diff --git a/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_09-30/outputs_tactile/tactile_cache/dag911262r00025a_lerobot_0327_114353_d7367074/episodes/ep000375/gripper_left_tactile_force_metrics.json b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_09-30/outputs_tactile/tactile_cache/dag911262r00025a_lerobot_0327_114353_d7367074/episodes/ep000375/gripper_left_tactile_force_metrics.json
new file mode 100644
index 0000000000000000000000000000000000000000..d32f3d8ae0f3dce917ccf4b39d9a923a960d2a5b
--- /dev/null
+++ b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_09-30/outputs_tactile/tactile_cache/dag911262r00025a_lerobot_0327_114353_d7367074/episodes/ep000375/gripper_left_tactile_force_metrics.json
@@ -0,0 +1,9 @@
+{
+  "depth_peak": 0.011487562209367752,
+  "shear_peak": 0.006031152792274952,
+  "force_magnitude_peak": 0.01297454722225666,
+  "reference_frame_count": 0,
+  "dataset_name": "dag911262r00025a_lerobot_0327_114353",
+  "episode_index": 375,
+  "sensor": "gripper_left_tactile"
+}
\ No newline at end of file
diff --git a/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_09-30/outputs_tactile/tactile_cache/dag911262r00025a_lerobot_0327_114353_d7367074/episodes/ep000380/gripper_right_tactile_contact_metrics.json b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_09-30/outputs_tactile/tactile_cache/dag911262r00025a_lerobot_0327_114353_d7367074/episodes/ep000380/gripper_right_tactile_contact_metrics.json
new file mode 100644
index 0000000000000000000000000000000000000000..4f72a5a0bc13d79d3653bf4548d4f7b69652d713
--- /dev/null
+++ b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_09-30/outputs_tactile/tactile_cache/dag911262r00025a_lerobot_0327_114353_d7367074/episodes/ep000380/gripper_right_tactile_contact_metrics.json
@@ -0,0 +1,12 @@
+{
+  "contact_time": 22.1,
+  "contact_ratio": 1.0,
+  "avg_contact_area": 3867.2292609351434,
+  "contact_entropy": 0.5199001503063448,
+  "total_frames": 663,
+  "fps": 30.0,
+  "reference_frame_count": 0,
+  "dataset_name": "dag911262r00025a_lerobot_0327_114353",
+  "episode_index": 380,
+  "sensor": "gripper_right_tactile"
+}
\ No newline at end of file
diff --git a/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_09-30/outputs_tactile/tactile_cache/dag911262r00025a_lerobot_0327_114353_d7367074/episodes/ep000388/gripper_right_tactile_contact_metrics.json b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_09-30/outputs_tactile/tactile_cache/dag911262r00025a_lerobot_0327_114353_d7367074/episodes/ep000388/gripper_right_tactile_contact_metrics.json
new file mode 100644
index 0000000000000000000000000000000000000000..b52aa6444268dfa861922bf056838d160d8b40cd
--- /dev/null
+++ b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_09-30/outputs_tactile/tactile_cache/dag911262r00025a_lerobot_0327_114353_d7367074/episodes/ep000388/gripper_right_tactile_contact_metrics.json
@@ -0,0 +1,12 @@
+{
+  "contact_time": 16.366666666666667,
+  "contact_ratio": 1.0,
+  "avg_contact_area": 2917.0835030549897,
+  "contact_entropy": 0.5851356666811369,
+  "total_frames": 491,
+  "fps": 30.0,
+  "reference_frame_count": 0,
+  "dataset_name": "dag911262r00025a_lerobot_0327_114353",
+  "episode_index": 388,
+  "sensor": "gripper_right_tactile"
+}
\ No newline at end of file
diff --git a/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_09-30/outputs_tactile/tactile_cache/dag911262r00025a_lerobot_0327_114353_d7367074/episodes/ep000390/gripper_right_tactile_contact_metrics.json b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_09-30/outputs_tactile/tactile_cache/dag911262r00025a_lerobot_0327_114353_d7367074/episodes/ep000390/gripper_right_tactile_contact_metrics.json
new file mode 100644
index 0000000000000000000000000000000000000000..c7bff686d4e1cc27729d2fcd96a9781f582d95a9
--- /dev/null
+++ b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_09-30/outputs_tactile/tactile_cache/dag911262r00025a_lerobot_0327_114353_d7367074/episodes/ep000390/gripper_right_tactile_contact_metrics.json
@@ -0,0 +1,12 @@
+{
+  "contact_time": 19.666666666666668,
+  "contact_ratio": 1.0,
+  "avg_contact_area": 2329.5322033898306,
+  "contact_entropy": 0.2938031312898537,
+  "total_frames": 590,
+  "fps": 30.0,
+  "reference_frame_count": 0,
+  "dataset_name": "dag911262r00025a_lerobot_0327_114353",
+  "episode_index": 390,
+  "sensor": "gripper_right_tactile"
+}
\ No newline at end of file
diff --git a/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_09-30/outputs_tactile/tactile_cache/dag911262r00025a_lerobot_0327_114353_d7367074/episodes/ep000390/gripper_right_tactile_force_metrics.json b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_09-30/outputs_tactile/tactile_cache/dag911262r00025a_lerobot_0327_114353_d7367074/episodes/ep000390/gripper_right_tactile_force_metrics.json
new file mode 100644
index 0000000000000000000000000000000000000000..163e460ee159339ac92516d3a7e18e39cbc61ba4
--- /dev/null
+++ b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_09-30/outputs_tactile/tactile_cache/dag911262r00025a_lerobot_0327_114353_d7367074/episodes/ep000390/gripper_right_tactile_force_metrics.json
@@ -0,0 +1,9 @@
+{
+  "depth_peak": 0.010606585070490837,
+  "shear_peak": 0.011678417213261127,
+  "force_magnitude_peak": 0.015776092186570168,
+  "reference_frame_count": 0,
+  "dataset_name": "dag911262r00025a_lerobot_0327_114353",
+  "episode_index": 390,
+  "sensor": "gripper_right_tactile"
+}
\ No newline at end of file
diff --git a/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_09-30/outputs_tactile/tactile_cache/dag911262r00025a_lerobot_0327_114353_d7367074/episodes/ep000395/gripper_right_tactile_contact_metrics.json b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_09-30/outputs_tactile/tactile_cache/dag911262r00025a_lerobot_0327_114353_d7367074/episodes/ep000395/gripper_right_tactile_contact_metrics.json
new file mode 100644
index 0000000000000000000000000000000000000000..08b5e85d88b91f4c599a3beab27f45b9c1451b5e
--- /dev/null
+++ b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_09-30/outputs_tactile/tactile_cache/dag911262r00025a_lerobot_0327_114353_d7367074/episodes/ep000395/gripper_right_tactile_contact_metrics.json
@@ -0,0 +1,12 @@
+{
+  "contact_time": 13.533333333333333,
+  "contact_ratio": 0.8731182795698925,
+  "avg_contact_area": 1762.179802955665,
+  "contact_entropy": 0.03779055113966007,
+  "total_frames": 465,
+  "fps": 30.0,
+  "reference_frame_count": 0,
+  "dataset_name": "dag911262r00025a_lerobot_0327_114353",
+  "episode_index": 395,
+  "sensor": "gripper_right_tactile"
+}
\ No newline at end of file
diff --git a/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_09-30/outputs_tactile/tactile_cache/dag911262r00025a_lerobot_0327_114353_d7367074/episodes/ep000396/gripper_right_tactile_force_metrics.json b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_09-30/outputs_tactile/tactile_cache/dag911262r00025a_lerobot_0327_114353_d7367074/episodes/ep000396/gripper_right_tactile_force_metrics.json
new file mode 100644
index 0000000000000000000000000000000000000000..86333ad76bbed102d42c419e98cc2b67e1a44065
--- /dev/null
+++ b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_09-30/outputs_tactile/tactile_cache/dag911262r00025a_lerobot_0327_114353_d7367074/episodes/ep000396/gripper_right_tactile_force_metrics.json
@@ -0,0 +1,9 @@
+{
+  "depth_peak": 0.009154940955340862,
+  "shear_peak": 0.01032812800258398,
+  "force_magnitude_peak": 0.01380156446248293,
+  "reference_frame_count": 0,
+  "dataset_name": "dag911262r00025a_lerobot_0327_114353",
+  "episode_index": 396,
+  "sensor": "gripper_right_tactile"
+}
\ No newline at end of file
diff --git a/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_09-30/outputs_tactile/tactile_cache/dag911262r00025a_lerobot_0327_114353_d7367074/episodes/ep000399/gripper_right_tactile_contact_metrics.json b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_09-30/outputs_tactile/tactile_cache/dag911262r00025a_lerobot_0327_114353_d7367074/episodes/ep000399/gripper_right_tactile_contact_metrics.json
new file mode 100644
index 0000000000000000000000000000000000000000..32a429dc20cce0b8c26a63fe4abb7b4acf8a2fa2
--- /dev/null
+++ b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_09-30/outputs_tactile/tactile_cache/dag911262r00025a_lerobot_0327_114353_d7367074/episodes/ep000399/gripper_right_tactile_contact_metrics.json
@@ -0,0 +1,12 @@
+{
+  "contact_time": 17.566666666666666,
+  "contact_ratio": 0.931095406360424,
+  "avg_contact_area": 3984.123339658444,
+  "contact_entropy": 0.6475220729497093,
+  "total_frames": 566,
+  "fps": 30.0,
+  "reference_frame_count": 0,
+  "dataset_name": "dag911262r00025a_lerobot_0327_114353",
+  "episode_index": 399,
+  "sensor": "gripper_right_tactile"
+}
\ No newline at end of file
diff --git a/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_09-30/outputs_tactile/tactile_cache/dag911262r00025a_lerobot_0327_114353_d7367074/episodes/ep000401/gripper_right_tactile_force_metrics.json b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_09-30/outputs_tactile/tactile_cache/dag911262r00025a_lerobot_0327_114353_d7367074/episodes/ep000401/gripper_right_tactile_force_metrics.json
new file mode 100644
index 0000000000000000000000000000000000000000..9305c9a0411acf05ec79f0ac878376118dae9f81
--- /dev/null
+++ b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_09-30/outputs_tactile/tactile_cache/dag911262r00025a_lerobot_0327_114353_d7367074/episodes/ep000401/gripper_right_tactile_force_metrics.json
@@ -0,0 +1,9 @@
+{
+  "depth_peak": 0.009299236349761486,
+  "shear_peak": 0.0063158366829156876,
+  "force_magnitude_peak": 0.011224152520298958,
+  "reference_frame_count": 0,
+  "dataset_name": "dag911262r00025a_lerobot_0327_114353",
+  "episode_index": 401,
+  "sensor": "gripper_right_tactile"
+}
\ No newline at end of file
diff --git a/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_09-30/outputs_tactile/tactile_cache/dag911262r00025a_lerobot_0327_114353_d7367074/episodes/ep000405/gripper_right_tactile_force_metrics.json b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_09-30/outputs_tactile/tactile_cache/dag911262r00025a_lerobot_0327_114353_d7367074/episodes/ep000405/gripper_right_tactile_force_metrics.json
new file mode 100644
index 0000000000000000000000000000000000000000..c146603e5408ffdf979eb842923d3460f4aa34b6
--- /dev/null
+++ b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_09-30/outputs_tactile/tactile_cache/dag911262r00025a_lerobot_0327_114353_d7367074/episodes/ep000405/gripper_right_tactile_force_metrics.json
@@ -0,0 +1,9 @@
+{
+  "depth_peak": 0.011983177624642849,
+  "shear_peak": 0.0058989142999053,
+  "force_magnitude_peak": 0.012467335909605026,
+  "reference_frame_count": 0,
+  "dataset_name": "dag911262r00025a_lerobot_0327_114353",
+  "episode_index": 405,
+  "sensor": "gripper_right_tactile"
+}
\ No newline at end of file
diff --git a/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_09-30/outputs_tactile/tactile_cache/dag911262r00025a_lerobot_0327_114353_d7367074/episodes/ep000410/gripper_right_tactile_force_metrics.json b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_09-30/outputs_tactile/tactile_cache/dag911262r00025a_lerobot_0327_114353_d7367074/episodes/ep000410/gripper_right_tactile_force_metrics.json
new file mode 100644
index 0000000000000000000000000000000000000000..0363a951c06f082a25039e058bee6838cada1254
--- /dev/null
+++ b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_09-30/outputs_tactile/tactile_cache/dag911262r00025a_lerobot_0327_114353_d7367074/episodes/ep000410/gripper_right_tactile_force_metrics.json
@@ -0,0 +1,9 @@
+{
+  "depth_peak": 0.00558515777811408,
+  "shear_peak": 0.003309177001938224,
+  "force_magnitude_peak": 0.005988247226923704,
+  "reference_frame_count": 0,
+  "dataset_name": "dag911262r00025a_lerobot_0327_114353",
+  "episode_index": 410,
+  "sensor": "gripper_right_tactile"
+}
\ No newline at end of file
diff --git a/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_09-30/outputs_tactile/tactile_cache/dag911262r00025a_lerobot_0327_114353_d7367074/episodes/ep000415/gripper_left_tactile_force_metrics.json b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_09-30/outputs_tactile/tactile_cache/dag911262r00025a_lerobot_0327_114353_d7367074/episodes/ep000415/gripper_left_tactile_force_metrics.json
new file mode 100644
index 0000000000000000000000000000000000000000..120c78a0a92211057cefdad2aa189c070145e0bf
--- /dev/null
+++ b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_09-30/outputs_tactile/tactile_cache/dag911262r00025a_lerobot_0327_114353_d7367074/episodes/ep000415/gripper_left_tactile_force_metrics.json
@@ -0,0 +1,9 @@
+{
+  "depth_peak": 0.0004175709036644548,
+  "shear_peak": 0.001663364004343748,
+  "force_magnitude_peak": 0.0036151157692074776,
+  "reference_frame_count": 0,
+  "dataset_name": "dag911262r00025a_lerobot_0327_114353",
+  "episode_index": 415,
+  "sensor": "gripper_left_tactile"
+}
\ No newline at end of file
diff --git a/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_09-30/outputs_tactile/tactile_cache/dag911262r00025a_lerobot_0327_114353_d7367074/episodes/ep000420/gripper_right_tactile_contact_metrics.json b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_09-30/outputs_tactile/tactile_cache/dag911262r00025a_lerobot_0327_114353_d7367074/episodes/ep000420/gripper_right_tactile_contact_metrics.json
new file mode 100644
index 0000000000000000000000000000000000000000..9683f3afcf90640c6e17e00f7c76eda488e81fe7
--- /dev/null
+++ b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_09-30/outputs_tactile/tactile_cache/dag911262r00025a_lerobot_0327_114353_d7367074/episodes/ep000420/gripper_right_tactile_contact_metrics.json
@@ -0,0 +1,12 @@
+{
+  "contact_time": 10.4,
+  "contact_ratio": 0.8342245989304813,
+  "avg_contact_area": 3353.676282051282,
+  "contact_entropy": 0.15739872269350874,
+  "total_frames": 374,
+  "fps": 30.0,
+  "reference_frame_count": 0,
+  "dataset_name": "dag911262r00025a_lerobot_0327_114353",
+  "episode_index": 420,
+  "sensor": "gripper_right_tactile"
+}
\ No newline at end of file
diff --git a/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_09-30/outputs_tactile/tactile_cache/dag911262r00025a_lerobot_0327_114353_d7367074/episodes/ep000423/gripper_left_tactile_force_metrics.json b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_09-30/outputs_tactile/tactile_cache/dag911262r00025a_lerobot_0327_114353_d7367074/episodes/ep000423/gripper_left_tactile_force_metrics.json
new file mode 100644
index 0000000000000000000000000000000000000000..8db6c748ed39761e1dc3e3e71ce3c11975785fdf
--- /dev/null
+++ b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_09-30/outputs_tactile/tactile_cache/dag911262r00025a_lerobot_0327_114353_d7367074/episodes/ep000423/gripper_left_tactile_force_metrics.json
@@ -0,0 +1,9 @@
+{
+  "depth_peak": 0.0024383612908422947,
+  "shear_peak": 0.002757319714874029,
+  "force_magnitude_peak": 0.0032871111761778593,
+  "reference_frame_count": 0,
+  "dataset_name": "dag911262r00025a_lerobot_0327_114353",
+  "episode_index": 423,
+  "sensor": "gripper_left_tactile"
+}
\ No newline at end of file
diff --git a/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_09-30/outputs_tactile/tactile_cache/dag911262r00025a_lerobot_0327_114353_d7367074/episodes/ep000425/gripper_left_tactile_force_metrics.json b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_09-30/outputs_tactile/tactile_cache/dag911262r00025a_lerobot_0327_114353_d7367074/episodes/ep000425/gripper_left_tactile_force_metrics.json
new file mode 100644
index 0000000000000000000000000000000000000000..f43c1a8a7b14f6530a95cdf7c64a83462effa65f
--- /dev/null
+++ b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_09-30/outputs_tactile/tactile_cache/dag911262r00025a_lerobot_0327_114353_d7367074/episodes/ep000425/gripper_left_tactile_force_metrics.json
@@ -0,0 +1,9 @@
+{
+  "depth_peak": 0.003195973811671138,
+  "shear_peak": 0.0035660252906382084,
+  "force_magnitude_peak": 0.004593301098793745,
+  "reference_frame_count": 0,
+  "dataset_name": "dag911262r00025a_lerobot_0327_114353",
+  "episode_index": 425,
+  "sensor": "gripper_left_tactile"
+}
\ No newline at end of file
diff --git a/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_09-30/outputs_tactile/tactile_cache/dag911262r00025a_lerobot_0327_114353_d7367074/episodes/ep000428/gripper_left_tactile_contact_metrics.json b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_09-30/outputs_tactile/tactile_cache/dag911262r00025a_lerobot_0327_114353_d7367074/episodes/ep000428/gripper_left_tactile_contact_metrics.json
new file mode 100644
index 0000000000000000000000000000000000000000..12b2a2f77b6849cb3f5609804ad4f0758b78fe35
--- /dev/null
+++ b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_09-30/outputs_tactile/tactile_cache/dag911262r00025a_lerobot_0327_114353_d7367074/episodes/ep000428/gripper_left_tactile_contact_metrics.json
@@ -0,0 +1,12 @@
+{
+  "contact_time": 9.733333333333333,
+  "contact_ratio": 0.8319088319088319,
+  "avg_contact_area": 3267.109589041096,
+  "contact_entropy": 0.3058577830153202,
+  "total_frames": 351,
+  "fps": 30.0,
+  "reference_frame_count": 0,
+  "dataset_name": "dag911262r00025a_lerobot_0327_114353",
+  "episode_index": 428,
+  "sensor": "gripper_left_tactile"
+}
\ No newline at end of file
diff --git a/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_09-30/outputs_tactile/tactile_cache/dag911262r00025a_lerobot_0327_114353_d7367074/episodes/ep000428/gripper_right_tactile_contact_metrics.json b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_09-30/outputs_tactile/tactile_cache/dag911262r00025a_lerobot_0327_114353_d7367074/episodes/ep000428/gripper_right_tactile_contact_metrics.json
new file mode 100644
index 0000000000000000000000000000000000000000..d6ff7e6d31638689d6d5f654afa08ab4cf9d92a0
--- /dev/null
+++ b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_09-30/outputs_tactile/tactile_cache/dag911262r00025a_lerobot_0327_114353_d7367074/episodes/ep000428/gripper_right_tactile_contact_metrics.json
@@ -0,0 +1,12 @@
+{
+  "contact_time": 10.7,
+  "contact_ratio": 0.9145299145299145,
+  "avg_contact_area": 5173.352024922118,
+  "contact_entropy": 0.258311637252182,
+  "total_frames": 351,
+  "fps": 30.0,
+  "reference_frame_count": 0,
+  "dataset_name": "dag911262r00025a_lerobot_0327_114353",
+  "episode_index": 428,
+  "sensor": "gripper_right_tactile"
+}
\ No newline at end of file
diff --git a/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_09-30/outputs_tactile/tactile_cache/dag911262r00025a_lerobot_0327_114353_d7367074/episodes/ep000430/gripper_right_tactile_contact_metrics.json b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_09-30/outputs_tactile/tactile_cache/dag911262r00025a_lerobot_0327_114353_d7367074/episodes/ep000430/gripper_right_tactile_contact_metrics.json
new file mode 100644
index 0000000000000000000000000000000000000000..0fe3a2eb6545280ef200f75f635f0c9537d6a7dc
--- /dev/null
+++ b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_09-30/outputs_tactile/tactile_cache/dag911262r00025a_lerobot_0327_114353_d7367074/episodes/ep000430/gripper_right_tactile_contact_metrics.json
@@ -0,0 +1,12 @@
+{
+  "contact_time": 9.566666666666666,
+  "contact_ratio": 0.9053627760252366,
+  "avg_contact_area": 2022.5400696864112,
+  "contact_entropy": 0.004700439738511519,
+  "total_frames": 317,
+  "fps": 30.0,
+  "reference_frame_count": 0,
+  "dataset_name": "dag911262r00025a_lerobot_0327_114353",
+  "episode_index": 430,
+  "sensor": "gripper_right_tactile"
+}
\ No newline at end of file
diff --git a/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_09-30/outputs_tactile/tactile_cache/dag911262r00025a_lerobot_0327_114353_d7367074/episodes/ep000430/gripper_right_tactile_force_metrics.json b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_09-30/outputs_tactile/tactile_cache/dag911262r00025a_lerobot_0327_114353_d7367074/episodes/ep000430/gripper_right_tactile_force_metrics.json
new file mode 100644
index 0000000000000000000000000000000000000000..8aa0921926cd34df01c165c290ba31d0f7bf22fe
--- /dev/null
+++ b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_09-30/outputs_tactile/tactile_cache/dag911262r00025a_lerobot_0327_114353_d7367074/episodes/ep000430/gripper_right_tactile_force_metrics.json
@@ -0,0 +1,9 @@
+{
+  "depth_peak": 0.0016105211107060313,
+  "shear_peak": 0.002788536949083209,
+  "force_magnitude_peak": 0.004499202128499746,
+  "reference_frame_count": 0,
+  "dataset_name": "dag911262r00025a_lerobot_0327_114353",
+  "episode_index": 430,
+  "sensor": "gripper_right_tactile"
+}
\ No newline at end of file
diff --git a/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_09-30/outputs_tactile/tactile_cache/dag911262r00025a_lerobot_0327_114353_d7367074/episodes/ep000435/gripper_left_tactile_contact_metrics.json b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_09-30/outputs_tactile/tactile_cache/dag911262r00025a_lerobot_0327_114353_d7367074/episodes/ep000435/gripper_left_tactile_contact_metrics.json
new file mode 100644
index 0000000000000000000000000000000000000000..29b6d5a1677c2b117bf546c6f807574810a2f5ca
--- /dev/null
+++ b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_09-30/outputs_tactile/tactile_cache/dag911262r00025a_lerobot_0327_114353_d7367074/episodes/ep000435/gripper_left_tactile_contact_metrics.json
@@ -0,0 +1,12 @@
+{
+  "contact_time": 17.1,
+  "contact_ratio": 1.0,
+  "avg_contact_area": 1447.5438596491229,
+  "contact_entropy": 0.24675920672070709,
+  "total_frames": 513,
+  "fps": 30.0,
+  "reference_frame_count": 0,
+  "dataset_name": "dag911262r00025a_lerobot_0327_114353",
+  "episode_index": 435,
+  "sensor": "gripper_left_tactile"
+}
\ No newline at end of file
diff --git a/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_09-30/outputs_tactile/tactile_cache/dag911262r00025a_lerobot_0327_114353_d7367074/episodes/ep000435/gripper_right_tactile_contact_metrics.json b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_09-30/outputs_tactile/tactile_cache/dag911262r00025a_lerobot_0327_114353_d7367074/episodes/ep000435/gripper_right_tactile_contact_metrics.json
new file mode 100644
index 0000000000000000000000000000000000000000..8ed39dd7203e41d2db524db12108552d916de381
--- /dev/null
+++ b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_09-30/outputs_tactile/tactile_cache/dag911262r00025a_lerobot_0327_114353_d7367074/episodes/ep000435/gripper_right_tactile_contact_metrics.json
@@ -0,0 +1,12 @@
+{
+  "contact_time": 15.966666666666667,
+  "contact_ratio": 0.9337231968810916,
+  "avg_contact_area": 1191.9269311064718,
+  "contact_entropy": 0.12672342611948617,
+  "total_frames": 513,
+  "fps": 30.0,
+  "reference_frame_count": 0,
+  "dataset_name": "dag911262r00025a_lerobot_0327_114353",
+  "episode_index": 435,
+  "sensor": "gripper_right_tactile"
+}
\ No newline at end of file
diff --git a/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_09-30/outputs_tactile/tactile_cache/dag911262r00025a_lerobot_0327_114353_d7367074/episodes/ep000436/gripper_right_tactile_force_metrics.json b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_09-30/outputs_tactile/tactile_cache/dag911262r00025a_lerobot_0327_114353_d7367074/episodes/ep000436/gripper_right_tactile_force_metrics.json
new file mode 100644
index 0000000000000000000000000000000000000000..bf6e78d58a2737de3909edb2bbc326db90ce1abb
--- /dev/null
+++ b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_09-30/outputs_tactile/tactile_cache/dag911262r00025a_lerobot_0327_114353_d7367074/episodes/ep000436/gripper_right_tactile_force_metrics.json
@@ -0,0 +1,9 @@
+{
+  "depth_peak": 0.007471374701708555,
+  "shear_peak": 0.0107007110491395,
+  "force_magnitude_peak": 0.01285660918802023,
+  "reference_frame_count": 0,
+  "dataset_name": "dag911262r00025a_lerobot_0327_114353",
+  "episode_index": 436,
+  "sensor": "gripper_right_tactile"
+}
\ No newline at end of file
diff --git a/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_09-30/outputs_tactile/tactile_cache/dag911262r00025a_lerobot_0327_114353_d7367074/episodes/ep000437/gripper_left_tactile_force_metrics.json b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_09-30/outputs_tactile/tactile_cache/dag911262r00025a_lerobot_0327_114353_d7367074/episodes/ep000437/gripper_left_tactile_force_metrics.json
new file mode 100644
index 0000000000000000000000000000000000000000..e6acfcadb309b89a3eedaf9c384f50968b514ddc
--- /dev/null
+++ b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_09-30/outputs_tactile/tactile_cache/dag911262r00025a_lerobot_0327_114353_d7367074/episodes/ep000437/gripper_left_tactile_force_metrics.json
@@ -0,0 +1,9 @@
+{
+  "depth_peak": 0.005923926364630461,
+  "shear_peak": 0.002963210456073284,
+  "force_magnitude_peak": 0.006480979733169079,
+  "reference_frame_count": 0,
+  "dataset_name": "dag911262r00025a_lerobot_0327_114353",
+  "episode_index": 437,
+  "sensor": "gripper_left_tactile"
+}
\ No newline at end of file
diff --git a/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_09-30/outputs_tactile/tactile_cache/dag911262r00025a_lerobot_0327_114353_d7367074/episodes/ep000438/gripper_left_tactile_contact_metrics.json b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_09-30/outputs_tactile/tactile_cache/dag911262r00025a_lerobot_0327_114353_d7367074/episodes/ep000438/gripper_left_tactile_contact_metrics.json
new file mode 100644
index 0000000000000000000000000000000000000000..f568021757287fdad1391c9649dead98d8274379
--- /dev/null
+++ b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_09-30/outputs_tactile/tactile_cache/dag911262r00025a_lerobot_0327_114353_d7367074/episodes/ep000438/gripper_left_tactile_contact_metrics.json
@@ -0,0 +1,12 @@
+{
+  "contact_time": 9.9,
+  "contact_ratio": 0.8342696629213483,
+  "avg_contact_area": 2208.6329966329968,
+  "contact_entropy": 0.3664969512525885,
+  "total_frames": 356,
+  "fps": 30.0,
+  "reference_frame_count": 0,
+  "dataset_name": "dag911262r00025a_lerobot_0327_114353",
+  "episode_index": 438,
+  "sensor": "gripper_left_tactile"
+}
\ No newline at end of file
diff --git a/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_09-30/outputs_tactile/tactile_cache/dag911262r00025a_lerobot_0327_114353_d7367074/episodes/ep000439/gripper_right_tactile_contact_metrics.json b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_09-30/outputs_tactile/tactile_cache/dag911262r00025a_lerobot_0327_114353_d7367074/episodes/ep000439/gripper_right_tactile_contact_metrics.json
new file mode 100644
index 0000000000000000000000000000000000000000..020f958c85482ba1f39839076a8fbae9f083585d
--- /dev/null
+++ b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_09-30/outputs_tactile/tactile_cache/dag911262r00025a_lerobot_0327_114353_d7367074/episodes/ep000439/gripper_right_tactile_contact_metrics.json
@@ -0,0 +1,12 @@
+{
+  "contact_time": 9.166666666666666,
+  "contact_ratio": 0.8160237388724035,
+  "avg_contact_area": 1921.6472727272728,
+  "contact_entropy": 0.10050295745965654,
+  "total_frames": 337,
+  "fps": 30.0,
+  "reference_frame_count": 0,
+  "dataset_name": "dag911262r00025a_lerobot_0327_114353",
+  "episode_index": 439,
+  "sensor": "gripper_right_tactile"
+}
\ No newline at end of file
diff --git a/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_09-30/outputs_tactile/tactile_cache/dag911262r00025a_lerobot_0327_114353_d7367074/episodes/ep000441/gripper_right_tactile_force_metrics.json b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_09-30/outputs_tactile/tactile_cache/dag911262r00025a_lerobot_0327_114353_d7367074/episodes/ep000441/gripper_right_tactile_force_metrics.json
new file mode 100644
index 0000000000000000000000000000000000000000..87a24458f9f3909bb60fc31c4a7c50b3af2437c0
--- /dev/null
+++ b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_09-30/outputs_tactile/tactile_cache/dag911262r00025a_lerobot_0327_114353_d7367074/episodes/ep000441/gripper_right_tactile_force_metrics.json
@@ -0,0 +1,9 @@
+{
+  "depth_peak": 0.001593553344719112,
+  "shear_peak": 0.00442590331658721,
+  "force_magnitude_peak": 0.0046332175843417645,
+  "reference_frame_count": 0,
+  "dataset_name": "dag911262r00025a_lerobot_0327_114353",
+  "episode_index": 441,
+  "sensor": "gripper_right_tactile"
+}
\ No newline at end of file
diff --git a/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_09-30/outputs_tactile/tactile_cache/dag911262r00025a_lerobot_0327_114353_d7367074/episodes/ep000445/gripper_right_tactile_force_metrics.json b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_09-30/outputs_tactile/tactile_cache/dag911262r00025a_lerobot_0327_114353_d7367074/episodes/ep000445/gripper_right_tactile_force_metrics.json
new file mode 100644
index 0000000000000000000000000000000000000000..5e0c3da81092aac6419a62a9939da6a2fd0faee0
--- /dev/null
+++ b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_09-30/outputs_tactile/tactile_cache/dag911262r00025a_lerobot_0327_114353_d7367074/episodes/ep000445/gripper_right_tactile_force_metrics.json
@@ -0,0 +1,9 @@
+{
+  "depth_peak": 0.011794082820415497,
+  "shear_peak": 0.005223697051405907,
+  "force_magnitude_peak": 0.01283978670835495,
+  "reference_frame_count": 0,
+  "dataset_name": "dag911262r00025a_lerobot_0327_114353",
+  "episode_index": 445,
+  "sensor": "gripper_right_tactile"
+}
\ No newline at end of file
diff --git a/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_09-30/outputs_tactile/tactile_cache/dag911262r00025a_lerobot_0327_114353_d7367074/episodes/ep000446/gripper_left_tactile_force_metrics.json b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_09-30/outputs_tactile/tactile_cache/dag911262r00025a_lerobot_0327_114353_d7367074/episodes/ep000446/gripper_left_tactile_force_metrics.json
new file mode 100644
index 0000000000000000000000000000000000000000..3be9b89fd15abe79e02369b770163a51cd019880
--- /dev/null
+++ b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_09-30/outputs_tactile/tactile_cache/dag911262r00025a_lerobot_0327_114353_d7367074/episodes/ep000446/gripper_left_tactile_force_metrics.json
@@ -0,0 +1,9 @@
+{
+  "depth_peak": 0.004090156871825457,
+  "shear_peak": 0.004610580857843161,
+  "force_magnitude_peak": 0.005519360303878784,
+  "reference_frame_count": 0,
+  "dataset_name": "dag911262r00025a_lerobot_0327_114353",
+  "episode_index": 446,
+  "sensor": "gripper_left_tactile"
+}
\ No newline at end of file
diff --git a/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_09-30/outputs_tactile/tactile_cache/dag911262r00025a_lerobot_0327_114353_d7367074/episodes/ep000447/gripper_left_tactile_contact_metrics.json b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_09-30/outputs_tactile/tactile_cache/dag911262r00025a_lerobot_0327_114353_d7367074/episodes/ep000447/gripper_left_tactile_contact_metrics.json
new file mode 100644
index 0000000000000000000000000000000000000000..05c4fe47a03c61f1970def53cc5d27c844f072cb
--- /dev/null
+++ b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_09-30/outputs_tactile/tactile_cache/dag911262r00025a_lerobot_0327_114353_d7367074/episodes/ep000447/gripper_left_tactile_contact_metrics.json
@@ -0,0 +1,12 @@
+{
+  "contact_time": 11.833333333333334,
+  "contact_ratio": 0.8492822966507177,
+  "avg_contact_area": 2478.56338028169,
+  "contact_entropy": 0.49429350180097753,
+  "total_frames": 418,
+  "fps": 30.0,
+  "reference_frame_count": 0,
+  "dataset_name": "dag911262r00025a_lerobot_0327_114353",
+  "episode_index": 447,
+  "sensor": "gripper_left_tactile"
+}
\ No newline at end of file
diff --git a/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_09-30/outputs_tactile/tactile_cache/dag911262r00025a_lerobot_0327_114353_d7367074/episodes/ep000450/gripper_left_tactile_contact_metrics.json b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_09-30/outputs_tactile/tactile_cache/dag911262r00025a_lerobot_0327_114353_d7367074/episodes/ep000450/gripper_left_tactile_contact_metrics.json
new file mode 100644
index 0000000000000000000000000000000000000000..65915d0b3db206f1626c9520a737feae670b9c86
--- /dev/null
+++ b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_09-30/outputs_tactile/tactile_cache/dag911262r00025a_lerobot_0327_114353_d7367074/episodes/ep000450/gripper_left_tactile_contact_metrics.json
@@ -0,0 +1,12 @@
+{
+  "contact_time": 10.166666666666666,
+  "contact_ratio": 0.8379120879120879,
+  "avg_contact_area": 2377.4459016393444,
+  "contact_entropy": 0.4491697174648837,
+  "total_frames": 364,
+  "fps": 30.0,
+  "reference_frame_count": 0,
+  "dataset_name": "dag911262r00025a_lerobot_0327_114353",
+  "episode_index": 450,
+  "sensor": "gripper_left_tactile"
+}
\ No newline at end of file
diff --git a/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_09-30/outputs_tactile/tactile_cache/dag911262r00025a_lerobot_0327_114353_d7367074/episodes/ep000450/gripper_right_tactile_force_metrics.json b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_09-30/outputs_tactile/tactile_cache/dag911262r00025a_lerobot_0327_114353_d7367074/episodes/ep000450/gripper_right_tactile_force_metrics.json
new file mode 100644
index 0000000000000000000000000000000000000000..fc82b31bb668d500e1fb601cacc4b11dcdd95d1e
--- /dev/null
+++ b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_09-30/outputs_tactile/tactile_cache/dag911262r00025a_lerobot_0327_114353_d7367074/episodes/ep000450/gripper_right_tactile_force_metrics.json
@@ -0,0 +1,9 @@
+{
+  "depth_peak": 0.009817631915211678,
+  "shear_peak": 0.006689648609608412,
+  "force_magnitude_peak": 0.01135310996323824,
+  "reference_frame_count": 0,
+  "dataset_name": "dag911262r00025a_lerobot_0327_114353",
+  "episode_index": 450,
+  "sensor": "gripper_right_tactile"
+}
\ No newline at end of file
diff --git a/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_09-30/outputs_tactile/tactile_cache/dag911262r00025a_lerobot_0327_114353_d7367074/episodes/ep000455/gripper_left_tactile_force_metrics.json b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_09-30/outputs_tactile/tactile_cache/dag911262r00025a_lerobot_0327_114353_d7367074/episodes/ep000455/gripper_left_tactile_force_metrics.json
new file mode 100644
index 0000000000000000000000000000000000000000..86b13e6801324cf631b404a7bef9ab68c9872a28
--- /dev/null
+++ b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_09-30/outputs_tactile/tactile_cache/dag911262r00025a_lerobot_0327_114353_d7367074/episodes/ep000455/gripper_left_tactile_force_metrics.json
@@ -0,0 +1,9 @@
+{
+  "depth_peak": 0.006187343969941139,
+  "shear_peak": 0.0038637027610093355,
+  "force_magnitude_peak": 0.007168062496930361,
+  "reference_frame_count": 0,
+  "dataset_name": "dag911262r00025a_lerobot_0327_114353",
+  "episode_index": 455,
+  "sensor": "gripper_left_tactile"
+}
\ No newline at end of file
diff --git a/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_09-30/outputs_tactile/tactile_cache/dag911262r00025a_lerobot_0327_114353_d7367074/episodes/ep000460/gripper_right_tactile_contact_metrics.json b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_09-30/outputs_tactile/tactile_cache/dag911262r00025a_lerobot_0327_114353_d7367074/episodes/ep000460/gripper_right_tactile_contact_metrics.json
new file mode 100644
index 0000000000000000000000000000000000000000..05196150f23dce86ae6e18633faacb4fe6c4435f
--- /dev/null
+++ b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_09-30/outputs_tactile/tactile_cache/dag911262r00025a_lerobot_0327_114353_d7367074/episodes/ep000460/gripper_right_tactile_contact_metrics.json
@@ -0,0 +1,12 @@
+{
+  "contact_time": 11.533333333333333,
+  "contact_ratio": 0.947945205479452,
+  "avg_contact_area": 2227.242774566474,
+  "contact_entropy": 0.05992710205564653,
+  "total_frames": 365,
+  "fps": 30.0,
+  "reference_frame_count": 0,
+  "dataset_name": "dag911262r00025a_lerobot_0327_114353",
+  "episode_index": 460,
+  "sensor": "gripper_right_tactile"
+}
\ No newline at end of file
diff --git a/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_09-30/outputs_tactile/tactile_cache/dag911262r00025a_lerobot_0327_114353_d7367074/episodes/ep000463/gripper_left_tactile_force_metrics.json b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_09-30/outputs_tactile/tactile_cache/dag911262r00025a_lerobot_0327_114353_d7367074/episodes/ep000463/gripper_left_tactile_force_metrics.json
new file mode 100644
index 0000000000000000000000000000000000000000..fc3ad581b331a52b6ed8bd26417f5187885a6e5f
--- /dev/null
+++ b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_09-30/outputs_tactile/tactile_cache/dag911262r00025a_lerobot_0327_114353_d7367074/episodes/ep000463/gripper_left_tactile_force_metrics.json
@@ -0,0 +1,9 @@
+{
+  "depth_peak": 0.002177181653678417,
+  "shear_peak": 0.0029879873618483543,
+  "force_magnitude_peak": 0.0032147839665412903,
+  "reference_frame_count": 0,
+  "dataset_name": "dag911262r00025a_lerobot_0327_114353",
+  "episode_index": 463,
+  "sensor": "gripper_left_tactile"
+}
\ No newline at end of file
diff --git a/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_09-30/outputs_tactile/tactile_cache/dag911262r00025a_lerobot_0327_114353_d7367074/episodes/ep000465/gripper_left_tactile_force_metrics.json b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_09-30/outputs_tactile/tactile_cache/dag911262r00025a_lerobot_0327_114353_d7367074/episodes/ep000465/gripper_left_tactile_force_metrics.json
new file mode 100644
index 0000000000000000000000000000000000000000..31790409005c19bc301c710eba590af8ae74dd0a
--- /dev/null
+++ b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_09-30/outputs_tactile/tactile_cache/dag911262r00025a_lerobot_0327_114353_d7367074/episodes/ep000465/gripper_left_tactile_force_metrics.json
@@ -0,0 +1,9 @@
+{
+  "depth_peak": 0.0010651991469785571,
+  "shear_peak": 0.0013481569476425648,
+  "force_magnitude_peak": 0.002185187069699168,
+  "reference_frame_count": 0,
+  "dataset_name": "dag911262r00025a_lerobot_0327_114353",
+  "episode_index": 465,
+  "sensor": "gripper_left_tactile"
+}
\ No newline at end of file
diff --git a/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_09-30/outputs_tactile/tactile_cache/dag911262r00025a_lerobot_0327_114353_d7367074/episodes/ep000468/gripper_left_tactile_contact_metrics.json b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_09-30/outputs_tactile/tactile_cache/dag911262r00025a_lerobot_0327_114353_d7367074/episodes/ep000468/gripper_left_tactile_contact_metrics.json
new file mode 100644
index 0000000000000000000000000000000000000000..bd399d02d52d866b16a7f5a05520332f6f58cebc
--- /dev/null
+++ b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_09-30/outputs_tactile/tactile_cache/dag911262r00025a_lerobot_0327_114353_d7367074/episodes/ep000468/gripper_left_tactile_contact_metrics.json
@@ -0,0 +1,12 @@
+{
+  "contact_time": 6.5,
+  "contact_ratio": 0.7677165354330708,
+  "avg_contact_area": 3478.620512820513,
+  "contact_entropy": 0.221530525881311,
+  "total_frames": 254,
+  "fps": 30.0,
+  "reference_frame_count": 0,
+  "dataset_name": "dag911262r00025a_lerobot_0327_114353",
+  "episode_index": 468,
+  "sensor": "gripper_left_tactile"
+}
\ No newline at end of file
diff --git a/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_09-30/outputs_tactile/tactile_cache/dag911262r00025a_lerobot_0327_114353_d7367074/episodes/ep000468/gripper_right_tactile_contact_metrics.json b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_09-30/outputs_tactile/tactile_cache/dag911262r00025a_lerobot_0327_114353_d7367074/episodes/ep000468/gripper_right_tactile_contact_metrics.json
new file mode 100644
index 0000000000000000000000000000000000000000..08795574b5dad02837a47a0d92011a45beb2a1f3
--- /dev/null
+++ b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_09-30/outputs_tactile/tactile_cache/dag911262r00025a_lerobot_0327_114353_d7367074/episodes/ep000468/gripper_right_tactile_contact_metrics.json
@@ -0,0 +1,12 @@
+{
+  "contact_time": 7.733333333333333,
+  "contact_ratio": 0.9133858267716536,
+  "avg_contact_area": 2143.5344827586205,
+  "contact_entropy": 0.09316256487073658,
+  "total_frames": 254,
+  "fps": 30.0,
+  "reference_frame_count": 0,
+  "dataset_name": "dag911262r00025a_lerobot_0327_114353",
+  "episode_index": 468,
+  "sensor": "gripper_right_tactile"
+}
\ No newline at end of file
diff --git a/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_09-30/outputs_tactile/tactile_cache/dag911262r00025a_lerobot_0327_114353_d7367074/episodes/ep000470/gripper_right_tactile_contact_metrics.json b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_09-30/outputs_tactile/tactile_cache/dag911262r00025a_lerobot_0327_114353_d7367074/episodes/ep000470/gripper_right_tactile_contact_metrics.json
new file mode 100644
index 0000000000000000000000000000000000000000..0a87c69c3b24659a6c941e2f8f253fe0756fa8b6
--- /dev/null
+++ b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_09-30/outputs_tactile/tactile_cache/dag911262r00025a_lerobot_0327_114353_d7367074/episodes/ep000470/gripper_right_tactile_contact_metrics.json
@@ -0,0 +1,12 @@
+{
+  "contact_time": 13.766666666666667,
+  "contact_ratio": 0.921875,
+  "avg_contact_area": 1743.1888619854722,
+  "contact_entropy": 0.08623094118585235,
+  "total_frames": 448,
+  "fps": 30.0,
+  "reference_frame_count": 0,
+  "dataset_name": "dag911262r00025a_lerobot_0327_114353",
+  "episode_index": 470,
+  "sensor": "gripper_right_tactile"
+}
\ No newline at end of file
diff --git a/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_09-30/outputs_tactile/tactile_cache/dag911262r00025a_lerobot_0327_114353_d7367074/episodes/ep000470/gripper_right_tactile_force_metrics.json b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_09-30/outputs_tactile/tactile_cache/dag911262r00025a_lerobot_0327_114353_d7367074/episodes/ep000470/gripper_right_tactile_force_metrics.json
new file mode 100644
index 0000000000000000000000000000000000000000..930bbed54e6c9c7a757076c670d515d0a7990f6d
--- /dev/null
+++ b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_09-30/outputs_tactile/tactile_cache/dag911262r00025a_lerobot_0327_114353_d7367074/episodes/ep000470/gripper_right_tactile_force_metrics.json
@@ -0,0 +1,9 @@
+{
+  "depth_peak": 0.0029621445573866367,
+  "shear_peak": 0.002584942849352956,
+  "force_magnitude_peak": 0.002974303439259529,
+  "reference_frame_count": 0,
+  "dataset_name": "dag911262r00025a_lerobot_0327_114353",
+  "episode_index": 470,
+  "sensor": "gripper_right_tactile"
+}
\ No newline at end of file
diff --git a/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_09-30/outputs_tactile/tactile_cache/dag911262r00025a_lerobot_0327_114353_d7367074/episodes/ep000475/gripper_left_tactile_contact_metrics.json b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_09-30/outputs_tactile/tactile_cache/dag911262r00025a_lerobot_0327_114353_d7367074/episodes/ep000475/gripper_left_tactile_contact_metrics.json
new file mode 100644
index 0000000000000000000000000000000000000000..df022eac6419701aa5a481e33f270b1bcbb0a2dc
--- /dev/null
+++ b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_09-30/outputs_tactile/tactile_cache/dag911262r00025a_lerobot_0327_114353_d7367074/episodes/ep000475/gripper_left_tactile_contact_metrics.json
@@ -0,0 +1,12 @@
+{
+  "contact_time": 4.1,
+  "contact_ratio": 0.6648648648648648,
+  "avg_contact_area": 1476.6747967479675,
+  "contact_entropy": 0.22318734175720206,
+  "total_frames": 185,
+  "fps": 30.0,
+  "reference_frame_count": 0,
+  "dataset_name": "dag911262r00025a_lerobot_0327_114353",
+  "episode_index": 475,
+  "sensor": "gripper_left_tactile"
+}
\ No newline at end of file
diff --git a/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_09-30/outputs_tactile/tactile_cache/dag911262r00025a_lerobot_0327_114353_d7367074/episodes/ep000475/gripper_right_tactile_contact_metrics.json b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_09-30/outputs_tactile/tactile_cache/dag911262r00025a_lerobot_0327_114353_d7367074/episodes/ep000475/gripper_right_tactile_contact_metrics.json
new file mode 100644
index 0000000000000000000000000000000000000000..fbc658f83ac55f6eb263cc43d446820e8e921b4d
--- /dev/null
+++ b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_09-30/outputs_tactile/tactile_cache/dag911262r00025a_lerobot_0327_114353_d7367074/episodes/ep000475/gripper_right_tactile_contact_metrics.json
@@ -0,0 +1,12 @@
+{
+  "contact_time": 4.2,
+  "contact_ratio": 0.6810810810810811,
+  "avg_contact_area": 1007.6666666666666,
+  "contact_entropy": 0.1618223894358965,
+  "total_frames": 185,
+  "fps": 30.0,
+  "reference_frame_count": 0,
+  "dataset_name": "dag911262r00025a_lerobot_0327_114353",
+  "episode_index": 475,
+  "sensor": "gripper_right_tactile"
+}
\ No newline at end of file
diff --git a/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_09-30/outputs_tactile/tactile_cache/dag911262r00025a_lerobot_0327_114353_d7367074/episodes/ep000476/gripper_right_tactile_force_metrics.json b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_09-30/outputs_tactile/tactile_cache/dag911262r00025a_lerobot_0327_114353_d7367074/episodes/ep000476/gripper_right_tactile_force_metrics.json
new file mode 100644
index 0000000000000000000000000000000000000000..a842615a0de1d4ea22a48ecc08501fa593b5c347
--- /dev/null
+++ b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_09-30/outputs_tactile/tactile_cache/dag911262r00025a_lerobot_0327_114353_d7367074/episodes/ep000476/gripper_right_tactile_force_metrics.json
@@ -0,0 +1,9 @@
+{
+  "depth_peak": 0.0025053168646991253,
+  "shear_peak": 0.004378187470138073,
+  "force_magnitude_peak": 0.004403782542794943,
+  "reference_frame_count": 0,
+  "dataset_name": "dag911262r00025a_lerobot_0327_114353",
+  "episode_index": 476,
+  "sensor": "gripper_right_tactile"
+}
\ No newline at end of file
diff --git a/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_09-30/outputs_tactile/tactile_cache/dag911262r00025a_lerobot_0327_114353_d7367074/episodes/ep000477/gripper_left_tactile_force_metrics.json b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_09-30/outputs_tactile/tactile_cache/dag911262r00025a_lerobot_0327_114353_d7367074/episodes/ep000477/gripper_left_tactile_force_metrics.json
new file mode 100644
index 0000000000000000000000000000000000000000..d0df4061cebe138a710328375f6c8e496855c968
--- /dev/null
+++ b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_09-30/outputs_tactile/tactile_cache/dag911262r00025a_lerobot_0327_114353_d7367074/episodes/ep000477/gripper_left_tactile_force_metrics.json
@@ -0,0 +1,9 @@
+{
+  "depth_peak": 0.0036922732833772898,
+  "shear_peak": 0.007554503157734871,
+  "force_magnitude_peak": 0.007932272739708424,
+  "reference_frame_count": 0,
+  "dataset_name": "dag911262r00025a_lerobot_0327_114353",
+  "episode_index": 477,
+  "sensor": "gripper_left_tactile"
+}
\ No newline at end of file
diff --git a/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_09-30/outputs_tactile/tactile_cache/dag911262r00025a_lerobot_0327_114353_d7367074/episodes/ep000478/gripper_left_tactile_contact_metrics.json b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_09-30/outputs_tactile/tactile_cache/dag911262r00025a_lerobot_0327_114353_d7367074/episodes/ep000478/gripper_left_tactile_contact_metrics.json
new file mode 100644
index 0000000000000000000000000000000000000000..4e70c05b7174ecad0b61c838e1aca9d63c8f1597
--- /dev/null
+++ b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_09-30/outputs_tactile/tactile_cache/dag911262r00025a_lerobot_0327_114353_d7367074/episodes/ep000478/gripper_left_tactile_contact_metrics.json
@@ -0,0 +1,12 @@
+{
+  "contact_time": 8.733333333333333,
+  "contact_ratio": 0.9097222222222222,
+  "avg_contact_area": 1795.4618320610687,
+  "contact_entropy": 0.25563309789774147,
+  "total_frames": 288,
+  "fps": 30.0,
+  "reference_frame_count": 0,
+  "dataset_name": "dag911262r00025a_lerobot_0327_114353",
+  "episode_index": 478,
+  "sensor": "gripper_left_tactile"
+}
\ No newline at end of file
diff --git a/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_09-30/outputs_tactile/tactile_cache/dag911262r00025a_lerobot_0327_114353_d7367074/episodes/ep000479/gripper_right_tactile_contact_metrics.json b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_09-30/outputs_tactile/tactile_cache/dag911262r00025a_lerobot_0327_114353_d7367074/episodes/ep000479/gripper_right_tactile_contact_metrics.json
new file mode 100644
index 0000000000000000000000000000000000000000..b6d257f25c74a776148a3d9f96476030fe72f976
--- /dev/null
+++ b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_09-30/outputs_tactile/tactile_cache/dag911262r00025a_lerobot_0327_114353_d7367074/episodes/ep000479/gripper_right_tactile_contact_metrics.json
@@ -0,0 +1,12 @@
+{
+  "contact_time": 8.033333333333333,
+  "contact_ratio": 0.8087248322147651,
+  "avg_contact_area": 1467.3734439834025,
+  "contact_entropy": 0.033142890525857345,
+  "total_frames": 298,
+  "fps": 30.0,
+  "reference_frame_count": 0,
+  "dataset_name": "dag911262r00025a_lerobot_0327_114353",
+  "episode_index": 479,
+  "sensor": "gripper_right_tactile"
+}
\ No newline at end of file
diff --git a/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_09-30/outputs_tactile/tactile_cache/dag911262r00025a_lerobot_0327_114353_d7367074/episodes/ep000481/gripper_right_tactile_force_metrics.json b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_09-30/outputs_tactile/tactile_cache/dag911262r00025a_lerobot_0327_114353_d7367074/episodes/ep000481/gripper_right_tactile_force_metrics.json
new file mode 100644
index 0000000000000000000000000000000000000000..3e7dcbdeb3582875ab75ce6603a6461f1a7d466b
--- /dev/null
+++ b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_09-30/outputs_tactile/tactile_cache/dag911262r00025a_lerobot_0327_114353_d7367074/episodes/ep000481/gripper_right_tactile_force_metrics.json
@@ -0,0 +1,9 @@
+{
+  "depth_peak": 0.004494790453463793,
+  "shear_peak": 0.007268404588103294,
+  "force_magnitude_peak": 0.007696404121816158,
+  "reference_frame_count": 0,
+  "dataset_name": "dag911262r00025a_lerobot_0327_114353",
+  "episode_index": 481,
+  "sensor": "gripper_right_tactile"
+}
\ No newline at end of file
diff --git a/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_09-30/outputs_tactile/tactile_cache/dag911262r00025a_lerobot_0327_114353_d7367074/episodes/ep000485/gripper_right_tactile_force_metrics.json b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_09-30/outputs_tactile/tactile_cache/dag911262r00025a_lerobot_0327_114353_d7367074/episodes/ep000485/gripper_right_tactile_force_metrics.json
new file mode 100644
index 0000000000000000000000000000000000000000..1fc5d9c5ee68401415fea4a1023b0b9559ca6a0e
--- /dev/null
+++ b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_09-30/outputs_tactile/tactile_cache/dag911262r00025a_lerobot_0327_114353_d7367074/episodes/ep000485/gripper_right_tactile_force_metrics.json
@@ -0,0 +1,9 @@
+{
+  "depth_peak": 0.0012714064214378595,
+  "shear_peak": 0.00426573446020484,
+  "force_magnitude_peak": 0.004308295901864767,
+  "reference_frame_count": 0,
+  "dataset_name": "dag911262r00025a_lerobot_0327_114353",
+  "episode_index": 485,
+  "sensor": "gripper_right_tactile"
+}
\ No newline at end of file
diff --git a/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_09-30/outputs_tactile/tactile_cache/dag911262r00025a_lerobot_0327_114353_d7367074/episodes/ep000486/gripper_left_tactile_force_metrics.json b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_09-30/outputs_tactile/tactile_cache/dag911262r00025a_lerobot_0327_114353_d7367074/episodes/ep000486/gripper_left_tactile_force_metrics.json
new file mode 100644
index 0000000000000000000000000000000000000000..643d9e351df66015230fbb0e2bf7b5b44f66c702
--- /dev/null
+++ b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_09-30/outputs_tactile/tactile_cache/dag911262r00025a_lerobot_0327_114353_d7367074/episodes/ep000486/gripper_left_tactile_force_metrics.json
@@ -0,0 +1,9 @@
+{
+  "depth_peak": 0.005491976160556078,
+  "shear_peak": 0.004940671380609274,
+  "force_magnitude_peak": 0.0055473134852945805,
+  "reference_frame_count": 0,
+  "dataset_name": "dag911262r00025a_lerobot_0327_114353",
+  "episode_index": 486,
+  "sensor": "gripper_left_tactile"
+}
\ No newline at end of file
diff --git a/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_09-30/outputs_tactile/tactile_cache/dag911262r00025a_lerobot_0327_114353_d7367074/episodes/ep000487/gripper_left_tactile_contact_metrics.json b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_09-30/outputs_tactile/tactile_cache/dag911262r00025a_lerobot_0327_114353_d7367074/episodes/ep000487/gripper_left_tactile_contact_metrics.json
new file mode 100644
index 0000000000000000000000000000000000000000..33fece79c57d0a13309c08efab822882e2edcc01
--- /dev/null
+++ b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_09-30/outputs_tactile/tactile_cache/dag911262r00025a_lerobot_0327_114353_d7367074/episodes/ep000487/gripper_left_tactile_contact_metrics.json
@@ -0,0 +1,12 @@
+{
+  "contact_time": 10.966666666666667,
+  "contact_ratio": 0.8479381443298969,
+  "avg_contact_area": 2794.920972644377,
+  "contact_entropy": 0.23052739971792294,
+  "total_frames": 388,
+  "fps": 30.0,
+  "reference_frame_count": 0,
+  "dataset_name": "dag911262r00025a_lerobot_0327_114353",
+  "episode_index": 487,
+  "sensor": "gripper_left_tactile"
+}
\ No newline at end of file
diff --git a/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_09-30/outputs_tactile/tactile_cache/dag911262r00025a_lerobot_0327_114353_d7367074/episodes/ep000490/gripper_left_tactile_contact_metrics.json b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_09-30/outputs_tactile/tactile_cache/dag911262r00025a_lerobot_0327_114353_d7367074/episodes/ep000490/gripper_left_tactile_contact_metrics.json
new file mode 100644
index 0000000000000000000000000000000000000000..c3377198859857ef57fca9cf7614d0e612c8c9c0
--- /dev/null
+++ b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_09-30/outputs_tactile/tactile_cache/dag911262r00025a_lerobot_0327_114353_d7367074/episodes/ep000490/gripper_left_tactile_contact_metrics.json
@@ -0,0 +1,12 @@
+{
+  "contact_time": 14.866666666666667,
+  "contact_ratio": 0.9350104821802935,
+  "avg_contact_area": 3121.2421524663678,
+  "contact_entropy": 0.2653608026505453,
+  "total_frames": 477,
+  "fps": 30.0,
+  "reference_frame_count": 0,
+  "dataset_name": "dag911262r00025a_lerobot_0327_114353",
+  "episode_index": 490,
+  "sensor": "gripper_left_tactile"
+}
\ No newline at end of file
diff --git a/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_09-30/outputs_tactile/tactile_cache/dag911262r00025a_lerobot_0327_114353_d7367074/episodes/ep000490/gripper_right_tactile_force_metrics.json b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_09-30/outputs_tactile/tactile_cache/dag911262r00025a_lerobot_0327_114353_d7367074/episodes/ep000490/gripper_right_tactile_force_metrics.json
new file mode 100644
index 0000000000000000000000000000000000000000..e8c79ea531ec23eabad2e68731bf4da2fd122dff
--- /dev/null
+++ b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_09-30/outputs_tactile/tactile_cache/dag911262r00025a_lerobot_0327_114353_d7367074/episodes/ep000490/gripper_right_tactile_force_metrics.json
@@ -0,0 +1,9 @@
+{
+  "depth_peak": 0.0038194614462554455,
+  "shear_peak": 0.0021279624197632074,
+  "force_magnitude_peak": 0.004344045650213957,
+  "reference_frame_count": 0,
+  "dataset_name": "dag911262r00025a_lerobot_0327_114353",
+  "episode_index": 490,
+  "sensor": "gripper_right_tactile"
+}
\ No newline at end of file
diff --git a/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_09-30/outputs_tactile/tactile_cache/dag911262r00025a_lerobot_0327_114353_d7367074/episodes/ep000495/gripper_left_tactile_force_metrics.json b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_09-30/outputs_tactile/tactile_cache/dag911262r00025a_lerobot_0327_114353_d7367074/episodes/ep000495/gripper_left_tactile_force_metrics.json
new file mode 100644
index 0000000000000000000000000000000000000000..80af6d9c9a36c89af00a6f860876b5c4b8dccd84
--- /dev/null
+++ b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_09-30/outputs_tactile/tactile_cache/dag911262r00025a_lerobot_0327_114353_d7367074/episodes/ep000495/gripper_left_tactile_force_metrics.json
@@ -0,0 +1,9 @@
+{
+  "depth_peak": 0.0031130281277000904,
+  "shear_peak": 0.0046628485433757305,
+  "force_magnitude_peak": 0.00529467174783349,
+  "reference_frame_count": 0,
+  "dataset_name": "dag911262r00025a_lerobot_0327_114353",
+  "episode_index": 495,
+  "sensor": "gripper_left_tactile"
+}
\ No newline at end of file
diff --git a/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_09-30/outputs_tactile/tactile_cache/dag911262r00025a_lerobot_0327_114353_d7367074/episodes/ep000500/gripper_right_tactile_contact_metrics.json b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_09-30/outputs_tactile/tactile_cache/dag911262r00025a_lerobot_0327_114353_d7367074/episodes/ep000500/gripper_right_tactile_contact_metrics.json
new file mode 100644
index 0000000000000000000000000000000000000000..bfe048ad8e8aba2c2814808dd15489a6150e1d29
--- /dev/null
+++ b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_09-30/outputs_tactile/tactile_cache/dag911262r00025a_lerobot_0327_114353_d7367074/episodes/ep000500/gripper_right_tactile_contact_metrics.json
@@ -0,0 +1,12 @@
+{
+  "contact_time": 6.333333333333333,
+  "contact_ratio": 0.7630522088353414,
+  "avg_contact_area": 3026.547368421053,
+  "contact_entropy": 0.17103298905350145,
+  "total_frames": 249,
+  "fps": 30.0,
+  "reference_frame_count": 0,
+  "dataset_name": "dag911262r00025a_lerobot_0327_114353",
+  "episode_index": 500,
+  "sensor": "gripper_right_tactile"
+}
\ No newline at end of file
diff --git a/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_09-30/outputs_tactile/tactile_cache/dag911262r00025a_lerobot_0327_114353_d7367074/episodes/ep000503/gripper_left_tactile_force_metrics.json b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_09-30/outputs_tactile/tactile_cache/dag911262r00025a_lerobot_0327_114353_d7367074/episodes/ep000503/gripper_left_tactile_force_metrics.json
new file mode 100644
index 0000000000000000000000000000000000000000..e8348b805f0397330207ee08ff88f3c155f24b79
--- /dev/null
+++ b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_09-30/outputs_tactile/tactile_cache/dag911262r00025a_lerobot_0327_114353_d7367074/episodes/ep000503/gripper_left_tactile_force_metrics.json
@@ -0,0 +1,9 @@
+{
+  "depth_peak": 0.0035743284970521927,
+  "shear_peak": 0.0021801667753607035,
+  "force_magnitude_peak": 0.004281678237020969,
+  "reference_frame_count": 0,
+  "dataset_name": "dag911262r00025a_lerobot_0327_114353",
+  "episode_index": 503,
+  "sensor": "gripper_left_tactile"
+}
\ No newline at end of file
diff --git a/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_09-30/outputs_tactile/tactile_cache/dag911262r00025a_lerobot_0327_114353_d7367074/episodes/ep000505/gripper_left_tactile_force_metrics.json b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_09-30/outputs_tactile/tactile_cache/dag911262r00025a_lerobot_0327_114353_d7367074/episodes/ep000505/gripper_left_tactile_force_metrics.json
new file mode 100644
index 0000000000000000000000000000000000000000..8ba8b82882e427e039a11e21f7e6e6435e0030bd
--- /dev/null
+++ b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_09-30/outputs_tactile/tactile_cache/dag911262r00025a_lerobot_0327_114353_d7367074/episodes/ep000505/gripper_left_tactile_force_metrics.json
@@ -0,0 +1,9 @@
+{
+  "depth_peak": 0.005343182478100061,
+  "shear_peak": 0.002530233934521675,
+  "force_magnitude_peak": 0.0055645606480538845,
+  "reference_frame_count": 0,
+  "dataset_name": "dag911262r00025a_lerobot_0327_114353",
+  "episode_index": 505,
+  "sensor": "gripper_left_tactile"
+}
\ No newline at end of file
diff --git a/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_09-30/outputs_tactile/tactile_cache/dag911262r00025a_lerobot_0327_114353_d7367074/episodes/ep000508/gripper_left_tactile_contact_metrics.json b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_09-30/outputs_tactile/tactile_cache/dag911262r00025a_lerobot_0327_114353_d7367074/episodes/ep000508/gripper_left_tactile_contact_metrics.json
new file mode 100644
index 0000000000000000000000000000000000000000..b9363da61dbad703bffa98cb1c704b5349bb5385
--- /dev/null
+++ b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_09-30/outputs_tactile/tactile_cache/dag911262r00025a_lerobot_0327_114353_d7367074/episodes/ep000508/gripper_left_tactile_contact_metrics.json
@@ -0,0 +1,12 @@
+{
+  "contact_time": 10.466666666666667,
+  "contact_ratio": 0.9181286549707602,
+  "avg_contact_area": 2087.146496815287,
+  "contact_entropy": 0.5399120125046393,
+  "total_frames": 342,
+  "fps": 30.0,
+  "reference_frame_count": 0,
+  "dataset_name": "dag911262r00025a_lerobot_0327_114353",
+  "episode_index": 508,
+  "sensor": "gripper_left_tactile"
+}
\ No newline at end of file
diff --git a/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_09-30/outputs_tactile/tactile_cache/dag911262r00025a_lerobot_0327_114353_d7367074/episodes/ep000508/gripper_right_tactile_contact_metrics.json b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_09-30/outputs_tactile/tactile_cache/dag911262r00025a_lerobot_0327_114353_d7367074/episodes/ep000508/gripper_right_tactile_contact_metrics.json
new file mode 100644
index 0000000000000000000000000000000000000000..06eab5159808adc2f96f4eb8fbf9650ee480b06d
--- /dev/null
+++ b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_09-30/outputs_tactile/tactile_cache/dag911262r00025a_lerobot_0327_114353_d7367074/episodes/ep000508/gripper_right_tactile_contact_metrics.json
@@ -0,0 +1,12 @@
+{
+  "contact_time": 10.1,
+  "contact_ratio": 0.8859649122807017,
+  "avg_contact_area": 2486.6732673267325,
+  "contact_entropy": 0.11427277468259872,
+  "total_frames": 342,
+  "fps": 30.0,
+  "reference_frame_count": 0,
+  "dataset_name": "dag911262r00025a_lerobot_0327_114353",
+  "episode_index": 508,
+  "sensor": "gripper_right_tactile"
+}
\ No newline at end of file
diff --git a/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_09-30/outputs_tactile/tactile_cache/dag911262r00025a_lerobot_0327_114353_d7367074/episodes/ep000510/gripper_right_tactile_contact_metrics.json b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_09-30/outputs_tactile/tactile_cache/dag911262r00025a_lerobot_0327_114353_d7367074/episodes/ep000510/gripper_right_tactile_contact_metrics.json
new file mode 100644
index 0000000000000000000000000000000000000000..1712df78e5c394d73ca8d971ae4cd51c87c8590c
--- /dev/null
+++ b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_09-30/outputs_tactile/tactile_cache/dag911262r00025a_lerobot_0327_114353_d7367074/episodes/ep000510/gripper_right_tactile_contact_metrics.json
@@ -0,0 +1,12 @@
+{
+  "contact_time": 10.5,
+  "contact_ratio": 0.9130434782608695,
+  "avg_contact_area": 1811.647619047619,
+  "contact_entropy": 0.13750848637743418,
+  "total_frames": 345,
+  "fps": 30.0,
+  "reference_frame_count": 0,
+  "dataset_name": "dag911262r00025a_lerobot_0327_114353",
+  "episode_index": 510,
+  "sensor": "gripper_right_tactile"
+}
\ No newline at end of file
diff --git a/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_09-30/outputs_tactile/tactile_cache/dag911262r00025a_lerobot_0327_114353_d7367074/episodes/ep000510/gripper_right_tactile_force_metrics.json b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_09-30/outputs_tactile/tactile_cache/dag911262r00025a_lerobot_0327_114353_d7367074/episodes/ep000510/gripper_right_tactile_force_metrics.json
new file mode 100644
index 0000000000000000000000000000000000000000..deedc65dd76b36a432626e44573eb3cff527d3ac
--- /dev/null
+++ b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_09-30/outputs_tactile/tactile_cache/dag911262r00025a_lerobot_0327_114353_d7367074/episodes/ep000510/gripper_right_tactile_force_metrics.json
@@ -0,0 +1,9 @@
+{
+  "depth_peak": 0.0030655653681606054,
+  "shear_peak": 0.0038034385070204735,
+  "force_magnitude_peak": 0.004468922503292561,
+  "reference_frame_count": 0,
+  "dataset_name": "dag911262r00025a_lerobot_0327_114353",
+  "episode_index": 510,
+  "sensor": "gripper_right_tactile"
+}
\ No newline at end of file
diff --git a/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_09-30/outputs_tactile/tactile_cache/dag911262r00025a_lerobot_0327_114353_d7367074/episodes/ep000515/gripper_left_tactile_contact_metrics.json b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_09-30/outputs_tactile/tactile_cache/dag911262r00025a_lerobot_0327_114353_d7367074/episodes/ep000515/gripper_left_tactile_contact_metrics.json
new file mode 100644
index 0000000000000000000000000000000000000000..f050aea6e347389e79b0f775e82b55759841fafc
--- /dev/null
+++ b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_09-30/outputs_tactile/tactile_cache/dag911262r00025a_lerobot_0327_114353_d7367074/episodes/ep000515/gripper_left_tactile_contact_metrics.json
@@ -0,0 +1,12 @@
+{
+  "contact_time": 9.5,
+  "contact_ratio": 0.8260869565217391,
+  "avg_contact_area": 1815.7649122807018,
+  "contact_entropy": 0.266483028605354,
+  "total_frames": 345,
+  "fps": 30.0,
+  "reference_frame_count": 0,
+  "dataset_name": "dag911262r00025a_lerobot_0327_114353",
+  "episode_index": 515,
+  "sensor": "gripper_left_tactile"
+}
\ No newline at end of file
diff --git a/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_09-30/outputs_tactile/tactile_cache/dag911262r00025a_lerobot_0327_114353_d7367074/episodes/ep000515/gripper_right_tactile_contact_metrics.json b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_09-30/outputs_tactile/tactile_cache/dag911262r00025a_lerobot_0327_114353_d7367074/episodes/ep000515/gripper_right_tactile_contact_metrics.json
new file mode 100644
index 0000000000000000000000000000000000000000..345a3b4d8f43df3e54f58adba332cd9c875caebc
--- /dev/null
+++ b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_09-30/outputs_tactile/tactile_cache/dag911262r00025a_lerobot_0327_114353_d7367074/episodes/ep000515/gripper_right_tactile_contact_metrics.json
@@ -0,0 +1,12 @@
+{
+  "contact_time": 9.533333333333333,
+  "contact_ratio": 0.8289855072463768,
+  "avg_contact_area": 1527.6608391608393,
+  "contact_entropy": 0.058603092909642766,
+  "total_frames": 345,
+  "fps": 30.0,
+  "reference_frame_count": 0,
+  "dataset_name": "dag911262r00025a_lerobot_0327_114353",
+  "episode_index": 515,
+  "sensor": "gripper_right_tactile"
+}
\ No newline at end of file
diff --git a/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_09-30/outputs_tactile/tactile_cache/dag911262r00025a_lerobot_0327_114353_d7367074/episodes/ep000516/gripper_right_tactile_force_metrics.json b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_09-30/outputs_tactile/tactile_cache/dag911262r00025a_lerobot_0327_114353_d7367074/episodes/ep000516/gripper_right_tactile_force_metrics.json
new file mode 100644
index 0000000000000000000000000000000000000000..36a7ad7546b533fc861ba327a98c6bdd23b40d5c
--- /dev/null
+++ b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_09-30/outputs_tactile/tactile_cache/dag911262r00025a_lerobot_0327_114353_d7367074/episodes/ep000516/gripper_right_tactile_force_metrics.json
@@ -0,0 +1,9 @@
+{
+  "depth_peak": 0.0035114181227982044,
+  "shear_peak": 0.0022153230383992195,
+  "force_magnitude_peak": 0.0035542454570531845,
+  "reference_frame_count": 0,
+  "dataset_name": "dag911262r00025a_lerobot_0327_114353",
+  "episode_index": 516,
+  "sensor": "gripper_right_tactile"
+}
\ No newline at end of file
diff --git a/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_09-30/outputs_tactile/tactile_cache/dag911262r00025a_lerobot_0327_114353_d7367074/episodes/ep000517/gripper_left_tactile_force_metrics.json b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_09-30/outputs_tactile/tactile_cache/dag911262r00025a_lerobot_0327_114353_d7367074/episodes/ep000517/gripper_left_tactile_force_metrics.json
new file mode 100644
index 0000000000000000000000000000000000000000..54efbba9e4a1dfccc5521046b5b3437d39503a9e
--- /dev/null
+++ b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_09-30/outputs_tactile/tactile_cache/dag911262r00025a_lerobot_0327_114353_d7367074/episodes/ep000517/gripper_left_tactile_force_metrics.json
@@ -0,0 +1,9 @@
+{
+  "depth_peak": 0.004317698068916798,
+  "shear_peak": 0.002025383757427335,
+  "force_magnitude_peak": 0.004339829087257385,
+  "reference_frame_count": 0,
+  "dataset_name": "dag911262r00025a_lerobot_0327_114353",
+  "episode_index": 517,
+  "sensor": "gripper_left_tactile"
+}
\ No newline at end of file
diff --git a/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_09-30/outputs_tactile/tactile_cache/dag911262r00025a_lerobot_0327_114353_d7367074/episodes/ep000518/gripper_left_tactile_contact_metrics.json b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_09-30/outputs_tactile/tactile_cache/dag911262r00025a_lerobot_0327_114353_d7367074/episodes/ep000518/gripper_left_tactile_contact_metrics.json
new file mode 100644
index 0000000000000000000000000000000000000000..d4d2b5171a55924b8edb12aa5889217713b721f9
--- /dev/null
+++ b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_09-30/outputs_tactile/tactile_cache/dag911262r00025a_lerobot_0327_114353_d7367074/episodes/ep000518/gripper_left_tactile_contact_metrics.json
@@ -0,0 +1,12 @@
+{
+  "contact_time": 19.8,
+  "contact_ratio": 0.9519230769230769,
+  "avg_contact_area": 2092.789562289562,
+  "contact_entropy": 0.3918159093810703,
+  "total_frames": 624,
+  "fps": 30.0,
+  "reference_frame_count": 0,
+  "dataset_name": "dag911262r00025a_lerobot_0327_114353",
+  "episode_index": 518,
+  "sensor": "gripper_left_tactile"
+}
\ No newline at end of file
diff --git a/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_09-30/outputs_tactile/tactile_cache/dag911262r00025a_lerobot_0327_114353_d7367074/episodes/ep000519/gripper_right_tactile_contact_metrics.json b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_09-30/outputs_tactile/tactile_cache/dag911262r00025a_lerobot_0327_114353_d7367074/episodes/ep000519/gripper_right_tactile_contact_metrics.json
new file mode 100644
index 0000000000000000000000000000000000000000..b6c99d6d113294ea2219a25d5c2c3cd842df0b43
--- /dev/null
+++ b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_09-30/outputs_tactile/tactile_cache/dag911262r00025a_lerobot_0327_114353_d7367074/episodes/ep000519/gripper_right_tactile_contact_metrics.json
@@ -0,0 +1,12 @@
+{
+  "contact_time": 15.233333333333333,
+  "contact_ratio": 0.9383983572895277,
+  "avg_contact_area": 1866.0722100656455,
+  "contact_entropy": 0.20204891671868813,
+  "total_frames": 487,
+  "fps": 30.0,
+  "reference_frame_count": 0,
+  "dataset_name": "dag911262r00025a_lerobot_0327_114353",
+  "episode_index": 519,
+  "sensor": "gripper_right_tactile"
+}
\ No newline at end of file
diff --git a/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_09-30/outputs_tactile/tactile_cache/dag911262r00025a_lerobot_0327_114353_d7367074/episodes/ep000521/gripper_right_tactile_force_metrics.json b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_09-30/outputs_tactile/tactile_cache/dag911262r00025a_lerobot_0327_114353_d7367074/episodes/ep000521/gripper_right_tactile_force_metrics.json
new file mode 100644
index 0000000000000000000000000000000000000000..71fe0ddf3eb6bc7c3272d9c63b79f7bd0bf546f2
--- /dev/null
+++ b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_09-30/outputs_tactile/tactile_cache/dag911262r00025a_lerobot_0327_114353_d7367074/episodes/ep000521/gripper_right_tactile_force_metrics.json
@@ -0,0 +1,9 @@
+{
+  "depth_peak": 0.006753125227987766,
+  "shear_peak": 0.0027060355059802532,
+  "force_magnitude_peak": 0.007234987802803516,
+  "reference_frame_count": 0,
+  "dataset_name": "dag911262r00025a_lerobot_0327_114353",
+  "episode_index": 521,
+  "sensor": "gripper_right_tactile"
+}
\ No newline at end of file
diff --git a/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_09-30/outputs_tactile/tactile_cache/dag911262r00025a_lerobot_0327_114353_d7367074/episodes/ep000525/gripper_right_tactile_force_metrics.json b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_09-30/outputs_tactile/tactile_cache/dag911262r00025a_lerobot_0327_114353_d7367074/episodes/ep000525/gripper_right_tactile_force_metrics.json
new file mode 100644
index 0000000000000000000000000000000000000000..f227a35bcb5e5ec2a9117fd02f39bc46e56e686b
--- /dev/null
+++ b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_09-30/outputs_tactile/tactile_cache/dag911262r00025a_lerobot_0327_114353_d7367074/episodes/ep000525/gripper_right_tactile_force_metrics.json
@@ -0,0 +1,9 @@
+{
+  "depth_peak": 0.00299133756197989,
+  "shear_peak": 0.0044908784329891205,
+  "force_magnitude_peak": 0.00535251060500741,
+  "reference_frame_count": 0,
+  "dataset_name": "dag911262r00025a_lerobot_0327_114353",
+  "episode_index": 525,
+  "sensor": "gripper_right_tactile"
+}
\ No newline at end of file
diff --git a/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_09-30/outputs_tactile/tactile_cache/dag911262r00025a_lerobot_0327_114353_d7367074/episodes/ep000526/gripper_left_tactile_force_metrics.json b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_09-30/outputs_tactile/tactile_cache/dag911262r00025a_lerobot_0327_114353_d7367074/episodes/ep000526/gripper_left_tactile_force_metrics.json
new file mode 100644
index 0000000000000000000000000000000000000000..39c8c3d0c56e38ee8b2ee109ee134f5eca9a5a70
--- /dev/null
+++ b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_09-30/outputs_tactile/tactile_cache/dag911262r00025a_lerobot_0327_114353_d7367074/episodes/ep000526/gripper_left_tactile_force_metrics.json
@@ -0,0 +1,9 @@
+{
+  "depth_peak": 0.007291101384907961,
+  "shear_peak": 0.01001052837818861,
+  "force_magnitude_peak": 0.01095998752862215,
+  "reference_frame_count": 0,
+  "dataset_name": "dag911262r00025a_lerobot_0327_114353",
+  "episode_index": 526,
+  "sensor": "gripper_left_tactile"
+}
\ No newline at end of file
diff --git a/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_09-30/outputs_tactile/tactile_cache/dag911262r00025a_lerobot_0327_114353_d7367074/episodes/ep000527/gripper_left_tactile_contact_metrics.json b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_09-30/outputs_tactile/tactile_cache/dag911262r00025a_lerobot_0327_114353_d7367074/episodes/ep000527/gripper_left_tactile_contact_metrics.json
new file mode 100644
index 0000000000000000000000000000000000000000..ec8fda8472da0a2bc4fe061cea0e54bb1550a78b
--- /dev/null
+++ b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_09-30/outputs_tactile/tactile_cache/dag911262r00025a_lerobot_0327_114353_d7367074/episodes/ep000527/gripper_left_tactile_contact_metrics.json
@@ -0,0 +1,12 @@
+{
+  "contact_time": 20.566666666666666,
+  "contact_ratio": 1.0,
+  "avg_contact_area": 1561.776337115073,
+  "contact_entropy": 0.2190848276426171,
+  "total_frames": 617,
+  "fps": 30.0,
+  "reference_frame_count": 0,
+  "dataset_name": "dag911262r00025a_lerobot_0327_114353",
+  "episode_index": 527,
+  "sensor": "gripper_left_tactile"
+}
\ No newline at end of file
diff --git a/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_09-30/outputs_tactile/tactile_cache/dag911262r00025a_lerobot_0327_114353_d7367074/episodes/ep000530/gripper_left_tactile_contact_metrics.json b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_09-30/outputs_tactile/tactile_cache/dag911262r00025a_lerobot_0327_114353_d7367074/episodes/ep000530/gripper_left_tactile_contact_metrics.json
new file mode 100644
index 0000000000000000000000000000000000000000..54c807e2218d8ef8b73be8304d55b0a235652488
--- /dev/null
+++ b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_09-30/outputs_tactile/tactile_cache/dag911262r00025a_lerobot_0327_114353_d7367074/episodes/ep000530/gripper_left_tactile_contact_metrics.json
@@ -0,0 +1,12 @@
+{
+  "contact_time": 11.666666666666666,
+  "contact_ratio": 0.8928571428571429,
+  "avg_contact_area": 5486.4857142857145,
+  "contact_entropy": 0.3449190835609592,
+  "total_frames": 392,
+  "fps": 30.0,
+  "reference_frame_count": 0,
+  "dataset_name": "dag911262r00025a_lerobot_0327_114353",
+  "episode_index": 530,
+  "sensor": "gripper_left_tactile"
+}
\ No newline at end of file
diff --git a/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_09-30/outputs_tactile/tactile_cache/dag911262r00025a_lerobot_0327_114353_d7367074/episodes/ep000530/gripper_right_tactile_force_metrics.json b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_09-30/outputs_tactile/tactile_cache/dag911262r00025a_lerobot_0327_114353_d7367074/episodes/ep000530/gripper_right_tactile_force_metrics.json
new file mode 100644
index 0000000000000000000000000000000000000000..d04251466aa0aab8736ab890f959bd8cbf9ff470
--- /dev/null
+++ b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_09-30/outputs_tactile/tactile_cache/dag911262r00025a_lerobot_0327_114353_d7367074/episodes/ep000530/gripper_right_tactile_force_metrics.json
@@ -0,0 +1,9 @@
+{
+  "depth_peak": 0.0034406897611916065,
+  "shear_peak": 0.005386096891015768,
+  "force_magnitude_peak": 0.005845475941896439,
+  "reference_frame_count": 0,
+  "dataset_name": "dag911262r00025a_lerobot_0327_114353",
+  "episode_index": 530,
+  "sensor": "gripper_right_tactile"
+}
\ No newline at end of file
diff --git a/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_09-30/outputs_tactile/tactile_cache/dag911262r00025a_lerobot_0327_114353_d7367074/episodes/ep000535/gripper_left_tactile_force_metrics.json b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_09-30/outputs_tactile/tactile_cache/dag911262r00025a_lerobot_0327_114353_d7367074/episodes/ep000535/gripper_left_tactile_force_metrics.json
new file mode 100644
index 0000000000000000000000000000000000000000..10fd807246b266524ca1cb1a90fff3cb436fa929
--- /dev/null
+++ b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_09-30/outputs_tactile/tactile_cache/dag911262r00025a_lerobot_0327_114353_d7367074/episodes/ep000535/gripper_left_tactile_force_metrics.json
@@ -0,0 +1,9 @@
+{
+  "depth_peak": 0.005588792730122805,
+  "shear_peak": 0.006098432932049036,
+  "force_magnitude_peak": 0.006600897293537855,
+  "reference_frame_count": 0,
+  "dataset_name": "dag911262r00025a_lerobot_0327_114353",
+  "episode_index": 535,
+  "sensor": "gripper_left_tactile"
+}
\ No newline at end of file
diff --git a/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_09-30/outputs_tactile/tactile_cache/dag911262r00025a_lerobot_0327_114353_d7367074/episodes/ep000540/gripper_right_tactile_contact_metrics.json b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_09-30/outputs_tactile/tactile_cache/dag911262r00025a_lerobot_0327_114353_d7367074/episodes/ep000540/gripper_right_tactile_contact_metrics.json
new file mode 100644
index 0000000000000000000000000000000000000000..596613ccf25209f7c0b91203aa3bd3263feb2d2f
--- /dev/null
+++ b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_09-30/outputs_tactile/tactile_cache/dag911262r00025a_lerobot_0327_114353_d7367074/episodes/ep000540/gripper_right_tactile_contact_metrics.json
@@ -0,0 +1,12 @@
+{
+  "contact_time": 13.733333333333333,
+  "contact_ratio": 0.8765957446808511,
+  "avg_contact_area": 1982.1844660194174,
+  "contact_entropy": 0.27358267822836047,
+  "total_frames": 470,
+  "fps": 30.0,
+  "reference_frame_count": 0,
+  "dataset_name": "dag911262r00025a_lerobot_0327_114353",
+  "episode_index": 540,
+  "sensor": "gripper_right_tactile"
+}
\ No newline at end of file
diff --git a/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_09-30/outputs_tactile/tactile_cache/dag911262r00025a_lerobot_0327_114353_d7367074/episodes/ep000543/gripper_left_tactile_force_metrics.json b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_09-30/outputs_tactile/tactile_cache/dag911262r00025a_lerobot_0327_114353_d7367074/episodes/ep000543/gripper_left_tactile_force_metrics.json
new file mode 100644
index 0000000000000000000000000000000000000000..6746fcd26c716cef5884c5fd211741517dee629b
--- /dev/null
+++ b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_09-30/outputs_tactile/tactile_cache/dag911262r00025a_lerobot_0327_114353_d7367074/episodes/ep000543/gripper_left_tactile_force_metrics.json
@@ -0,0 +1,9 @@
+{
+  "depth_peak": 0.0030216097366064787,
+  "shear_peak": 0.0036122831515967846,
+  "force_magnitude_peak": 0.003757067257538438,
+  "reference_frame_count": 0,
+  "dataset_name": "dag911262r00025a_lerobot_0327_114353",
+  "episode_index": 543,
+  "sensor": "gripper_left_tactile"
+}
\ No newline at end of file
diff --git a/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_09-30/outputs_tactile/tactile_cache/dag911262r00025a_lerobot_0327_114353_d7367074/episodes/ep000545/gripper_left_tactile_force_metrics.json b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_09-30/outputs_tactile/tactile_cache/dag911262r00025a_lerobot_0327_114353_d7367074/episodes/ep000545/gripper_left_tactile_force_metrics.json
new file mode 100644
index 0000000000000000000000000000000000000000..2fdbdfeb9c6ae262de8a5ba1d582d7cc1dc53b04
--- /dev/null
+++ b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_09-30/outputs_tactile/tactile_cache/dag911262r00025a_lerobot_0327_114353_d7367074/episodes/ep000545/gripper_left_tactile_force_metrics.json
@@ -0,0 +1,9 @@
+{
+  "depth_peak": 0.006273402366787195,
+  "shear_peak": 0.0027676064055413008,
+  "force_magnitude_peak": 0.006518326699733734,
+  "reference_frame_count": 0,
+  "dataset_name": "dag911262r00025a_lerobot_0327_114353",
+  "episode_index": 545,
+  "sensor": "gripper_left_tactile"
+}
\ No newline at end of file
diff --git a/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_09-30/outputs_tactile/tactile_cache/dag911262r00025a_lerobot_0327_114353_d7367074/episodes/ep000548/gripper_left_tactile_contact_metrics.json b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_09-30/outputs_tactile/tactile_cache/dag911262r00025a_lerobot_0327_114353_d7367074/episodes/ep000548/gripper_left_tactile_contact_metrics.json
new file mode 100644
index 0000000000000000000000000000000000000000..b8c65a87916ae4af911e6de123cbcb4642a072f1
--- /dev/null
+++ b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_09-30/outputs_tactile/tactile_cache/dag911262r00025a_lerobot_0327_114353_d7367074/episodes/ep000548/gripper_left_tactile_contact_metrics.json
@@ -0,0 +1,12 @@
+{
+  "contact_time": 23.966666666666665,
+  "contact_ratio": 1.0,
+  "avg_contact_area": 6928.778859527121,
+  "contact_entropy": 0.5125037653037836,
+  "total_frames": 719,
+  "fps": 30.0,
+  "reference_frame_count": 0,
+  "dataset_name": "dag911262r00025a_lerobot_0327_114353",
+  "episode_index": 548,
+  "sensor": "gripper_left_tactile"
+}
\ No newline at end of file
diff --git a/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_09-30/outputs_tactile/tactile_cache/dag911262r00025a_lerobot_0327_114353_d7367074/episodes/ep000548/gripper_right_tactile_contact_metrics.json b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_09-30/outputs_tactile/tactile_cache/dag911262r00025a_lerobot_0327_114353_d7367074/episodes/ep000548/gripper_right_tactile_contact_metrics.json
new file mode 100644
index 0000000000000000000000000000000000000000..eac6d8c027690cc6ab5d8e5997b53e88decac8e5
--- /dev/null
+++ b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_09-30/outputs_tactile/tactile_cache/dag911262r00025a_lerobot_0327_114353_d7367074/episodes/ep000548/gripper_right_tactile_contact_metrics.json
@@ -0,0 +1,12 @@
+{
+  "contact_time": 23.966666666666665,
+  "contact_ratio": 1.0,
+  "avg_contact_area": 1521.0723226703756,
+  "contact_entropy": 0.49612900760649853,
+  "total_frames": 719,
+  "fps": 30.0,
+  "reference_frame_count": 0,
+  "dataset_name": "dag911262r00025a_lerobot_0327_114353",
+  "episode_index": 548,
+  "sensor": "gripper_right_tactile"
+}
\ No newline at end of file
diff --git a/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_09-30/outputs_tactile/tactile_cache/dag911262r00025a_lerobot_0327_114353_d7367074/episodes/ep000550/gripper_right_tactile_contact_metrics.json b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_09-30/outputs_tactile/tactile_cache/dag911262r00025a_lerobot_0327_114353_d7367074/episodes/ep000550/gripper_right_tactile_contact_metrics.json
new file mode 100644
index 0000000000000000000000000000000000000000..2617933ea1014d614925e42cc86842da0c498fb2
--- /dev/null
+++ b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_09-30/outputs_tactile/tactile_cache/dag911262r00025a_lerobot_0327_114353_d7367074/episodes/ep000550/gripper_right_tactile_contact_metrics.json
@@ -0,0 +1,12 @@
+{
+  "contact_time": 21.533333333333335,
+  "contact_ratio": 1.0,
+  "avg_contact_area": 1372.6764705882354,
+  "contact_entropy": 0.2086198278466958,
+  "total_frames": 646,
+  "fps": 30.0,
+  "reference_frame_count": 0,
+  "dataset_name": "dag911262r00025a_lerobot_0327_114353",
+  "episode_index": 550,
+  "sensor": "gripper_right_tactile"
+}
\ No newline at end of file
diff --git a/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_09-30/outputs_tactile/tactile_cache/dag911262r00025a_lerobot_0327_114353_d7367074/episodes/ep000550/gripper_right_tactile_force_metrics.json b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_09-30/outputs_tactile/tactile_cache/dag911262r00025a_lerobot_0327_114353_d7367074/episodes/ep000550/gripper_right_tactile_force_metrics.json
new file mode 100644
index 0000000000000000000000000000000000000000..8580c27ef891c507b46ae371b5ae9137febfd253
--- /dev/null
+++ b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_09-30/outputs_tactile/tactile_cache/dag911262r00025a_lerobot_0327_114353_d7367074/episodes/ep000550/gripper_right_tactile_force_metrics.json
@@ -0,0 +1,9 @@
+{
+  "depth_peak": 0.0020242275204509497,
+  "shear_peak": 0.0022625878918915987,
+  "force_magnitude_peak": 0.0025394416879862547,
+  "reference_frame_count": 0,
+  "dataset_name": "dag911262r00025a_lerobot_0327_114353",
+  "episode_index": 550,
+  "sensor": "gripper_right_tactile"
+}
\ No newline at end of file
diff --git a/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_09-30/outputs_tactile/tactile_cache/dag911262r00025a_lerobot_0327_114353_d7367074/episodes/ep000555/gripper_left_tactile_contact_metrics.json b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_09-30/outputs_tactile/tactile_cache/dag911262r00025a_lerobot_0327_114353_d7367074/episodes/ep000555/gripper_left_tactile_contact_metrics.json
new file mode 100644
index 0000000000000000000000000000000000000000..88af30277c4d699e6ef7a31b1e90270448fb664f
--- /dev/null
+++ b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_09-30/outputs_tactile/tactile_cache/dag911262r00025a_lerobot_0327_114353_d7367074/episodes/ep000555/gripper_left_tactile_contact_metrics.json
@@ -0,0 +1,12 @@
+{
+  "contact_time": 20.7,
+  "contact_ratio": 0.9888535031847133,
+  "avg_contact_area": 2119.49114331723,
+  "contact_entropy": 0.34634842878223304,
+  "total_frames": 628,
+  "fps": 30.0,
+  "reference_frame_count": 0,
+  "dataset_name": "dag911262r00025a_lerobot_0327_114353",
+  "episode_index": 555,
+  "sensor": "gripper_left_tactile"
+}
\ No newline at end of file
diff --git a/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_09-30/outputs_tactile/tactile_cache/dag911262r00025a_lerobot_0327_114353_d7367074/episodes/ep000555/gripper_right_tactile_contact_metrics.json b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_09-30/outputs_tactile/tactile_cache/dag911262r00025a_lerobot_0327_114353_d7367074/episodes/ep000555/gripper_right_tactile_contact_metrics.json
new file mode 100644
index 0000000000000000000000000000000000000000..53c1caf91cfa1bc017ae837caeb0eb702d812dca
--- /dev/null
+++ b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_09-30/outputs_tactile/tactile_cache/dag911262r00025a_lerobot_0327_114353_d7367074/episodes/ep000555/gripper_right_tactile_contact_metrics.json
@@ -0,0 +1,12 @@
+{
+  "contact_time": 18.966666666666665,
+  "contact_ratio": 0.9060509554140127,
+  "avg_contact_area": 2360.523725834798,
+  "contact_entropy": 0.33467400851643,
+  "total_frames": 628,
+  "fps": 30.0,
+  "reference_frame_count": 0,
+  "dataset_name": "dag911262r00025a_lerobot_0327_114353",
+  "episode_index": 555,
+  "sensor": "gripper_right_tactile"
+}
\ No newline at end of file
diff --git a/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_09-30/outputs_tactile/tactile_cache/dag911262r00025a_lerobot_0327_114353_d7367074/episodes/ep000556/gripper_right_tactile_force_metrics.json b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_09-30/outputs_tactile/tactile_cache/dag911262r00025a_lerobot_0327_114353_d7367074/episodes/ep000556/gripper_right_tactile_force_metrics.json
new file mode 100644
index 0000000000000000000000000000000000000000..462f9f7d035b323b27486885936040882a7abed0
--- /dev/null
+++ b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_09-30/outputs_tactile/tactile_cache/dag911262r00025a_lerobot_0327_114353_d7367074/episodes/ep000556/gripper_right_tactile_force_metrics.json
@@ -0,0 +1,9 @@
+{
+  "depth_peak": 0.004483268596231937,
+  "shear_peak": 0.0043091136030852795,
+  "force_magnitude_peak": 0.0044924551621079445,
+  "reference_frame_count": 0,
+  "dataset_name": "dag911262r00025a_lerobot_0327_114353",
+  "episode_index": 556,
+  "sensor": "gripper_right_tactile"
+}
\ No newline at end of file
diff --git a/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_09-30/outputs_tactile/tactile_cache/dag911262r00025a_lerobot_0327_114353_d7367074/episodes/ep000557/gripper_left_tactile_force_metrics.json b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_09-30/outputs_tactile/tactile_cache/dag911262r00025a_lerobot_0327_114353_d7367074/episodes/ep000557/gripper_left_tactile_force_metrics.json
new file mode 100644
index 0000000000000000000000000000000000000000..d471aea406ae2f519b35434b74246543a42c5be1
--- /dev/null
+++ b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_09-30/outputs_tactile/tactile_cache/dag911262r00025a_lerobot_0327_114353_d7367074/episodes/ep000557/gripper_left_tactile_force_metrics.json
@@ -0,0 +1,9 @@
+{
+  "depth_peak": 0.0066905552521348,
+  "shear_peak": 0.004089951049536467,
+  "force_magnitude_peak": 0.007333511020988226,
+  "reference_frame_count": 0,
+  "dataset_name": "dag911262r00025a_lerobot_0327_114353",
+  "episode_index": 557,
+  "sensor": "gripper_left_tactile"
+}
\ No newline at end of file
diff --git a/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_09-30/outputs_tactile/tactile_cache/dag911262r00025a_lerobot_0327_114353_d7367074/episodes/ep000558/gripper_left_tactile_contact_metrics.json b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_09-30/outputs_tactile/tactile_cache/dag911262r00025a_lerobot_0327_114353_d7367074/episodes/ep000558/gripper_left_tactile_contact_metrics.json
new file mode 100644
index 0000000000000000000000000000000000000000..9c1fe46c75b5a4a742de5ebeaa3a72cbbed450b9
--- /dev/null
+++ b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_09-30/outputs_tactile/tactile_cache/dag911262r00025a_lerobot_0327_114353_d7367074/episodes/ep000558/gripper_left_tactile_contact_metrics.json
@@ -0,0 +1,12 @@
+{
+  "contact_time": 23.866666666666667,
+  "contact_ratio": 0.9483443708609272,
+  "avg_contact_area": 4141.842178770949,
+  "contact_entropy": 0.3171612010771149,
+  "total_frames": 755,
+  "fps": 30.0,
+  "reference_frame_count": 0,
+  "dataset_name": "dag911262r00025a_lerobot_0327_114353",
+  "episode_index": 558,
+  "sensor": "gripper_left_tactile"
+}
\ No newline at end of file
diff --git a/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_09-30/outputs_tactile/tactile_cache/dag911262r00025a_lerobot_0327_114353_d7367074/episodes/ep000559/gripper_right_tactile_contact_metrics.json b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_09-30/outputs_tactile/tactile_cache/dag911262r00025a_lerobot_0327_114353_d7367074/episodes/ep000559/gripper_right_tactile_contact_metrics.json
new file mode 100644
index 0000000000000000000000000000000000000000..a193b2ac6d472ae3ce9194fe423238729d1b093b
--- /dev/null
+++ b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_09-30/outputs_tactile/tactile_cache/dag911262r00025a_lerobot_0327_114353_d7367074/episodes/ep000559/gripper_right_tactile_contact_metrics.json
@@ -0,0 +1,12 @@
+{
+  "contact_time": 21.766666666666666,
+  "contact_ratio": 0.9969465648854962,
+  "avg_contact_area": 3179.906584992343,
+  "contact_entropy": 0.20839722324280013,
+  "total_frames": 655,
+  "fps": 30.0,
+  "reference_frame_count": 0,
+  "dataset_name": "dag911262r00025a_lerobot_0327_114353",
+  "episode_index": 559,
+  "sensor": "gripper_right_tactile"
+}
\ No newline at end of file
diff --git a/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_09-30/outputs_tactile/tactile_cache/dag911262r00025a_lerobot_0327_114353_d7367074/episodes/ep000561/gripper_right_tactile_force_metrics.json b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_09-30/outputs_tactile/tactile_cache/dag911262r00025a_lerobot_0327_114353_d7367074/episodes/ep000561/gripper_right_tactile_force_metrics.json
new file mode 100644
index 0000000000000000000000000000000000000000..bda1d8e1f9f8bbca7b4b986243fad2f97681fe26
--- /dev/null
+++ b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_09-30/outputs_tactile/tactile_cache/dag911262r00025a_lerobot_0327_114353_d7367074/episodes/ep000561/gripper_right_tactile_force_metrics.json
@@ -0,0 +1,9 @@
+{
+  "depth_peak": 0.0028970246203243732,
+  "shear_peak": 0.002548807766288519,
+  "force_magnitude_peak": 0.003866802202537656,
+  "reference_frame_count": 0,
+  "dataset_name": "dag911262r00025a_lerobot_0327_114353",
+  "episode_index": 561,
+  "sensor": "gripper_right_tactile"
+}
\ No newline at end of file
diff --git a/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_09-30/outputs_tactile/tactile_cache/dag911262r00025a_lerobot_0327_114353_d7367074/episodes/ep000565/gripper_right_tactile_force_metrics.json b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_09-30/outputs_tactile/tactile_cache/dag911262r00025a_lerobot_0327_114353_d7367074/episodes/ep000565/gripper_right_tactile_force_metrics.json
new file mode 100644
index 0000000000000000000000000000000000000000..7734096a8adcd53a0d290aff43af5bad73e5ba38
--- /dev/null
+++ b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_09-30/outputs_tactile/tactile_cache/dag911262r00025a_lerobot_0327_114353_d7367074/episodes/ep000565/gripper_right_tactile_force_metrics.json
@@ -0,0 +1,9 @@
+{
+  "depth_peak": 0.005937875248491764,
+  "shear_peak": 0.002468607621267438,
+  "force_magnitude_peak": 0.006419789046049118,
+  "reference_frame_count": 0,
+  "dataset_name": "dag911262r00025a_lerobot_0327_114353",
+  "episode_index": 565,
+  "sensor": "gripper_right_tactile"
+}
\ No newline at end of file
diff --git a/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_09-30/outputs_tactile/tactile_cache/dag911262r00025a_lerobot_0327_114353_d7367074/episodes/ep000566/gripper_left_tactile_force_metrics.json b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_09-30/outputs_tactile/tactile_cache/dag911262r00025a_lerobot_0327_114353_d7367074/episodes/ep000566/gripper_left_tactile_force_metrics.json
new file mode 100644
index 0000000000000000000000000000000000000000..2d93135403797cf5a82115d6e70ec338daf1df0c
--- /dev/null
+++ b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_09-30/outputs_tactile/tactile_cache/dag911262r00025a_lerobot_0327_114353_d7367074/episodes/ep000566/gripper_left_tactile_force_metrics.json
@@ -0,0 +1,9 @@
+{
+  "depth_peak": 0.009482711553573608,
+  "shear_peak": 0.006558965425938368,
+  "force_magnitude_peak": 0.011449362151324749,
+  "reference_frame_count": 0,
+  "dataset_name": "dag911262r00025a_lerobot_0327_114353",
+  "episode_index": 566,
+  "sensor": "gripper_left_tactile"
+}
\ No newline at end of file
diff --git a/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_09-30/outputs_tactile/tactile_cache/dag911262r00025a_lerobot_0327_114353_d7367074/episodes/ep000567/gripper_left_tactile_contact_metrics.json b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_09-30/outputs_tactile/tactile_cache/dag911262r00025a_lerobot_0327_114353_d7367074/episodes/ep000567/gripper_left_tactile_contact_metrics.json
new file mode 100644
index 0000000000000000000000000000000000000000..4dac3fb2ddb8b8360d06f5fc2e636347e6d3c21a
--- /dev/null
+++ b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_09-30/outputs_tactile/tactile_cache/dag911262r00025a_lerobot_0327_114353_d7367074/episodes/ep000567/gripper_left_tactile_contact_metrics.json
@@ -0,0 +1,12 @@
+{
+  "contact_time": 9.3,
+  "contact_ratio": 0.8230088495575221,
+  "avg_contact_area": 1528.7455197132617,
+  "contact_entropy": 0.2677077661747691,
+  "total_frames": 339,
+  "fps": 30.0,
+  "reference_frame_count": 0,
+  "dataset_name": "dag911262r00025a_lerobot_0327_114353",
+  "episode_index": 567,
+  "sensor": "gripper_left_tactile"
+}
\ No newline at end of file
diff --git a/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_09-30/outputs_tactile/tactile_cache/dag911262r00025a_lerobot_0327_114353_d7367074/episodes/ep000570/gripper_left_tactile_contact_metrics.json b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_09-30/outputs_tactile/tactile_cache/dag911262r00025a_lerobot_0327_114353_d7367074/episodes/ep000570/gripper_left_tactile_contact_metrics.json
new file mode 100644
index 0000000000000000000000000000000000000000..18114e5880c1d9d960156e4a0432e2ef32e9d18a
--- /dev/null
+++ b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_09-30/outputs_tactile/tactile_cache/dag911262r00025a_lerobot_0327_114353_d7367074/episodes/ep000570/gripper_left_tactile_contact_metrics.json
@@ -0,0 +1,12 @@
+{
+  "contact_time": 12.333333333333334,
+  "contact_ratio": 0.8564814814814815,
+  "avg_contact_area": 2487.7324324324322,
+  "contact_entropy": 0.14019535164348063,
+  "total_frames": 432,
+  "fps": 30.0,
+  "reference_frame_count": 0,
+  "dataset_name": "dag911262r00025a_lerobot_0327_114353",
+  "episode_index": 570,
+  "sensor": "gripper_left_tactile"
+}
\ No newline at end of file
diff --git a/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_09-30/outputs_tactile/tactile_cache/dag911262r00025a_lerobot_0327_114353_d7367074/episodes/ep000570/gripper_right_tactile_force_metrics.json b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_09-30/outputs_tactile/tactile_cache/dag911262r00025a_lerobot_0327_114353_d7367074/episodes/ep000570/gripper_right_tactile_force_metrics.json
new file mode 100644
index 0000000000000000000000000000000000000000..01341db92c93f337d09c911ba7d66365c16e69c3
--- /dev/null
+++ b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_09-30/outputs_tactile/tactile_cache/dag911262r00025a_lerobot_0327_114353_d7367074/episodes/ep000570/gripper_right_tactile_force_metrics.json
@@ -0,0 +1,9 @@
+{
+  "depth_peak": 0.007930319756269455,
+  "shear_peak": 0.0039456686936318874,
+  "force_magnitude_peak": 0.008391700685024261,
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+  "dataset_name": "dag911262r00025a_lerobot_0327_114353",
+  "episode_index": 570,
+  "sensor": "gripper_right_tactile"
+}
\ No newline at end of file
diff --git a/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_09-30/outputs_tactile/tactile_cache/dag911262r00025a_lerobot_0327_114353_d7367074/episodes/ep000575/gripper_left_tactile_force_metrics.json b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_09-30/outputs_tactile/tactile_cache/dag911262r00025a_lerobot_0327_114353_d7367074/episodes/ep000575/gripper_left_tactile_force_metrics.json
new file mode 100644
index 0000000000000000000000000000000000000000..cbfd8f9805b0661ecefe42596179ae3a257924c2
--- /dev/null
+++ b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_09-30/outputs_tactile/tactile_cache/dag911262r00025a_lerobot_0327_114353_d7367074/episodes/ep000575/gripper_left_tactile_force_metrics.json
@@ -0,0 +1,9 @@
+{
+  "depth_peak": 0.004379224963486195,
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+  "force_magnitude_peak": 0.005734833888709545,
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+  "dataset_name": "dag911262r00025a_lerobot_0327_114353",
+  "episode_index": 575,
+  "sensor": "gripper_left_tactile"
+}
\ No newline at end of file
diff --git a/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_09-30/outputs_tactile/tactile_cache/dag911262r00025a_lerobot_0327_114353_d7367074/episodes/ep000580/gripper_right_tactile_contact_metrics.json b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_09-30/outputs_tactile/tactile_cache/dag911262r00025a_lerobot_0327_114353_d7367074/episodes/ep000580/gripper_right_tactile_contact_metrics.json
new file mode 100644
index 0000000000000000000000000000000000000000..6c1aff6a0f09ca9a8775bec03e17b3b18c346299
--- /dev/null
+++ b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_09-30/outputs_tactile/tactile_cache/dag911262r00025a_lerobot_0327_114353_d7367074/episodes/ep000580/gripper_right_tactile_contact_metrics.json
@@ -0,0 +1,12 @@
+{
+  "contact_time": 18.133333333333333,
+  "contact_ratio": 0.9096989966555183,
+  "avg_contact_area": 2348.799632352941,
+  "contact_entropy": 0.41622487650552026,
+  "total_frames": 598,
+  "fps": 30.0,
+  "reference_frame_count": 0,
+  "dataset_name": "dag911262r00025a_lerobot_0327_114353",
+  "episode_index": 580,
+  "sensor": "gripper_right_tactile"
+}
\ No newline at end of file
diff --git a/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_09-30/outputs_tactile/tactile_cache/dag911262r00025a_lerobot_0327_114353_d7367074/episodes/ep000583/gripper_left_tactile_force_metrics.json b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_09-30/outputs_tactile/tactile_cache/dag911262r00025a_lerobot_0327_114353_d7367074/episodes/ep000583/gripper_left_tactile_force_metrics.json
new file mode 100644
index 0000000000000000000000000000000000000000..ff8532d47127ad33ea1353756249270e56957666
--- /dev/null
+++ b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_09-30/outputs_tactile/tactile_cache/dag911262r00025a_lerobot_0327_114353_d7367074/episodes/ep000583/gripper_left_tactile_force_metrics.json
@@ -0,0 +1,9 @@
+{
+  "depth_peak": 0.0034494323190301657,
+  "shear_peak": 0.006281636655330658,
+  "force_magnitude_peak": 0.006952664814889431,
+  "reference_frame_count": 0,
+  "dataset_name": "dag911262r00025a_lerobot_0327_114353",
+  "episode_index": 583,
+  "sensor": "gripper_left_tactile"
+}
\ No newline at end of file
diff --git a/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_09-30/outputs_tactile/tactile_cache/dag911262r00025a_lerobot_0327_114353_d7367074/episodes/ep000585/gripper_left_tactile_force_metrics.json b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_09-30/outputs_tactile/tactile_cache/dag911262r00025a_lerobot_0327_114353_d7367074/episodes/ep000585/gripper_left_tactile_force_metrics.json
new file mode 100644
index 0000000000000000000000000000000000000000..9d0fff809c8d8edeace3af46f7809ad0aad2b7d3
--- /dev/null
+++ b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_09-30/outputs_tactile/tactile_cache/dag911262r00025a_lerobot_0327_114353_d7367074/episodes/ep000585/gripper_left_tactile_force_metrics.json
@@ -0,0 +1,9 @@
+{
+  "depth_peak": 0.0019091684371232986,
+  "shear_peak": 0.003254170762374997,
+  "force_magnitude_peak": 0.0035722318571060896,
+  "reference_frame_count": 0,
+  "dataset_name": "dag911262r00025a_lerobot_0327_114353",
+  "episode_index": 585,
+  "sensor": "gripper_left_tactile"
+}
\ No newline at end of file
diff --git a/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_09-30/outputs_tactile/tactile_cache/dag911262r00025a_lerobot_0327_114353_d7367074/episodes/ep000588/gripper_left_tactile_contact_metrics.json b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_09-30/outputs_tactile/tactile_cache/dag911262r00025a_lerobot_0327_114353_d7367074/episodes/ep000588/gripper_left_tactile_contact_metrics.json
new file mode 100644
index 0000000000000000000000000000000000000000..54b8f34c849e02afdf08a7dd9437b02cdcad3390
--- /dev/null
+++ b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_09-30/outputs_tactile/tactile_cache/dag911262r00025a_lerobot_0327_114353_d7367074/episodes/ep000588/gripper_left_tactile_contact_metrics.json
@@ -0,0 +1,12 @@
+{
+  "contact_time": 19.933333333333334,
+  "contact_ratio": 0.9046898638426626,
+  "avg_contact_area": 4604.5,
+  "contact_entropy": 0.4090413090147736,
+  "total_frames": 661,
+  "fps": 30.0,
+  "reference_frame_count": 0,
+  "dataset_name": "dag911262r00025a_lerobot_0327_114353",
+  "episode_index": 588,
+  "sensor": "gripper_left_tactile"
+}
\ No newline at end of file
diff --git a/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_09-30/outputs_tactile/tactile_cache/dag911262r00025a_lerobot_0327_114353_d7367074/episodes/ep000588/gripper_right_tactile_contact_metrics.json b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_09-30/outputs_tactile/tactile_cache/dag911262r00025a_lerobot_0327_114353_d7367074/episodes/ep000588/gripper_right_tactile_contact_metrics.json
new file mode 100644
index 0000000000000000000000000000000000000000..ebfaba0b5bca3c4f2975f51713727b50412d38db
--- /dev/null
+++ b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_09-30/outputs_tactile/tactile_cache/dag911262r00025a_lerobot_0327_114353_d7367074/episodes/ep000588/gripper_right_tactile_contact_metrics.json
@@ -0,0 +1,12 @@
+{
+  "contact_time": 22.033333333333335,
+  "contact_ratio": 1.0,
+  "avg_contact_area": 4486.0983358547655,
+  "contact_entropy": 0.570459626066454,
+  "total_frames": 661,
+  "fps": 30.0,
+  "reference_frame_count": 0,
+  "dataset_name": "dag911262r00025a_lerobot_0327_114353",
+  "episode_index": 588,
+  "sensor": "gripper_right_tactile"
+}
\ No newline at end of file
diff --git a/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_09-30/outputs_tactile/tactile_cache/dag911262r00025a_lerobot_0327_114353_d7367074/episodes/ep000590/gripper_right_tactile_contact_metrics.json b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_09-30/outputs_tactile/tactile_cache/dag911262r00025a_lerobot_0327_114353_d7367074/episodes/ep000590/gripper_right_tactile_contact_metrics.json
new file mode 100644
index 0000000000000000000000000000000000000000..6fc35e742c7aef992707b4c4fe42a1dc65d6a417
--- /dev/null
+++ b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_09-30/outputs_tactile/tactile_cache/dag911262r00025a_lerobot_0327_114353_d7367074/episodes/ep000590/gripper_right_tactile_contact_metrics.json
@@ -0,0 +1,12 @@
+{
+  "contact_time": 23.866666666666667,
+  "contact_ratio": 1.0,
+  "avg_contact_area": 2791.2849162011175,
+  "contact_entropy": 0.41501681044017974,
+  "total_frames": 716,
+  "fps": 30.0,
+  "reference_frame_count": 0,
+  "dataset_name": "dag911262r00025a_lerobot_0327_114353",
+  "episode_index": 590,
+  "sensor": "gripper_right_tactile"
+}
\ No newline at end of file
diff --git a/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_09-30/outputs_tactile/tactile_cache/dag911262r00025a_lerobot_0327_114353_d7367074/episodes/ep000590/gripper_right_tactile_force_metrics.json b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_09-30/outputs_tactile/tactile_cache/dag911262r00025a_lerobot_0327_114353_d7367074/episodes/ep000590/gripper_right_tactile_force_metrics.json
new file mode 100644
index 0000000000000000000000000000000000000000..55609be43e3d9e07dbcf20a297a02bfed8bf97fa
--- /dev/null
+++ b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_09-30/outputs_tactile/tactile_cache/dag911262r00025a_lerobot_0327_114353_d7367074/episodes/ep000590/gripper_right_tactile_force_metrics.json
@@ -0,0 +1,9 @@
+{
+  "depth_peak": 0.005074284505099058,
+  "shear_peak": 0.00470401206985116,
+  "force_magnitude_peak": 0.005610607098788023,
+  "reference_frame_count": 0,
+  "dataset_name": "dag911262r00025a_lerobot_0327_114353",
+  "episode_index": 590,
+  "sensor": "gripper_right_tactile"
+}
\ No newline at end of file
diff --git a/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_09-30/outputs_tactile/tactile_cache/dag911262r00025a_lerobot_0327_114353_d7367074/episodes/ep000595/gripper_left_tactile_contact_metrics.json b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_09-30/outputs_tactile/tactile_cache/dag911262r00025a_lerobot_0327_114353_d7367074/episodes/ep000595/gripper_left_tactile_contact_metrics.json
new file mode 100644
index 0000000000000000000000000000000000000000..9fc93c83ab793745c3f717be1de8ee2437dd2ae3
--- /dev/null
+++ b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_09-30/outputs_tactile/tactile_cache/dag911262r00025a_lerobot_0327_114353_d7367074/episodes/ep000595/gripper_left_tactile_contact_metrics.json
@@ -0,0 +1,12 @@
+{
+  "contact_time": 15.666666666666666,
+  "contact_ratio": 0.94,
+  "avg_contact_area": 4863.208510638298,
+  "contact_entropy": 0.5584876259463717,
+  "total_frames": 500,
+  "fps": 30.0,
+  "reference_frame_count": 0,
+  "dataset_name": "dag911262r00025a_lerobot_0327_114353",
+  "episode_index": 595,
+  "sensor": "gripper_left_tactile"
+}
\ No newline at end of file
diff --git a/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_09-30/outputs_tactile/tactile_cache/dag911262r00025a_lerobot_0327_114353_d7367074/episodes/ep000595/gripper_right_tactile_contact_metrics.json b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_09-30/outputs_tactile/tactile_cache/dag911262r00025a_lerobot_0327_114353_d7367074/episodes/ep000595/gripper_right_tactile_contact_metrics.json
new file mode 100644
index 0000000000000000000000000000000000000000..35095e7bf52c559ec6e451e751c41721d3dd710e
--- /dev/null
+++ b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_09-30/outputs_tactile/tactile_cache/dag911262r00025a_lerobot_0327_114353_d7367074/episodes/ep000595/gripper_right_tactile_contact_metrics.json
@@ -0,0 +1,12 @@
+{
+  "contact_time": 15.666666666666666,
+  "contact_ratio": 0.94,
+  "avg_contact_area": 8096.151063829787,
+  "contact_entropy": 0.6120413630177264,
+  "total_frames": 500,
+  "fps": 30.0,
+  "reference_frame_count": 0,
+  "dataset_name": "dag911262r00025a_lerobot_0327_114353",
+  "episode_index": 595,
+  "sensor": "gripper_right_tactile"
+}
\ No newline at end of file
diff --git a/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_09-30/outputs_tactile/tactile_cache/dag911262r00025a_lerobot_0327_114353_d7367074/episodes/ep000596/gripper_right_tactile_force_metrics.json b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_09-30/outputs_tactile/tactile_cache/dag911262r00025a_lerobot_0327_114353_d7367074/episodes/ep000596/gripper_right_tactile_force_metrics.json
new file mode 100644
index 0000000000000000000000000000000000000000..6853ceac30a9c2f4844428f1de81c081ea6d230f
--- /dev/null
+++ b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_09-30/outputs_tactile/tactile_cache/dag911262r00025a_lerobot_0327_114353_d7367074/episodes/ep000596/gripper_right_tactile_force_metrics.json
@@ -0,0 +1,9 @@
+{
+  "depth_peak": 0.004451693035662174,
+  "shear_peak": 0.003964513540267944,
+  "force_magnitude_peak": 0.004548953380435705,
+  "reference_frame_count": 0,
+  "dataset_name": "dag911262r00025a_lerobot_0327_114353",
+  "episode_index": 596,
+  "sensor": "gripper_right_tactile"
+}
\ No newline at end of file
diff --git a/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_09-30/outputs_tactile/tactile_cache/dag911262r00025a_lerobot_0327_114353_d7367074/episodes/ep000597/gripper_left_tactile_force_metrics.json b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_09-30/outputs_tactile/tactile_cache/dag911262r00025a_lerobot_0327_114353_d7367074/episodes/ep000597/gripper_left_tactile_force_metrics.json
new file mode 100644
index 0000000000000000000000000000000000000000..27da00982b6e7939220ff6f63a95b9d6d0596e05
--- /dev/null
+++ b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_09-30/outputs_tactile/tactile_cache/dag911262r00025a_lerobot_0327_114353_d7367074/episodes/ep000597/gripper_left_tactile_force_metrics.json
@@ -0,0 +1,9 @@
+{
+  "depth_peak": 0.004319905769079924,
+  "shear_peak": 0.003753025783225894,
+  "force_magnitude_peak": 0.005239550024271011,
+  "reference_frame_count": 0,
+  "dataset_name": "dag911262r00025a_lerobot_0327_114353",
+  "episode_index": 597,
+  "sensor": "gripper_left_tactile"
+}
\ No newline at end of file
diff --git a/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_09-30/outputs_tactile/tactile_cache/dag911262r00025a_lerobot_0327_114353_d7367074/episodes/ep000598/gripper_left_tactile_contact_metrics.json b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_09-30/outputs_tactile/tactile_cache/dag911262r00025a_lerobot_0327_114353_d7367074/episodes/ep000598/gripper_left_tactile_contact_metrics.json
new file mode 100644
index 0000000000000000000000000000000000000000..8bc3dfe17c04bc8729ba1a100756230b3eb012f5
--- /dev/null
+++ b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_09-30/outputs_tactile/tactile_cache/dag911262r00025a_lerobot_0327_114353_d7367074/episodes/ep000598/gripper_left_tactile_contact_metrics.json
@@ -0,0 +1,12 @@
+{
+  "contact_time": 13.0,
+  "contact_ratio": 0.9285714285714286,
+  "avg_contact_area": 7753.294871794872,
+  "contact_entropy": 0.7523519967044336,
+  "total_frames": 420,
+  "fps": 30.0,
+  "reference_frame_count": 0,
+  "dataset_name": "dag911262r00025a_lerobot_0327_114353",
+  "episode_index": 598,
+  "sensor": "gripper_left_tactile"
+}
\ No newline at end of file
diff --git a/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_09-30/outputs_tactile/tactile_cache/dag911262r00025a_lerobot_0327_114353_d7367074/episodes/ep000599/gripper_right_tactile_contact_metrics.json b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_09-30/outputs_tactile/tactile_cache/dag911262r00025a_lerobot_0327_114353_d7367074/episodes/ep000599/gripper_right_tactile_contact_metrics.json
new file mode 100644
index 0000000000000000000000000000000000000000..4c40e760d232ed6e96ba56287409b189db111206
--- /dev/null
+++ b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_09-30/outputs_tactile/tactile_cache/dag911262r00025a_lerobot_0327_114353_d7367074/episodes/ep000599/gripper_right_tactile_contact_metrics.json
@@ -0,0 +1,12 @@
+{
+  "contact_time": 24.866666666666667,
+  "contact_ratio": 1.0,
+  "avg_contact_area": 4127.680965147453,
+  "contact_entropy": 0.5560009956092015,
+  "total_frames": 746,
+  "fps": 30.0,
+  "reference_frame_count": 0,
+  "dataset_name": "dag911262r00025a_lerobot_0327_114353",
+  "episode_index": 599,
+  "sensor": "gripper_right_tactile"
+}
\ No newline at end of file
diff --git a/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_09-30/outputs_tactile/tactile_cache/dag911262r00025a_lerobot_0327_114353_d7367074/episodes/ep000601/gripper_right_tactile_force_metrics.json b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_09-30/outputs_tactile/tactile_cache/dag911262r00025a_lerobot_0327_114353_d7367074/episodes/ep000601/gripper_right_tactile_force_metrics.json
new file mode 100644
index 0000000000000000000000000000000000000000..f41b5872c6ec03c629700e5bd121beadea9bc99a
--- /dev/null
+++ b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_09-30/outputs_tactile/tactile_cache/dag911262r00025a_lerobot_0327_114353_d7367074/episodes/ep000601/gripper_right_tactile_force_metrics.json
@@ -0,0 +1,9 @@
+{
+  "depth_peak": 0.013188422657549381,
+  "shear_peak": 0.007473296020179987,
+  "force_magnitude_peak": 0.01350759994238615,
+  "reference_frame_count": 0,
+  "dataset_name": "dag911262r00025a_lerobot_0327_114353",
+  "episode_index": 601,
+  "sensor": "gripper_right_tactile"
+}
\ No newline at end of file
diff --git a/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_09-30/outputs_tactile/tactile_cache/dag911262r00025a_lerobot_0327_114353_d7367074/episodes/ep000605/gripper_right_tactile_force_metrics.json b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_09-30/outputs_tactile/tactile_cache/dag911262r00025a_lerobot_0327_114353_d7367074/episodes/ep000605/gripper_right_tactile_force_metrics.json
new file mode 100644
index 0000000000000000000000000000000000000000..e9371be6916d1e53683cc01f0c0e7a741577fe4e
--- /dev/null
+++ b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_09-30/outputs_tactile/tactile_cache/dag911262r00025a_lerobot_0327_114353_d7367074/episodes/ep000605/gripper_right_tactile_force_metrics.json
@@ -0,0 +1,9 @@
+{
+  "depth_peak": 0.008766173385083675,
+  "shear_peak": 0.00601560901850462,
+  "force_magnitude_peak": 0.010631714947521687,
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+  "dataset_name": "dag911262r00025a_lerobot_0327_114353",
+  "episode_index": 605,
+  "sensor": "gripper_right_tactile"
+}
\ No newline at end of file
diff --git a/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_09-30/outputs_tactile/tactile_cache/dag911262r00025a_lerobot_0327_114353_d7367074/episodes/ep000606/gripper_left_tactile_force_metrics.json b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_09-30/outputs_tactile/tactile_cache/dag911262r00025a_lerobot_0327_114353_d7367074/episodes/ep000606/gripper_left_tactile_force_metrics.json
new file mode 100644
index 0000000000000000000000000000000000000000..3f0835935fe435d55347580aee2383b7068d5112
--- /dev/null
+++ b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_09-30/outputs_tactile/tactile_cache/dag911262r00025a_lerobot_0327_114353_d7367074/episodes/ep000606/gripper_left_tactile_force_metrics.json
@@ -0,0 +1,9 @@
+{
+  "depth_peak": 0.007457406725734472,
+  "shear_peak": 0.008293023332953453,
+  "force_magnitude_peak": 0.01097515132278204,
+  "reference_frame_count": 0,
+  "dataset_name": "dag911262r00025a_lerobot_0327_114353",
+  "episode_index": 606,
+  "sensor": "gripper_left_tactile"
+}
\ No newline at end of file
diff --git a/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_09-30/outputs_tactile/tactile_cache/dag911262r00025a_lerobot_0327_114353_d7367074/episodes/ep000607/gripper_left_tactile_contact_metrics.json b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_09-30/outputs_tactile/tactile_cache/dag911262r00025a_lerobot_0327_114353_d7367074/episodes/ep000607/gripper_left_tactile_contact_metrics.json
new file mode 100644
index 0000000000000000000000000000000000000000..0eb5588581a28168bc164391b19981d358f82a58
--- /dev/null
+++ b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_09-30/outputs_tactile/tactile_cache/dag911262r00025a_lerobot_0327_114353_d7367074/episodes/ep000607/gripper_left_tactile_contact_metrics.json
@@ -0,0 +1,12 @@
+{
+  "contact_time": 20.833333333333332,
+  "contact_ratio": 0.9904912836767037,
+  "avg_contact_area": 3866.6304,
+  "contact_entropy": 0.27421683572897376,
+  "total_frames": 631,
+  "fps": 30.0,
+  "reference_frame_count": 0,
+  "dataset_name": "dag911262r00025a_lerobot_0327_114353",
+  "episode_index": 607,
+  "sensor": "gripper_left_tactile"
+}
\ No newline at end of file
diff --git a/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_09-30/outputs_tactile/tactile_cache/dag911262r00025a_lerobot_0327_114353_d7367074/episodes/ep000610/gripper_left_tactile_contact_metrics.json b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_09-30/outputs_tactile/tactile_cache/dag911262r00025a_lerobot_0327_114353_d7367074/episodes/ep000610/gripper_left_tactile_contact_metrics.json
new file mode 100644
index 0000000000000000000000000000000000000000..db42118c707f8699c40df8a9a0f65caa6c106190
--- /dev/null
+++ b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_09-30/outputs_tactile/tactile_cache/dag911262r00025a_lerobot_0327_114353_d7367074/episodes/ep000610/gripper_left_tactile_contact_metrics.json
@@ -0,0 +1,12 @@
+{
+  "contact_time": 18.3,
+  "contact_ratio": 0.9368600682593856,
+  "avg_contact_area": 9622.302367941713,
+  "contact_entropy": 0.4885466074107172,
+  "total_frames": 586,
+  "fps": 30.0,
+  "reference_frame_count": 0,
+  "dataset_name": "dag911262r00025a_lerobot_0327_114353",
+  "episode_index": 610,
+  "sensor": "gripper_left_tactile"
+}
\ No newline at end of file
diff --git a/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_09-30/outputs_tactile/tactile_cache/dag911262r00025a_lerobot_0327_114353_d7367074/episodes/ep000610/gripper_right_tactile_force_metrics.json b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_09-30/outputs_tactile/tactile_cache/dag911262r00025a_lerobot_0327_114353_d7367074/episodes/ep000610/gripper_right_tactile_force_metrics.json
new file mode 100644
index 0000000000000000000000000000000000000000..d2350127afcd39f814684905987887ce39bc44b7
--- /dev/null
+++ b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_09-30/outputs_tactile/tactile_cache/dag911262r00025a_lerobot_0327_114353_d7367074/episodes/ep000610/gripper_right_tactile_force_metrics.json
@@ -0,0 +1,9 @@
+{
+  "depth_peak": 0.010156998410820961,
+  "shear_peak": 0.007044689264148474,
+  "force_magnitude_peak": 0.010254522785544395,
+  "reference_frame_count": 0,
+  "dataset_name": "dag911262r00025a_lerobot_0327_114353",
+  "episode_index": 610,
+  "sensor": "gripper_right_tactile"
+}
\ No newline at end of file
diff --git a/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_09-30/outputs_tactile/tactile_cache/dag911262r00025a_lerobot_0327_114353_d7367074/episodes/ep000615/gripper_left_tactile_force_metrics.json b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_09-30/outputs_tactile/tactile_cache/dag911262r00025a_lerobot_0327_114353_d7367074/episodes/ep000615/gripper_left_tactile_force_metrics.json
new file mode 100644
index 0000000000000000000000000000000000000000..2e430f45506e92de7af1358d6ed5f26b41530dde
--- /dev/null
+++ b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_09-30/outputs_tactile/tactile_cache/dag911262r00025a_lerobot_0327_114353_d7367074/episodes/ep000615/gripper_left_tactile_force_metrics.json
@@ -0,0 +1,9 @@
+{
+  "depth_peak": 0.004495326429605484,
+  "shear_peak": 0.00982288271188736,
+  "force_magnitude_peak": 0.010650359094142914,
+  "reference_frame_count": 0,
+  "dataset_name": "dag911262r00025a_lerobot_0327_114353",
+  "episode_index": 615,
+  "sensor": "gripper_left_tactile"
+}
\ No newline at end of file
diff --git a/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_09-30/outputs_tactile/tactile_cache/dag911262r00025a_lerobot_0327_114353_d7367074/episodes/ep000620/gripper_right_tactile_contact_metrics.json b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_09-30/outputs_tactile/tactile_cache/dag911262r00025a_lerobot_0327_114353_d7367074/episodes/ep000620/gripper_right_tactile_contact_metrics.json
new file mode 100644
index 0000000000000000000000000000000000000000..6a82d5a8690274ef6d9cb74fb034d79d617cbcd5
--- /dev/null
+++ b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_09-30/outputs_tactile/tactile_cache/dag911262r00025a_lerobot_0327_114353_d7367074/episodes/ep000620/gripper_right_tactile_contact_metrics.json
@@ -0,0 +1,12 @@
+{
+  "contact_time": 19.433333333333334,
+  "contact_ratio": 1.0,
+  "avg_contact_area": 1588.0566037735848,
+  "contact_entropy": 0.17088682672598438,
+  "total_frames": 583,
+  "fps": 30.0,
+  "reference_frame_count": 0,
+  "dataset_name": "dag911262r00025a_lerobot_0327_114353",
+  "episode_index": 620,
+  "sensor": "gripper_right_tactile"
+}
\ No newline at end of file
diff --git a/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_09-30/outputs_tactile/tactile_cache/dag911262r00025a_lerobot_0327_114353_d7367074/episodes/ep000623/gripper_left_tactile_force_metrics.json b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_09-30/outputs_tactile/tactile_cache/dag911262r00025a_lerobot_0327_114353_d7367074/episodes/ep000623/gripper_left_tactile_force_metrics.json
new file mode 100644
index 0000000000000000000000000000000000000000..59f4c4bfbaddced0e3a54104440cd56098de73cd
--- /dev/null
+++ b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_09-30/outputs_tactile/tactile_cache/dag911262r00025a_lerobot_0327_114353_d7367074/episodes/ep000623/gripper_left_tactile_force_metrics.json
@@ -0,0 +1,9 @@
+{
+  "depth_peak": 0.016089318320155144,
+  "shear_peak": 0.0075004203245043755,
+  "force_magnitude_peak": 0.017694270238280296,
+  "reference_frame_count": 0,
+  "dataset_name": "dag911262r00025a_lerobot_0327_114353",
+  "episode_index": 623,
+  "sensor": "gripper_left_tactile"
+}
\ No newline at end of file
diff --git a/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_09-30/outputs_tactile/tactile_cache/dag911262r00025a_lerobot_0327_114353_d7367074/episodes/ep000625/gripper_left_tactile_force_metrics.json b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_09-30/outputs_tactile/tactile_cache/dag911262r00025a_lerobot_0327_114353_d7367074/episodes/ep000625/gripper_left_tactile_force_metrics.json
new file mode 100644
index 0000000000000000000000000000000000000000..71c92f4fa39f2c2a519ffc55400a27a004358d38
--- /dev/null
+++ b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_09-30/outputs_tactile/tactile_cache/dag911262r00025a_lerobot_0327_114353_d7367074/episodes/ep000625/gripper_left_tactile_force_metrics.json
@@ -0,0 +1,9 @@
+{
+  "depth_peak": 0.017659859731793404,
+  "shear_peak": 0.00731267174705863,
+  "force_magnitude_peak": 0.018348664045333862,
+  "reference_frame_count": 0,
+  "dataset_name": "dag911262r00025a_lerobot_0327_114353",
+  "episode_index": 625,
+  "sensor": "gripper_left_tactile"
+}
\ No newline at end of file
diff --git a/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_09-30/outputs_tactile/tactile_cache/dag911262r00025a_lerobot_0327_114353_d7367074/episodes/ep000628/gripper_left_tactile_contact_metrics.json b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_09-30/outputs_tactile/tactile_cache/dag911262r00025a_lerobot_0327_114353_d7367074/episodes/ep000628/gripper_left_tactile_contact_metrics.json
new file mode 100644
index 0000000000000000000000000000000000000000..4b9b56d4c5bdace94d96a2c7195aced652a498ed
--- /dev/null
+++ b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_09-30/outputs_tactile/tactile_cache/dag911262r00025a_lerobot_0327_114353_d7367074/episodes/ep000628/gripper_left_tactile_contact_metrics.json
@@ -0,0 +1,12 @@
+{
+  "contact_time": 17.633333333333333,
+  "contact_ratio": 0.8950930626057529,
+  "avg_contact_area": 1636.897920604915,
+  "contact_entropy": 0.4141984753936774,
+  "total_frames": 591,
+  "fps": 30.0,
+  "reference_frame_count": 0,
+  "dataset_name": "dag911262r00025a_lerobot_0327_114353",
+  "episode_index": 628,
+  "sensor": "gripper_left_tactile"
+}
\ No newline at end of file
diff --git a/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_09-30/outputs_tactile/tactile_cache/dag911262r00025a_lerobot_0327_114353_d7367074/episodes/ep000628/gripper_right_tactile_contact_metrics.json b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_09-30/outputs_tactile/tactile_cache/dag911262r00025a_lerobot_0327_114353_d7367074/episodes/ep000628/gripper_right_tactile_contact_metrics.json
new file mode 100644
index 0000000000000000000000000000000000000000..523111cdf8198a6a124f128f2c67477960a8d3f1
--- /dev/null
+++ b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_09-30/outputs_tactile/tactile_cache/dag911262r00025a_lerobot_0327_114353_d7367074/episodes/ep000628/gripper_right_tactile_contact_metrics.json
@@ -0,0 +1,12 @@
+{
+  "contact_time": 17.733333333333334,
+  "contact_ratio": 0.9001692047377327,
+  "avg_contact_area": 3335.2875939849623,
+  "contact_entropy": 0.3959132046975387,
+  "total_frames": 591,
+  "fps": 30.0,
+  "reference_frame_count": 0,
+  "dataset_name": "dag911262r00025a_lerobot_0327_114353",
+  "episode_index": 628,
+  "sensor": "gripper_right_tactile"
+}
\ No newline at end of file
diff --git a/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_09-30/outputs_tactile/tactile_cache/dag911262r00025a_lerobot_0327_114353_d7367074/episodes/ep000630/gripper_right_tactile_contact_metrics.json b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_09-30/outputs_tactile/tactile_cache/dag911262r00025a_lerobot_0327_114353_d7367074/episodes/ep000630/gripper_right_tactile_contact_metrics.json
new file mode 100644
index 0000000000000000000000000000000000000000..381a4052575b94a01d21508128dd7b8656547da5
--- /dev/null
+++ b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_09-30/outputs_tactile/tactile_cache/dag911262r00025a_lerobot_0327_114353_d7367074/episodes/ep000630/gripper_right_tactile_contact_metrics.json
@@ -0,0 +1,12 @@
+{
+  "contact_time": 28.466666666666665,
+  "contact_ratio": 0.9964994165694282,
+  "avg_contact_area": 1529.208430913349,
+  "contact_entropy": 0.36778655985786074,
+  "total_frames": 857,
+  "fps": 30.0,
+  "reference_frame_count": 0,
+  "dataset_name": "dag911262r00025a_lerobot_0327_114353",
+  "episode_index": 630,
+  "sensor": "gripper_right_tactile"
+}
\ No newline at end of file
diff --git a/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_09-30/outputs_tactile/tactile_cache/dag911262r00025a_lerobot_0327_114353_d7367074/episodes/ep000630/gripper_right_tactile_force_metrics.json b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_09-30/outputs_tactile/tactile_cache/dag911262r00025a_lerobot_0327_114353_d7367074/episodes/ep000630/gripper_right_tactile_force_metrics.json
new file mode 100644
index 0000000000000000000000000000000000000000..ec05d5a26c68c6e6456dd72b726ba4e1670713fe
--- /dev/null
+++ b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_09-30/outputs_tactile/tactile_cache/dag911262r00025a_lerobot_0327_114353_d7367074/episodes/ep000630/gripper_right_tactile_force_metrics.json
@@ -0,0 +1,9 @@
+{
+  "depth_peak": 0.005725200287997723,
+  "shear_peak": 0.004255402833223343,
+  "force_magnitude_peak": 0.0058222608640789986,
+  "reference_frame_count": 0,
+  "dataset_name": "dag911262r00025a_lerobot_0327_114353",
+  "episode_index": 630,
+  "sensor": "gripper_right_tactile"
+}
\ No newline at end of file
diff --git a/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_09-30/outputs_tactile/tactile_cache/dag911262r00025a_lerobot_0327_114353_d7367074/episodes/ep000635/gripper_left_tactile_contact_metrics.json b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_09-30/outputs_tactile/tactile_cache/dag911262r00025a_lerobot_0327_114353_d7367074/episodes/ep000635/gripper_left_tactile_contact_metrics.json
new file mode 100644
index 0000000000000000000000000000000000000000..1fe96e00f5c115923330abc65b4e4cbd44788ae2
--- /dev/null
+++ b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_09-30/outputs_tactile/tactile_cache/dag911262r00025a_lerobot_0327_114353_d7367074/episodes/ep000635/gripper_left_tactile_contact_metrics.json
@@ -0,0 +1,12 @@
+{
+  "contact_time": 13.0,
+  "contact_ratio": 0.9397590361445783,
+  "avg_contact_area": 3758.853846153846,
+  "contact_entropy": 0.3163943862585059,
+  "total_frames": 415,
+  "fps": 30.0,
+  "reference_frame_count": 0,
+  "dataset_name": "dag911262r00025a_lerobot_0327_114353",
+  "episode_index": 635,
+  "sensor": "gripper_left_tactile"
+}
\ No newline at end of file
diff --git a/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_09-30/outputs_tactile/tactile_cache/dag911262r00025a_lerobot_0327_114353_d7367074/episodes/ep000635/gripper_right_tactile_contact_metrics.json b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_09-30/outputs_tactile/tactile_cache/dag911262r00025a_lerobot_0327_114353_d7367074/episodes/ep000635/gripper_right_tactile_contact_metrics.json
new file mode 100644
index 0000000000000000000000000000000000000000..bb51951f9c42ce7d49e0302421fa15dada5b7709
--- /dev/null
+++ b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_09-30/outputs_tactile/tactile_cache/dag911262r00025a_lerobot_0327_114353_d7367074/episodes/ep000635/gripper_right_tactile_contact_metrics.json
@@ -0,0 +1,12 @@
+{
+  "contact_time": 13.1,
+  "contact_ratio": 0.946987951807229,
+  "avg_contact_area": 3751.47582697201,
+  "contact_entropy": 0.3435990709979854,
+  "total_frames": 415,
+  "fps": 30.0,
+  "reference_frame_count": 0,
+  "dataset_name": "dag911262r00025a_lerobot_0327_114353",
+  "episode_index": 635,
+  "sensor": "gripper_right_tactile"
+}
\ No newline at end of file
diff --git a/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_09-30/outputs_tactile/tactile_cache/dag911262r00025a_lerobot_0327_114353_d7367074/episodes/ep000636/gripper_right_tactile_force_metrics.json b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_09-30/outputs_tactile/tactile_cache/dag911262r00025a_lerobot_0327_114353_d7367074/episodes/ep000636/gripper_right_tactile_force_metrics.json
new file mode 100644
index 0000000000000000000000000000000000000000..8714128b7f205f4aa3be257cc7f4b18fd00f1666
--- /dev/null
+++ b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_09-30/outputs_tactile/tactile_cache/dag911262r00025a_lerobot_0327_114353_d7367074/episodes/ep000636/gripper_right_tactile_force_metrics.json
@@ -0,0 +1,9 @@
+{
+  "depth_peak": 0.0051726787351071835,
+  "shear_peak": 0.004543243441730738,
+  "force_magnitude_peak": 0.006848317105323076,
+  "reference_frame_count": 0,
+  "dataset_name": "dag911262r00025a_lerobot_0327_114353",
+  "episode_index": 636,
+  "sensor": "gripper_right_tactile"
+}
\ No newline at end of file
diff --git a/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_09-30/outputs_tactile/tactile_cache/dag911262r00025a_lerobot_0327_114353_d7367074/episodes/ep000637/gripper_left_tactile_force_metrics.json b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_09-30/outputs_tactile/tactile_cache/dag911262r00025a_lerobot_0327_114353_d7367074/episodes/ep000637/gripper_left_tactile_force_metrics.json
new file mode 100644
index 0000000000000000000000000000000000000000..64853ce96cdb5612490de4d137affa42371e2f59
--- /dev/null
+++ b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_09-30/outputs_tactile/tactile_cache/dag911262r00025a_lerobot_0327_114353_d7367074/episodes/ep000637/gripper_left_tactile_force_metrics.json
@@ -0,0 +1,9 @@
+{
+  "depth_peak": 0.01685655675828457,
+  "shear_peak": 0.009016198106110096,
+  "force_magnitude_peak": 0.016869526356458664,
+  "reference_frame_count": 0,
+  "dataset_name": "dag911262r00025a_lerobot_0327_114353",
+  "episode_index": 637,
+  "sensor": "gripper_left_tactile"
+}
\ No newline at end of file
diff --git a/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_09-30/outputs_tactile/tactile_cache/dag911262r00025a_lerobot_0327_114353_d7367074/episodes/ep000638/gripper_left_tactile_contact_metrics.json b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_09-30/outputs_tactile/tactile_cache/dag911262r00025a_lerobot_0327_114353_d7367074/episodes/ep000638/gripper_left_tactile_contact_metrics.json
new file mode 100644
index 0000000000000000000000000000000000000000..f921ab2e22f3ec2cc2dff6819f4ecf3a404659d0
--- /dev/null
+++ b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_09-30/outputs_tactile/tactile_cache/dag911262r00025a_lerobot_0327_114353_d7367074/episodes/ep000638/gripper_left_tactile_contact_metrics.json
@@ -0,0 +1,12 @@
+{
+  "contact_time": 19.333333333333332,
+  "contact_ratio": 1.0,
+  "avg_contact_area": 1631.5448275862068,
+  "contact_entropy": 0.01887145238498528,
+  "total_frames": 580,
+  "fps": 30.0,
+  "reference_frame_count": 0,
+  "dataset_name": "dag911262r00025a_lerobot_0327_114353",
+  "episode_index": 638,
+  "sensor": "gripper_left_tactile"
+}
\ No newline at end of file
diff --git a/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_09-30/outputs_tactile/tactile_cache/dag911262r00025a_lerobot_0327_114353_d7367074/episodes/ep000639/gripper_right_tactile_contact_metrics.json b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_09-30/outputs_tactile/tactile_cache/dag911262r00025a_lerobot_0327_114353_d7367074/episodes/ep000639/gripper_right_tactile_contact_metrics.json
new file mode 100644
index 0000000000000000000000000000000000000000..837e1e1b9eab0f5f0bfe6aec88353518e0772ab8
--- /dev/null
+++ b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_09-30/outputs_tactile/tactile_cache/dag911262r00025a_lerobot_0327_114353_d7367074/episodes/ep000639/gripper_right_tactile_contact_metrics.json
@@ -0,0 +1,12 @@
+{
+  "contact_time": 17.266666666666666,
+  "contact_ratio": 1.0,
+  "avg_contact_area": 6041.897683397683,
+  "contact_entropy": 0.5478595088470148,
+  "total_frames": 518,
+  "fps": 30.0,
+  "reference_frame_count": 0,
+  "dataset_name": "dag911262r00025a_lerobot_0327_114353",
+  "episode_index": 639,
+  "sensor": "gripper_right_tactile"
+}
\ No newline at end of file
diff --git a/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_09-30/outputs_tactile/tactile_cache/dag911262r00025a_lerobot_0327_114353_d7367074/episodes/ep000641/gripper_right_tactile_force_metrics.json b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_09-30/outputs_tactile/tactile_cache/dag911262r00025a_lerobot_0327_114353_d7367074/episodes/ep000641/gripper_right_tactile_force_metrics.json
new file mode 100644
index 0000000000000000000000000000000000000000..afb2aebd80c5901dca8d66dd6a655b6113ff51df
--- /dev/null
+++ b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_09-30/outputs_tactile/tactile_cache/dag911262r00025a_lerobot_0327_114353_d7367074/episodes/ep000641/gripper_right_tactile_force_metrics.json
@@ -0,0 +1,9 @@
+{
+  "depth_peak": 0.008499558083713055,
+  "shear_peak": 0.0035655731335282326,
+  "force_magnitude_peak": 0.009217146784067154,
+  "reference_frame_count": 0,
+  "dataset_name": "dag911262r00025a_lerobot_0327_114353",
+  "episode_index": 641,
+  "sensor": "gripper_right_tactile"
+}
\ No newline at end of file
diff --git a/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_09-30/outputs_tactile/tactile_cache/dag911262r00025a_lerobot_0327_114353_d7367074/episodes/ep000645/gripper_right_tactile_force_metrics.json b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_09-30/outputs_tactile/tactile_cache/dag911262r00025a_lerobot_0327_114353_d7367074/episodes/ep000645/gripper_right_tactile_force_metrics.json
new file mode 100644
index 0000000000000000000000000000000000000000..c72ba6de5cc517e001b293bf7f3134b1df8256e6
--- /dev/null
+++ b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_09-30/outputs_tactile/tactile_cache/dag911262r00025a_lerobot_0327_114353_d7367074/episodes/ep000645/gripper_right_tactile_force_metrics.json
@@ -0,0 +1,9 @@
+{
+  "depth_peak": 0.018845418468117714,
+  "shear_peak": 0.005572942551225424,
+  "force_magnitude_peak": 0.019098354503512383,
+  "reference_frame_count": 0,
+  "dataset_name": "dag911262r00025a_lerobot_0327_114353",
+  "episode_index": 645,
+  "sensor": "gripper_right_tactile"
+}
\ No newline at end of file
diff --git a/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_09-30/outputs_tactile/tactile_cache/dag911262r00025a_lerobot_0327_114353_d7367074/episodes/ep000646/gripper_left_tactile_force_metrics.json b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_09-30/outputs_tactile/tactile_cache/dag911262r00025a_lerobot_0327_114353_d7367074/episodes/ep000646/gripper_left_tactile_force_metrics.json
new file mode 100644
index 0000000000000000000000000000000000000000..204819d8f40b92bd644a27d499e901412ae19423
--- /dev/null
+++ b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_09-30/outputs_tactile/tactile_cache/dag911262r00025a_lerobot_0327_114353_d7367074/episodes/ep000646/gripper_left_tactile_force_metrics.json
@@ -0,0 +1,9 @@
+{
+  "depth_peak": 0.004963443148881197,
+  "shear_peak": 0.00495122279971838,
+  "force_magnitude_peak": 0.0050296480767428875,
+  "reference_frame_count": 0,
+  "dataset_name": "dag911262r00025a_lerobot_0327_114353",
+  "episode_index": 646,
+  "sensor": "gripper_left_tactile"
+}
\ No newline at end of file
diff --git a/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_09-30/outputs_tactile/tactile_cache/dag911262r00025a_lerobot_0327_114353_d7367074/episodes/ep000647/gripper_left_tactile_contact_metrics.json b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_09-30/outputs_tactile/tactile_cache/dag911262r00025a_lerobot_0327_114353_d7367074/episodes/ep000647/gripper_left_tactile_contact_metrics.json
new file mode 100644
index 0000000000000000000000000000000000000000..233000920b4e0dcd70f0cf147f2184c34321fa65
--- /dev/null
+++ b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_09-30/outputs_tactile/tactile_cache/dag911262r00025a_lerobot_0327_114353_d7367074/episodes/ep000647/gripper_left_tactile_contact_metrics.json
@@ -0,0 +1,12 @@
+{
+  "contact_time": 16.8,
+  "contact_ratio": 0.96,
+  "avg_contact_area": 2765.8869047619046,
+  "contact_entropy": 0.21927910593667999,
+  "total_frames": 525,
+  "fps": 30.0,
+  "reference_frame_count": 0,
+  "dataset_name": "dag911262r00025a_lerobot_0327_114353",
+  "episode_index": 647,
+  "sensor": "gripper_left_tactile"
+}
\ No newline at end of file
diff --git a/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_09-30/outputs_tactile/tactile_cache/dag911262r00025a_lerobot_0327_114353_d7367074/episodes/ep000650/gripper_left_tactile_contact_metrics.json b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_09-30/outputs_tactile/tactile_cache/dag911262r00025a_lerobot_0327_114353_d7367074/episodes/ep000650/gripper_left_tactile_contact_metrics.json
new file mode 100644
index 0000000000000000000000000000000000000000..ecb770e17ae874aef579a0b2c4fbd0c4c898ef9f
--- /dev/null
+++ b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_09-30/outputs_tactile/tactile_cache/dag911262r00025a_lerobot_0327_114353_d7367074/episodes/ep000650/gripper_left_tactile_contact_metrics.json
@@ -0,0 +1,12 @@
+{
+  "contact_time": 21.9,
+  "contact_ratio": 0.9163179916317992,
+  "avg_contact_area": 1510.0821917808219,
+  "contact_entropy": 0.20638073782621094,
+  "total_frames": 717,
+  "fps": 30.0,
+  "reference_frame_count": 0,
+  "dataset_name": "dag911262r00025a_lerobot_0327_114353",
+  "episode_index": 650,
+  "sensor": "gripper_left_tactile"
+}
\ No newline at end of file
diff --git a/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_09-30/outputs_tactile/tactile_cache/dag911262r00025a_lerobot_0327_114353_d7367074/episodes/ep000650/gripper_right_tactile_force_metrics.json b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_09-30/outputs_tactile/tactile_cache/dag911262r00025a_lerobot_0327_114353_d7367074/episodes/ep000650/gripper_right_tactile_force_metrics.json
new file mode 100644
index 0000000000000000000000000000000000000000..837f18101d8274888b50faa0ac2ed5a1f11f0f35
--- /dev/null
+++ b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_09-30/outputs_tactile/tactile_cache/dag911262r00025a_lerobot_0327_114353_d7367074/episodes/ep000650/gripper_right_tactile_force_metrics.json
@@ -0,0 +1,9 @@
+{
+  "depth_peak": 0.0041943700052797794,
+  "shear_peak": 0.004563441500067711,
+  "force_magnitude_peak": 0.005560931283980608,
+  "reference_frame_count": 0,
+  "dataset_name": "dag911262r00025a_lerobot_0327_114353",
+  "episode_index": 650,
+  "sensor": "gripper_right_tactile"
+}
\ No newline at end of file
diff --git a/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_09-30/outputs_tactile/tactile_cache/dag911262r00025a_lerobot_0327_114353_d7367074/episodes/ep000656/gripper_right_tactile_contact_metrics.json b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_09-30/outputs_tactile/tactile_cache/dag911262r00025a_lerobot_0327_114353_d7367074/episodes/ep000656/gripper_right_tactile_contact_metrics.json
new file mode 100644
index 0000000000000000000000000000000000000000..8e011872d3989c8d2759aeeee9d3f5f5d355dd09
--- /dev/null
+++ b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_09-30/outputs_tactile/tactile_cache/dag911262r00025a_lerobot_0327_114353_d7367074/episodes/ep000656/gripper_right_tactile_contact_metrics.json
@@ -0,0 +1,12 @@
+{
+  "contact_time": 23.533333333333335,
+  "contact_ratio": 0.988795518207283,
+  "avg_contact_area": 5988.182719546742,
+  "contact_entropy": 0.5541415097252345,
+  "total_frames": 714,
+  "fps": 30.0,
+  "reference_frame_count": 0,
+  "dataset_name": "dag911262r00025a_lerobot_0327_114353",
+  "episode_index": 656,
+  "sensor": "gripper_right_tactile"
+}
\ No newline at end of file
diff --git a/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_09-30/outputs_tactile/tactile_cache/dag911262r00025a_lerobot_0327_114353_d7367074/episodes/ep000657/gripper_right_tactile_force_metrics.json b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_09-30/outputs_tactile/tactile_cache/dag911262r00025a_lerobot_0327_114353_d7367074/episodes/ep000657/gripper_right_tactile_force_metrics.json
new file mode 100644
index 0000000000000000000000000000000000000000..02231aa5a8cbfa463244cb9b0409ceca4a1ce136
--- /dev/null
+++ b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_09-30/outputs_tactile/tactile_cache/dag911262r00025a_lerobot_0327_114353_d7367074/episodes/ep000657/gripper_right_tactile_force_metrics.json
@@ -0,0 +1,9 @@
+{
+  "depth_peak": 0.010512422770261765,
+  "shear_peak": 0.007719460874795914,
+  "force_magnitude_peak": 0.01153284590691328,
+  "reference_frame_count": 0,
+  "dataset_name": "dag911262r00025a_lerobot_0327_114353",
+  "episode_index": 657,
+  "sensor": "gripper_right_tactile"
+}
\ No newline at end of file
diff --git a/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_09-30/outputs_tactile/tactile_cache/dag911262r00025a_lerobot_0327_114353_d7367074/episodes/ep000660/gripper_left_tactile_force_metrics.json b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_09-30/outputs_tactile/tactile_cache/dag911262r00025a_lerobot_0327_114353_d7367074/episodes/ep000660/gripper_left_tactile_force_metrics.json
new file mode 100644
index 0000000000000000000000000000000000000000..c88f9801d48c718512ef0186b92ea5367337b755
--- /dev/null
+++ b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_09-30/outputs_tactile/tactile_cache/dag911262r00025a_lerobot_0327_114353_d7367074/episodes/ep000660/gripper_left_tactile_force_metrics.json
@@ -0,0 +1,9 @@
+{
+  "depth_peak": 0.0094888461753726,
+  "shear_peak": 0.0026023108512163162,
+  "force_magnitude_peak": 0.00955451000481844,
+  "reference_frame_count": 0,
+  "dataset_name": "dag911262r00025a_lerobot_0327_114353",
+  "episode_index": 660,
+  "sensor": "gripper_left_tactile"
+}
\ No newline at end of file
diff --git a/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_09-30/outputs_tactile/tactile_cache/dag911262r00025a_lerobot_0327_114353_d7367074/episodes/ep000663/gripper_left_tactile_contact_metrics.json b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_09-30/outputs_tactile/tactile_cache/dag911262r00025a_lerobot_0327_114353_d7367074/episodes/ep000663/gripper_left_tactile_contact_metrics.json
new file mode 100644
index 0000000000000000000000000000000000000000..2c8df3d32cf9012b074fb2e5fcaf62fb0c34af68
--- /dev/null
+++ b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_09-30/outputs_tactile/tactile_cache/dag911262r00025a_lerobot_0327_114353_d7367074/episodes/ep000663/gripper_left_tactile_contact_metrics.json
@@ -0,0 +1,12 @@
+{
+  "contact_time": 17.866666666666667,
+  "contact_ratio": 0.8963210702341137,
+  "avg_contact_area": 2043.6511194029852,
+  "contact_entropy": 0.30201383802957726,
+  "total_frames": 598,
+  "fps": 30.0,
+  "reference_frame_count": 0,
+  "dataset_name": "dag911262r00025a_lerobot_0327_114353",
+  "episode_index": 663,
+  "sensor": "gripper_left_tactile"
+}
\ No newline at end of file
diff --git a/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_09-30/outputs_tactile/tactile_cache/dag911262r00025a_lerobot_0327_114353_d7367074/episodes/ep000666/gripper_left_tactile_force_metrics.json b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_09-30/outputs_tactile/tactile_cache/dag911262r00025a_lerobot_0327_114353_d7367074/episodes/ep000666/gripper_left_tactile_force_metrics.json
new file mode 100644
index 0000000000000000000000000000000000000000..f10fe079cd123c376b38e2198c4d73320115573e
--- /dev/null
+++ b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_09-30/outputs_tactile/tactile_cache/dag911262r00025a_lerobot_0327_114353_d7367074/episodes/ep000666/gripper_left_tactile_force_metrics.json
@@ -0,0 +1,9 @@
+{
+  "depth_peak": 0.007185503840446472,
+  "shear_peak": 0.006504124496132135,
+  "force_magnitude_peak": 0.007457658648490906,
+  "reference_frame_count": 0,
+  "dataset_name": "dag911262r00025a_lerobot_0327_114353",
+  "episode_index": 666,
+  "sensor": "gripper_left_tactile"
+}
\ No newline at end of file
diff --git a/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_09-30/outputs_tactile/tactile_cache/dag911262r00025a_lerobot_0327_114353_d7367074/episodes/ep000667/gripper_left_tactile_contact_metrics.json b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_09-30/outputs_tactile/tactile_cache/dag911262r00025a_lerobot_0327_114353_d7367074/episodes/ep000667/gripper_left_tactile_contact_metrics.json
new file mode 100644
index 0000000000000000000000000000000000000000..1df58bf51d1740c994da9aed96c007d676b0ab1e
--- /dev/null
+++ b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_09-30/outputs_tactile/tactile_cache/dag911262r00025a_lerobot_0327_114353_d7367074/episodes/ep000667/gripper_left_tactile_contact_metrics.json
@@ -0,0 +1,12 @@
+{
+  "contact_time": 16.833333333333332,
+  "contact_ratio": 0.8985765124555161,
+  "avg_contact_area": 6956.0178217821785,
+  "contact_entropy": 0.49343156408372685,
+  "total_frames": 562,
+  "fps": 30.0,
+  "reference_frame_count": 0,
+  "dataset_name": "dag911262r00025a_lerobot_0327_114353",
+  "episode_index": 667,
+  "sensor": "gripper_left_tactile"
+}
\ No newline at end of file
diff --git a/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_09-30/outputs_tactile/tactile_cache/dag911262r00025a_lerobot_0327_114353_d7367074/episodes/ep000668/gripper_right_tactile_contact_metrics.json b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_09-30/outputs_tactile/tactile_cache/dag911262r00025a_lerobot_0327_114353_d7367074/episodes/ep000668/gripper_right_tactile_contact_metrics.json
new file mode 100644
index 0000000000000000000000000000000000000000..c1ca56b0ccc4f597c54fc9ae1154909c05c3ab60
--- /dev/null
+++ b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_09-30/outputs_tactile/tactile_cache/dag911262r00025a_lerobot_0327_114353_d7367074/episodes/ep000668/gripper_right_tactile_contact_metrics.json
@@ -0,0 +1,12 @@
+{
+  "contact_time": 21.366666666666667,
+  "contact_ratio": 0.946824224519941,
+  "avg_contact_area": 2121.173166926677,
+  "contact_entropy": 0.31063790754953424,
+  "total_frames": 677,
+  "fps": 30.0,
+  "reference_frame_count": 0,
+  "dataset_name": "dag911262r00025a_lerobot_0327_114353",
+  "episode_index": 668,
+  "sensor": "gripper_right_tactile"
+}
\ No newline at end of file
diff --git a/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_09-30/outputs_tactile/tactile_cache/dag911262r00025a_lerobot_0327_114353_d7367074/episodes/ep000669/gripper_left_tactile_force_metrics.json b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_09-30/outputs_tactile/tactile_cache/dag911262r00025a_lerobot_0327_114353_d7367074/episodes/ep000669/gripper_left_tactile_force_metrics.json
new file mode 100644
index 0000000000000000000000000000000000000000..bbd4dc2980d30d42df1990e27b63c195358f4b86
--- /dev/null
+++ b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_09-30/outputs_tactile/tactile_cache/dag911262r00025a_lerobot_0327_114353_d7367074/episodes/ep000669/gripper_left_tactile_force_metrics.json
@@ -0,0 +1,9 @@
+{
+  "depth_peak": 0.012290921062231064,
+  "shear_peak": 0.004227254074066877,
+  "force_magnitude_peak": 0.01285361684858799,
+  "reference_frame_count": 0,
+  "dataset_name": "dag911262r00025a_lerobot_0327_114353",
+  "episode_index": 669,
+  "sensor": "gripper_left_tactile"
+}
\ No newline at end of file
diff --git a/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_09-30/outputs_tactile/tactile_cache/dag911262r00025a_lerobot_0327_114353_d7367074/episodes/ep000669/gripper_right_tactile_force_metrics.json b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_09-30/outputs_tactile/tactile_cache/dag911262r00025a_lerobot_0327_114353_d7367074/episodes/ep000669/gripper_right_tactile_force_metrics.json
new file mode 100644
index 0000000000000000000000000000000000000000..990c19ccda9a665c169ab6aabbaa14deea9ca665
--- /dev/null
+++ b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_09-30/outputs_tactile/tactile_cache/dag911262r00025a_lerobot_0327_114353_d7367074/episodes/ep000669/gripper_right_tactile_force_metrics.json
@@ -0,0 +1,9 @@
+{
+  "depth_peak": 0.017509549856185913,
+  "shear_peak": 0.012059926055371761,
+  "force_magnitude_peak": 0.019340001046657562,
+  "reference_frame_count": 0,
+  "dataset_name": "dag911262r00025a_lerobot_0327_114353",
+  "episode_index": 669,
+  "sensor": "gripper_right_tactile"
+}
\ No newline at end of file
diff --git a/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_09-30/outputs_tactile/tactile_cache/dag911262r00035d_lerobot_0327_114353_7434c583/episodes/ep000003/gripper_right_tactile_contact_metrics.json b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_09-30/outputs_tactile/tactile_cache/dag911262r00035d_lerobot_0327_114353_7434c583/episodes/ep000003/gripper_right_tactile_contact_metrics.json
new file mode 100644
index 0000000000000000000000000000000000000000..237e16e3c366fd046e15bcc37b1aba8cad56331f
--- /dev/null
+++ b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_09-30/outputs_tactile/tactile_cache/dag911262r00035d_lerobot_0327_114353_7434c583/episodes/ep000003/gripper_right_tactile_contact_metrics.json
@@ -0,0 +1,12 @@
+{
+  "contact_time": 3.533333333333333,
+  "contact_ratio": 0.6424242424242425,
+  "avg_contact_area": 1760.4622641509434,
+  "contact_entropy": 0.26903301358610504,
+  "total_frames": 165,
+  "fps": 30.0,
+  "reference_frame_count": 0,
+  "dataset_name": "dag911262r00035d_lerobot_0327_114353",
+  "episode_index": 3,
+  "sensor": "gripper_right_tactile"
+}
\ No newline at end of file
diff --git a/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_09-30/outputs_tactile/tactile_cache/dag911262r00035d_lerobot_0327_114353_7434c583/episodes/ep000005/gripper_right_tactile_force_metrics.json b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_09-30/outputs_tactile/tactile_cache/dag911262r00035d_lerobot_0327_114353_7434c583/episodes/ep000005/gripper_right_tactile_force_metrics.json
new file mode 100644
index 0000000000000000000000000000000000000000..539c9eaa166e60e41bb2c8b5e2177fc4cb450dea
--- /dev/null
+++ b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_09-30/outputs_tactile/tactile_cache/dag911262r00035d_lerobot_0327_114353_7434c583/episodes/ep000005/gripper_right_tactile_force_metrics.json
@@ -0,0 +1,9 @@
+{
+  "depth_peak": 0.004153423011302948,
+  "shear_peak": 0.0026858553756028414,
+  "force_magnitude_peak": 0.004329026211053133,
+  "reference_frame_count": 0,
+  "dataset_name": "dag911262r00035d_lerobot_0327_114353",
+  "episode_index": 5,
+  "sensor": "gripper_right_tactile"
+}
\ No newline at end of file
diff --git a/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_09-30/outputs_tactile/tactile_cache/dag911262r00035d_lerobot_0327_114353_7434c583/episodes/ep000006/gripper_left_tactile_force_metrics.json b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_09-30/outputs_tactile/tactile_cache/dag911262r00035d_lerobot_0327_114353_7434c583/episodes/ep000006/gripper_left_tactile_force_metrics.json
new file mode 100644
index 0000000000000000000000000000000000000000..df9e3c59b6036ab2027c61285ba5530c4ea8b132
--- /dev/null
+++ b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_09-30/outputs_tactile/tactile_cache/dag911262r00035d_lerobot_0327_114353_7434c583/episodes/ep000006/gripper_left_tactile_force_metrics.json
@@ -0,0 +1,9 @@
+{
+  "depth_peak": 0.000837716565001756,
+  "shear_peak": 0.0023619327694177628,
+  "force_magnitude_peak": 0.002499672118574381,
+  "reference_frame_count": 0,
+  "dataset_name": "dag911262r00035d_lerobot_0327_114353",
+  "episode_index": 6,
+  "sensor": "gripper_left_tactile"
+}
\ No newline at end of file
diff --git a/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_09-30/outputs_tactile/tactile_cache/dag911262r00035d_lerobot_0327_114353_7434c583/episodes/ep000009/gripper_right_tactile_contact_metrics.json b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_09-30/outputs_tactile/tactile_cache/dag911262r00035d_lerobot_0327_114353_7434c583/episodes/ep000009/gripper_right_tactile_contact_metrics.json
new file mode 100644
index 0000000000000000000000000000000000000000..4fed0ebc6e5313c477c83c4181a20c90219843e4
--- /dev/null
+++ b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_09-30/outputs_tactile/tactile_cache/dag911262r00035d_lerobot_0327_114353_7434c583/episodes/ep000009/gripper_right_tactile_contact_metrics.json
@@ -0,0 +1,12 @@
+{
+  "contact_time": 6.233333333333333,
+  "contact_ratio": 0.6538461538461539,
+  "avg_contact_area": 1016.5401069518716,
+  "contact_entropy": 0.07504042810882079,
+  "total_frames": 286,
+  "fps": 30.0,
+  "reference_frame_count": 0,
+  "dataset_name": "dag911262r00035d_lerobot_0327_114353",
+  "episode_index": 9,
+  "sensor": "gripper_right_tactile"
+}
\ No newline at end of file
diff --git a/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_09-30/outputs_tactile/tactile_cache/dag911262r00035d_lerobot_0327_114353_7434c583/episodes/ep000009/gripper_right_tactile_force_metrics.json b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_09-30/outputs_tactile/tactile_cache/dag911262r00035d_lerobot_0327_114353_7434c583/episodes/ep000009/gripper_right_tactile_force_metrics.json
new file mode 100644
index 0000000000000000000000000000000000000000..8d4ebd4ab5a4022a19bf31f61e034ff6f04cea0e
--- /dev/null
+++ b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_09-30/outputs_tactile/tactile_cache/dag911262r00035d_lerobot_0327_114353_7434c583/episodes/ep000009/gripper_right_tactile_force_metrics.json
@@ -0,0 +1,9 @@
+{
+  "depth_peak": 0.0032013256568461657,
+  "shear_peak": 0.004331357777118683,
+  "force_magnitude_peak": 0.005380808841437101,
+  "reference_frame_count": 0,
+  "dataset_name": "dag911262r00035d_lerobot_0327_114353",
+  "episode_index": 9,
+  "sensor": "gripper_right_tactile"
+}
\ No newline at end of file
diff --git a/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_09-30/outputs_tactile/tactile_cache/dag911262r00035d_lerobot_0327_114353_7434c583/episodes/ep000016/gripper_right_tactile_contact_metrics.json b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_09-30/outputs_tactile/tactile_cache/dag911262r00035d_lerobot_0327_114353_7434c583/episodes/ep000016/gripper_right_tactile_contact_metrics.json
new file mode 100644
index 0000000000000000000000000000000000000000..161171ab691895b1dc9e56cbada96ca3251f680f
--- /dev/null
+++ b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_09-30/outputs_tactile/tactile_cache/dag911262r00035d_lerobot_0327_114353_7434c583/episodes/ep000016/gripper_right_tactile_contact_metrics.json
@@ -0,0 +1,12 @@
+{
+  "contact_time": 3.033333333333333,
+  "contact_ratio": 0.30952380952380953,
+  "avg_contact_area": 276.25274725274727,
+  "contact_entropy": 0.0011973631104839763,
+  "total_frames": 294,
+  "fps": 30.0,
+  "reference_frame_count": 0,
+  "dataset_name": "dag911262r00035d_lerobot_0327_114353",
+  "episode_index": 16,
+  "sensor": "gripper_right_tactile"
+}
\ No newline at end of file
diff --git a/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_09-30/outputs_tactile/tactile_cache/dag911262r00035d_lerobot_0327_114353_7434c583/episodes/ep000019/gripper_left_tactile_contact_metrics.json b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_09-30/outputs_tactile/tactile_cache/dag911262r00035d_lerobot_0327_114353_7434c583/episodes/ep000019/gripper_left_tactile_contact_metrics.json
new file mode 100644
index 0000000000000000000000000000000000000000..751604c66455f996f5d952496a80300358838b9e
--- /dev/null
+++ b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_09-30/outputs_tactile/tactile_cache/dag911262r00035d_lerobot_0327_114353_7434c583/episodes/ep000019/gripper_left_tactile_contact_metrics.json
@@ -0,0 +1,12 @@
+{
+  "contact_time": 4.833333333333333,
+  "contact_ratio": 0.562015503875969,
+  "avg_contact_area": 1966.0551724137931,
+  "contact_entropy": 0.759830996737483,
+  "total_frames": 258,
+  "fps": 30.0,
+  "reference_frame_count": 0,
+  "dataset_name": "dag911262r00035d_lerobot_0327_114353",
+  "episode_index": 19,
+  "sensor": "gripper_left_tactile"
+}
\ No newline at end of file
diff --git a/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_09-30/outputs_tactile/tactile_cache/dag911262r00035d_lerobot_0327_114353_7434c583/episodes/ep000020/gripper_right_tactile_force_metrics.json b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_09-30/outputs_tactile/tactile_cache/dag911262r00035d_lerobot_0327_114353_7434c583/episodes/ep000020/gripper_right_tactile_force_metrics.json
new file mode 100644
index 0000000000000000000000000000000000000000..67b43f06963230d41647bb34cdd71a9531e2774b
--- /dev/null
+++ b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_09-30/outputs_tactile/tactile_cache/dag911262r00035d_lerobot_0327_114353_7434c583/episodes/ep000020/gripper_right_tactile_force_metrics.json
@@ -0,0 +1,9 @@
+{
+  "depth_peak": 0.011433963663876057,
+  "shear_peak": 0.004582787398248911,
+  "force_magnitude_peak": 0.012300500646233559,
+  "reference_frame_count": 0,
+  "dataset_name": "dag911262r00035d_lerobot_0327_114353",
+  "episode_index": 20,
+  "sensor": "gripper_right_tactile"
+}
\ No newline at end of file
diff --git a/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_09-30/outputs_tactile/tactile_cache/dag911262r00035d_lerobot_0327_114353_7434c583/episodes/ep000022/gripper_left_tactile_contact_metrics.json b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_09-30/outputs_tactile/tactile_cache/dag911262r00035d_lerobot_0327_114353_7434c583/episodes/ep000022/gripper_left_tactile_contact_metrics.json
new file mode 100644
index 0000000000000000000000000000000000000000..2af865be8f8f79a3c9e6300e53524e6861898cc3
--- /dev/null
+++ b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_09-30/outputs_tactile/tactile_cache/dag911262r00035d_lerobot_0327_114353_7434c583/episodes/ep000022/gripper_left_tactile_contact_metrics.json
@@ -0,0 +1,12 @@
+{
+  "contact_time": 6.733333333333333,
+  "contact_ratio": 0.5246753246753246,
+  "avg_contact_area": 1081.1534653465346,
+  "contact_entropy": 0.5602657324827433,
+  "total_frames": 385,
+  "fps": 30.0,
+  "reference_frame_count": 0,
+  "dataset_name": "dag911262r00035d_lerobot_0327_114353",
+  "episode_index": 22,
+  "sensor": "gripper_left_tactile"
+}
\ No newline at end of file
diff --git a/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_09-30/outputs_tactile/tactile_cache/dag911262r00035d_lerobot_0327_114353_7434c583/episodes/ep000023/gripper_left_tactile_force_metrics.json b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_09-30/outputs_tactile/tactile_cache/dag911262r00035d_lerobot_0327_114353_7434c583/episodes/ep000023/gripper_left_tactile_force_metrics.json
new file mode 100644
index 0000000000000000000000000000000000000000..a9f6aaabfb3554007d61cab3d15b46a6ae6e5a9b
--- /dev/null
+++ b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_09-30/outputs_tactile/tactile_cache/dag911262r00035d_lerobot_0327_114353_7434c583/episodes/ep000023/gripper_left_tactile_force_metrics.json
@@ -0,0 +1,9 @@
+{
+  "depth_peak": 0.004496271256357431,
+  "shear_peak": 0.006456866394728422,
+  "force_magnitude_peak": 0.007188074756413698,
+  "reference_frame_count": 0,
+  "dataset_name": "dag911262r00035d_lerobot_0327_114353",
+  "episode_index": 23,
+  "sensor": "gripper_left_tactile"
+}
\ No newline at end of file
diff --git a/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_09-30/outputs_tactile/tactile_cache/dag911262r00035d_lerobot_0327_114353_7434c583/episodes/ep000024/gripper_left_tactile_contact_metrics.json b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_09-30/outputs_tactile/tactile_cache/dag911262r00035d_lerobot_0327_114353_7434c583/episodes/ep000024/gripper_left_tactile_contact_metrics.json
new file mode 100644
index 0000000000000000000000000000000000000000..133761f065acdd3da463b49d133a6213978b8185
--- /dev/null
+++ b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_09-30/outputs_tactile/tactile_cache/dag911262r00035d_lerobot_0327_114353_7434c583/episodes/ep000024/gripper_left_tactile_contact_metrics.json
@@ -0,0 +1,12 @@
+{
+  "contact_time": 4.766666666666667,
+  "contact_ratio": 0.556420233463035,
+  "avg_contact_area": 4666.552447552447,
+  "contact_entropy": 0.6643612921640519,
+  "total_frames": 257,
+  "fps": 30.0,
+  "reference_frame_count": 0,
+  "dataset_name": "dag911262r00035d_lerobot_0327_114353",
+  "episode_index": 24,
+  "sensor": "gripper_left_tactile"
+}
\ No newline at end of file
diff --git a/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_09-30/outputs_tactile/tactile_cache/dag911262r00035d_lerobot_0327_114353_7434c583/episodes/ep000025/gripper_left_tactile_contact_metrics.json b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_09-30/outputs_tactile/tactile_cache/dag911262r00035d_lerobot_0327_114353_7434c583/episodes/ep000025/gripper_left_tactile_contact_metrics.json
new file mode 100644
index 0000000000000000000000000000000000000000..cd015342b0aeadcdf37709c55777c4b716fa1aca
--- /dev/null
+++ b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_09-30/outputs_tactile/tactile_cache/dag911262r00035d_lerobot_0327_114353_7434c583/episodes/ep000025/gripper_left_tactile_contact_metrics.json
@@ -0,0 +1,12 @@
+{
+  "contact_time": 4.166666666666667,
+  "contact_ratio": 0.6476683937823834,
+  "avg_contact_area": 944.112,
+  "contact_entropy": 0.34985871111808453,
+  "total_frames": 193,
+  "fps": 30.0,
+  "reference_frame_count": 0,
+  "dataset_name": "dag911262r00035d_lerobot_0327_114353",
+  "episode_index": 25,
+  "sensor": "gripper_left_tactile"
+}
\ No newline at end of file
diff --git a/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_09-30/outputs_tactile/tactile_cache/dag911262r00035d_lerobot_0327_114353_7434c583/episodes/ep000026/gripper_right_tactile_contact_metrics.json b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_09-30/outputs_tactile/tactile_cache/dag911262r00035d_lerobot_0327_114353_7434c583/episodes/ep000026/gripper_right_tactile_contact_metrics.json
new file mode 100644
index 0000000000000000000000000000000000000000..8b42e4594e02ff3bae6458b13cf490b6b1fc1f51
--- /dev/null
+++ b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_09-30/outputs_tactile/tactile_cache/dag911262r00035d_lerobot_0327_114353_7434c583/episodes/ep000026/gripper_right_tactile_contact_metrics.json
@@ -0,0 +1,12 @@
+{
+  "contact_time": 3.7333333333333334,
+  "contact_ratio": 0.5572139303482587,
+  "avg_contact_area": 241.26785714285714,
+  "contact_entropy": 0.0,
+  "total_frames": 201,
+  "fps": 30.0,
+  "reference_frame_count": 0,
+  "dataset_name": "dag911262r00035d_lerobot_0327_114353",
+  "episode_index": 26,
+  "sensor": "gripper_right_tactile"
+}
\ No newline at end of file
diff --git a/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_09-30/outputs_tactile/tactile_cache/dag911262r00035d_lerobot_0327_114353_7434c583/episodes/ep000035/gripper_left_tactile_contact_metrics.json b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_09-30/outputs_tactile/tactile_cache/dag911262r00035d_lerobot_0327_114353_7434c583/episodes/ep000035/gripper_left_tactile_contact_metrics.json
new file mode 100644
index 0000000000000000000000000000000000000000..563f96712d8a29f5f16ce0ee3364ee194d3c85b1
--- /dev/null
+++ b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_09-30/outputs_tactile/tactile_cache/dag911262r00035d_lerobot_0327_114353_7434c583/episodes/ep000035/gripper_left_tactile_contact_metrics.json
@@ -0,0 +1,12 @@
+{
+  "contact_time": 2.7,
+  "contact_ratio": 0.4153846153846154,
+  "avg_contact_area": 356.85185185185185,
+  "contact_entropy": 0.10270163334030695,
+  "total_frames": 195,
+  "fps": 30.0,
+  "reference_frame_count": 0,
+  "dataset_name": "dag911262r00035d_lerobot_0327_114353",
+  "episode_index": 35,
+  "sensor": "gripper_left_tactile"
+}
\ No newline at end of file
diff --git a/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_09-30/outputs_tactile/tactile_cache/dag911262r00035d_lerobot_0327_114353_7434c583/episodes/ep000035/gripper_left_tactile_force_metrics.json b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_09-30/outputs_tactile/tactile_cache/dag911262r00035d_lerobot_0327_114353_7434c583/episodes/ep000035/gripper_left_tactile_force_metrics.json
new file mode 100644
index 0000000000000000000000000000000000000000..82f49d3f48d8a53dd2956441948d97760185cc20
--- /dev/null
+++ b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_09-30/outputs_tactile/tactile_cache/dag911262r00035d_lerobot_0327_114353_7434c583/episodes/ep000035/gripper_left_tactile_force_metrics.json
@@ -0,0 +1,9 @@
+{
+  "depth_peak": 0.00151887908577919,
+  "shear_peak": 0.0016251333290711045,
+  "force_magnitude_peak": 0.0018274800386279821,
+  "reference_frame_count": 0,
+  "dataset_name": "dag911262r00035d_lerobot_0327_114353",
+  "episode_index": 35,
+  "sensor": "gripper_left_tactile"
+}
\ No newline at end of file
diff --git a/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_09-30/outputs_tactile/tactile_cache/dag911262r00035d_lerobot_0327_114353_7434c583/episodes/ep000039/gripper_right_tactile_force_metrics.json b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_09-30/outputs_tactile/tactile_cache/dag911262r00035d_lerobot_0327_114353_7434c583/episodes/ep000039/gripper_right_tactile_force_metrics.json
new file mode 100644
index 0000000000000000000000000000000000000000..ffb383fc876f3a2efc48f897ab1bf1124b7bdb41
--- /dev/null
+++ b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_09-30/outputs_tactile/tactile_cache/dag911262r00035d_lerobot_0327_114353_7434c583/episodes/ep000039/gripper_right_tactile_force_metrics.json
@@ -0,0 +1,9 @@
+{
+  "depth_peak": 0.001976006431505084,
+  "shear_peak": 0.002188656246289611,
+  "force_magnitude_peak": 0.002473462838679552,
+  "reference_frame_count": 0,
+  "dataset_name": "dag911262r00035d_lerobot_0327_114353",
+  "episode_index": 39,
+  "sensor": "gripper_right_tactile"
+}
\ No newline at end of file
diff --git a/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_09-30/outputs_tactile/tactile_cache/dag911262r00035d_lerobot_0327_114353_7434c583/episodes/ep000045/gripper_left_tactile_contact_metrics.json b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_09-30/outputs_tactile/tactile_cache/dag911262r00035d_lerobot_0327_114353_7434c583/episodes/ep000045/gripper_left_tactile_contact_metrics.json
new file mode 100644
index 0000000000000000000000000000000000000000..739b7eb91168f9dc325ebd8d84a3c22994fe3044
--- /dev/null
+++ b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_09-30/outputs_tactile/tactile_cache/dag911262r00035d_lerobot_0327_114353_7434c583/episodes/ep000045/gripper_left_tactile_contact_metrics.json
@@ -0,0 +1,12 @@
+{
+  "contact_time": 3.3666666666666667,
+  "contact_ratio": 0.4975369458128079,
+  "avg_contact_area": 65.06930693069307,
+  "contact_entropy": 0.30095782137845317,
+  "total_frames": 203,
+  "fps": 30.0,
+  "reference_frame_count": 0,
+  "dataset_name": "dag911262r00035d_lerobot_0327_114353",
+  "episode_index": 45,
+  "sensor": "gripper_left_tactile"
+}
\ No newline at end of file
diff --git a/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_09-30/outputs_tactile/tactile_cache/dag911262r00035d_lerobot_0327_114353_7434c583/episodes/ep000045/gripper_right_tactile_contact_metrics.json b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_09-30/outputs_tactile/tactile_cache/dag911262r00035d_lerobot_0327_114353_7434c583/episodes/ep000045/gripper_right_tactile_contact_metrics.json
new file mode 100644
index 0000000000000000000000000000000000000000..193feba8ee535f4464a281839a966b0aff38c275
--- /dev/null
+++ b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_09-30/outputs_tactile/tactile_cache/dag911262r00035d_lerobot_0327_114353_7434c583/episodes/ep000045/gripper_right_tactile_contact_metrics.json
@@ -0,0 +1,12 @@
+{
+  "contact_time": 0.6666666666666666,
+  "contact_ratio": 0.09852216748768473,
+  "avg_contact_area": 37.45,
+  "contact_entropy": 0.0,
+  "total_frames": 203,
+  "fps": 30.0,
+  "reference_frame_count": 0,
+  "dataset_name": "dag911262r00035d_lerobot_0327_114353",
+  "episode_index": 45,
+  "sensor": "gripper_right_tactile"
+}
\ No newline at end of file
diff --git a/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_09-30/outputs_tactile/tactile_cache/dag911262r00035d_lerobot_0327_114353_7434c583/episodes/ep000046/gripper_left_tactile_force_metrics.json b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_09-30/outputs_tactile/tactile_cache/dag911262r00035d_lerobot_0327_114353_7434c583/episodes/ep000046/gripper_left_tactile_force_metrics.json
new file mode 100644
index 0000000000000000000000000000000000000000..ecf9cced38fc001fb28d56ac14e608696040b1b8
--- /dev/null
+++ b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_09-30/outputs_tactile/tactile_cache/dag911262r00035d_lerobot_0327_114353_7434c583/episodes/ep000046/gripper_left_tactile_force_metrics.json
@@ -0,0 +1,9 @@
+{
+  "depth_peak": 0.0037746920716017485,
+  "shear_peak": 0.0030820267274975777,
+  "force_magnitude_peak": 0.0048291608691215515,
+  "reference_frame_count": 0,
+  "dataset_name": "dag911262r00035d_lerobot_0327_114353",
+  "episode_index": 46,
+  "sensor": "gripper_left_tactile"
+}
\ No newline at end of file
diff --git a/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_09-30/outputs_tactile/tactile_cache/dag911262r00035d_lerobot_0327_114353_7434c583/episodes/ep000049/gripper_right_tactile_contact_metrics.json b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_09-30/outputs_tactile/tactile_cache/dag911262r00035d_lerobot_0327_114353_7434c583/episodes/ep000049/gripper_right_tactile_contact_metrics.json
new file mode 100644
index 0000000000000000000000000000000000000000..88290b4c82f39ca6349ce56c9e9dd5ec37261a35
--- /dev/null
+++ b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_09-30/outputs_tactile/tactile_cache/dag911262r00035d_lerobot_0327_114353_7434c583/episodes/ep000049/gripper_right_tactile_contact_metrics.json
@@ -0,0 +1,12 @@
+{
+  "contact_time": 5.533333333333333,
+  "contact_ratio": 0.7793427230046949,
+  "avg_contact_area": 387.7590361445783,
+  "contact_entropy": 0.0,
+  "total_frames": 213,
+  "fps": 30.0,
+  "reference_frame_count": 0,
+  "dataset_name": "dag911262r00035d_lerobot_0327_114353",
+  "episode_index": 49,
+  "sensor": "gripper_right_tactile"
+}
\ No newline at end of file
diff --git a/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_09-30/outputs_tactile/tactile_cache/dag911262r00035d_lerobot_0327_114353_7434c583/episodes/ep000050/gripper_left_tactile_contact_metrics.json b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_09-30/outputs_tactile/tactile_cache/dag911262r00035d_lerobot_0327_114353_7434c583/episodes/ep000050/gripper_left_tactile_contact_metrics.json
new file mode 100644
index 0000000000000000000000000000000000000000..b76269431c2bd77ad524d07776575a0f08735263
--- /dev/null
+++ b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_09-30/outputs_tactile/tactile_cache/dag911262r00035d_lerobot_0327_114353_7434c583/episodes/ep000050/gripper_left_tactile_contact_metrics.json
@@ -0,0 +1,12 @@
+{
+  "contact_time": 5.766666666666667,
+  "contact_ratio": 0.7330508474576272,
+  "avg_contact_area": 1459.3352601156068,
+  "contact_entropy": 0.46711031538095465,
+  "total_frames": 236,
+  "fps": 30.0,
+  "reference_frame_count": 0,
+  "dataset_name": "dag911262r00035d_lerobot_0327_114353",
+  "episode_index": 50,
+  "sensor": "gripper_left_tactile"
+}
\ No newline at end of file
diff --git a/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_09-30/outputs_tactile/tactile_cache/dag911262r00035d_lerobot_0327_114353_7434c583/episodes/ep000050/gripper_right_tactile_force_metrics.json b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_09-30/outputs_tactile/tactile_cache/dag911262r00035d_lerobot_0327_114353_7434c583/episodes/ep000050/gripper_right_tactile_force_metrics.json
new file mode 100644
index 0000000000000000000000000000000000000000..d62d3f1830e01a47b0464305fbd334727c869610
--- /dev/null
+++ b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_09-30/outputs_tactile/tactile_cache/dag911262r00035d_lerobot_0327_114353_7434c583/episodes/ep000050/gripper_right_tactile_force_metrics.json
@@ -0,0 +1,9 @@
+{
+  "depth_peak": 0.0004948414280079305,
+  "shear_peak": 0.004196605645120144,
+  "force_magnitude_peak": 0.004200921393930912,
+  "reference_frame_count": 0,
+  "dataset_name": "dag911262r00035d_lerobot_0327_114353",
+  "episode_index": 50,
+  "sensor": "gripper_right_tactile"
+}
\ No newline at end of file
diff --git a/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_09-30/outputs_tactile/tactile_cache/dag911262r00035d_lerobot_0327_114353_7434c583/episodes/ep000051/gripper_right_tactile_contact_metrics.json b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_09-30/outputs_tactile/tactile_cache/dag911262r00035d_lerobot_0327_114353_7434c583/episodes/ep000051/gripper_right_tactile_contact_metrics.json
new file mode 100644
index 0000000000000000000000000000000000000000..77738660f847c2f6bade2345cae0097c1a28c23b
--- /dev/null
+++ b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_09-30/outputs_tactile/tactile_cache/dag911262r00035d_lerobot_0327_114353_7434c583/episodes/ep000051/gripper_right_tactile_contact_metrics.json
@@ -0,0 +1,12 @@
+{
+  "contact_time": 4.566666666666666,
+  "contact_ratio": 0.6342592592592593,
+  "avg_contact_area": 2124.4525547445255,
+  "contact_entropy": 0.5278634516772313,
+  "total_frames": 216,
+  "fps": 30.0,
+  "reference_frame_count": 0,
+  "dataset_name": "dag911262r00035d_lerobot_0327_114353",
+  "episode_index": 51,
+  "sensor": "gripper_right_tactile"
+}
\ No newline at end of file
diff --git a/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_09-30/outputs_tactile/tactile_cache/dag911262r00035d_lerobot_0327_114353_7434c583/episodes/ep000054/gripper_right_tactile_force_metrics.json b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_09-30/outputs_tactile/tactile_cache/dag911262r00035d_lerobot_0327_114353_7434c583/episodes/ep000054/gripper_right_tactile_force_metrics.json
new file mode 100644
index 0000000000000000000000000000000000000000..963e050c69e93b6ceb98cf9994f29c100841c137
--- /dev/null
+++ b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_09-30/outputs_tactile/tactile_cache/dag911262r00035d_lerobot_0327_114353_7434c583/episodes/ep000054/gripper_right_tactile_force_metrics.json
@@ -0,0 +1,9 @@
+{
+  "depth_peak": 0.002085172338411212,
+  "shear_peak": 0.0018938417779281735,
+  "force_magnitude_peak": 0.0026447896379977465,
+  "reference_frame_count": 0,
+  "dataset_name": "dag911262r00035d_lerobot_0327_114353",
+  "episode_index": 54,
+  "sensor": "gripper_right_tactile"
+}
\ No newline at end of file
diff --git a/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_09-30/outputs_tactile/tactile_cache/dag911262r00035d_lerobot_0327_114353_7434c583/episodes/ep000055/gripper_left_tactile_force_metrics.json b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_09-30/outputs_tactile/tactile_cache/dag911262r00035d_lerobot_0327_114353_7434c583/episodes/ep000055/gripper_left_tactile_force_metrics.json
new file mode 100644
index 0000000000000000000000000000000000000000..1c8c6cd1fa2f3d0a8bbabfa29e4d92c5f7d6edf9
--- /dev/null
+++ b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_09-30/outputs_tactile/tactile_cache/dag911262r00035d_lerobot_0327_114353_7434c583/episodes/ep000055/gripper_left_tactile_force_metrics.json
@@ -0,0 +1,9 @@
+{
+  "depth_peak": 0.0011895300121977925,
+  "shear_peak": 0.0012570213293656707,
+  "force_magnitude_peak": 0.00321788527071476,
+  "reference_frame_count": 0,
+  "dataset_name": "dag911262r00035d_lerobot_0327_114353",
+  "episode_index": 55,
+  "sensor": "gripper_left_tactile"
+}
\ No newline at end of file
diff --git a/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_09-30/outputs_tactile/tactile_cache/dag911262r00035d_lerobot_0327_114353_7434c583/episodes/ep000055/gripper_right_tactile_force_metrics.json b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_09-30/outputs_tactile/tactile_cache/dag911262r00035d_lerobot_0327_114353_7434c583/episodes/ep000055/gripper_right_tactile_force_metrics.json
new file mode 100644
index 0000000000000000000000000000000000000000..44df2adcd42cea54b0a2b832567d96492849b746
--- /dev/null
+++ b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_09-30/outputs_tactile/tactile_cache/dag911262r00035d_lerobot_0327_114353_7434c583/episodes/ep000055/gripper_right_tactile_force_metrics.json
@@ -0,0 +1,9 @@
+{
+  "depth_peak": 0.0005228056688793004,
+  "shear_peak": 0.0010005481308326125,
+  "force_magnitude_peak": 0.0010088294511660933,
+  "reference_frame_count": 0,
+  "dataset_name": "dag911262r00035d_lerobot_0327_114353",
+  "episode_index": 55,
+  "sensor": "gripper_right_tactile"
+}
\ No newline at end of file
diff --git a/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_09-30/outputs_tactile/tactile_cache/dag911262r00035d_lerobot_0327_114353_7434c583/episodes/ep000059/gripper_left_tactile_force_metrics.json b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_09-30/outputs_tactile/tactile_cache/dag911262r00035d_lerobot_0327_114353_7434c583/episodes/ep000059/gripper_left_tactile_force_metrics.json
new file mode 100644
index 0000000000000000000000000000000000000000..2e709c293057285a22f559f4370178c061cc1ee9
--- /dev/null
+++ b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_09-30/outputs_tactile/tactile_cache/dag911262r00035d_lerobot_0327_114353_7434c583/episodes/ep000059/gripper_left_tactile_force_metrics.json
@@ -0,0 +1,9 @@
+{
+  "depth_peak": 0.003995642997324467,
+  "shear_peak": 0.0023184113670140505,
+  "force_magnitude_peak": 0.00419918866828084,
+  "reference_frame_count": 0,
+  "dataset_name": "dag911262r00035d_lerobot_0327_114353",
+  "episode_index": 59,
+  "sensor": "gripper_left_tactile"
+}
\ No newline at end of file
diff --git a/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_09-30/outputs_tactile/tactile_cache/dag911262r00035d_lerobot_0327_114353_7434c583/episodes/ep000059/gripper_right_tactile_contact_metrics.json b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_09-30/outputs_tactile/tactile_cache/dag911262r00035d_lerobot_0327_114353_7434c583/episodes/ep000059/gripper_right_tactile_contact_metrics.json
new file mode 100644
index 0000000000000000000000000000000000000000..91a6b3bfc9634d33cb75ba211c3e228a195bac08
--- /dev/null
+++ b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_09-30/outputs_tactile/tactile_cache/dag911262r00035d_lerobot_0327_114353_7434c583/episodes/ep000059/gripper_right_tactile_contact_metrics.json
@@ -0,0 +1,12 @@
+{
+  "contact_time": 4.533333333333333,
+  "contact_ratio": 0.48398576512455516,
+  "avg_contact_area": 1057.0367647058824,
+  "contact_entropy": 0.13747098172249414,
+  "total_frames": 281,
+  "fps": 30.0,
+  "reference_frame_count": 0,
+  "dataset_name": "dag911262r00035d_lerobot_0327_114353",
+  "episode_index": 59,
+  "sensor": "gripper_right_tactile"
+}
\ No newline at end of file
diff --git a/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_09-30/outputs_tactile/tactile_cache/dag911262r00035d_lerobot_0327_114353_7434c583/episodes/ep000060/gripper_right_tactile_force_metrics.json b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_09-30/outputs_tactile/tactile_cache/dag911262r00035d_lerobot_0327_114353_7434c583/episodes/ep000060/gripper_right_tactile_force_metrics.json
new file mode 100644
index 0000000000000000000000000000000000000000..a6149f8639e8378a66a446f350f75f19696062c0
--- /dev/null
+++ b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_09-30/outputs_tactile/tactile_cache/dag911262r00035d_lerobot_0327_114353_7434c583/episodes/ep000060/gripper_right_tactile_force_metrics.json
@@ -0,0 +1,9 @@
+{
+  "depth_peak": 0.0003660108777694404,
+  "shear_peak": 0.0009531736141070724,
+  "force_magnitude_peak": 0.0009548960952088237,
+  "reference_frame_count": 0,
+  "dataset_name": "dag911262r00035d_lerobot_0327_114353",
+  "episode_index": 60,
+  "sensor": "gripper_right_tactile"
+}
\ No newline at end of file
diff --git a/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_09-30/outputs_tactile/tactile_cache/dag911262r00035d_lerobot_0327_114353_7434c583/episodes/ep000062/gripper_left_tactile_contact_metrics.json b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_09-30/outputs_tactile/tactile_cache/dag911262r00035d_lerobot_0327_114353_7434c583/episodes/ep000062/gripper_left_tactile_contact_metrics.json
new file mode 100644
index 0000000000000000000000000000000000000000..421069b1f31c315de38aa54c86af07b892dc9572
--- /dev/null
+++ b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_09-30/outputs_tactile/tactile_cache/dag911262r00035d_lerobot_0327_114353_7434c583/episodes/ep000062/gripper_left_tactile_contact_metrics.json
@@ -0,0 +1,12 @@
+{
+  "contact_time": 1.4333333333333333,
+  "contact_ratio": 0.14381270903010032,
+  "avg_contact_area": 177.11627906976744,
+  "contact_entropy": 0.0,
+  "total_frames": 299,
+  "fps": 30.0,
+  "reference_frame_count": 0,
+  "dataset_name": "dag911262r00035d_lerobot_0327_114353",
+  "episode_index": 62,
+  "sensor": "gripper_left_tactile"
+}
\ No newline at end of file
diff --git a/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_09-30/outputs_tactile/tactile_cache/dag911262r00035d_lerobot_0327_114353_7434c583/episodes/ep000063/gripper_left_tactile_force_metrics.json b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_09-30/outputs_tactile/tactile_cache/dag911262r00035d_lerobot_0327_114353_7434c583/episodes/ep000063/gripper_left_tactile_force_metrics.json
new file mode 100644
index 0000000000000000000000000000000000000000..11167c52932e9028dcae5aa895653ba02b10486e
--- /dev/null
+++ b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_09-30/outputs_tactile/tactile_cache/dag911262r00035d_lerobot_0327_114353_7434c583/episodes/ep000063/gripper_left_tactile_force_metrics.json
@@ -0,0 +1,9 @@
+{
+  "depth_peak": 0.0038224668242037296,
+  "shear_peak": 0.0014198517892509699,
+  "force_magnitude_peak": 0.0039349705912172794,
+  "reference_frame_count": 0,
+  "dataset_name": "dag911262r00035d_lerobot_0327_114353",
+  "episode_index": 63,
+  "sensor": "gripper_left_tactile"
+}
\ No newline at end of file
diff --git a/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_09-30/outputs_tactile/tactile_cache/dag911262r00035d_lerobot_0327_114353_7434c583/episodes/ep000065/gripper_left_tactile_contact_metrics.json b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_09-30/outputs_tactile/tactile_cache/dag911262r00035d_lerobot_0327_114353_7434c583/episodes/ep000065/gripper_left_tactile_contact_metrics.json
new file mode 100644
index 0000000000000000000000000000000000000000..5417e9b6f8a0460e9e781a87f910cfe9b462833a
--- /dev/null
+++ b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_09-30/outputs_tactile/tactile_cache/dag911262r00035d_lerobot_0327_114353_7434c583/episodes/ep000065/gripper_left_tactile_contact_metrics.json
@@ -0,0 +1,12 @@
+{
+  "contact_time": 7.0,
+  "contact_ratio": 0.8333333333333334,
+  "avg_contact_area": 1836.6857142857143,
+  "contact_entropy": 0.1670684412557153,
+  "total_frames": 252,
+  "fps": 30.0,
+  "reference_frame_count": 0,
+  "dataset_name": "dag911262r00035d_lerobot_0327_114353",
+  "episode_index": 65,
+  "sensor": "gripper_left_tactile"
+}
\ No newline at end of file
diff --git a/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_09-30/outputs_tactile/tactile_cache/dag911262r00035d_lerobot_0327_114353_7434c583/episodes/ep000066/gripper_right_tactile_contact_metrics.json b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_09-30/outputs_tactile/tactile_cache/dag911262r00035d_lerobot_0327_114353_7434c583/episodes/ep000066/gripper_right_tactile_contact_metrics.json
new file mode 100644
index 0000000000000000000000000000000000000000..0b10d7830acc58610d503fc42eb10c7934d0c1f9
--- /dev/null
+++ b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_09-30/outputs_tactile/tactile_cache/dag911262r00035d_lerobot_0327_114353_7434c583/episodes/ep000066/gripper_right_tactile_contact_metrics.json
@@ -0,0 +1,12 @@
+{
+  "contact_time": 5.6,
+  "contact_ratio": 0.7962085308056872,
+  "avg_contact_area": 2854.464285714286,
+  "contact_entropy": 0.350492531039461,
+  "total_frames": 211,
+  "fps": 30.0,
+  "reference_frame_count": 0,
+  "dataset_name": "dag911262r00035d_lerobot_0327_114353",
+  "episode_index": 66,
+  "sensor": "gripper_right_tactile"
+}
\ No newline at end of file
diff --git a/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_09-30/outputs_tactile/tactile_cache/dag911262r00035d_lerobot_0327_114353_7434c583/episodes/ep000075/gripper_left_tactile_contact_metrics.json b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_09-30/outputs_tactile/tactile_cache/dag911262r00035d_lerobot_0327_114353_7434c583/episodes/ep000075/gripper_left_tactile_contact_metrics.json
new file mode 100644
index 0000000000000000000000000000000000000000..ae81c97168e24d425c2a6aadbf09055b50c05798
--- /dev/null
+++ b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_09-30/outputs_tactile/tactile_cache/dag911262r00035d_lerobot_0327_114353_7434c583/episodes/ep000075/gripper_left_tactile_contact_metrics.json
@@ -0,0 +1,12 @@
+{
+  "contact_time": 5.833333333333333,
+  "contact_ratio": 0.6653992395437263,
+  "avg_contact_area": 2412.382857142857,
+  "contact_entropy": 0.8751432806003754,
+  "total_frames": 263,
+  "fps": 30.0,
+  "reference_frame_count": 0,
+  "dataset_name": "dag911262r00035d_lerobot_0327_114353",
+  "episode_index": 75,
+  "sensor": "gripper_left_tactile"
+}
\ No newline at end of file
diff --git a/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_09-30/outputs_tactile/tactile_cache/dag911262r00035d_lerobot_0327_114353_7434c583/episodes/ep000075/gripper_left_tactile_force_metrics.json b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_09-30/outputs_tactile/tactile_cache/dag911262r00035d_lerobot_0327_114353_7434c583/episodes/ep000075/gripper_left_tactile_force_metrics.json
new file mode 100644
index 0000000000000000000000000000000000000000..a9a4dc160c3325360f950b54511beb5eaa5e3c07
--- /dev/null
+++ b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_09-30/outputs_tactile/tactile_cache/dag911262r00035d_lerobot_0327_114353_7434c583/episodes/ep000075/gripper_left_tactile_force_metrics.json
@@ -0,0 +1,9 @@
+{
+  "depth_peak": 0.004753763787448406,
+  "shear_peak": 0.002536448184400797,
+  "force_magnitude_peak": 0.004754246678203344,
+  "reference_frame_count": 0,
+  "dataset_name": "dag911262r00035d_lerobot_0327_114353",
+  "episode_index": 75,
+  "sensor": "gripper_left_tactile"
+}
\ No newline at end of file
diff --git a/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_09-30/outputs_tactile/tactile_cache/dag911262r00035d_lerobot_0327_114353_7434c583/episodes/ep000079/gripper_right_tactile_force_metrics.json b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_09-30/outputs_tactile/tactile_cache/dag911262r00035d_lerobot_0327_114353_7434c583/episodes/ep000079/gripper_right_tactile_force_metrics.json
new file mode 100644
index 0000000000000000000000000000000000000000..69971bceb2ebd88be431c5a58a3fb9e7421a953e
--- /dev/null
+++ b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_09-30/outputs_tactile/tactile_cache/dag911262r00035d_lerobot_0327_114353_7434c583/episodes/ep000079/gripper_right_tactile_force_metrics.json
@@ -0,0 +1,9 @@
+{
+  "depth_peak": 0.0006494773551821709,
+  "shear_peak": 0.0033170278184115887,
+  "force_magnitude_peak": 0.0034668610896915197,
+  "reference_frame_count": 0,
+  "dataset_name": "dag911262r00035d_lerobot_0327_114353",
+  "episode_index": 79,
+  "sensor": "gripper_right_tactile"
+}
\ No newline at end of file
diff --git a/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_09-30/outputs_tactile/tactile_cache/dag911262r00035d_lerobot_0327_114353_7434c583/episodes/ep000085/gripper_left_tactile_contact_metrics.json b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_09-30/outputs_tactile/tactile_cache/dag911262r00035d_lerobot_0327_114353_7434c583/episodes/ep000085/gripper_left_tactile_contact_metrics.json
new file mode 100644
index 0000000000000000000000000000000000000000..54409dbfc10cb11492e3b805c9cdda2aa6dde2ff
--- /dev/null
+++ b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_09-30/outputs_tactile/tactile_cache/dag911262r00035d_lerobot_0327_114353_7434c583/episodes/ep000085/gripper_left_tactile_contact_metrics.json
@@ -0,0 +1,12 @@
+{
+  "contact_time": 2.6,
+  "contact_ratio": 0.527027027027027,
+  "avg_contact_area": 1220.1538461538462,
+  "contact_entropy": 0.16202589216497287,
+  "total_frames": 148,
+  "fps": 30.0,
+  "reference_frame_count": 0,
+  "dataset_name": "dag911262r00035d_lerobot_0327_114353",
+  "episode_index": 85,
+  "sensor": "gripper_left_tactile"
+}
\ No newline at end of file
diff --git a/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_09-30/outputs_tactile/tactile_cache/dag911262r00035d_lerobot_0327_114353_7434c583/episodes/ep000085/gripper_right_tactile_contact_metrics.json b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_09-30/outputs_tactile/tactile_cache/dag911262r00035d_lerobot_0327_114353_7434c583/episodes/ep000085/gripper_right_tactile_contact_metrics.json
new file mode 100644
index 0000000000000000000000000000000000000000..e987b5c7d503db3c2723ceac8f06850ee023ce9d
--- /dev/null
+++ b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_09-30/outputs_tactile/tactile_cache/dag911262r00035d_lerobot_0327_114353_7434c583/episodes/ep000085/gripper_right_tactile_contact_metrics.json
@@ -0,0 +1,12 @@
+{
+  "contact_time": 0.8,
+  "contact_ratio": 0.16216216216216217,
+  "avg_contact_area": 134.79166666666666,
+  "contact_entropy": 0.0,
+  "total_frames": 148,
+  "fps": 30.0,
+  "reference_frame_count": 0,
+  "dataset_name": "dag911262r00035d_lerobot_0327_114353",
+  "episode_index": 85,
+  "sensor": "gripper_right_tactile"
+}
\ No newline at end of file
diff --git a/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_09-30/outputs_tactile/tactile_cache/dag911262r00035d_lerobot_0327_114353_7434c583/episodes/ep000086/gripper_left_tactile_force_metrics.json b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_09-30/outputs_tactile/tactile_cache/dag911262r00035d_lerobot_0327_114353_7434c583/episodes/ep000086/gripper_left_tactile_force_metrics.json
new file mode 100644
index 0000000000000000000000000000000000000000..fbc123c02fd68b3d3bbc4e78cc71d36e402714b9
--- /dev/null
+++ b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_09-30/outputs_tactile/tactile_cache/dag911262r00035d_lerobot_0327_114353_7434c583/episodes/ep000086/gripper_left_tactile_force_metrics.json
@@ -0,0 +1,9 @@
+{
+  "depth_peak": 0.004887646529823542,
+  "shear_peak": 0.0032642087899148464,
+  "force_magnitude_peak": 0.005873410031199455,
+  "reference_frame_count": 0,
+  "dataset_name": "dag911262r00035d_lerobot_0327_114353",
+  "episode_index": 86,
+  "sensor": "gripper_left_tactile"
+}
\ No newline at end of file
diff --git a/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_09-30/outputs_tactile/tactile_cache/dag911262r00035d_lerobot_0327_114353_7434c583/episodes/ep000089/gripper_right_tactile_contact_metrics.json b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_09-30/outputs_tactile/tactile_cache/dag911262r00035d_lerobot_0327_114353_7434c583/episodes/ep000089/gripper_right_tactile_contact_metrics.json
new file mode 100644
index 0000000000000000000000000000000000000000..4611eec8f2bdd1352e8aa4c9809cd831ac59b4c4
--- /dev/null
+++ b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_09-30/outputs_tactile/tactile_cache/dag911262r00035d_lerobot_0327_114353_7434c583/episodes/ep000089/gripper_right_tactile_contact_metrics.json
@@ -0,0 +1,12 @@
+{
+  "contact_time": 3.7,
+  "contact_ratio": 0.5522388059701493,
+  "avg_contact_area": 731.4414414414415,
+  "contact_entropy": 0.04786533760168156,
+  "total_frames": 201,
+  "fps": 30.0,
+  "reference_frame_count": 0,
+  "dataset_name": "dag911262r00035d_lerobot_0327_114353",
+  "episode_index": 89,
+  "sensor": "gripper_right_tactile"
+}
\ No newline at end of file
diff --git a/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_09-30/outputs_tactile/tactile_cache/dag911262r00035d_lerobot_0327_114353_7434c583/episodes/ep000090/gripper_left_tactile_contact_metrics.json b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_09-30/outputs_tactile/tactile_cache/dag911262r00035d_lerobot_0327_114353_7434c583/episodes/ep000090/gripper_left_tactile_contact_metrics.json
new file mode 100644
index 0000000000000000000000000000000000000000..0d519c81c39de122673de67b2ec550c34d89b093
--- /dev/null
+++ b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_09-30/outputs_tactile/tactile_cache/dag911262r00035d_lerobot_0327_114353_7434c583/episodes/ep000090/gripper_left_tactile_contact_metrics.json
@@ -0,0 +1,12 @@
+{
+  "contact_time": 6.8,
+  "contact_ratio": 0.6355140186915887,
+  "avg_contact_area": 1639.1470588235295,
+  "contact_entropy": 0.8048448758484285,
+  "total_frames": 321,
+  "fps": 30.0,
+  "reference_frame_count": 0,
+  "dataset_name": "dag911262r00035d_lerobot_0327_114353",
+  "episode_index": 90,
+  "sensor": "gripper_left_tactile"
+}
\ No newline at end of file
diff --git a/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_09-30/outputs_tactile/tactile_cache/dag911262r00035d_lerobot_0327_114353_7434c583/episodes/ep000090/gripper_right_tactile_force_metrics.json b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_09-30/outputs_tactile/tactile_cache/dag911262r00035d_lerobot_0327_114353_7434c583/episodes/ep000090/gripper_right_tactile_force_metrics.json
new file mode 100644
index 0000000000000000000000000000000000000000..67ecb8e03f331c932670a1550219ff12a897949e
--- /dev/null
+++ b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_09-30/outputs_tactile/tactile_cache/dag911262r00035d_lerobot_0327_114353_7434c583/episodes/ep000090/gripper_right_tactile_force_metrics.json
@@ -0,0 +1,9 @@
+{
+  "depth_peak": 0.001052799983881414,
+  "shear_peak": 0.0040485491044819355,
+  "force_magnitude_peak": 0.00412197457626462,
+  "reference_frame_count": 0,
+  "dataset_name": "dag911262r00035d_lerobot_0327_114353",
+  "episode_index": 90,
+  "sensor": "gripper_right_tactile"
+}
\ No newline at end of file
diff --git a/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_09-30/outputs_tactile/tactile_cache/dag911262r00035d_lerobot_0327_114353_7434c583/episodes/ep000091/gripper_right_tactile_contact_metrics.json b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_09-30/outputs_tactile/tactile_cache/dag911262r00035d_lerobot_0327_114353_7434c583/episodes/ep000091/gripper_right_tactile_contact_metrics.json
new file mode 100644
index 0000000000000000000000000000000000000000..656157594c647f940ce36c967da6463a96775403
--- /dev/null
+++ b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_09-30/outputs_tactile/tactile_cache/dag911262r00035d_lerobot_0327_114353_7434c583/episodes/ep000091/gripper_right_tactile_contact_metrics.json
@@ -0,0 +1,12 @@
+{
+  "contact_time": 3.4,
+  "contact_ratio": 0.5543478260869565,
+  "avg_contact_area": 2925.323529411765,
+  "contact_entropy": 0.6032048768867863,
+  "total_frames": 184,
+  "fps": 30.0,
+  "reference_frame_count": 0,
+  "dataset_name": "dag911262r00035d_lerobot_0327_114353",
+  "episode_index": 91,
+  "sensor": "gripper_right_tactile"
+}
\ No newline at end of file
diff --git a/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_09-30/outputs_tactile/tactile_cache/dag911262r00035d_lerobot_0327_114353_7434c583/episodes/ep000094/gripper_right_tactile_force_metrics.json b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_09-30/outputs_tactile/tactile_cache/dag911262r00035d_lerobot_0327_114353_7434c583/episodes/ep000094/gripper_right_tactile_force_metrics.json
new file mode 100644
index 0000000000000000000000000000000000000000..4e417734a82995ceb0cfec85dc70731f45c391da
--- /dev/null
+++ b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_09-30/outputs_tactile/tactile_cache/dag911262r00035d_lerobot_0327_114353_7434c583/episodes/ep000094/gripper_right_tactile_force_metrics.json
@@ -0,0 +1,9 @@
+{
+  "depth_peak": 0.0006279443623498082,
+  "shear_peak": 0.006807858124375343,
+  "force_magnitude_peak": 0.006927618756890297,
+  "reference_frame_count": 0,
+  "dataset_name": "dag911262r00035d_lerobot_0327_114353",
+  "episode_index": 94,
+  "sensor": "gripper_right_tactile"
+}
\ No newline at end of file
diff --git a/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_09-30/outputs_tactile/tactile_cache/dag911262r00035d_lerobot_0327_114353_7434c583/episodes/ep000095/gripper_left_tactile_force_metrics.json b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_09-30/outputs_tactile/tactile_cache/dag911262r00035d_lerobot_0327_114353_7434c583/episodes/ep000095/gripper_left_tactile_force_metrics.json
new file mode 100644
index 0000000000000000000000000000000000000000..8588128e328361ff7ca75c36421306da68df0140
--- /dev/null
+++ b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_09-30/outputs_tactile/tactile_cache/dag911262r00035d_lerobot_0327_114353_7434c583/episodes/ep000095/gripper_left_tactile_force_metrics.json
@@ -0,0 +1,9 @@
+{
+  "depth_peak": 0.0036392381880432367,
+  "shear_peak": 0.0021901142317801714,
+  "force_magnitude_peak": 0.0036781025119125843,
+  "reference_frame_count": 0,
+  "dataset_name": "dag911262r00035d_lerobot_0327_114353",
+  "episode_index": 95,
+  "sensor": "gripper_left_tactile"
+}
\ No newline at end of file
diff --git a/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_09-30/outputs_tactile/tactile_cache/dag911262r00035d_lerobot_0327_114353_7434c583/episodes/ep000095/gripper_right_tactile_force_metrics.json b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_09-30/outputs_tactile/tactile_cache/dag911262r00035d_lerobot_0327_114353_7434c583/episodes/ep000095/gripper_right_tactile_force_metrics.json
new file mode 100644
index 0000000000000000000000000000000000000000..57e625b5c665fdcec707870da5848cc9902572d0
--- /dev/null
+++ b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_09-30/outputs_tactile/tactile_cache/dag911262r00035d_lerobot_0327_114353_7434c583/episodes/ep000095/gripper_right_tactile_force_metrics.json
@@ -0,0 +1,9 @@
+{
+  "depth_peak": 0.0022872111294418573,
+  "shear_peak": 0.0037011175882071257,
+  "force_magnitude_peak": 0.0043443599715828896,
+  "reference_frame_count": 0,
+  "dataset_name": "dag911262r00035d_lerobot_0327_114353",
+  "episode_index": 95,
+  "sensor": "gripper_right_tactile"
+}
\ No newline at end of file
diff --git a/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_09-30/outputs_tactile/tactile_cache/dag911262r00035d_lerobot_0327_114353_7434c583/episodes/ep000099/gripper_left_tactile_force_metrics.json b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_09-30/outputs_tactile/tactile_cache/dag911262r00035d_lerobot_0327_114353_7434c583/episodes/ep000099/gripper_left_tactile_force_metrics.json
new file mode 100644
index 0000000000000000000000000000000000000000..cba24edb6e64fdb11168e3347e3bd80597d2ff28
--- /dev/null
+++ b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_09-30/outputs_tactile/tactile_cache/dag911262r00035d_lerobot_0327_114353_7434c583/episodes/ep000099/gripper_left_tactile_force_metrics.json
@@ -0,0 +1,9 @@
+{
+  "depth_peak": 0.002286650473251939,
+  "shear_peak": 0.0009866909822449088,
+  "force_magnitude_peak": 0.002302164677530527,
+  "reference_frame_count": 0,
+  "dataset_name": "dag911262r00035d_lerobot_0327_114353",
+  "episode_index": 99,
+  "sensor": "gripper_left_tactile"
+}
\ No newline at end of file
diff --git a/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_09-30/outputs_tactile/tactile_cache/dag911262r00035d_lerobot_0327_114353_7434c583/episodes/ep000099/gripper_right_tactile_contact_metrics.json b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_09-30/outputs_tactile/tactile_cache/dag911262r00035d_lerobot_0327_114353_7434c583/episodes/ep000099/gripper_right_tactile_contact_metrics.json
new file mode 100644
index 0000000000000000000000000000000000000000..27606411c935647bea8a1e2f10b61cdd0834961f
--- /dev/null
+++ b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_09-30/outputs_tactile/tactile_cache/dag911262r00035d_lerobot_0327_114353_7434c583/episodes/ep000099/gripper_right_tactile_contact_metrics.json
@@ -0,0 +1,12 @@
+{
+  "contact_time": 3.8,
+  "contact_ratio": 0.5112107623318386,
+  "avg_contact_area": 4426.245614035088,
+  "contact_entropy": 0.5555509068605649,
+  "total_frames": 223,
+  "fps": 30.0,
+  "reference_frame_count": 0,
+  "dataset_name": "dag911262r00035d_lerobot_0327_114353",
+  "episode_index": 99,
+  "sensor": "gripper_right_tactile"
+}
\ No newline at end of file
diff --git a/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_09-30/outputs_tactile/tactile_cache/dag911262r00035d_lerobot_0327_114353_7434c583/episodes/ep000100/gripper_right_tactile_force_metrics.json b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_09-30/outputs_tactile/tactile_cache/dag911262r00035d_lerobot_0327_114353_7434c583/episodes/ep000100/gripper_right_tactile_force_metrics.json
new file mode 100644
index 0000000000000000000000000000000000000000..fd534018d934fc99504ce50a9a761e4b4ff57d8a
--- /dev/null
+++ b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_09-30/outputs_tactile/tactile_cache/dag911262r00035d_lerobot_0327_114353_7434c583/episodes/ep000100/gripper_right_tactile_force_metrics.json
@@ -0,0 +1,9 @@
+{
+  "depth_peak": 0.0038433680310845375,
+  "shear_peak": 0.003568333340808749,
+  "force_magnitude_peak": 0.005244471598416567,
+  "reference_frame_count": 0,
+  "dataset_name": "dag911262r00035d_lerobot_0327_114353",
+  "episode_index": 100,
+  "sensor": "gripper_right_tactile"
+}
\ No newline at end of file
diff --git a/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_09-30/outputs_tactile/tactile_cache/dag911262r00035d_lerobot_0327_114353_7434c583/episodes/ep000102/gripper_left_tactile_contact_metrics.json b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_09-30/outputs_tactile/tactile_cache/dag911262r00035d_lerobot_0327_114353_7434c583/episodes/ep000102/gripper_left_tactile_contact_metrics.json
new file mode 100644
index 0000000000000000000000000000000000000000..a762673bd2d0163f0d40c522a431b350982dc469
--- /dev/null
+++ b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_09-30/outputs_tactile/tactile_cache/dag911262r00035d_lerobot_0327_114353_7434c583/episodes/ep000102/gripper_left_tactile_contact_metrics.json
@@ -0,0 +1,12 @@
+{
+  "contact_time": 4.5,
+  "contact_ratio": 0.7417582417582418,
+  "avg_contact_area": 2475.4592592592594,
+  "contact_entropy": 0.682970556087789,
+  "total_frames": 182,
+  "fps": 30.0,
+  "reference_frame_count": 0,
+  "dataset_name": "dag911262r00035d_lerobot_0327_114353",
+  "episode_index": 102,
+  "sensor": "gripper_left_tactile"
+}
\ No newline at end of file
diff --git a/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_09-30/outputs_tactile/tactile_cache/dag911262r00035d_lerobot_0327_114353_7434c583/episodes/ep000103/gripper_left_tactile_force_metrics.json b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_09-30/outputs_tactile/tactile_cache/dag911262r00035d_lerobot_0327_114353_7434c583/episodes/ep000103/gripper_left_tactile_force_metrics.json
new file mode 100644
index 0000000000000000000000000000000000000000..d01962bcdfba2c7a66b7d47fe9337cc39f53f363
--- /dev/null
+++ b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_09-30/outputs_tactile/tactile_cache/dag911262r00035d_lerobot_0327_114353_7434c583/episodes/ep000103/gripper_left_tactile_force_metrics.json
@@ -0,0 +1,9 @@
+{
+  "depth_peak": 0.0008970924536697567,
+  "shear_peak": 0.0020853711757808924,
+  "force_magnitude_peak": 0.0027323663234710693,
+  "reference_frame_count": 0,
+  "dataset_name": "dag911262r00035d_lerobot_0327_114353",
+  "episode_index": 103,
+  "sensor": "gripper_left_tactile"
+}
\ No newline at end of file
diff --git a/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_09-30/outputs_tactile/tactile_cache/dag911262r00035d_lerobot_0327_114353_7434c583/episodes/ep000105/gripper_left_tactile_contact_metrics.json b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_09-30/outputs_tactile/tactile_cache/dag911262r00035d_lerobot_0327_114353_7434c583/episodes/ep000105/gripper_left_tactile_contact_metrics.json
new file mode 100644
index 0000000000000000000000000000000000000000..a3d5402b14c5ccf854f1c9b3e3d00268c6323656
--- /dev/null
+++ b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_09-30/outputs_tactile/tactile_cache/dag911262r00035d_lerobot_0327_114353_7434c583/episodes/ep000105/gripper_left_tactile_contact_metrics.json
@@ -0,0 +1,12 @@
+{
+  "contact_time": 6.0,
+  "contact_ratio": 0.5825242718446602,
+  "avg_contact_area": 90.65555555555555,
+  "contact_entropy": 0.12336531956081619,
+  "total_frames": 309,
+  "fps": 30.0,
+  "reference_frame_count": 0,
+  "dataset_name": "dag911262r00035d_lerobot_0327_114353",
+  "episode_index": 105,
+  "sensor": "gripper_left_tactile"
+}
\ No newline at end of file
diff --git a/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_09-30/outputs_tactile/tactile_cache/dag911262r00035d_lerobot_0327_114353_7434c583/episodes/ep000115/gripper_left_tactile_contact_metrics.json b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_09-30/outputs_tactile/tactile_cache/dag911262r00035d_lerobot_0327_114353_7434c583/episodes/ep000115/gripper_left_tactile_contact_metrics.json
new file mode 100644
index 0000000000000000000000000000000000000000..2ee8fb69cfcb7f4832347e4bbc6217ac3def0a8f
--- /dev/null
+++ b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_09-30/outputs_tactile/tactile_cache/dag911262r00035d_lerobot_0327_114353_7434c583/episodes/ep000115/gripper_left_tactile_contact_metrics.json
@@ -0,0 +1,12 @@
+{
+  "contact_time": 2.466666666666667,
+  "contact_ratio": 0.38144329896907214,
+  "avg_contact_area": 403.36486486486484,
+  "contact_entropy": 0.0,
+  "total_frames": 194,
+  "fps": 30.0,
+  "reference_frame_count": 0,
+  "dataset_name": "dag911262r00035d_lerobot_0327_114353",
+  "episode_index": 115,
+  "sensor": "gripper_left_tactile"
+}
\ No newline at end of file
diff --git a/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_09-30/outputs_tactile/tactile_cache/dag911262r00035d_lerobot_0327_114353_7434c583/episodes/ep000125/gripper_left_tactile_contact_metrics.json b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_09-30/outputs_tactile/tactile_cache/dag911262r00035d_lerobot_0327_114353_7434c583/episodes/ep000125/gripper_left_tactile_contact_metrics.json
new file mode 100644
index 0000000000000000000000000000000000000000..753144fd9da56e17d963df5dcb01575e0b78aabe
--- /dev/null
+++ b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_09-30/outputs_tactile/tactile_cache/dag911262r00035d_lerobot_0327_114353_7434c583/episodes/ep000125/gripper_left_tactile_contact_metrics.json
@@ -0,0 +1,12 @@
+{
+  "contact_time": 4.633333333333334,
+  "contact_ratio": 0.702020202020202,
+  "avg_contact_area": 1661.0,
+  "contact_entropy": 0.8167161738434475,
+  "total_frames": 198,
+  "fps": 30.0,
+  "reference_frame_count": 0,
+  "dataset_name": "dag911262r00035d_lerobot_0327_114353",
+  "episode_index": 125,
+  "sensor": "gripper_left_tactile"
+}
\ No newline at end of file
diff --git a/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_09-30/outputs_tactile/tactile_cache/dag911262r00035d_lerobot_0327_114353_7434c583/episodes/ep000126/gripper_left_tactile_force_metrics.json b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_09-30/outputs_tactile/tactile_cache/dag911262r00035d_lerobot_0327_114353_7434c583/episodes/ep000126/gripper_left_tactile_force_metrics.json
new file mode 100644
index 0000000000000000000000000000000000000000..5c4aab7757e4008edd7ae39628b2f21b8357fb9e
--- /dev/null
+++ b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_09-30/outputs_tactile/tactile_cache/dag911262r00035d_lerobot_0327_114353_7434c583/episodes/ep000126/gripper_left_tactile_force_metrics.json
@@ -0,0 +1,9 @@
+{
+  "depth_peak": 0.0007316917181015015,
+  "shear_peak": 0.0035318988375365734,
+  "force_magnitude_peak": 0.003578656353056431,
+  "reference_frame_count": 0,
+  "dataset_name": "dag911262r00035d_lerobot_0327_114353",
+  "episode_index": 126,
+  "sensor": "gripper_left_tactile"
+}
\ No newline at end of file
diff --git a/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_09-30/outputs_tactile/tactile_cache/dag911262r00035d_lerobot_0327_114353_7434c583/episodes/ep000130/gripper_left_tactile_contact_metrics.json b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_09-30/outputs_tactile/tactile_cache/dag911262r00035d_lerobot_0327_114353_7434c583/episodes/ep000130/gripper_left_tactile_contact_metrics.json
new file mode 100644
index 0000000000000000000000000000000000000000..2ce4f8329718946cbdc94a85d082ca0f04188b83
--- /dev/null
+++ b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_09-30/outputs_tactile/tactile_cache/dag911262r00035d_lerobot_0327_114353_7434c583/episodes/ep000130/gripper_left_tactile_contact_metrics.json
@@ -0,0 +1,12 @@
+{
+  "contact_time": 4.7,
+  "contact_ratio": 0.7157360406091371,
+  "avg_contact_area": 2179.851063829787,
+  "contact_entropy": 0.746404992265739,
+  "total_frames": 197,
+  "fps": 30.0,
+  "reference_frame_count": 0,
+  "dataset_name": "dag911262r00035d_lerobot_0327_114353",
+  "episode_index": 130,
+  "sensor": "gripper_left_tactile"
+}
\ No newline at end of file
diff --git a/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_09-30/outputs_tactile/tactile_cache/dag911262r00035d_lerobot_0327_114353_7434c583/episodes/ep000135/gripper_left_tactile_force_metrics.json b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_09-30/outputs_tactile/tactile_cache/dag911262r00035d_lerobot_0327_114353_7434c583/episodes/ep000135/gripper_left_tactile_force_metrics.json
new file mode 100644
index 0000000000000000000000000000000000000000..aa75707ab6485db14b54bb983f5ae1001f330c25
--- /dev/null
+++ b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_09-30/outputs_tactile/tactile_cache/dag911262r00035d_lerobot_0327_114353_7434c583/episodes/ep000135/gripper_left_tactile_force_metrics.json
@@ -0,0 +1,9 @@
+{
+  "depth_peak": 0.0028817851562052965,
+  "shear_peak": 0.0031447901856154203,
+  "force_magnitude_peak": 0.0037614626344293356,
+  "reference_frame_count": 0,
+  "dataset_name": "dag911262r00035d_lerobot_0327_114353",
+  "episode_index": 135,
+  "sensor": "gripper_left_tactile"
+}
\ No newline at end of file
diff --git a/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_09-30/outputs_tactile/tactile_cache/dag911262r00035d_lerobot_0327_114353_7434c583/episodes/ep000139/gripper_left_tactile_force_metrics.json b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_09-30/outputs_tactile/tactile_cache/dag911262r00035d_lerobot_0327_114353_7434c583/episodes/ep000139/gripper_left_tactile_force_metrics.json
new file mode 100644
index 0000000000000000000000000000000000000000..c8c187b7a9ca22000c671d591ac521499c6cbd81
--- /dev/null
+++ b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_09-30/outputs_tactile/tactile_cache/dag911262r00035d_lerobot_0327_114353_7434c583/episodes/ep000139/gripper_left_tactile_force_metrics.json
@@ -0,0 +1,9 @@
+{
+  "depth_peak": 0.0016369097866117954,
+  "shear_peak": 0.0018735849298536777,
+  "force_magnitude_peak": 0.0021784293930977583,
+  "reference_frame_count": 0,
+  "dataset_name": "dag911262r00035d_lerobot_0327_114353",
+  "episode_index": 139,
+  "sensor": "gripper_left_tactile"
+}
\ No newline at end of file
diff --git a/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_09-30/outputs_tactile/tactile_cache/dag911262r00035d_lerobot_0327_114353_7434c583/episodes/ep000142/gripper_left_tactile_contact_metrics.json b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_09-30/outputs_tactile/tactile_cache/dag911262r00035d_lerobot_0327_114353_7434c583/episodes/ep000142/gripper_left_tactile_contact_metrics.json
new file mode 100644
index 0000000000000000000000000000000000000000..bcba3e25fb61eca101d2b4867585965d0b9453e2
--- /dev/null
+++ b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_09-30/outputs_tactile/tactile_cache/dag911262r00035d_lerobot_0327_114353_7434c583/episodes/ep000142/gripper_left_tactile_contact_metrics.json
@@ -0,0 +1,12 @@
+{
+  "contact_time": 4.066666666666666,
+  "contact_ratio": 0.6703296703296703,
+  "avg_contact_area": 3189.8524590163934,
+  "contact_entropy": 0.3512977579449993,
+  "total_frames": 182,
+  "fps": 30.0,
+  "reference_frame_count": 0,
+  "dataset_name": "dag911262r00035d_lerobot_0327_114353",
+  "episode_index": 142,
+  "sensor": "gripper_left_tactile"
+}
\ No newline at end of file
diff --git a/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_09-30/outputs_tactile/tactile_cache/dag911262r00035d_lerobot_0327_114353_7434c583/episodes/ep000143/gripper_left_tactile_force_metrics.json b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_09-30/outputs_tactile/tactile_cache/dag911262r00035d_lerobot_0327_114353_7434c583/episodes/ep000143/gripper_left_tactile_force_metrics.json
new file mode 100644
index 0000000000000000000000000000000000000000..401479b0dcb2a82e053e557c622b5ae78b6ce9e6
--- /dev/null
+++ b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_09-30/outputs_tactile/tactile_cache/dag911262r00035d_lerobot_0327_114353_7434c583/episodes/ep000143/gripper_left_tactile_force_metrics.json
@@ -0,0 +1,9 @@
+{
+  "depth_peak": 0.0060266791842877865,
+  "shear_peak": 0.0016106939874589443,
+  "force_magnitude_peak": 0.006143123377114534,
+  "reference_frame_count": 0,
+  "dataset_name": "dag911262r00035d_lerobot_0327_114353",
+  "episode_index": 143,
+  "sensor": "gripper_left_tactile"
+}
\ No newline at end of file