diff --git a/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_09-30/outputs_tactile/tactile_cache/dag911262r00035d_lerobot_0327_114353_7434c583/episodes/ep000105/gripper_right_tactile_contact_metrics.json b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_09-30/outputs_tactile/tactile_cache/dag911262r00035d_lerobot_0327_114353_7434c583/episodes/ep000105/gripper_right_tactile_contact_metrics.json
new file mode 100644
index 0000000000000000000000000000000000000000..84d35109fb88c0da228ef31f50278774dff3b0a1
--- /dev/null
+++ b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_09-30/outputs_tactile/tactile_cache/dag911262r00035d_lerobot_0327_114353_7434c583/episodes/ep000105/gripper_right_tactile_contact_metrics.json
@@ -0,0 +1,12 @@
+{
+  "contact_time": 2.3666666666666667,
+  "contact_ratio": 0.2297734627831715,
+  "avg_contact_area": 3778.0281690140846,
+  "contact_entropy": 0.5790395181060071,
+  "total_frames": 309,
+  "fps": 30.0,
+  "reference_frame_count": 0,
+  "dataset_name": "dag911262r00035d_lerobot_0327_114353",
+  "episode_index": 105,
+  "sensor": "gripper_right_tactile"
+}
\ No newline at end of file
diff --git a/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_09-30/outputs_tactile/tactile_cache/dag911262r00035d_lerobot_0327_114353_7434c583/episodes/ep000106/gripper_right_tactile_force_metrics.json b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_09-30/outputs_tactile/tactile_cache/dag911262r00035d_lerobot_0327_114353_7434c583/episodes/ep000106/gripper_right_tactile_force_metrics.json
new file mode 100644
index 0000000000000000000000000000000000000000..21f36798b52666fb1b5a91c391b3f2e4d1f9464a
--- /dev/null
+++ b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_09-30/outputs_tactile/tactile_cache/dag911262r00035d_lerobot_0327_114353_7434c583/episodes/ep000106/gripper_right_tactile_force_metrics.json
@@ -0,0 +1,9 @@
+{
+  "depth_peak": 0.0011629085056483746,
+  "shear_peak": 0.002111107809469104,
+  "force_magnitude_peak": 0.002194425091147423,
+  "reference_frame_count": 0,
+  "dataset_name": "dag911262r00035d_lerobot_0327_114353",
+  "episode_index": 106,
+  "sensor": "gripper_right_tactile"
+}
\ No newline at end of file
diff --git a/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_09-30/outputs_tactile/tactile_cache/dag911262r00035d_lerobot_0327_114353_7434c583/episodes/ep000107/gripper_right_tactile_force_metrics.json b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_09-30/outputs_tactile/tactile_cache/dag911262r00035d_lerobot_0327_114353_7434c583/episodes/ep000107/gripper_right_tactile_force_metrics.json
new file mode 100644
index 0000000000000000000000000000000000000000..01638b43ce75cafe576bdd1d00e5ff2242281e1e
--- /dev/null
+++ b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_09-30/outputs_tactile/tactile_cache/dag911262r00035d_lerobot_0327_114353_7434c583/episodes/ep000107/gripper_right_tactile_force_metrics.json
@@ -0,0 +1,9 @@
+{
+  "depth_peak": 0.0014055616920813918,
+  "shear_peak": 0.0010290369391441345,
+  "force_magnitude_peak": 0.0014197933487594128,
+  "reference_frame_count": 0,
+  "dataset_name": "dag911262r00035d_lerobot_0327_114353",
+  "episode_index": 107,
+  "sensor": "gripper_right_tactile"
+}
\ No newline at end of file
diff --git a/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_09-30/outputs_tactile/tactile_cache/dag911262r00035d_lerobot_0327_114353_7434c583/episodes/ep000108/gripper_right_tactile_contact_metrics.json b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_09-30/outputs_tactile/tactile_cache/dag911262r00035d_lerobot_0327_114353_7434c583/episodes/ep000108/gripper_right_tactile_contact_metrics.json
new file mode 100644
index 0000000000000000000000000000000000000000..48c4c3817962597029fb83920e8383a3f73bc4e0
--- /dev/null
+++ b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_09-30/outputs_tactile/tactile_cache/dag911262r00035d_lerobot_0327_114353_7434c583/episodes/ep000108/gripper_right_tactile_contact_metrics.json
@@ -0,0 +1,12 @@
+{
+  "contact_time": 3.6666666666666665,
+  "contact_ratio": 0.5,
+  "avg_contact_area": 176.8090909090909,
+  "contact_entropy": 0.0,
+  "total_frames": 220,
+  "fps": 30.0,
+  "reference_frame_count": 0,
+  "dataset_name": "dag911262r00035d_lerobot_0327_114353",
+  "episode_index": 108,
+  "sensor": "gripper_right_tactile"
+}
\ No newline at end of file
diff --git a/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_09-30/outputs_tactile/tactile_cache/dag911262r00035d_lerobot_0327_114353_7434c583/episodes/ep000111/gripper_right_tactile_contact_metrics.json b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_09-30/outputs_tactile/tactile_cache/dag911262r00035d_lerobot_0327_114353_7434c583/episodes/ep000111/gripper_right_tactile_contact_metrics.json
new file mode 100644
index 0000000000000000000000000000000000000000..ef7384d22cccad19fe7b60f04f8a949801134618
--- /dev/null
+++ b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_09-30/outputs_tactile/tactile_cache/dag911262r00035d_lerobot_0327_114353_7434c583/episodes/ep000111/gripper_right_tactile_contact_metrics.json
@@ -0,0 +1,12 @@
+{
+  "contact_time": 1.0,
+  "contact_ratio": 0.15706806282722513,
+  "avg_contact_area": 3.033333333333333,
+  "contact_entropy": 0.0,
+  "total_frames": 191,
+  "fps": 30.0,
+  "reference_frame_count": 0,
+  "dataset_name": "dag911262r00035d_lerobot_0327_114353",
+  "episode_index": 111,
+  "sensor": "gripper_right_tactile"
+}
\ No newline at end of file
diff --git a/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_09-30/outputs_tactile/tactile_cache/dag911262r00035d_lerobot_0327_114353_7434c583/episodes/ep000114/gripper_left_tactile_force_metrics.json b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_09-30/outputs_tactile/tactile_cache/dag911262r00035d_lerobot_0327_114353_7434c583/episodes/ep000114/gripper_left_tactile_force_metrics.json
new file mode 100644
index 0000000000000000000000000000000000000000..632353596000a794d767bafc09e8c44144b2e779
--- /dev/null
+++ b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_09-30/outputs_tactile/tactile_cache/dag911262r00035d_lerobot_0327_114353_7434c583/episodes/ep000114/gripper_left_tactile_force_metrics.json
@@ -0,0 +1,9 @@
+{
+  "depth_peak": 0.0026545985601842403,
+  "shear_peak": 0.0017466747667640448,
+  "force_magnitude_peak": 0.0030813603661954403,
+  "reference_frame_count": 0,
+  "dataset_name": "dag911262r00035d_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/dag911262r00035d_lerobot_0327_114353_7434c583/episodes/ep000115/gripper_right_tactile_force_metrics.json b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_09-30/outputs_tactile/tactile_cache/dag911262r00035d_lerobot_0327_114353_7434c583/episodes/ep000115/gripper_right_tactile_force_metrics.json
new file mode 100644
index 0000000000000000000000000000000000000000..408f7d0935f477bae267376eb9f6612ddd8d05a1
--- /dev/null
+++ b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_09-30/outputs_tactile/tactile_cache/dag911262r00035d_lerobot_0327_114353_7434c583/episodes/ep000115/gripper_right_tactile_force_metrics.json
@@ -0,0 +1,9 @@
+{
+  "depth_peak": 0.00522605050355196,
+  "shear_peak": 0.007503720931708813,
+  "force_magnitude_peak": 0.008587537333369255,
+  "reference_frame_count": 0,
+  "dataset_name": "dag911262r00035d_lerobot_0327_114353",
+  "episode_index": 115,
+  "sensor": "gripper_right_tactile"
+}
\ No newline at end of file
diff --git a/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_09-30/outputs_tactile/tactile_cache/dag911262r00035d_lerobot_0327_114353_7434c583/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/dag911262r00035d_lerobot_0327_114353_7434c583/episodes/ep000117/gripper_right_tactile_force_metrics.json
new file mode 100644
index 0000000000000000000000000000000000000000..22d8baa798356cb364e3d11743d0fa85b1021de4
--- /dev/null
+++ b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_09-30/outputs_tactile/tactile_cache/dag911262r00035d_lerobot_0327_114353_7434c583/episodes/ep000117/gripper_right_tactile_force_metrics.json
@@ -0,0 +1,9 @@
+{
+  "depth_peak": 0.0011786679970100522,
+  "shear_peak": 0.001332577201537788,
+  "force_magnitude_peak": 0.0025754801463335752,
+  "reference_frame_count": 0,
+  "dataset_name": "dag911262r00035d_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/dag911262r00035d_lerobot_0327_114353_7434c583/episodes/ep000127/gripper_right_tactile_contact_metrics.json b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_09-30/outputs_tactile/tactile_cache/dag911262r00035d_lerobot_0327_114353_7434c583/episodes/ep000127/gripper_right_tactile_contact_metrics.json
new file mode 100644
index 0000000000000000000000000000000000000000..6949d0bb722b0db7c4ae9cc2e45316b5abfc3acf
--- /dev/null
+++ b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_09-30/outputs_tactile/tactile_cache/dag911262r00035d_lerobot_0327_114353_7434c583/episodes/ep000127/gripper_right_tactile_contact_metrics.json
@@ -0,0 +1,12 @@
+{
+  "contact_time": 5.033333333333333,
+  "contact_ratio": 0.6138211382113821,
+  "avg_contact_area": 1642.6026490066224,
+  "contact_entropy": 0.6291374961163513,
+  "total_frames": 246,
+  "fps": 30.0,
+  "reference_frame_count": 0,
+  "dataset_name": "dag911262r00035d_lerobot_0327_114353",
+  "episode_index": 127,
+  "sensor": "gripper_right_tactile"
+}
\ No newline at end of file
diff --git a/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_09-30/outputs_tactile/tactile_cache/dag911262r00035d_lerobot_0327_114353_7434c583/episodes/ep000132/gripper_right_tactile_contact_metrics.json b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_09-30/outputs_tactile/tactile_cache/dag911262r00035d_lerobot_0327_114353_7434c583/episodes/ep000132/gripper_right_tactile_contact_metrics.json
new file mode 100644
index 0000000000000000000000000000000000000000..0a1d7446a93a880d58e83235bff0f30fc248b1c6
--- /dev/null
+++ b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_09-30/outputs_tactile/tactile_cache/dag911262r00035d_lerobot_0327_114353_7434c583/episodes/ep000132/gripper_right_tactile_contact_metrics.json
@@ -0,0 +1,12 @@
+{
+  "contact_time": 5.033333333333333,
+  "contact_ratio": 0.6188524590163934,
+  "avg_contact_area": 253.65562913907286,
+  "contact_entropy": 0.0,
+  "total_frames": 244,
+  "fps": 30.0,
+  "reference_frame_count": 0,
+  "dataset_name": "dag911262r00035d_lerobot_0327_114353",
+  "episode_index": 132,
+  "sensor": "gripper_right_tactile"
+}
\ No newline at end of file
diff --git a/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_09-30/outputs_tactile/tactile_cache/dag911262r00035d_lerobot_0327_114353_7434c583/episodes/ep000143/gripper_right_tactile_force_metrics.json b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_09-30/outputs_tactile/tactile_cache/dag911262r00035d_lerobot_0327_114353_7434c583/episodes/ep000143/gripper_right_tactile_force_metrics.json
new file mode 100644
index 0000000000000000000000000000000000000000..a3631d3afb500c3cc1a594cd0a0d429fe9283986
--- /dev/null
+++ b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_09-30/outputs_tactile/tactile_cache/dag911262r00035d_lerobot_0327_114353_7434c583/episodes/ep000143/gripper_right_tactile_force_metrics.json
@@ -0,0 +1,9 @@
+{
+  "depth_peak": 0.004619164392352104,
+  "shear_peak": 0.006487789563834667,
+  "force_magnitude_peak": 0.007953695021569729,
+  "reference_frame_count": 0,
+  "dataset_name": "dag911262r00035d_lerobot_0327_114353",
+  "episode_index": 143,
+  "sensor": "gripper_right_tactile"
+}
\ No newline at end of file
diff --git a/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_09-30/outputs_tactile/tactile_cache/dag911262r00035d_lerobot_0327_114353_7434c583/episodes/ep000145/gripper_right_tactile_contact_metrics.json b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_09-30/outputs_tactile/tactile_cache/dag911262r00035d_lerobot_0327_114353_7434c583/episodes/ep000145/gripper_right_tactile_contact_metrics.json
new file mode 100644
index 0000000000000000000000000000000000000000..fb0d20d16ddfa0876cf9af097ab0335158fed64f
--- /dev/null
+++ b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_09-30/outputs_tactile/tactile_cache/dag911262r00035d_lerobot_0327_114353_7434c583/episodes/ep000145/gripper_right_tactile_contact_metrics.json
@@ -0,0 +1,12 @@
+{
+  "contact_time": 3.433333333333333,
+  "contact_ratio": 0.6094674556213018,
+  "avg_contact_area": 6601.796116504855,
+  "contact_entropy": 0.5272885142055065,
+  "total_frames": 169,
+  "fps": 30.0,
+  "reference_frame_count": 0,
+  "dataset_name": "dag911262r00035d_lerobot_0327_114353",
+  "episode_index": 145,
+  "sensor": "gripper_right_tactile"
+}
\ No newline at end of file
diff --git a/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_09-30/outputs_tactile/tactile_cache/dag911262r00035d_lerobot_0327_114353_7434c583/episodes/ep000146/gripper_right_tactile_force_metrics.json b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_09-30/outputs_tactile/tactile_cache/dag911262r00035d_lerobot_0327_114353_7434c583/episodes/ep000146/gripper_right_tactile_force_metrics.json
new file mode 100644
index 0000000000000000000000000000000000000000..5fc95b84bf4c4b75aa08a7adc58bd7eae6b7c44c
--- /dev/null
+++ b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_09-30/outputs_tactile/tactile_cache/dag911262r00035d_lerobot_0327_114353_7434c583/episodes/ep000146/gripper_right_tactile_force_metrics.json
@@ -0,0 +1,9 @@
+{
+  "depth_peak": 0.0013525469694286585,
+  "shear_peak": 0.0015701124211773276,
+  "force_magnitude_peak": 0.0016249744221568108,
+  "reference_frame_count": 0,
+  "dataset_name": "dag911262r00035d_lerobot_0327_114353",
+  "episode_index": 146,
+  "sensor": "gripper_right_tactile"
+}
\ No newline at end of file
diff --git a/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_09-30/outputs_tactile/tactile_cache/dag911262r00035d_lerobot_0327_114353_7434c583/episodes/ep000147/gripper_left_tactile_force_metrics.json b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_09-30/outputs_tactile/tactile_cache/dag911262r00035d_lerobot_0327_114353_7434c583/episodes/ep000147/gripper_left_tactile_force_metrics.json
new file mode 100644
index 0000000000000000000000000000000000000000..61fce7ec85a90ac3d41b30765957258b83804df9
--- /dev/null
+++ b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_09-30/outputs_tactile/tactile_cache/dag911262r00035d_lerobot_0327_114353_7434c583/episodes/ep000147/gripper_left_tactile_force_metrics.json
@@ -0,0 +1,9 @@
+{
+  "depth_peak": 0.0014356881147250533,
+  "shear_peak": 0.0013234332436695695,
+  "force_magnitude_peak": 0.0015740941744297743,
+  "reference_frame_count": 0,
+  "dataset_name": "dag911262r00035d_lerobot_0327_114353",
+  "episode_index": 147,
+  "sensor": "gripper_left_tactile"
+}
\ No newline at end of file
diff --git a/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_09-30/outputs_tactile/tactile_cache/dag911262r00035d_lerobot_0327_114353_7434c583/episodes/ep000147/gripper_right_tactile_force_metrics.json b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_09-30/outputs_tactile/tactile_cache/dag911262r00035d_lerobot_0327_114353_7434c583/episodes/ep000147/gripper_right_tactile_force_metrics.json
new file mode 100644
index 0000000000000000000000000000000000000000..5c924ad0279e513ad15bed53387ed1f95fa40723
--- /dev/null
+++ b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_09-30/outputs_tactile/tactile_cache/dag911262r00035d_lerobot_0327_114353_7434c583/episodes/ep000147/gripper_right_tactile_force_metrics.json
@@ -0,0 +1,9 @@
+{
+  "depth_peak": 0.0014142354484647512,
+  "shear_peak": 0.0015464398311451077,
+  "force_magnitude_peak": 0.0019148801220580935,
+  "reference_frame_count": 0,
+  "dataset_name": "dag911262r00035d_lerobot_0327_114353",
+  "episode_index": 147,
+  "sensor": "gripper_right_tactile"
+}
\ No newline at end of file
diff --git a/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_09-30/outputs_tactile/tactile_cache/dag911262r00035d_lerobot_0327_114353_7434c583/episodes/ep000148/gripper_left_tactile_contact_metrics.json b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_09-30/outputs_tactile/tactile_cache/dag911262r00035d_lerobot_0327_114353_7434c583/episodes/ep000148/gripper_left_tactile_contact_metrics.json
new file mode 100644
index 0000000000000000000000000000000000000000..ceda88b3078dd1b2715d227bebc1c35d7fbbaf82
--- /dev/null
+++ b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_09-30/outputs_tactile/tactile_cache/dag911262r00035d_lerobot_0327_114353_7434c583/episodes/ep000148/gripper_left_tactile_contact_metrics.json
@@ -0,0 +1,12 @@
+{
+  "contact_time": 4.9,
+  "contact_ratio": 0.5719844357976653,
+  "avg_contact_area": 1630.700680272109,
+  "contact_entropy": 0.31952690975709325,
+  "total_frames": 257,
+  "fps": 30.0,
+  "reference_frame_count": 0,
+  "dataset_name": "dag911262r00035d_lerobot_0327_114353",
+  "episode_index": 148,
+  "sensor": "gripper_left_tactile"
+}
\ No newline at end of file
diff --git a/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_09-30/outputs_tactile/tactile_cache/dag911262r00035d_lerobot_0327_114353_7434c583/episodes/ep000148/gripper_right_tactile_contact_metrics.json b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_09-30/outputs_tactile/tactile_cache/dag911262r00035d_lerobot_0327_114353_7434c583/episodes/ep000148/gripper_right_tactile_contact_metrics.json
new file mode 100644
index 0000000000000000000000000000000000000000..30dfacaa842d5ebf1aa525c6fb4858c48a4d1523
--- /dev/null
+++ b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_09-30/outputs_tactile/tactile_cache/dag911262r00035d_lerobot_0327_114353_7434c583/episodes/ep000148/gripper_right_tactile_contact_metrics.json
@@ -0,0 +1,12 @@
+{
+  "contact_time": 1.2,
+  "contact_ratio": 0.14007782101167315,
+  "avg_contact_area": 4.75,
+  "contact_entropy": 0.0,
+  "total_frames": 257,
+  "fps": 30.0,
+  "reference_frame_count": 0,
+  "dataset_name": "dag911262r00035d_lerobot_0327_114353",
+  "episode_index": 148,
+  "sensor": "gripper_right_tactile"
+}
\ No newline at end of file
diff --git a/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_09-30/outputs_tactile/tactile_cache/dag911262r00035d_lerobot_0327_114353_7434c583/episodes/ep000151/gripper_left_tactile_contact_metrics.json b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_09-30/outputs_tactile/tactile_cache/dag911262r00035d_lerobot_0327_114353_7434c583/episodes/ep000151/gripper_left_tactile_contact_metrics.json
new file mode 100644
index 0000000000000000000000000000000000000000..713a21dfc4e6e15e3f5c5203d84f7ee2179aabbb
--- /dev/null
+++ b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_09-30/outputs_tactile/tactile_cache/dag911262r00035d_lerobot_0327_114353_7434c583/episodes/ep000151/gripper_left_tactile_contact_metrics.json
@@ -0,0 +1,12 @@
+{
+  "contact_time": 5.8,
+  "contact_ratio": 0.7160493827160493,
+  "avg_contact_area": 1297.5172413793102,
+  "contact_entropy": 0.6094488517244023,
+  "total_frames": 243,
+  "fps": 30.0,
+  "reference_frame_count": 0,
+  "dataset_name": "dag911262r00035d_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/dag911262r00035d_lerobot_0327_114353_7434c583/episodes/ep000151/gripper_right_tactile_contact_metrics.json b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_09-30/outputs_tactile/tactile_cache/dag911262r00035d_lerobot_0327_114353_7434c583/episodes/ep000151/gripper_right_tactile_contact_metrics.json
new file mode 100644
index 0000000000000000000000000000000000000000..8b520490516b89a1ee3e13d58f8e3d79a81cdadc
--- /dev/null
+++ b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_09-30/outputs_tactile/tactile_cache/dag911262r00035d_lerobot_0327_114353_7434c583/episodes/ep000151/gripper_right_tactile_contact_metrics.json
@@ -0,0 +1,12 @@
+{
+  "contact_time": 3.2333333333333334,
+  "contact_ratio": 0.3991769547325103,
+  "avg_contact_area": 214.94845360824743,
+  "contact_entropy": 0.0,
+  "total_frames": 243,
+  "fps": 30.0,
+  "reference_frame_count": 0,
+  "dataset_name": "dag911262r00035d_lerobot_0327_114353",
+  "episode_index": 151,
+  "sensor": "gripper_right_tactile"
+}
\ No newline at end of file
diff --git a/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_09-30/outputs_tactile/tactile_cache/dag911262r00035d_lerobot_0327_114353_7434c583/episodes/ep000154/gripper_left_tactile_force_metrics.json b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_09-30/outputs_tactile/tactile_cache/dag911262r00035d_lerobot_0327_114353_7434c583/episodes/ep000154/gripper_left_tactile_force_metrics.json
new file mode 100644
index 0000000000000000000000000000000000000000..76c2f4ec82ba5b8a4689baf19e133ef5caec0d84
--- /dev/null
+++ b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_09-30/outputs_tactile/tactile_cache/dag911262r00035d_lerobot_0327_114353_7434c583/episodes/ep000154/gripper_left_tactile_force_metrics.json
@@ -0,0 +1,9 @@
+{
+  "depth_peak": 0.003597836010158062,
+  "shear_peak": 0.0036985224578529596,
+  "force_magnitude_peak": 0.004488939885050058,
+  "reference_frame_count": 0,
+  "dataset_name": "dag911262r00035d_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/dag911262r00035d_lerobot_0327_114353_7434c583/episodes/ep000155/gripper_right_tactile_force_metrics.json b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_09-30/outputs_tactile/tactile_cache/dag911262r00035d_lerobot_0327_114353_7434c583/episodes/ep000155/gripper_right_tactile_force_metrics.json
new file mode 100644
index 0000000000000000000000000000000000000000..6fb8096288efa834bf90477aee88d93673937e03
--- /dev/null
+++ b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_09-30/outputs_tactile/tactile_cache/dag911262r00035d_lerobot_0327_114353_7434c583/episodes/ep000155/gripper_right_tactile_force_metrics.json
@@ -0,0 +1,9 @@
+{
+  "depth_peak": 0.0006564771756529808,
+  "shear_peak": 0.0019153690664097667,
+  "force_magnitude_peak": 0.0022360323928296566,
+  "reference_frame_count": 0,
+  "dataset_name": "dag911262r00035d_lerobot_0327_114353",
+  "episode_index": 155,
+  "sensor": "gripper_right_tactile"
+}
\ No newline at end of file
diff --git a/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_09-30/outputs_tactile/tactile_cache/dag911262r00035d_lerobot_0327_114353_7434c583/episodes/ep000156/gripper_left_tactile_force_metrics.json b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_09-30/outputs_tactile/tactile_cache/dag911262r00035d_lerobot_0327_114353_7434c583/episodes/ep000156/gripper_left_tactile_force_metrics.json
new file mode 100644
index 0000000000000000000000000000000000000000..b93fd45fd99b245e1e149f70a2ec054b6dde8d0d
--- /dev/null
+++ b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_09-30/outputs_tactile/tactile_cache/dag911262r00035d_lerobot_0327_114353_7434c583/episodes/ep000156/gripper_left_tactile_force_metrics.json
@@ -0,0 +1,9 @@
+{
+  "depth_peak": 0.0006964959320612252,
+  "shear_peak": 0.001592425280250609,
+  "force_magnitude_peak": 0.0016861954936757684,
+  "reference_frame_count": 0,
+  "dataset_name": "dag911262r00035d_lerobot_0327_114353",
+  "episode_index": 156,
+  "sensor": "gripper_left_tactile"
+}
\ No newline at end of file
diff --git a/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_09-30/outputs_tactile/tactile_cache/dag911262r00035d_lerobot_0327_114353_7434c583/episodes/ep000157/gripper_right_tactile_force_metrics.json b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_09-30/outputs_tactile/tactile_cache/dag911262r00035d_lerobot_0327_114353_7434c583/episodes/ep000157/gripper_right_tactile_force_metrics.json
new file mode 100644
index 0000000000000000000000000000000000000000..2b675df87972c65a630a1840fcf2fce05598170b
--- /dev/null
+++ b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_09-30/outputs_tactile/tactile_cache/dag911262r00035d_lerobot_0327_114353_7434c583/episodes/ep000157/gripper_right_tactile_force_metrics.json
@@ -0,0 +1,9 @@
+{
+  "depth_peak": 0.0007744717295281589,
+  "shear_peak": 0.0038833380676805973,
+  "force_magnitude_peak": 0.003920676652342081,
+  "reference_frame_count": 0,
+  "dataset_name": "dag911262r00035d_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/dag911262r00035d_lerobot_0327_114353_7434c583/episodes/ep000158/gripper_left_tactile_contact_metrics.json b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_09-30/outputs_tactile/tactile_cache/dag911262r00035d_lerobot_0327_114353_7434c583/episodes/ep000158/gripper_left_tactile_contact_metrics.json
new file mode 100644
index 0000000000000000000000000000000000000000..249edb213e679f93fa4ace539819ed60502cedb6
--- /dev/null
+++ b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_09-30/outputs_tactile/tactile_cache/dag911262r00035d_lerobot_0327_114353_7434c583/episodes/ep000158/gripper_left_tactile_contact_metrics.json
@@ -0,0 +1,12 @@
+{
+  "contact_time": 5.1,
+  "contact_ratio": 0.7116279069767442,
+  "avg_contact_area": 127.52287581699346,
+  "contact_entropy": 0.0,
+  "total_frames": 215,
+  "fps": 30.0,
+  "reference_frame_count": 0,
+  "dataset_name": "dag911262r00035d_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/dag911262r00035d_lerobot_0327_114353_7434c583/episodes/ep000161/gripper_left_tactile_contact_metrics.json b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_09-30/outputs_tactile/tactile_cache/dag911262r00035d_lerobot_0327_114353_7434c583/episodes/ep000161/gripper_left_tactile_contact_metrics.json
new file mode 100644
index 0000000000000000000000000000000000000000..8439e2ffc95f2bfbf4f9a67ced61ad85e1923d53
--- /dev/null
+++ b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_09-30/outputs_tactile/tactile_cache/dag911262r00035d_lerobot_0327_114353_7434c583/episodes/ep000161/gripper_left_tactile_contact_metrics.json
@@ -0,0 +1,12 @@
+{
+  "contact_time": 6.9,
+  "contact_ratio": 0.8380566801619433,
+  "avg_contact_area": 1241.1014492753623,
+  "contact_entropy": 0.6492299218426076,
+  "total_frames": 247,
+  "fps": 30.0,
+  "reference_frame_count": 0,
+  "dataset_name": "dag911262r00035d_lerobot_0327_114353",
+  "episode_index": 161,
+  "sensor": "gripper_left_tactile"
+}
\ No newline at end of file
diff --git a/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_09-30/outputs_tactile/tactile_cache/dag911262r00035d_lerobot_0327_114353_7434c583/episodes/ep000161/gripper_left_tactile_force_metrics.json b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_09-30/outputs_tactile/tactile_cache/dag911262r00035d_lerobot_0327_114353_7434c583/episodes/ep000161/gripper_left_tactile_force_metrics.json
new file mode 100644
index 0000000000000000000000000000000000000000..3d4102bd0ffc5cfe4edbecbf55ff4bb44d244aa4
--- /dev/null
+++ b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_09-30/outputs_tactile/tactile_cache/dag911262r00035d_lerobot_0327_114353_7434c583/episodes/ep000161/gripper_left_tactile_force_metrics.json
@@ -0,0 +1,9 @@
+{
+  "depth_peak": 0.0030810851603746414,
+  "shear_peak": 0.0019915408920496702,
+  "force_magnitude_peak": 0.003440248081460595,
+  "reference_frame_count": 0,
+  "dataset_name": "dag911262r00035d_lerobot_0327_114353",
+  "episode_index": 161,
+  "sensor": "gripper_left_tactile"
+}
\ No newline at end of file
diff --git a/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_09-30/outputs_tactile/tactile_cache/dag911262r00035d_lerobot_0327_114353_7434c583/episodes/ep000167/gripper_right_tactile_contact_metrics.json b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_09-30/outputs_tactile/tactile_cache/dag911262r00035d_lerobot_0327_114353_7434c583/episodes/ep000167/gripper_right_tactile_contact_metrics.json
new file mode 100644
index 0000000000000000000000000000000000000000..fe853809fd1174666ebdd960c1b16fc58f20c54b
--- /dev/null
+++ b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_09-30/outputs_tactile/tactile_cache/dag911262r00035d_lerobot_0327_114353_7434c583/episodes/ep000167/gripper_right_tactile_contact_metrics.json
@@ -0,0 +1,12 @@
+{
+  "contact_time": 4.933333333333334,
+  "contact_ratio": 0.7047619047619048,
+  "avg_contact_area": 1489.6351351351352,
+  "contact_entropy": 0.6762667102693511,
+  "total_frames": 210,
+  "fps": 30.0,
+  "reference_frame_count": 0,
+  "dataset_name": "dag911262r00035d_lerobot_0327_114353",
+  "episode_index": 167,
+  "sensor": "gripper_right_tactile"
+}
\ No newline at end of file
diff --git a/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_09-30/outputs_tactile/tactile_cache/dag911262r00035d_lerobot_0327_114353_7434c583/episodes/ep000172/gripper_right_tactile_contact_metrics.json b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_09-30/outputs_tactile/tactile_cache/dag911262r00035d_lerobot_0327_114353_7434c583/episodes/ep000172/gripper_right_tactile_contact_metrics.json
new file mode 100644
index 0000000000000000000000000000000000000000..01029acaa2bb9f30876afd7901b2261f469eb85c
--- /dev/null
+++ b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_09-30/outputs_tactile/tactile_cache/dag911262r00035d_lerobot_0327_114353_7434c583/episodes/ep000172/gripper_right_tactile_contact_metrics.json
@@ -0,0 +1,12 @@
+{
+  "contact_time": 2.1333333333333333,
+  "contact_ratio": 0.34972677595628415,
+  "avg_contact_area": 3459.34375,
+  "contact_entropy": 0.5004522372890451,
+  "total_frames": 183,
+  "fps": 30.0,
+  "reference_frame_count": 0,
+  "dataset_name": "dag911262r00035d_lerobot_0327_114353",
+  "episode_index": 172,
+  "sensor": "gripper_right_tactile"
+}
\ No newline at end of file
diff --git a/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_09-30/outputs_tactile/tactile_cache/dag911262r00035d_lerobot_0327_114353_7434c583/episodes/ep000176/gripper_left_tactile_contact_metrics.json b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_09-30/outputs_tactile/tactile_cache/dag911262r00035d_lerobot_0327_114353_7434c583/episodes/ep000176/gripper_left_tactile_contact_metrics.json
new file mode 100644
index 0000000000000000000000000000000000000000..72d6688130dffe4cd3df3f30095767026343fdfc
--- /dev/null
+++ b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_09-30/outputs_tactile/tactile_cache/dag911262r00035d_lerobot_0327_114353_7434c583/episodes/ep000176/gripper_left_tactile_contact_metrics.json
@@ -0,0 +1,12 @@
+{
+  "contact_time": 4.433333333333334,
+  "contact_ratio": 0.7228260869565217,
+  "avg_contact_area": 407.3984962406015,
+  "contact_entropy": 0.39417325617477694,
+  "total_frames": 184,
+  "fps": 30.0,
+  "reference_frame_count": 0,
+  "dataset_name": "dag911262r00035d_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/dag911262r00035d_lerobot_0327_114353_7434c583/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/dag911262r00035d_lerobot_0327_114353_7434c583/episodes/ep000176/gripper_left_tactile_force_metrics.json
new file mode 100644
index 0000000000000000000000000000000000000000..27cbc734e48a9e5944682bb04e62c791f5c5b43b
--- /dev/null
+++ b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_09-30/outputs_tactile/tactile_cache/dag911262r00035d_lerobot_0327_114353_7434c583/episodes/ep000176/gripper_left_tactile_force_metrics.json
@@ -0,0 +1,9 @@
+{
+  "depth_peak": 0.0025119006168097258,
+  "shear_peak": 0.0021135525312274694,
+  "force_magnitude_peak": 0.002833465812727809,
+  "reference_frame_count": 0,
+  "dataset_name": "dag911262r00035d_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/dag911262r00035d_lerobot_0327_114353_7434c583/episodes/ep000183/gripper_right_tactile_force_metrics.json b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_09-30/outputs_tactile/tactile_cache/dag911262r00035d_lerobot_0327_114353_7434c583/episodes/ep000183/gripper_right_tactile_force_metrics.json
new file mode 100644
index 0000000000000000000000000000000000000000..70e4800438b93b4e90f8f1c53c9df0f8017d7b7c
--- /dev/null
+++ b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_09-30/outputs_tactile/tactile_cache/dag911262r00035d_lerobot_0327_114353_7434c583/episodes/ep000183/gripper_right_tactile_force_metrics.json
@@ -0,0 +1,9 @@
+{
+  "depth_peak": 0.007745679933577776,
+  "shear_peak": 0.0013007518136873841,
+  "force_magnitude_peak": 0.007754203397780657,
+  "reference_frame_count": 0,
+  "dataset_name": "dag911262r00035d_lerobot_0327_114353",
+  "episode_index": 183,
+  "sensor": "gripper_right_tactile"
+}
\ No newline at end of file
diff --git a/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_09-30/outputs_tactile/tactile_cache/dag911262r00035d_lerobot_0327_114353_7434c583/episodes/ep000185/gripper_right_tactile_contact_metrics.json b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_09-30/outputs_tactile/tactile_cache/dag911262r00035d_lerobot_0327_114353_7434c583/episodes/ep000185/gripper_right_tactile_contact_metrics.json
new file mode 100644
index 0000000000000000000000000000000000000000..8bb2dab327db52bf4c7db4be84e300f701071257
--- /dev/null
+++ b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_09-30/outputs_tactile/tactile_cache/dag911262r00035d_lerobot_0327_114353_7434c583/episodes/ep000185/gripper_right_tactile_contact_metrics.json
@@ -0,0 +1,12 @@
+{
+  "contact_time": 2.933333333333333,
+  "contact_ratio": 0.5789473684210527,
+  "avg_contact_area": 3112.7954545454545,
+  "contact_entropy": 0.34943024292535585,
+  "total_frames": 152,
+  "fps": 30.0,
+  "reference_frame_count": 0,
+  "dataset_name": "dag911262r00035d_lerobot_0327_114353",
+  "episode_index": 185,
+  "sensor": "gripper_right_tactile"
+}
\ No newline at end of file
diff --git a/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_09-30/outputs_tactile/tactile_cache/dag911262r00035d_lerobot_0327_114353_7434c583/episodes/ep000186/gripper_right_tactile_force_metrics.json b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_09-30/outputs_tactile/tactile_cache/dag911262r00035d_lerobot_0327_114353_7434c583/episodes/ep000186/gripper_right_tactile_force_metrics.json
new file mode 100644
index 0000000000000000000000000000000000000000..038bdb0a3907192e75fe1067f025b60900e4d845
--- /dev/null
+++ b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_09-30/outputs_tactile/tactile_cache/dag911262r00035d_lerobot_0327_114353_7434c583/episodes/ep000186/gripper_right_tactile_force_metrics.json
@@ -0,0 +1,9 @@
+{
+  "depth_peak": 0.013802715577185154,
+  "shear_peak": 0.010207477025687695,
+  "force_magnitude_peak": 0.01626613177359104,
+  "reference_frame_count": 0,
+  "dataset_name": "dag911262r00035d_lerobot_0327_114353",
+  "episode_index": 186,
+  "sensor": "gripper_right_tactile"
+}
\ No newline at end of file
diff --git a/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_09-30/outputs_tactile/tactile_cache/dag911262r00035d_lerobot_0327_114353_7434c583/episodes/ep000187/gripper_left_tactile_force_metrics.json b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_09-30/outputs_tactile/tactile_cache/dag911262r00035d_lerobot_0327_114353_7434c583/episodes/ep000187/gripper_left_tactile_force_metrics.json
new file mode 100644
index 0000000000000000000000000000000000000000..842454827b5f0838fd935094d32396b3991f1548
--- /dev/null
+++ b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_09-30/outputs_tactile/tactile_cache/dag911262r00035d_lerobot_0327_114353_7434c583/episodes/ep000187/gripper_left_tactile_force_metrics.json
@@ -0,0 +1,9 @@
+{
+  "depth_peak": 0.0008135658572427928,
+  "shear_peak": 0.0022291995119303465,
+  "force_magnitude_peak": 0.0022329925559461117,
+  "reference_frame_count": 0,
+  "dataset_name": "dag911262r00035d_lerobot_0327_114353",
+  "episode_index": 187,
+  "sensor": "gripper_left_tactile"
+}
\ No newline at end of file
diff --git a/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_09-30/outputs_tactile/tactile_cache/dag911262r00035d_lerobot_0327_114353_7434c583/episodes/ep000187/gripper_right_tactile_force_metrics.json b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_09-30/outputs_tactile/tactile_cache/dag911262r00035d_lerobot_0327_114353_7434c583/episodes/ep000187/gripper_right_tactile_force_metrics.json
new file mode 100644
index 0000000000000000000000000000000000000000..d97baa95addf35763ca17ccc4a27f311eedf8d36
--- /dev/null
+++ b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_09-30/outputs_tactile/tactile_cache/dag911262r00035d_lerobot_0327_114353_7434c583/episodes/ep000187/gripper_right_tactile_force_metrics.json
@@ -0,0 +1,9 @@
+{
+  "depth_peak": 0.0009303701808676124,
+  "shear_peak": 0.004236056935042143,
+  "force_magnitude_peak": 0.004236878361552954,
+  "reference_frame_count": 0,
+  "dataset_name": "dag911262r00035d_lerobot_0327_114353",
+  "episode_index": 187,
+  "sensor": "gripper_right_tactile"
+}
\ No newline at end of file
diff --git a/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_09-30/outputs_tactile/tactile_cache/dag911262r00035d_lerobot_0327_114353_7434c583/episodes/ep000188/gripper_left_tactile_contact_metrics.json b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_09-30/outputs_tactile/tactile_cache/dag911262r00035d_lerobot_0327_114353_7434c583/episodes/ep000188/gripper_left_tactile_contact_metrics.json
new file mode 100644
index 0000000000000000000000000000000000000000..7b19df83aa5143c47f9564e04df5cde196618ca1
--- /dev/null
+++ b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_09-30/outputs_tactile/tactile_cache/dag911262r00035d_lerobot_0327_114353_7434c583/episodes/ep000188/gripper_left_tactile_contact_metrics.json
@@ -0,0 +1,12 @@
+{
+  "contact_time": 0.0,
+  "contact_ratio": 0.0,
+  "avg_contact_area": 0.0,
+  "contact_entropy": 0.0,
+  "total_frames": 150,
+  "fps": 30.0,
+  "reference_frame_count": 0,
+  "dataset_name": "dag911262r00035d_lerobot_0327_114353",
+  "episode_index": 188,
+  "sensor": "gripper_left_tactile"
+}
\ No newline at end of file
diff --git a/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_09-30/outputs_tactile/tactile_cache/dag911262r00035d_lerobot_0327_114353_7434c583/episodes/ep000188/gripper_right_tactile_contact_metrics.json b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_09-30/outputs_tactile/tactile_cache/dag911262r00035d_lerobot_0327_114353_7434c583/episodes/ep000188/gripper_right_tactile_contact_metrics.json
new file mode 100644
index 0000000000000000000000000000000000000000..aac67a83e8ade353aa7da716dd46572b375d472f
--- /dev/null
+++ b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_09-30/outputs_tactile/tactile_cache/dag911262r00035d_lerobot_0327_114353_7434c583/episodes/ep000188/gripper_right_tactile_contact_metrics.json
@@ -0,0 +1,12 @@
+{
+  "contact_time": 4.0,
+  "contact_ratio": 0.8,
+  "avg_contact_area": 2692.3333333333335,
+  "contact_entropy": 0.09706661183385447,
+  "total_frames": 150,
+  "fps": 30.0,
+  "reference_frame_count": 0,
+  "dataset_name": "dag911262r00035d_lerobot_0327_114353",
+  "episode_index": 188,
+  "sensor": "gripper_right_tactile"
+}
\ No newline at end of file
diff --git a/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_09-30/outputs_tactile/tactile_cache/dag911262r00035d_lerobot_0327_114353_7434c583/episodes/ep000191/gripper_left_tactile_contact_metrics.json b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_09-30/outputs_tactile/tactile_cache/dag911262r00035d_lerobot_0327_114353_7434c583/episodes/ep000191/gripper_left_tactile_contact_metrics.json
new file mode 100644
index 0000000000000000000000000000000000000000..08aa178b7b14479bd3b8fbc308529eccd94b4fbd
--- /dev/null
+++ b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_09-30/outputs_tactile/tactile_cache/dag911262r00035d_lerobot_0327_114353_7434c583/episodes/ep000191/gripper_left_tactile_contact_metrics.json
@@ -0,0 +1,12 @@
+{
+  "contact_time": 6.866666666666666,
+  "contact_ratio": 0.6959459459459459,
+  "avg_contact_area": 801.5776699029126,
+  "contact_entropy": 0.11705934644484543,
+  "total_frames": 296,
+  "fps": 30.0,
+  "reference_frame_count": 0,
+  "dataset_name": "dag911262r00035d_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/dag911262r00035d_lerobot_0327_114353_7434c583/episodes/ep000191/gripper_right_tactile_contact_metrics.json b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_09-30/outputs_tactile/tactile_cache/dag911262r00035d_lerobot_0327_114353_7434c583/episodes/ep000191/gripper_right_tactile_contact_metrics.json
new file mode 100644
index 0000000000000000000000000000000000000000..4f7347073bda56871c401d33c794e81f843ebcde
--- /dev/null
+++ b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_09-30/outputs_tactile/tactile_cache/dag911262r00035d_lerobot_0327_114353_7434c583/episodes/ep000191/gripper_right_tactile_contact_metrics.json
@@ -0,0 +1,12 @@
+{
+  "contact_time": 5.1,
+  "contact_ratio": 0.5168918918918919,
+  "avg_contact_area": 5735.83660130719,
+  "contact_entropy": 0.6783360437662981,
+  "total_frames": 296,
+  "fps": 30.0,
+  "reference_frame_count": 0,
+  "dataset_name": "dag911262r00035d_lerobot_0327_114353",
+  "episode_index": 191,
+  "sensor": "gripper_right_tactile"
+}
\ No newline at end of file
diff --git a/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_09-30/outputs_tactile/tactile_cache/dag911262r00035d_lerobot_0327_114353_7434c583/episodes/ep000194/gripper_left_tactile_force_metrics.json b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_09-30/outputs_tactile/tactile_cache/dag911262r00035d_lerobot_0327_114353_7434c583/episodes/ep000194/gripper_left_tactile_force_metrics.json
new file mode 100644
index 0000000000000000000000000000000000000000..7d64d103c0ff34a289cd858416400aecb1304129
--- /dev/null
+++ b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_09-30/outputs_tactile/tactile_cache/dag911262r00035d_lerobot_0327_114353_7434c583/episodes/ep000194/gripper_left_tactile_force_metrics.json
@@ -0,0 +1,9 @@
+{
+  "depth_peak": 0.001555427792482078,
+  "shear_peak": 0.005673418752849102,
+  "force_magnitude_peak": 0.005748369265347719,
+  "reference_frame_count": 0,
+  "dataset_name": "dag911262r00035d_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/dag911262r00035d_lerobot_0327_114353_7434c583/episodes/ep000195/gripper_right_tactile_force_metrics.json b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_09-30/outputs_tactile/tactile_cache/dag911262r00035d_lerobot_0327_114353_7434c583/episodes/ep000195/gripper_right_tactile_force_metrics.json
new file mode 100644
index 0000000000000000000000000000000000000000..8cf5e0531c51d7fe6d144f832385a8a4035dace2
--- /dev/null
+++ b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_09-30/outputs_tactile/tactile_cache/dag911262r00035d_lerobot_0327_114353_7434c583/episodes/ep000195/gripper_right_tactile_force_metrics.json
@@ -0,0 +1,9 @@
+{
+  "depth_peak": 0.0019605555571615696,
+  "shear_peak": 0.0009689116268418729,
+  "force_magnitude_peak": 0.007551653776317835,
+  "reference_frame_count": 0,
+  "dataset_name": "dag911262r00035d_lerobot_0327_114353",
+  "episode_index": 195,
+  "sensor": "gripper_right_tactile"
+}
\ No newline at end of file
diff --git a/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_09-30/outputs_tactile/tactile_cache/dag911262r00035d_lerobot_0327_114353_7434c583/episodes/ep000196/gripper_left_tactile_force_metrics.json b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_09-30/outputs_tactile/tactile_cache/dag911262r00035d_lerobot_0327_114353_7434c583/episodes/ep000196/gripper_left_tactile_force_metrics.json
new file mode 100644
index 0000000000000000000000000000000000000000..ed4737dcbe62389d65f0760848705295d76f8cb0
--- /dev/null
+++ b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_09-30/outputs_tactile/tactile_cache/dag911262r00035d_lerobot_0327_114353_7434c583/episodes/ep000196/gripper_left_tactile_force_metrics.json
@@ -0,0 +1,9 @@
+{
+  "depth_peak": 0.00012454675743356347,
+  "shear_peak": 0.0009753757040016353,
+  "force_magnitude_peak": 0.0010066679678857327,
+  "reference_frame_count": 0,
+  "dataset_name": "dag911262r00035d_lerobot_0327_114353",
+  "episode_index": 196,
+  "sensor": "gripper_left_tactile"
+}
\ No newline at end of file
diff --git a/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_09-30/outputs_tactile/tactile_cache/dag911262r00035d_lerobot_0327_114353_7434c583/episodes/ep000197/gripper_right_tactile_force_metrics.json b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_09-30/outputs_tactile/tactile_cache/dag911262r00035d_lerobot_0327_114353_7434c583/episodes/ep000197/gripper_right_tactile_force_metrics.json
new file mode 100644
index 0000000000000000000000000000000000000000..81211f1820d29ac9333e885187d0e2bdb5230f06
--- /dev/null
+++ b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_09-30/outputs_tactile/tactile_cache/dag911262r00035d_lerobot_0327_114353_7434c583/episodes/ep000197/gripper_right_tactile_force_metrics.json
@@ -0,0 +1,9 @@
+{
+  "depth_peak": 0.00623813783749938,
+  "shear_peak": 0.007778725121170282,
+  "force_magnitude_peak": 0.009927204810082912,
+  "reference_frame_count": 0,
+  "dataset_name": "dag911262r00035d_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/dag911262r00035d_lerobot_0327_114353_7434c583/episodes/ep000198/gripper_left_tactile_contact_metrics.json b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_09-30/outputs_tactile/tactile_cache/dag911262r00035d_lerobot_0327_114353_7434c583/episodes/ep000198/gripper_left_tactile_contact_metrics.json
new file mode 100644
index 0000000000000000000000000000000000000000..976e65c639c51a88d4a2e8572791053aa3d2de77
--- /dev/null
+++ b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_09-30/outputs_tactile/tactile_cache/dag911262r00035d_lerobot_0327_114353_7434c583/episodes/ep000198/gripper_left_tactile_contact_metrics.json
@@ -0,0 +1,12 @@
+{
+  "contact_time": 4.766666666666667,
+  "contact_ratio": 0.7333333333333333,
+  "avg_contact_area": 1793.8741258741259,
+  "contact_entropy": 0.5903548866465174,
+  "total_frames": 195,
+  "fps": 30.0,
+  "reference_frame_count": 0,
+  "dataset_name": "dag911262r00035d_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/dag911262r00035d_lerobot_0327_114353_7434c583/episodes/ep000201/gripper_left_tactile_contact_metrics.json b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_09-30/outputs_tactile/tactile_cache/dag911262r00035d_lerobot_0327_114353_7434c583/episodes/ep000201/gripper_left_tactile_contact_metrics.json
new file mode 100644
index 0000000000000000000000000000000000000000..39c2772618542793b48a12da9489998875fe5b32
--- /dev/null
+++ b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_09-30/outputs_tactile/tactile_cache/dag911262r00035d_lerobot_0327_114353_7434c583/episodes/ep000201/gripper_left_tactile_contact_metrics.json
@@ -0,0 +1,12 @@
+{
+  "contact_time": 6.7,
+  "contact_ratio": 0.5207253886010362,
+  "avg_contact_area": 615.1293532338309,
+  "contact_entropy": 0.0,
+  "total_frames": 386,
+  "fps": 30.0,
+  "reference_frame_count": 0,
+  "dataset_name": "dag911262r00035d_lerobot_0327_114353",
+  "episode_index": 201,
+  "sensor": "gripper_left_tactile"
+}
\ No newline at end of file
diff --git a/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_09-30/outputs_tactile/tactile_cache/dag911262r00035d_lerobot_0327_114353_7434c583/episodes/ep000201/gripper_left_tactile_force_metrics.json b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_09-30/outputs_tactile/tactile_cache/dag911262r00035d_lerobot_0327_114353_7434c583/episodes/ep000201/gripper_left_tactile_force_metrics.json
new file mode 100644
index 0000000000000000000000000000000000000000..ab0ca64c92239d1cc073df0d766713ac83dd011c
--- /dev/null
+++ b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_09-30/outputs_tactile/tactile_cache/dag911262r00035d_lerobot_0327_114353_7434c583/episodes/ep000201/gripper_left_tactile_force_metrics.json
@@ -0,0 +1,9 @@
+{
+  "depth_peak": 0.0017740614712238312,
+  "shear_peak": 0.002581337234005332,
+  "force_magnitude_peak": 0.0031321870628744364,
+  "reference_frame_count": 0,
+  "dataset_name": "dag911262r00035d_lerobot_0327_114353",
+  "episode_index": 201,
+  "sensor": "gripper_left_tactile"
+}
\ No newline at end of file
diff --git a/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_09-30/outputs_tactile/tactile_cache/dag911262r00035d_lerobot_0327_114353_7434c583/episodes/ep000207/gripper_right_tactile_contact_metrics.json b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_09-30/outputs_tactile/tactile_cache/dag911262r00035d_lerobot_0327_114353_7434c583/episodes/ep000207/gripper_right_tactile_contact_metrics.json
new file mode 100644
index 0000000000000000000000000000000000000000..e7df9df553355297c5ff0b0a4a6416fdae2027db
--- /dev/null
+++ b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_09-30/outputs_tactile/tactile_cache/dag911262r00035d_lerobot_0327_114353_7434c583/episodes/ep000207/gripper_right_tactile_contact_metrics.json
@@ -0,0 +1,12 @@
+{
+  "contact_time": 14.933333333333334,
+  "contact_ratio": 0.797153024911032,
+  "avg_contact_area": 6378.928571428572,
+  "contact_entropy": 0.6587454888580404,
+  "total_frames": 562,
+  "fps": 30.0,
+  "reference_frame_count": 0,
+  "dataset_name": "dag911262r00035d_lerobot_0327_114353",
+  "episode_index": 207,
+  "sensor": "gripper_right_tactile"
+}
\ No newline at end of file
diff --git a/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_09-30/outputs_tactile/tactile_cache/dag911262r00035d_lerobot_0327_114353_7434c583/episodes/ep000212/gripper_right_tactile_contact_metrics.json b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_09-30/outputs_tactile/tactile_cache/dag911262r00035d_lerobot_0327_114353_7434c583/episodes/ep000212/gripper_right_tactile_contact_metrics.json
new file mode 100644
index 0000000000000000000000000000000000000000..8efe4aeec212662a51a97bfc1cf4000ffa871954
--- /dev/null
+++ b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_09-30/outputs_tactile/tactile_cache/dag911262r00035d_lerobot_0327_114353_7434c583/episodes/ep000212/gripper_right_tactile_contact_metrics.json
@@ -0,0 +1,12 @@
+{
+  "contact_time": 4.633333333333334,
+  "contact_ratio": 0.6682692307692307,
+  "avg_contact_area": 6023.863309352518,
+  "contact_entropy": 0.6075247574395224,
+  "total_frames": 208,
+  "fps": 30.0,
+  "reference_frame_count": 0,
+  "dataset_name": "dag911262r00035d_lerobot_0327_114353",
+  "episode_index": 212,
+  "sensor": "gripper_right_tactile"
+}
\ No newline at end of file
diff --git a/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_09-30/outputs_tactile/tactile_cache/dag911262r00035d_lerobot_0327_114353_7434c583/episodes/ep000216/gripper_left_tactile_contact_metrics.json b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_09-30/outputs_tactile/tactile_cache/dag911262r00035d_lerobot_0327_114353_7434c583/episodes/ep000216/gripper_left_tactile_contact_metrics.json
new file mode 100644
index 0000000000000000000000000000000000000000..c56d0f4b58920d810362a73da1268124abe48f2a
--- /dev/null
+++ b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_09-30/outputs_tactile/tactile_cache/dag911262r00035d_lerobot_0327_114353_7434c583/episodes/ep000216/gripper_left_tactile_contact_metrics.json
@@ -0,0 +1,12 @@
+{
+  "contact_time": 0.0,
+  "contact_ratio": 0.0,
+  "avg_contact_area": 0.0,
+  "contact_entropy": 0.0,
+  "total_frames": 201,
+  "fps": 30.0,
+  "reference_frame_count": 0,
+  "dataset_name": "dag911262r00035d_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/dag911262r00035d_lerobot_0327_114353_7434c583/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/dag911262r00035d_lerobot_0327_114353_7434c583/episodes/ep000216/gripper_left_tactile_force_metrics.json
new file mode 100644
index 0000000000000000000000000000000000000000..f719900048554221272adc76abe2f7ef293e69ac
--- /dev/null
+++ b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_09-30/outputs_tactile/tactile_cache/dag911262r00035d_lerobot_0327_114353_7434c583/episodes/ep000216/gripper_left_tactile_force_metrics.json
@@ -0,0 +1,9 @@
+{
+  "depth_peak": 0.00167976098600775,
+  "shear_peak": 0.0010790235828608274,
+  "force_magnitude_peak": 0.0016923656221479177,
+  "reference_frame_count": 0,
+  "dataset_name": "dag911262r00035d_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/dag911262r00035d_lerobot_0327_114353_7434c583/episodes/ep000223/gripper_right_tactile_force_metrics.json b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_09-30/outputs_tactile/tactile_cache/dag911262r00035d_lerobot_0327_114353_7434c583/episodes/ep000223/gripper_right_tactile_force_metrics.json
new file mode 100644
index 0000000000000000000000000000000000000000..99a4b696d56d26743a913231aca0c52b23c175c1
--- /dev/null
+++ b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_09-30/outputs_tactile/tactile_cache/dag911262r00035d_lerobot_0327_114353_7434c583/episodes/ep000223/gripper_right_tactile_force_metrics.json
@@ -0,0 +1,9 @@
+{
+  "depth_peak": 0.007118274923413992,
+  "shear_peak": 0.012104326859116554,
+  "force_magnitude_peak": 0.01307596080005169,
+  "reference_frame_count": 0,
+  "dataset_name": "dag911262r00035d_lerobot_0327_114353",
+  "episode_index": 223,
+  "sensor": "gripper_right_tactile"
+}
\ No newline at end of file
diff --git a/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_09-30/outputs_tactile/tactile_cache/dag911262r00035d_lerobot_0327_114353_7434c583/episodes/ep000225/gripper_right_tactile_contact_metrics.json b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_09-30/outputs_tactile/tactile_cache/dag911262r00035d_lerobot_0327_114353_7434c583/episodes/ep000225/gripper_right_tactile_contact_metrics.json
new file mode 100644
index 0000000000000000000000000000000000000000..9a6e8cdf2246023a26f1e124fac556a908c5eb22
--- /dev/null
+++ b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_09-30/outputs_tactile/tactile_cache/dag911262r00035d_lerobot_0327_114353_7434c583/episodes/ep000225/gripper_right_tactile_contact_metrics.json
@@ -0,0 +1,12 @@
+{
+  "contact_time": 4.533333333333333,
+  "contact_ratio": 0.6296296296296297,
+  "avg_contact_area": 11478.110294117647,
+  "contact_entropy": 0.30651249229066224,
+  "total_frames": 216,
+  "fps": 30.0,
+  "reference_frame_count": 0,
+  "dataset_name": "dag911262r00035d_lerobot_0327_114353",
+  "episode_index": 225,
+  "sensor": "gripper_right_tactile"
+}
\ No newline at end of file
diff --git a/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_09-30/outputs_tactile/tactile_cache/dag911262r00035d_lerobot_0327_114353_7434c583/episodes/ep000226/gripper_right_tactile_force_metrics.json b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_09-30/outputs_tactile/tactile_cache/dag911262r00035d_lerobot_0327_114353_7434c583/episodes/ep000226/gripper_right_tactile_force_metrics.json
new file mode 100644
index 0000000000000000000000000000000000000000..7ac6f3fa718f9f35894b13713c36e74033a5a6c8
--- /dev/null
+++ b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_09-30/outputs_tactile/tactile_cache/dag911262r00035d_lerobot_0327_114353_7434c583/episodes/ep000226/gripper_right_tactile_force_metrics.json
@@ -0,0 +1,9 @@
+{
+  "depth_peak": 0.01166517287492752,
+  "shear_peak": 0.005981298163533211,
+  "force_magnitude_peak": 0.012494399212300777,
+  "reference_frame_count": 0,
+  "dataset_name": "dag911262r00035d_lerobot_0327_114353",
+  "episode_index": 226,
+  "sensor": "gripper_right_tactile"
+}
\ No newline at end of file
diff --git a/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_09-30/outputs_tactile/tactile_cache/dag911262r00035d_lerobot_0327_114353_7434c583/episodes/ep000227/gripper_left_tactile_force_metrics.json b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_09-30/outputs_tactile/tactile_cache/dag911262r00035d_lerobot_0327_114353_7434c583/episodes/ep000227/gripper_left_tactile_force_metrics.json
new file mode 100644
index 0000000000000000000000000000000000000000..9728546b9d02b8c4151e5a11398590f0f2c99d62
--- /dev/null
+++ b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_09-30/outputs_tactile/tactile_cache/dag911262r00035d_lerobot_0327_114353_7434c583/episodes/ep000227/gripper_left_tactile_force_metrics.json
@@ -0,0 +1,9 @@
+{
+  "depth_peak": 0.0006416784017346799,
+  "shear_peak": 0.0008910251199267805,
+  "force_magnitude_peak": 0.00089128507534042,
+  "reference_frame_count": 0,
+  "dataset_name": "dag911262r00035d_lerobot_0327_114353",
+  "episode_index": 227,
+  "sensor": "gripper_left_tactile"
+}
\ No newline at end of file
diff --git a/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_09-30/outputs_tactile/tactile_cache/dag911262r00035d_lerobot_0327_114353_7434c583/episodes/ep000227/gripper_right_tactile_force_metrics.json b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_09-30/outputs_tactile/tactile_cache/dag911262r00035d_lerobot_0327_114353_7434c583/episodes/ep000227/gripper_right_tactile_force_metrics.json
new file mode 100644
index 0000000000000000000000000000000000000000..0d48978ad948e72a0c258f2f70f9095207b692b5
--- /dev/null
+++ b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_09-30/outputs_tactile/tactile_cache/dag911262r00035d_lerobot_0327_114353_7434c583/episodes/ep000227/gripper_right_tactile_force_metrics.json
@@ -0,0 +1,9 @@
+{
+  "depth_peak": 0.013903211802244186,
+  "shear_peak": 0.017787370830774307,
+  "force_magnitude_peak": 0.022530922666192055,
+  "reference_frame_count": 0,
+  "dataset_name": "dag911262r00035d_lerobot_0327_114353",
+  "episode_index": 227,
+  "sensor": "gripper_right_tactile"
+}
\ No newline at end of file
diff --git a/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_09-30/outputs_tactile/tactile_cache/dag911262r00035d_lerobot_0327_114353_7434c583/episodes/ep000228/gripper_left_tactile_contact_metrics.json b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_09-30/outputs_tactile/tactile_cache/dag911262r00035d_lerobot_0327_114353_7434c583/episodes/ep000228/gripper_left_tactile_contact_metrics.json
new file mode 100644
index 0000000000000000000000000000000000000000..cb32dc61c4b2b1989ac0b148d6ecc0cd5cbc2ab4
--- /dev/null
+++ b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_09-30/outputs_tactile/tactile_cache/dag911262r00035d_lerobot_0327_114353_7434c583/episodes/ep000228/gripper_left_tactile_contact_metrics.json
@@ -0,0 +1,12 @@
+{
+  "contact_time": 6.033333333333333,
+  "contact_ratio": 0.46649484536082475,
+  "avg_contact_area": 298.3259668508287,
+  "contact_entropy": 0.21109062777211426,
+  "total_frames": 388,
+  "fps": 30.0,
+  "reference_frame_count": 0,
+  "dataset_name": "dag911262r00035d_lerobot_0327_114353",
+  "episode_index": 228,
+  "sensor": "gripper_left_tactile"
+}
\ No newline at end of file
diff --git a/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_09-30/outputs_tactile/tactile_cache/dag911262r00035d_lerobot_0327_114353_7434c583/episodes/ep000228/gripper_right_tactile_contact_metrics.json b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_09-30/outputs_tactile/tactile_cache/dag911262r00035d_lerobot_0327_114353_7434c583/episodes/ep000228/gripper_right_tactile_contact_metrics.json
new file mode 100644
index 0000000000000000000000000000000000000000..76735dbab4c23587843c73b2e6be24cb3294bc86
--- /dev/null
+++ b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_09-30/outputs_tactile/tactile_cache/dag911262r00035d_lerobot_0327_114353_7434c583/episodes/ep000228/gripper_right_tactile_contact_metrics.json
@@ -0,0 +1,12 @@
+{
+  "contact_time": 9.8,
+  "contact_ratio": 0.7577319587628866,
+  "avg_contact_area": 8194.748299319728,
+  "contact_entropy": 0.6450302895283951,
+  "total_frames": 388,
+  "fps": 30.0,
+  "reference_frame_count": 0,
+  "dataset_name": "dag911262r00035d_lerobot_0327_114353",
+  "episode_index": 228,
+  "sensor": "gripper_right_tactile"
+}
\ No newline at end of file
diff --git a/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_09-30/outputs_tactile/tactile_cache/dag911262r00035d_lerobot_0327_114353_7434c583/episodes/ep000231/gripper_left_tactile_contact_metrics.json b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_09-30/outputs_tactile/tactile_cache/dag911262r00035d_lerobot_0327_114353_7434c583/episodes/ep000231/gripper_left_tactile_contact_metrics.json
new file mode 100644
index 0000000000000000000000000000000000000000..a66dda8e33c62fe32ccd7d010e4dec0f6deec66c
--- /dev/null
+++ b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_09-30/outputs_tactile/tactile_cache/dag911262r00035d_lerobot_0327_114353_7434c583/episodes/ep000231/gripper_left_tactile_contact_metrics.json
@@ -0,0 +1,12 @@
+{
+  "contact_time": 2.9,
+  "contact_ratio": 0.514792899408284,
+  "avg_contact_area": 858.264367816092,
+  "contact_entropy": 0.5929768742587789,
+  "total_frames": 169,
+  "fps": 30.0,
+  "reference_frame_count": 0,
+  "dataset_name": "dag911262r00035d_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/dag911262r00035d_lerobot_0327_114353_7434c583/episodes/ep000231/gripper_right_tactile_contact_metrics.json b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_09-30/outputs_tactile/tactile_cache/dag911262r00035d_lerobot_0327_114353_7434c583/episodes/ep000231/gripper_right_tactile_contact_metrics.json
new file mode 100644
index 0000000000000000000000000000000000000000..984a69d94eb204e91385ddabae78d1c30275be14
--- /dev/null
+++ b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_09-30/outputs_tactile/tactile_cache/dag911262r00035d_lerobot_0327_114353_7434c583/episodes/ep000231/gripper_right_tactile_contact_metrics.json
@@ -0,0 +1,12 @@
+{
+  "contact_time": 5.4,
+  "contact_ratio": 0.9585798816568047,
+  "avg_contact_area": 5488.530864197531,
+  "contact_entropy": 0.7388320003141753,
+  "total_frames": 169,
+  "fps": 30.0,
+  "reference_frame_count": 0,
+  "dataset_name": "dag911262r00035d_lerobot_0327_114353",
+  "episode_index": 231,
+  "sensor": "gripper_right_tactile"
+}
\ No newline at end of file
diff --git a/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_09-30/outputs_tactile/tactile_cache/dag911262r00035d_lerobot_0327_114353_7434c583/episodes/ep000234/gripper_left_tactile_force_metrics.json b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_09-30/outputs_tactile/tactile_cache/dag911262r00035d_lerobot_0327_114353_7434c583/episodes/ep000234/gripper_left_tactile_force_metrics.json
new file mode 100644
index 0000000000000000000000000000000000000000..a77393b00ca8d8607116ff2f612935e694f5d521
--- /dev/null
+++ b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_09-30/outputs_tactile/tactile_cache/dag911262r00035d_lerobot_0327_114353_7434c583/episodes/ep000234/gripper_left_tactile_force_metrics.json
@@ -0,0 +1,9 @@
+{
+  "depth_peak": 0.0006279025692492723,
+  "shear_peak": 0.001160495332442224,
+  "force_magnitude_peak": 0.0011991109931841493,
+  "reference_frame_count": 0,
+  "dataset_name": "dag911262r00035d_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/dag911262r00035d_lerobot_0327_114353_7434c583/episodes/ep000235/gripper_right_tactile_force_metrics.json b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_09-30/outputs_tactile/tactile_cache/dag911262r00035d_lerobot_0327_114353_7434c583/episodes/ep000235/gripper_right_tactile_force_metrics.json
new file mode 100644
index 0000000000000000000000000000000000000000..162f96a37b19a0aeb30a776859b2f647738be9a6
--- /dev/null
+++ b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_09-30/outputs_tactile/tactile_cache/dag911262r00035d_lerobot_0327_114353_7434c583/episodes/ep000235/gripper_right_tactile_force_metrics.json
@@ -0,0 +1,9 @@
+{
+  "depth_peak": 0.005423628259450197,
+  "shear_peak": 0.008969251066446304,
+  "force_magnitude_peak": 0.01048156525939703,
+  "reference_frame_count": 0,
+  "dataset_name": "dag911262r00035d_lerobot_0327_114353",
+  "episode_index": 235,
+  "sensor": "gripper_right_tactile"
+}
\ No newline at end of file
diff --git a/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_09-30/outputs_tactile/tactile_cache/dag911262r00035d_lerobot_0327_114353_7434c583/episodes/ep000236/gripper_left_tactile_force_metrics.json b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_09-30/outputs_tactile/tactile_cache/dag911262r00035d_lerobot_0327_114353_7434c583/episodes/ep000236/gripper_left_tactile_force_metrics.json
new file mode 100644
index 0000000000000000000000000000000000000000..c259b3add350dc99b97b2f9eebdf7312d4f11910
--- /dev/null
+++ b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_09-30/outputs_tactile/tactile_cache/dag911262r00035d_lerobot_0327_114353_7434c583/episodes/ep000236/gripper_left_tactile_force_metrics.json
@@ -0,0 +1,9 @@
+{
+  "depth_peak": 0.005697183310985565,
+  "shear_peak": 0.004557875916361809,
+  "force_magnitude_peak": 0.007296023890376091,
+  "reference_frame_count": 0,
+  "dataset_name": "dag911262r00035d_lerobot_0327_114353",
+  "episode_index": 236,
+  "sensor": "gripper_left_tactile"
+}
\ No newline at end of file
diff --git a/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_09-30/outputs_tactile/tactile_cache/dag911262r00035d_lerobot_0327_114353_7434c583/episodes/ep000237/gripper_right_tactile_force_metrics.json b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_09-30/outputs_tactile/tactile_cache/dag911262r00035d_lerobot_0327_114353_7434c583/episodes/ep000237/gripper_right_tactile_force_metrics.json
new file mode 100644
index 0000000000000000000000000000000000000000..147770939d799f444f6655150f07fa1ae956c594
--- /dev/null
+++ b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_09-30/outputs_tactile/tactile_cache/dag911262r00035d_lerobot_0327_114353_7434c583/episodes/ep000237/gripper_right_tactile_force_metrics.json
@@ -0,0 +1,9 @@
+{
+  "depth_peak": 0.009001461789011955,
+  "shear_peak": 0.0030515938997268677,
+  "force_magnitude_peak": 0.009003174491226673,
+  "reference_frame_count": 0,
+  "dataset_name": "dag911262r00035d_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/dag911262r00035d_lerobot_0327_114353_7434c583/episodes/ep000238/gripper_left_tactile_contact_metrics.json b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_09-30/outputs_tactile/tactile_cache/dag911262r00035d_lerobot_0327_114353_7434c583/episodes/ep000238/gripper_left_tactile_contact_metrics.json
new file mode 100644
index 0000000000000000000000000000000000000000..cf0fef4f3dc6f5158fd3f97623ae2fa7314faa96
--- /dev/null
+++ b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_09-30/outputs_tactile/tactile_cache/dag911262r00035d_lerobot_0327_114353_7434c583/episodes/ep000238/gripper_left_tactile_contact_metrics.json
@@ -0,0 +1,12 @@
+{
+  "contact_time": 3.0,
+  "contact_ratio": 0.34220532319391633,
+  "avg_contact_area": 4153.888888888889,
+  "contact_entropy": 0.2475738317883308,
+  "total_frames": 263,
+  "fps": 30.0,
+  "reference_frame_count": 0,
+  "dataset_name": "dag911262r00035d_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/dag911262r00035d_lerobot_0327_114353_7434c583/episodes/ep000241/gripper_left_tactile_contact_metrics.json b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_09-30/outputs_tactile/tactile_cache/dag911262r00035d_lerobot_0327_114353_7434c583/episodes/ep000241/gripper_left_tactile_contact_metrics.json
new file mode 100644
index 0000000000000000000000000000000000000000..859f50136651333ae0752e8dbfa0fff7ea72b732
--- /dev/null
+++ b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_09-30/outputs_tactile/tactile_cache/dag911262r00035d_lerobot_0327_114353_7434c583/episodes/ep000241/gripper_left_tactile_contact_metrics.json
@@ -0,0 +1,12 @@
+{
+  "contact_time": 1.6333333333333333,
+  "contact_ratio": 0.2076271186440678,
+  "avg_contact_area": 303.8775510204082,
+  "contact_entropy": 0.06151546993997489,
+  "total_frames": 236,
+  "fps": 30.0,
+  "reference_frame_count": 0,
+  "dataset_name": "dag911262r00035d_lerobot_0327_114353",
+  "episode_index": 241,
+  "sensor": "gripper_left_tactile"
+}
\ No newline at end of file
diff --git a/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_09-30/outputs_tactile/tactile_cache/dag911262r00035d_lerobot_0327_114353_7434c583/episodes/ep000241/gripper_left_tactile_force_metrics.json b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_09-30/outputs_tactile/tactile_cache/dag911262r00035d_lerobot_0327_114353_7434c583/episodes/ep000241/gripper_left_tactile_force_metrics.json
new file mode 100644
index 0000000000000000000000000000000000000000..959764cf326c4c360b7733f763850582a6e509c8
--- /dev/null
+++ b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_09-30/outputs_tactile/tactile_cache/dag911262r00035d_lerobot_0327_114353_7434c583/episodes/ep000241/gripper_left_tactile_force_metrics.json
@@ -0,0 +1,9 @@
+{
+  "depth_peak": 0.0016405492788180709,
+  "shear_peak": 0.0036207253579050303,
+  "force_magnitude_peak": 0.003975053783506155,
+  "reference_frame_count": 0,
+  "dataset_name": "dag911262r00035d_lerobot_0327_114353",
+  "episode_index": 241,
+  "sensor": "gripper_left_tactile"
+}
\ No newline at end of file
diff --git a/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_09-30/outputs_tactile/tactile_cache/dag911262r00035d_lerobot_0327_114353_7434c583/episodes/ep000247/gripper_right_tactile_contact_metrics.json b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_09-30/outputs_tactile/tactile_cache/dag911262r00035d_lerobot_0327_114353_7434c583/episodes/ep000247/gripper_right_tactile_contact_metrics.json
new file mode 100644
index 0000000000000000000000000000000000000000..db396922664a8816f2bb48e98f5b67a0f4a5ec95
--- /dev/null
+++ b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_09-30/outputs_tactile/tactile_cache/dag911262r00035d_lerobot_0327_114353_7434c583/episodes/ep000247/gripper_right_tactile_contact_metrics.json
@@ -0,0 +1,12 @@
+{
+  "contact_time": 7.766666666666667,
+  "contact_ratio": 0.758957654723127,
+  "avg_contact_area": 2707.4248927038625,
+  "contact_entropy": 0.4322625775068937,
+  "total_frames": 307,
+  "fps": 30.0,
+  "reference_frame_count": 0,
+  "dataset_name": "dag911262r00035d_lerobot_0327_114353",
+  "episode_index": 247,
+  "sensor": "gripper_right_tactile"
+}
\ No newline at end of file
diff --git a/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_09-30/outputs_tactile/tactile_cache/dag911262r00035d_lerobot_0327_114353_7434c583/episodes/ep000252/gripper_right_tactile_contact_metrics.json b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_09-30/outputs_tactile/tactile_cache/dag911262r00035d_lerobot_0327_114353_7434c583/episodes/ep000252/gripper_right_tactile_contact_metrics.json
new file mode 100644
index 0000000000000000000000000000000000000000..ed68afee9f04ed2ae4126e306e9b446e6444c861
--- /dev/null
+++ b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_09-30/outputs_tactile/tactile_cache/dag911262r00035d_lerobot_0327_114353_7434c583/episodes/ep000252/gripper_right_tactile_contact_metrics.json
@@ -0,0 +1,12 @@
+{
+  "contact_time": 5.2,
+  "contact_ratio": 0.8082901554404145,
+  "avg_contact_area": 9003.544871794871,
+  "contact_entropy": 0.7196303133696993,
+  "total_frames": 193,
+  "fps": 30.0,
+  "reference_frame_count": 0,
+  "dataset_name": "dag911262r00035d_lerobot_0327_114353",
+  "episode_index": 252,
+  "sensor": "gripper_right_tactile"
+}
\ No newline at end of file
diff --git a/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_09-30/outputs_tactile/tactile_cache/dag911262r00035d_lerobot_0327_114353_7434c583/episodes/ep000256/gripper_left_tactile_contact_metrics.json b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_09-30/outputs_tactile/tactile_cache/dag911262r00035d_lerobot_0327_114353_7434c583/episodes/ep000256/gripper_left_tactile_contact_metrics.json
new file mode 100644
index 0000000000000000000000000000000000000000..dad10550f55fc6ee94a621d373509dd1da3afc73
--- /dev/null
+++ b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_09-30/outputs_tactile/tactile_cache/dag911262r00035d_lerobot_0327_114353_7434c583/episodes/ep000256/gripper_left_tactile_contact_metrics.json
@@ -0,0 +1,12 @@
+{
+  "contact_time": 4.433333333333334,
+  "contact_ratio": 0.6717171717171717,
+  "avg_contact_area": 336.4135338345865,
+  "contact_entropy": 0.0,
+  "total_frames": 198,
+  "fps": 30.0,
+  "reference_frame_count": 0,
+  "dataset_name": "dag911262r00035d_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/dag911262r00035d_lerobot_0327_114353_7434c583/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/dag911262r00035d_lerobot_0327_114353_7434c583/episodes/ep000256/gripper_left_tactile_force_metrics.json
new file mode 100644
index 0000000000000000000000000000000000000000..c22821290ec18d1e40fbf3482e526a726724e8d8
--- /dev/null
+++ b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_09-30/outputs_tactile/tactile_cache/dag911262r00035d_lerobot_0327_114353_7434c583/episodes/ep000256/gripper_left_tactile_force_metrics.json
@@ -0,0 +1,9 @@
+{
+  "depth_peak": 0.00039231928531080484,
+  "shear_peak": 0.001962691778317094,
+  "force_magnitude_peak": 0.0020646853372454643,
+  "reference_frame_count": 0,
+  "dataset_name": "dag911262r00035d_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/dag911262r00035d_lerobot_0327_114353_7434c583/episodes/ep000263/gripper_right_tactile_force_metrics.json b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_09-30/outputs_tactile/tactile_cache/dag911262r00035d_lerobot_0327_114353_7434c583/episodes/ep000263/gripper_right_tactile_force_metrics.json
new file mode 100644
index 0000000000000000000000000000000000000000..608d7073b223686332e01dd9e98f8c0124796a6d
--- /dev/null
+++ b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_09-30/outputs_tactile/tactile_cache/dag911262r00035d_lerobot_0327_114353_7434c583/episodes/ep000263/gripper_right_tactile_force_metrics.json
@@ -0,0 +1,9 @@
+{
+  "depth_peak": 0.0029029054567217827,
+  "shear_peak": 0.0034878267906606197,
+  "force_magnitude_peak": 0.004536651074886322,
+  "reference_frame_count": 0,
+  "dataset_name": "dag911262r00035d_lerobot_0327_114353",
+  "episode_index": 263,
+  "sensor": "gripper_right_tactile"
+}
\ No newline at end of file
diff --git a/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_09-30/outputs_tactile/tactile_cache/dag911262r00035d_lerobot_0327_114353_7434c583/episodes/ep000265/gripper_right_tactile_contact_metrics.json b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_09-30/outputs_tactile/tactile_cache/dag911262r00035d_lerobot_0327_114353_7434c583/episodes/ep000265/gripper_right_tactile_contact_metrics.json
new file mode 100644
index 0000000000000000000000000000000000000000..f4e505afbbb27584aa28a1600c49f52c55f8c65c
--- /dev/null
+++ b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_09-30/outputs_tactile/tactile_cache/dag911262r00035d_lerobot_0327_114353_7434c583/episodes/ep000265/gripper_right_tactile_contact_metrics.json
@@ -0,0 +1,12 @@
+{
+  "contact_time": 10.133333333333333,
+  "contact_ratio": 0.9440993788819876,
+  "avg_contact_area": 9998.753289473685,
+  "contact_entropy": 0.1319433102877655,
+  "total_frames": 322,
+  "fps": 30.0,
+  "reference_frame_count": 0,
+  "dataset_name": "dag911262r00035d_lerobot_0327_114353",
+  "episode_index": 265,
+  "sensor": "gripper_right_tactile"
+}
\ No newline at end of file
diff --git a/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_09-30/outputs_tactile/tactile_cache/dag911262r00035d_lerobot_0327_114353_7434c583/episodes/ep000266/gripper_right_tactile_force_metrics.json b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_09-30/outputs_tactile/tactile_cache/dag911262r00035d_lerobot_0327_114353_7434c583/episodes/ep000266/gripper_right_tactile_force_metrics.json
new file mode 100644
index 0000000000000000000000000000000000000000..b757f050f80e4bc6a55868c63d0f28de2ea9dfd0
--- /dev/null
+++ b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_09-30/outputs_tactile/tactile_cache/dag911262r00035d_lerobot_0327_114353_7434c583/episodes/ep000266/gripper_right_tactile_force_metrics.json
@@ -0,0 +1,9 @@
+{
+  "depth_peak": 0.010801517404615879,
+  "shear_peak": 0.002267000498250127,
+  "force_magnitude_peak": 0.011016614735126495,
+  "reference_frame_count": 0,
+  "dataset_name": "dag911262r00035d_lerobot_0327_114353",
+  "episode_index": 266,
+  "sensor": "gripper_right_tactile"
+}
\ No newline at end of file
diff --git a/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_09-30/outputs_tactile/tactile_cache/dag911262r00035d_lerobot_0327_114353_7434c583/episodes/ep000267/gripper_left_tactile_force_metrics.json b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_09-30/outputs_tactile/tactile_cache/dag911262r00035d_lerobot_0327_114353_7434c583/episodes/ep000267/gripper_left_tactile_force_metrics.json
new file mode 100644
index 0000000000000000000000000000000000000000..34ef72088a6f53c278c5a1f27a7296cbc2d869ff
--- /dev/null
+++ b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_09-30/outputs_tactile/tactile_cache/dag911262r00035d_lerobot_0327_114353_7434c583/episodes/ep000267/gripper_left_tactile_force_metrics.json
@@ -0,0 +1,9 @@
+{
+  "depth_peak": 0.01053529605269432,
+  "shear_peak": 0.0028952432330697775,
+  "force_magnitude_peak": 0.010560516268014908,
+  "reference_frame_count": 0,
+  "dataset_name": "dag911262r00035d_lerobot_0327_114353",
+  "episode_index": 267,
+  "sensor": "gripper_left_tactile"
+}
\ No newline at end of file
diff --git a/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_09-30/outputs_tactile/tactile_cache/dag911262r00035d_lerobot_0327_114353_7434c583/episodes/ep000267/gripper_right_tactile_force_metrics.json b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_09-30/outputs_tactile/tactile_cache/dag911262r00035d_lerobot_0327_114353_7434c583/episodes/ep000267/gripper_right_tactile_force_metrics.json
new file mode 100644
index 0000000000000000000000000000000000000000..63b19eba859a65c9a1425e9fa26390f8be4308b5
--- /dev/null
+++ b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_09-30/outputs_tactile/tactile_cache/dag911262r00035d_lerobot_0327_114353_7434c583/episodes/ep000267/gripper_right_tactile_force_metrics.json
@@ -0,0 +1,9 @@
+{
+  "depth_peak": 0.007025248371064663,
+  "shear_peak": 0.0076118772849440575,
+  "force_magnitude_peak": 0.009967995807528496,
+  "reference_frame_count": 0,
+  "dataset_name": "dag911262r00035d_lerobot_0327_114353",
+  "episode_index": 267,
+  "sensor": "gripper_right_tactile"
+}
\ No newline at end of file
diff --git a/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_09-30/outputs_tactile/tactile_cache/dag911262r00035d_lerobot_0327_114353_7434c583/episodes/ep000268/gripper_left_tactile_contact_metrics.json b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_09-30/outputs_tactile/tactile_cache/dag911262r00035d_lerobot_0327_114353_7434c583/episodes/ep000268/gripper_left_tactile_contact_metrics.json
new file mode 100644
index 0000000000000000000000000000000000000000..c779efb200d0a67edf1049b15fbee24861603957
--- /dev/null
+++ b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_09-30/outputs_tactile/tactile_cache/dag911262r00035d_lerobot_0327_114353_7434c583/episodes/ep000268/gripper_left_tactile_contact_metrics.json
@@ -0,0 +1,12 @@
+{
+  "contact_time": 5.766666666666667,
+  "contact_ratio": 0.7456896551724138,
+  "avg_contact_area": 569.693641618497,
+  "contact_entropy": 0.0,
+  "total_frames": 232,
+  "fps": 30.0,
+  "reference_frame_count": 0,
+  "dataset_name": "dag911262r00035d_lerobot_0327_114353",
+  "episode_index": 268,
+  "sensor": "gripper_left_tactile"
+}
\ No newline at end of file
diff --git a/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_09-30/outputs_tactile/tactile_cache/dag911262r00035d_lerobot_0327_114353_7434c583/episodes/ep000268/gripper_right_tactile_contact_metrics.json b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_09-30/outputs_tactile/tactile_cache/dag911262r00035d_lerobot_0327_114353_7434c583/episodes/ep000268/gripper_right_tactile_contact_metrics.json
new file mode 100644
index 0000000000000000000000000000000000000000..e7224f8c29e59f0bc0e1d42a009bbf89920242f2
--- /dev/null
+++ b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_09-30/outputs_tactile/tactile_cache/dag911262r00035d_lerobot_0327_114353_7434c583/episodes/ep000268/gripper_right_tactile_contact_metrics.json
@@ -0,0 +1,12 @@
+{
+  "contact_time": 6.1,
+  "contact_ratio": 0.7887931034482759,
+  "avg_contact_area": 8477.808743169398,
+  "contact_entropy": 0.6334280978377856,
+  "total_frames": 232,
+  "fps": 30.0,
+  "reference_frame_count": 0,
+  "dataset_name": "dag911262r00035d_lerobot_0327_114353",
+  "episode_index": 268,
+  "sensor": "gripper_right_tactile"
+}
\ No newline at end of file
diff --git a/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_09-30/outputs_tactile/tactile_cache/dag911262r00035d_lerobot_0327_114353_7434c583/episodes/ep000271/gripper_left_tactile_contact_metrics.json b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_09-30/outputs_tactile/tactile_cache/dag911262r00035d_lerobot_0327_114353_7434c583/episodes/ep000271/gripper_left_tactile_contact_metrics.json
new file mode 100644
index 0000000000000000000000000000000000000000..8e6b36d255e3055f955f0e7f60ee1ce4bac387cd
--- /dev/null
+++ b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_09-30/outputs_tactile/tactile_cache/dag911262r00035d_lerobot_0327_114353_7434c583/episodes/ep000271/gripper_left_tactile_contact_metrics.json
@@ -0,0 +1,12 @@
+{
+  "contact_time": 8.966666666666667,
+  "contact_ratio": 0.864951768488746,
+  "avg_contact_area": 2744.46468401487,
+  "contact_entropy": 0.4926460501547583,
+  "total_frames": 311,
+  "fps": 30.0,
+  "reference_frame_count": 0,
+  "dataset_name": "dag911262r00035d_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/dag911262r00035d_lerobot_0327_114353_7434c583/episodes/ep000271/gripper_right_tactile_contact_metrics.json b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_09-30/outputs_tactile/tactile_cache/dag911262r00035d_lerobot_0327_114353_7434c583/episodes/ep000271/gripper_right_tactile_contact_metrics.json
new file mode 100644
index 0000000000000000000000000000000000000000..ce9ec94f35e0e5f2e52d25f43358c65eb008d39b
--- /dev/null
+++ b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_09-30/outputs_tactile/tactile_cache/dag911262r00035d_lerobot_0327_114353_7434c583/episodes/ep000271/gripper_right_tactile_contact_metrics.json
@@ -0,0 +1,12 @@
+{
+  "contact_time": 9.5,
+  "contact_ratio": 0.9163987138263665,
+  "avg_contact_area": 7469.2350877192985,
+  "contact_entropy": 0.23468246090525033,
+  "total_frames": 311,
+  "fps": 30.0,
+  "reference_frame_count": 0,
+  "dataset_name": "dag911262r00035d_lerobot_0327_114353",
+  "episode_index": 271,
+  "sensor": "gripper_right_tactile"
+}
\ No newline at end of file
diff --git a/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_09-30/outputs_tactile/tactile_cache/dag911262r00035d_lerobot_0327_114353_7434c583/episodes/ep000274/gripper_left_tactile_force_metrics.json b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_09-30/outputs_tactile/tactile_cache/dag911262r00035d_lerobot_0327_114353_7434c583/episodes/ep000274/gripper_left_tactile_force_metrics.json
new file mode 100644
index 0000000000000000000000000000000000000000..e160bb12be285546848c8ad0744b54fc425dd6fa
--- /dev/null
+++ b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_09-30/outputs_tactile/tactile_cache/dag911262r00035d_lerobot_0327_114353_7434c583/episodes/ep000274/gripper_left_tactile_force_metrics.json
@@ -0,0 +1,9 @@
+{
+  "depth_peak": 0.007936853915452957,
+  "shear_peak": 0.003721034387126565,
+  "force_magnitude_peak": 0.008462021127343178,
+  "reference_frame_count": 0,
+  "dataset_name": "dag911262r00035d_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/dag911262r00035d_lerobot_0327_114353_7434c583/episodes/ep000275/gripper_right_tactile_force_metrics.json b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_09-30/outputs_tactile/tactile_cache/dag911262r00035d_lerobot_0327_114353_7434c583/episodes/ep000275/gripper_right_tactile_force_metrics.json
new file mode 100644
index 0000000000000000000000000000000000000000..779e4b98394955fc5d0c268b7c008dc6e3c7627e
--- /dev/null
+++ b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_09-30/outputs_tactile/tactile_cache/dag911262r00035d_lerobot_0327_114353_7434c583/episodes/ep000275/gripper_right_tactile_force_metrics.json
@@ -0,0 +1,9 @@
+{
+  "depth_peak": 0.008144795894622803,
+  "shear_peak": 0.006805116776376963,
+  "force_magnitude_peak": 0.00912494771182537,
+  "reference_frame_count": 0,
+  "dataset_name": "dag911262r00035d_lerobot_0327_114353",
+  "episode_index": 275,
+  "sensor": "gripper_right_tactile"
+}
\ No newline at end of file
diff --git a/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_09-30/outputs_tactile/tactile_cache/dag911262r00035d_lerobot_0327_114353_7434c583/episodes/ep000276/gripper_left_tactile_force_metrics.json b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_09-30/outputs_tactile/tactile_cache/dag911262r00035d_lerobot_0327_114353_7434c583/episodes/ep000276/gripper_left_tactile_force_metrics.json
new file mode 100644
index 0000000000000000000000000000000000000000..03acdf3dffa1dd28a503b8239f2fc4bb3e8a0801
--- /dev/null
+++ b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_09-30/outputs_tactile/tactile_cache/dag911262r00035d_lerobot_0327_114353_7434c583/episodes/ep000276/gripper_left_tactile_force_metrics.json
@@ -0,0 +1,9 @@
+{
+  "depth_peak": 0.00953378714621067,
+  "shear_peak": 0.007288437336683273,
+  "force_magnitude_peak": 0.010435246862471104,
+  "reference_frame_count": 0,
+  "dataset_name": "dag911262r00035d_lerobot_0327_114353",
+  "episode_index": 276,
+  "sensor": "gripper_left_tactile"
+}
\ No newline at end of file
diff --git a/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_09-30/outputs_tactile/tactile_cache/dag911262r00035d_lerobot_0327_114353_7434c583/episodes/ep000277/gripper_right_tactile_force_metrics.json b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_09-30/outputs_tactile/tactile_cache/dag911262r00035d_lerobot_0327_114353_7434c583/episodes/ep000277/gripper_right_tactile_force_metrics.json
new file mode 100644
index 0000000000000000000000000000000000000000..3ee6c8c2894f885061e62be153092ea4d588fea1
--- /dev/null
+++ b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_09-30/outputs_tactile/tactile_cache/dag911262r00035d_lerobot_0327_114353_7434c583/episodes/ep000277/gripper_right_tactile_force_metrics.json
@@ -0,0 +1,9 @@
+{
+  "depth_peak": 0.007596369832754135,
+  "shear_peak": 0.009906994178891182,
+  "force_magnitude_peak": 0.010116335935890675,
+  "reference_frame_count": 0,
+  "dataset_name": "dag911262r00035d_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/dag911262r00035d_lerobot_0327_114353_7434c583/episodes/ep000278/gripper_left_tactile_contact_metrics.json b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_09-30/outputs_tactile/tactile_cache/dag911262r00035d_lerobot_0327_114353_7434c583/episodes/ep000278/gripper_left_tactile_contact_metrics.json
new file mode 100644
index 0000000000000000000000000000000000000000..f8da2798855a734d312108d2e995cfc15567eb04
--- /dev/null
+++ b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_09-30/outputs_tactile/tactile_cache/dag911262r00035d_lerobot_0327_114353_7434c583/episodes/ep000278/gripper_left_tactile_contact_metrics.json
@@ -0,0 +1,12 @@
+{
+  "contact_time": 9.0,
+  "contact_ratio": 0.4631217838765009,
+  "avg_contact_area": 3332.3888888888887,
+  "contact_entropy": 0.34537447526278015,
+  "total_frames": 583,
+  "fps": 30.0,
+  "reference_frame_count": 0,
+  "dataset_name": "dag911262r00035d_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/dag911262r00035d_lerobot_0327_114353_7434c583/episodes/ep000281/gripper_left_tactile_contact_metrics.json b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_09-30/outputs_tactile/tactile_cache/dag911262r00035d_lerobot_0327_114353_7434c583/episodes/ep000281/gripper_left_tactile_contact_metrics.json
new file mode 100644
index 0000000000000000000000000000000000000000..dc9451c969241f9bb05e295583db546db6ee5a1b
--- /dev/null
+++ b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_09-30/outputs_tactile/tactile_cache/dag911262r00035d_lerobot_0327_114353_7434c583/episodes/ep000281/gripper_left_tactile_contact_metrics.json
@@ -0,0 +1,12 @@
+{
+  "contact_time": 17.633333333333333,
+  "contact_ratio": 1.0,
+  "avg_contact_area": 2535.0415879017014,
+  "contact_entropy": 0.33479408270733346,
+  "total_frames": 529,
+  "fps": 30.0,
+  "reference_frame_count": 0,
+  "dataset_name": "dag911262r00035d_lerobot_0327_114353",
+  "episode_index": 281,
+  "sensor": "gripper_left_tactile"
+}
\ No newline at end of file
diff --git a/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_09-30/outputs_tactile/tactile_cache/dag911262r00035d_lerobot_0327_114353_7434c583/episodes/ep000281/gripper_left_tactile_force_metrics.json b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_09-30/outputs_tactile/tactile_cache/dag911262r00035d_lerobot_0327_114353_7434c583/episodes/ep000281/gripper_left_tactile_force_metrics.json
new file mode 100644
index 0000000000000000000000000000000000000000..c82bacabe557cc4a0dc4771150978783fbc5f2b4
--- /dev/null
+++ b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_09-30/outputs_tactile/tactile_cache/dag911262r00035d_lerobot_0327_114353_7434c583/episodes/ep000281/gripper_left_tactile_force_metrics.json
@@ -0,0 +1,9 @@
+{
+  "depth_peak": 0.005923050455749035,
+  "shear_peak": 0.003712459933012724,
+  "force_magnitude_peak": 0.005946162156760693,
+  "reference_frame_count": 0,
+  "dataset_name": "dag911262r00035d_lerobot_0327_114353",
+  "episode_index": 281,
+  "sensor": "gripper_left_tactile"
+}
\ No newline at end of file
diff --git a/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_09-30/outputs_tactile/tactile_cache/dag911262r00035d_lerobot_0327_114353_7434c583/episodes/ep000287/gripper_right_tactile_contact_metrics.json b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_09-30/outputs_tactile/tactile_cache/dag911262r00035d_lerobot_0327_114353_7434c583/episodes/ep000287/gripper_right_tactile_contact_metrics.json
new file mode 100644
index 0000000000000000000000000000000000000000..159182e327887a49b1b04fac5f1767663c4202c4
--- /dev/null
+++ b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_09-30/outputs_tactile/tactile_cache/dag911262r00035d_lerobot_0327_114353_7434c583/episodes/ep000287/gripper_right_tactile_contact_metrics.json
@@ -0,0 +1,12 @@
+{
+  "contact_time": 12.8,
+  "contact_ratio": 0.7836734693877551,
+  "avg_contact_area": 8505.276041666666,
+  "contact_entropy": 0.7094003651100683,
+  "total_frames": 490,
+  "fps": 30.0,
+  "reference_frame_count": 0,
+  "dataset_name": "dag911262r00035d_lerobot_0327_114353",
+  "episode_index": 287,
+  "sensor": "gripper_right_tactile"
+}
\ No newline at end of file
diff --git a/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_09-30/outputs_tactile/tactile_cache/dag911262r00035d_lerobot_0327_114353_7434c583/episodes/ep000292/gripper_right_tactile_contact_metrics.json b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_09-30/outputs_tactile/tactile_cache/dag911262r00035d_lerobot_0327_114353_7434c583/episodes/ep000292/gripper_right_tactile_contact_metrics.json
new file mode 100644
index 0000000000000000000000000000000000000000..ba14a96550cb9715ac2ecaeea217438c8205a298
--- /dev/null
+++ b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_09-30/outputs_tactile/tactile_cache/dag911262r00035d_lerobot_0327_114353_7434c583/episodes/ep000292/gripper_right_tactile_contact_metrics.json
@@ -0,0 +1,12 @@
+{
+  "contact_time": 11.0,
+  "contact_ratio": 1.0,
+  "avg_contact_area": 15433.981818181817,
+  "contact_entropy": 0.24998996071123622,
+  "total_frames": 330,
+  "fps": 30.0,
+  "reference_frame_count": 0,
+  "dataset_name": "dag911262r00035d_lerobot_0327_114353",
+  "episode_index": 292,
+  "sensor": "gripper_right_tactile"
+}
\ No newline at end of file
diff --git a/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_09-30/outputs_tactile/tactile_cache/dag911262r00035d_lerobot_0327_114353_7434c583/episodes/ep000296/gripper_left_tactile_contact_metrics.json b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_09-30/outputs_tactile/tactile_cache/dag911262r00035d_lerobot_0327_114353_7434c583/episodes/ep000296/gripper_left_tactile_contact_metrics.json
new file mode 100644
index 0000000000000000000000000000000000000000..bae7edbd0defc11b6f2771e58c18caae127ce71e
--- /dev/null
+++ b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_09-30/outputs_tactile/tactile_cache/dag911262r00035d_lerobot_0327_114353_7434c583/episodes/ep000296/gripper_left_tactile_contact_metrics.json
@@ -0,0 +1,12 @@
+{
+  "contact_time": 9.433333333333334,
+  "contact_ratio": 0.7690217391304348,
+  "avg_contact_area": 1023.1201413427561,
+  "contact_entropy": 0.9753006795776701,
+  "total_frames": 368,
+  "fps": 30.0,
+  "reference_frame_count": 0,
+  "dataset_name": "dag911262r00035d_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/dag911262r00035d_lerobot_0327_114353_7434c583/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/dag911262r00035d_lerobot_0327_114353_7434c583/episodes/ep000296/gripper_left_tactile_force_metrics.json
new file mode 100644
index 0000000000000000000000000000000000000000..908c45a647988d629701197c42679a21af54cea9
--- /dev/null
+++ b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_09-30/outputs_tactile/tactile_cache/dag911262r00035d_lerobot_0327_114353_7434c583/episodes/ep000296/gripper_left_tactile_force_metrics.json
@@ -0,0 +1,9 @@
+{
+  "depth_peak": 0.004261498339474201,
+  "shear_peak": 0.0046239690855145454,
+  "force_magnitude_peak": 0.0057159531861543655,
+  "reference_frame_count": 0,
+  "dataset_name": "dag911262r00035d_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/dag911262r00035d_lerobot_0327_114353_7434c583/episodes/ep000303/gripper_right_tactile_force_metrics.json b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_09-30/outputs_tactile/tactile_cache/dag911262r00035d_lerobot_0327_114353_7434c583/episodes/ep000303/gripper_right_tactile_force_metrics.json
new file mode 100644
index 0000000000000000000000000000000000000000..a59677324f7fa367f6ea29bc5845c9b7943e8669
--- /dev/null
+++ b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_09-30/outputs_tactile/tactile_cache/dag911262r00035d_lerobot_0327_114353_7434c583/episodes/ep000303/gripper_right_tactile_force_metrics.json
@@ -0,0 +1,9 @@
+{
+  "depth_peak": 0.00893066730350256,
+  "shear_peak": 0.006262891925871372,
+  "force_magnitude_peak": 0.009592329151928425,
+  "reference_frame_count": 0,
+  "dataset_name": "dag911262r00035d_lerobot_0327_114353",
+  "episode_index": 303,
+  "sensor": "gripper_right_tactile"
+}
\ No newline at end of file
diff --git a/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_09-30/outputs_tactile/tactile_cache/dag911262r00035d_lerobot_0327_114353_7434c583/episodes/ep000305/gripper_right_tactile_contact_metrics.json b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_09-30/outputs_tactile/tactile_cache/dag911262r00035d_lerobot_0327_114353_7434c583/episodes/ep000305/gripper_right_tactile_contact_metrics.json
new file mode 100644
index 0000000000000000000000000000000000000000..6fb1805a7184380269c7572cb7ce0a5bc82d5ad1
--- /dev/null
+++ b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_09-30/outputs_tactile/tactile_cache/dag911262r00035d_lerobot_0327_114353_7434c583/episodes/ep000305/gripper_right_tactile_contact_metrics.json
@@ -0,0 +1,12 @@
+{
+  "contact_time": 9.333333333333334,
+  "contact_ratio": 0.5714285714285714,
+  "avg_contact_area": 4792.260714285714,
+  "contact_entropy": 0.4261290877625219,
+  "total_frames": 490,
+  "fps": 30.0,
+  "reference_frame_count": 0,
+  "dataset_name": "dag911262r00035d_lerobot_0327_114353",
+  "episode_index": 305,
+  "sensor": "gripper_right_tactile"
+}
\ No newline at end of file
diff --git a/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_09-30/outputs_tactile/tactile_cache/dag911262r00035d_lerobot_0327_114353_7434c583/episodes/ep000306/gripper_right_tactile_force_metrics.json b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_09-30/outputs_tactile/tactile_cache/dag911262r00035d_lerobot_0327_114353_7434c583/episodes/ep000306/gripper_right_tactile_force_metrics.json
new file mode 100644
index 0000000000000000000000000000000000000000..5d59b78a72ae3b8cbf5eaded950b093ef57c3ff5
--- /dev/null
+++ b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_09-30/outputs_tactile/tactile_cache/dag911262r00035d_lerobot_0327_114353_7434c583/episodes/ep000306/gripper_right_tactile_force_metrics.json
@@ -0,0 +1,9 @@
+{
+  "depth_peak": 0.008432253263890743,
+  "shear_peak": 0.009657585993409157,
+  "force_magnitude_peak": 0.01192122045904398,
+  "reference_frame_count": 0,
+  "dataset_name": "dag911262r00035d_lerobot_0327_114353",
+  "episode_index": 306,
+  "sensor": "gripper_right_tactile"
+}
\ No newline at end of file
diff --git a/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_09-30/outputs_tactile/tactile_cache/dag911262r00035d_lerobot_0327_114353_7434c583/episodes/ep000307/gripper_left_tactile_force_metrics.json b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_09-30/outputs_tactile/tactile_cache/dag911262r00035d_lerobot_0327_114353_7434c583/episodes/ep000307/gripper_left_tactile_force_metrics.json
new file mode 100644
index 0000000000000000000000000000000000000000..23b0734826883423e995bead98fad8e97931bf03
--- /dev/null
+++ b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_09-30/outputs_tactile/tactile_cache/dag911262r00035d_lerobot_0327_114353_7434c583/episodes/ep000307/gripper_left_tactile_force_metrics.json
@@ -0,0 +1,9 @@
+{
+  "depth_peak": 0.004348749294877052,
+  "shear_peak": 0.004615113604813814,
+  "force_magnitude_peak": 0.004644604399800301,
+  "reference_frame_count": 0,
+  "dataset_name": "dag911262r00035d_lerobot_0327_114353",
+  "episode_index": 307,
+  "sensor": "gripper_left_tactile"
+}
\ No newline at end of file
diff --git a/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_09-30/outputs_tactile/tactile_cache/dag911262r00035d_lerobot_0327_114353_7434c583/episodes/ep000307/gripper_right_tactile_force_metrics.json b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_09-30/outputs_tactile/tactile_cache/dag911262r00035d_lerobot_0327_114353_7434c583/episodes/ep000307/gripper_right_tactile_force_metrics.json
new file mode 100644
index 0000000000000000000000000000000000000000..6b48fa46918b02ba890ab19edd56c3304b8e83ce
--- /dev/null
+++ b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_09-30/outputs_tactile/tactile_cache/dag911262r00035d_lerobot_0327_114353_7434c583/episodes/ep000307/gripper_right_tactile_force_metrics.json
@@ -0,0 +1,9 @@
+{
+  "depth_peak": 0.0013417144073173404,
+  "shear_peak": 0.0020582082215696573,
+  "force_magnitude_peak": 0.0024203083012253046,
+  "reference_frame_count": 0,
+  "dataset_name": "dag911262r00035d_lerobot_0327_114353",
+  "episode_index": 307,
+  "sensor": "gripper_right_tactile"
+}
\ No newline at end of file
diff --git a/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_09-30/outputs_tactile/tactile_cache/dag911262r00035d_lerobot_0327_114353_7434c583/episodes/ep000308/gripper_left_tactile_contact_metrics.json b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_09-30/outputs_tactile/tactile_cache/dag911262r00035d_lerobot_0327_114353_7434c583/episodes/ep000308/gripper_left_tactile_contact_metrics.json
new file mode 100644
index 0000000000000000000000000000000000000000..a608e2413ee9f0c775c02d62af5c6cb9bc036619
--- /dev/null
+++ b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_09-30/outputs_tactile/tactile_cache/dag911262r00035d_lerobot_0327_114353_7434c583/episodes/ep000308/gripper_left_tactile_contact_metrics.json
@@ -0,0 +1,12 @@
+{
+  "contact_time": 9.933333333333334,
+  "contact_ratio": 0.5508317929759704,
+  "avg_contact_area": 1353.2281879194632,
+  "contact_entropy": 0.6512831508186323,
+  "total_frames": 541,
+  "fps": 30.0,
+  "reference_frame_count": 0,
+  "dataset_name": "dag911262r00035d_lerobot_0327_114353",
+  "episode_index": 308,
+  "sensor": "gripper_left_tactile"
+}
\ No newline at end of file
diff --git a/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_09-30/outputs_tactile/tactile_cache/dag911262r00035d_lerobot_0327_114353_7434c583/episodes/ep000308/gripper_right_tactile_contact_metrics.json b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_09-30/outputs_tactile/tactile_cache/dag911262r00035d_lerobot_0327_114353_7434c583/episodes/ep000308/gripper_right_tactile_contact_metrics.json
new file mode 100644
index 0000000000000000000000000000000000000000..2ed416a502eecd4be9dbb487c0b18b6f5c0aaddb
--- /dev/null
+++ b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_09-30/outputs_tactile/tactile_cache/dag911262r00035d_lerobot_0327_114353_7434c583/episodes/ep000308/gripper_right_tactile_contact_metrics.json
@@ -0,0 +1,12 @@
+{
+  "contact_time": 15.466666666666667,
+  "contact_ratio": 0.8576709796672828,
+  "avg_contact_area": 5321.2844827586205,
+  "contact_entropy": 0.5499292790857283,
+  "total_frames": 541,
+  "fps": 30.0,
+  "reference_frame_count": 0,
+  "dataset_name": "dag911262r00035d_lerobot_0327_114353",
+  "episode_index": 308,
+  "sensor": "gripper_right_tactile"
+}
\ No newline at end of file
diff --git a/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_09-30/outputs_tactile/tactile_cache/dag911262r00035d_lerobot_0327_114353_7434c583/episodes/ep000311/gripper_left_tactile_contact_metrics.json b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_09-30/outputs_tactile/tactile_cache/dag911262r00035d_lerobot_0327_114353_7434c583/episodes/ep000311/gripper_left_tactile_contact_metrics.json
new file mode 100644
index 0000000000000000000000000000000000000000..28e04bf9dfed4afca0fce31570e22c0da3e732ac
--- /dev/null
+++ b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_09-30/outputs_tactile/tactile_cache/dag911262r00035d_lerobot_0327_114353_7434c583/episodes/ep000311/gripper_left_tactile_contact_metrics.json
@@ -0,0 +1,12 @@
+{
+  "contact_time": 8.566666666666666,
+  "contact_ratio": 0.41585760517799353,
+  "avg_contact_area": 715.5291828793775,
+  "contact_entropy": 0.5914058959626065,
+  "total_frames": 618,
+  "fps": 30.0,
+  "reference_frame_count": 0,
+  "dataset_name": "dag911262r00035d_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/dag911262r00035d_lerobot_0327_114353_7434c583/episodes/ep000311/gripper_right_tactile_contact_metrics.json b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_09-30/outputs_tactile/tactile_cache/dag911262r00035d_lerobot_0327_114353_7434c583/episodes/ep000311/gripper_right_tactile_contact_metrics.json
new file mode 100644
index 0000000000000000000000000000000000000000..28e787fce199889ba9d358a3260698a36bb12cd0
--- /dev/null
+++ b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_09-30/outputs_tactile/tactile_cache/dag911262r00035d_lerobot_0327_114353_7434c583/episodes/ep000311/gripper_right_tactile_contact_metrics.json
@@ -0,0 +1,12 @@
+{
+  "contact_time": 13.733333333333333,
+  "contact_ratio": 0.6666666666666666,
+  "avg_contact_area": 7014.303398058252,
+  "contact_entropy": 0.34401508783056545,
+  "total_frames": 618,
+  "fps": 30.0,
+  "reference_frame_count": 0,
+  "dataset_name": "dag911262r00035d_lerobot_0327_114353",
+  "episode_index": 311,
+  "sensor": "gripper_right_tactile"
+}
\ No newline at end of file
diff --git a/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_09-30/outputs_tactile/tactile_cache/dag911262r00035d_lerobot_0327_114353_7434c583/episodes/ep000314/gripper_left_tactile_force_metrics.json b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_09-30/outputs_tactile/tactile_cache/dag911262r00035d_lerobot_0327_114353_7434c583/episodes/ep000314/gripper_left_tactile_force_metrics.json
new file mode 100644
index 0000000000000000000000000000000000000000..d9e9ddf059848ed9f9eb376091b761595c153054
--- /dev/null
+++ b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_09-30/outputs_tactile/tactile_cache/dag911262r00035d_lerobot_0327_114353_7434c583/episodes/ep000314/gripper_left_tactile_force_metrics.json
@@ -0,0 +1,9 @@
+{
+  "depth_peak": 0.011219341307878494,
+  "shear_peak": 0.004076405894011259,
+  "force_magnitude_peak": 0.011428858153522015,
+  "reference_frame_count": 0,
+  "dataset_name": "dag911262r00035d_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/dag911262r00035d_lerobot_0327_114353_7434c583/episodes/ep000315/gripper_right_tactile_force_metrics.json b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_09-30/outputs_tactile/tactile_cache/dag911262r00035d_lerobot_0327_114353_7434c583/episodes/ep000315/gripper_right_tactile_force_metrics.json
new file mode 100644
index 0000000000000000000000000000000000000000..2ac8d2eff4fd26627b59c9ca138f611b22170b48
--- /dev/null
+++ b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_09-30/outputs_tactile/tactile_cache/dag911262r00035d_lerobot_0327_114353_7434c583/episodes/ep000315/gripper_right_tactile_force_metrics.json
@@ -0,0 +1,9 @@
+{
+  "depth_peak": 0.007424089126288891,
+  "shear_peak": 0.009264065884053707,
+  "force_magnitude_peak": 0.010967439971864223,
+  "reference_frame_count": 0,
+  "dataset_name": "dag911262r00035d_lerobot_0327_114353",
+  "episode_index": 315,
+  "sensor": "gripper_right_tactile"
+}
\ No newline at end of file
diff --git a/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_09-30/outputs_tactile/tactile_cache/dag911262r00035d_lerobot_0327_114353_7434c583/episodes/ep000316/gripper_left_tactile_force_metrics.json b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_09-30/outputs_tactile/tactile_cache/dag911262r00035d_lerobot_0327_114353_7434c583/episodes/ep000316/gripper_left_tactile_force_metrics.json
new file mode 100644
index 0000000000000000000000000000000000000000..07f585d0bb8e7cc5970dc33e0751f218eb85f506
--- /dev/null
+++ b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_09-30/outputs_tactile/tactile_cache/dag911262r00035d_lerobot_0327_114353_7434c583/episodes/ep000316/gripper_left_tactile_force_metrics.json
@@ -0,0 +1,9 @@
+{
+  "depth_peak": 0.006675340235233307,
+  "shear_peak": 0.0026721428148448467,
+  "force_magnitude_peak": 0.006930431816726923,
+  "reference_frame_count": 0,
+  "dataset_name": "dag911262r00035d_lerobot_0327_114353",
+  "episode_index": 316,
+  "sensor": "gripper_left_tactile"
+}
\ No newline at end of file
diff --git a/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_09-30/outputs_tactile/tactile_cache/dag911262r00035d_lerobot_0327_114353_7434c583/episodes/ep000317/gripper_right_tactile_force_metrics.json b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_09-30/outputs_tactile/tactile_cache/dag911262r00035d_lerobot_0327_114353_7434c583/episodes/ep000317/gripper_right_tactile_force_metrics.json
new file mode 100644
index 0000000000000000000000000000000000000000..f645967e71156a739b93eb3da74b32893ea8b887
--- /dev/null
+++ b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_09-30/outputs_tactile/tactile_cache/dag911262r00035d_lerobot_0327_114353_7434c583/episodes/ep000317/gripper_right_tactile_force_metrics.json
@@ -0,0 +1,9 @@
+{
+  "depth_peak": 0.009842590428888798,
+  "shear_peak": 0.007023701909929514,
+  "force_magnitude_peak": 0.00987531803548336,
+  "reference_frame_count": 0,
+  "dataset_name": "dag911262r00035d_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/dag911262r00035d_lerobot_0327_114353_7434c583/episodes/ep000318/gripper_left_tactile_contact_metrics.json b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_09-30/outputs_tactile/tactile_cache/dag911262r00035d_lerobot_0327_114353_7434c583/episodes/ep000318/gripper_left_tactile_contact_metrics.json
new file mode 100644
index 0000000000000000000000000000000000000000..d500d443f5d210fefba0826255d686676d79a853
--- /dev/null
+++ b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_09-30/outputs_tactile/tactile_cache/dag911262r00035d_lerobot_0327_114353_7434c583/episodes/ep000318/gripper_left_tactile_contact_metrics.json
@@ -0,0 +1,12 @@
+{
+  "contact_time": 13.3,
+  "contact_ratio": 0.5782608695652174,
+  "avg_contact_area": 949.7593984962406,
+  "contact_entropy": 0.17427160428245855,
+  "total_frames": 690,
+  "fps": 30.0,
+  "reference_frame_count": 0,
+  "dataset_name": "dag911262r00035d_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/dag911262r00035d_lerobot_0327_114353_7434c583/episodes/ep000321/gripper_left_tactile_contact_metrics.json b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_09-30/outputs_tactile/tactile_cache/dag911262r00035d_lerobot_0327_114353_7434c583/episodes/ep000321/gripper_left_tactile_contact_metrics.json
new file mode 100644
index 0000000000000000000000000000000000000000..62a39f4394cfb327f9e9235ad61aff6239d0a273
--- /dev/null
+++ b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_09-30/outputs_tactile/tactile_cache/dag911262r00035d_lerobot_0327_114353_7434c583/episodes/ep000321/gripper_left_tactile_contact_metrics.json
@@ -0,0 +1,12 @@
+{
+  "contact_time": 11.5,
+  "contact_ratio": 0.9031413612565445,
+  "avg_contact_area": 4923.669565217391,
+  "contact_entropy": 0.3763953837080372,
+  "total_frames": 382,
+  "fps": 30.0,
+  "reference_frame_count": 0,
+  "dataset_name": "dag911262r00035d_lerobot_0327_114353",
+  "episode_index": 321,
+  "sensor": "gripper_left_tactile"
+}
\ No newline at end of file
diff --git a/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_09-30/outputs_tactile/tactile_cache/dag911262r00035d_lerobot_0327_114353_7434c583/episodes/ep000321/gripper_left_tactile_force_metrics.json b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_09-30/outputs_tactile/tactile_cache/dag911262r00035d_lerobot_0327_114353_7434c583/episodes/ep000321/gripper_left_tactile_force_metrics.json
new file mode 100644
index 0000000000000000000000000000000000000000..5ddac2d9f2d502139be6ae5b8d34515228dc636e
--- /dev/null
+++ b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_09-30/outputs_tactile/tactile_cache/dag911262r00035d_lerobot_0327_114353_7434c583/episodes/ep000321/gripper_left_tactile_force_metrics.json
@@ -0,0 +1,9 @@
+{
+  "depth_peak": 0.0010326639749109745,
+  "shear_peak": 0.0031885725911706686,
+  "force_magnitude_peak": 0.006116981618106365,
+  "reference_frame_count": 0,
+  "dataset_name": "dag911262r00035d_lerobot_0327_114353",
+  "episode_index": 321,
+  "sensor": "gripper_left_tactile"
+}
\ No newline at end of file
diff --git a/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_09-30/outputs_tactile/tactile_cache/dag911262r00035d_lerobot_0327_114353_7434c583/episodes/ep000327/gripper_right_tactile_contact_metrics.json b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_09-30/outputs_tactile/tactile_cache/dag911262r00035d_lerobot_0327_114353_7434c583/episodes/ep000327/gripper_right_tactile_contact_metrics.json
new file mode 100644
index 0000000000000000000000000000000000000000..665fdeaa14d7cfb4cbf3d22a2dcb91f87c2114cc
--- /dev/null
+++ b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_09-30/outputs_tactile/tactile_cache/dag911262r00035d_lerobot_0327_114353_7434c583/episodes/ep000327/gripper_right_tactile_contact_metrics.json
@@ -0,0 +1,12 @@
+{
+  "contact_time": 6.633333333333334,
+  "contact_ratio": 0.7509433962264151,
+  "avg_contact_area": 2257.5125628140704,
+  "contact_entropy": 0.44722181969048036,
+  "total_frames": 265,
+  "fps": 30.0,
+  "reference_frame_count": 0,
+  "dataset_name": "dag911262r00035d_lerobot_0327_114353",
+  "episode_index": 327,
+  "sensor": "gripper_right_tactile"
+}
\ No newline at end of file
diff --git a/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_09-30/outputs_tactile/tactile_cache/dag911262r00035d_lerobot_0327_114353_7434c583/episodes/ep000332/gripper_right_tactile_contact_metrics.json b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_09-30/outputs_tactile/tactile_cache/dag911262r00035d_lerobot_0327_114353_7434c583/episodes/ep000332/gripper_right_tactile_contact_metrics.json
new file mode 100644
index 0000000000000000000000000000000000000000..7a2b45508990adcc0858f3cbf40134d8350b15da
--- /dev/null
+++ b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_09-30/outputs_tactile/tactile_cache/dag911262r00035d_lerobot_0327_114353_7434c583/episodes/ep000332/gripper_right_tactile_contact_metrics.json
@@ -0,0 +1,12 @@
+{
+  "contact_time": 7.866666666666666,
+  "contact_ratio": 0.4738955823293173,
+  "avg_contact_area": 7975.411016949152,
+  "contact_entropy": 0.25478851387785406,
+  "total_frames": 498,
+  "fps": 30.0,
+  "reference_frame_count": 0,
+  "dataset_name": "dag911262r00035d_lerobot_0327_114353",
+  "episode_index": 332,
+  "sensor": "gripper_right_tactile"
+}
\ No newline at end of file
diff --git a/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_09-30/outputs_tactile/tactile_cache/dag911262r00035d_lerobot_0327_114353_7434c583/episodes/ep000336/gripper_left_tactile_contact_metrics.json b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_09-30/outputs_tactile/tactile_cache/dag911262r00035d_lerobot_0327_114353_7434c583/episodes/ep000336/gripper_left_tactile_contact_metrics.json
new file mode 100644
index 0000000000000000000000000000000000000000..8354d036c4dea3175b587933367fbeaf9e25076b
--- /dev/null
+++ b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_09-30/outputs_tactile/tactile_cache/dag911262r00035d_lerobot_0327_114353_7434c583/episodes/ep000336/gripper_left_tactile_contact_metrics.json
@@ -0,0 +1,12 @@
+{
+  "contact_time": 9.233333333333333,
+  "contact_ratio": 0.6338672768878718,
+  "avg_contact_area": 1202.115523465704,
+  "contact_entropy": 0.587089390970383,
+  "total_frames": 437,
+  "fps": 30.0,
+  "reference_frame_count": 0,
+  "dataset_name": "dag911262r00035d_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/dag911262r00035d_lerobot_0327_114353_7434c583/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/dag911262r00035d_lerobot_0327_114353_7434c583/episodes/ep000336/gripper_left_tactile_force_metrics.json
new file mode 100644
index 0000000000000000000000000000000000000000..426651714af9c89bd6fa1fffe9b295c49fa0e4c3
--- /dev/null
+++ b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_09-30/outputs_tactile/tactile_cache/dag911262r00035d_lerobot_0327_114353_7434c583/episodes/ep000336/gripper_left_tactile_force_metrics.json
@@ -0,0 +1,9 @@
+{
+  "depth_peak": 0.011679249815642834,
+  "shear_peak": 0.0040493072010576725,
+  "force_magnitude_peak": 0.011924909427762032,
+  "reference_frame_count": 0,
+  "dataset_name": "dag911262r00035d_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/dag911262r00035d_lerobot_0327_114353_7434c583/episodes/ep000343/gripper_right_tactile_force_metrics.json b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_09-30/outputs_tactile/tactile_cache/dag911262r00035d_lerobot_0327_114353_7434c583/episodes/ep000343/gripper_right_tactile_force_metrics.json
new file mode 100644
index 0000000000000000000000000000000000000000..7c8c5621b2539eab425862ed1744a0e92a4012fe
--- /dev/null
+++ b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_09-30/outputs_tactile/tactile_cache/dag911262r00035d_lerobot_0327_114353_7434c583/episodes/ep000343/gripper_right_tactile_force_metrics.json
@@ -0,0 +1,9 @@
+{
+  "depth_peak": 0.008322235196828842,
+  "shear_peak": 0.0052194371819496155,
+  "force_magnitude_peak": 0.009084019809961319,
+  "reference_frame_count": 0,
+  "dataset_name": "dag911262r00035d_lerobot_0327_114353",
+  "episode_index": 343,
+  "sensor": "gripper_right_tactile"
+}
\ No newline at end of file
diff --git a/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_09-30/outputs_tactile/tactile_cache/dag911262r00035d_lerobot_0327_114353_7434c583/episodes/ep000345/gripper_right_tactile_contact_metrics.json b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_09-30/outputs_tactile/tactile_cache/dag911262r00035d_lerobot_0327_114353_7434c583/episodes/ep000345/gripper_right_tactile_contact_metrics.json
new file mode 100644
index 0000000000000000000000000000000000000000..cc025bd9dd23a7cd8da76f45d56e802eb0cad70a
--- /dev/null
+++ b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_09-30/outputs_tactile/tactile_cache/dag911262r00035d_lerobot_0327_114353_7434c583/episodes/ep000345/gripper_right_tactile_contact_metrics.json
@@ -0,0 +1,12 @@
+{
+  "contact_time": 11.166666666666666,
+  "contact_ratio": 0.8014354066985646,
+  "avg_contact_area": 5184.158208955224,
+  "contact_entropy": 0.7125609697646371,
+  "total_frames": 418,
+  "fps": 30.0,
+  "reference_frame_count": 0,
+  "dataset_name": "dag911262r00035d_lerobot_0327_114353",
+  "episode_index": 345,
+  "sensor": "gripper_right_tactile"
+}
\ No newline at end of file
diff --git a/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_09-30/outputs_tactile/tactile_cache/dag911262r00035d_lerobot_0327_114353_7434c583/episodes/ep000346/gripper_right_tactile_force_metrics.json b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_09-30/outputs_tactile/tactile_cache/dag911262r00035d_lerobot_0327_114353_7434c583/episodes/ep000346/gripper_right_tactile_force_metrics.json
new file mode 100644
index 0000000000000000000000000000000000000000..02fa7774679f386d2cd03e233ce5430df27de440
--- /dev/null
+++ b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_09-30/outputs_tactile/tactile_cache/dag911262r00035d_lerobot_0327_114353_7434c583/episodes/ep000346/gripper_right_tactile_force_metrics.json
@@ -0,0 +1,9 @@
+{
+  "depth_peak": 0.018313458189368248,
+  "shear_peak": 0.021759601309895515,
+  "force_magnitude_peak": 0.02844051644206047,
+  "reference_frame_count": 0,
+  "dataset_name": "dag911262r00035d_lerobot_0327_114353",
+  "episode_index": 346,
+  "sensor": "gripper_right_tactile"
+}
\ No newline at end of file
diff --git a/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_09-30/outputs_tactile/tactile_cache/dag911262r00035d_lerobot_0327_114353_7434c583/episodes/ep000347/gripper_left_tactile_force_metrics.json b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_09-30/outputs_tactile/tactile_cache/dag911262r00035d_lerobot_0327_114353_7434c583/episodes/ep000347/gripper_left_tactile_force_metrics.json
new file mode 100644
index 0000000000000000000000000000000000000000..055ffe1cb536d580314b7744d57c2c2cefc41467
--- /dev/null
+++ b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_09-30/outputs_tactile/tactile_cache/dag911262r00035d_lerobot_0327_114353_7434c583/episodes/ep000347/gripper_left_tactile_force_metrics.json
@@ -0,0 +1,9 @@
+{
+  "depth_peak": 0.005951400380581617,
+  "shear_peak": 0.0042067477479577065,
+  "force_magnitude_peak": 0.006398864556103945,
+  "reference_frame_count": 0,
+  "dataset_name": "dag911262r00035d_lerobot_0327_114353",
+  "episode_index": 347,
+  "sensor": "gripper_left_tactile"
+}
\ No newline at end of file
diff --git a/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_09-30/outputs_tactile/tactile_cache/dag911262r00035d_lerobot_0327_114353_7434c583/episodes/ep000347/gripper_right_tactile_force_metrics.json b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_09-30/outputs_tactile/tactile_cache/dag911262r00035d_lerobot_0327_114353_7434c583/episodes/ep000347/gripper_right_tactile_force_metrics.json
new file mode 100644
index 0000000000000000000000000000000000000000..86326109eb7151dd7b91535cf713e5b32d2cab91
--- /dev/null
+++ b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_09-30/outputs_tactile/tactile_cache/dag911262r00035d_lerobot_0327_114353_7434c583/episodes/ep000347/gripper_right_tactile_force_metrics.json
@@ -0,0 +1,9 @@
+{
+  "depth_peak": 0.004058610647916794,
+  "shear_peak": 0.01370915025472641,
+  "force_magnitude_peak": 0.01372284535318613,
+  "reference_frame_count": 0,
+  "dataset_name": "dag911262r00035d_lerobot_0327_114353",
+  "episode_index": 347,
+  "sensor": "gripper_right_tactile"
+}
\ No newline at end of file
diff --git a/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_09-30/outputs_tactile/tactile_cache/dag911262r00035d_lerobot_0327_114353_7434c583/episodes/ep000348/gripper_left_tactile_contact_metrics.json b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_09-30/outputs_tactile/tactile_cache/dag911262r00035d_lerobot_0327_114353_7434c583/episodes/ep000348/gripper_left_tactile_contact_metrics.json
new file mode 100644
index 0000000000000000000000000000000000000000..37720b6006b22cc2f3beb810d1e5ebfe1256a934
--- /dev/null
+++ b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_09-30/outputs_tactile/tactile_cache/dag911262r00035d_lerobot_0327_114353_7434c583/episodes/ep000348/gripper_left_tactile_contact_metrics.json
@@ -0,0 +1,12 @@
+{
+  "contact_time": 5.133333333333334,
+  "contact_ratio": 0.5833333333333334,
+  "avg_contact_area": 760.3831168831168,
+  "contact_entropy": 0.2121920181378259,
+  "total_frames": 264,
+  "fps": 30.0,
+  "reference_frame_count": 0,
+  "dataset_name": "dag911262r00035d_lerobot_0327_114353",
+  "episode_index": 348,
+  "sensor": "gripper_left_tactile"
+}
\ No newline at end of file
diff --git a/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_09-30/outputs_tactile/tactile_cache/dag911262r00035d_lerobot_0327_114353_7434c583/episodes/ep000348/gripper_right_tactile_contact_metrics.json b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_09-30/outputs_tactile/tactile_cache/dag911262r00035d_lerobot_0327_114353_7434c583/episodes/ep000348/gripper_right_tactile_contact_metrics.json
new file mode 100644
index 0000000000000000000000000000000000000000..8faa83f2db058c8394a8750a2c177809b6a36158
--- /dev/null
+++ b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_09-30/outputs_tactile/tactile_cache/dag911262r00035d_lerobot_0327_114353_7434c583/episodes/ep000348/gripper_right_tactile_contact_metrics.json
@@ -0,0 +1,12 @@
+{
+  "contact_time": 5.066666666666666,
+  "contact_ratio": 0.5757575757575758,
+  "avg_contact_area": 5552.828947368421,
+  "contact_entropy": 0.6715399198618184,
+  "total_frames": 264,
+  "fps": 30.0,
+  "reference_frame_count": 0,
+  "dataset_name": "dag911262r00035d_lerobot_0327_114353",
+  "episode_index": 348,
+  "sensor": "gripper_right_tactile"
+}
\ No newline at end of file
diff --git a/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_09-30/outputs_tactile/tactile_cache/dag911262r00035d_lerobot_0327_114353_7434c583/episodes/ep000351/gripper_left_tactile_contact_metrics.json b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_09-30/outputs_tactile/tactile_cache/dag911262r00035d_lerobot_0327_114353_7434c583/episodes/ep000351/gripper_left_tactile_contact_metrics.json
new file mode 100644
index 0000000000000000000000000000000000000000..3a9c9460b6ebfb6756b4636bc4809331768c8979
--- /dev/null
+++ b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_09-30/outputs_tactile/tactile_cache/dag911262r00035d_lerobot_0327_114353_7434c583/episodes/ep000351/gripper_left_tactile_contact_metrics.json
@@ -0,0 +1,12 @@
+{
+  "contact_time": 10.2,
+  "contact_ratio": 0.8337874659400545,
+  "avg_contact_area": 241.30718954248366,
+  "contact_entropy": 0.0,
+  "total_frames": 367,
+  "fps": 30.0,
+  "reference_frame_count": 0,
+  "dataset_name": "dag911262r00035d_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/dag911262r00035d_lerobot_0327_114353_7434c583/episodes/ep000351/gripper_right_tactile_contact_metrics.json b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_09-30/outputs_tactile/tactile_cache/dag911262r00035d_lerobot_0327_114353_7434c583/episodes/ep000351/gripper_right_tactile_contact_metrics.json
new file mode 100644
index 0000000000000000000000000000000000000000..835272c944395cc58b152a93ab00665f2a7740c4
--- /dev/null
+++ b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_09-30/outputs_tactile/tactile_cache/dag911262r00035d_lerobot_0327_114353_7434c583/episodes/ep000351/gripper_right_tactile_contact_metrics.json
@@ -0,0 +1,12 @@
+{
+  "contact_time": 11.133333333333333,
+  "contact_ratio": 0.9100817438692098,
+  "avg_contact_area": 5536.568862275449,
+  "contact_entropy": 0.04681140057258028,
+  "total_frames": 367,
+  "fps": 30.0,
+  "reference_frame_count": 0,
+  "dataset_name": "dag911262r00035d_lerobot_0327_114353",
+  "episode_index": 351,
+  "sensor": "gripper_right_tactile"
+}
\ No newline at end of file
diff --git a/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_09-30/outputs_tactile/tactile_cache/dag911262r00035d_lerobot_0327_114353_7434c583/episodes/ep000354/gripper_left_tactile_force_metrics.json b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_09-30/outputs_tactile/tactile_cache/dag911262r00035d_lerobot_0327_114353_7434c583/episodes/ep000354/gripper_left_tactile_force_metrics.json
new file mode 100644
index 0000000000000000000000000000000000000000..92f6ae1e2b43333a661a36d988cf6cc7a1acf54b
--- /dev/null
+++ b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_09-30/outputs_tactile/tactile_cache/dag911262r00035d_lerobot_0327_114353_7434c583/episodes/ep000354/gripper_left_tactile_force_metrics.json
@@ -0,0 +1,9 @@
+{
+  "depth_peak": 0.002057464560493827,
+  "shear_peak": 0.0018862903816625476,
+  "force_magnitude_peak": 0.0026069500017911196,
+  "reference_frame_count": 0,
+  "dataset_name": "dag911262r00035d_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/dag911262r00035d_lerobot_0327_114353_7434c583/episodes/ep000355/gripper_right_tactile_force_metrics.json b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_09-30/outputs_tactile/tactile_cache/dag911262r00035d_lerobot_0327_114353_7434c583/episodes/ep000355/gripper_right_tactile_force_metrics.json
new file mode 100644
index 0000000000000000000000000000000000000000..b78e7a7abda41a444bef6b3bce9bff64fce8d9e5
--- /dev/null
+++ b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_09-30/outputs_tactile/tactile_cache/dag911262r00035d_lerobot_0327_114353_7434c583/episodes/ep000355/gripper_right_tactile_force_metrics.json
@@ -0,0 +1,9 @@
+{
+  "depth_peak": 0.005884876474738121,
+  "shear_peak": 0.006082209758460522,
+  "force_magnitude_peak": 0.008463158272206783,
+  "reference_frame_count": 0,
+  "dataset_name": "dag911262r00035d_lerobot_0327_114353",
+  "episode_index": 355,
+  "sensor": "gripper_right_tactile"
+}
\ No newline at end of file
diff --git a/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_09-30/outputs_tactile/tactile_cache/dag911262r00035d_lerobot_0327_114353_7434c583/episodes/ep000356/gripper_left_tactile_force_metrics.json b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_09-30/outputs_tactile/tactile_cache/dag911262r00035d_lerobot_0327_114353_7434c583/episodes/ep000356/gripper_left_tactile_force_metrics.json
new file mode 100644
index 0000000000000000000000000000000000000000..a2a1e49410d31469f7b3d98335d3f19a55c3a3f8
--- /dev/null
+++ b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_09-30/outputs_tactile/tactile_cache/dag911262r00035d_lerobot_0327_114353_7434c583/episodes/ep000356/gripper_left_tactile_force_metrics.json
@@ -0,0 +1,9 @@
+{
+  "depth_peak": 0.00955207645893097,
+  "shear_peak": 0.006585218477994204,
+  "force_magnitude_peak": 0.011088504455983639,
+  "reference_frame_count": 0,
+  "dataset_name": "dag911262r00035d_lerobot_0327_114353",
+  "episode_index": 356,
+  "sensor": "gripper_left_tactile"
+}
\ No newline at end of file
diff --git a/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_09-30/outputs_tactile/tactile_cache/dag911262r00035d_lerobot_0327_114353_7434c583/episodes/ep000357/gripper_right_tactile_force_metrics.json b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_09-30/outputs_tactile/tactile_cache/dag911262r00035d_lerobot_0327_114353_7434c583/episodes/ep000357/gripper_right_tactile_force_metrics.json
new file mode 100644
index 0000000000000000000000000000000000000000..11754ba1aa5f1b251348f690ff65d78a948f21e8
--- /dev/null
+++ b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_09-30/outputs_tactile/tactile_cache/dag911262r00035d_lerobot_0327_114353_7434c583/episodes/ep000357/gripper_right_tactile_force_metrics.json
@@ -0,0 +1,9 @@
+{
+  "depth_peak": 0.003549537854269147,
+  "shear_peak": 0.007389653939753771,
+  "force_magnitude_peak": 0.00808369368314743,
+  "reference_frame_count": 0,
+  "dataset_name": "dag911262r00035d_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/dag911262r00035d_lerobot_0327_114353_7434c583/episodes/ep000358/gripper_left_tactile_contact_metrics.json b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_09-30/outputs_tactile/tactile_cache/dag911262r00035d_lerobot_0327_114353_7434c583/episodes/ep000358/gripper_left_tactile_contact_metrics.json
new file mode 100644
index 0000000000000000000000000000000000000000..aee32e4d55e82afede028b42e3727c8b1d9009fa
--- /dev/null
+++ b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_09-30/outputs_tactile/tactile_cache/dag911262r00035d_lerobot_0327_114353_7434c583/episodes/ep000358/gripper_left_tactile_contact_metrics.json
@@ -0,0 +1,12 @@
+{
+  "contact_time": 6.1,
+  "contact_ratio": 0.9014778325123153,
+  "avg_contact_area": 929.9945355191256,
+  "contact_entropy": 0.6711106538667059,
+  "total_frames": 203,
+  "fps": 30.0,
+  "reference_frame_count": 0,
+  "dataset_name": "dag911262r00035d_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/dag911262r00035d_lerobot_0327_114353_7434c583/episodes/ep000361/gripper_left_tactile_contact_metrics.json b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_09-30/outputs_tactile/tactile_cache/dag911262r00035d_lerobot_0327_114353_7434c583/episodes/ep000361/gripper_left_tactile_contact_metrics.json
new file mode 100644
index 0000000000000000000000000000000000000000..392a04fad963c13a652f35dc1b90198407aa8aac
--- /dev/null
+++ b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_09-30/outputs_tactile/tactile_cache/dag911262r00035d_lerobot_0327_114353_7434c583/episodes/ep000361/gripper_left_tactile_contact_metrics.json
@@ -0,0 +1,12 @@
+{
+  "contact_time": 4.866666666666666,
+  "contact_ratio": 0.6576576576576577,
+  "avg_contact_area": 2511.4383561643835,
+  "contact_entropy": 0.9753897699922082,
+  "total_frames": 222,
+  "fps": 30.0,
+  "reference_frame_count": 0,
+  "dataset_name": "dag911262r00035d_lerobot_0327_114353",
+  "episode_index": 361,
+  "sensor": "gripper_left_tactile"
+}
\ No newline at end of file
diff --git a/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_09-30/outputs_tactile/tactile_cache/dag911262r00035d_lerobot_0327_114353_7434c583/episodes/ep000361/gripper_left_tactile_force_metrics.json b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_09-30/outputs_tactile/tactile_cache/dag911262r00035d_lerobot_0327_114353_7434c583/episodes/ep000361/gripper_left_tactile_force_metrics.json
new file mode 100644
index 0000000000000000000000000000000000000000..7307bcba9f2dee398eefa8fbbf7f1c9b36e21b27
--- /dev/null
+++ b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_09-30/outputs_tactile/tactile_cache/dag911262r00035d_lerobot_0327_114353_7434c583/episodes/ep000361/gripper_left_tactile_force_metrics.json
@@ -0,0 +1,9 @@
+{
+  "depth_peak": 0.00968010351061821,
+  "shear_peak": 0.005553015973418951,
+  "force_magnitude_peak": 0.011114219203591347,
+  "reference_frame_count": 0,
+  "dataset_name": "dag911262r00035d_lerobot_0327_114353",
+  "episode_index": 361,
+  "sensor": "gripper_left_tactile"
+}
\ No newline at end of file
diff --git a/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_09-30/outputs_tactile/tactile_cache/dag911262r00035d_lerobot_0327_114353_7434c583/episodes/ep000367/gripper_right_tactile_contact_metrics.json b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_09-30/outputs_tactile/tactile_cache/dag911262r00035d_lerobot_0327_114353_7434c583/episodes/ep000367/gripper_right_tactile_contact_metrics.json
new file mode 100644
index 0000000000000000000000000000000000000000..3f86564d7351ddb67b559023fe1be16e11c754d1
--- /dev/null
+++ b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_09-30/outputs_tactile/tactile_cache/dag911262r00035d_lerobot_0327_114353_7434c583/episodes/ep000367/gripper_right_tactile_contact_metrics.json
@@ -0,0 +1,12 @@
+{
+  "contact_time": 4.233333333333333,
+  "contact_ratio": 0.6105769230769231,
+  "avg_contact_area": 5427.842519685039,
+  "contact_entropy": 0.33990457454403944,
+  "total_frames": 208,
+  "fps": 30.0,
+  "reference_frame_count": 0,
+  "dataset_name": "dag911262r00035d_lerobot_0327_114353",
+  "episode_index": 367,
+  "sensor": "gripper_right_tactile"
+}
\ No newline at end of file
diff --git a/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_09-30/outputs_tactile/tactile_cache/dag911262r00035d_lerobot_0327_114353_7434c583/episodes/ep000372/gripper_right_tactile_contact_metrics.json b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_09-30/outputs_tactile/tactile_cache/dag911262r00035d_lerobot_0327_114353_7434c583/episodes/ep000372/gripper_right_tactile_contact_metrics.json
new file mode 100644
index 0000000000000000000000000000000000000000..3b2a0bf4758055f7950d1da7f0e9c61366c8c9fb
--- /dev/null
+++ b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_09-30/outputs_tactile/tactile_cache/dag911262r00035d_lerobot_0327_114353_7434c583/episodes/ep000372/gripper_right_tactile_contact_metrics.json
@@ -0,0 +1,12 @@
+{
+  "contact_time": 3.8666666666666667,
+  "contact_ratio": 0.6073298429319371,
+  "avg_contact_area": 8570.784482758621,
+  "contact_entropy": 0.3310616348874934,
+  "total_frames": 191,
+  "fps": 30.0,
+  "reference_frame_count": 0,
+  "dataset_name": "dag911262r00035d_lerobot_0327_114353",
+  "episode_index": 372,
+  "sensor": "gripper_right_tactile"
+}
\ No newline at end of file
diff --git a/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_09-30/outputs_tactile/tactile_cache/dag911262r00035d_lerobot_0327_114353_7434c583/episodes/ep000376/gripper_left_tactile_contact_metrics.json b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_09-30/outputs_tactile/tactile_cache/dag911262r00035d_lerobot_0327_114353_7434c583/episodes/ep000376/gripper_left_tactile_contact_metrics.json
new file mode 100644
index 0000000000000000000000000000000000000000..768332f1cd8527ff7406aae569cdb4e860e7ac68
--- /dev/null
+++ b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_09-30/outputs_tactile/tactile_cache/dag911262r00035d_lerobot_0327_114353_7434c583/episodes/ep000376/gripper_left_tactile_contact_metrics.json
@@ -0,0 +1,12 @@
+{
+  "contact_time": 2.7666666666666666,
+  "contact_ratio": 0.47701149425287354,
+  "avg_contact_area": 1200.55421686747,
+  "contact_entropy": 0.01397122411571729,
+  "total_frames": 174,
+  "fps": 30.0,
+  "reference_frame_count": 0,
+  "dataset_name": "dag911262r00035d_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/dag911262r00035d_lerobot_0327_114353_7434c583/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/dag911262r00035d_lerobot_0327_114353_7434c583/episodes/ep000376/gripper_left_tactile_force_metrics.json
new file mode 100644
index 0000000000000000000000000000000000000000..838914ee4e9e6173be7007ade5f48ce977245e5c
--- /dev/null
+++ b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_09-30/outputs_tactile/tactile_cache/dag911262r00035d_lerobot_0327_114353_7434c583/episodes/ep000376/gripper_left_tactile_force_metrics.json
@@ -0,0 +1,9 @@
+{
+  "depth_peak": 0.002415791852399707,
+  "shear_peak": 0.00135111715644598,
+  "force_magnitude_peak": 0.00258269882760942,
+  "reference_frame_count": 0,
+  "dataset_name": "dag911262r00035d_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/dag911262r00035d_lerobot_0327_114353_7434c583/episodes/ep000383/gripper_right_tactile_force_metrics.json b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_09-30/outputs_tactile/tactile_cache/dag911262r00035d_lerobot_0327_114353_7434c583/episodes/ep000383/gripper_right_tactile_force_metrics.json
new file mode 100644
index 0000000000000000000000000000000000000000..96607fc956da88b2aa7d0638d2dec7ab8a5bfe99
--- /dev/null
+++ b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_09-30/outputs_tactile/tactile_cache/dag911262r00035d_lerobot_0327_114353_7434c583/episodes/ep000383/gripper_right_tactile_force_metrics.json
@@ -0,0 +1,9 @@
+{
+  "depth_peak": 0.00235782191157341,
+  "shear_peak": 0.0010302711743861437,
+  "force_magnitude_peak": 0.0023590836208313704,
+  "reference_frame_count": 0,
+  "dataset_name": "dag911262r00035d_lerobot_0327_114353",
+  "episode_index": 383,
+  "sensor": "gripper_right_tactile"
+}
\ No newline at end of file
diff --git a/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_09-30/outputs_tactile/tactile_cache/dag911262r00035d_lerobot_0327_114353_7434c583/episodes/ep000385/gripper_right_tactile_contact_metrics.json b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_09-30/outputs_tactile/tactile_cache/dag911262r00035d_lerobot_0327_114353_7434c583/episodes/ep000385/gripper_right_tactile_contact_metrics.json
new file mode 100644
index 0000000000000000000000000000000000000000..0ae9cd05d6b681573252fbf6c2a6f4451e00d536
--- /dev/null
+++ b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_09-30/outputs_tactile/tactile_cache/dag911262r00035d_lerobot_0327_114353_7434c583/episodes/ep000385/gripper_right_tactile_contact_metrics.json
@@ -0,0 +1,12 @@
+{
+  "contact_time": 1.4333333333333333,
+  "contact_ratio": 0.27741935483870966,
+  "avg_contact_area": 2981.3023255813955,
+  "contact_entropy": 0.544933886206115,
+  "total_frames": 155,
+  "fps": 30.0,
+  "reference_frame_count": 0,
+  "dataset_name": "dag911262r00035d_lerobot_0327_114353",
+  "episode_index": 385,
+  "sensor": "gripper_right_tactile"
+}
\ No newline at end of file
diff --git a/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_09-30/outputs_tactile/tactile_cache/dag911262r00035d_lerobot_0327_114353_7434c583/episodes/ep000386/gripper_right_tactile_force_metrics.json b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_09-30/outputs_tactile/tactile_cache/dag911262r00035d_lerobot_0327_114353_7434c583/episodes/ep000386/gripper_right_tactile_force_metrics.json
new file mode 100644
index 0000000000000000000000000000000000000000..0a3873a3bbe007d9c4b057c05598b67295c0deb8
--- /dev/null
+++ b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_09-30/outputs_tactile/tactile_cache/dag911262r00035d_lerobot_0327_114353_7434c583/episodes/ep000386/gripper_right_tactile_force_metrics.json
@@ -0,0 +1,9 @@
+{
+  "depth_peak": 0.0017791612772271037,
+  "shear_peak": 0.00631811423227191,
+  "force_magnitude_peak": 0.006331049371510744,
+  "reference_frame_count": 0,
+  "dataset_name": "dag911262r00035d_lerobot_0327_114353",
+  "episode_index": 386,
+  "sensor": "gripper_right_tactile"
+}
\ No newline at end of file
diff --git a/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_09-30/outputs_tactile/tactile_cache/dag911262r00035d_lerobot_0327_114353_7434c583/episodes/ep000387/gripper_left_tactile_force_metrics.json b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_09-30/outputs_tactile/tactile_cache/dag911262r00035d_lerobot_0327_114353_7434c583/episodes/ep000387/gripper_left_tactile_force_metrics.json
new file mode 100644
index 0000000000000000000000000000000000000000..7947139f19a5fd5af0b0a08f1216bc6b98837ffb
--- /dev/null
+++ b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_09-30/outputs_tactile/tactile_cache/dag911262r00035d_lerobot_0327_114353_7434c583/episodes/ep000387/gripper_left_tactile_force_metrics.json
@@ -0,0 +1,9 @@
+{
+  "depth_peak": 0.0005408268771134317,
+  "shear_peak": 0.0016353568062186241,
+  "force_magnitude_peak": 0.0032978509552776814,
+  "reference_frame_count": 0,
+  "dataset_name": "dag911262r00035d_lerobot_0327_114353",
+  "episode_index": 387,
+  "sensor": "gripper_left_tactile"
+}
\ No newline at end of file
diff --git a/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_09-30/outputs_tactile/tactile_cache/dag911262r00035d_lerobot_0327_114353_7434c583/episodes/ep000387/gripper_right_tactile_force_metrics.json b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_09-30/outputs_tactile/tactile_cache/dag911262r00035d_lerobot_0327_114353_7434c583/episodes/ep000387/gripper_right_tactile_force_metrics.json
new file mode 100644
index 0000000000000000000000000000000000000000..6d06a484196790134e74492b4ced5dd2f078f838
--- /dev/null
+++ b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_09-30/outputs_tactile/tactile_cache/dag911262r00035d_lerobot_0327_114353_7434c583/episodes/ep000387/gripper_right_tactile_force_metrics.json
@@ -0,0 +1,9 @@
+{
+  "depth_peak": 0.00194740470033139,
+  "shear_peak": 0.00404336117208004,
+  "force_magnitude_peak": 0.0040852040983736515,
+  "reference_frame_count": 0,
+  "dataset_name": "dag911262r00035d_lerobot_0327_114353",
+  "episode_index": 387,
+  "sensor": "gripper_right_tactile"
+}
\ No newline at end of file
diff --git a/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_09-30/outputs_tactile/tactile_cache/dag911262r00035d_lerobot_0327_114353_7434c583/episodes/ep000388/gripper_left_tactile_contact_metrics.json b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_09-30/outputs_tactile/tactile_cache/dag911262r00035d_lerobot_0327_114353_7434c583/episodes/ep000388/gripper_left_tactile_contact_metrics.json
new file mode 100644
index 0000000000000000000000000000000000000000..d419ac75b412333294912b962e70ee8944e6e165
--- /dev/null
+++ b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_09-30/outputs_tactile/tactile_cache/dag911262r00035d_lerobot_0327_114353_7434c583/episodes/ep000388/gripper_left_tactile_contact_metrics.json
@@ -0,0 +1,12 @@
+{
+  "contact_time": 0.3,
+  "contact_ratio": 0.05172413793103448,
+  "avg_contact_area": 2.888888888888889,
+  "contact_entropy": 0.0,
+  "total_frames": 174,
+  "fps": 30.0,
+  "reference_frame_count": 0,
+  "dataset_name": "dag911262r00035d_lerobot_0327_114353",
+  "episode_index": 388,
+  "sensor": "gripper_left_tactile"
+}
\ No newline at end of file
diff --git a/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_09-30/outputs_tactile/tactile_cache/dag911262r00035d_lerobot_0327_114353_7434c583/episodes/ep000388/gripper_right_tactile_contact_metrics.json b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_09-30/outputs_tactile/tactile_cache/dag911262r00035d_lerobot_0327_114353_7434c583/episodes/ep000388/gripper_right_tactile_contact_metrics.json
new file mode 100644
index 0000000000000000000000000000000000000000..40f9d20e17853d957f6d432b7962bfa758c32974
--- /dev/null
+++ b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_09-30/outputs_tactile/tactile_cache/dag911262r00035d_lerobot_0327_114353_7434c583/episodes/ep000388/gripper_right_tactile_contact_metrics.json
@@ -0,0 +1,12 @@
+{
+  "contact_time": 3.433333333333333,
+  "contact_ratio": 0.5919540229885057,
+  "avg_contact_area": 85.1747572815534,
+  "contact_entropy": 0.0,
+  "total_frames": 174,
+  "fps": 30.0,
+  "reference_frame_count": 0,
+  "dataset_name": "dag911262r00035d_lerobot_0327_114353",
+  "episode_index": 388,
+  "sensor": "gripper_right_tactile"
+}
\ No newline at end of file
diff --git a/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_09-30/outputs_tactile/tactile_cache/dag911262r00035d_lerobot_0327_114353_7434c583/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/dag911262r00035d_lerobot_0327_114353_7434c583/episodes/ep000391/gripper_left_tactile_contact_metrics.json
new file mode 100644
index 0000000000000000000000000000000000000000..b4dff2abb1171510074ec5fe0c82d60cbb29b131
--- /dev/null
+++ b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_09-30/outputs_tactile/tactile_cache/dag911262r00035d_lerobot_0327_114353_7434c583/episodes/ep000391/gripper_left_tactile_contact_metrics.json
@@ -0,0 +1,12 @@
+{
+  "contact_time": 4.0,
+  "contact_ratio": 0.6091370558375635,
+  "avg_contact_area": 1060.1583333333333,
+  "contact_entropy": 0.3156039594994663,
+  "total_frames": 197,
+  "fps": 30.0,
+  "reference_frame_count": 0,
+  "dataset_name": "dag911262r00035d_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/dag911262r00035d_lerobot_0327_114353_7434c583/episodes/ep000391/gripper_right_tactile_contact_metrics.json b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_09-30/outputs_tactile/tactile_cache/dag911262r00035d_lerobot_0327_114353_7434c583/episodes/ep000391/gripper_right_tactile_contact_metrics.json
new file mode 100644
index 0000000000000000000000000000000000000000..3b726596e4753280bf1f55960617d4c87a79964f
--- /dev/null
+++ b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_09-30/outputs_tactile/tactile_cache/dag911262r00035d_lerobot_0327_114353_7434c583/episodes/ep000391/gripper_right_tactile_contact_metrics.json
@@ -0,0 +1,12 @@
+{
+  "contact_time": 3.9,
+  "contact_ratio": 0.5939086294416244,
+  "avg_contact_area": 2235.5811965811968,
+  "contact_entropy": 0.6989789144671877,
+  "total_frames": 197,
+  "fps": 30.0,
+  "reference_frame_count": 0,
+  "dataset_name": "dag911262r00035d_lerobot_0327_114353",
+  "episode_index": 391,
+  "sensor": "gripper_right_tactile"
+}
\ No newline at end of file
diff --git a/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_09-30/outputs_tactile/tactile_cache/dag911262r00035d_lerobot_0327_114353_7434c583/episodes/ep000394/gripper_left_tactile_force_metrics.json b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_09-30/outputs_tactile/tactile_cache/dag911262r00035d_lerobot_0327_114353_7434c583/episodes/ep000394/gripper_left_tactile_force_metrics.json
new file mode 100644
index 0000000000000000000000000000000000000000..b2fe25bdc83ff3f9d1254490610a7988242363ba
--- /dev/null
+++ b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_09-30/outputs_tactile/tactile_cache/dag911262r00035d_lerobot_0327_114353_7434c583/episodes/ep000394/gripper_left_tactile_force_metrics.json
@@ -0,0 +1,9 @@
+{
+  "depth_peak": 0.007744398433715105,
+  "shear_peak": 0.009623623453080654,
+  "force_magnitude_peak": 0.012083079665899277,
+  "reference_frame_count": 0,
+  "dataset_name": "dag911262r00035d_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/dag911262r00035d_lerobot_0327_114353_7434c583/episodes/ep000395/gripper_right_tactile_force_metrics.json b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_09-30/outputs_tactile/tactile_cache/dag911262r00035d_lerobot_0327_114353_7434c583/episodes/ep000395/gripper_right_tactile_force_metrics.json
new file mode 100644
index 0000000000000000000000000000000000000000..010ab04e9dd1d99d102b30ee77699877acb523f2
--- /dev/null
+++ b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_09-30/outputs_tactile/tactile_cache/dag911262r00035d_lerobot_0327_114353_7434c583/episodes/ep000395/gripper_right_tactile_force_metrics.json
@@ -0,0 +1,9 @@
+{
+  "depth_peak": 0.004389941226691008,
+  "shear_peak": 0.004007897339761257,
+  "force_magnitude_peak": 0.004708386026322842,
+  "reference_frame_count": 0,
+  "dataset_name": "dag911262r00035d_lerobot_0327_114353",
+  "episode_index": 395,
+  "sensor": "gripper_right_tactile"
+}
\ No newline at end of file
diff --git a/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_09-30/outputs_tactile/tactile_cache/dag911262r00035d_lerobot_0327_114353_7434c583/episodes/ep000396/gripper_left_tactile_force_metrics.json b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_09-30/outputs_tactile/tactile_cache/dag911262r00035d_lerobot_0327_114353_7434c583/episodes/ep000396/gripper_left_tactile_force_metrics.json
new file mode 100644
index 0000000000000000000000000000000000000000..60e1a8cb7e9cf00c78253576441ed23eb6541208
--- /dev/null
+++ b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_09-30/outputs_tactile/tactile_cache/dag911262r00035d_lerobot_0327_114353_7434c583/episodes/ep000396/gripper_left_tactile_force_metrics.json
@@ -0,0 +1,9 @@
+{
+  "depth_peak": 0.001844616956077516,
+  "shear_peak": 0.001949275261722505,
+  "force_magnitude_peak": 0.002681941259652376,
+  "reference_frame_count": 0,
+  "dataset_name": "dag911262r00035d_lerobot_0327_114353",
+  "episode_index": 396,
+  "sensor": "gripper_left_tactile"
+}
\ No newline at end of file
diff --git a/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_09-30/outputs_tactile/tactile_cache/dag911262r00035d_lerobot_0327_114353_7434c583/episodes/ep000397/gripper_right_tactile_force_metrics.json b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_09-30/outputs_tactile/tactile_cache/dag911262r00035d_lerobot_0327_114353_7434c583/episodes/ep000397/gripper_right_tactile_force_metrics.json
new file mode 100644
index 0000000000000000000000000000000000000000..f947a3962bc063fc1079e0adb4ae69573a5bc437
--- /dev/null
+++ b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_09-30/outputs_tactile/tactile_cache/dag911262r00035d_lerobot_0327_114353_7434c583/episodes/ep000397/gripper_right_tactile_force_metrics.json
@@ -0,0 +1,9 @@
+{
+  "depth_peak": 0.004941936582326889,
+  "shear_peak": 0.01197881530970335,
+  "force_magnitude_peak": 0.012134645134210587,
+  "reference_frame_count": 0,
+  "dataset_name": "dag911262r00035d_lerobot_0327_114353",
+  "episode_index": 397,
+  "sensor": "gripper_right_tactile"
+}
\ No newline at end of file
diff --git a/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_09-30/outputs_tactile/tactile_cache/dag911262r00035d_lerobot_0327_114353_7434c583/episodes/ep000398/gripper_left_tactile_contact_metrics.json b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_09-30/outputs_tactile/tactile_cache/dag911262r00035d_lerobot_0327_114353_7434c583/episodes/ep000398/gripper_left_tactile_contact_metrics.json
new file mode 100644
index 0000000000000000000000000000000000000000..cd7c4be83e7d7521aa34d59fd67fc8dcd9b83a6b
--- /dev/null
+++ b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_09-30/outputs_tactile/tactile_cache/dag911262r00035d_lerobot_0327_114353_7434c583/episodes/ep000398/gripper_left_tactile_contact_metrics.json
@@ -0,0 +1,12 @@
+{
+  "contact_time": 4.333333333333333,
+  "contact_ratio": 0.49808429118773945,
+  "avg_contact_area": 2949.3384615384616,
+  "contact_entropy": 0.6170976542971609,
+  "total_frames": 261,
+  "fps": 30.0,
+  "reference_frame_count": 0,
+  "dataset_name": "dag911262r00035d_lerobot_0327_114353",
+  "episode_index": 398,
+  "sensor": "gripper_left_tactile"
+}
\ No newline at end of file
diff --git a/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_09-30/outputs_tactile/tactile_cache/dag911262r00035d_lerobot_0327_114353_7434c583/episodes/ep000401/gripper_left_tactile_contact_metrics.json b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_09-30/outputs_tactile/tactile_cache/dag911262r00035d_lerobot_0327_114353_7434c583/episodes/ep000401/gripper_left_tactile_contact_metrics.json
new file mode 100644
index 0000000000000000000000000000000000000000..b5c63f6c96d3d75e226c6c12a1110a2fd7fb815e
--- /dev/null
+++ b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_09-30/outputs_tactile/tactile_cache/dag911262r00035d_lerobot_0327_114353_7434c583/episodes/ep000401/gripper_left_tactile_contact_metrics.json
@@ -0,0 +1,12 @@
+{
+  "contact_time": 4.033333333333333,
+  "contact_ratio": 0.4653846153846154,
+  "avg_contact_area": 2274.8925619834713,
+  "contact_entropy": 0.5281366269437865,
+  "total_frames": 260,
+  "fps": 30.0,
+  "reference_frame_count": 0,
+  "dataset_name": "dag911262r00035d_lerobot_0327_114353",
+  "episode_index": 401,
+  "sensor": "gripper_left_tactile"
+}
\ No newline at end of file
diff --git a/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_09-30/outputs_tactile/tactile_cache/dag911262r00035d_lerobot_0327_114353_7434c583/episodes/ep000401/gripper_left_tactile_force_metrics.json b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_09-30/outputs_tactile/tactile_cache/dag911262r00035d_lerobot_0327_114353_7434c583/episodes/ep000401/gripper_left_tactile_force_metrics.json
new file mode 100644
index 0000000000000000000000000000000000000000..302f7e9ec4e3e1b498551e3725cde3f26d432ff6
--- /dev/null
+++ b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_09-30/outputs_tactile/tactile_cache/dag911262r00035d_lerobot_0327_114353_7434c583/episodes/ep000401/gripper_left_tactile_force_metrics.json
@@ -0,0 +1,9 @@
+{
+  "depth_peak": 0.010634804144501686,
+  "shear_peak": 0.0016105640679597855,
+  "force_magnitude_peak": 0.010661476291716099,
+  "reference_frame_count": 0,
+  "dataset_name": "dag911262r00035d_lerobot_0327_114353",
+  "episode_index": 401,
+  "sensor": "gripper_left_tactile"
+}
\ No newline at end of file
diff --git a/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_09-30/outputs_tactile/tactile_cache/dag911262r00035d_lerobot_0327_114353_7434c583/episodes/ep000407/gripper_right_tactile_contact_metrics.json b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_09-30/outputs_tactile/tactile_cache/dag911262r00035d_lerobot_0327_114353_7434c583/episodes/ep000407/gripper_right_tactile_contact_metrics.json
new file mode 100644
index 0000000000000000000000000000000000000000..3d7519e9db3ed61e1f57c9820eb1ab1b8b983256
--- /dev/null
+++ b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_09-30/outputs_tactile/tactile_cache/dag911262r00035d_lerobot_0327_114353_7434c583/episodes/ep000407/gripper_right_tactile_contact_metrics.json
@@ -0,0 +1,12 @@
+{
+  "contact_time": 4.333333333333333,
+  "contact_ratio": 0.7262569832402235,
+  "avg_contact_area": 1080.7153846153847,
+  "contact_entropy": 0.43109272310749436,
+  "total_frames": 179,
+  "fps": 30.0,
+  "reference_frame_count": 0,
+  "dataset_name": "dag911262r00035d_lerobot_0327_114353",
+  "episode_index": 407,
+  "sensor": "gripper_right_tactile"
+}
\ No newline at end of file
diff --git a/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_09-30/outputs_tactile/tactile_cache/dag911262r00035d_lerobot_0327_114353_7434c583/episodes/ep000412/gripper_right_tactile_contact_metrics.json b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_09-30/outputs_tactile/tactile_cache/dag911262r00035d_lerobot_0327_114353_7434c583/episodes/ep000412/gripper_right_tactile_contact_metrics.json
new file mode 100644
index 0000000000000000000000000000000000000000..0a27c87c1f4c95f710ffe3e8f5f146decb7e78fe
--- /dev/null
+++ b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_09-30/outputs_tactile/tactile_cache/dag911262r00035d_lerobot_0327_114353_7434c583/episodes/ep000412/gripper_right_tactile_contact_metrics.json
@@ -0,0 +1,12 @@
+{
+  "contact_time": 5.466666666666667,
+  "contact_ratio": 0.45054945054945056,
+  "avg_contact_area": 2916.371951219512,
+  "contact_entropy": 0.7022264701348845,
+  "total_frames": 364,
+  "fps": 30.0,
+  "reference_frame_count": 0,
+  "dataset_name": "dag911262r00035d_lerobot_0327_114353",
+  "episode_index": 412,
+  "sensor": "gripper_right_tactile"
+}
\ No newline at end of file
diff --git a/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_09-30/outputs_tactile/tactile_cache/dag911262r00035d_lerobot_0327_114353_7434c583/episodes/ep000416/gripper_left_tactile_contact_metrics.json b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_09-30/outputs_tactile/tactile_cache/dag911262r00035d_lerobot_0327_114353_7434c583/episodes/ep000416/gripper_left_tactile_contact_metrics.json
new file mode 100644
index 0000000000000000000000000000000000000000..77c5094ec967449c6d47f435cb1899fe38b8a645
--- /dev/null
+++ b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_09-30/outputs_tactile/tactile_cache/dag911262r00035d_lerobot_0327_114353_7434c583/episodes/ep000416/gripper_left_tactile_contact_metrics.json
@@ -0,0 +1,12 @@
+{
+  "contact_time": 4.233333333333333,
+  "contact_ratio": 0.5497835497835498,
+  "avg_contact_area": 3604.031496062992,
+  "contact_entropy": 0.6496365535742705,
+  "total_frames": 231,
+  "fps": 30.0,
+  "reference_frame_count": 0,
+  "dataset_name": "dag911262r00035d_lerobot_0327_114353",
+  "episode_index": 416,
+  "sensor": "gripper_left_tactile"
+}
\ No newline at end of file
diff --git a/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_09-30/outputs_tactile/tactile_cache/dag911262r00035d_lerobot_0327_114353_7434c583/episodes/ep000416/gripper_left_tactile_force_metrics.json b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_09-30/outputs_tactile/tactile_cache/dag911262r00035d_lerobot_0327_114353_7434c583/episodes/ep000416/gripper_left_tactile_force_metrics.json
new file mode 100644
index 0000000000000000000000000000000000000000..178617e69bde9d35ff278d0a42efb617cc0ca7ec
--- /dev/null
+++ b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_09-30/outputs_tactile/tactile_cache/dag911262r00035d_lerobot_0327_114353_7434c583/episodes/ep000416/gripper_left_tactile_force_metrics.json
@@ -0,0 +1,9 @@
+{
+  "depth_peak": 0.00962101574987173,
+  "shear_peak": 0.010749811306595802,
+  "force_magnitude_peak": 0.01439516618847847,
+  "reference_frame_count": 0,
+  "dataset_name": "dag911262r00035d_lerobot_0327_114353",
+  "episode_index": 416,
+  "sensor": "gripper_left_tactile"
+}
\ No newline at end of file
diff --git a/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_09-30/outputs_tactile/tactile_cache/dag911262r00035d_lerobot_0327_114353_7434c583/episodes/ep000423/gripper_right_tactile_force_metrics.json b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_09-30/outputs_tactile/tactile_cache/dag911262r00035d_lerobot_0327_114353_7434c583/episodes/ep000423/gripper_right_tactile_force_metrics.json
new file mode 100644
index 0000000000000000000000000000000000000000..8a779704aa3e70b36e972e1f594397292ae12422
--- /dev/null
+++ b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_09-30/outputs_tactile/tactile_cache/dag911262r00035d_lerobot_0327_114353_7434c583/episodes/ep000423/gripper_right_tactile_force_metrics.json
@@ -0,0 +1,9 @@
+{
+  "depth_peak": 0.0051682377234101295,
+  "shear_peak": 0.006359790917485952,
+  "force_magnitude_peak": 0.006370946764945984,
+  "reference_frame_count": 0,
+  "dataset_name": "dag911262r00035d_lerobot_0327_114353",
+  "episode_index": 423,
+  "sensor": "gripper_right_tactile"
+}
\ No newline at end of file
diff --git a/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_09-30/outputs_tactile/tactile_cache/dag911262r00035d_lerobot_0327_114353_7434c583/episodes/ep000425/gripper_right_tactile_contact_metrics.json b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_09-30/outputs_tactile/tactile_cache/dag911262r00035d_lerobot_0327_114353_7434c583/episodes/ep000425/gripper_right_tactile_contact_metrics.json
new file mode 100644
index 0000000000000000000000000000000000000000..daf7f42ddbbd254ac4da75a8102fb2a61f59dcb2
--- /dev/null
+++ b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_09-30/outputs_tactile/tactile_cache/dag911262r00035d_lerobot_0327_114353_7434c583/episodes/ep000425/gripper_right_tactile_contact_metrics.json
@@ -0,0 +1,12 @@
+{
+  "contact_time": 5.466666666666667,
+  "contact_ratio": 0.70995670995671,
+  "avg_contact_area": 5484.542682926829,
+  "contact_entropy": 0.30977505296636576,
+  "total_frames": 231,
+  "fps": 30.0,
+  "reference_frame_count": 0,
+  "dataset_name": "dag911262r00035d_lerobot_0327_114353",
+  "episode_index": 425,
+  "sensor": "gripper_right_tactile"
+}
\ No newline at end of file
diff --git a/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_09-30/outputs_tactile/tactile_cache/dag911262r00035d_lerobot_0327_114353_7434c583/episodes/ep000426/gripper_right_tactile_force_metrics.json b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_09-30/outputs_tactile/tactile_cache/dag911262r00035d_lerobot_0327_114353_7434c583/episodes/ep000426/gripper_right_tactile_force_metrics.json
new file mode 100644
index 0000000000000000000000000000000000000000..4f1d20a542f4624d82893dbc47c1fd4d7798fa99
--- /dev/null
+++ b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_09-30/outputs_tactile/tactile_cache/dag911262r00035d_lerobot_0327_114353_7434c583/episodes/ep000426/gripper_right_tactile_force_metrics.json
@@ -0,0 +1,9 @@
+{
+  "depth_peak": 0.0035333409905433655,
+  "shear_peak": 0.006374440621584654,
+  "force_magnitude_peak": 0.006493053864687681,
+  "reference_frame_count": 0,
+  "dataset_name": "dag911262r00035d_lerobot_0327_114353",
+  "episode_index": 426,
+  "sensor": "gripper_right_tactile"
+}
\ No newline at end of file
diff --git a/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_09-30/outputs_tactile/tactile_cache/dag911262r00035d_lerobot_0327_114353_7434c583/episodes/ep000427/gripper_left_tactile_force_metrics.json b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_09-30/outputs_tactile/tactile_cache/dag911262r00035d_lerobot_0327_114353_7434c583/episodes/ep000427/gripper_left_tactile_force_metrics.json
new file mode 100644
index 0000000000000000000000000000000000000000..8adf59754014c64e1ea83ebb4d7ba559bb2ead22
--- /dev/null
+++ b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_09-30/outputs_tactile/tactile_cache/dag911262r00035d_lerobot_0327_114353_7434c583/episodes/ep000427/gripper_left_tactile_force_metrics.json
@@ -0,0 +1,9 @@
+{
+  "depth_peak": 0.0045869979076087475,
+  "shear_peak": 0.004878952633589506,
+  "force_magnitude_peak": 0.006611821707338095,
+  "reference_frame_count": 0,
+  "dataset_name": "dag911262r00035d_lerobot_0327_114353",
+  "episode_index": 427,
+  "sensor": "gripper_left_tactile"
+}
\ No newline at end of file
diff --git a/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_09-30/outputs_tactile/tactile_cache/dag911262r00035d_lerobot_0327_114353_7434c583/episodes/ep000427/gripper_right_tactile_force_metrics.json b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_09-30/outputs_tactile/tactile_cache/dag911262r00035d_lerobot_0327_114353_7434c583/episodes/ep000427/gripper_right_tactile_force_metrics.json
new file mode 100644
index 0000000000000000000000000000000000000000..09ff5eafb9e9d9db7b3f7b0134ac90a9200c6cad
--- /dev/null
+++ b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_09-30/outputs_tactile/tactile_cache/dag911262r00035d_lerobot_0327_114353_7434c583/episodes/ep000427/gripper_right_tactile_force_metrics.json
@@ -0,0 +1,9 @@
+{
+  "depth_peak": 0.005314561538398266,
+  "shear_peak": 0.004307118710130453,
+  "force_magnitude_peak": 0.006826974917203188,
+  "reference_frame_count": 0,
+  "dataset_name": "dag911262r00035d_lerobot_0327_114353",
+  "episode_index": 427,
+  "sensor": "gripper_right_tactile"
+}
\ No newline at end of file
diff --git a/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_09-30/outputs_tactile/tactile_cache/dag911262r00035d_lerobot_0327_114353_7434c583/episodes/ep000428/gripper_left_tactile_contact_metrics.json b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_09-30/outputs_tactile/tactile_cache/dag911262r00035d_lerobot_0327_114353_7434c583/episodes/ep000428/gripper_left_tactile_contact_metrics.json
new file mode 100644
index 0000000000000000000000000000000000000000..fbb1343ca907ea2c54980996e0130fe1afb29451
--- /dev/null
+++ b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_09-30/outputs_tactile/tactile_cache/dag911262r00035d_lerobot_0327_114353_7434c583/episodes/ep000428/gripper_left_tactile_contact_metrics.json
@@ -0,0 +1,12 @@
+{
+  "contact_time": 5.033333333333333,
+  "contact_ratio": 0.5189003436426117,
+  "avg_contact_area": 4656.205298013245,
+  "contact_entropy": 0.5130852687501333,
+  "total_frames": 291,
+  "fps": 30.0,
+  "reference_frame_count": 0,
+  "dataset_name": "dag911262r00035d_lerobot_0327_114353",
+  "episode_index": 428,
+  "sensor": "gripper_left_tactile"
+}
\ No newline at end of file
diff --git a/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_09-30/outputs_tactile/tactile_cache/dag911262r00035d_lerobot_0327_114353_7434c583/episodes/ep000428/gripper_right_tactile_contact_metrics.json b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_09-30/outputs_tactile/tactile_cache/dag911262r00035d_lerobot_0327_114353_7434c583/episodes/ep000428/gripper_right_tactile_contact_metrics.json
new file mode 100644
index 0000000000000000000000000000000000000000..e4959515739dd2352cd8f804fd6d3c16a1e0d916
--- /dev/null
+++ b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_09-30/outputs_tactile/tactile_cache/dag911262r00035d_lerobot_0327_114353_7434c583/episodes/ep000428/gripper_right_tactile_contact_metrics.json
@@ -0,0 +1,12 @@
+{
+  "contact_time": 4.6,
+  "contact_ratio": 0.4742268041237113,
+  "avg_contact_area": 10522.478260869566,
+  "contact_entropy": 0.6688229653524178,
+  "total_frames": 291,
+  "fps": 30.0,
+  "reference_frame_count": 0,
+  "dataset_name": "dag911262r00035d_lerobot_0327_114353",
+  "episode_index": 428,
+  "sensor": "gripper_right_tactile"
+}
\ No newline at end of file
diff --git a/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_09-30/outputs_tactile/tactile_cache/dag911262r00035d_lerobot_0327_114353_7434c583/episodes/ep000431/gripper_left_tactile_contact_metrics.json b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_09-30/outputs_tactile/tactile_cache/dag911262r00035d_lerobot_0327_114353_7434c583/episodes/ep000431/gripper_left_tactile_contact_metrics.json
new file mode 100644
index 0000000000000000000000000000000000000000..1c79a466d0be84e4faab84817507de2ddbd1cee4
--- /dev/null
+++ b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_09-30/outputs_tactile/tactile_cache/dag911262r00035d_lerobot_0327_114353_7434c583/episodes/ep000431/gripper_left_tactile_contact_metrics.json
@@ -0,0 +1,12 @@
+{
+  "contact_time": 2.966666666666667,
+  "contact_ratio": 0.2966666666666667,
+  "avg_contact_area": 1233.887640449438,
+  "contact_entropy": 0.4328183733047384,
+  "total_frames": 300,
+  "fps": 30.0,
+  "reference_frame_count": 0,
+  "dataset_name": "dag911262r00035d_lerobot_0327_114353",
+  "episode_index": 431,
+  "sensor": "gripper_left_tactile"
+}
\ No newline at end of file
diff --git a/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_09-30/outputs_tactile/tactile_cache/dag911262r00035d_lerobot_0327_114353_7434c583/episodes/ep000431/gripper_right_tactile_contact_metrics.json b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_09-30/outputs_tactile/tactile_cache/dag911262r00035d_lerobot_0327_114353_7434c583/episodes/ep000431/gripper_right_tactile_contact_metrics.json
new file mode 100644
index 0000000000000000000000000000000000000000..de1dd9d015437accc90d982aca139502661c63e4
--- /dev/null
+++ b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_09-30/outputs_tactile/tactile_cache/dag911262r00035d_lerobot_0327_114353_7434c583/episodes/ep000431/gripper_right_tactile_contact_metrics.json
@@ -0,0 +1,12 @@
+{
+  "contact_time": 2.8666666666666667,
+  "contact_ratio": 0.2866666666666667,
+  "avg_contact_area": 224.3372093023256,
+  "contact_entropy": 0.154240797030536,
+  "total_frames": 300,
+  "fps": 30.0,
+  "reference_frame_count": 0,
+  "dataset_name": "dag911262r00035d_lerobot_0327_114353",
+  "episode_index": 431,
+  "sensor": "gripper_right_tactile"
+}
\ No newline at end of file
diff --git a/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_09-30/outputs_tactile/tactile_cache/dag911262r00035d_lerobot_0327_114353_7434c583/episodes/ep000434/gripper_left_tactile_force_metrics.json b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_09-30/outputs_tactile/tactile_cache/dag911262r00035d_lerobot_0327_114353_7434c583/episodes/ep000434/gripper_left_tactile_force_metrics.json
new file mode 100644
index 0000000000000000000000000000000000000000..87c2db9b2055ac8cc2eb1e5bf9dcd4618f9f1012
--- /dev/null
+++ b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_09-30/outputs_tactile/tactile_cache/dag911262r00035d_lerobot_0327_114353_7434c583/episodes/ep000434/gripper_left_tactile_force_metrics.json
@@ -0,0 +1,9 @@
+{
+  "depth_peak": 0.00022124452516436577,
+  "shear_peak": 0.0007050453568808734,
+  "force_magnitude_peak": 0.0011596176773309708,
+  "reference_frame_count": 0,
+  "dataset_name": "dag911262r00035d_lerobot_0327_114353",
+  "episode_index": 434,
+  "sensor": "gripper_left_tactile"
+}
\ No newline at end of file
diff --git a/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_09-30/outputs_tactile/tactile_cache/dag911262r00035d_lerobot_0327_114353_7434c583/episodes/ep000435/gripper_right_tactile_force_metrics.json b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_09-30/outputs_tactile/tactile_cache/dag911262r00035d_lerobot_0327_114353_7434c583/episodes/ep000435/gripper_right_tactile_force_metrics.json
new file mode 100644
index 0000000000000000000000000000000000000000..7eabba27c799ccb0ca9ea1a61ea5e9aeeebe7a5c
--- /dev/null
+++ b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_09-30/outputs_tactile/tactile_cache/dag911262r00035d_lerobot_0327_114353_7434c583/episodes/ep000435/gripper_right_tactile_force_metrics.json
@@ -0,0 +1,9 @@
+{
+  "depth_peak": 0.0017087176674976945,
+  "shear_peak": 0.003658365923911333,
+  "force_magnitude_peak": 0.004030284937471151,
+  "reference_frame_count": 0,
+  "dataset_name": "dag911262r00035d_lerobot_0327_114353",
+  "episode_index": 435,
+  "sensor": "gripper_right_tactile"
+}
\ No newline at end of file
diff --git a/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_09-30/outputs_tactile/tactile_cache/dag911262r00035d_lerobot_0327_114353_7434c583/episodes/ep000436/gripper_left_tactile_force_metrics.json b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_09-30/outputs_tactile/tactile_cache/dag911262r00035d_lerobot_0327_114353_7434c583/episodes/ep000436/gripper_left_tactile_force_metrics.json
new file mode 100644
index 0000000000000000000000000000000000000000..cc92db5b9dffd17137725555e3b2d12cce94bda4
--- /dev/null
+++ b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_09-30/outputs_tactile/tactile_cache/dag911262r00035d_lerobot_0327_114353_7434c583/episodes/ep000436/gripper_left_tactile_force_metrics.json
@@ -0,0 +1,9 @@
+{
+  "depth_peak": 0.00266941892914474,
+  "shear_peak": 0.002082831459119916,
+  "force_magnitude_peak": 0.003314105561003089,
+  "reference_frame_count": 0,
+  "dataset_name": "dag911262r00035d_lerobot_0327_114353",
+  "episode_index": 436,
+  "sensor": "gripper_left_tactile"
+}
\ No newline at end of file
diff --git a/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_09-30/outputs_tactile/tactile_cache/dag911262r00035d_lerobot_0327_114353_7434c583/episodes/ep000437/gripper_right_tactile_force_metrics.json b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_09-30/outputs_tactile/tactile_cache/dag911262r00035d_lerobot_0327_114353_7434c583/episodes/ep000437/gripper_right_tactile_force_metrics.json
new file mode 100644
index 0000000000000000000000000000000000000000..2bcdb709858dd7c5e2f1b9159d918920be8b337d
--- /dev/null
+++ b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_09-30/outputs_tactile/tactile_cache/dag911262r00035d_lerobot_0327_114353_7434c583/episodes/ep000437/gripper_right_tactile_force_metrics.json
@@ -0,0 +1,9 @@
+{
+  "depth_peak": 0.0030315970070660114,
+  "shear_peak": 0.002434619003906846,
+  "force_magnitude_peak": 0.0034955472219735384,
+  "reference_frame_count": 0,
+  "dataset_name": "dag911262r00035d_lerobot_0327_114353",
+  "episode_index": 437,
+  "sensor": "gripper_right_tactile"
+}
\ No newline at end of file
diff --git a/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_09-30/outputs_tactile/tactile_cache/dag911262r00035d_lerobot_0327_114353_7434c583/episodes/ep000438/gripper_left_tactile_contact_metrics.json b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_09-30/outputs_tactile/tactile_cache/dag911262r00035d_lerobot_0327_114353_7434c583/episodes/ep000438/gripper_left_tactile_contact_metrics.json
new file mode 100644
index 0000000000000000000000000000000000000000..5832fe2b795062f6a671522975ca8a0b9a0385cb
--- /dev/null
+++ b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_09-30/outputs_tactile/tactile_cache/dag911262r00035d_lerobot_0327_114353_7434c583/episodes/ep000438/gripper_left_tactile_contact_metrics.json
@@ -0,0 +1,12 @@
+{
+  "contact_time": 2.5,
+  "contact_ratio": 0.2840909090909091,
+  "avg_contact_area": 1147.6,
+  "contact_entropy": 0.0014798720473324111,
+  "total_frames": 264,
+  "fps": 30.0,
+  "reference_frame_count": 0,
+  "dataset_name": "dag911262r00035d_lerobot_0327_114353",
+  "episode_index": 438,
+  "sensor": "gripper_left_tactile"
+}
\ No newline at end of file
diff --git a/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_09-30/outputs_tactile/tactile_cache/dag911262r00035d_lerobot_0327_114353_7434c583/episodes/ep000441/gripper_left_tactile_contact_metrics.json b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_09-30/outputs_tactile/tactile_cache/dag911262r00035d_lerobot_0327_114353_7434c583/episodes/ep000441/gripper_left_tactile_contact_metrics.json
new file mode 100644
index 0000000000000000000000000000000000000000..c3a4b7c877ab100759d2c93a4c2b1e563a86519e
--- /dev/null
+++ b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_09-30/outputs_tactile/tactile_cache/dag911262r00035d_lerobot_0327_114353_7434c583/episodes/ep000441/gripper_left_tactile_contact_metrics.json
@@ -0,0 +1,12 @@
+{
+  "contact_time": 2.2666666666666666,
+  "contact_ratio": 0.3756906077348066,
+  "avg_contact_area": 251.3235294117647,
+  "contact_entropy": 0.0,
+  "total_frames": 181,
+  "fps": 30.0,
+  "reference_frame_count": 0,
+  "dataset_name": "dag911262r00035d_lerobot_0327_114353",
+  "episode_index": 441,
+  "sensor": "gripper_left_tactile"
+}
\ No newline at end of file
diff --git a/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_09-30/outputs_tactile/tactile_cache/dag911262r00035d_lerobot_0327_114353_7434c583/episodes/ep000441/gripper_left_tactile_force_metrics.json b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_09-30/outputs_tactile/tactile_cache/dag911262r00035d_lerobot_0327_114353_7434c583/episodes/ep000441/gripper_left_tactile_force_metrics.json
new file mode 100644
index 0000000000000000000000000000000000000000..5095748d5907c8aae478654956ebeef659f7cc5d
--- /dev/null
+++ b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_09-30/outputs_tactile/tactile_cache/dag911262r00035d_lerobot_0327_114353_7434c583/episodes/ep000441/gripper_left_tactile_force_metrics.json
@@ -0,0 +1,9 @@
+{
+  "depth_peak": 0.0004613602359313518,
+  "shear_peak": 0.0019795249681919813,
+  "force_magnitude_peak": 0.0020762081257998943,
+  "reference_frame_count": 0,
+  "dataset_name": "dag911262r00035d_lerobot_0327_114353",
+  "episode_index": 441,
+  "sensor": "gripper_left_tactile"
+}
\ No newline at end of file
diff --git a/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_09-30/outputs_tactile/tactile_cache/dag911262r00035d_lerobot_0327_114353_7434c583/episodes/ep000447/gripper_right_tactile_contact_metrics.json b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_09-30/outputs_tactile/tactile_cache/dag911262r00035d_lerobot_0327_114353_7434c583/episodes/ep000447/gripper_right_tactile_contact_metrics.json
new file mode 100644
index 0000000000000000000000000000000000000000..5184e8fbe0e76469d6515d8a62c9feba3f53ea8e
--- /dev/null
+++ b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_09-30/outputs_tactile/tactile_cache/dag911262r00035d_lerobot_0327_114353_7434c583/episodes/ep000447/gripper_right_tactile_contact_metrics.json
@@ -0,0 +1,12 @@
+{
+  "contact_time": 3.0,
+  "contact_ratio": 0.3474903474903475,
+  "avg_contact_area": 4277.177777777778,
+  "contact_entropy": 0.3131422436798793,
+  "total_frames": 259,
+  "fps": 30.0,
+  "reference_frame_count": 0,
+  "dataset_name": "dag911262r00035d_lerobot_0327_114353",
+  "episode_index": 447,
+  "sensor": "gripper_right_tactile"
+}
\ No newline at end of file
diff --git a/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_09-30/outputs_tactile/tactile_cache/dag911262r00035d_lerobot_0327_114353_7434c583/episodes/ep000452/gripper_right_tactile_contact_metrics.json b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_09-30/outputs_tactile/tactile_cache/dag911262r00035d_lerobot_0327_114353_7434c583/episodes/ep000452/gripper_right_tactile_contact_metrics.json
new file mode 100644
index 0000000000000000000000000000000000000000..60fbe71a0915255f5b57bfbca1d1e2c91c9b2e3b
--- /dev/null
+++ b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_09-30/outputs_tactile/tactile_cache/dag911262r00035d_lerobot_0327_114353_7434c583/episodes/ep000452/gripper_right_tactile_contact_metrics.json
@@ -0,0 +1,12 @@
+{
+  "contact_time": 3.4,
+  "contact_ratio": 0.46788990825688076,
+  "avg_contact_area": 6444.656862745098,
+  "contact_entropy": 0.456937137173705,
+  "total_frames": 218,
+  "fps": 30.0,
+  "reference_frame_count": 0,
+  "dataset_name": "dag911262r00035d_lerobot_0327_114353",
+  "episode_index": 452,
+  "sensor": "gripper_right_tactile"
+}
\ No newline at end of file
diff --git a/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_09-30/outputs_tactile/tactile_cache/dag911262r00035d_lerobot_0327_114353_7434c583/episodes/ep000456/gripper_left_tactile_contact_metrics.json b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_09-30/outputs_tactile/tactile_cache/dag911262r00035d_lerobot_0327_114353_7434c583/episodes/ep000456/gripper_left_tactile_contact_metrics.json
new file mode 100644
index 0000000000000000000000000000000000000000..4b63c4bf3d80529c0193634910c8bc879f26ff5b
--- /dev/null
+++ b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_09-30/outputs_tactile/tactile_cache/dag911262r00035d_lerobot_0327_114353_7434c583/episodes/ep000456/gripper_left_tactile_contact_metrics.json
@@ -0,0 +1,12 @@
+{
+  "contact_time": 3.2333333333333334,
+  "contact_ratio": 0.5359116022099447,
+  "avg_contact_area": 1395.4639175257732,
+  "contact_entropy": 0.34844348410331955,
+  "total_frames": 181,
+  "fps": 30.0,
+  "reference_frame_count": 0,
+  "dataset_name": "dag911262r00035d_lerobot_0327_114353",
+  "episode_index": 456,
+  "sensor": "gripper_left_tactile"
+}
\ No newline at end of file
diff --git a/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_09-30/outputs_tactile/tactile_cache/dag911262r00035d_lerobot_0327_114353_7434c583/episodes/ep000456/gripper_left_tactile_force_metrics.json b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_09-30/outputs_tactile/tactile_cache/dag911262r00035d_lerobot_0327_114353_7434c583/episodes/ep000456/gripper_left_tactile_force_metrics.json
new file mode 100644
index 0000000000000000000000000000000000000000..bd75b81604844577805cc01ba9d2c03b0df9768f
--- /dev/null
+++ b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_09-30/outputs_tactile/tactile_cache/dag911262r00035d_lerobot_0327_114353_7434c583/episodes/ep000456/gripper_left_tactile_force_metrics.json
@@ -0,0 +1,9 @@
+{
+  "depth_peak": 0.005766587797552347,
+  "shear_peak": 0.0035960364621132612,
+  "force_magnitude_peak": 0.006059772334992886,
+  "reference_frame_count": 0,
+  "dataset_name": "dag911262r00035d_lerobot_0327_114353",
+  "episode_index": 456,
+  "sensor": "gripper_left_tactile"
+}
\ No newline at end of file
diff --git a/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_09-30/outputs_tactile/tactile_cache/dag911262r00035d_lerobot_0327_114353_7434c583/episodes/ep000463/gripper_right_tactile_force_metrics.json b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_09-30/outputs_tactile/tactile_cache/dag911262r00035d_lerobot_0327_114353_7434c583/episodes/ep000463/gripper_right_tactile_force_metrics.json
new file mode 100644
index 0000000000000000000000000000000000000000..a15cbc24229b7b1be401c1600345e94e9a0f219f
--- /dev/null
+++ b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_09-30/outputs_tactile/tactile_cache/dag911262r00035d_lerobot_0327_114353_7434c583/episodes/ep000463/gripper_right_tactile_force_metrics.json
@@ -0,0 +1,9 @@
+{
+  "depth_peak": 0.0035418870393186808,
+  "shear_peak": 0.0022092070430517197,
+  "force_magnitude_peak": 0.0035499325022101402,
+  "reference_frame_count": 0,
+  "dataset_name": "dag911262r00035d_lerobot_0327_114353",
+  "episode_index": 463,
+  "sensor": "gripper_right_tactile"
+}
\ No newline at end of file
diff --git a/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_09-30/outputs_tactile/tactile_cache/dag911262r00035d_lerobot_0327_114353_7434c583/episodes/ep000465/gripper_right_tactile_contact_metrics.json b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_09-30/outputs_tactile/tactile_cache/dag911262r00035d_lerobot_0327_114353_7434c583/episodes/ep000465/gripper_right_tactile_contact_metrics.json
new file mode 100644
index 0000000000000000000000000000000000000000..5647e03979f188306bd0c379e64a4f22d61eb91d
--- /dev/null
+++ b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_09-30/outputs_tactile/tactile_cache/dag911262r00035d_lerobot_0327_114353_7434c583/episodes/ep000465/gripper_right_tactile_contact_metrics.json
@@ -0,0 +1,12 @@
+{
+  "contact_time": 5.566666666666666,
+  "contact_ratio": 0.6398467432950191,
+  "avg_contact_area": 4227.952095808383,
+  "contact_entropy": 0.41173619922740323,
+  "total_frames": 261,
+  "fps": 30.0,
+  "reference_frame_count": 0,
+  "dataset_name": "dag911262r00035d_lerobot_0327_114353",
+  "episode_index": 465,
+  "sensor": "gripper_right_tactile"
+}
\ No newline at end of file
diff --git a/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_09-30/outputs_tactile/tactile_cache/dag911262r00035d_lerobot_0327_114353_7434c583/episodes/ep000466/gripper_right_tactile_force_metrics.json b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_09-30/outputs_tactile/tactile_cache/dag911262r00035d_lerobot_0327_114353_7434c583/episodes/ep000466/gripper_right_tactile_force_metrics.json
new file mode 100644
index 0000000000000000000000000000000000000000..561af2d64a7c3db36fd52672e62412181711a885
--- /dev/null
+++ b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_09-30/outputs_tactile/tactile_cache/dag911262r00035d_lerobot_0327_114353_7434c583/episodes/ep000466/gripper_right_tactile_force_metrics.json
@@ -0,0 +1,9 @@
+{
+  "depth_peak": 0.004973285831511021,
+  "shear_peak": 0.00669268099591136,
+  "force_magnitude_peak": 0.008338198065757751,
+  "reference_frame_count": 0,
+  "dataset_name": "dag911262r00035d_lerobot_0327_114353",
+  "episode_index": 466,
+  "sensor": "gripper_right_tactile"
+}
\ No newline at end of file
diff --git a/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_09-30/outputs_tactile/tactile_cache/dag911262r00035d_lerobot_0327_114353_7434c583/episodes/ep000467/gripper_left_tactile_force_metrics.json b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_09-30/outputs_tactile/tactile_cache/dag911262r00035d_lerobot_0327_114353_7434c583/episodes/ep000467/gripper_left_tactile_force_metrics.json
new file mode 100644
index 0000000000000000000000000000000000000000..ac6e60c66710f6fa10a1d4111e607c3255d1d072
--- /dev/null
+++ b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_09-30/outputs_tactile/tactile_cache/dag911262r00035d_lerobot_0327_114353_7434c583/episodes/ep000467/gripper_left_tactile_force_metrics.json
@@ -0,0 +1,9 @@
+{
+  "depth_peak": 0.0022897236049175262,
+  "shear_peak": 0.001049628364853561,
+  "force_magnitude_peak": 0.002338367747142911,
+  "reference_frame_count": 0,
+  "dataset_name": "dag911262r00035d_lerobot_0327_114353",
+  "episode_index": 467,
+  "sensor": "gripper_left_tactile"
+}
\ No newline at end of file
diff --git a/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_09-30/outputs_tactile/tactile_cache/dag911262r00035d_lerobot_0327_114353_7434c583/episodes/ep000467/gripper_right_tactile_force_metrics.json b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_09-30/outputs_tactile/tactile_cache/dag911262r00035d_lerobot_0327_114353_7434c583/episodes/ep000467/gripper_right_tactile_force_metrics.json
new file mode 100644
index 0000000000000000000000000000000000000000..824aa6dd140aa810e9bfea21ca7b50341013afb7
--- /dev/null
+++ b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_09-30/outputs_tactile/tactile_cache/dag911262r00035d_lerobot_0327_114353_7434c583/episodes/ep000467/gripper_right_tactile_force_metrics.json
@@ -0,0 +1,9 @@
+{
+  "depth_peak": 0.003136239480227232,
+  "shear_peak": 0.006962744984775782,
+  "force_magnitude_peak": 0.00745087256655097,
+  "reference_frame_count": 0,
+  "dataset_name": "dag911262r00035d_lerobot_0327_114353",
+  "episode_index": 467,
+  "sensor": "gripper_right_tactile"
+}
\ No newline at end of file
diff --git a/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_09-30/outputs_tactile/tactile_cache/dag911262r00035d_lerobot_0327_114353_7434c583/episodes/ep000468/gripper_left_tactile_contact_metrics.json b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_09-30/outputs_tactile/tactile_cache/dag911262r00035d_lerobot_0327_114353_7434c583/episodes/ep000468/gripper_left_tactile_contact_metrics.json
new file mode 100644
index 0000000000000000000000000000000000000000..e739a7f56763b84c7613b4672e81a91c4ea503f3
--- /dev/null
+++ b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_09-30/outputs_tactile/tactile_cache/dag911262r00035d_lerobot_0327_114353_7434c583/episodes/ep000468/gripper_left_tactile_contact_metrics.json
@@ -0,0 +1,12 @@
+{
+  "contact_time": 2.2333333333333334,
+  "contact_ratio": 0.49264705882352944,
+  "avg_contact_area": 2666.8805970149256,
+  "contact_entropy": 0.35649665951133236,
+  "total_frames": 136,
+  "fps": 30.0,
+  "reference_frame_count": 0,
+  "dataset_name": "dag911262r00035d_lerobot_0327_114353",
+  "episode_index": 468,
+  "sensor": "gripper_left_tactile"
+}
\ No newline at end of file
diff --git a/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_09-30/outputs_tactile/tactile_cache/dag911262r00035d_lerobot_0327_114353_7434c583/episodes/ep000468/gripper_right_tactile_contact_metrics.json b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_09-30/outputs_tactile/tactile_cache/dag911262r00035d_lerobot_0327_114353_7434c583/episodes/ep000468/gripper_right_tactile_contact_metrics.json
new file mode 100644
index 0000000000000000000000000000000000000000..7de96a01e5d245d0b2a9663230612f287bb33d83
--- /dev/null
+++ b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_09-30/outputs_tactile/tactile_cache/dag911262r00035d_lerobot_0327_114353_7434c583/episodes/ep000468/gripper_right_tactile_contact_metrics.json
@@ -0,0 +1,12 @@
+{
+  "contact_time": 2.9,
+  "contact_ratio": 0.6397058823529411,
+  "avg_contact_area": 2451.0114942528735,
+  "contact_entropy": 0.4188247397538269,
+  "total_frames": 136,
+  "fps": 30.0,
+  "reference_frame_count": 0,
+  "dataset_name": "dag911262r00035d_lerobot_0327_114353",
+  "episode_index": 468,
+  "sensor": "gripper_right_tactile"
+}
\ No newline at end of file
diff --git a/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_09-30/outputs_tactile/tactile_cache/dag911262r00035d_lerobot_0327_114353_7434c583/episodes/ep000471/gripper_left_tactile_contact_metrics.json b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_09-30/outputs_tactile/tactile_cache/dag911262r00035d_lerobot_0327_114353_7434c583/episodes/ep000471/gripper_left_tactile_contact_metrics.json
new file mode 100644
index 0000000000000000000000000000000000000000..76f764856064b6882008126264bbf379eb255293
--- /dev/null
+++ b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_09-30/outputs_tactile/tactile_cache/dag911262r00035d_lerobot_0327_114353_7434c583/episodes/ep000471/gripper_left_tactile_contact_metrics.json
@@ -0,0 +1,12 @@
+{
+  "contact_time": 8.4,
+  "contact_ratio": 0.65625,
+  "avg_contact_area": 769.7896825396825,
+  "contact_entropy": 0.934128476050354,
+  "total_frames": 384,
+  "fps": 30.0,
+  "reference_frame_count": 0,
+  "dataset_name": "dag911262r00035d_lerobot_0327_114353",
+  "episode_index": 471,
+  "sensor": "gripper_left_tactile"
+}
\ No newline at end of file
diff --git a/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_09-30/outputs_tactile/tactile_cache/dag911262r00035d_lerobot_0327_114353_7434c583/episodes/ep000471/gripper_right_tactile_contact_metrics.json b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_09-30/outputs_tactile/tactile_cache/dag911262r00035d_lerobot_0327_114353_7434c583/episodes/ep000471/gripper_right_tactile_contact_metrics.json
new file mode 100644
index 0000000000000000000000000000000000000000..b21f385ad516575e342f26287aaa3d361c946c5c
--- /dev/null
+++ b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_09-30/outputs_tactile/tactile_cache/dag911262r00035d_lerobot_0327_114353_7434c583/episodes/ep000471/gripper_right_tactile_contact_metrics.json
@@ -0,0 +1,12 @@
+{
+  "contact_time": 8.066666666666666,
+  "contact_ratio": 0.6302083333333334,
+  "avg_contact_area": 1700.2231404958677,
+  "contact_entropy": 0.013149484981305165,
+  "total_frames": 384,
+  "fps": 30.0,
+  "reference_frame_count": 0,
+  "dataset_name": "dag911262r00035d_lerobot_0327_114353",
+  "episode_index": 471,
+  "sensor": "gripper_right_tactile"
+}
\ No newline at end of file
diff --git a/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_09-30/outputs_tactile/tactile_cache/dag911262r00035d_lerobot_0327_114353_7434c583/episodes/ep000474/gripper_left_tactile_force_metrics.json b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_09-30/outputs_tactile/tactile_cache/dag911262r00035d_lerobot_0327_114353_7434c583/episodes/ep000474/gripper_left_tactile_force_metrics.json
new file mode 100644
index 0000000000000000000000000000000000000000..6280b8b46439b81f5d8067abb7713d6f230bc47c
--- /dev/null
+++ b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_09-30/outputs_tactile/tactile_cache/dag911262r00035d_lerobot_0327_114353_7434c583/episodes/ep000474/gripper_left_tactile_force_metrics.json
@@ -0,0 +1,9 @@
+{
+  "depth_peak": 0.0008027773001231253,
+  "shear_peak": 0.002423493657261133,
+  "force_magnitude_peak": 0.0024643633514642715,
+  "reference_frame_count": 0,
+  "dataset_name": "dag911262r00035d_lerobot_0327_114353",
+  "episode_index": 474,
+  "sensor": "gripper_left_tactile"
+}
\ No newline at end of file
diff --git a/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_09-30/outputs_tactile/tactile_cache/dag911262r00035d_lerobot_0327_114353_7434c583/episodes/ep000475/gripper_right_tactile_force_metrics.json b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_09-30/outputs_tactile/tactile_cache/dag911262r00035d_lerobot_0327_114353_7434c583/episodes/ep000475/gripper_right_tactile_force_metrics.json
new file mode 100644
index 0000000000000000000000000000000000000000..075dc633b70fbf6f794c3ce6249e8b2593f04a81
--- /dev/null
+++ b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_09-30/outputs_tactile/tactile_cache/dag911262r00035d_lerobot_0327_114353_7434c583/episodes/ep000475/gripper_right_tactile_force_metrics.json
@@ -0,0 +1,9 @@
+{
+  "depth_peak": 0.01623767800629139,
+  "shear_peak": 0.01667643152177334,
+  "force_magnitude_peak": 0.023229368031024933,
+  "reference_frame_count": 0,
+  "dataset_name": "dag911262r00035d_lerobot_0327_114353",
+  "episode_index": 475,
+  "sensor": "gripper_right_tactile"
+}
\ No newline at end of file
diff --git a/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_09-30/outputs_tactile/tactile_cache/dag911262r00035d_lerobot_0327_114353_7434c583/episodes/ep000476/gripper_left_tactile_force_metrics.json b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_09-30/outputs_tactile/tactile_cache/dag911262r00035d_lerobot_0327_114353_7434c583/episodes/ep000476/gripper_left_tactile_force_metrics.json
new file mode 100644
index 0000000000000000000000000000000000000000..c92d2ebd1bf6c487d668b30b810af80e290c8c86
--- /dev/null
+++ b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_09-30/outputs_tactile/tactile_cache/dag911262r00035d_lerobot_0327_114353_7434c583/episodes/ep000476/gripper_left_tactile_force_metrics.json
@@ -0,0 +1,9 @@
+{
+  "depth_peak": 0.016727980226278305,
+  "shear_peak": 0.003220051061362028,
+  "force_magnitude_peak": 0.017016621306538582,
+  "reference_frame_count": 0,
+  "dataset_name": "dag911262r00035d_lerobot_0327_114353",
+  "episode_index": 476,
+  "sensor": "gripper_left_tactile"
+}
\ No newline at end of file
diff --git a/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_09-30/outputs_tactile/tactile_cache/dag911262r00035d_lerobot_0327_114353_7434c583/episodes/ep000477/gripper_right_tactile_force_metrics.json b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_09-30/outputs_tactile/tactile_cache/dag911262r00035d_lerobot_0327_114353_7434c583/episodes/ep000477/gripper_right_tactile_force_metrics.json
new file mode 100644
index 0000000000000000000000000000000000000000..b8d8e3e4dfb6dd18962073e399b462434e780f6c
--- /dev/null
+++ b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_09-30/outputs_tactile/tactile_cache/dag911262r00035d_lerobot_0327_114353_7434c583/episodes/ep000477/gripper_right_tactile_force_metrics.json
@@ -0,0 +1,9 @@
+{
+  "depth_peak": 0.004150251392275095,
+  "shear_peak": 0.013662437908351421,
+  "force_magnitude_peak": 0.014060414396226406,
+  "reference_frame_count": 0,
+  "dataset_name": "dag911262r00035d_lerobot_0327_114353",
+  "episode_index": 477,
+  "sensor": "gripper_right_tactile"
+}
\ No newline at end of file
diff --git a/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_09-30/outputs_tactile/tactile_cache/dag911262r00035d_lerobot_0327_114353_7434c583/episodes/ep000478/gripper_left_tactile_contact_metrics.json b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_09-30/outputs_tactile/tactile_cache/dag911262r00035d_lerobot_0327_114353_7434c583/episodes/ep000478/gripper_left_tactile_contact_metrics.json
new file mode 100644
index 0000000000000000000000000000000000000000..6f8ddab5c8223daf00dc1d3214c3e60449aad1c5
--- /dev/null
+++ b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_09-30/outputs_tactile/tactile_cache/dag911262r00035d_lerobot_0327_114353_7434c583/episodes/ep000478/gripper_left_tactile_contact_metrics.json
@@ -0,0 +1,12 @@
+{
+  "contact_time": 1.8333333333333333,
+  "contact_ratio": 0.3055555555555556,
+  "avg_contact_area": 217.25454545454545,
+  "contact_entropy": 0.0,
+  "total_frames": 180,
+  "fps": 30.0,
+  "reference_frame_count": 0,
+  "dataset_name": "dag911262r00035d_lerobot_0327_114353",
+  "episode_index": 478,
+  "sensor": "gripper_left_tactile"
+}
\ No newline at end of file
diff --git a/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_09-30/outputs_tactile/tactile_cache/dag911262r00035d_lerobot_0327_114353_7434c583/episodes/ep000481/gripper_left_tactile_contact_metrics.json b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_09-30/outputs_tactile/tactile_cache/dag911262r00035d_lerobot_0327_114353_7434c583/episodes/ep000481/gripper_left_tactile_contact_metrics.json
new file mode 100644
index 0000000000000000000000000000000000000000..e42c281852c91227e4cfac050c412ce42900f727
--- /dev/null
+++ b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_09-30/outputs_tactile/tactile_cache/dag911262r00035d_lerobot_0327_114353_7434c583/episodes/ep000481/gripper_left_tactile_contact_metrics.json
@@ -0,0 +1,12 @@
+{
+  "contact_time": 3.2,
+  "contact_ratio": 0.42290748898678415,
+  "avg_contact_area": 160.98958333333334,
+  "contact_entropy": 0.068272303815408,
+  "total_frames": 227,
+  "fps": 30.0,
+  "reference_frame_count": 0,
+  "dataset_name": "dag911262r00035d_lerobot_0327_114353",
+  "episode_index": 481,
+  "sensor": "gripper_left_tactile"
+}
\ No newline at end of file
diff --git a/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_09-30/outputs_tactile/tactile_cache/dag911262r00035d_lerobot_0327_114353_7434c583/episodes/ep000481/gripper_left_tactile_force_metrics.json b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_09-30/outputs_tactile/tactile_cache/dag911262r00035d_lerobot_0327_114353_7434c583/episodes/ep000481/gripper_left_tactile_force_metrics.json
new file mode 100644
index 0000000000000000000000000000000000000000..3c194c7f172b2dd515d362f5710472a0b244663f
--- /dev/null
+++ b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_09-30/outputs_tactile/tactile_cache/dag911262r00035d_lerobot_0327_114353_7434c583/episodes/ep000481/gripper_left_tactile_force_metrics.json
@@ -0,0 +1,9 @@
+{
+  "depth_peak": 0.005367832724004984,
+  "shear_peak": 0.0016383950132876635,
+  "force_magnitude_peak": 0.005477695260196924,
+  "reference_frame_count": 0,
+  "dataset_name": "dag911262r00035d_lerobot_0327_114353",
+  "episode_index": 481,
+  "sensor": "gripper_left_tactile"
+}
\ No newline at end of file
diff --git a/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_09-30/outputs_tactile/tactile_cache/dag911262r00035d_lerobot_0327_114353_7434c583/episodes/ep000487/gripper_right_tactile_contact_metrics.json b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_09-30/outputs_tactile/tactile_cache/dag911262r00035d_lerobot_0327_114353_7434c583/episodes/ep000487/gripper_right_tactile_contact_metrics.json
new file mode 100644
index 0000000000000000000000000000000000000000..92cdf9df34a5943b25a6a3b021b4a59dd3a60d6c
--- /dev/null
+++ b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_09-30/outputs_tactile/tactile_cache/dag911262r00035d_lerobot_0327_114353_7434c583/episodes/ep000487/gripper_right_tactile_contact_metrics.json
@@ -0,0 +1,12 @@
+{
+  "contact_time": 1.8666666666666667,
+  "contact_ratio": 0.34355828220858897,
+  "avg_contact_area": 5289.089285714285,
+  "contact_entropy": 0.35961916507092334,
+  "total_frames": 163,
+  "fps": 30.0,
+  "reference_frame_count": 0,
+  "dataset_name": "dag911262r00035d_lerobot_0327_114353",
+  "episode_index": 487,
+  "sensor": "gripper_right_tactile"
+}
\ No newline at end of file
diff --git a/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_09-30/outputs_tactile/tactile_cache/dag911262r00035d_lerobot_0327_114353_7434c583/episodes/ep000492/gripper_right_tactile_contact_metrics.json b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_09-30/outputs_tactile/tactile_cache/dag911262r00035d_lerobot_0327_114353_7434c583/episodes/ep000492/gripper_right_tactile_contact_metrics.json
new file mode 100644
index 0000000000000000000000000000000000000000..50264cbbf5a6b1bb4729003d50bcc84f39fc56c5
--- /dev/null
+++ b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_09-30/outputs_tactile/tactile_cache/dag911262r00035d_lerobot_0327_114353_7434c583/episodes/ep000492/gripper_right_tactile_contact_metrics.json
@@ -0,0 +1,12 @@
+{
+  "contact_time": 3.7,
+  "contact_ratio": 0.6032608695652174,
+  "avg_contact_area": 2051.4414414414414,
+  "contact_entropy": 0.5624637568497097,
+  "total_frames": 184,
+  "fps": 30.0,
+  "reference_frame_count": 0,
+  "dataset_name": "dag911262r00035d_lerobot_0327_114353",
+  "episode_index": 492,
+  "sensor": "gripper_right_tactile"
+}
\ No newline at end of file
diff --git a/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_09-30/outputs_tactile/tactile_cache/dag911262r00035d_lerobot_0327_114353_7434c583/episodes/ep000496/gripper_left_tactile_contact_metrics.json b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_09-30/outputs_tactile/tactile_cache/dag911262r00035d_lerobot_0327_114353_7434c583/episodes/ep000496/gripper_left_tactile_contact_metrics.json
new file mode 100644
index 0000000000000000000000000000000000000000..f3a684ae31a0070e154691e8fcecdef157403d05
--- /dev/null
+++ b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_09-30/outputs_tactile/tactile_cache/dag911262r00035d_lerobot_0327_114353_7434c583/episodes/ep000496/gripper_left_tactile_contact_metrics.json
@@ -0,0 +1,12 @@
+{
+  "contact_time": 5.766666666666667,
+  "contact_ratio": 0.6383763837638377,
+  "avg_contact_area": 448.0751445086705,
+  "contact_entropy": 0.2333088489443079,
+  "total_frames": 271,
+  "fps": 30.0,
+  "reference_frame_count": 0,
+  "dataset_name": "dag911262r00035d_lerobot_0327_114353",
+  "episode_index": 496,
+  "sensor": "gripper_left_tactile"
+}
\ No newline at end of file
diff --git a/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_09-30/outputs_tactile/tactile_cache/dag911262r00035d_lerobot_0327_114353_7434c583/episodes/ep000496/gripper_left_tactile_force_metrics.json b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_09-30/outputs_tactile/tactile_cache/dag911262r00035d_lerobot_0327_114353_7434c583/episodes/ep000496/gripper_left_tactile_force_metrics.json
new file mode 100644
index 0000000000000000000000000000000000000000..2ff0b9f0cf8bdf0cb27690238e6d5738cd7be924
--- /dev/null
+++ b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_09-30/outputs_tactile/tactile_cache/dag911262r00035d_lerobot_0327_114353_7434c583/episodes/ep000496/gripper_left_tactile_force_metrics.json
@@ -0,0 +1,9 @@
+{
+  "depth_peak": 0.0023297672159969807,
+  "shear_peak": 0.00484036048874259,
+  "force_magnitude_peak": 0.005355197936296463,
+  "reference_frame_count": 0,
+  "dataset_name": "dag911262r00035d_lerobot_0327_114353",
+  "episode_index": 496,
+  "sensor": "gripper_left_tactile"
+}
\ No newline at end of file
diff --git a/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_09-30/outputs_tactile/tactile_cache/dag911262r00035d_lerobot_0327_114353_7434c583/episodes/ep000503/gripper_right_tactile_force_metrics.json b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_09-30/outputs_tactile/tactile_cache/dag911262r00035d_lerobot_0327_114353_7434c583/episodes/ep000503/gripper_right_tactile_force_metrics.json
new file mode 100644
index 0000000000000000000000000000000000000000..869ca39b98d34348a9bd2c1c2db8352ec952626f
--- /dev/null
+++ b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_09-30/outputs_tactile/tactile_cache/dag911262r00035d_lerobot_0327_114353_7434c583/episodes/ep000503/gripper_right_tactile_force_metrics.json
@@ -0,0 +1,9 @@
+{
+  "depth_peak": 0.003106655552983284,
+  "shear_peak": 0.011624546721577644,
+  "force_magnitude_peak": 0.012032514438033104,
+  "reference_frame_count": 0,
+  "dataset_name": "dag911262r00035d_lerobot_0327_114353",
+  "episode_index": 503,
+  "sensor": "gripper_right_tactile"
+}
\ No newline at end of file
diff --git a/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_09-30/outputs_tactile/tactile_cache/dag911262r00035d_lerobot_0327_114353_7434c583/episodes/ep000507/gripper_left_tactile_force_metrics.json b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_09-30/outputs_tactile/tactile_cache/dag911262r00035d_lerobot_0327_114353_7434c583/episodes/ep000507/gripper_left_tactile_force_metrics.json
new file mode 100644
index 0000000000000000000000000000000000000000..6e6d2b89ab629df9e482f956362c684780a57f70
--- /dev/null
+++ b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_09-30/outputs_tactile/tactile_cache/dag911262r00035d_lerobot_0327_114353_7434c583/episodes/ep000507/gripper_left_tactile_force_metrics.json
@@ -0,0 +1,9 @@
+{
+  "depth_peak": 0.005153350997716188,
+  "shear_peak": 0.0019056769087910652,
+  "force_magnitude_peak": 0.005431058816611767,
+  "reference_frame_count": 0,
+  "dataset_name": "dag911262r00035d_lerobot_0327_114353",
+  "episode_index": 507,
+  "sensor": "gripper_left_tactile"
+}
\ No newline at end of file
diff --git a/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_09-30/outputs_tactile/tactile_cache/dag911262r00035d_lerobot_0327_114353_7434c583/episodes/ep000508/gripper_left_tactile_contact_metrics.json b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_09-30/outputs_tactile/tactile_cache/dag911262r00035d_lerobot_0327_114353_7434c583/episodes/ep000508/gripper_left_tactile_contact_metrics.json
new file mode 100644
index 0000000000000000000000000000000000000000..b518a525e900ccab0d4d5f9a321241dba1844857
--- /dev/null
+++ b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_09-30/outputs_tactile/tactile_cache/dag911262r00035d_lerobot_0327_114353_7434c583/episodes/ep000508/gripper_left_tactile_contact_metrics.json
@@ -0,0 +1,12 @@
+{
+  "contact_time": 3.5,
+  "contact_ratio": 0.5898876404494382,
+  "avg_contact_area": 415.2761904761905,
+  "contact_entropy": 0.4103108952675879,
+  "total_frames": 178,
+  "fps": 30.0,
+  "reference_frame_count": 0,
+  "dataset_name": "dag911262r00035d_lerobot_0327_114353",
+  "episode_index": 508,
+  "sensor": "gripper_left_tactile"
+}
\ No newline at end of file
diff --git a/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_09-30/outputs_tactile/tactile_cache/dag911262r00035d_lerobot_0327_114353_7434c583/episodes/ep000511/gripper_left_tactile_contact_metrics.json b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_09-30/outputs_tactile/tactile_cache/dag911262r00035d_lerobot_0327_114353_7434c583/episodes/ep000511/gripper_left_tactile_contact_metrics.json
new file mode 100644
index 0000000000000000000000000000000000000000..a4d1a7344581755a8799440146230c9134b0b9e8
--- /dev/null
+++ b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_09-30/outputs_tactile/tactile_cache/dag911262r00035d_lerobot_0327_114353_7434c583/episodes/ep000511/gripper_left_tactile_contact_metrics.json
@@ -0,0 +1,12 @@
+{
+  "contact_time": 2.533333333333333,
+  "contact_ratio": 0.5135135135135135,
+  "avg_contact_area": 904.7763157894736,
+  "contact_entropy": 0.010285742188027282,
+  "total_frames": 148,
+  "fps": 30.0,
+  "reference_frame_count": 0,
+  "dataset_name": "dag911262r00035d_lerobot_0327_114353",
+  "episode_index": 511,
+  "sensor": "gripper_left_tactile"
+}
\ No newline at end of file
diff --git a/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_09-30/outputs_tactile/tactile_cache/dag911262r00035d_lerobot_0327_114353_7434c583/episodes/ep000516/gripper_left_tactile_force_metrics.json b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_09-30/outputs_tactile/tactile_cache/dag911262r00035d_lerobot_0327_114353_7434c583/episodes/ep000516/gripper_left_tactile_force_metrics.json
new file mode 100644
index 0000000000000000000000000000000000000000..1e04e1b01c2b8202f7870fd97b652f4b1643638e
--- /dev/null
+++ b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_09-30/outputs_tactile/tactile_cache/dag911262r00035d_lerobot_0327_114353_7434c583/episodes/ep000516/gripper_left_tactile_force_metrics.json
@@ -0,0 +1,9 @@
+{
+  "depth_peak": 0.0050437250174582005,
+  "shear_peak": 0.0033864451106637716,
+  "force_magnitude_peak": 0.005213066935539246,
+  "reference_frame_count": 0,
+  "dataset_name": "dag911262r00035d_lerobot_0327_114353",
+  "episode_index": 516,
+  "sensor": "gripper_left_tactile"
+}
\ No newline at end of file
diff --git a/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_09-30/outputs_tactile/tactile_cache/dag911262r00035d_lerobot_0327_114353_7434c583/episodes/ep000518/gripper_left_tactile_contact_metrics.json b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_09-30/outputs_tactile/tactile_cache/dag911262r00035d_lerobot_0327_114353_7434c583/episodes/ep000518/gripper_left_tactile_contact_metrics.json
new file mode 100644
index 0000000000000000000000000000000000000000..47e77950896e016d5f9c232f31873f12c74fe167
--- /dev/null
+++ b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_09-30/outputs_tactile/tactile_cache/dag911262r00035d_lerobot_0327_114353_7434c583/episodes/ep000518/gripper_left_tactile_contact_metrics.json
@@ -0,0 +1,12 @@
+{
+  "contact_time": 0.8666666666666667,
+  "contact_ratio": 0.13333333333333333,
+  "avg_contact_area": 382.4230769230769,
+  "contact_entropy": 0.1903953877870868,
+  "total_frames": 195,
+  "fps": 30.0,
+  "reference_frame_count": 0,
+  "dataset_name": "dag911262r00035d_lerobot_0327_114353",
+  "episode_index": 518,
+  "sensor": "gripper_left_tactile"
+}
\ No newline at end of file
diff --git a/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_09-30/outputs_tactile/tactile_cache/dag911262r00035d_lerobot_0327_114353_7434c583/episodes/ep000521/gripper_left_tactile_contact_metrics.json b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_09-30/outputs_tactile/tactile_cache/dag911262r00035d_lerobot_0327_114353_7434c583/episodes/ep000521/gripper_left_tactile_contact_metrics.json
new file mode 100644
index 0000000000000000000000000000000000000000..afffa7a8ddd13f32faa8348fc75b217ced1f2a8e
--- /dev/null
+++ b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_09-30/outputs_tactile/tactile_cache/dag911262r00035d_lerobot_0327_114353_7434c583/episodes/ep000521/gripper_left_tactile_contact_metrics.json
@@ -0,0 +1,12 @@
+{
+  "contact_time": 1.1333333333333333,
+  "contact_ratio": 0.19883040935672514,
+  "avg_contact_area": 1037.5882352941176,
+  "contact_entropy": 0.8305346998029269,
+  "total_frames": 171,
+  "fps": 30.0,
+  "reference_frame_count": 0,
+  "dataset_name": "dag911262r00035d_lerobot_0327_114353",
+  "episode_index": 521,
+  "sensor": "gripper_left_tactile"
+}
\ No newline at end of file
diff --git a/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_09-30/outputs_tactile/tactile_cache/dag911262r00035d_lerobot_0327_114353_7434c583/episodes/ep000521/gripper_left_tactile_force_metrics.json b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_09-30/outputs_tactile/tactile_cache/dag911262r00035d_lerobot_0327_114353_7434c583/episodes/ep000521/gripper_left_tactile_force_metrics.json
new file mode 100644
index 0000000000000000000000000000000000000000..27bf0576a3adc843eb233ca5465860033025ea26
--- /dev/null
+++ b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_09-30/outputs_tactile/tactile_cache/dag911262r00035d_lerobot_0327_114353_7434c583/episodes/ep000521/gripper_left_tactile_force_metrics.json
@@ -0,0 +1,9 @@
+{
+  "depth_peak": 0.0030006645247340202,
+  "shear_peak": 0.0038185538724064827,
+  "force_magnitude_peak": 0.004856474231928587,
+  "reference_frame_count": 0,
+  "dataset_name": "dag911262r00035d_lerobot_0327_114353",
+  "episode_index": 521,
+  "sensor": "gripper_left_tactile"
+}
\ No newline at end of file
diff --git a/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_09-30/outputs_tactile/tactile_cache/dag911262r00035d_lerobot_0327_114353_7434c583/episodes/ep000536/gripper_left_tactile_contact_metrics.json b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_09-30/outputs_tactile/tactile_cache/dag911262r00035d_lerobot_0327_114353_7434c583/episodes/ep000536/gripper_left_tactile_contact_metrics.json
new file mode 100644
index 0000000000000000000000000000000000000000..e7af6cf401b8218084d2d795f7470b3ced3cd3df
--- /dev/null
+++ b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_09-30/outputs_tactile/tactile_cache/dag911262r00035d_lerobot_0327_114353_7434c583/episodes/ep000536/gripper_left_tactile_contact_metrics.json
@@ -0,0 +1,12 @@
+{
+  "contact_time": 3.566666666666667,
+  "contact_ratio": 0.4246031746031746,
+  "avg_contact_area": 755.8598130841121,
+  "contact_entropy": 0.40004367604196117,
+  "total_frames": 252,
+  "fps": 30.0,
+  "reference_frame_count": 0,
+  "dataset_name": "dag911262r00035d_lerobot_0327_114353",
+  "episode_index": 536,
+  "sensor": "gripper_left_tactile"
+}
\ No newline at end of file
diff --git a/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_09-30/outputs_tactile/tactile_cache/dag911262r00035d_lerobot_0327_114353_7434c583/episodes/ep000536/gripper_left_tactile_force_metrics.json b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_09-30/outputs_tactile/tactile_cache/dag911262r00035d_lerobot_0327_114353_7434c583/episodes/ep000536/gripper_left_tactile_force_metrics.json
new file mode 100644
index 0000000000000000000000000000000000000000..9e6696cc39f485da58d30c061313deab58ec7c64
--- /dev/null
+++ b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_09-30/outputs_tactile/tactile_cache/dag911262r00035d_lerobot_0327_114353_7434c583/episodes/ep000536/gripper_left_tactile_force_metrics.json
@@ -0,0 +1,9 @@
+{
+  "depth_peak": 0.007114651147276163,
+  "shear_peak": 0.002275436883792281,
+  "force_magnitude_peak": 0.007142947055399418,
+  "reference_frame_count": 0,
+  "dataset_name": "dag911262r00035d_lerobot_0327_114353",
+  "episode_index": 536,
+  "sensor": "gripper_left_tactile"
+}
\ No newline at end of file