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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/ep000008/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/ep000008/gripper_left_tactile_contact_metrics.json
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\ No 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/ep000013/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/ep000013/gripper_right_tactile_contact_metrics.json
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\ No 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/ep000014/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/ep000014/gripper_left_tactile_contact_metrics.json
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\ No 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/ep000016/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/ep000016/gripper_left_tactile_force_metrics.json
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\ No 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/ep000016/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/ep000016/gripper_right_tactile_contact_metrics.json
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\ No 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/ep000017/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/ep000017/gripper_right_tactile_force_metrics.json
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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/ep000018/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/ep000018/gripper_right_tactile_contact_metrics.json
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+}
\ No 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/ep000022/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/ep000022/gripper_right_tactile_contact_metrics.json
new file mode 100644
index 0000000000000000000000000000000000000000..c0c56c946f2636fe5eccdada6aedd671d7eee741
--- /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/ep000022/gripper_right_tactile_contact_metrics.json
@@ -0,0 +1,12 @@
+{
+  "contact_time": 8.6,
+  "contact_ratio": 0.9020979020979021,
+  "avg_contact_area": 2308.4728682170544,
+  "contact_entropy": 0.36790656875678956,
+  "total_frames": 286,
+  "fps": 30.0,
+  "reference_frame_count": 0,
+  "dataset_name": "dag911262r00025a_lerobot_0327_114353",
+  "episode_index": 22,
+  "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/ep000024/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/ep000024/gripper_right_tactile_contact_metrics.json
new file mode 100644
index 0000000000000000000000000000000000000000..0492b20e21cf560f4b645799088640a30f4ef2f5
--- /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/ep000024/gripper_right_tactile_contact_metrics.json
@@ -0,0 +1,12 @@
+{
+  "contact_time": 7.033333333333333,
+  "contact_ratio": 0.8647540983606558,
+  "avg_contact_area": 1827.1800947867298,
+  "contact_entropy": 0.41116325680570864,
+  "total_frames": 244,
+  "fps": 30.0,
+  "reference_frame_count": 0,
+  "dataset_name": "dag911262r00025a_lerobot_0327_114353",
+  "episode_index": 24,
+  "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/ep000024/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/ep000024/gripper_right_tactile_force_metrics.json
new file mode 100644
index 0000000000000000000000000000000000000000..7c55cebc7ffe24c94c34a5f46249bfb804420db5
--- /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/ep000024/gripper_right_tactile_force_metrics.json
@@ -0,0 +1,9 @@
+{
+  "depth_peak": 0.003368046600371599,
+  "shear_peak": 0.003279695753008127,
+  "force_magnitude_peak": 0.0034436280839145184,
+  "reference_frame_count": 0,
+  "dataset_name": "dag911262r00025a_lerobot_0327_114353",
+  "episode_index": 24,
+  "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/ep000029/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/ep000029/gripper_left_tactile_contact_metrics.json
new file mode 100644
index 0000000000000000000000000000000000000000..5ce15e5aa5e00b68c83e42e2ba6fe6bc41a864ed
--- /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/ep000029/gripper_left_tactile_contact_metrics.json
@@ -0,0 +1,12 @@
+{
+  "contact_time": 8.333333333333334,
+  "contact_ratio": 0.8771929824561403,
+  "avg_contact_area": 2036.2,
+  "contact_entropy": 0.14846361606676856,
+  "total_frames": 285,
+  "fps": 30.0,
+  "reference_frame_count": 0,
+  "dataset_name": "dag911262r00025a_lerobot_0327_114353",
+  "episode_index": 29,
+  "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/ep000031/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/ep000031/gripper_left_tactile_contact_metrics.json
new file mode 100644
index 0000000000000000000000000000000000000000..9518c46ca8e29bf9785f62840578bb8cd2f6f6f5
--- /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/ep000031/gripper_left_tactile_contact_metrics.json
@@ -0,0 +1,12 @@
+{
+  "contact_time": 9.0,
+  "contact_ratio": 0.8206686930091185,
+  "avg_contact_area": 4399.874074074074,
+  "contact_entropy": 0.542061333202159,
+  "total_frames": 329,
+  "fps": 30.0,
+  "reference_frame_count": 0,
+  "dataset_name": "dag911262r00025a_lerobot_0327_114353",
+  "episode_index": 31,
+  "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/ep000031/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/ep000031/gripper_left_tactile_force_metrics.json
new file mode 100644
index 0000000000000000000000000000000000000000..0bf70e440c08ff03c68ae51eaaf09dc942c7caff
--- /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/ep000031/gripper_left_tactile_force_metrics.json
@@ -0,0 +1,9 @@
+{
+  "depth_peak": 0.006851698271930218,
+  "shear_peak": 0.002630341798067093,
+  "force_magnitude_peak": 0.007243156898766756,
+  "reference_frame_count": 0,
+  "dataset_name": "dag911262r00025a_lerobot_0327_114353",
+  "episode_index": 31,
+  "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/ep000034/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/ep000034/gripper_left_tactile_force_metrics.json
new file mode 100644
index 0000000000000000000000000000000000000000..0581eb2f6604a697652055022106d8d407537d4d
--- /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/ep000034/gripper_left_tactile_force_metrics.json
@@ -0,0 +1,9 @@
+{
+  "depth_peak": 0.0071103209629654884,
+  "shear_peak": 0.005317777395248413,
+  "force_magnitude_peak": 0.007279571145772934,
+  "reference_frame_count": 0,
+  "dataset_name": "dag911262r00025a_lerobot_0327_114353",
+  "episode_index": 34,
+  "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/ep000035/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/ep000035/gripper_left_tactile_force_metrics.json
new file mode 100644
index 0000000000000000000000000000000000000000..349023ad8d9bc8683fa0631c86233cc883648ad5
--- /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/ep000035/gripper_left_tactile_force_metrics.json
@@ -0,0 +1,9 @@
+{
+  "depth_peak": 0.004507508594542742,
+  "shear_peak": 0.0029360882472246885,
+  "force_magnitude_peak": 0.004713229835033417,
+  "reference_frame_count": 0,
+  "dataset_name": "dag911262r00025a_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/dag911262r00025a_lerobot_0327_114353_d7367074/episodes/ep000037/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/ep000037/gripper_right_tactile_force_metrics.json
new file mode 100644
index 0000000000000000000000000000000000000000..dc92056df18ee67aefc9ad6cb4b20e7f1280b52e
--- /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/ep000037/gripper_right_tactile_force_metrics.json
@@ -0,0 +1,9 @@
+{
+  "depth_peak": 0.00741689745336771,
+  "shear_peak": 0.0041411458514630795,
+  "force_magnitude_peak": 0.008483398705720901,
+  "reference_frame_count": 0,
+  "dataset_name": "dag911262r00025a_lerobot_0327_114353",
+  "episode_index": 37,
+  "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/ep000038/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/ep000038/gripper_left_tactile_force_metrics.json
new file mode 100644
index 0000000000000000000000000000000000000000..ff4ee5aa4fdbaf332f9880886f1eac011078acca
--- /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/ep000038/gripper_left_tactile_force_metrics.json
@@ -0,0 +1,9 @@
+{
+  "depth_peak": 0.0076929726637899876,
+  "shear_peak": 0.0037652463652193546,
+  "force_magnitude_peak": 0.00840670894831419,
+  "reference_frame_count": 0,
+  "dataset_name": "dag911262r00025a_lerobot_0327_114353",
+  "episode_index": 38,
+  "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/ep000046/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/ep000046/gripper_right_tactile_contact_metrics.json
new file mode 100644
index 0000000000000000000000000000000000000000..2428d694cb3ee58e1794bbf51436ad89d9eac8e0
--- /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/ep000046/gripper_right_tactile_contact_metrics.json
@@ -0,0 +1,12 @@
+{
+  "contact_time": 14.866666666666667,
+  "contact_ratio": 1.0,
+  "avg_contact_area": 5111.973094170404,
+  "contact_entropy": 0.5806014628436496,
+  "total_frames": 446,
+  "fps": 30.0,
+  "reference_frame_count": 0,
+  "dataset_name": "dag911262r00025a_lerobot_0327_114353",
+  "episode_index": 46,
+  "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/ep000049/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/ep000049/gripper_right_tactile_force_metrics.json
new file mode 100644
index 0000000000000000000000000000000000000000..b43f5f9c8975575e57c578d0bbbcb1f3d06d016e
--- /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/ep000049/gripper_right_tactile_force_metrics.json
@@ -0,0 +1,9 @@
+{
+  "depth_peak": 0.006146664265543222,
+  "shear_peak": 0.004395220894366503,
+  "force_magnitude_peak": 0.0064451005309820175,
+  "reference_frame_count": 0,
+  "dataset_name": "dag911262r00025a_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/dag911262r00025a_lerobot_0327_114353_d7367074/episodes/ep000052/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/ep000052/gripper_left_tactile_contact_metrics.json
new file mode 100644
index 0000000000000000000000000000000000000000..b3f2a257a74faf68ade651f7f25fa55e7053dd12
--- /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/ep000052/gripper_left_tactile_contact_metrics.json
@@ -0,0 +1,12 @@
+{
+  "contact_time": 16.233333333333334,
+  "contact_ratio": 1.0,
+  "avg_contact_area": 10016.41478439425,
+  "contact_entropy": 1.3073920489653807,
+  "total_frames": 487,
+  "fps": 30.0,
+  "reference_frame_count": 0,
+  "dataset_name": "dag911262r00025a_lerobot_0327_114353",
+  "episode_index": 52,
+  "sensor": "gripper_left_tactile"
+}
\ No newline at end of file
diff --git a/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_09-30/outputs_tactile/tactile_cache/dag911262r00025a_lerobot_0327_114353_d7367074/episodes/ep000053/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/ep000053/gripper_left_tactile_contact_metrics.json
new file mode 100644
index 0000000000000000000000000000000000000000..fc240b64a16fc7aba1099ab12e3454d54bef2b78
--- /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/ep000053/gripper_left_tactile_contact_metrics.json
@@ -0,0 +1,12 @@
+{
+  "contact_time": 11.133333333333333,
+  "contact_ratio": 0.8812664907651715,
+  "avg_contact_area": 7537.502994011976,
+  "contact_entropy": 0.5743182158621201,
+  "total_frames": 379,
+  "fps": 30.0,
+  "reference_frame_count": 0,
+  "dataset_name": "dag911262r00025a_lerobot_0327_114353",
+  "episode_index": 53,
+  "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/ep000056/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/ep000056/gripper_left_tactile_force_metrics.json
new file mode 100644
index 0000000000000000000000000000000000000000..703135c8656b83007f6e747ed65e6da4c242ba18
--- /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/ep000056/gripper_left_tactile_force_metrics.json
@@ -0,0 +1,9 @@
+{
+  "depth_peak": 0.008047321811318398,
+  "shear_peak": 0.00545063940808177,
+  "force_magnitude_peak": 0.008450062945485115,
+  "reference_frame_count": 0,
+  "dataset_name": "dag911262r00025a_lerobot_0327_114353",
+  "episode_index": 56,
+  "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/ep000056/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/ep000056/gripper_right_tactile_contact_metrics.json
new file mode 100644
index 0000000000000000000000000000000000000000..b7c00cadfb81650662bea0e993a82ebb3217bdca
--- /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/ep000056/gripper_right_tactile_contact_metrics.json
@@ -0,0 +1,12 @@
+{
+  "contact_time": 16.7,
+  "contact_ratio": 1.0,
+  "avg_contact_area": 4523.986027944112,
+  "contact_entropy": 0.7054333378276993,
+  "total_frames": 501,
+  "fps": 30.0,
+  "reference_frame_count": 0,
+  "dataset_name": "dag911262r00025a_lerobot_0327_114353",
+  "episode_index": 56,
+  "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/ep000057/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/ep000057/gripper_right_tactile_force_metrics.json
new file mode 100644
index 0000000000000000000000000000000000000000..3f6093132425a1473b10c73ff4af372846e90385
--- /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/ep000057/gripper_right_tactile_force_metrics.json
@@ -0,0 +1,9 @@
+{
+  "depth_peak": 0.011230631731450558,
+  "shear_peak": 0.00454720389097929,
+  "force_magnitude_peak": 0.011965728364884853,
+  "reference_frame_count": 0,
+  "dataset_name": "dag911262r00025a_lerobot_0327_114353",
+  "episode_index": 57,
+  "sensor": "gripper_right_tactile"
+}
\ No newline at end of file
diff --git a/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_09-30/outputs_tactile/tactile_cache/dag911262r00025a_lerobot_0327_114353_d7367074/episodes/ep000058/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/ep000058/gripper_right_tactile_contact_metrics.json
new file mode 100644
index 0000000000000000000000000000000000000000..d6773971e97734906206757e3c6536c04535fbc5
--- /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/ep000058/gripper_right_tactile_contact_metrics.json
@@ -0,0 +1,12 @@
+{
+  "contact_time": 15.633333333333333,
+  "contact_ratio": 1.0,
+  "avg_contact_area": 12243.477611940298,
+  "contact_entropy": 0.6484105518714645,
+  "total_frames": 469,
+  "fps": 30.0,
+  "reference_frame_count": 0,
+  "dataset_name": "dag911262r00025a_lerobot_0327_114353",
+  "episode_index": 58,
+  "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/ep000059/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/ep000059/gripper_right_tactile_force_metrics.json
new file mode 100644
index 0000000000000000000000000000000000000000..3cfb044df69698f8ff1f0815ef837e20c806ebd4
--- /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/ep000059/gripper_right_tactile_force_metrics.json
@@ -0,0 +1,9 @@
+{
+  "depth_peak": 0.012841849587857723,
+  "shear_peak": 0.00589198712259531,
+  "force_magnitude_peak": 0.014121485874056816,
+  "reference_frame_count": 0,
+  "dataset_name": "dag911262r00025a_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/dag911262r00025a_lerobot_0327_114353_d7367074/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/dag911262r00025a_lerobot_0327_114353_d7367074/episodes/ep000062/gripper_left_tactile_contact_metrics.json
new file mode 100644
index 0000000000000000000000000000000000000000..9c9255e5babe849da0befbd45ddc3cd290c765b3
--- /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/ep000062/gripper_left_tactile_contact_metrics.json
@@ -0,0 +1,12 @@
+{
+  "contact_time": 10.133333333333333,
+  "contact_ratio": 0.856338028169014,
+  "avg_contact_area": 9018.575657894737,
+  "contact_entropy": 0.7977533755778269,
+  "total_frames": 355,
+  "fps": 30.0,
+  "reference_frame_count": 0,
+  "dataset_name": "dag911262r00025a_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/dag911262r00025a_lerobot_0327_114353_d7367074/episodes/ep000062/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/ep000062/gripper_right_tactile_contact_metrics.json
new file mode 100644
index 0000000000000000000000000000000000000000..dc379c9ba2d54117b5ef064d16bc8f228a698357
--- /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/ep000062/gripper_right_tactile_contact_metrics.json
@@ -0,0 +1,12 @@
+{
+  "contact_time": 10.833333333333334,
+  "contact_ratio": 0.9154929577464789,
+  "avg_contact_area": 10295.23076923077,
+  "contact_entropy": 0.6283134404287497,
+  "total_frames": 355,
+  "fps": 30.0,
+  "reference_frame_count": 0,
+  "dataset_name": "dag911262r00025a_lerobot_0327_114353",
+  "episode_index": 62,
+  "sensor": "gripper_right_tactile"
+}
\ No newline at end of file
diff --git a/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_09-30/outputs_tactile/tactile_cache/dag911262r00025a_lerobot_0327_114353_d7367074/episodes/ep000064/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/ep000064/gripper_right_tactile_contact_metrics.json
new file mode 100644
index 0000000000000000000000000000000000000000..75248fc625f27e2bf64138029a5592d889efee80
--- /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/ep000064/gripper_right_tactile_contact_metrics.json
@@ -0,0 +1,12 @@
+{
+  "contact_time": 15.233333333333333,
+  "contact_ratio": 1.0,
+  "avg_contact_area": 5247.323851203501,
+  "contact_entropy": 1.318853161210342,
+  "total_frames": 457,
+  "fps": 30.0,
+  "reference_frame_count": 0,
+  "dataset_name": "dag911262r00025a_lerobot_0327_114353",
+  "episode_index": 64,
+  "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/ep000064/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/ep000064/gripper_right_tactile_force_metrics.json
new file mode 100644
index 0000000000000000000000000000000000000000..f2d3b67ac8499b6ac13065b669d4539fec4e49e4
--- /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/ep000064/gripper_right_tactile_force_metrics.json
@@ -0,0 +1,9 @@
+{
+  "depth_peak": 0.012260215356945992,
+  "shear_peak": 0.006346606183797121,
+  "force_magnitude_peak": 0.013697013258934021,
+  "reference_frame_count": 0,
+  "dataset_name": "dag911262r00025a_lerobot_0327_114353",
+  "episode_index": 64,
+  "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/ep000069/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/ep000069/gripper_left_tactile_contact_metrics.json
new file mode 100644
index 0000000000000000000000000000000000000000..1b30c36d4c33ec8f0b84c22d2d3c682581c9e184
--- /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/ep000069/gripper_left_tactile_contact_metrics.json
@@ -0,0 +1,12 @@
+{
+  "contact_time": 11.7,
+  "contact_ratio": 0.9460916442048517,
+  "avg_contact_area": 7788.239316239316,
+  "contact_entropy": 0.9083448360339642,
+  "total_frames": 371,
+  "fps": 30.0,
+  "reference_frame_count": 0,
+  "dataset_name": "dag911262r00025a_lerobot_0327_114353",
+  "episode_index": 69,
+  "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/ep000071/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/ep000071/gripper_left_tactile_contact_metrics.json
new file mode 100644
index 0000000000000000000000000000000000000000..5e846edf685c0e2dc07e672cd93457c30340ce52
--- /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/ep000071/gripper_left_tactile_contact_metrics.json
@@ -0,0 +1,12 @@
+{
+  "contact_time": 13.133333333333333,
+  "contact_ratio": 0.9036697247706422,
+  "avg_contact_area": 6587.878172588832,
+  "contact_entropy": 0.57775615247477,
+  "total_frames": 436,
+  "fps": 30.0,
+  "reference_frame_count": 0,
+  "dataset_name": "dag911262r00025a_lerobot_0327_114353",
+  "episode_index": 71,
+  "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/ep000071/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/ep000071/gripper_left_tactile_force_metrics.json
new file mode 100644
index 0000000000000000000000000000000000000000..9f2b9d77026b4c8420d0d140c69266acc43ed6de
--- /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/ep000071/gripper_left_tactile_force_metrics.json
@@ -0,0 +1,9 @@
+{
+  "depth_peak": 0.012059156782925129,
+  "shear_peak": 0.005697827320545912,
+  "force_magnitude_peak": 0.013119424693286419,
+  "reference_frame_count": 0,
+  "dataset_name": "dag911262r00025a_lerobot_0327_114353",
+  "episode_index": 71,
+  "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/ep000074/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/ep000074/gripper_left_tactile_force_metrics.json
new file mode 100644
index 0000000000000000000000000000000000000000..f07e6653833ed582596009f25d2d22be0cac6566
--- /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/ep000074/gripper_left_tactile_force_metrics.json
@@ -0,0 +1,9 @@
+{
+  "depth_peak": 0.005372184328734875,
+  "shear_peak": 0.0046987892128527164,
+  "force_magnitude_peak": 0.005547353066504002,
+  "reference_frame_count": 0,
+  "dataset_name": "dag911262r00025a_lerobot_0327_114353",
+  "episode_index": 74,
+  "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/ep000075/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/ep000075/gripper_left_tactile_force_metrics.json
new file mode 100644
index 0000000000000000000000000000000000000000..c744fbb4912d5e23b6e444b9e31e160ad2fea7a7
--- /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/ep000075/gripper_left_tactile_force_metrics.json
@@ -0,0 +1,9 @@
+{
+  "depth_peak": 0.011947845108807087,
+  "shear_peak": 0.002780894050374627,
+  "force_magnitude_peak": 0.011988496407866478,
+  "reference_frame_count": 0,
+  "dataset_name": "dag911262r00025a_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/dag911262r00025a_lerobot_0327_114353_d7367074/episodes/ep000077/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/ep000077/gripper_right_tactile_force_metrics.json
new file mode 100644
index 0000000000000000000000000000000000000000..98d17552d35d5f8592a1ce49f0c6cff14e6f7742
--- /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/ep000077/gripper_right_tactile_force_metrics.json
@@ -0,0 +1,9 @@
+{
+  "depth_peak": 0.0036550359800457954,
+  "shear_peak": 0.004430151078850031,
+  "force_magnitude_peak": 0.005572610534727573,
+  "reference_frame_count": 0,
+  "dataset_name": "dag911262r00025a_lerobot_0327_114353",
+  "episode_index": 77,
+  "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/ep000078/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/ep000078/gripper_left_tactile_force_metrics.json
new file mode 100644
index 0000000000000000000000000000000000000000..2430ef042a8f9282bab4d54cf031a875d09f6f22
--- /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/ep000078/gripper_left_tactile_force_metrics.json
@@ -0,0 +1,9 @@
+{
+  "depth_peak": 0.014533386565744877,
+  "shear_peak": 0.007734592072665691,
+  "force_magnitude_peak": 0.016236647963523865,
+  "reference_frame_count": 0,
+  "dataset_name": "dag911262r00025a_lerobot_0327_114353",
+  "episode_index": 78,
+  "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/ep000086/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/ep000086/gripper_right_tactile_contact_metrics.json
new file mode 100644
index 0000000000000000000000000000000000000000..f2e0e409a31322abe6279842a82392a55ce6074e
--- /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/ep000086/gripper_right_tactile_contact_metrics.json
@@ -0,0 +1,12 @@
+{
+  "contact_time": 12.466666666666667,
+  "contact_ratio": 0.9280397022332506,
+  "avg_contact_area": 2079.4491978609626,
+  "contact_entropy": 0.25597425986620936,
+  "total_frames": 403,
+  "fps": 30.0,
+  "reference_frame_count": 0,
+  "dataset_name": "dag911262r00025a_lerobot_0327_114353",
+  "episode_index": 86,
+  "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/ep000089/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/ep000089/gripper_right_tactile_force_metrics.json
new file mode 100644
index 0000000000000000000000000000000000000000..2a8adcb338b4c1e977a8800fd116d9c453bd5924
--- /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/ep000089/gripper_right_tactile_force_metrics.json
@@ -0,0 +1,9 @@
+{
+  "depth_peak": 0.006855418905615807,
+  "shear_peak": 0.0022754878737032413,
+  "force_magnitude_peak": 0.0068875462748110294,
+  "reference_frame_count": 0,
+  "dataset_name": "dag911262r00025a_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/dag911262r00025a_lerobot_0327_114353_d7367074/episodes/ep000092/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/ep000092/gripper_left_tactile_contact_metrics.json
new file mode 100644
index 0000000000000000000000000000000000000000..7df0b3be94c6f60a2b707b4f7ead5c0bdf7cd8c6
--- /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/ep000092/gripper_left_tactile_contact_metrics.json
@@ -0,0 +1,12 @@
+{
+  "contact_time": 9.7,
+  "contact_ratio": 0.8290598290598291,
+  "avg_contact_area": 3331.189003436426,
+  "contact_entropy": 0.3183264130440072,
+  "total_frames": 351,
+  "fps": 30.0,
+  "reference_frame_count": 0,
+  "dataset_name": "dag911262r00025a_lerobot_0327_114353",
+  "episode_index": 92,
+  "sensor": "gripper_left_tactile"
+}
\ No newline at end of file
diff --git a/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_09-30/outputs_tactile/tactile_cache/dag911262r00025a_lerobot_0327_114353_d7367074/episodes/ep000093/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/ep000093/gripper_left_tactile_contact_metrics.json
new file mode 100644
index 0000000000000000000000000000000000000000..ca3ea7448ade68cbc99e0bb71488caa2d04955db
--- /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/ep000093/gripper_left_tactile_contact_metrics.json
@@ -0,0 +1,12 @@
+{
+  "contact_time": 10.6,
+  "contact_ratio": 0.8457446808510638,
+  "avg_contact_area": 5020.5817610062895,
+  "contact_entropy": 0.5233778990700575,
+  "total_frames": 376,
+  "fps": 30.0,
+  "reference_frame_count": 0,
+  "dataset_name": "dag911262r00025a_lerobot_0327_114353",
+  "episode_index": 93,
+  "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/ep000096/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/ep000096/gripper_left_tactile_force_metrics.json
new file mode 100644
index 0000000000000000000000000000000000000000..9e2b2c399a97aa61737b3bea6d08b26545985f8b
--- /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/ep000096/gripper_left_tactile_force_metrics.json
@@ -0,0 +1,9 @@
+{
+  "depth_peak": 0.007932237349450588,
+  "shear_peak": 0.006591092795133591,
+  "force_magnitude_peak": 0.0098917530849576,
+  "reference_frame_count": 0,
+  "dataset_name": "dag911262r00025a_lerobot_0327_114353",
+  "episode_index": 96,
+  "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/ep000096/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/ep000096/gripper_right_tactile_contact_metrics.json
new file mode 100644
index 0000000000000000000000000000000000000000..e55eed1ed19004b2e54d5c9af06a51b7f2ab1da5
--- /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/ep000096/gripper_right_tactile_contact_metrics.json
@@ -0,0 +1,12 @@
+{
+  "contact_time": 11.966666666666667,
+  "contact_ratio": 0.8568019093078759,
+  "avg_contact_area": 2604.426183844011,
+  "contact_entropy": 0.231480503241495,
+  "total_frames": 419,
+  "fps": 30.0,
+  "reference_frame_count": 0,
+  "dataset_name": "dag911262r00025a_lerobot_0327_114353",
+  "episode_index": 96,
+  "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/ep000097/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/ep000097/gripper_right_tactile_force_metrics.json
new file mode 100644
index 0000000000000000000000000000000000000000..f8947ce94565d09f7805dac081a2130cf9f60f91
--- /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/ep000097/gripper_right_tactile_force_metrics.json
@@ -0,0 +1,9 @@
+{
+  "depth_peak": 0.003612652886658907,
+  "shear_peak": 0.0018655859166756272,
+  "force_magnitude_peak": 0.003628064878284931,
+  "reference_frame_count": 0,
+  "dataset_name": "dag911262r00025a_lerobot_0327_114353",
+  "episode_index": 97,
+  "sensor": "gripper_right_tactile"
+}
\ No newline at end of file
diff --git a/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_09-30/outputs_tactile/tactile_cache/dag911262r00025a_lerobot_0327_114353_d7367074/episodes/ep000098/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/ep000098/gripper_right_tactile_contact_metrics.json
new file mode 100644
index 0000000000000000000000000000000000000000..0327c41ad7167f23736c30a41e93dbf9639ac6b6
--- /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/ep000098/gripper_right_tactile_contact_metrics.json
@@ -0,0 +1,12 @@
+{
+  "contact_time": 8.3,
+  "contact_ratio": 0.8084415584415584,
+  "avg_contact_area": 2075.389558232932,
+  "contact_entropy": 0.37357687992919064,
+  "total_frames": 308,
+  "fps": 30.0,
+  "reference_frame_count": 0,
+  "dataset_name": "dag911262r00025a_lerobot_0327_114353",
+  "episode_index": 98,
+  "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/ep000099/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/ep000099/gripper_right_tactile_force_metrics.json
new file mode 100644
index 0000000000000000000000000000000000000000..1d64a1133201e0a34aa702f686d84b283d700288
--- /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/ep000099/gripper_right_tactile_force_metrics.json
@@ -0,0 +1,9 @@
+{
+  "depth_peak": 0.004988650791347027,
+  "shear_peak": 0.0026158199179917574,
+  "force_magnitude_peak": 0.005159792955964804,
+  "reference_frame_count": 0,
+  "dataset_name": "dag911262r00025a_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/dag911262r00025a_lerobot_0327_114353_d7367074/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/dag911262r00025a_lerobot_0327_114353_d7367074/episodes/ep000102/gripper_left_tactile_contact_metrics.json
new file mode 100644
index 0000000000000000000000000000000000000000..7bb81982c1ba2b379d6f4f98407c33c2647d3a7a
--- /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/ep000102/gripper_left_tactile_contact_metrics.json
@@ -0,0 +1,12 @@
+{
+  "contact_time": 14.633333333333333,
+  "contact_ratio": 1.0,
+  "avg_contact_area": 3637.753986332574,
+  "contact_entropy": 0.9169151305241567,
+  "total_frames": 439,
+  "fps": 30.0,
+  "reference_frame_count": 0,
+  "dataset_name": "dag911262r00025a_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/dag911262r00025a_lerobot_0327_114353_d7367074/episodes/ep000102/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/ep000102/gripper_right_tactile_contact_metrics.json
new file mode 100644
index 0000000000000000000000000000000000000000..34dd6b7f0a9abd874fcd1efb95d61b8bd95b570b
--- /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/ep000102/gripper_right_tactile_contact_metrics.json
@@ -0,0 +1,12 @@
+{
+  "contact_time": 14.633333333333333,
+  "contact_ratio": 1.0,
+  "avg_contact_area": 3978.1526195899773,
+  "contact_entropy": 0.23140432337599118,
+  "total_frames": 439,
+  "fps": 30.0,
+  "reference_frame_count": 0,
+  "dataset_name": "dag911262r00025a_lerobot_0327_114353",
+  "episode_index": 102,
+  "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/ep000104/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/ep000104/gripper_right_tactile_contact_metrics.json
new file mode 100644
index 0000000000000000000000000000000000000000..39d1d73fd80a7e10d9bf464d801b104fe83bae6c
--- /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/ep000104/gripper_right_tactile_contact_metrics.json
@@ -0,0 +1,12 @@
+{
+  "contact_time": 11.733333333333333,
+  "contact_ratio": 0.8866498740554156,
+  "avg_contact_area": 2026.3295454545455,
+  "contact_entropy": 0.2948675767018684,
+  "total_frames": 397,
+  "fps": 30.0,
+  "reference_frame_count": 0,
+  "dataset_name": "dag911262r00025a_lerobot_0327_114353",
+  "episode_index": 104,
+  "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/ep000104/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/ep000104/gripper_right_tactile_force_metrics.json
new file mode 100644
index 0000000000000000000000000000000000000000..9e2a08d59de834ce1cbc51b1b1bd853461d83590
--- /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/ep000104/gripper_right_tactile_force_metrics.json
@@ -0,0 +1,9 @@
+{
+  "depth_peak": 0.0024584373459219933,
+  "shear_peak": 0.005188867449760437,
+  "force_magnitude_peak": 0.005691478960216045,
+  "reference_frame_count": 0,
+  "dataset_name": "dag911262r00025a_lerobot_0327_114353",
+  "episode_index": 104,
+  "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/ep000109/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/ep000109/gripper_left_tactile_contact_metrics.json
new file mode 100644
index 0000000000000000000000000000000000000000..66d56e2f2fa8b719ef4f457804545636d93dfe06
--- /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/ep000109/gripper_left_tactile_contact_metrics.json
@@ -0,0 +1,12 @@
+{
+  "contact_time": 12.533333333333333,
+  "contact_ratio": 1.0,
+  "avg_contact_area": 16517.89893617021,
+  "contact_entropy": 0.9280074833734117,
+  "total_frames": 376,
+  "fps": 30.0,
+  "reference_frame_count": 0,
+  "dataset_name": "dag911262r00025a_lerobot_0327_114353",
+  "episode_index": 109,
+  "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/ep000111/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/ep000111/gripper_left_tactile_contact_metrics.json
new file mode 100644
index 0000000000000000000000000000000000000000..2d8293d20f3ae93817051855134cd4d7f3376709
--- /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/ep000111/gripper_left_tactile_contact_metrics.json
@@ -0,0 +1,12 @@
+{
+  "contact_time": 10.333333333333334,
+  "contact_ratio": 0.9117647058823529,
+  "avg_contact_area": 13055.664516129033,
+  "contact_entropy": 0.6994448555213717,
+  "total_frames": 340,
+  "fps": 30.0,
+  "reference_frame_count": 0,
+  "dataset_name": "dag911262r00025a_lerobot_0327_114353",
+  "episode_index": 111,
+  "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/ep000111/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/ep000111/gripper_left_tactile_force_metrics.json
new file mode 100644
index 0000000000000000000000000000000000000000..d11fb01dcca77c228988fc84fdd8b6c268d2d7ab
--- /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/ep000111/gripper_left_tactile_force_metrics.json
@@ -0,0 +1,9 @@
+{
+  "depth_peak": 0.010321448557078838,
+  "shear_peak": 0.003296994837000966,
+  "force_magnitude_peak": 0.010599619708955288,
+  "reference_frame_count": 0,
+  "dataset_name": "dag911262r00025a_lerobot_0327_114353",
+  "episode_index": 111,
+  "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/ep000114/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/ep000114/gripper_left_tactile_force_metrics.json
new file mode 100644
index 0000000000000000000000000000000000000000..57c07c78be68f4434856afa1a95490aaab0ae5d5
--- /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/ep000114/gripper_left_tactile_force_metrics.json
@@ -0,0 +1,9 @@
+{
+  "depth_peak": 0.006850701291114092,
+  "shear_peak": 0.0045043425634503365,
+  "force_magnitude_peak": 0.00817206408828497,
+  "reference_frame_count": 0,
+  "dataset_name": "dag911262r00025a_lerobot_0327_114353",
+  "episode_index": 114,
+  "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/ep000115/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/ep000115/gripper_left_tactile_force_metrics.json
new file mode 100644
index 0000000000000000000000000000000000000000..f6cab85bc95f4d1325de69cd9f73503bc3e6e82c
--- /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/ep000115/gripper_left_tactile_force_metrics.json
@@ -0,0 +1,9 @@
+{
+  "depth_peak": 0.010241839103400707,
+  "shear_peak": 0.0048605347983539104,
+  "force_magnitude_peak": 0.010649492964148521,
+  "reference_frame_count": 0,
+  "dataset_name": "dag911262r00025a_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/dag911262r00025a_lerobot_0327_114353_d7367074/episodes/ep000117/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/ep000117/gripper_right_tactile_force_metrics.json
new file mode 100644
index 0000000000000000000000000000000000000000..c8a6ae29e2a7012d8671349755b4d69abed69389
--- /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/ep000117/gripper_right_tactile_force_metrics.json
@@ -0,0 +1,9 @@
+{
+  "depth_peak": 0.012877829372882843,
+  "shear_peak": 0.008997144177556038,
+  "force_magnitude_peak": 0.015237719751894474,
+  "reference_frame_count": 0,
+  "dataset_name": "dag911262r00025a_lerobot_0327_114353",
+  "episode_index": 117,
+  "sensor": "gripper_right_tactile"
+}
\ No newline at end of file
diff --git a/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_09-30/outputs_tactile/tactile_cache/dag911262r00025a_lerobot_0327_114353_d7367074/episodes/ep000118/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/ep000118/gripper_left_tactile_force_metrics.json
new file mode 100644
index 0000000000000000000000000000000000000000..f73ffaef6ea9d02addd6dc767ed3f74b61a6943a
--- /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/ep000118/gripper_left_tactile_force_metrics.json
@@ -0,0 +1,9 @@
+{
+  "depth_peak": 0.005240549799054861,
+  "shear_peak": 0.006333811674267054,
+  "force_magnitude_peak": 0.007571954745799303,
+  "reference_frame_count": 0,
+  "dataset_name": "dag911262r00025a_lerobot_0327_114353",
+  "episode_index": 118,
+  "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/ep000126/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/ep000126/gripper_right_tactile_contact_metrics.json
new file mode 100644
index 0000000000000000000000000000000000000000..a74ae14bb97482b3c249c5032ae279978d061e51
--- /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/ep000126/gripper_right_tactile_contact_metrics.json
@@ -0,0 +1,12 @@
+{
+  "contact_time": 11.233333333333333,
+  "contact_ratio": 1.0,
+  "avg_contact_area": 7478.157270029674,
+  "contact_entropy": 0.5861697456957022,
+  "total_frames": 337,
+  "fps": 30.0,
+  "reference_frame_count": 0,
+  "dataset_name": "dag911262r00025a_lerobot_0327_114353",
+  "episode_index": 126,
+  "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/ep000129/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/ep000129/gripper_right_tactile_force_metrics.json
new file mode 100644
index 0000000000000000000000000000000000000000..1d5dd0f09efba076415783f2ad9a1434ff81fc43
--- /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/ep000129/gripper_right_tactile_force_metrics.json
@@ -0,0 +1,9 @@
+{
+  "depth_peak": 0.0012685038382187486,
+  "shear_peak": 0.0028235451318323612,
+  "force_magnitude_peak": 0.002964798593893647,
+  "reference_frame_count": 0,
+  "dataset_name": "dag911262r00025a_lerobot_0327_114353",
+  "episode_index": 129,
+  "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/ep000132/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/ep000132/gripper_left_tactile_contact_metrics.json
new file mode 100644
index 0000000000000000000000000000000000000000..76ebf957c9459690186d3815afbee5d4b8fff194
--- /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/ep000132/gripper_left_tactile_contact_metrics.json
@@ -0,0 +1,12 @@
+{
+  "contact_time": 11.366666666666667,
+  "contact_ratio": 1.0,
+  "avg_contact_area": 8478.281524926686,
+  "contact_entropy": 1.1547185887566107,
+  "total_frames": 341,
+  "fps": 30.0,
+  "reference_frame_count": 0,
+  "dataset_name": "dag911262r00025a_lerobot_0327_114353",
+  "episode_index": 132,
+  "sensor": "gripper_left_tactile"
+}
\ No newline at end of file
diff --git a/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_09-30/outputs_tactile/tactile_cache/dag911262r00025a_lerobot_0327_114353_d7367074/episodes/ep000133/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/ep000133/gripper_left_tactile_contact_metrics.json
new file mode 100644
index 0000000000000000000000000000000000000000..b63cfd2e6609165c4ce283f0002f38a94b2c970a
--- /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/ep000133/gripper_left_tactile_contact_metrics.json
@@ -0,0 +1,12 @@
+{
+  "contact_time": 8.3,
+  "contact_ratio": 0.8861209964412812,
+  "avg_contact_area": 7821.140562248996,
+  "contact_entropy": 0.7167780872369328,
+  "total_frames": 281,
+  "fps": 30.0,
+  "reference_frame_count": 0,
+  "dataset_name": "dag911262r00025a_lerobot_0327_114353",
+  "episode_index": 133,
+  "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/ep000136/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/ep000136/gripper_left_tactile_force_metrics.json
new file mode 100644
index 0000000000000000000000000000000000000000..ccb4989d813076076e31c19e330512b98d2c50eb
--- /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/ep000136/gripper_left_tactile_force_metrics.json
@@ -0,0 +1,9 @@
+{
+  "depth_peak": 0.010332617908716202,
+  "shear_peak": 0.0026231068186461926,
+  "force_magnitude_peak": 0.01033279113471508,
+  "reference_frame_count": 0,
+  "dataset_name": "dag911262r00025a_lerobot_0327_114353",
+  "episode_index": 136,
+  "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/ep000136/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/ep000136/gripper_right_tactile_contact_metrics.json
new file mode 100644
index 0000000000000000000000000000000000000000..a9b8e262a35b4990e04adae3718f43d880e1991c
--- /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/ep000136/gripper_right_tactile_contact_metrics.json
@@ -0,0 +1,12 @@
+{
+  "contact_time": 10.6,
+  "contact_ratio": 1.0,
+  "avg_contact_area": 10776.301886792453,
+  "contact_entropy": 0.9269582508352165,
+  "total_frames": 318,
+  "fps": 30.0,
+  "reference_frame_count": 0,
+  "dataset_name": "dag911262r00025a_lerobot_0327_114353",
+  "episode_index": 136,
+  "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/ep000137/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/ep000137/gripper_right_tactile_force_metrics.json
new file mode 100644
index 0000000000000000000000000000000000000000..0a36593f7a5183c473e6a27d891ff77ae415b7e5
--- /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/ep000137/gripper_right_tactile_force_metrics.json
@@ -0,0 +1,9 @@
+{
+  "depth_peak": 0.0016817129217088223,
+  "shear_peak": 0.002887043170630932,
+  "force_magnitude_peak": 0.0032361336052417755,
+  "reference_frame_count": 0,
+  "dataset_name": "dag911262r00025a_lerobot_0327_114353",
+  "episode_index": 137,
+  "sensor": "gripper_right_tactile"
+}
\ No newline at end of file
diff --git a/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_09-30/outputs_tactile/tactile_cache/dag911262r00025a_lerobot_0327_114353_d7367074/episodes/ep000138/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/ep000138/gripper_right_tactile_contact_metrics.json
new file mode 100644
index 0000000000000000000000000000000000000000..982e0517e1dd3eb70980708698cd9e0ff6908664
--- /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/ep000138/gripper_right_tactile_contact_metrics.json
@@ -0,0 +1,12 @@
+{
+  "contact_time": 11.133333333333333,
+  "contact_ratio": 0.915068493150685,
+  "avg_contact_area": 2374.8263473053894,
+  "contact_entropy": 0.1663394448475059,
+  "total_frames": 365,
+  "fps": 30.0,
+  "reference_frame_count": 0,
+  "dataset_name": "dag911262r00025a_lerobot_0327_114353",
+  "episode_index": 138,
+  "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/ep000139/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/ep000139/gripper_right_tactile_force_metrics.json
new file mode 100644
index 0000000000000000000000000000000000000000..68093d15e65eb060b6886d86efbbcda76754872d
--- /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/ep000139/gripper_right_tactile_force_metrics.json
@@ -0,0 +1,9 @@
+{
+  "depth_peak": 0.004039715975522995,
+  "shear_peak": 0.0033777442295104265,
+  "force_magnitude_peak": 0.004937494173645973,
+  "reference_frame_count": 0,
+  "dataset_name": "dag911262r00025a_lerobot_0327_114353",
+  "episode_index": 139,
+  "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/ep000142/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/ep000142/gripper_left_tactile_contact_metrics.json
new file mode 100644
index 0000000000000000000000000000000000000000..a79cc2975209e6ecf23ed506af9e2f55a56cf90c
--- /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/ep000142/gripper_left_tactile_contact_metrics.json
@@ -0,0 +1,12 @@
+{
+  "contact_time": 12.766666666666667,
+  "contact_ratio": 0.927360774818402,
+  "avg_contact_area": 2355.603133159269,
+  "contact_entropy": 0.5001475600762483,
+  "total_frames": 413,
+  "fps": 30.0,
+  "reference_frame_count": 0,
+  "dataset_name": "dag911262r00025a_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/dag911262r00025a_lerobot_0327_114353_d7367074/episodes/ep000142/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/ep000142/gripper_right_tactile_contact_metrics.json
new file mode 100644
index 0000000000000000000000000000000000000000..5b9dce958664aadb650b520cebc2d10d59b1cc1b
--- /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/ep000142/gripper_right_tactile_contact_metrics.json
@@ -0,0 +1,12 @@
+{
+  "contact_time": 13.766666666666667,
+  "contact_ratio": 1.0,
+  "avg_contact_area": 9596.474576271186,
+  "contact_entropy": 1.0484713248398203,
+  "total_frames": 413,
+  "fps": 30.0,
+  "reference_frame_count": 0,
+  "dataset_name": "dag911262r00025a_lerobot_0327_114353",
+  "episode_index": 142,
+  "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/ep000144/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/ep000144/gripper_right_tactile_contact_metrics.json
new file mode 100644
index 0000000000000000000000000000000000000000..e37d87383f9da3454e53656099bb28b5cfd2437d
--- /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/ep000144/gripper_right_tactile_contact_metrics.json
@@ -0,0 +1,12 @@
+{
+  "contact_time": 10.5,
+  "contact_ratio": 0.9130434782608695,
+  "avg_contact_area": 3154.44126984127,
+  "contact_entropy": 0.20690112091147578,
+  "total_frames": 345,
+  "fps": 30.0,
+  "reference_frame_count": 0,
+  "dataset_name": "dag911262r00025a_lerobot_0327_114353",
+  "episode_index": 144,
+  "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/ep000144/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/ep000144/gripper_right_tactile_force_metrics.json
new file mode 100644
index 0000000000000000000000000000000000000000..45bcb23cabba04da5ceafe0f5371471284436f65
--- /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/ep000144/gripper_right_tactile_force_metrics.json
@@ -0,0 +1,9 @@
+{
+  "depth_peak": 0.0014297213638201356,
+  "shear_peak": 0.004950304049998522,
+  "force_magnitude_peak": 0.005063789896667004,
+  "reference_frame_count": 0,
+  "dataset_name": "dag911262r00025a_lerobot_0327_114353",
+  "episode_index": 144,
+  "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/ep000149/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/ep000149/gripper_left_tactile_contact_metrics.json
new file mode 100644
index 0000000000000000000000000000000000000000..8af940c6bc01ffe1da953088eb503be557875437
--- /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/ep000149/gripper_left_tactile_contact_metrics.json
@@ -0,0 +1,12 @@
+{
+  "contact_time": 13.766666666666667,
+  "contact_ratio": 1.0,
+  "avg_contact_area": 8205.944309927361,
+  "contact_entropy": 0.7521271789017545,
+  "total_frames": 413,
+  "fps": 30.0,
+  "reference_frame_count": 0,
+  "dataset_name": "dag911262r00025a_lerobot_0327_114353",
+  "episode_index": 149,
+  "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/ep000151/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/ep000151/gripper_left_tactile_contact_metrics.json
new file mode 100644
index 0000000000000000000000000000000000000000..0c58d75ca16d04a9a2bb2bc65c5dba7d69f3acdf
--- /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/ep000151/gripper_left_tactile_contact_metrics.json
@@ -0,0 +1,12 @@
+{
+  "contact_time": 12.9,
+  "contact_ratio": 0.9280575539568345,
+  "avg_contact_area": 4752.925064599483,
+  "contact_entropy": 0.4766688938612263,
+  "total_frames": 417,
+  "fps": 30.0,
+  "reference_frame_count": 0,
+  "dataset_name": "dag911262r00025a_lerobot_0327_114353",
+  "episode_index": 151,
+  "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/ep000151/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/ep000151/gripper_left_tactile_force_metrics.json
new file mode 100644
index 0000000000000000000000000000000000000000..a35a635875452912551d95b8fddd056fad9d7dfa
--- /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/ep000151/gripper_left_tactile_force_metrics.json
@@ -0,0 +1,9 @@
+{
+  "depth_peak": 0.007606367114931345,
+  "shear_peak": 0.0024842359125614166,
+  "force_magnitude_peak": 0.007804029621183872,
+  "reference_frame_count": 0,
+  "dataset_name": "dag911262r00025a_lerobot_0327_114353",
+  "episode_index": 151,
+  "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/ep000154/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/ep000154/gripper_left_tactile_force_metrics.json
new file mode 100644
index 0000000000000000000000000000000000000000..3e93bfd6778b6f4927bcee70d9372938ae575759
--- /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/ep000154/gripper_left_tactile_force_metrics.json
@@ -0,0 +1,9 @@
+{
+  "depth_peak": 0.005991962738335133,
+  "shear_peak": 0.005155638325959444,
+  "force_magnitude_peak": 0.007795192301273346,
+  "reference_frame_count": 0,
+  "dataset_name": "dag911262r00025a_lerobot_0327_114353",
+  "episode_index": 154,
+  "sensor": "gripper_left_tactile"
+}
\ No newline at end of file
diff --git a/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_09-30/outputs_tactile/tactile_cache/dag911262r00025a_lerobot_0327_114353_d7367074/episodes/ep000155/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/ep000155/gripper_left_tactile_force_metrics.json
new file mode 100644
index 0000000000000000000000000000000000000000..654e5a0f48649eaccb9764d1a139c9c9ae5723b9
--- /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/ep000155/gripper_left_tactile_force_metrics.json
@@ -0,0 +1,9 @@
+{
+  "depth_peak": 0.00909152440726757,
+  "shear_peak": 0.006047115661203861,
+  "force_magnitude_peak": 0.009091636165976524,
+  "reference_frame_count": 0,
+  "dataset_name": "dag911262r00025a_lerobot_0327_114353",
+  "episode_index": 155,
+  "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/ep000157/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/ep000157/gripper_right_tactile_force_metrics.json
new file mode 100644
index 0000000000000000000000000000000000000000..90c03e5c83b55ce3262bc5eb91565f9b0aafd649
--- /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/ep000157/gripper_right_tactile_force_metrics.json
@@ -0,0 +1,9 @@
+{
+  "depth_peak": 0.0003220226208213717,
+  "shear_peak": 0.0024321028031408787,
+  "force_magnitude_peak": 0.004365508910268545,
+  "reference_frame_count": 0,
+  "dataset_name": "dag911262r00025a_lerobot_0327_114353",
+  "episode_index": 157,
+  "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/ep000158/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/ep000158/gripper_left_tactile_force_metrics.json
new file mode 100644
index 0000000000000000000000000000000000000000..13bc4450368b4ebe1408fb886ac15cc09fc95e57
--- /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/ep000158/gripper_left_tactile_force_metrics.json
@@ -0,0 +1,9 @@
+{
+  "depth_peak": 0.00806413870304823,
+  "shear_peak": 0.00452975369989872,
+  "force_magnitude_peak": 0.008819067850708961,
+  "reference_frame_count": 0,
+  "dataset_name": "dag911262r00025a_lerobot_0327_114353",
+  "episode_index": 158,
+  "sensor": "gripper_left_tactile"
+}
\ No newline at end of file
diff --git a/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_09-30/outputs_tactile/tactile_cache/dag911262r00025a_lerobot_0327_114353_d7367074/episodes/ep000166/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/ep000166/gripper_right_tactile_contact_metrics.json
new file mode 100644
index 0000000000000000000000000000000000000000..1abeeb1ec0d182b61622243d727bd987511fafea
--- /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/ep000166/gripper_right_tactile_contact_metrics.json
@@ -0,0 +1,12 @@
+{
+  "contact_time": 14.7,
+  "contact_ratio": 0.8802395209580839,
+  "avg_contact_area": 3118.4353741496598,
+  "contact_entropy": 0.2271134591479429,
+  "total_frames": 501,
+  "fps": 30.0,
+  "reference_frame_count": 0,
+  "dataset_name": "dag911262r00025a_lerobot_0327_114353",
+  "episode_index": 166,
+  "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/ep000169/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/ep000169/gripper_right_tactile_force_metrics.json
new file mode 100644
index 0000000000000000000000000000000000000000..e841b317aee82f33542675b83b6f19cc17aa6fec
--- /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/ep000169/gripper_right_tactile_force_metrics.json
@@ -0,0 +1,9 @@
+{
+  "depth_peak": 0.002199716167524457,
+  "shear_peak": 0.0021500650327652693,
+  "force_magnitude_peak": 0.0025972819421440363,
+  "reference_frame_count": 0,
+  "dataset_name": "dag911262r00025a_lerobot_0327_114353",
+  "episode_index": 169,
+  "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/ep000172/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/ep000172/gripper_left_tactile_contact_metrics.json
new file mode 100644
index 0000000000000000000000000000000000000000..95a40e58c513a15e0e5c09a75f8630e374b29484
--- /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/ep000172/gripper_left_tactile_contact_metrics.json
@@ -0,0 +1,12 @@
+{
+  "contact_time": 11.2,
+  "contact_ratio": 0.8818897637795275,
+  "avg_contact_area": 6282.761904761905,
+  "contact_entropy": 0.3492145283347085,
+  "total_frames": 381,
+  "fps": 30.0,
+  "reference_frame_count": 0,
+  "dataset_name": "dag911262r00025a_lerobot_0327_114353",
+  "episode_index": 172,
+  "sensor": "gripper_left_tactile"
+}
\ No newline at end of file
diff --git a/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_09-30/outputs_tactile/tactile_cache/dag911262r00025a_lerobot_0327_114353_d7367074/episodes/ep000173/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/ep000173/gripper_left_tactile_contact_metrics.json
new file mode 100644
index 0000000000000000000000000000000000000000..6dc9e949cca6d4259a81960c14727545cd97636b
--- /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/ep000173/gripper_left_tactile_contact_metrics.json
@@ -0,0 +1,12 @@
+{
+  "contact_time": 9.533333333333333,
+  "contact_ratio": 0.9050632911392406,
+  "avg_contact_area": 7013.482517482517,
+  "contact_entropy": 1.01500226027778,
+  "total_frames": 316,
+  "fps": 30.0,
+  "reference_frame_count": 0,
+  "dataset_name": "dag911262r00025a_lerobot_0327_114353",
+  "episode_index": 173,
+  "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/ep000176/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/ep000176/gripper_left_tactile_force_metrics.json
new file mode 100644
index 0000000000000000000000000000000000000000..c4a86df393898def755f843800c7ab45098feb68
--- /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/ep000176/gripper_left_tactile_force_metrics.json
@@ -0,0 +1,9 @@
+{
+  "depth_peak": 0.00413651205599308,
+  "shear_peak": 0.0026242947205901146,
+  "force_magnitude_peak": 0.004327057860791683,
+  "reference_frame_count": 0,
+  "dataset_name": "dag911262r00025a_lerobot_0327_114353",
+  "episode_index": 176,
+  "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/ep000176/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/ep000176/gripper_right_tactile_contact_metrics.json
new file mode 100644
index 0000000000000000000000000000000000000000..ac8a1e3a2541b572e3aa6eeff635509863da1520
--- /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/ep000176/gripper_right_tactile_contact_metrics.json
@@ -0,0 +1,12 @@
+{
+  "contact_time": 11.466666666666667,
+  "contact_ratio": 0.9148936170212766,
+  "avg_contact_area": 2682.3488372093025,
+  "contact_entropy": 0.13785203584278147,
+  "total_frames": 376,
+  "fps": 30.0,
+  "reference_frame_count": 0,
+  "dataset_name": "dag911262r00025a_lerobot_0327_114353",
+  "episode_index": 176,
+  "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/ep000177/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/ep000177/gripper_right_tactile_force_metrics.json
new file mode 100644
index 0000000000000000000000000000000000000000..62efa0c2e7b0156f78458346a4f38e87b55f021c
--- /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/ep000177/gripper_right_tactile_force_metrics.json
@@ -0,0 +1,9 @@
+{
+  "depth_peak": 0.010761185549199581,
+  "shear_peak": 0.01550112571567297,
+  "force_magnitude_peak": 0.01885567232966423,
+  "reference_frame_count": 0,
+  "dataset_name": "dag911262r00025a_lerobot_0327_114353",
+  "episode_index": 177,
+  "sensor": "gripper_right_tactile"
+}
\ No newline at end of file
diff --git a/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_09-30/outputs_tactile/tactile_cache/dag911262r00025a_lerobot_0327_114353_d7367074/episodes/ep000178/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/ep000178/gripper_right_tactile_contact_metrics.json
new file mode 100644
index 0000000000000000000000000000000000000000..a60fdcb5cb332208dd5cc817f888787543e5e91d
--- /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/ep000178/gripper_right_tactile_contact_metrics.json
@@ -0,0 +1,12 @@
+{
+  "contact_time": 16.0,
+  "contact_ratio": 1.0,
+  "avg_contact_area": 6034.014583333334,
+  "contact_entropy": 0.49857648446237945,
+  "total_frames": 480,
+  "fps": 30.0,
+  "reference_frame_count": 0,
+  "dataset_name": "dag911262r00025a_lerobot_0327_114353",
+  "episode_index": 178,
+  "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/ep000179/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/ep000179/gripper_right_tactile_force_metrics.json
new file mode 100644
index 0000000000000000000000000000000000000000..e4686bcc09922d78b80e6a2ff19af4337d5c60e1
--- /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/ep000179/gripper_right_tactile_force_metrics.json
@@ -0,0 +1,9 @@
+{
+  "depth_peak": 0.0066041043028235435,
+  "shear_peak": 0.009466376155614853,
+  "force_magnitude_peak": 0.01148247066885233,
+  "reference_frame_count": 0,
+  "dataset_name": "dag911262r00025a_lerobot_0327_114353",
+  "episode_index": 179,
+  "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/ep000182/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/ep000182/gripper_left_tactile_contact_metrics.json
new file mode 100644
index 0000000000000000000000000000000000000000..202b057ca373372e6808819a41f85c13c37de271
--- /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/ep000182/gripper_left_tactile_contact_metrics.json
@@ -0,0 +1,12 @@
+{
+  "contact_time": 12.6,
+  "contact_ratio": 0.9152542372881356,
+  "avg_contact_area": 5224.78835978836,
+  "contact_entropy": 0.5967318688659443,
+  "total_frames": 413,
+  "fps": 30.0,
+  "reference_frame_count": 0,
+  "dataset_name": "dag911262r00025a_lerobot_0327_114353",
+  "episode_index": 182,
+  "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/ep000182/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/ep000182/gripper_right_tactile_contact_metrics.json
new file mode 100644
index 0000000000000000000000000000000000000000..41d0cb41b4703325cb0d92a39a885b47a8977dcd
--- /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/ep000182/gripper_right_tactile_contact_metrics.json
@@ -0,0 +1,12 @@
+{
+  "contact_time": 11.8,
+  "contact_ratio": 0.8571428571428571,
+  "avg_contact_area": 3438.8418079096045,
+  "contact_entropy": 0.5794359453580545,
+  "total_frames": 413,
+  "fps": 30.0,
+  "reference_frame_count": 0,
+  "dataset_name": "dag911262r00025a_lerobot_0327_114353",
+  "episode_index": 182,
+  "sensor": "gripper_right_tactile"
+}
\ No newline at end of file
diff --git a/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_09-30/outputs_tactile/tactile_cache/dag911262r00025a_lerobot_0327_114353_d7367074/episodes/ep000184/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/ep000184/gripper_right_tactile_contact_metrics.json
new file mode 100644
index 0000000000000000000000000000000000000000..e4ae0051e1cbe8c5f82d80abb0f53d09b3957283
--- /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/ep000184/gripper_right_tactile_contact_metrics.json
@@ -0,0 +1,12 @@
+{
+  "contact_time": 12.4,
+  "contact_ratio": 1.0,
+  "avg_contact_area": 9369.379032258064,
+  "contact_entropy": 1.0846637200402671,
+  "total_frames": 372,
+  "fps": 30.0,
+  "reference_frame_count": 0,
+  "dataset_name": "dag911262r00025a_lerobot_0327_114353",
+  "episode_index": 184,
+  "sensor": "gripper_right_tactile"
+}
\ No newline at end of file
diff --git a/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_09-30/outputs_tactile/tactile_cache/dag911262r00025a_lerobot_0327_114353_d7367074/episodes/ep000184/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/ep000184/gripper_right_tactile_force_metrics.json
new file mode 100644
index 0000000000000000000000000000000000000000..ac7f20db53c696ad8a744938aeabfba083e88cba
--- /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/ep000184/gripper_right_tactile_force_metrics.json
@@ -0,0 +1,9 @@
+{
+  "depth_peak": 0.012617875821888447,
+  "shear_peak": 0.009846570901572704,
+  "force_magnitude_peak": 0.015878088772296906,
+  "reference_frame_count": 0,
+  "dataset_name": "dag911262r00025a_lerobot_0327_114353",
+  "episode_index": 184,
+  "sensor": "gripper_right_tactile"
+}
\ No newline at end of file
diff --git a/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_09-30/outputs_tactile/tactile_cache/dag911262r00025a_lerobot_0327_114353_d7367074/episodes/ep000189/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/ep000189/gripper_left_tactile_contact_metrics.json
new file mode 100644
index 0000000000000000000000000000000000000000..d0bc430e690d47cc350ed0c4b95fffd21474f3af
--- /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/ep000189/gripper_left_tactile_contact_metrics.json
@@ -0,0 +1,12 @@
+{
+  "contact_time": 13.966666666666667,
+  "contact_ratio": 0.933184855233853,
+  "avg_contact_area": 3045.4582338902146,
+  "contact_entropy": 0.37594971384431064,
+  "total_frames": 449,
+  "fps": 30.0,
+  "reference_frame_count": 0,
+  "dataset_name": "dag911262r00025a_lerobot_0327_114353",
+  "episode_index": 189,
+  "sensor": "gripper_left_tactile"
+}
\ No newline at end of file
diff --git a/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_09-30/outputs_tactile/tactile_cache/dag911262r00025a_lerobot_0327_114353_d7367074/episodes/ep000191/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/ep000191/gripper_left_tactile_contact_metrics.json
new file mode 100644
index 0000000000000000000000000000000000000000..ec4429cc3c4be73a3e64254a517ec489a8d93fa4
--- /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/ep000191/gripper_left_tactile_contact_metrics.json
@@ -0,0 +1,12 @@
+{
+  "contact_time": 13.833333333333334,
+  "contact_ratio": 0.9325842696629213,
+  "avg_contact_area": 7355.185542168675,
+  "contact_entropy": 0.6265408480973632,
+  "total_frames": 445,
+  "fps": 30.0,
+  "reference_frame_count": 0,
+  "dataset_name": "dag911262r00025a_lerobot_0327_114353",
+  "episode_index": 191,
+  "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/ep000191/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/ep000191/gripper_left_tactile_force_metrics.json
new file mode 100644
index 0000000000000000000000000000000000000000..32ef84a39814d29c969abd09978ee52569a8a560
--- /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/ep000191/gripper_left_tactile_force_metrics.json
@@ -0,0 +1,9 @@
+{
+  "depth_peak": 0.012907217256724834,
+  "shear_peak": 0.009117376990616322,
+  "force_magnitude_peak": 0.01290892530232668,
+  "reference_frame_count": 0,
+  "dataset_name": "dag911262r00025a_lerobot_0327_114353",
+  "episode_index": 191,
+  "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/ep000194/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/ep000194/gripper_left_tactile_force_metrics.json
new file mode 100644
index 0000000000000000000000000000000000000000..e5df03fbdd4af4e9130372680293ea96b00414bc
--- /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/ep000194/gripper_left_tactile_force_metrics.json
@@ -0,0 +1,9 @@
+{
+  "depth_peak": 0.013605375774204731,
+  "shear_peak": 0.0053627570159733295,
+  "force_magnitude_peak": 0.013666522689163685,
+  "reference_frame_count": 0,
+  "dataset_name": "dag911262r00025a_lerobot_0327_114353",
+  "episode_index": 194,
+  "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/ep000195/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/ep000195/gripper_left_tactile_force_metrics.json
new file mode 100644
index 0000000000000000000000000000000000000000..074b79fec75639ae624346800c576617061213bb
--- /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/ep000195/gripper_left_tactile_force_metrics.json
@@ -0,0 +1,9 @@
+{
+  "depth_peak": 0.0065497527830302715,
+  "shear_peak": 0.0032028413843363523,
+  "force_magnitude_peak": 0.0076651317067444324,
+  "reference_frame_count": 0,
+  "dataset_name": "dag911262r00025a_lerobot_0327_114353",
+  "episode_index": 195,
+  "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/ep000197/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/ep000197/gripper_right_tactile_force_metrics.json
new file mode 100644
index 0000000000000000000000000000000000000000..3f7170bd0f338b57eb8b824e8a9edc69935c6e7b
--- /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/ep000197/gripper_right_tactile_force_metrics.json
@@ -0,0 +1,9 @@
+{
+  "depth_peak": 0.003028881037607789,
+  "shear_peak": 0.001959195826202631,
+  "force_magnitude_peak": 0.0035861069336533546,
+  "reference_frame_count": 0,
+  "dataset_name": "dag911262r00025a_lerobot_0327_114353",
+  "episode_index": 197,
+  "sensor": "gripper_right_tactile"
+}
\ No newline at end of file
diff --git a/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_09-30/outputs_tactile/tactile_cache/dag911262r00025a_lerobot_0327_114353_d7367074/episodes/ep000198/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/ep000198/gripper_left_tactile_force_metrics.json
new file mode 100644
index 0000000000000000000000000000000000000000..97a0edb31e852fe01365c36a42f39d9a5d0b6e45
--- /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/ep000198/gripper_left_tactile_force_metrics.json
@@ -0,0 +1,9 @@
+{
+  "depth_peak": 0.004786345176398754,
+  "shear_peak": 0.005909627303481102,
+  "force_magnitude_peak": 0.007216539699584246,
+  "reference_frame_count": 0,
+  "dataset_name": "dag911262r00025a_lerobot_0327_114353",
+  "episode_index": 198,
+  "sensor": "gripper_left_tactile"
+}
\ No newline at end of file
diff --git a/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_09-30/outputs_tactile/tactile_cache/dag911262r00025a_lerobot_0327_114353_d7367074/episodes/ep000206/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/ep000206/gripper_right_tactile_contact_metrics.json
new file mode 100644
index 0000000000000000000000000000000000000000..dde65370407beef5d8c30769a9c570ae33b53f92
--- /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/ep000206/gripper_right_tactile_contact_metrics.json
@@ -0,0 +1,12 @@
+{
+  "contact_time": 9.7,
+  "contact_ratio": 0.9797979797979798,
+  "avg_contact_area": 5021.560137457044,
+  "contact_entropy": 0.44215922367164473,
+  "total_frames": 297,
+  "fps": 30.0,
+  "reference_frame_count": 0,
+  "dataset_name": "dag911262r00025a_lerobot_0327_114353",
+  "episode_index": 206,
+  "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/ep000209/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/ep000209/gripper_right_tactile_force_metrics.json
new file mode 100644
index 0000000000000000000000000000000000000000..12e890ba85ad9cd2a60c452238417018620668c9
--- /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/ep000209/gripper_right_tactile_force_metrics.json
@@ -0,0 +1,9 @@
+{
+  "depth_peak": 0.0015046274056658149,
+  "shear_peak": 0.003746728878468275,
+  "force_magnitude_peak": 0.005115984473377466,
+  "reference_frame_count": 0,
+  "dataset_name": "dag911262r00025a_lerobot_0327_114353",
+  "episode_index": 209,
+  "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/ep000212/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/ep000212/gripper_left_tactile_contact_metrics.json
new file mode 100644
index 0000000000000000000000000000000000000000..8c73a755c692ec7243bb022ec748d30ff6b52eae
--- /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/ep000212/gripper_left_tactile_contact_metrics.json
@@ -0,0 +1,12 @@
+{
+  "contact_time": 9.133333333333333,
+  "contact_ratio": 0.9013157894736842,
+  "avg_contact_area": 10853.908759124088,
+  "contact_entropy": 0.3555623611829559,
+  "total_frames": 304,
+  "fps": 30.0,
+  "reference_frame_count": 0,
+  "dataset_name": "dag911262r00025a_lerobot_0327_114353",
+  "episode_index": 212,
+  "sensor": "gripper_left_tactile"
+}
\ No newline at end of file
diff --git a/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_09-30/outputs_tactile/tactile_cache/dag911262r00025a_lerobot_0327_114353_d7367074/episodes/ep000213/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/ep000213/gripper_left_tactile_contact_metrics.json
new file mode 100644
index 0000000000000000000000000000000000000000..62413a13a6ac9586c9e947f91d4bda40aafe8527
--- /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/ep000213/gripper_left_tactile_contact_metrics.json
@@ -0,0 +1,12 @@
+{
+  "contact_time": 12.466666666666667,
+  "contact_ratio": 1.0,
+  "avg_contact_area": 8238.724598930481,
+  "contact_entropy": 1.2201577835661082,
+  "total_frames": 374,
+  "fps": 30.0,
+  "reference_frame_count": 0,
+  "dataset_name": "dag911262r00025a_lerobot_0327_114353",
+  "episode_index": 213,
+  "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/ep000216/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/ep000216/gripper_left_tactile_force_metrics.json
new file mode 100644
index 0000000000000000000000000000000000000000..45c226fc00b6133febbeaddc9598acfae99a9bbb
--- /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/ep000216/gripper_left_tactile_force_metrics.json
@@ -0,0 +1,9 @@
+{
+  "depth_peak": 0.013240394182503223,
+  "shear_peak": 0.005348009057343006,
+  "force_magnitude_peak": 0.013715553097426891,
+  "reference_frame_count": 0,
+  "dataset_name": "dag911262r00025a_lerobot_0327_114353",
+  "episode_index": 216,
+  "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/ep000216/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/ep000216/gripper_right_tactile_contact_metrics.json
new file mode 100644
index 0000000000000000000000000000000000000000..4b215a309e8f236ce4b0d79c94061f596fb7b185
--- /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/ep000216/gripper_right_tactile_contact_metrics.json
@@ -0,0 +1,12 @@
+{
+  "contact_time": 7.666666666666667,
+  "contact_ratio": 0.8614232209737828,
+  "avg_contact_area": 1325.8086956521738,
+  "contact_entropy": 0.21300569832956728,
+  "total_frames": 267,
+  "fps": 30.0,
+  "reference_frame_count": 0,
+  "dataset_name": "dag911262r00025a_lerobot_0327_114353",
+  "episode_index": 216,
+  "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/ep000217/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/ep000217/gripper_right_tactile_force_metrics.json
new file mode 100644
index 0000000000000000000000000000000000000000..40b253cd7b448e6c2407f009d5ee57a977193f4e
--- /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/ep000217/gripper_right_tactile_force_metrics.json
@@ -0,0 +1,9 @@
+{
+  "depth_peak": 0.0013608342269435525,
+  "shear_peak": 0.0023589872289448977,
+  "force_magnitude_peak": 0.002980296267196536,
+  "reference_frame_count": 0,
+  "dataset_name": "dag911262r00025a_lerobot_0327_114353",
+  "episode_index": 217,
+  "sensor": "gripper_right_tactile"
+}
\ No newline at end of file
diff --git a/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_09-30/outputs_tactile/tactile_cache/dag911262r00025a_lerobot_0327_114353_d7367074/episodes/ep000218/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/ep000218/gripper_right_tactile_contact_metrics.json
new file mode 100644
index 0000000000000000000000000000000000000000..e17aa668d3f57bbf9e699dc16409799cb2cb4cf9
--- /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/ep000218/gripper_right_tactile_contact_metrics.json
@@ -0,0 +1,12 @@
+{
+  "contact_time": 8.6,
+  "contact_ratio": 0.9735849056603774,
+  "avg_contact_area": 1970.2635658914728,
+  "contact_entropy": 0.13915367388739508,
+  "total_frames": 265,
+  "fps": 30.0,
+  "reference_frame_count": 0,
+  "dataset_name": "dag911262r00025a_lerobot_0327_114353",
+  "episode_index": 218,
+  "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/ep000219/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/ep000219/gripper_right_tactile_force_metrics.json
new file mode 100644
index 0000000000000000000000000000000000000000..d7898f37fcdf1ac820d93c8cb5d9420a81c89cce
--- /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/ep000219/gripper_right_tactile_force_metrics.json
@@ -0,0 +1,9 @@
+{
+  "depth_peak": 0.012327653355896473,
+  "shear_peak": 0.005399873945862055,
+  "force_magnitude_peak": 0.013346630148589611,
+  "reference_frame_count": 0,
+  "dataset_name": "dag911262r00025a_lerobot_0327_114353",
+  "episode_index": 219,
+  "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/ep000222/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/ep000222/gripper_left_tactile_contact_metrics.json
new file mode 100644
index 0000000000000000000000000000000000000000..e212737861bbc04938f36add5a0fa9a6f9d3c34a
--- /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/ep000222/gripper_left_tactile_contact_metrics.json
@@ -0,0 +1,12 @@
+{
+  "contact_time": 17.233333333333334,
+  "contact_ratio": 1.0,
+  "avg_contact_area": 6606.495164410058,
+  "contact_entropy": 0.9670277386908862,
+  "total_frames": 517,
+  "fps": 30.0,
+  "reference_frame_count": 0,
+  "dataset_name": "dag911262r00025a_lerobot_0327_114353",
+  "episode_index": 222,
+  "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/ep000222/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/ep000222/gripper_right_tactile_contact_metrics.json
new file mode 100644
index 0000000000000000000000000000000000000000..e4e4be6e190199a278f012b71094da0ced229f53
--- /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/ep000222/gripper_right_tactile_contact_metrics.json
@@ -0,0 +1,12 @@
+{
+  "contact_time": 17.233333333333334,
+  "contact_ratio": 1.0,
+  "avg_contact_area": 7251.040618955512,
+  "contact_entropy": 0.6215596608904661,
+  "total_frames": 517,
+  "fps": 30.0,
+  "reference_frame_count": 0,
+  "dataset_name": "dag911262r00025a_lerobot_0327_114353",
+  "episode_index": 222,
+  "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/ep000224/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/ep000224/gripper_right_tactile_contact_metrics.json
new file mode 100644
index 0000000000000000000000000000000000000000..24600364b587823df79b3f2b51094b035e5e212a
--- /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/ep000224/gripper_right_tactile_contact_metrics.json
@@ -0,0 +1,12 @@
+{
+  "contact_time": 11.766666666666667,
+  "contact_ratio": 0.8567961165048543,
+  "avg_contact_area": 8579.093484419263,
+  "contact_entropy": 0.603163799340937,
+  "total_frames": 412,
+  "fps": 30.0,
+  "reference_frame_count": 0,
+  "dataset_name": "dag911262r00025a_lerobot_0327_114353",
+  "episode_index": 224,
+  "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/ep000224/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/ep000224/gripper_right_tactile_force_metrics.json
new file mode 100644
index 0000000000000000000000000000000000000000..8edcb594b007ddbaee4903eb5645f42e3071fa06
--- /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/ep000224/gripper_right_tactile_force_metrics.json
@@ -0,0 +1,9 @@
+{
+  "depth_peak": 0.004728755448013544,
+  "shear_peak": 0.0032302257604897022,
+  "force_magnitude_peak": 0.004906638991087675,
+  "reference_frame_count": 0,
+  "dataset_name": "dag911262r00025a_lerobot_0327_114353",
+  "episode_index": 224,
+  "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/ep000229/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/ep000229/gripper_left_tactile_contact_metrics.json
new file mode 100644
index 0000000000000000000000000000000000000000..4a136bd0a177b54ce8fe5bd576834e77081bb994
--- /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/ep000229/gripper_left_tactile_contact_metrics.json
@@ -0,0 +1,12 @@
+{
+  "contact_time": 11.433333333333334,
+  "contact_ratio": 0.8532338308457711,
+  "avg_contact_area": 5098.247813411079,
+  "contact_entropy": 0.3624020422100637,
+  "total_frames": 402,
+  "fps": 30.0,
+  "reference_frame_count": 0,
+  "dataset_name": "dag911262r00025a_lerobot_0327_114353",
+  "episode_index": 229,
+  "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/ep000231/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/ep000231/gripper_left_tactile_contact_metrics.json
new file mode 100644
index 0000000000000000000000000000000000000000..38e19a5a0f78a70579f56cd51286959fd2a7c0ec
--- /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/ep000231/gripper_left_tactile_contact_metrics.json
@@ -0,0 +1,12 @@
+{
+  "contact_time": 12.133333333333333,
+  "contact_ratio": 0.8605200945626478,
+  "avg_contact_area": 3269.5824175824177,
+  "contact_entropy": 0.3877486963477483,
+  "total_frames": 423,
+  "fps": 30.0,
+  "reference_frame_count": 0,
+  "dataset_name": "dag911262r00025a_lerobot_0327_114353",
+  "episode_index": 231,
+  "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/ep000231/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/ep000231/gripper_left_tactile_force_metrics.json
new file mode 100644
index 0000000000000000000000000000000000000000..6eed8b31423423a1712ad821a88c8a25e7cb5845
--- /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/ep000231/gripper_left_tactile_force_metrics.json
@@ -0,0 +1,9 @@
+{
+  "depth_peak": 0.002873542020097375,
+  "shear_peak": 0.004556229338049889,
+  "force_magnitude_peak": 0.005771632771939039,
+  "reference_frame_count": 0,
+  "dataset_name": "dag911262r00025a_lerobot_0327_114353",
+  "episode_index": 231,
+  "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/ep000234/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/ep000234/gripper_left_tactile_force_metrics.json
new file mode 100644
index 0000000000000000000000000000000000000000..1c03dbbef60d94da67c65aa56be759baa239f8bf
--- /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/ep000234/gripper_left_tactile_force_metrics.json
@@ -0,0 +1,9 @@
+{
+  "depth_peak": 0.0032714165281504393,
+  "shear_peak": 0.004156256560236216,
+  "force_magnitude_peak": 0.004921906627714634,
+  "reference_frame_count": 0,
+  "dataset_name": "dag911262r00025a_lerobot_0327_114353",
+  "episode_index": 234,
+  "sensor": "gripper_left_tactile"
+}
\ No newline at end of file
diff --git a/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_09-30/outputs_tactile/tactile_cache/dag911262r00025a_lerobot_0327_114353_d7367074/episodes/ep000235/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/ep000235/gripper_left_tactile_force_metrics.json
new file mode 100644
index 0000000000000000000000000000000000000000..f5f26fa1aab6d3741f7ad883f6ad487767af6b5f
--- /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/ep000235/gripper_left_tactile_force_metrics.json
@@ -0,0 +1,9 @@
+{
+  "depth_peak": 0.0037474308628588915,
+  "shear_peak": 0.005233127158135176,
+  "force_magnitude_peak": 0.006377354264259338,
+  "reference_frame_count": 0,
+  "dataset_name": "dag911262r00025a_lerobot_0327_114353",
+  "episode_index": 235,
+  "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/ep000237/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/ep000237/gripper_right_tactile_force_metrics.json
new file mode 100644
index 0000000000000000000000000000000000000000..e245498301bd2f2f271178f7274a14e775dcc87d
--- /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/ep000237/gripper_right_tactile_force_metrics.json
@@ -0,0 +1,9 @@
+{
+  "depth_peak": 0.0046158707700669765,
+  "shear_peak": 0.0032676300033926964,
+  "force_magnitude_peak": 0.005280292592942715,
+  "reference_frame_count": 0,
+  "dataset_name": "dag911262r00025a_lerobot_0327_114353",
+  "episode_index": 237,
+  "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/ep000238/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/ep000238/gripper_left_tactile_force_metrics.json
new file mode 100644
index 0000000000000000000000000000000000000000..fdfb369107dde7b836d344b201dcfd345fda69ee
--- /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/ep000238/gripper_left_tactile_force_metrics.json
@@ -0,0 +1,9 @@
+{
+  "depth_peak": 0.006468166597187519,
+  "shear_peak": 0.0036877011880278587,
+  "force_magnitude_peak": 0.0064909555949270725,
+  "reference_frame_count": 0,
+  "dataset_name": "dag911262r00025a_lerobot_0327_114353",
+  "episode_index": 238,
+  "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/ep000246/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/ep000246/gripper_right_tactile_contact_metrics.json
new file mode 100644
index 0000000000000000000000000000000000000000..cf851c7f373ae6699f8995b79bae122ecd6a0b4f
--- /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/ep000246/gripper_right_tactile_contact_metrics.json
@@ -0,0 +1,12 @@
+{
+  "contact_time": 12.433333333333334,
+  "contact_ratio": 1.0,
+  "avg_contact_area": 6971.048257372654,
+  "contact_entropy": 0.9837560450202116,
+  "total_frames": 373,
+  "fps": 30.0,
+  "reference_frame_count": 0,
+  "dataset_name": "dag911262r00025a_lerobot_0327_114353",
+  "episode_index": 246,
+  "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/ep000249/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/ep000249/gripper_right_tactile_force_metrics.json
new file mode 100644
index 0000000000000000000000000000000000000000..a1556973e69ca99a10af5bbeae7aa56ed1901a63
--- /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/ep000249/gripper_right_tactile_force_metrics.json
@@ -0,0 +1,9 @@
+{
+  "depth_peak": 0.008391131646931171,
+  "shear_peak": 0.005070407409220934,
+  "force_magnitude_peak": 0.009104111231863499,
+  "reference_frame_count": 0,
+  "dataset_name": "dag911262r00025a_lerobot_0327_114353",
+  "episode_index": 249,
+  "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/ep000252/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/ep000252/gripper_left_tactile_contact_metrics.json
new file mode 100644
index 0000000000000000000000000000000000000000..f9fd7c7578175c9715a7e0678727c390a7eb87e0
--- /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/ep000252/gripper_left_tactile_contact_metrics.json
@@ -0,0 +1,12 @@
+{
+  "contact_time": 8.033333333333333,
+  "contact_ratio": 0.8033333333333333,
+  "avg_contact_area": 3509.5435684647305,
+  "contact_entropy": 0.1755385467054362,
+  "total_frames": 300,
+  "fps": 30.0,
+  "reference_frame_count": 0,
+  "dataset_name": "dag911262r00025a_lerobot_0327_114353",
+  "episode_index": 252,
+  "sensor": "gripper_left_tactile"
+}
\ No newline at end of file
diff --git a/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_09-30/outputs_tactile/tactile_cache/dag911262r00025a_lerobot_0327_114353_d7367074/episodes/ep000253/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/ep000253/gripper_left_tactile_contact_metrics.json
new file mode 100644
index 0000000000000000000000000000000000000000..ed032298ad8c70324ce54ab2cf5e25090ab3a53e
--- /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/ep000253/gripper_left_tactile_contact_metrics.json
@@ -0,0 +1,12 @@
+{
+  "contact_time": 8.866666666666667,
+  "contact_ratio": 0.8085106382978723,
+  "avg_contact_area": 3414.597744360902,
+  "contact_entropy": 0.2513915990552565,
+  "total_frames": 329,
+  "fps": 30.0,
+  "reference_frame_count": 0,
+  "dataset_name": "dag911262r00025a_lerobot_0327_114353",
+  "episode_index": 253,
+  "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/ep000256/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/ep000256/gripper_left_tactile_force_metrics.json
new file mode 100644
index 0000000000000000000000000000000000000000..ebbde5a5d63ba6a1cdeb75273ca7d101f20d1470
--- /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/ep000256/gripper_left_tactile_force_metrics.json
@@ -0,0 +1,9 @@
+{
+  "depth_peak": 0.0017776071326807141,
+  "shear_peak": 0.0048896800726652145,
+  "force_magnitude_peak": 0.004914517980068922,
+  "reference_frame_count": 0,
+  "dataset_name": "dag911262r00025a_lerobot_0327_114353",
+  "episode_index": 256,
+  "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/ep000256/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/ep000256/gripper_right_tactile_contact_metrics.json
new file mode 100644
index 0000000000000000000000000000000000000000..72091f936039bb686c53f8d2bd449747bd968246
--- /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/ep000256/gripper_right_tactile_contact_metrics.json
@@ -0,0 +1,12 @@
+{
+  "contact_time": 9.233333333333333,
+  "contact_ratio": 0.9022801302931596,
+  "avg_contact_area": 12282.184115523465,
+  "contact_entropy": 0.616299873071616,
+  "total_frames": 307,
+  "fps": 30.0,
+  "reference_frame_count": 0,
+  "dataset_name": "dag911262r00025a_lerobot_0327_114353",
+  "episode_index": 256,
+  "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/ep000257/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/ep000257/gripper_right_tactile_force_metrics.json
new file mode 100644
index 0000000000000000000000000000000000000000..128046d9821f3364bf112b2863d819fac5a5e5de
--- /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/ep000257/gripper_right_tactile_force_metrics.json
@@ -0,0 +1,9 @@
+{
+  "depth_peak": 0.00889917928725481,
+  "shear_peak": 0.002098939148709178,
+  "force_magnitude_peak": 0.00889927800744772,
+  "reference_frame_count": 0,
+  "dataset_name": "dag911262r00025a_lerobot_0327_114353",
+  "episode_index": 257,
+  "sensor": "gripper_right_tactile"
+}
\ No newline at end of file
diff --git a/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_09-30/outputs_tactile/tactile_cache/dag911262r00025a_lerobot_0327_114353_d7367074/episodes/ep000258/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/ep000258/gripper_right_tactile_contact_metrics.json
new file mode 100644
index 0000000000000000000000000000000000000000..2db80d088f835ea53eceaddcb1c5833fe8a4cc4a
--- /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/ep000258/gripper_right_tactile_contact_metrics.json
@@ -0,0 +1,12 @@
+{
+  "contact_time": 10.366666666666667,
+  "contact_ratio": 0.8337801608579088,
+  "avg_contact_area": 3199.6334405144694,
+  "contact_entropy": 0.1932132914703109,
+  "total_frames": 373,
+  "fps": 30.0,
+  "reference_frame_count": 0,
+  "dataset_name": "dag911262r00025a_lerobot_0327_114353",
+  "episode_index": 258,
+  "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/ep000259/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/ep000259/gripper_right_tactile_force_metrics.json
new file mode 100644
index 0000000000000000000000000000000000000000..8c72ef5b2d64644cdf1af0e0426e8803f2685c48
--- /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/ep000259/gripper_right_tactile_force_metrics.json
@@ -0,0 +1,9 @@
+{
+  "depth_peak": 0.008601945824921131,
+  "shear_peak": 0.005047218408435583,
+  "force_magnitude_peak": 0.008968455716967583,
+  "reference_frame_count": 0,
+  "dataset_name": "dag911262r00025a_lerobot_0327_114353",
+  "episode_index": 259,
+  "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/ep000262/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/ep000262/gripper_left_tactile_contact_metrics.json
new file mode 100644
index 0000000000000000000000000000000000000000..7ee518b2b2924defbf58d278cf972a5ac01b16df
--- /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/ep000262/gripper_left_tactile_contact_metrics.json
@@ -0,0 +1,12 @@
+{
+  "contact_time": 8.933333333333334,
+  "contact_ratio": 0.8121212121212121,
+  "avg_contact_area": 2848.5858208955224,
+  "contact_entropy": 0.43503869515892274,
+  "total_frames": 330,
+  "fps": 30.0,
+  "reference_frame_count": 0,
+  "dataset_name": "dag911262r00025a_lerobot_0327_114353",
+  "episode_index": 262,
+  "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/ep000262/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/ep000262/gripper_right_tactile_contact_metrics.json
new file mode 100644
index 0000000000000000000000000000000000000000..71b9b0535d692067274e0991d8330cf9e29e3fb6
--- /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/ep000262/gripper_right_tactile_contact_metrics.json
@@ -0,0 +1,12 @@
+{
+  "contact_time": 9.033333333333333,
+  "contact_ratio": 0.8212121212121212,
+  "avg_contact_area": 12305.859778597785,
+  "contact_entropy": 0.7590325089977041,
+  "total_frames": 330,
+  "fps": 30.0,
+  "reference_frame_count": 0,
+  "dataset_name": "dag911262r00025a_lerobot_0327_114353",
+  "episode_index": 262,
+  "sensor": "gripper_right_tactile"
+}
\ No newline at end of file
diff --git a/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_09-30/outputs_tactile/tactile_cache/dag911262r00025a_lerobot_0327_114353_d7367074/episodes/ep000264/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/ep000264/gripper_right_tactile_contact_metrics.json
new file mode 100644
index 0000000000000000000000000000000000000000..3fe75123968783da3262a4cd3040cfdf86bc5108
--- /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/ep000264/gripper_right_tactile_contact_metrics.json
@@ -0,0 +1,12 @@
+{
+  "contact_time": 14.833333333333334,
+  "contact_ratio": 1.0,
+  "avg_contact_area": 6110.202247191011,
+  "contact_entropy": 0.9046505617191746,
+  "total_frames": 445,
+  "fps": 30.0,
+  "reference_frame_count": 0,
+  "dataset_name": "dag911262r00025a_lerobot_0327_114353",
+  "episode_index": 264,
+  "sensor": "gripper_right_tactile"
+}
\ No newline at end of file
diff --git a/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_09-30/outputs_tactile/tactile_cache/dag911262r00025a_lerobot_0327_114353_d7367074/episodes/ep000264/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/ep000264/gripper_right_tactile_force_metrics.json
new file mode 100644
index 0000000000000000000000000000000000000000..07af88503f152bb4c1febc3043e93b0bfe63b543
--- /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/ep000264/gripper_right_tactile_force_metrics.json
@@ -0,0 +1,9 @@
+{
+  "depth_peak": 0.009249698370695114,
+  "shear_peak": 0.0030451579950749874,
+  "force_magnitude_peak": 0.009338833391666412,
+  "reference_frame_count": 0,
+  "dataset_name": "dag911262r00025a_lerobot_0327_114353",
+  "episode_index": 264,
+  "sensor": "gripper_right_tactile"
+}
\ No newline at end of file
diff --git a/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_09-30/outputs_tactile/tactile_cache/dag911262r00025a_lerobot_0327_114353_d7367074/episodes/ep000269/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/ep000269/gripper_left_tactile_contact_metrics.json
new file mode 100644
index 0000000000000000000000000000000000000000..ab7d8e1b4f3dbf99f2e3b74b2cf0d0bd31f2d33a
--- /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/ep000269/gripper_left_tactile_contact_metrics.json
@@ -0,0 +1,12 @@
+{
+  "contact_time": 14.933333333333334,
+  "contact_ratio": 0.8767123287671232,
+  "avg_contact_area": 2974.4977678571427,
+  "contact_entropy": 0.3900801534644292,
+  "total_frames": 511,
+  "fps": 30.0,
+  "reference_frame_count": 0,
+  "dataset_name": "dag911262r00025a_lerobot_0327_114353",
+  "episode_index": 269,
+  "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/ep000271/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/ep000271/gripper_left_tactile_contact_metrics.json
new file mode 100644
index 0000000000000000000000000000000000000000..d08859a348ef53bb9ea4ed5cd86198afacb3908d
--- /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/ep000271/gripper_left_tactile_contact_metrics.json
@@ -0,0 +1,12 @@
+{
+  "contact_time": 15.2,
+  "contact_ratio": 0.9382716049382716,
+  "avg_contact_area": 3800.907894736842,
+  "contact_entropy": 0.3921738923834802,
+  "total_frames": 486,
+  "fps": 30.0,
+  "reference_frame_count": 0,
+  "dataset_name": "dag911262r00025a_lerobot_0327_114353",
+  "episode_index": 271,
+  "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/ep000271/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/ep000271/gripper_left_tactile_force_metrics.json
new file mode 100644
index 0000000000000000000000000000000000000000..79bba52a27baac91bfe654663ee3f6de4dde2e82
--- /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/ep000271/gripper_left_tactile_force_metrics.json
@@ -0,0 +1,9 @@
+{
+  "depth_peak": 0.006421183235943317,
+  "shear_peak": 0.003733357647433877,
+  "force_magnitude_peak": 0.0064970506355166435,
+  "reference_frame_count": 0,
+  "dataset_name": "dag911262r00025a_lerobot_0327_114353",
+  "episode_index": 271,
+  "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/ep000274/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/ep000274/gripper_left_tactile_force_metrics.json
new file mode 100644
index 0000000000000000000000000000000000000000..744d51c8cfd672ba924b69de162d5c528c19d051
--- /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/ep000274/gripper_left_tactile_force_metrics.json
@@ -0,0 +1,9 @@
+{
+  "depth_peak": 0.0036008674651384354,
+  "shear_peak": 0.005087829660624266,
+  "force_magnitude_peak": 0.005451490171253681,
+  "reference_frame_count": 0,
+  "dataset_name": "dag911262r00025a_lerobot_0327_114353",
+  "episode_index": 274,
+  "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/ep000275/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/ep000275/gripper_left_tactile_force_metrics.json
new file mode 100644
index 0000000000000000000000000000000000000000..8de7117f324425eeca44cf2fa29085353a6db8ee
--- /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/ep000275/gripper_left_tactile_force_metrics.json
@@ -0,0 +1,9 @@
+{
+  "depth_peak": 0.005758508574217558,
+  "shear_peak": 0.003930159844458103,
+  "force_magnitude_peak": 0.006119539029896259,
+  "reference_frame_count": 0,
+  "dataset_name": "dag911262r00025a_lerobot_0327_114353",
+  "episode_index": 275,
+  "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/ep000277/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/ep000277/gripper_right_tactile_force_metrics.json
new file mode 100644
index 0000000000000000000000000000000000000000..396243a8aac0dca27c6f90d298ce8fbd8e5ff5f2
--- /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/ep000277/gripper_right_tactile_force_metrics.json
@@ -0,0 +1,9 @@
+{
+  "depth_peak": 0.007842625491321087,
+  "shear_peak": 0.003886518767103553,
+  "force_magnitude_peak": 0.007884860038757324,
+  "reference_frame_count": 0,
+  "dataset_name": "dag911262r00025a_lerobot_0327_114353",
+  "episode_index": 277,
+  "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/ep000278/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/ep000278/gripper_left_tactile_force_metrics.json
new file mode 100644
index 0000000000000000000000000000000000000000..a90693f91cb2157624c9f31b761a45d4b5ac2b4c
--- /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/ep000278/gripper_left_tactile_force_metrics.json
@@ -0,0 +1,9 @@
+{
+  "depth_peak": 0.003957604523748159,
+  "shear_peak": 0.00302657182328403,
+  "force_magnitude_peak": 0.004029278177767992,
+  "reference_frame_count": 0,
+  "dataset_name": "dag911262r00025a_lerobot_0327_114353",
+  "episode_index": 278,
+  "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/ep000286/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/ep000286/gripper_right_tactile_contact_metrics.json
new file mode 100644
index 0000000000000000000000000000000000000000..4632d02f3f739ce8adcbf0f5de290ae60a4b4d9f
--- /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/ep000286/gripper_right_tactile_contact_metrics.json
@@ -0,0 +1,12 @@
+{
+  "contact_time": 11.0,
+  "contact_ratio": 0.9166666666666666,
+  "avg_contact_area": 5773.818181818182,
+  "contact_entropy": 0.1263261744730395,
+  "total_frames": 360,
+  "fps": 30.0,
+  "reference_frame_count": 0,
+  "dataset_name": "dag911262r00025a_lerobot_0327_114353",
+  "episode_index": 286,
+  "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/ep000289/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/ep000289/gripper_right_tactile_force_metrics.json
new file mode 100644
index 0000000000000000000000000000000000000000..5635682f68147d15f04f9d25f48d71ec0fcd5ba0
--- /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/ep000289/gripper_right_tactile_force_metrics.json
@@ -0,0 +1,9 @@
+{
+  "depth_peak": 0.0037220504600554705,
+  "shear_peak": 0.003253046190366149,
+  "force_magnitude_peak": 0.003841194324195385,
+  "reference_frame_count": 0,
+  "dataset_name": "dag911262r00025a_lerobot_0327_114353",
+  "episode_index": 289,
+  "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/ep000292/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/ep000292/gripper_left_tactile_contact_metrics.json
new file mode 100644
index 0000000000000000000000000000000000000000..0665e3ff0858c7cd3779b8457628bc0efb3b9ce5
--- /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/ep000292/gripper_left_tactile_contact_metrics.json
@@ -0,0 +1,12 @@
+{
+  "contact_time": 10.933333333333334,
+  "contact_ratio": 1.0,
+  "avg_contact_area": 6523.90243902439,
+  "contact_entropy": 0.713859694892356,
+  "total_frames": 328,
+  "fps": 30.0,
+  "reference_frame_count": 0,
+  "dataset_name": "dag911262r00025a_lerobot_0327_114353",
+  "episode_index": 292,
+  "sensor": "gripper_left_tactile"
+}
\ No newline at end of file
diff --git a/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_09-30/outputs_tactile/tactile_cache/dag911262r00025a_lerobot_0327_114353_d7367074/episodes/ep000293/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/ep000293/gripper_left_tactile_contact_metrics.json
new file mode 100644
index 0000000000000000000000000000000000000000..65c2a6a9db17bd6866072eae85c979e0ee1731ee
--- /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/ep000293/gripper_left_tactile_contact_metrics.json
@@ -0,0 +1,12 @@
+{
+  "contact_time": 13.166666666666666,
+  "contact_ratio": 1.0,
+  "avg_contact_area": 3405.154430379747,
+  "contact_entropy": 0.29000402627910576,
+  "total_frames": 395,
+  "fps": 30.0,
+  "reference_frame_count": 0,
+  "dataset_name": "dag911262r00025a_lerobot_0327_114353",
+  "episode_index": 293,
+  "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/ep000296/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/ep000296/gripper_left_tactile_force_metrics.json
new file mode 100644
index 0000000000000000000000000000000000000000..531741783693fb8f71bb56ce6243d5f44cac09db
--- /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/ep000296/gripper_left_tactile_force_metrics.json
@@ -0,0 +1,9 @@
+{
+  "depth_peak": 0.005436873994767666,
+  "shear_peak": 0.004087448585778475,
+  "force_magnitude_peak": 0.006212578620761633,
+  "reference_frame_count": 0,
+  "dataset_name": "dag911262r00025a_lerobot_0327_114353",
+  "episode_index": 296,
+  "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/ep000296/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/ep000296/gripper_right_tactile_contact_metrics.json
new file mode 100644
index 0000000000000000000000000000000000000000..58d41ba5cf58c4e4bd94cc9080b88ff39ba321e9
--- /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/ep000296/gripper_right_tactile_contact_metrics.json
@@ -0,0 +1,12 @@
+{
+  "contact_time": 8.8,
+  "contact_ratio": 0.9134948096885813,
+  "avg_contact_area": 10856.109848484848,
+  "contact_entropy": 0.6308432352917722,
+  "total_frames": 289,
+  "fps": 30.0,
+  "reference_frame_count": 0,
+  "dataset_name": "dag911262r00025a_lerobot_0327_114353",
+  "episode_index": 296,
+  "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/ep000297/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/ep000297/gripper_right_tactile_force_metrics.json
new file mode 100644
index 0000000000000000000000000000000000000000..6b55aba81090ff0db2f90d074addd40c17a56932
--- /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/ep000297/gripper_right_tactile_force_metrics.json
@@ -0,0 +1,9 @@
+{
+  "depth_peak": 0.006088030990213156,
+  "shear_peak": 0.00472228555008769,
+  "force_magnitude_peak": 0.007282544858753681,
+  "reference_frame_count": 0,
+  "dataset_name": "dag911262r00025a_lerobot_0327_114353",
+  "episode_index": 297,
+  "sensor": "gripper_right_tactile"
+}
\ No newline at end of file
diff --git a/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_09-30/outputs_tactile/tactile_cache/dag911262r00025a_lerobot_0327_114353_d7367074/episodes/ep000298/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/ep000298/gripper_right_tactile_contact_metrics.json
new file mode 100644
index 0000000000000000000000000000000000000000..d86389cecb314e07b11e253d6b6450486166124c
--- /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/ep000298/gripper_right_tactile_contact_metrics.json
@@ -0,0 +1,12 @@
+{
+  "contact_time": 8.933333333333334,
+  "contact_ratio": 0.8844884488448845,
+  "avg_contact_area": 10462.76119402985,
+  "contact_entropy": 0.6012868279970885,
+  "total_frames": 303,
+  "fps": 30.0,
+  "reference_frame_count": 0,
+  "dataset_name": "dag911262r00025a_lerobot_0327_114353",
+  "episode_index": 298,
+  "sensor": "gripper_right_tactile"
+}
\ No newline at end of file
diff --git a/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_09-30/outputs_tactile/tactile_cache/dag911262r00025a_lerobot_0327_114353_d7367074/episodes/ep000299/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/ep000299/gripper_right_tactile_force_metrics.json
new file mode 100644
index 0000000000000000000000000000000000000000..9a693bbe1a1049936fe3b185ad180882daed09b2
--- /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/ep000299/gripper_right_tactile_force_metrics.json
@@ -0,0 +1,9 @@
+{
+  "depth_peak": 0.00784414540976286,
+  "shear_peak": 0.003686327952891588,
+  "force_magnitude_peak": 0.008074828423559666,
+  "reference_frame_count": 0,
+  "dataset_name": "dag911262r00025a_lerobot_0327_114353",
+  "episode_index": 299,
+  "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/ep000302/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/ep000302/gripper_left_tactile_contact_metrics.json
new file mode 100644
index 0000000000000000000000000000000000000000..f493b7dbf70eedddb7ca8f1b7883fd262bb06e13
--- /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/ep000302/gripper_left_tactile_contact_metrics.json
@@ -0,0 +1,12 @@
+{
+  "contact_time": 12.1,
+  "contact_ratio": 0.9236641221374046,
+  "avg_contact_area": 10503.264462809917,
+  "contact_entropy": 0.6909650023650861,
+  "total_frames": 393,
+  "fps": 30.0,
+  "reference_frame_count": 0,
+  "dataset_name": "dag911262r00025a_lerobot_0327_114353",
+  "episode_index": 302,
+  "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/ep000302/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/ep000302/gripper_right_tactile_contact_metrics.json
new file mode 100644
index 0000000000000000000000000000000000000000..81087553615942f6492da9ba6b5626f8e0056d6f
--- /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/ep000302/gripper_right_tactile_contact_metrics.json
@@ -0,0 +1,12 @@
+{
+  "contact_time": 12.1,
+  "contact_ratio": 0.9236641221374046,
+  "avg_contact_area": 10312.56473829201,
+  "contact_entropy": 0.48781119538580875,
+  "total_frames": 393,
+  "fps": 30.0,
+  "reference_frame_count": 0,
+  "dataset_name": "dag911262r00025a_lerobot_0327_114353",
+  "episode_index": 302,
+  "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/ep000304/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/ep000304/gripper_right_tactile_contact_metrics.json
new file mode 100644
index 0000000000000000000000000000000000000000..e2771f04288c557ed57c143eb74e63ba56e6e051
--- /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/ep000304/gripper_right_tactile_contact_metrics.json
@@ -0,0 +1,12 @@
+{
+  "contact_time": 15.233333333333333,
+  "contact_ratio": 1.0,
+  "avg_contact_area": 6557.551422319475,
+  "contact_entropy": 0.4342449356648659,
+  "total_frames": 457,
+  "fps": 30.0,
+  "reference_frame_count": 0,
+  "dataset_name": "dag911262r00025a_lerobot_0327_114353",
+  "episode_index": 304,
+  "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/ep000304/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/ep000304/gripper_right_tactile_force_metrics.json
new file mode 100644
index 0000000000000000000000000000000000000000..ed0fd51dda0db5ba57566055dd29744d44dc4383
--- /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/ep000304/gripper_right_tactile_force_metrics.json
@@ -0,0 +1,9 @@
+{
+  "depth_peak": 0.005056456197053194,
+  "shear_peak": 0.0030276544857770205,
+  "force_magnitude_peak": 0.005247665103524923,
+  "reference_frame_count": 0,
+  "dataset_name": "dag911262r00025a_lerobot_0327_114353",
+  "episode_index": 304,
+  "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/ep000309/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/ep000309/gripper_left_tactile_contact_metrics.json
new file mode 100644
index 0000000000000000000000000000000000000000..5cabec1bc1e1b29d84c97794ffe8feaee5b4637e
--- /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/ep000309/gripper_left_tactile_contact_metrics.json
@@ -0,0 +1,12 @@
+{
+  "contact_time": 9.7,
+  "contact_ratio": 0.9297124600638977,
+  "avg_contact_area": 4935.257731958763,
+  "contact_entropy": 0.5206003809785955,
+  "total_frames": 313,
+  "fps": 30.0,
+  "reference_frame_count": 0,
+  "dataset_name": "dag911262r00025a_lerobot_0327_114353",
+  "episode_index": 309,
+  "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/ep000311/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/ep000311/gripper_left_tactile_contact_metrics.json
new file mode 100644
index 0000000000000000000000000000000000000000..9b9aeda5b2ccbd2be9b8684355bc1045ee1e777d
--- /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/ep000311/gripper_left_tactile_contact_metrics.json
@@ -0,0 +1,12 @@
+{
+  "contact_time": 13.933333333333334,
+  "contact_ratio": 0.9047619047619048,
+  "avg_contact_area": 5085.497607655502,
+  "contact_entropy": 0.4605937062773625,
+  "total_frames": 462,
+  "fps": 30.0,
+  "reference_frame_count": 0,
+  "dataset_name": "dag911262r00025a_lerobot_0327_114353",
+  "episode_index": 311,
+  "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/ep000311/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/ep000311/gripper_left_tactile_force_metrics.json
new file mode 100644
index 0000000000000000000000000000000000000000..6607a619682ddea93bc8e2ef52334f0d85d04266
--- /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/ep000311/gripper_left_tactile_force_metrics.json
@@ -0,0 +1,9 @@
+{
+  "depth_peak": 0.007497314363718033,
+  "shear_peak": 0.00620700977742672,
+  "force_magnitude_peak": 0.009686209261417389,
+  "reference_frame_count": 0,
+  "dataset_name": "dag911262r00025a_lerobot_0327_114353",
+  "episode_index": 311,
+  "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/ep000314/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/ep000314/gripper_left_tactile_force_metrics.json
new file mode 100644
index 0000000000000000000000000000000000000000..3c5b2a0f3e41326ff54af5962f1f48f07fb4e1d6
--- /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/ep000314/gripper_left_tactile_force_metrics.json
@@ -0,0 +1,9 @@
+{
+  "depth_peak": 0.007120562717318535,
+  "shear_peak": 0.0032434873282909393,
+  "force_magnitude_peak": 0.007805625908076763,
+  "reference_frame_count": 0,
+  "dataset_name": "dag911262r00025a_lerobot_0327_114353",
+  "episode_index": 314,
+  "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/ep000315/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/ep000315/gripper_left_tactile_force_metrics.json
new file mode 100644
index 0000000000000000000000000000000000000000..a68d30b4ff52fa69cb66610644a77d982005d434
--- /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/ep000315/gripper_left_tactile_force_metrics.json
@@ -0,0 +1,9 @@
+{
+  "depth_peak": 0.0019585187546908855,
+  "shear_peak": 0.003388801822438836,
+  "force_magnitude_peak": 0.003471223171800375,
+  "reference_frame_count": 0,
+  "dataset_name": "dag911262r00025a_lerobot_0327_114353",
+  "episode_index": 315,
+  "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/ep000317/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/ep000317/gripper_right_tactile_force_metrics.json
new file mode 100644
index 0000000000000000000000000000000000000000..25b1a6ebeaee4dd7fe772e2485561e5019bd0301
--- /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/ep000317/gripper_right_tactile_force_metrics.json
@@ -0,0 +1,9 @@
+{
+  "depth_peak": 0.014216449111700058,
+  "shear_peak": 0.004875955171883106,
+  "force_magnitude_peak": 0.014958116225898266,
+  "reference_frame_count": 0,
+  "dataset_name": "dag911262r00025a_lerobot_0327_114353",
+  "episode_index": 317,
+  "sensor": "gripper_right_tactile"
+}
\ No newline at end of file
diff --git a/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_09-30/outputs_tactile/tactile_cache/dag911262r00025a_lerobot_0327_114353_d7367074/episodes/ep000318/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/ep000318/gripper_left_tactile_force_metrics.json
new file mode 100644
index 0000000000000000000000000000000000000000..69d6b3763632aa5c7e68fb3a0161887d1532d37d
--- /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/ep000318/gripper_left_tactile_force_metrics.json
@@ -0,0 +1,9 @@
+{
+  "depth_peak": 0.005414936225861311,
+  "shear_peak": 0.003921366296708584,
+  "force_magnitude_peak": 0.0066847894340753555,
+  "reference_frame_count": 0,
+  "dataset_name": "dag911262r00025a_lerobot_0327_114353",
+  "episode_index": 318,
+  "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/ep000326/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/ep000326/gripper_right_tactile_contact_metrics.json
new file mode 100644
index 0000000000000000000000000000000000000000..484b4ebed2479a5201fb67afe5732a27307828a9
--- /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/ep000326/gripper_right_tactile_contact_metrics.json
@@ -0,0 +1,12 @@
+{
+  "contact_time": 18.666666666666668,
+  "contact_ratio": 0.9491525423728814,
+  "avg_contact_area": 4312.366071428572,
+  "contact_entropy": 0.3258467834357621,
+  "total_frames": 590,
+  "fps": 30.0,
+  "reference_frame_count": 0,
+  "dataset_name": "dag911262r00025a_lerobot_0327_114353",
+  "episode_index": 326,
+  "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/ep000329/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/ep000329/gripper_right_tactile_force_metrics.json
new file mode 100644
index 0000000000000000000000000000000000000000..a11dbae57e237a26090826ab1bb65d956d2d6bf6
--- /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/ep000329/gripper_right_tactile_force_metrics.json
@@ -0,0 +1,9 @@
+{
+  "depth_peak": 0.022212957963347435,
+  "shear_peak": 0.013040803372859955,
+  "force_magnitude_peak": 0.025173312053084373,
+  "reference_frame_count": 0,
+  "dataset_name": "dag911262r00025a_lerobot_0327_114353",
+  "episode_index": 329,
+  "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/ep000332/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/ep000332/gripper_left_tactile_contact_metrics.json
new file mode 100644
index 0000000000000000000000000000000000000000..5827aba206b3eed822531869c739113260cee530
--- /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/ep000332/gripper_left_tactile_contact_metrics.json
@@ -0,0 +1,12 @@
+{
+  "contact_time": 17.0,
+  "contact_ratio": 0.9444444444444444,
+  "avg_contact_area": 4444.8,
+  "contact_entropy": 0.5508672614582673,
+  "total_frames": 540,
+  "fps": 30.0,
+  "reference_frame_count": 0,
+  "dataset_name": "dag911262r00025a_lerobot_0327_114353",
+  "episode_index": 332,
+  "sensor": "gripper_left_tactile"
+}
\ No newline at end of file
diff --git a/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_09-30/outputs_tactile/tactile_cache/dag911262r00025a_lerobot_0327_114353_d7367074/episodes/ep000333/gripper_left_tactile_contact_metrics.json b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_09-30/outputs_tactile/tactile_cache/dag911262r00025a_lerobot_0327_114353_d7367074/episodes/ep000333/gripper_left_tactile_contact_metrics.json
new file mode 100644
index 0000000000000000000000000000000000000000..6d834fd81bd11a0b1fbd533725f6e1f0745000fc
--- /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/ep000333/gripper_left_tactile_contact_metrics.json
@@ -0,0 +1,12 @@
+{
+  "contact_time": 14.266666666666667,
+  "contact_ratio": 0.936542669584245,
+  "avg_contact_area": 5100.2126168224295,
+  "contact_entropy": 0.6708643165285336,
+  "total_frames": 457,
+  "fps": 30.0,
+  "reference_frame_count": 0,
+  "dataset_name": "dag911262r00025a_lerobot_0327_114353",
+  "episode_index": 333,
+  "sensor": "gripper_left_tactile"
+}
\ No newline at end of file
diff --git a/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_09-30/outputs_tactile/tactile_cache/dag911262r00025a_lerobot_0327_114353_d7367074/episodes/ep000336/gripper_left_tactile_force_metrics.json b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_09-30/outputs_tactile/tactile_cache/dag911262r00025a_lerobot_0327_114353_d7367074/episodes/ep000336/gripper_left_tactile_force_metrics.json
new file mode 100644
index 0000000000000000000000000000000000000000..966d4499fcffb5b1e1776bf89548ff4fdc4d2978
--- /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/ep000336/gripper_left_tactile_force_metrics.json
@@ -0,0 +1,9 @@
+{
+  "depth_peak": 0.013881589286029339,
+  "shear_peak": 0.0038203701842576265,
+  "force_magnitude_peak": 0.014372852630913258,
+  "reference_frame_count": 0,
+  "dataset_name": "dag911262r00025a_lerobot_0327_114353",
+  "episode_index": 336,
+  "sensor": "gripper_left_tactile"
+}
\ No newline at end of file
diff --git a/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_09-30/outputs_tactile/tactile_cache/dag911262r00025a_lerobot_0327_114353_d7367074/episodes/ep000336/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/ep000336/gripper_right_tactile_contact_metrics.json
new file mode 100644
index 0000000000000000000000000000000000000000..64b4d6e04c0c2e4f5ab996aee74d43374d0019b6
--- /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/ep000336/gripper_right_tactile_contact_metrics.json
@@ -0,0 +1,12 @@
+{
+  "contact_time": 20.0,
+  "contact_ratio": 0.9508716323296355,
+  "avg_contact_area": 2233.98,
+  "contact_entropy": 0.485594943125491,
+  "total_frames": 631,
+  "fps": 30.0,
+  "reference_frame_count": 0,
+  "dataset_name": "dag911262r00025a_lerobot_0327_114353",
+  "episode_index": 336,
+  "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/ep000337/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/ep000337/gripper_right_tactile_force_metrics.json
new file mode 100644
index 0000000000000000000000000000000000000000..a115a2b221460a49d53338f7bb66f88a092b03dd
--- /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/ep000337/gripper_right_tactile_force_metrics.json
@@ -0,0 +1,9 @@
+{
+  "depth_peak": 0.009783847257494926,
+  "shear_peak": 0.010397108271718025,
+  "force_magnitude_peak": 0.011979435570538044,
+  "reference_frame_count": 0,
+  "dataset_name": "dag911262r00025a_lerobot_0327_114353",
+  "episode_index": 337,
+  "sensor": "gripper_right_tactile"
+}
\ No newline at end of file
diff --git a/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_09-30/outputs_tactile/tactile_cache/dag911262r00025a_lerobot_0327_114353_d7367074/episodes/ep000338/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/ep000338/gripper_right_tactile_contact_metrics.json
new file mode 100644
index 0000000000000000000000000000000000000000..5bce2e6b9f467e63c7a67002f52c2549d493d9e2
--- /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/ep000338/gripper_right_tactile_contact_metrics.json
@@ -0,0 +1,12 @@
+{
+  "contact_time": 16.4,
+  "contact_ratio": 0.9389312977099237,
+  "avg_contact_area": 2793.8434959349593,
+  "contact_entropy": 0.44505133831103016,
+  "total_frames": 524,
+  "fps": 30.0,
+  "reference_frame_count": 0,
+  "dataset_name": "dag911262r00025a_lerobot_0327_114353",
+  "episode_index": 338,
+  "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/ep000339/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/ep000339/gripper_right_tactile_force_metrics.json
new file mode 100644
index 0000000000000000000000000000000000000000..867acb9c958a4cd0ff0da702c2d6bfd6057334f1
--- /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/ep000339/gripper_right_tactile_force_metrics.json
@@ -0,0 +1,9 @@
+{
+  "depth_peak": 0.016148414462804794,
+  "shear_peak": 0.014600208029150963,
+  "force_magnitude_peak": 0.021591149270534515,
+  "reference_frame_count": 0,
+  "dataset_name": "dag911262r00025a_lerobot_0327_114353",
+  "episode_index": 339,
+  "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/ep000342/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/ep000342/gripper_left_tactile_contact_metrics.json
new file mode 100644
index 0000000000000000000000000000000000000000..9883ec8795c162f8ad714e0624b88d8aaa3f4cfe
--- /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/ep000342/gripper_left_tactile_contact_metrics.json
@@ -0,0 +1,12 @@
+{
+  "contact_time": 15.333333333333334,
+  "contact_ratio": 0.9368635437881874,
+  "avg_contact_area": 3938.045652173913,
+  "contact_entropy": 0.3323035247603293,
+  "total_frames": 491,
+  "fps": 30.0,
+  "reference_frame_count": 0,
+  "dataset_name": "dag911262r00025a_lerobot_0327_114353",
+  "episode_index": 342,
+  "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/ep000342/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/ep000342/gripper_right_tactile_contact_metrics.json
new file mode 100644
index 0000000000000000000000000000000000000000..706791811c33f82d8d06d3768fda13536e38c22c
--- /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/ep000342/gripper_right_tactile_contact_metrics.json
@@ -0,0 +1,12 @@
+{
+  "contact_time": 15.366666666666667,
+  "contact_ratio": 0.9389002036659878,
+  "avg_contact_area": 3886.4880694143167,
+  "contact_entropy": 0.5446986529859151,
+  "total_frames": 491,
+  "fps": 30.0,
+  "reference_frame_count": 0,
+  "dataset_name": "dag911262r00025a_lerobot_0327_114353",
+  "episode_index": 342,
+  "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/ep000344/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/ep000344/gripper_right_tactile_contact_metrics.json
new file mode 100644
index 0000000000000000000000000000000000000000..65e2c99f76b4f88a80ac303806f9879740c2ea24
--- /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/ep000344/gripper_right_tactile_contact_metrics.json
@@ -0,0 +1,12 @@
+{
+  "contact_time": 14.5,
+  "contact_ratio": 0.9415584415584416,
+  "avg_contact_area": 4148.696551724138,
+  "contact_entropy": 0.4501721808729142,
+  "total_frames": 462,
+  "fps": 30.0,
+  "reference_frame_count": 0,
+  "dataset_name": "dag911262r00025a_lerobot_0327_114353",
+  "episode_index": 344,
+  "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/ep000344/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/ep000344/gripper_right_tactile_force_metrics.json
new file mode 100644
index 0000000000000000000000000000000000000000..db7c2c76f84fac49d2b8e3cebb353ec585749424
--- /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/ep000344/gripper_right_tactile_force_metrics.json
@@ -0,0 +1,9 @@
+{
+  "depth_peak": 0.00665726512670517,
+  "shear_peak": 0.002524812938645482,
+  "force_magnitude_peak": 0.006665881257504225,
+  "reference_frame_count": 0,
+  "dataset_name": "dag911262r00025a_lerobot_0327_114353",
+  "episode_index": 344,
+  "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/ep000349/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/ep000349/gripper_left_tactile_contact_metrics.json
new file mode 100644
index 0000000000000000000000000000000000000000..6b205560d4ac652e330fffaa31d60f6d474f8885
--- /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/ep000349/gripper_left_tactile_contact_metrics.json
@@ -0,0 +1,12 @@
+{
+  "contact_time": 18.633333333333333,
+  "contact_ratio": 1.0,
+  "avg_contact_area": 4772.95885509839,
+  "contact_entropy": 0.455424355899224,
+  "total_frames": 559,
+  "fps": 30.0,
+  "reference_frame_count": 0,
+  "dataset_name": "dag911262r00025a_lerobot_0327_114353",
+  "episode_index": 349,
+  "sensor": "gripper_left_tactile"
+}
\ No newline at end of file
diff --git a/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_09-30/outputs_tactile/tactile_cache/dag911262r00025a_lerobot_0327_114353_d7367074/episodes/ep000351/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/ep000351/gripper_left_tactile_contact_metrics.json
new file mode 100644
index 0000000000000000000000000000000000000000..084ff7788d7ca134761ffedfeaa3d62dd533445f
--- /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/ep000351/gripper_left_tactile_contact_metrics.json
@@ -0,0 +1,12 @@
+{
+  "contact_time": 13.533333333333333,
+  "contact_ratio": 0.9311926605504587,
+  "avg_contact_area": 3556.091133004926,
+  "contact_entropy": 0.39622301396458265,
+  "total_frames": 436,
+  "fps": 30.0,
+  "reference_frame_count": 0,
+  "dataset_name": "dag911262r00025a_lerobot_0327_114353",
+  "episode_index": 351,
+  "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/ep000351/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/ep000351/gripper_left_tactile_force_metrics.json
new file mode 100644
index 0000000000000000000000000000000000000000..87efde93c4aece546bbda26b175a5040fe42c03a
--- /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/ep000351/gripper_left_tactile_force_metrics.json
@@ -0,0 +1,9 @@
+{
+  "depth_peak": 0.00732733029872179,
+  "shear_peak": 0.003899833420291543,
+  "force_magnitude_peak": 0.00793834775686264,
+  "reference_frame_count": 0,
+  "dataset_name": "dag911262r00025a_lerobot_0327_114353",
+  "episode_index": 351,
+  "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/ep000354/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/ep000354/gripper_left_tactile_force_metrics.json
new file mode 100644
index 0000000000000000000000000000000000000000..2ba0765dca77cec56c4906ecede55bdb442c27cd
--- /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/ep000354/gripper_left_tactile_force_metrics.json
@@ -0,0 +1,9 @@
+{
+  "depth_peak": 0.006649221759289503,
+  "shear_peak": 0.0049027493223547935,
+  "force_magnitude_peak": 0.008228207938373089,
+  "reference_frame_count": 0,
+  "dataset_name": "dag911262r00025a_lerobot_0327_114353",
+  "episode_index": 354,
+  "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/ep000355/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/ep000355/gripper_left_tactile_force_metrics.json
new file mode 100644
index 0000000000000000000000000000000000000000..7f4299b5bd2d2c0b94e6f9e2a64e43755d017634
--- /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/ep000355/gripper_left_tactile_force_metrics.json
@@ -0,0 +1,9 @@
+{
+  "depth_peak": 0.01593000814318657,
+  "shear_peak": 0.0056836907751858234,
+  "force_magnitude_peak": 0.01627144031226635,
+  "reference_frame_count": 0,
+  "dataset_name": "dag911262r00025a_lerobot_0327_114353",
+  "episode_index": 355,
+  "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/ep000357/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/ep000357/gripper_right_tactile_force_metrics.json
new file mode 100644
index 0000000000000000000000000000000000000000..1099b212adf74d14ca3f858ff60d59487122c794
--- /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/ep000357/gripper_right_tactile_force_metrics.json
@@ -0,0 +1,9 @@
+{
+  "depth_peak": 0.012706189416348934,
+  "shear_peak": 0.0037413896061480045,
+  "force_magnitude_peak": 0.013084192760288715,
+  "reference_frame_count": 0,
+  "dataset_name": "dag911262r00025a_lerobot_0327_114353",
+  "episode_index": 357,
+  "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/ep000358/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/ep000358/gripper_left_tactile_force_metrics.json
new file mode 100644
index 0000000000000000000000000000000000000000..d3001ceaa87c4b451b35e5155c37378572472866
--- /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/ep000358/gripper_left_tactile_force_metrics.json
@@ -0,0 +1,9 @@
+{
+  "depth_peak": 0.012677541933953762,
+  "shear_peak": 0.00556172477081418,
+  "force_magnitude_peak": 0.012678652070462704,
+  "reference_frame_count": 0,
+  "dataset_name": "dag911262r00025a_lerobot_0327_114353",
+  "episode_index": 358,
+  "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/ep000366/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/ep000366/gripper_right_tactile_contact_metrics.json
new file mode 100644
index 0000000000000000000000000000000000000000..728758898bd7b99ae300d26a956881da2253e712
--- /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/ep000366/gripper_right_tactile_contact_metrics.json
@@ -0,0 +1,12 @@
+{
+  "contact_time": 16.966666666666665,
+  "contact_ratio": 0.9980392156862745,
+  "avg_contact_area": 6911.935166994106,
+  "contact_entropy": 0.4343094794906451,
+  "total_frames": 510,
+  "fps": 30.0,
+  "reference_frame_count": 0,
+  "dataset_name": "dag911262r00025a_lerobot_0327_114353",
+  "episode_index": 366,
+  "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/ep000369/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/ep000369/gripper_right_tactile_force_metrics.json
new file mode 100644
index 0000000000000000000000000000000000000000..de189a167bbfe36155cb4e2c30375386c32a05a6
--- /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/ep000369/gripper_right_tactile_force_metrics.json
@@ -0,0 +1,9 @@
+{
+  "depth_peak": 0.007093315944075584,
+  "shear_peak": 0.014885383658111095,
+  "force_magnitude_peak": 0.01492832787334919,
+  "reference_frame_count": 0,
+  "dataset_name": "dag911262r00025a_lerobot_0327_114353",
+  "episode_index": 369,
+  "sensor": "gripper_right_tactile"
+}
\ No newline at end of file
diff --git a/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_09-30/outputs_tactile/tactile_cache/dag911262r00025a_lerobot_0327_114353_d7367074/episodes/ep000372/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/ep000372/gripper_left_tactile_contact_metrics.json
new file mode 100644
index 0000000000000000000000000000000000000000..efeee91270710b158aebb40e240be84952098623
--- /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/ep000372/gripper_left_tactile_contact_metrics.json
@@ -0,0 +1,12 @@
+{
+  "contact_time": 18.9,
+  "contact_ratio": 0.9043062200956937,
+  "avg_contact_area": 3035.7231040564375,
+  "contact_entropy": 0.5731314388860934,
+  "total_frames": 627,
+  "fps": 30.0,
+  "reference_frame_count": 0,
+  "dataset_name": "dag911262r00025a_lerobot_0327_114353",
+  "episode_index": 372,
+  "sensor": "gripper_left_tactile"
+}
\ No newline at end of file
diff --git a/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_09-30/outputs_tactile/tactile_cache/dag911262r00025a_lerobot_0327_114353_d7367074/episodes/ep000373/gripper_left_tactile_contact_metrics.json b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_09-30/outputs_tactile/tactile_cache/dag911262r00025a_lerobot_0327_114353_d7367074/episodes/ep000373/gripper_left_tactile_contact_metrics.json
new file mode 100644
index 0000000000000000000000000000000000000000..6a7f2732a375ecc3735460e5c888965a733646bb
--- /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/ep000373/gripper_left_tactile_contact_metrics.json
@@ -0,0 +1,12 @@
+{
+  "contact_time": 12.433333333333334,
+  "contact_ratio": 0.8634259259259259,
+  "avg_contact_area": 3006.024128686327,
+  "contact_entropy": 0.44624000909866507,
+  "total_frames": 432,
+  "fps": 30.0,
+  "reference_frame_count": 0,
+  "dataset_name": "dag911262r00025a_lerobot_0327_114353",
+  "episode_index": 373,
+  "sensor": "gripper_left_tactile"
+}
\ No newline at end of file
diff --git a/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_09-30/outputs_tactile/tactile_cache/dag911262r00025a_lerobot_0327_114353_d7367074/episodes/ep000376/gripper_left_tactile_force_metrics.json b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_09-30/outputs_tactile/tactile_cache/dag911262r00025a_lerobot_0327_114353_d7367074/episodes/ep000376/gripper_left_tactile_force_metrics.json
new file mode 100644
index 0000000000000000000000000000000000000000..cdf42cf3b9d4a7620fafea3a2971d68b325f5a23
--- /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/ep000376/gripper_left_tactile_force_metrics.json
@@ -0,0 +1,9 @@
+{
+  "depth_peak": 0.021008193492889404,
+  "shear_peak": 0.013710354454815388,
+  "force_magnitude_peak": 0.025086211040616035,
+  "reference_frame_count": 0,
+  "dataset_name": "dag911262r00025a_lerobot_0327_114353",
+  "episode_index": 376,
+  "sensor": "gripper_left_tactile"
+}
\ No newline at end of file
diff --git a/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_09-30/outputs_tactile/tactile_cache/dag911262r00025a_lerobot_0327_114353_d7367074/episodes/ep000382/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/ep000382/gripper_left_tactile_contact_metrics.json
new file mode 100644
index 0000000000000000000000000000000000000000..9648bce830df13896f80d6952d26b1e026cf66e2
--- /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/ep000382/gripper_left_tactile_contact_metrics.json
@@ -0,0 +1,12 @@
+{
+  "contact_time": 19.333333333333332,
+  "contact_ratio": 1.0,
+  "avg_contact_area": 6769.943103448276,
+  "contact_entropy": 0.7644604410596592,
+  "total_frames": 580,
+  "fps": 30.0,
+  "reference_frame_count": 0,
+  "dataset_name": "dag911262r00025a_lerobot_0327_114353",
+  "episode_index": 382,
+  "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/ep000389/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/ep000389/gripper_left_tactile_contact_metrics.json
new file mode 100644
index 0000000000000000000000000000000000000000..6782b835097c504a3d3cd44901400c168e45871b
--- /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/ep000389/gripper_left_tactile_contact_metrics.json
@@ -0,0 +1,12 @@
+{
+  "contact_time": 12.4,
+  "contact_ratio": 0.8571428571428571,
+  "avg_contact_area": 3144.2580645161293,
+  "contact_entropy": 0.3307201197262838,
+  "total_frames": 434,
+  "fps": 30.0,
+  "reference_frame_count": 0,
+  "dataset_name": "dag911262r00025a_lerobot_0327_114353",
+  "episode_index": 389,
+  "sensor": "gripper_left_tactile"
+}
\ No newline at end of file
diff --git a/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_09-30/outputs_tactile/tactile_cache/dag911262r00025a_lerobot_0327_114353_d7367074/episodes/ep000391/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/ep000391/gripper_left_tactile_contact_metrics.json
new file mode 100644
index 0000000000000000000000000000000000000000..66a5f6ab8670bc648631e4f468908cb1fd16a56e
--- /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/ep000391/gripper_left_tactile_contact_metrics.json
@@ -0,0 +1,12 @@
+{
+  "contact_time": 18.0,
+  "contact_ratio": 0.9473684210526315,
+  "avg_contact_area": 6220.655555555555,
+  "contact_entropy": 0.7594688820554928,
+  "total_frames": 570,
+  "fps": 30.0,
+  "reference_frame_count": 0,
+  "dataset_name": "dag911262r00025a_lerobot_0327_114353",
+  "episode_index": 391,
+  "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/ep000391/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/ep000391/gripper_left_tactile_force_metrics.json
new file mode 100644
index 0000000000000000000000000000000000000000..95cb9d33fe49e6f8a6836154f5388d2984fc848a
--- /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/ep000391/gripper_left_tactile_force_metrics.json
@@ -0,0 +1,9 @@
+{
+  "depth_peak": 0.01244007796049118,
+  "shear_peak": 0.009454364888370037,
+  "force_magnitude_peak": 0.014500383287668228,
+  "reference_frame_count": 0,
+  "dataset_name": "dag911262r00025a_lerobot_0327_114353",
+  "episode_index": 391,
+  "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/ep000394/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/ep000394/gripper_left_tactile_force_metrics.json
new file mode 100644
index 0000000000000000000000000000000000000000..75ca641a946c4ffeb27430ea1b42d7aff61baeb8
--- /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/ep000394/gripper_left_tactile_force_metrics.json
@@ -0,0 +1,9 @@
+{
+  "depth_peak": 0.00962344091385603,
+  "shear_peak": 0.004750528838485479,
+  "force_magnitude_peak": 0.009648150764405727,
+  "reference_frame_count": 0,
+  "dataset_name": "dag911262r00025a_lerobot_0327_114353",
+  "episode_index": 394,
+  "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/ep000395/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/ep000395/gripper_left_tactile_force_metrics.json
new file mode 100644
index 0000000000000000000000000000000000000000..add73f7dca0539b83b7b22d16fe8313c13924040
--- /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_left_tactile_force_metrics.json
@@ -0,0 +1,9 @@
+{
+  "depth_peak": 0.0037787985056638718,
+  "shear_peak": 0.006774072535336018,
+  "force_magnitude_peak": 0.007510193157941103,
+  "reference_frame_count": 0,
+  "dataset_name": "dag911262r00025a_lerobot_0327_114353",
+  "episode_index": 395,
+  "sensor": "gripper_left_tactile"
+}
\ No newline at end of file
diff --git a/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_09-30/outputs_tactile/tactile_cache/dag911262r00025a_lerobot_0327_114353_d7367074/episodes/ep000412/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/ep000412/gripper_left_tactile_contact_metrics.json
new file mode 100644
index 0000000000000000000000000000000000000000..620f5046624f329ff2ce24a506ffd09a1b3b1f60
--- /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/ep000412/gripper_left_tactile_contact_metrics.json
@@ -0,0 +1,12 @@
+{
+  "contact_time": 15.2,
+  "contact_ratio": 0.8803088803088803,
+  "avg_contact_area": 4626.105263157895,
+  "contact_entropy": 0.42821624581802403,
+  "total_frames": 518,
+  "fps": 30.0,
+  "reference_frame_count": 0,
+  "dataset_name": "dag911262r00025a_lerobot_0327_114353",
+  "episode_index": 412,
+  "sensor": "gripper_left_tactile"
+}
\ No newline at end of file
diff --git a/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_09-30/outputs_tactile/tactile_cache/dag911262r00025a_lerobot_0327_114353_d7367074/episodes/ep000413/gripper_left_tactile_contact_metrics.json b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_09-30/outputs_tactile/tactile_cache/dag911262r00025a_lerobot_0327_114353_d7367074/episodes/ep000413/gripper_left_tactile_contact_metrics.json
new file mode 100644
index 0000000000000000000000000000000000000000..f1676fca6391018ae6eb66bb4eaa4139b07cbffd
--- /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/ep000413/gripper_left_tactile_contact_metrics.json
@@ -0,0 +1,12 @@
+{
+  "contact_time": 9.3,
+  "contact_ratio": 0.8254437869822485,
+  "avg_contact_area": 3739.0179211469535,
+  "contact_entropy": 0.18367231064156087,
+  "total_frames": 338,
+  "fps": 30.0,
+  "reference_frame_count": 0,
+  "dataset_name": "dag911262r00025a_lerobot_0327_114353",
+  "episode_index": 413,
+  "sensor": "gripper_left_tactile"
+}
\ No newline at end of file