot_0326_220254_edfea759/episodes/ep000448/gripper_left_tactile_force_metrics.json
@@ -0,0 +1,9 @@
+{
+  "depth_peak": 0.010555176995694637,
+  "shear_peak": 0.005524293053895235,
+  "force_magnitude_peak": 0.011354368180036545,
+  "reference_frame_count": 0,
+  "dataset_name": "dag911262r00035d_lerobot_0326_220254",
+  "episode_index": 448,
+  "sensor": "gripper_left_tactile"
+}
\ No newline at end of file
diff --git a/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-07/outputs_tactile/tactile_cache/dag911262r00035d_lerobot_0326_220254_edfea759/episodes/ep000448/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/ep000448/gripper_right_tactile_contact_metrics.json
new file mode 100644
index 0000000000000000000000000000000000000000..698f7745d1397b6ae27ce34803b8e57124e0e2e6
--- /dev/null
+++ b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-07/outputs_tactile/tactile_cache/dag911262r00035d_lerobot_0326_220254_edfea759/episodes/ep000448/gripper_right_tactile_contact_metrics.json
@@ -0,0 +1,12 @@
+{
+  "contact_time": 10.066666666666666,
+  "contact_ratio": 0.4660493827160494,
+  "avg_contact_area": 5871.963576158941,
+  "contact_entropy": 0.4322763824504289,
+  "total_frames": 648,
+  "fps": 30.0,
+  "reference_frame_count": 0,
+  "dataset_name": "dag911262r00035d_lerobot_0326_220254",
+  "episode_index": 448,
+  "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/ep000449/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/ep000449/gripper_left_tactile_contact_metrics.json
new file mode 100644
index 0000000000000000000000000000000000000000..d56ec644cd277cb54ef166d69f71e918eb775808
--- /dev/null
+++ b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-07/outputs_tactile/tactile_cache/dag911262r00035d_lerobot_0326_220254_edfea759/episodes/ep000449/gripper_left_tactile_contact_metrics.json
@@ -0,0 +1,12 @@
+{
+  "contact_time": 5.2,
+  "contact_ratio": 0.4431818181818182,
+  "avg_contact_area": 2476.0641025641025,
+  "contact_entropy": 0.39149001469523903,
+  "total_frames": 352,
+  "fps": 30.0,
+  "reference_frame_count": 0,
+  "dataset_name": "dag911262r00035d_lerobot_0326_220254",
+  "episode_index": 449,
+  "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/ep000452/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/ep000452/gripper_left_tactile_force_metrics.json
new file mode 100644
index 0000000000000000000000000000000000000000..9717738db51a4f26a53c626c8b3c8eb5f6a39371
--- /dev/null
+++ b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-07/outputs_tactile/tactile_cache/dag911262r00035d_lerobot_0326_220254_edfea759/episodes/ep000452/gripper_left_tactile_force_metrics.json
@@ -0,0 +1,9 @@
+{
+  "depth_peak": 0.010772165842354298,
+  "shear_peak": 0.014615338295698166,
+  "force_magnitude_peak": 0.017934294417500496,
+  "reference_frame_count": 0,
+  "dataset_name": "dag911262r00035d_lerobot_0326_220254",
+  "episode_index": 452,
+  "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/ep000457/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/ep000457/gripper_right_tactile_contact_metrics.json
new file mode 100644
index 0000000000000000000000000000000000000000..e05d90ee5650af433e45e1b28a07a1a84b67c672
--- /dev/null
+++ b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-07/outputs_tactile/tactile_cache/dag911262r00035d_lerobot_0326_220254_edfea759/episodes/ep000457/gripper_right_tactile_contact_metrics.json
@@ -0,0 +1,12 @@
+{
+  "contact_time": 12.033333333333333,
+  "contact_ratio": 0.7713675213675214,
+  "avg_contact_area": 5096.886426592798,
+  "contact_entropy": 0.47079574192367674,
+  "total_frames": 468,
+  "fps": 30.0,
+  "reference_frame_count": 0,
+  "dataset_name": "dag911262r00035d_lerobot_0326_220254",
+  "episode_index": 457,
+  "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/ep000459/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/ep000459/gripper_left_tactile_contact_metrics.json
new file mode 100644
index 0000000000000000000000000000000000000000..1b6b22eb1ffbdb9bcd92b705b3bf993164a6365b
--- /dev/null
+++ b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-07/outputs_tactile/tactile_cache/dag911262r00035d_lerobot_0326_220254_edfea759/episodes/ep000459/gripper_left_tactile_contact_metrics.json
@@ -0,0 +1,12 @@
+{
+  "contact_time": 6.0,
+  "contact_ratio": 0.5714285714285714,
+  "avg_contact_area": 2086.488888888889,
+  "contact_entropy": 0.5897085291965127,
+  "total_frames": 315,
+  "fps": 30.0,
+  "reference_frame_count": 0,
+  "dataset_name": "dag911262r00035d_lerobot_0326_220254",
+  "episode_index": 459,
+  "sensor": "gripper_left_tactile"
+}
\ No newline at end of file
diff --git a/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-07/outputs_tactile/tactile_cache/dag911262r00035d_lerobot_0326_220254_edfea759/episodes/ep000460/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/ep000460/gripper_right_tactile_force_metrics.json
new file mode 100644
index 0000000000000000000000000000000000000000..69574efd34677bfcc13e127a5f2cb6085bf4437e
--- /dev/null
+++ b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-07/outputs_tactile/tactile_cache/dag911262r00035d_lerobot_0326_220254_edfea759/episodes/ep000460/gripper_right_tactile_force_metrics.json
@@ -0,0 +1,9 @@
+{
+  "depth_peak": 0.002980208722874522,
+  "shear_peak": 0.0013775397092103958,
+  "force_magnitude_peak": 0.0029920050874352455,
+  "reference_frame_count": 0,
+  "dataset_name": "dag911262r00035d_lerobot_0326_220254",
+  "episode_index": 460,
+  "sensor": "gripper_right_tactile"
+}
\ No newline at end of file
diff --git a/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-07/outputs_tactile/tactile_cache/dag911262r00035d_lerobot_0326_220254_edfea759/episodes/ep000463/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/ep000463/gripper_left_tactile_contact_metrics.json
new file mode 100644
index 0000000000000000000000000000000000000000..644329210ce93ed5e122188ae13efde079ec5723
--- /dev/null
+++ b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-07/outputs_tactile/tactile_cache/dag911262r00035d_lerobot_0326_220254_edfea759/episodes/ep000463/gripper_left_tactile_contact_metrics.json
@@ -0,0 +1,12 @@
+{
+  "contact_time": 3.6666666666666665,
+  "contact_ratio": 0.3426791277258567,
+  "avg_contact_area": 559.5727272727273,
+  "contact_entropy": 0.0,
+  "total_frames": 321,
+  "fps": 30.0,
+  "reference_frame_count": 0,
+  "dataset_name": "dag911262r00035d_lerobot_0326_220254",
+  "episode_index": 463,
+  "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/ep000463/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/ep000463/gripper_right_tactile_contact_metrics.json
new file mode 100644
index 0000000000000000000000000000000000000000..c5799587b8c7050efeceeb9f0ddf75354c28e794
--- /dev/null
+++ b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-07/outputs_tactile/tactile_cache/dag911262r00035d_lerobot_0326_220254_edfea759/episodes/ep000463/gripper_right_tactile_contact_metrics.json
@@ -0,0 +1,12 @@
+{
+  "contact_time": 4.566666666666666,
+  "contact_ratio": 0.42679127725856697,
+  "avg_contact_area": 10534.583941605839,
+  "contact_entropy": 0.7598023797410003,
+  "total_frames": 321,
+  "fps": 30.0,
+  "reference_frame_count": 0,
+  "dataset_name": "dag911262r00035d_lerobot_0326_220254",
+  "episode_index": 463,
+  "sensor": "gripper_right_tactile"
+}
\ No newline at end of file
diff --git a/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-07/outputs_tactile/tactile_cache/dag911262r00035d_lerobot_0326_220254_edfea759/episodes/ep000466/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/ep000466/gripper_right_tactile_force_metrics.json
new file mode 100644
index 0000000000000000000000000000000000000000..d850afb02948e876645bf9a3485b5c909ec8a781
--- /dev/null
+++ b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-07/outputs_tactile/tactile_cache/dag911262r00035d_lerobot_0326_220254_edfea759/episodes/ep000466/gripper_right_tactile_force_metrics.json
@@ -0,0 +1,9 @@
+{
+  "depth_peak": 0.007939391769468784,
+  "shear_peak": 0.0073877801187336445,
+  "force_magnitude_peak": 0.010805030353367329,
+  "reference_frame_count": 0,
+  "dataset_name": "dag911262r00035d_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/dag911262r00035d_lerobot_0326_220254_edfea759/episodes/ep000469/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/ep000469/gripper_right_tactile_force_metrics.json
new file mode 100644
index 0000000000000000000000000000000000000000..adff66cc4559059ad49570765da2f3b11ad3cbcb
--- /dev/null
+++ b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-07/outputs_tactile/tactile_cache/dag911262r00035d_lerobot_0326_220254_edfea759/episodes/ep000469/gripper_right_tactile_force_metrics.json
@@ -0,0 +1,9 @@
+{
+  "depth_peak": 0.010130641050636768,
+  "shear_peak": 0.008105396293103695,
+  "force_magnitude_peak": 0.012782085686922073,
+  "reference_frame_count": 0,
+  "dataset_name": "dag911262r00035d_lerobot_0326_220254",
+  "episode_index": 469,
+  "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/ep000470/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/ep000470/gripper_left_tactile_contact_metrics.json
new file mode 100644
index 0000000000000000000000000000000000000000..bb2b39bcaf6dcafb5e5d95d3348b55db57f6e576
--- /dev/null
+++ b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-07/outputs_tactile/tactile_cache/dag911262r00035d_lerobot_0326_220254_edfea759/episodes/ep000470/gripper_left_tactile_contact_metrics.json
@@ -0,0 +1,12 @@
+{
+  "contact_time": 7.066666666666666,
+  "contact_ratio": 0.4796380090497738,
+  "avg_contact_area": 533.1933962264151,
+  "contact_entropy": 0.0574449795620273,
+  "total_frames": 442,
+  "fps": 30.0,
+  "reference_frame_count": 0,
+  "dataset_name": "dag911262r00035d_lerobot_0326_220254",
+  "episode_index": 470,
+  "sensor": "gripper_left_tactile"
+}
\ No newline at end of file
diff --git a/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-07/outputs_tactile/tactile_cache/dag911262r00035d_lerobot_0326_220254_edfea759/episodes/ep000473/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/ep000473/gripper_left_tactile_contact_metrics.json
new file mode 100644
index 0000000000000000000000000000000000000000..c3ee705b376a9ed61997349a717d5437ed49e005
--- /dev/null
+++ b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-07/outputs_tactile/tactile_cache/dag911262r00035d_lerobot_0326_220254_edfea759/episodes/ep000473/gripper_left_tactile_contact_metrics.json
@@ -0,0 +1,12 @@
+{
+  "contact_time": 3.7333333333333334,
+  "contact_ratio": 0.23529411764705882,
+  "avg_contact_area": 1004.3928571428571,
+  "contact_entropy": 0.69304375015856,
+  "total_frames": 476,
+  "fps": 30.0,
+  "reference_frame_count": 0,
+  "dataset_name": "dag911262r00035d_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/dag911262r00035d_lerobot_0326_220254_edfea759/episodes/ep000475/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/ep000475/gripper_right_tactile_force_metrics.json
new file mode 100644
index 0000000000000000000000000000000000000000..af9a3e4a80919f85b71c9cb219ff1a3b3654b259
--- /dev/null
+++ b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-07/outputs_tactile/tactile_cache/dag911262r00035d_lerobot_0326_220254_edfea759/episodes/ep000475/gripper_right_tactile_force_metrics.json
@@ -0,0 +1,9 @@
+{
+  "depth_peak": 0.003305752296000719,
+  "shear_peak": 0.0033257128670811653,
+  "force_magnitude_peak": 0.0033979176077991724,
+  "reference_frame_count": 0,
+  "dataset_name": "dag911262r00035d_lerobot_0326_220254",
+  "episode_index": 475,
+  "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/ep000479/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/ep000479/gripper_left_tactile_force_metrics.json
new file mode 100644
index 0000000000000000000000000000000000000000..e58aa354c32e060b9a60bf92af6ed5ca896f0ffe
--- /dev/null
+++ b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-07/outputs_tactile/tactile_cache/dag911262r00035d_lerobot_0326_220254_edfea759/episodes/ep000479/gripper_left_tactile_force_metrics.json
@@ -0,0 +1,9 @@
+{
+  "depth_peak": 0.005737090948969126,
+  "shear_peak": 0.0036625920329242945,
+  "force_magnitude_peak": 0.006501475349068642,
+  "reference_frame_count": 0,
+  "dataset_name": "dag911262r00035d_lerobot_0326_220254",
+  "episode_index": 479,
+  "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/ep000481/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/ep000481/gripper_left_tactile_force_metrics.json
new file mode 100644
index 0000000000000000000000000000000000000000..6ed7eb9ba8095bd01956b0a9cad3261509cb1cc0
--- /dev/null
+++ b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-07/outputs_tactile/tactile_cache/dag911262r00035d_lerobot_0326_220254_edfea759/episodes/ep000481/gripper_left_tactile_force_metrics.json
@@ -0,0 +1,9 @@
+{
+  "depth_peak": 0.0020511283073574305,
+  "shear_peak": 0.0017356036696583033,
+  "force_magnitude_peak": 0.002238580957055092,
+  "reference_frame_count": 0,
+  "dataset_name": "dag911262r00035d_lerobot_0326_220254",
+  "episode_index": 481,
+  "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/ep000482/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/ep000482/gripper_right_tactile_contact_metrics.json
new file mode 100644
index 0000000000000000000000000000000000000000..a6292a927367b4104395bb560fc15535a3a27b37
--- /dev/null
+++ b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-07/outputs_tactile/tactile_cache/dag911262r00035d_lerobot_0326_220254_edfea759/episodes/ep000482/gripper_right_tactile_contact_metrics.json
@@ -0,0 +1,12 @@
+{
+  "contact_time": 15.266666666666667,
+  "contact_ratio": 0.9141716566866267,
+  "avg_contact_area": 6745.818777292577,
+  "contact_entropy": 0.8928029373207476,
+  "total_frames": 501,
+  "fps": 30.0,
+  "reference_frame_count": 0,
+  "dataset_name": "dag911262r00035d_lerobot_0326_220254",
+  "episode_index": 482,
+  "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/ep000482/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/ep000482/gripper_right_tactile_force_metrics.json
new file mode 100644
index 0000000000000000000000000000000000000000..731331a734a1e0063f2e65881e79c572099d88a6
--- /dev/null
+++ b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-07/outputs_tactile/tactile_cache/dag911262r00035d_lerobot_0326_220254_edfea759/episodes/ep000482/gripper_right_tactile_force_metrics.json
@@ -0,0 +1,9 @@
+{
+  "depth_peak": 0.016450438648462296,
+  "shear_peak": 0.008992267772555351,
+  "force_magnitude_peak": 0.01736285351216793,
+  "reference_frame_count": 0,
+  "dataset_name": "dag911262r00035d_lerobot_0326_220254",
+  "episode_index": 482,
+  "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/ep000483/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/ep000483/gripper_left_tactile_force_metrics.json
new file mode 100644
index 0000000000000000000000000000000000000000..65567035adbdd2e14fb40e3492a1bf583e1e25f6
--- /dev/null
+++ b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-07/outputs_tactile/tactile_cache/dag911262r00035d_lerobot_0326_220254_edfea759/episodes/ep000483/gripper_left_tactile_force_metrics.json
@@ -0,0 +1,9 @@
+{
+  "depth_peak": 0.006975197233259678,
+  "shear_peak": 0.008521802723407745,
+  "force_magnitude_peak": 0.010770606808364391,
+  "reference_frame_count": 0,
+  "dataset_name": "dag911262r00035d_lerobot_0326_220254",
+  "episode_index": 483,
+  "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/ep000485/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/ep000485/gripper_right_tactile_contact_metrics.json
new file mode 100644
index 0000000000000000000000000000000000000000..03a560824a600f8ab98ddb39656205845b09b69e
--- /dev/null
+++ b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-07/outputs_tactile/tactile_cache/dag911262r00035d_lerobot_0326_220254_edfea759/episodes/ep000485/gripper_right_tactile_contact_metrics.json
@@ -0,0 +1,12 @@
+{
+  "contact_time": 6.833333333333333,
+  "contact_ratio": 0.6765676567656765,
+  "avg_contact_area": 7016.375609756097,
+  "contact_entropy": 0.49795652460438866,
+  "total_frames": 303,
+  "fps": 30.0,
+  "reference_frame_count": 0,
+  "dataset_name": "dag911262r00035d_lerobot_0326_220254",
+  "episode_index": 485,
+  "sensor": "gripper_right_tactile"
+}
\ No newline at end of file
diff --git a/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-07/outputs_tactile/tactile_cache/dag911262r00035d_lerobot_0326_220254_edfea759/episodes/ep000488/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/ep000488/gripper_left_tactile_force_metrics.json
new file mode 100644
index 0000000000000000000000000000000000000000..ffa8ffcec74f05698f44adc3771682ef933ac282
--- /dev/null
+++ b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-07/outputs_tactile/tactile_cache/dag911262r00035d_lerobot_0326_220254_edfea759/episodes/ep000488/gripper_left_tactile_force_metrics.json
@@ -0,0 +1,9 @@
+{
+  "depth_peak": 0.018810266628861427,
+  "shear_peak": 0.0035215341486036777,
+  "force_magnitude_peak": 0.01913706585764885,
+  "reference_frame_count": 0,
+  "dataset_name": "dag911262r00035d_lerobot_0326_220254",
+  "episode_index": 488,
+  "sensor": "gripper_left_tactile"
+}
\ No newline at end of file
diff --git a/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-07/outputs_tactile/tactile_cache/dag911262r00035d_lerobot_0326_220254_edfea759/episodes/ep000488/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/ep000488/gripper_right_tactile_contact_metrics.json
new file mode 100644
index 0000000000000000000000000000000000000000..925080a76b1d625f907c5e455e80ed37a2b520d4
--- /dev/null
+++ b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-07/outputs_tactile/tactile_cache/dag911262r00035d_lerobot_0326_220254_edfea759/episodes/ep000488/gripper_right_tactile_contact_metrics.json
@@ -0,0 +1,12 @@
+{
+  "contact_time": 5.0,
+  "contact_ratio": 0.36585365853658536,
+  "avg_contact_area": 6578.113333333334,
+  "contact_entropy": 1.3167404390832196,
+  "total_frames": 410,
+  "fps": 30.0,
+  "reference_frame_count": 0,
+  "dataset_name": "dag911262r00035d_lerobot_0326_220254",
+  "episode_index": 488,
+  "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/ep000489/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/ep000489/gripper_left_tactile_contact_metrics.json
new file mode 100644
index 0000000000000000000000000000000000000000..cf8e13ad69ffeefffb5306ce0ab377c9a5081e85
--- /dev/null
+++ b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-07/outputs_tactile/tactile_cache/dag911262r00035d_lerobot_0326_220254_edfea759/episodes/ep000489/gripper_left_tactile_contact_metrics.json
@@ -0,0 +1,12 @@
+{
+  "contact_time": 3.4,
+  "contact_ratio": 0.3422818791946309,
+  "avg_contact_area": 1043.9411764705883,
+  "contact_entropy": 0.5394133338661846,
+  "total_frames": 298,
+  "fps": 30.0,
+  "reference_frame_count": 0,
+  "dataset_name": "dag911262r00035d_lerobot_0326_220254",
+  "episode_index": 489,
+  "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/ep000492/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/ep000492/gripper_left_tactile_force_metrics.json
new file mode 100644
index 0000000000000000000000000000000000000000..190f9056cf283b7dd21e2d239cc6914998343070
--- /dev/null
+++ b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-07/outputs_tactile/tactile_cache/dag911262r00035d_lerobot_0326_220254_edfea759/episodes/ep000492/gripper_left_tactile_force_metrics.json
@@ -0,0 +1,9 @@
+{
+  "depth_peak": 0.003803674830123782,
+  "shear_peak": 0.0024610753171145916,
+  "force_magnitude_peak": 0.004194767214357853,
+  "reference_frame_count": 0,
+  "dataset_name": "dag911262r00035d_lerobot_0326_220254",
+  "episode_index": 492,
+  "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/ep000497/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/ep000497/gripper_right_tactile_contact_metrics.json
new file mode 100644
index 0000000000000000000000000000000000000000..2bf4a8dd09917abec96ffd06f60a14f372cbc0f4
--- /dev/null
+++ b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-07/outputs_tactile/tactile_cache/dag911262r00035d_lerobot_0326_220254_edfea759/episodes/ep000497/gripper_right_tactile_contact_metrics.json
@@ -0,0 +1,12 @@
+{
+  "contact_time": 13.433333333333334,
+  "contact_ratio": 0.3392255892255892,
+  "avg_contact_area": 3398.6997518610424,
+  "contact_entropy": 0.38646627821099405,
+  "total_frames": 1188,
+  "fps": 30.0,
+  "reference_frame_count": 0,
+  "dataset_name": "dag911262r00035d_lerobot_0326_220254",
+  "episode_index": 497,
+  "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/ep000499/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/ep000499/gripper_left_tactile_contact_metrics.json
new file mode 100644
index 0000000000000000000000000000000000000000..901eb89bdf064a889208ab10e5ba602f09ff76b7
--- /dev/null
+++ b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-07/outputs_tactile/tactile_cache/dag911262r00035d_lerobot_0326_220254_edfea759/episodes/ep000499/gripper_left_tactile_contact_metrics.json
@@ -0,0 +1,12 @@
+{
+  "contact_time": 10.7,
+  "contact_ratio": 0.29023508137432186,
+  "avg_contact_area": 2430.722741433022,
+  "contact_entropy": 0.41024799668802875,
+  "total_frames": 1106,
+  "fps": 30.0,
+  "reference_frame_count": 0,
+  "dataset_name": "dag911262r00035d_lerobot_0326_220254",
+  "episode_index": 499,
+  "sensor": "gripper_left_tactile"
+}
\ No newline at end of file
diff --git a/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-07/outputs_tactile/tactile_cache/dag911262r00035d_lerobot_0326_220254_edfea759/episodes/ep000500/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/ep000500/gripper_right_tactile_force_metrics.json
new file mode 100644
index 0000000000000000000000000000000000000000..bbb2b1b9fa2cb6035dc286a72850ded65af6b329
--- /dev/null
+++ b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-07/outputs_tactile/tactile_cache/dag911262r00035d_lerobot_0326_220254_edfea759/episodes/ep000500/gripper_right_tactile_force_metrics.json
@@ -0,0 +1,9 @@
+{
+  "depth_peak": 0.003214552067220211,
+  "shear_peak": 0.005902990233153105,
+  "force_magnitude_peak": 0.005916445981711149,
+  "reference_frame_count": 0,
+  "dataset_name": "dag911262r00035d_lerobot_0326_220254",
+  "episode_index": 500,
+  "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/ep000503/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/ep000503/gripper_left_tactile_contact_metrics.json
new file mode 100644
index 0000000000000000000000000000000000000000..9974afbca4e9f9ba00cffaa9b54331ea5d406689
--- /dev/null
+++ b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-07/outputs_tactile/tactile_cache/dag911262r00035d_lerobot_0326_220254_edfea759/episodes/ep000503/gripper_left_tactile_contact_metrics.json
@@ -0,0 +1,12 @@
+{
+  "contact_time": 9.866666666666667,
+  "contact_ratio": 0.30390143737166325,
+  "avg_contact_area": 1580.7263513513512,
+  "contact_entropy": 0.451598472311959,
+  "total_frames": 974,
+  "fps": 30.0,
+  "reference_frame_count": 0,
+  "dataset_name": "dag911262r00035d_lerobot_0326_220254",
+  "episode_index": 503,
+  "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/ep000503/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/ep000503/gripper_right_tactile_contact_metrics.json
new file mode 100644
index 0000000000000000000000000000000000000000..89cec355e64309408eebbb4d7df146b267e42a68
--- /dev/null
+++ b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-07/outputs_tactile/tactile_cache/dag911262r00035d_lerobot_0326_220254_edfea759/episodes/ep000503/gripper_right_tactile_contact_metrics.json
@@ -0,0 +1,12 @@
+{
+  "contact_time": 16.266666666666666,
+  "contact_ratio": 0.5010266940451745,
+  "avg_contact_area": 5287.584016393443,
+  "contact_entropy": 0.4230462444255291,
+  "total_frames": 974,
+  "fps": 30.0,
+  "reference_frame_count": 0,
+  "dataset_name": "dag911262r00035d_lerobot_0326_220254",
+  "episode_index": 503,
+  "sensor": "gripper_right_tactile"
+}
\ No newline at end of file
diff --git a/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-07/outputs_tactile/tactile_cache/dag911262r00035d_lerobot_0326_220254_edfea759/episodes/ep000506/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/ep000506/gripper_right_tactile_force_metrics.json
new file mode 100644
index 0000000000000000000000000000000000000000..45ff7398a7a7a391cc7338f99387ccc137f2ed6c
--- /dev/null
+++ b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-07/outputs_tactile/tactile_cache/dag911262r00035d_lerobot_0326_220254_edfea759/episodes/ep000506/gripper_right_tactile_force_metrics.json
@@ -0,0 +1,9 @@
+{
+  "depth_peak": 0.006977760698646307,
+  "shear_peak": 0.008654083125293255,
+  "force_magnitude_peak": 0.011116757988929749,
+  "reference_frame_count": 0,
+  "dataset_name": "dag911262r00035d_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/dag911262r00035d_lerobot_0326_220254_edfea759/episodes/ep000509/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/ep000509/gripper_right_tactile_force_metrics.json
new file mode 100644
index 0000000000000000000000000000000000000000..2ce71861a964c300f835bf2d596160f1e0f89eb7
--- /dev/null
+++ b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-07/outputs_tactile/tactile_cache/dag911262r00035d_lerobot_0326_220254_edfea759/episodes/ep000509/gripper_right_tactile_force_metrics.json
@@ -0,0 +1,9 @@
+{
+  "depth_peak": 0.009968244470655918,
+  "shear_peak": 0.006120919715613127,
+  "force_magnitude_peak": 0.011478482745587826,
+  "reference_frame_count": 0,
+  "dataset_name": "dag911262r00035d_lerobot_0326_220254",
+  "episode_index": 509,
+  "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/ep000510/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/ep000510/gripper_left_tactile_contact_metrics.json
new file mode 100644
index 0000000000000000000000000000000000000000..11b221fbd1b44b161b7888b540a3aee9173f5549
--- /dev/null
+++ b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-07/outputs_tactile/tactile_cache/dag911262r00035d_lerobot_0326_220254_edfea759/episodes/ep000510/gripper_left_tactile_contact_metrics.json
@@ -0,0 +1,12 @@
+{
+  "contact_time": 18.866666666666667,
+  "contact_ratio": 0.507168458781362,
+  "avg_contact_area": 2415.5494699646642,
+  "contact_entropy": 0.48696613054995547,
+  "total_frames": 1116,
+  "fps": 30.0,
+  "reference_frame_count": 0,
+  "dataset_name": "dag911262r00035d_lerobot_0326_220254",
+  "episode_index": 510,
+  "sensor": "gripper_left_tactile"
+}
\ No newline at end of file
diff --git a/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-07/outputs_tactile/tactile_cache/dag911262r00035d_lerobot_0326_220254_edfea759/episodes/ep000513/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/ep000513/gripper_left_tactile_contact_metrics.json
new file mode 100644
index 0000000000000000000000000000000000000000..39e8e64670da7e46f0ec8e25cdb39037ccdd6628
--- /dev/null
+++ b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-07/outputs_tactile/tactile_cache/dag911262r00035d_lerobot_0326_220254_edfea759/episodes/ep000513/gripper_left_tactile_contact_metrics.json
@@ -0,0 +1,12 @@
+{
+  "contact_time": 2.566666666666667,
+  "contact_ratio": 0.12241653418124006,
+  "avg_contact_area": 488.5844155844156,
+  "contact_entropy": 0.0637731960741796,
+  "total_frames": 629,
+  "fps": 30.0,
+  "reference_frame_count": 0,
+  "dataset_name": "dag911262r00035d_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/dag911262r00035d_lerobot_0326_220254_edfea759/episodes/ep000514/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/ep000514/gripper_left_tactile_contact_metrics.json
new file mode 100644
index 0000000000000000000000000000000000000000..7258b2783202d67acbab4574ed1a0b6ba05ad1b8
--- /dev/null
+++ b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-07/outputs_tactile/tactile_cache/dag911262r00035d_lerobot_0326_220254_edfea759/episodes/ep000514/gripper_left_tactile_contact_metrics.json
@@ -0,0 +1,12 @@
+{
+  "contact_time": 19.166666666666668,
+  "contact_ratio": 0.49187339606501285,
+  "avg_contact_area": 1407.1860869565216,
+  "contact_entropy": 0.188467226032171,
+  "total_frames": 1169,
+  "fps": 30.0,
+  "reference_frame_count": 0,
+  "dataset_name": "dag911262r00035d_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/dag911262r00035d_lerobot_0326_220254_edfea759/episodes/ep000518/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/ep000518/gripper_left_tactile_contact_metrics.json
new file mode 100644
index 0000000000000000000000000000000000000000..662bf37c0c24d454aeb2cdc6906990b5491c84b7
--- /dev/null
+++ b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-07/outputs_tactile/tactile_cache/dag911262r00035d_lerobot_0326_220254_edfea759/episodes/ep000518/gripper_left_tactile_contact_metrics.json
@@ -0,0 +1,12 @@
+{
+  "contact_time": 38.5,
+  "contact_ratio": 0.9397884458909682,
+  "avg_contact_area": 987.2337662337662,
+  "contact_entropy": 0.7449507072532828,
+  "total_frames": 1229,
+  "fps": 30.0,
+  "reference_frame_count": 0,
+  "dataset_name": "dag911262r00035d_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/dag911262r00035d_lerobot_0326_220254_edfea759/episodes/ep000519/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/ep000519/gripper_left_tactile_contact_metrics.json
new file mode 100644
index 0000000000000000000000000000000000000000..6519b7efc1ca19c353a391be0831436684fec0aa
--- /dev/null
+++ b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-07/outputs_tactile/tactile_cache/dag911262r00035d_lerobot_0326_220254_edfea759/episodes/ep000519/gripper_left_tactile_contact_metrics.json
@@ -0,0 +1,12 @@
+{
+  "contact_time": 3.933333333333333,
+  "contact_ratio": 0.2505307855626327,
+  "avg_contact_area": 1214.949152542373,
+  "contact_entropy": 0.26087722003942415,
+  "total_frames": 471,
+  "fps": 30.0,
+  "reference_frame_count": 0,
+  "dataset_name": "dag911262r00035d_lerobot_0326_220254",
+  "episode_index": 519,
+  "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/ep000519/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/ep000519/gripper_left_tactile_force_metrics.json
new file mode 100644
index 0000000000000000000000000000000000000000..7a8f87aee13bb9448a4cb8c8bb40c46379648e51
--- /dev/null
+++ b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-07/outputs_tactile/tactile_cache/dag911262r00035d_lerobot_0326_220254_edfea759/episodes/ep000519/gripper_left_tactile_force_metrics.json
@@ -0,0 +1,9 @@
+{
+  "depth_peak": 0.0016266829334199429,
+  "shear_peak": 0.0036488196346908808,
+  "force_magnitude_peak": 0.00381634128279984,
+  "reference_frame_count": 0,
+  "dataset_name": "dag911262r00035d_lerobot_0326_220254",
+  "episode_index": 519,
+  "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/ep000520/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/ep000520/gripper_left_tactile_force_metrics.json
new file mode 100644
index 0000000000000000000000000000000000000000..cba5998066573115805c799602b7bda61c3e262f
--- /dev/null
+++ b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-07/outputs_tactile/tactile_cache/dag911262r00035d_lerobot_0326_220254_edfea759/episodes/ep000520/gripper_left_tactile_force_metrics.json
@@ -0,0 +1,9 @@
+{
+  "depth_peak": 0.005327071528881788,
+  "shear_peak": 0.005750385578721762,
+  "force_magnitude_peak": 0.0060507855378091335,
+  "reference_frame_count": 0,
+  "dataset_name": "dag911262r00035d_lerobot_0326_220254",
+  "episode_index": 520,
+  "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/ep000520/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/ep000520/gripper_right_tactile_force_metrics.json
new file mode 100644
index 0000000000000000000000000000000000000000..fa547ae7ab59eeab96ba199d21ca32cf559a177f
--- /dev/null
+++ b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-07/outputs_tactile/tactile_cache/dag911262r00035d_lerobot_0326_220254_edfea759/episodes/ep000520/gripper_right_tactile_force_metrics.json
@@ -0,0 +1,9 @@
+{
+  "depth_peak": 0.009783095680177212,
+  "shear_peak": 0.02610439993441105,
+  "force_magnitude_peak": 0.026975486427545547,
+  "reference_frame_count": 0,
+  "dataset_name": "dag911262r00035d_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/dag911262r00035d_lerobot_0326_220254_edfea759/episodes/ep000521/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/ep000521/gripper_right_tactile_force_metrics.json
new file mode 100644
index 0000000000000000000000000000000000000000..6c0eb65bdd506812fe9d297f3c9611d110ee39e3
--- /dev/null
+++ b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-07/outputs_tactile/tactile_cache/dag911262r00035d_lerobot_0326_220254_edfea759/episodes/ep000521/gripper_right_tactile_force_metrics.json
@@ -0,0 +1,9 @@
+{
+  "depth_peak": 0.008378217928111553,
+  "shear_peak": 0.007868587039411068,
+  "force_magnitude_peak": 0.009936914779245853,
+  "reference_frame_count": 0,
+  "dataset_name": "dag911262r00035d_lerobot_0326_220254",
+  "episode_index": 521,
+  "sensor": "gripper_right_tactile"
+}
\ No newline at end of file
diff --git a/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-07/outputs_tactile/tactile_cache/dag911262r00035d_lerobot_0326_220254_edfea759/episodes/ep000524/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/ep000524/gripper_left_tactile_force_metrics.json
new file mode 100644
index 0000000000000000000000000000000000000000..56894883c95b5fc39ca90db3d32c24e2f94dcfa0
--- /dev/null
+++ b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-07/outputs_tactile/tactile_cache/dag911262r00035d_lerobot_0326_220254_edfea759/episodes/ep000524/gripper_left_tactile_force_metrics.json
@@ -0,0 +1,9 @@
+{
+  "depth_peak": 0.004602164961397648,
+  "shear_peak": 0.002989664673805237,
+  "force_magnitude_peak": 0.005399651359766722,
+  "reference_frame_count": 0,
+  "dataset_name": "dag911262r00035d_lerobot_0326_220254",
+  "episode_index": 524,
+  "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/ep000524/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/ep000524/gripper_right_tactile_contact_metrics.json
new file mode 100644
index 0000000000000000000000000000000000000000..7676a0a78e288c37826b0a7894702bff852f0dde
--- /dev/null
+++ b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-07/outputs_tactile/tactile_cache/dag911262r00035d_lerobot_0326_220254_edfea759/episodes/ep000524/gripper_right_tactile_contact_metrics.json
@@ -0,0 +1,12 @@
+{
+  "contact_time": 12.533333333333333,
+  "contact_ratio": 0.46078431372549017,
+  "avg_contact_area": 3204.3670212765956,
+  "contact_entropy": 0.5787537427000288,
+  "total_frames": 816,
+  "fps": 30.0,
+  "reference_frame_count": 0,
+  "dataset_name": "dag911262r00035d_lerobot_0326_220254",
+  "episode_index": 524,
+  "sensor": "gripper_right_tactile"
+}
\ No newline at end of file
diff --git a/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-07/outputs_tactile/tactile_cache/dag911262r00035d_lerobot_0326_220254_edfea759/episodes/ep000526/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/ep000526/gripper_left_tactile_contact_metrics.json
new file mode 100644
index 0000000000000000000000000000000000000000..9e988539b2253deda4182aca253419a4751fcc0f
--- /dev/null
+++ b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-07/outputs_tactile/tactile_cache/dag911262r00035d_lerobot_0326_220254_edfea759/episodes/ep000526/gripper_left_tactile_contact_metrics.json
@@ -0,0 +1,12 @@
+{
+  "contact_time": 8.566666666666666,
+  "contact_ratio": 0.35302197802197804,
+  "avg_contact_area": 1806.0194552529183,
+  "contact_entropy": 0.34680798402667545,
+  "total_frames": 728,
+  "fps": 30.0,
+  "reference_frame_count": 0,
+  "dataset_name": "dag911262r00035d_lerobot_0326_220254",
+  "episode_index": 526,
+  "sensor": "gripper_left_tactile"
+}
\ No newline at end of file
diff --git a/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-07/outputs_tactile/tactile_cache/dag911262r00035d_lerobot_0326_220254_edfea759/episodes/ep000531/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/ep000531/gripper_right_tactile_contact_metrics.json
new file mode 100644
index 0000000000000000000000000000000000000000..f475a4e42ab28ac205ff403a80be1180ca4c2281
--- /dev/null
+++ b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-07/outputs_tactile/tactile_cache/dag911262r00035d_lerobot_0326_220254_edfea759/episodes/ep000531/gripper_right_tactile_contact_metrics.json
@@ -0,0 +1,12 @@
+{
+  "contact_time": 11.4,
+  "contact_ratio": 0.4665757162346521,
+  "avg_contact_area": 8143.909356725147,
+  "contact_entropy": 0.42337795637819864,
+  "total_frames": 733,
+  "fps": 30.0,
+  "reference_frame_count": 0,
+  "dataset_name": "dag911262r00035d_lerobot_0326_220254",
+  "episode_index": 531,
+  "sensor": "gripper_right_tactile"
+}
\ No newline at end of file
diff --git a/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-07/outputs_tactile/tactile_cache/dag911262r00035d_lerobot_0326_220254_edfea759/episodes/ep000535/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/ep000535/gripper_right_tactile_contact_metrics.json
new file mode 100644
index 0000000000000000000000000000000000000000..de5aeea7929ff1e2e8b52c4307cc9078a23312ba
--- /dev/null
+++ b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-07/outputs_tactile/tactile_cache/dag911262r00035d_lerobot_0326_220254_edfea759/episodes/ep000535/gripper_right_tactile_contact_metrics.json
@@ -0,0 +1,12 @@
+{
+  "contact_time": 5.166666666666667,
+  "contact_ratio": 0.4983922829581994,
+  "avg_contact_area": 350.6258064516129,
+  "contact_entropy": 0.0,
+  "total_frames": 311,
+  "fps": 30.0,
+  "reference_frame_count": 0,
+  "dataset_name": "dag911262r00035d_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/dag911262r00035d_lerobot_0326_220254_edfea759/episodes/ep000537/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/ep000537/gripper_left_tactile_force_metrics.json
new file mode 100644
index 0000000000000000000000000000000000000000..aa4e3337bb2234154abdcafffab277cadadc83f2
--- /dev/null
+++ b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-07/outputs_tactile/tactile_cache/dag911262r00035d_lerobot_0326_220254_edfea759/episodes/ep000537/gripper_left_tactile_force_metrics.json
@@ -0,0 +1,9 @@
+{
+  "depth_peak": 0.0074758087284862995,
+  "shear_peak": 0.009850485250353813,
+  "force_magnitude_peak": 0.012329226359724998,
+  "reference_frame_count": 0,
+  "dataset_name": "dag911262r00035d_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/dag911262r00035d_lerobot_0326_220254_edfea759/episodes/ep000540/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/ep000540/gripper_right_tactile_contact_metrics.json
new file mode 100644
index 0000000000000000000000000000000000000000..64505ae44e348b38a0817bd092726b6a2d98e5f6
--- /dev/null
+++ b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-07/outputs_tactile/tactile_cache/dag911262r00035d_lerobot_0326_220254_edfea759/episodes/ep000540/gripper_right_tactile_contact_metrics.json
@@ -0,0 +1,12 @@
+{
+  "contact_time": 10.466666666666667,
+  "contact_ratio": 0.5667870036101083,
+  "avg_contact_area": 2968.484076433121,
+  "contact_entropy": 0.37326181645646644,
+  "total_frames": 554,
+  "fps": 30.0,
+  "reference_frame_count": 0,
+  "dataset_name": "dag911262r00035d_lerobot_0326_220254",
+  "episode_index": 540,
+  "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/ep000544/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/ep000544/gripper_left_tactile_force_metrics.json
new file mode 100644
index 0000000000000000000000000000000000000000..48066ce833cffc3939f6be91764223bdfc4dbe57
--- /dev/null
+++ b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-07/outputs_tactile/tactile_cache/dag911262r00035d_lerobot_0326_220254_edfea759/episodes/ep000544/gripper_left_tactile_force_metrics.json
@@ -0,0 +1,9 @@
+{
+  "depth_peak": 0.006387361790984869,
+  "shear_peak": 0.007163414731621742,
+  "force_magnitude_peak": 0.007417130284011364,
+  "reference_frame_count": 0,
+  "dataset_name": "dag911262r00035d_lerobot_0326_220254",
+  "episode_index": 544,
+  "sensor": "gripper_left_tactile"
+}
\ No newline at end of file
diff --git a/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-07/outputs_tactile/tactile_cache/dag911262r00035d_lerobot_0326_220254_edfea759/episodes/ep000545/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/ep000545/gripper_right_tactile_force_metrics.json
new file mode 100644
index 0000000000000000000000000000000000000000..63bcc002d5a1db43ad54f223c9a6112d846e611d
--- /dev/null
+++ b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-07/outputs_tactile/tactile_cache/dag911262r00035d_lerobot_0326_220254_edfea759/episodes/ep000545/gripper_right_tactile_force_metrics.json
@@ -0,0 +1,9 @@
+{
+  "depth_peak": 0.0009632545989006758,
+  "shear_peak": 0.0012408006004989147,
+  "force_magnitude_peak": 0.0014892014442011714,
+  "reference_frame_count": 0,
+  "dataset_name": "dag911262r00035d_lerobot_0326_220254",
+  "episode_index": 545,
+  "sensor": "gripper_right_tactile"
+}
\ No newline at end of file
diff --git a/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-07/outputs_tactile/tactile_cache/dag911262r000448_lerobot_0326_220254_30b7797b/episodes/ep000000/gripper_right_tactile_contact_metrics.json b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-07/outputs_tactile/tactile_cache/dag911262r000448_lerobot_0326_220254_30b7797b/episodes/ep000000/gripper_right_tactile_contact_metrics.json
new file mode 100644
index 0000000000000000000000000000000000000000..b07d699b8ae98dcad60041c0f0b0afac2e321e36
--- /dev/null
+++ b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-07/outputs_tactile/tactile_cache/dag911262r000448_lerobot_0326_220254_30b7797b/episodes/ep000000/gripper_right_tactile_contact_metrics.json
@@ -0,0 +1,12 @@
+{
+  "contact_time": 16.5,
+  "contact_ratio": 0.7142857142857143,
+  "avg_contact_area": 594.7313131313132,
+  "contact_entropy": 0.21946652726459948,
+  "total_frames": 693,
+  "fps": 30.0,
+  "reference_frame_count": 0,
+  "dataset_name": "dag911262r000448_lerobot_0326_220254",
+  "episode_index": 0,
+  "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/dag911262r000448_lerobot_0326_220254_30b7797b/episodes/ep000002/gripper_left_tactile_contact_metrics.json b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-07/outputs_tactile/tactile_cache/dag911262r000448_lerobot_0326_220254_30b7797b/episodes/ep000002/gripper_left_tactile_contact_metrics.json
new file mode 100644
index 0000000000000000000000000000000000000000..234054dc4e9e4bcaf1119df3025a028322d3ee29
--- /dev/null
+++ b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-07/outputs_tactile/tactile_cache/dag911262r000448_lerobot_0326_220254_30b7797b/episodes/ep000002/gripper_left_tactile_contact_metrics.json
@@ -0,0 +1,12 @@
+{
+  "contact_time": 6.9,
+  "contact_ratio": 0.6272727272727273,
+  "avg_contact_area": 1566.391304347826,
+  "contact_entropy": 0.2771865409790942,
+  "total_frames": 330,
+  "fps": 30.0,
+  "reference_frame_count": 0,
+  "dataset_name": "dag911262r000448_lerobot_0326_220254",
+  "episode_index": 2,
+  "sensor": "gripper_left_tactile"
+}
\ No newline at end of file