diff --git a/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-07/outputs_tactile/tactile_cache/dag911262r00025a_lerobot_0326_220254_1d1fdbda/episodes/ep000376/gripper_right_tactile_force_metrics.json b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-07/outputs_tactile/tactile_cache/dag911262r00025a_lerobot_0326_220254_1d1fdbda/episodes/ep000376/gripper_right_tactile_force_metrics.json
new file mode 100644
index 0000000000000000000000000000000000000000..a39467215390dbb0158020911e0397e52df49995
--- /dev/null
+++ b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-07/outputs_tactile/tactile_cache/dag911262r00025a_lerobot_0326_220254_1d1fdbda/episodes/ep000376/gripper_right_tactile_force_metrics.json
@@ -0,0 +1,9 @@
+{
+  "depth_peak": 0.0014639338478446007,
+  "shear_peak": 0.00275624031201005,
+  "force_magnitude_peak": 0.0033434079959988594,
+  "reference_frame_count": 0,
+  "dataset_name": "dag911262r00025a_lerobot_0326_220254",
+  "episode_index": 376,
+  "sensor": "gripper_right_tactile"
+}
\ No newline at end of file
diff --git a/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-07/outputs_tactile/tactile_cache/dag911262r00025a_lerobot_0326_220254_1d1fdbda/episodes/ep000378/gripper_right_tactile_force_metrics.json b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-07/outputs_tactile/tactile_cache/dag911262r00025a_lerobot_0326_220254_1d1fdbda/episodes/ep000378/gripper_right_tactile_force_metrics.json
new file mode 100644
index 0000000000000000000000000000000000000000..cb1cbac371ade16157acb462d13ba2a6310aa80a
--- /dev/null
+++ b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-07/outputs_tactile/tactile_cache/dag911262r00025a_lerobot_0326_220254_1d1fdbda/episodes/ep000378/gripper_right_tactile_force_metrics.json
@@ -0,0 +1,9 @@
+{
+  "depth_peak": 0.008659378625452518,
+  "shear_peak": 0.00638578413054347,
+  "force_magnitude_peak": 0.0107593247666955,
+  "reference_frame_count": 0,
+  "dataset_name": "dag911262r00025a_lerobot_0326_220254",
+  "episode_index": 378,
+  "sensor": "gripper_right_tactile"
+}
\ No newline at end of file
diff --git a/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-07/outputs_tactile/tactile_cache/dag911262r00025a_lerobot_0326_220254_1d1fdbda/episodes/ep000380/gripper_right_tactile_force_metrics.json b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-07/outputs_tactile/tactile_cache/dag911262r00025a_lerobot_0326_220254_1d1fdbda/episodes/ep000380/gripper_right_tactile_force_metrics.json
new file mode 100644
index 0000000000000000000000000000000000000000..d50e931a091c6e5ff29124cc0b969093dc10966a
--- /dev/null
+++ b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-07/outputs_tactile/tactile_cache/dag911262r00025a_lerobot_0326_220254_1d1fdbda/episodes/ep000380/gripper_right_tactile_force_metrics.json
@@ -0,0 +1,9 @@
+{
+  "depth_peak": 0.001996040577068925,
+  "shear_peak": 0.005607052240520716,
+  "force_magnitude_peak": 0.005784912966191769,
+  "reference_frame_count": 0,
+  "dataset_name": "dag911262r00025a_lerobot_0326_220254",
+  "episode_index": 380,
+  "sensor": "gripper_right_tactile"
+}
\ No newline at end of file
diff --git a/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-07/outputs_tactile/tactile_cache/dag911262r00025a_lerobot_0326_220254_1d1fdbda/episodes/ep000399/gripper_right_tactile_contact_metrics.json b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-07/outputs_tactile/tactile_cache/dag911262r00025a_lerobot_0326_220254_1d1fdbda/episodes/ep000399/gripper_right_tactile_contact_metrics.json
new file mode 100644
index 0000000000000000000000000000000000000000..f3789c4d9cefd56f0e152c25a4d7b8c2a0d25d32
--- /dev/null
+++ b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-07/outputs_tactile/tactile_cache/dag911262r00025a_lerobot_0326_220254_1d1fdbda/episodes/ep000399/gripper_right_tactile_contact_metrics.json
@@ -0,0 +1,12 @@
+{
+  "contact_time": 14.933333333333334,
+  "contact_ratio": 0.9218106995884774,
+  "avg_contact_area": 2069.9441964285716,
+  "contact_entropy": 0.7541938213420896,
+  "total_frames": 486,
+  "fps": 30.0,
+  "reference_frame_count": 0,
+  "dataset_name": "dag911262r00025a_lerobot_0326_220254",
+  "episode_index": 399,
+  "sensor": "gripper_right_tactile"
+}
\ No newline at end of file
diff --git a/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-07/outputs_tactile/tactile_cache/dag911262r00025a_lerobot_0326_220254_1d1fdbda/episodes/ep000403/gripper_left_tactile_contact_metrics.json b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-07/outputs_tactile/tactile_cache/dag911262r00025a_lerobot_0326_220254_1d1fdbda/episodes/ep000403/gripper_left_tactile_contact_metrics.json
new file mode 100644
index 0000000000000000000000000000000000000000..ab6da9666e801c25a2337a3e5274a33d20ab1822
--- /dev/null
+++ b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-07/outputs_tactile/tactile_cache/dag911262r00025a_lerobot_0326_220254_1d1fdbda/episodes/ep000403/gripper_left_tactile_contact_metrics.json
@@ -0,0 +1,12 @@
+{
+  "contact_time": 6.733333333333333,
+  "contact_ratio": 0.8178137651821862,
+  "avg_contact_area": 4895.3712871287125,
+  "contact_entropy": 0.34899282136926846,
+  "total_frames": 247,
+  "fps": 30.0,
+  "reference_frame_count": 0,
+  "dataset_name": "dag911262r00025a_lerobot_0326_220254",
+  "episode_index": 403,
+  "sensor": "gripper_left_tactile"
+}
\ No newline at end of file
diff --git a/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-07/outputs_tactile/tactile_cache/dag911262r00025a_lerobot_0326_220254_1d1fdbda/episodes/ep000404/gripper_left_tactile_force_metrics.json b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-07/outputs_tactile/tactile_cache/dag911262r00025a_lerobot_0326_220254_1d1fdbda/episodes/ep000404/gripper_left_tactile_force_metrics.json
new file mode 100644
index 0000000000000000000000000000000000000000..1fde1f174ec8c0420496c3fc47f840870abe6afe
--- /dev/null
+++ b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-07/outputs_tactile/tactile_cache/dag911262r00025a_lerobot_0326_220254_1d1fdbda/episodes/ep000404/gripper_left_tactile_force_metrics.json
@@ -0,0 +1,9 @@
+{
+  "depth_peak": 0.009637032635509968,
+  "shear_peak": 0.004034677054733038,
+  "force_magnitude_peak": 0.010187194682657719,
+  "reference_frame_count": 0,
+  "dataset_name": "dag911262r00025a_lerobot_0326_220254",
+  "episode_index": 404,
+  "sensor": "gripper_left_tactile"
+}
\ No newline at end of file
diff --git a/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-07/outputs_tactile/tactile_cache/dag911262r00025a_lerobot_0326_220254_1d1fdbda/episodes/ep000408/gripper_left_tactile_contact_metrics.json b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-07/outputs_tactile/tactile_cache/dag911262r00025a_lerobot_0326_220254_1d1fdbda/episodes/ep000408/gripper_left_tactile_contact_metrics.json
new file mode 100644
index 0000000000000000000000000000000000000000..6e76a3d17ddee43626c12ed961c064b92748c6b0
--- /dev/null
+++ b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-07/outputs_tactile/tactile_cache/dag911262r00025a_lerobot_0326_220254_1d1fdbda/episodes/ep000408/gripper_left_tactile_contact_metrics.json
@@ -0,0 +1,12 @@
+{
+  "contact_time": 7.7,
+  "contact_ratio": 0.9467213114754098,
+  "avg_contact_area": 3946.4242424242425,
+  "contact_entropy": 0.2447946414260418,
+  "total_frames": 244,
+  "fps": 30.0,
+  "reference_frame_count": 0,
+  "dataset_name": "dag911262r00025a_lerobot_0326_220254",
+  "episode_index": 408,
+  "sensor": "gripper_left_tactile"
+}
\ No newline at end of file
diff --git a/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-07/outputs_tactile/tactile_cache/dag911262r00025a_lerobot_0326_220254_1d1fdbda/episodes/ep000411/gripper_right_tactile_force_metrics.json b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-07/outputs_tactile/tactile_cache/dag911262r00025a_lerobot_0326_220254_1d1fdbda/episodes/ep000411/gripper_right_tactile_force_metrics.json
new file mode 100644
index 0000000000000000000000000000000000000000..7def8b85c5c7c34a7f309342e2e0475f8a51b6a9
--- /dev/null
+++ b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-07/outputs_tactile/tactile_cache/dag911262r00025a_lerobot_0326_220254_1d1fdbda/episodes/ep000411/gripper_right_tactile_force_metrics.json
@@ -0,0 +1,9 @@
+{
+  "depth_peak": 0.002690768800675869,
+  "shear_peak": 0.003004348138347268,
+  "force_magnitude_peak": 0.0034981011413037777,
+  "reference_frame_count": 0,
+  "dataset_name": "dag911262r00025a_lerobot_0326_220254",
+  "episode_index": 411,
+  "sensor": "gripper_right_tactile"
+}
\ No newline at end of file
diff --git a/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-07/outputs_tactile/tactile_cache/dag911262r00025a_lerobot_0326_220254_1d1fdbda/episodes/ep000415/gripper_right_tactile_contact_metrics.json b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-07/outputs_tactile/tactile_cache/dag911262r00025a_lerobot_0326_220254_1d1fdbda/episodes/ep000415/gripper_right_tactile_contact_metrics.json
new file mode 100644
index 0000000000000000000000000000000000000000..7c78c15eacabc3f7c268e5410ac43e6f77a0e5e1
--- /dev/null
+++ b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-07/outputs_tactile/tactile_cache/dag911262r00025a_lerobot_0326_220254_1d1fdbda/episodes/ep000415/gripper_right_tactile_contact_metrics.json
@@ -0,0 +1,12 @@
+{
+  "contact_time": 7.133333333333334,
+  "contact_ratio": 0.8699186991869918,
+  "avg_contact_area": 6715.271028037383,
+  "contact_entropy": 0.4474875840538585,
+  "total_frames": 246,
+  "fps": 30.0,
+  "reference_frame_count": 0,
+  "dataset_name": "dag911262r00025a_lerobot_0326_220254",
+  "episode_index": 415,
+  "sensor": "gripper_right_tactile"
+}
\ No newline at end of file
diff --git a/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-07/outputs_tactile/tactile_cache/dag911262r00025a_lerobot_0326_220254_1d1fdbda/episodes/ep000416/gripper_left_tactile_contact_metrics.json b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-07/outputs_tactile/tactile_cache/dag911262r00025a_lerobot_0326_220254_1d1fdbda/episodes/ep000416/gripper_left_tactile_contact_metrics.json
new file mode 100644
index 0000000000000000000000000000000000000000..162f48efc6fdf03d6069af3d1a973b7c59a00519
--- /dev/null
+++ b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-07/outputs_tactile/tactile_cache/dag911262r00025a_lerobot_0326_220254_1d1fdbda/episodes/ep000416/gripper_left_tactile_contact_metrics.json
@@ -0,0 +1,12 @@
+{
+  "contact_time": 10.1,
+  "contact_ratio": 0.9099099099099099,
+  "avg_contact_area": 3227.5082508250825,
+  "contact_entropy": 0.210734024325653,
+  "total_frames": 333,
+  "fps": 30.0,
+  "reference_frame_count": 0,
+  "dataset_name": "dag911262r00025a_lerobot_0326_220254",
+  "episode_index": 416,
+  "sensor": "gripper_left_tactile"
+}
\ No newline at end of file
diff --git a/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-07/outputs_tactile/tactile_cache/dag911262r00025a_lerobot_0326_220254_1d1fdbda/episodes/ep000416/gripper_right_tactile_force_metrics.json b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-07/outputs_tactile/tactile_cache/dag911262r00025a_lerobot_0326_220254_1d1fdbda/episodes/ep000416/gripper_right_tactile_force_metrics.json
new file mode 100644
index 0000000000000000000000000000000000000000..cd3784c1dc47aae906fc3847108428b0ae0dd03c
--- /dev/null
+++ b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-07/outputs_tactile/tactile_cache/dag911262r00025a_lerobot_0326_220254_1d1fdbda/episodes/ep000416/gripper_right_tactile_force_metrics.json
@@ -0,0 +1,9 @@
+{
+  "depth_peak": 0.011836105026304722,
+  "shear_peak": 0.007941743358969688,
+  "force_magnitude_peak": 0.013165269047021866,
+  "reference_frame_count": 0,
+  "dataset_name": "dag911262r00025a_lerobot_0326_220254",
+  "episode_index": 416,
+  "sensor": "gripper_right_tactile"
+}
\ No newline at end of file
diff --git a/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-07/outputs_tactile/tactile_cache/dag911262r00025a_lerobot_0326_220254_1d1fdbda/episodes/ep000417/gripper_right_tactile_contact_metrics.json b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-07/outputs_tactile/tactile_cache/dag911262r00025a_lerobot_0326_220254_1d1fdbda/episodes/ep000417/gripper_right_tactile_contact_metrics.json
new file mode 100644
index 0000000000000000000000000000000000000000..01ec1974a5c03dba8acd8acfaac198194d4677c3
--- /dev/null
+++ b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-07/outputs_tactile/tactile_cache/dag911262r00025a_lerobot_0326_220254_1d1fdbda/episodes/ep000417/gripper_right_tactile_contact_metrics.json
@@ -0,0 +1,12 @@
+{
+  "contact_time": 5.866666666666666,
+  "contact_ratio": 0.8421052631578947,
+  "avg_contact_area": 4220.9375,
+  "contact_entropy": 0.46958676666214816,
+  "total_frames": 209,
+  "fps": 30.0,
+  "reference_frame_count": 0,
+  "dataset_name": "dag911262r00025a_lerobot_0326_220254",
+  "episode_index": 417,
+  "sensor": "gripper_right_tactile"
+}
\ No newline at end of file
diff --git a/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-07/outputs_tactile/tactile_cache/dag911262r00025a_lerobot_0326_220254_1d1fdbda/episodes/ep000418/gripper_left_tactile_contact_metrics.json b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-07/outputs_tactile/tactile_cache/dag911262r00025a_lerobot_0326_220254_1d1fdbda/episodes/ep000418/gripper_left_tactile_contact_metrics.json
new file mode 100644
index 0000000000000000000000000000000000000000..305e0ae9a5497ff2a474ace73945a19d4f584ba9
--- /dev/null
+++ b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-07/outputs_tactile/tactile_cache/dag911262r00025a_lerobot_0326_220254_1d1fdbda/episodes/ep000418/gripper_left_tactile_contact_metrics.json
@@ -0,0 +1,12 @@
+{
+  "contact_time": 6.766666666666667,
+  "contact_ratio": 0.8023715415019763,
+  "avg_contact_area": 10925.35960591133,
+  "contact_entropy": 0.5612950343246718,
+  "total_frames": 253,
+  "fps": 30.0,
+  "reference_frame_count": 0,
+  "dataset_name": "dag911262r00025a_lerobot_0326_220254",
+  "episode_index": 418,
+  "sensor": "gripper_left_tactile"
+}
\ No newline at end of file
diff --git a/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-07/outputs_tactile/tactile_cache/dag911262r00025a_lerobot_0326_220254_1d1fdbda/episodes/ep000418/gripper_right_tactile_force_metrics.json b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-07/outputs_tactile/tactile_cache/dag911262r00025a_lerobot_0326_220254_1d1fdbda/episodes/ep000418/gripper_right_tactile_force_metrics.json
new file mode 100644
index 0000000000000000000000000000000000000000..52b032b2777e3e77936e7619213c79faebf1e392
--- /dev/null
+++ b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-07/outputs_tactile/tactile_cache/dag911262r00025a_lerobot_0326_220254_1d1fdbda/episodes/ep000418/gripper_right_tactile_force_metrics.json
@@ -0,0 +1,9 @@
+{
+  "depth_peak": 0.015829190611839294,
+  "shear_peak": 0.0073388670571148396,
+  "force_magnitude_peak": 0.017208579927682877,
+  "reference_frame_count": 0,
+  "dataset_name": "dag911262r00025a_lerobot_0326_220254",
+  "episode_index": 418,
+  "sensor": "gripper_right_tactile"
+}
\ No newline at end of file
diff --git a/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-07/outputs_tactile/tactile_cache/dag911262r00025a_lerobot_0326_220254_1d1fdbda/episodes/ep000419/gripper_left_tactile_force_metrics.json b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-07/outputs_tactile/tactile_cache/dag911262r00025a_lerobot_0326_220254_1d1fdbda/episodes/ep000419/gripper_left_tactile_force_metrics.json
new file mode 100644
index 0000000000000000000000000000000000000000..d0672b823103071173bde1e28a05b67e6ca9bfa8
--- /dev/null
+++ b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-07/outputs_tactile/tactile_cache/dag911262r00025a_lerobot_0326_220254_1d1fdbda/episodes/ep000419/gripper_left_tactile_force_metrics.json
@@ -0,0 +1,9 @@
+{
+  "depth_peak": 0.0018988229567185044,
+  "shear_peak": 0.0020752993877977133,
+  "force_magnitude_peak": 0.002390801440924406,
+  "reference_frame_count": 0,
+  "dataset_name": "dag911262r00025a_lerobot_0326_220254",
+  "episode_index": 419,
+  "sensor": "gripper_left_tactile"
+}
\ No newline at end of file
diff --git a/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-07/outputs_tactile/tactile_cache/dag911262r00025a_lerobot_0326_220254_1d1fdbda/episodes/ep000420/gripper_right_tactile_force_metrics.json b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-07/outputs_tactile/tactile_cache/dag911262r00025a_lerobot_0326_220254_1d1fdbda/episodes/ep000420/gripper_right_tactile_force_metrics.json
new file mode 100644
index 0000000000000000000000000000000000000000..b800d5a514f44eea43e733d741cd5a9e3937a33a
--- /dev/null
+++ b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-07/outputs_tactile/tactile_cache/dag911262r00025a_lerobot_0326_220254_1d1fdbda/episodes/ep000420/gripper_right_tactile_force_metrics.json
@@ -0,0 +1,9 @@
+{
+  "depth_peak": 0.006531698629260063,
+  "shear_peak": 0.0030120396986603737,
+  "force_magnitude_peak": 0.007156417705118656,
+  "reference_frame_count": 0,
+  "dataset_name": "dag911262r00025a_lerobot_0326_220254",
+  "episode_index": 420,
+  "sensor": "gripper_right_tactile"
+}
\ No newline at end of file
diff --git a/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-07/outputs_tactile/tactile_cache/dag911262r00025a_lerobot_0326_220254_1d1fdbda/episodes/ep000422/gripper_left_tactile_contact_metrics.json b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-07/outputs_tactile/tactile_cache/dag911262r00025a_lerobot_0326_220254_1d1fdbda/episodes/ep000422/gripper_left_tactile_contact_metrics.json
new file mode 100644
index 0000000000000000000000000000000000000000..c3182ab0520ea4e9df4d5455acc22533d5ad9e00
--- /dev/null
+++ b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-07/outputs_tactile/tactile_cache/dag911262r00025a_lerobot_0326_220254_1d1fdbda/episodes/ep000422/gripper_left_tactile_contact_metrics.json
@@ -0,0 +1,12 @@
+{
+  "contact_time": 5.533333333333333,
+  "contact_ratio": 0.7280701754385965,
+  "avg_contact_area": 3384.1686746987953,
+  "contact_entropy": 0.21652490778398314,
+  "total_frames": 228,
+  "fps": 30.0,
+  "reference_frame_count": 0,
+  "dataset_name": "dag911262r00025a_lerobot_0326_220254",
+  "episode_index": 422,
+  "sensor": "gripper_left_tactile"
+}
\ No newline at end of file
diff --git a/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-07/outputs_tactile/tactile_cache/dag911262r00025a_lerobot_0326_220254_1d1fdbda/episodes/ep000424/gripper_left_tactile_force_metrics.json b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-07/outputs_tactile/tactile_cache/dag911262r00025a_lerobot_0326_220254_1d1fdbda/episodes/ep000424/gripper_left_tactile_force_metrics.json
new file mode 100644
index 0000000000000000000000000000000000000000..39429386f29b291f557f3a463abacca735fc4a2e
--- /dev/null
+++ b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-07/outputs_tactile/tactile_cache/dag911262r00025a_lerobot_0326_220254_1d1fdbda/episodes/ep000424/gripper_left_tactile_force_metrics.json
@@ -0,0 +1,9 @@
+{
+  "depth_peak": 0.00758092338219285,
+  "shear_peak": 0.002300368621945381,
+  "force_magnitude_peak": 0.007817219011485577,
+  "reference_frame_count": 0,
+  "dataset_name": "dag911262r00025a_lerobot_0326_220254",
+  "episode_index": 424,
+  "sensor": "gripper_left_tactile"
+}
\ No newline at end of file
diff --git a/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-07/outputs_tactile/tactile_cache/dag911262r00025a_lerobot_0326_220254_1d1fdbda/episodes/ep000429/gripper_left_tactile_force_metrics.json b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-07/outputs_tactile/tactile_cache/dag911262r00025a_lerobot_0326_220254_1d1fdbda/episodes/ep000429/gripper_left_tactile_force_metrics.json
new file mode 100644
index 0000000000000000000000000000000000000000..fcfb6177c4ecfcfb76aafd9c9016f66ed7d711d5
--- /dev/null
+++ b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-07/outputs_tactile/tactile_cache/dag911262r00025a_lerobot_0326_220254_1d1fdbda/episodes/ep000429/gripper_left_tactile_force_metrics.json
@@ -0,0 +1,9 @@
+{
+  "depth_peak": 0.0044311839155852795,
+  "shear_peak": 0.0033787526190280914,
+  "force_magnitude_peak": 0.005301398225128651,
+  "reference_frame_count": 0,
+  "dataset_name": "dag911262r00025a_lerobot_0326_220254",
+  "episode_index": 429,
+  "sensor": "gripper_left_tactile"
+}
\ No newline at end of file
diff --git a/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-07/outputs_tactile/tactile_cache/dag911262r00025a_lerobot_0326_220254_1d1fdbda/episodes/ep000430/gripper_right_tactile_contact_metrics.json b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-07/outputs_tactile/tactile_cache/dag911262r00025a_lerobot_0326_220254_1d1fdbda/episodes/ep000430/gripper_right_tactile_contact_metrics.json
new file mode 100644
index 0000000000000000000000000000000000000000..9f11c331875e24bf9f665d2ae5da2cef40385cfd
--- /dev/null
+++ b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-07/outputs_tactile/tactile_cache/dag911262r00025a_lerobot_0326_220254_1d1fdbda/episodes/ep000430/gripper_right_tactile_contact_metrics.json
@@ -0,0 +1,12 @@
+{
+  "contact_time": 6.0,
+  "contact_ratio": 0.8108108108108109,
+  "avg_contact_area": 1829.8666666666666,
+  "contact_entropy": 0.20221030627045938,
+  "total_frames": 222,
+  "fps": 30.0,
+  "reference_frame_count": 0,
+  "dataset_name": "dag911262r00025a_lerobot_0326_220254",
+  "episode_index": 430,
+  "sensor": "gripper_right_tactile"
+}
\ No newline at end of file
diff --git a/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-07/outputs_tactile/tactile_cache/dag911262r00025a_lerobot_0326_220254_1d1fdbda/episodes/ep000431/gripper_left_tactile_force_metrics.json b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-07/outputs_tactile/tactile_cache/dag911262r00025a_lerobot_0326_220254_1d1fdbda/episodes/ep000431/gripper_left_tactile_force_metrics.json
new file mode 100644
index 0000000000000000000000000000000000000000..3edbad7a3883bc3a99a44bd3e0ef6183553be983
--- /dev/null
+++ b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-07/outputs_tactile/tactile_cache/dag911262r00025a_lerobot_0326_220254_1d1fdbda/episodes/ep000431/gripper_left_tactile_force_metrics.json
@@ -0,0 +1,9 @@
+{
+  "depth_peak": 0.002980230376124382,
+  "shear_peak": 0.0023902938701212406,
+  "force_magnitude_peak": 0.003003824269399047,
+  "reference_frame_count": 0,
+  "dataset_name": "dag911262r00025a_lerobot_0326_220254",
+  "episode_index": 431,
+  "sensor": "gripper_left_tactile"
+}
\ No newline at end of file
diff --git a/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-07/outputs_tactile/tactile_cache/dag911262r00025a_lerobot_0326_220254_1d1fdbda/episodes/ep000433/gripper_right_tactile_force_metrics.json b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-07/outputs_tactile/tactile_cache/dag911262r00025a_lerobot_0326_220254_1d1fdbda/episodes/ep000433/gripper_right_tactile_force_metrics.json
new file mode 100644
index 0000000000000000000000000000000000000000..b7b8891768351c3b05468236353b91d066080cd8
--- /dev/null
+++ b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-07/outputs_tactile/tactile_cache/dag911262r00025a_lerobot_0326_220254_1d1fdbda/episodes/ep000433/gripper_right_tactile_force_metrics.json
@@ -0,0 +1,9 @@
+{
+  "depth_peak": 0.006280724424868822,
+  "shear_peak": 0.0011208993382751942,
+  "force_magnitude_peak": 0.006355651654303074,
+  "reference_frame_count": 0,
+  "dataset_name": "dag911262r00025a_lerobot_0326_220254",
+  "episode_index": 433,
+  "sensor": "gripper_right_tactile"
+}
\ No newline at end of file
diff --git a/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-07/outputs_tactile/tactile_cache/dag911262r00025a_lerobot_0326_220254_1d1fdbda/episodes/ep000437/gripper_right_tactile_contact_metrics.json b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-07/outputs_tactile/tactile_cache/dag911262r00025a_lerobot_0326_220254_1d1fdbda/episodes/ep000437/gripper_right_tactile_contact_metrics.json
new file mode 100644
index 0000000000000000000000000000000000000000..060ceeeb65ebf0423b31f63e4e48bf97cb26ff38
--- /dev/null
+++ b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-07/outputs_tactile/tactile_cache/dag911262r00025a_lerobot_0326_220254_1d1fdbda/episodes/ep000437/gripper_right_tactile_contact_metrics.json
@@ -0,0 +1,12 @@
+{
+  "contact_time": 6.2,
+  "contact_ratio": 0.8340807174887892,
+  "avg_contact_area": 2520.516129032258,
+  "contact_entropy": 0.5247072375272719,
+  "total_frames": 223,
+  "fps": 30.0,
+  "reference_frame_count": 0,
+  "dataset_name": "dag911262r00025a_lerobot_0326_220254",
+  "episode_index": 437,
+  "sensor": "gripper_right_tactile"
+}
\ No newline at end of file
diff --git a/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-07/outputs_tactile/tactile_cache/dag911262r00025a_lerobot_0326_220254_1d1fdbda/episodes/ep000439/gripper_right_tactile_contact_metrics.json b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-07/outputs_tactile/tactile_cache/dag911262r00025a_lerobot_0326_220254_1d1fdbda/episodes/ep000439/gripper_right_tactile_contact_metrics.json
new file mode 100644
index 0000000000000000000000000000000000000000..5e68c9c994842ef34840b1cb5552abb5f13c3848
--- /dev/null
+++ b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-07/outputs_tactile/tactile_cache/dag911262r00025a_lerobot_0326_220254_1d1fdbda/episodes/ep000439/gripper_right_tactile_contact_metrics.json
@@ -0,0 +1,12 @@
+{
+  "contact_time": 7.7,
+  "contact_ratio": 0.8850574712643678,
+  "avg_contact_area": 1206.6753246753246,
+  "contact_entropy": 0.21757055786266072,
+  "total_frames": 261,
+  "fps": 30.0,
+  "reference_frame_count": 0,
+  "dataset_name": "dag911262r00025a_lerobot_0326_220254",
+  "episode_index": 439,
+  "sensor": "gripper_right_tactile"
+}
\ No newline at end of file
diff --git a/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-07/outputs_tactile/tactile_cache/dag911262r00025a_lerobot_0326_220254_1d1fdbda/episodes/ep000443/gripper_left_tactile_contact_metrics.json b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-07/outputs_tactile/tactile_cache/dag911262r00025a_lerobot_0326_220254_1d1fdbda/episodes/ep000443/gripper_left_tactile_contact_metrics.json
new file mode 100644
index 0000000000000000000000000000000000000000..4e65b76292551b192b40496be98335fab8fd232d
--- /dev/null
+++ b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-07/outputs_tactile/tactile_cache/dag911262r00025a_lerobot_0326_220254_1d1fdbda/episodes/ep000443/gripper_left_tactile_contact_metrics.json
@@ -0,0 +1,12 @@
+{
+  "contact_time": 8.6,
+  "contact_ratio": 0.8896551724137931,
+  "avg_contact_area": 2827.7751937984494,
+  "contact_entropy": 0.2539416384651672,
+  "total_frames": 290,
+  "fps": 30.0,
+  "reference_frame_count": 0,
+  "dataset_name": "dag911262r00025a_lerobot_0326_220254",
+  "episode_index": 443,
+  "sensor": "gripper_left_tactile"
+}
\ No newline at end of file
diff --git a/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-07/outputs_tactile/tactile_cache/dag911262r00025a_lerobot_0326_220254_1d1fdbda/episodes/ep000444/gripper_left_tactile_force_metrics.json b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-07/outputs_tactile/tactile_cache/dag911262r00025a_lerobot_0326_220254_1d1fdbda/episodes/ep000444/gripper_left_tactile_force_metrics.json
new file mode 100644
index 0000000000000000000000000000000000000000..283d7ac55750c9c4b0b4e6b454cb43451fe4b359
--- /dev/null
+++ b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-07/outputs_tactile/tactile_cache/dag911262r00025a_lerobot_0326_220254_1d1fdbda/episodes/ep000444/gripper_left_tactile_force_metrics.json
@@ -0,0 +1,9 @@
+{
+  "depth_peak": 0.0017302336636930704,
+  "shear_peak": 0.0013107684208080173,
+  "force_magnitude_peak": 0.001965164439752698,
+  "reference_frame_count": 0,
+  "dataset_name": "dag911262r00025a_lerobot_0326_220254",
+  "episode_index": 444,
+  "sensor": "gripper_left_tactile"
+}
\ No newline at end of file
diff --git a/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-07/outputs_tactile/tactile_cache/dag911262r00025a_lerobot_0326_220254_1d1fdbda/episodes/ep000448/gripper_left_tactile_contact_metrics.json b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-07/outputs_tactile/tactile_cache/dag911262r00025a_lerobot_0326_220254_1d1fdbda/episodes/ep000448/gripper_left_tactile_contact_metrics.json
new file mode 100644
index 0000000000000000000000000000000000000000..9857aefb455cb988ed0b70f93dd6dd1ac8c80a77
--- /dev/null
+++ b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-07/outputs_tactile/tactile_cache/dag911262r00025a_lerobot_0326_220254_1d1fdbda/episodes/ep000448/gripper_left_tactile_contact_metrics.json
@@ -0,0 +1,12 @@
+{
+  "contact_time": 9.866666666666667,
+  "contact_ratio": 0.8338028169014085,
+  "avg_contact_area": 1602.2905405405406,
+  "contact_entropy": 0.15862771297216188,
+  "total_frames": 355,
+  "fps": 30.0,
+  "reference_frame_count": 0,
+  "dataset_name": "dag911262r00025a_lerobot_0326_220254",
+  "episode_index": 448,
+  "sensor": "gripper_left_tactile"
+}
\ No newline at end of file
diff --git a/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-07/outputs_tactile/tactile_cache/dag911262r00025a_lerobot_0326_220254_1d1fdbda/episodes/ep000451/gripper_right_tactile_force_metrics.json b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-07/outputs_tactile/tactile_cache/dag911262r00025a_lerobot_0326_220254_1d1fdbda/episodes/ep000451/gripper_right_tactile_force_metrics.json
new file mode 100644
index 0000000000000000000000000000000000000000..6a6550017270fd2a9107f61677cdad48921eb6ed
--- /dev/null
+++ b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-07/outputs_tactile/tactile_cache/dag911262r00025a_lerobot_0326_220254_1d1fdbda/episodes/ep000451/gripper_right_tactile_force_metrics.json
@@ -0,0 +1,9 @@
+{
+  "depth_peak": 0.0022147849667817354,
+  "shear_peak": 0.0012550094397738576,
+  "force_magnitude_peak": 0.002337652025744319,
+  "reference_frame_count": 0,
+  "dataset_name": "dag911262r00025a_lerobot_0326_220254",
+  "episode_index": 451,
+  "sensor": "gripper_right_tactile"
+}
\ No newline at end of file
diff --git a/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-07/outputs_tactile/tactile_cache/dag911262r00025a_lerobot_0326_220254_1d1fdbda/episodes/ep000455/gripper_right_tactile_contact_metrics.json b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-07/outputs_tactile/tactile_cache/dag911262r00025a_lerobot_0326_220254_1d1fdbda/episodes/ep000455/gripper_right_tactile_contact_metrics.json
new file mode 100644
index 0000000000000000000000000000000000000000..07d0e9e8f380c79b701533f47ba7b6a8f6dcd5a1
--- /dev/null
+++ b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-07/outputs_tactile/tactile_cache/dag911262r00025a_lerobot_0326_220254_1d1fdbda/episodes/ep000455/gripper_right_tactile_contact_metrics.json
@@ -0,0 +1,12 @@
+{
+  "contact_time": 6.3,
+  "contact_ratio": 0.78099173553719,
+  "avg_contact_area": 7473.423280423281,
+  "contact_entropy": 0.16021018237946288,
+  "total_frames": 242,
+  "fps": 30.0,
+  "reference_frame_count": 0,
+  "dataset_name": "dag911262r00025a_lerobot_0326_220254",
+  "episode_index": 455,
+  "sensor": "gripper_right_tactile"
+}
\ No newline at end of file
diff --git a/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-07/outputs_tactile/tactile_cache/dag911262r00025a_lerobot_0326_220254_1d1fdbda/episodes/ep000456/gripper_left_tactile_contact_metrics.json b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-07/outputs_tactile/tactile_cache/dag911262r00025a_lerobot_0326_220254_1d1fdbda/episodes/ep000456/gripper_left_tactile_contact_metrics.json
new file mode 100644
index 0000000000000000000000000000000000000000..c03ce0e6241923aa72b1c866ffd743dcbc490583
--- /dev/null
+++ b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-07/outputs_tactile/tactile_cache/dag911262r00025a_lerobot_0326_220254_1d1fdbda/episodes/ep000456/gripper_left_tactile_contact_metrics.json
@@ -0,0 +1,12 @@
+{
+  "contact_time": 6.9,
+  "contact_ratio": 0.8448979591836735,
+  "avg_contact_area": 3483.135265700483,
+  "contact_entropy": 0.13797547332245463,
+  "total_frames": 245,
+  "fps": 30.0,
+  "reference_frame_count": 0,
+  "dataset_name": "dag911262r00025a_lerobot_0326_220254",
+  "episode_index": 456,
+  "sensor": "gripper_left_tactile"
+}
\ No newline at end of file
diff --git a/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-07/outputs_tactile/tactile_cache/dag911262r00025a_lerobot_0326_220254_1d1fdbda/episodes/ep000456/gripper_right_tactile_force_metrics.json b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-07/outputs_tactile/tactile_cache/dag911262r00025a_lerobot_0326_220254_1d1fdbda/episodes/ep000456/gripper_right_tactile_force_metrics.json
new file mode 100644
index 0000000000000000000000000000000000000000..0010ce05c58298f0dbc178ce60ebbcf9d51cf635
--- /dev/null
+++ b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-07/outputs_tactile/tactile_cache/dag911262r00025a_lerobot_0326_220254_1d1fdbda/episodes/ep000456/gripper_right_tactile_force_metrics.json
@@ -0,0 +1,9 @@
+{
+  "depth_peak": 0.0019589029252529144,
+  "shear_peak": 0.004700917750597,
+  "force_magnitude_peak": 0.005082319024950266,
+  "reference_frame_count": 0,
+  "dataset_name": "dag911262r00025a_lerobot_0326_220254",
+  "episode_index": 456,
+  "sensor": "gripper_right_tactile"
+}
\ No newline at end of file
diff --git a/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-07/outputs_tactile/tactile_cache/dag911262r00025a_lerobot_0326_220254_1d1fdbda/episodes/ep000457/gripper_right_tactile_contact_metrics.json b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-07/outputs_tactile/tactile_cache/dag911262r00025a_lerobot_0326_220254_1d1fdbda/episodes/ep000457/gripper_right_tactile_contact_metrics.json
new file mode 100644
index 0000000000000000000000000000000000000000..ca076b0aafdb7ec96318368601e8766aa754ae27
--- /dev/null
+++ b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-07/outputs_tactile/tactile_cache/dag911262r00025a_lerobot_0326_220254_1d1fdbda/episodes/ep000457/gripper_right_tactile_contact_metrics.json
@@ -0,0 +1,12 @@
+{
+  "contact_time": 5.433333333333334,
+  "contact_ratio": 0.7342342342342343,
+  "avg_contact_area": 4628.331288343558,
+  "contact_entropy": 0.2097657865238678,
+  "total_frames": 222,
+  "fps": 30.0,
+  "reference_frame_count": 0,
+  "dataset_name": "dag911262r00025a_lerobot_0326_220254",
+  "episode_index": 457,
+  "sensor": "gripper_right_tactile"
+}
\ No newline at end of file
diff --git a/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-07/outputs_tactile/tactile_cache/dag911262r00025a_lerobot_0326_220254_1d1fdbda/episodes/ep000458/gripper_left_tactile_contact_metrics.json b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-07/outputs_tactile/tactile_cache/dag911262r00025a_lerobot_0326_220254_1d1fdbda/episodes/ep000458/gripper_left_tactile_contact_metrics.json
new file mode 100644
index 0000000000000000000000000000000000000000..4a2c2bf8f569aa6c559e9f0bc901f43d29abc195
--- /dev/null
+++ b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-07/outputs_tactile/tactile_cache/dag911262r00025a_lerobot_0326_220254_1d1fdbda/episodes/ep000458/gripper_left_tactile_contact_metrics.json
@@ -0,0 +1,12 @@
+{
+  "contact_time": 5.766666666666667,
+  "contact_ratio": 0.7456896551724138,
+  "avg_contact_area": 2552.9537572254335,
+  "contact_entropy": 0.06683289973393927,
+  "total_frames": 232,
+  "fps": 30.0,
+  "reference_frame_count": 0,
+  "dataset_name": "dag911262r00025a_lerobot_0326_220254",
+  "episode_index": 458,
+  "sensor": "gripper_left_tactile"
+}
\ No newline at end of file
diff --git a/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-07/outputs_tactile/tactile_cache/dag911262r00025a_lerobot_0326_220254_1d1fdbda/episodes/ep000458/gripper_right_tactile_force_metrics.json b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-07/outputs_tactile/tactile_cache/dag911262r00025a_lerobot_0326_220254_1d1fdbda/episodes/ep000458/gripper_right_tactile_force_metrics.json
new file mode 100644
index 0000000000000000000000000000000000000000..0d356b53ad2add0924368e85bb1ecd1cd85d4512
--- /dev/null
+++ b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-07/outputs_tactile/tactile_cache/dag911262r00025a_lerobot_0326_220254_1d1fdbda/episodes/ep000458/gripper_right_tactile_force_metrics.json
@@ -0,0 +1,9 @@
+{
+  "depth_peak": 0.005809536203742027,
+  "shear_peak": 0.003945762291550636,
+  "force_magnitude_peak": 0.006600472144782543,
+  "reference_frame_count": 0,
+  "dataset_name": "dag911262r00025a_lerobot_0326_220254",
+  "episode_index": 458,
+  "sensor": "gripper_right_tactile"
+}
\ No newline at end of file
diff --git a/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-07/outputs_tactile/tactile_cache/dag911262r00025a_lerobot_0326_220254_1d1fdbda/episodes/ep000459/gripper_left_tactile_force_metrics.json b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-07/outputs_tactile/tactile_cache/dag911262r00025a_lerobot_0326_220254_1d1fdbda/episodes/ep000459/gripper_left_tactile_force_metrics.json
new file mode 100644
index 0000000000000000000000000000000000000000..824cfec6dfb10db90c2f5a7c6272cbd59edf05a1
--- /dev/null
+++ b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-07/outputs_tactile/tactile_cache/dag911262r00025a_lerobot_0326_220254_1d1fdbda/episodes/ep000459/gripper_left_tactile_force_metrics.json
@@ -0,0 +1,9 @@
+{
+  "depth_peak": 0.007689638528972864,
+  "shear_peak": 0.0056729489006102085,
+  "force_magnitude_peak": 0.009435894899070263,
+  "reference_frame_count": 0,
+  "dataset_name": "dag911262r00025a_lerobot_0326_220254",
+  "episode_index": 459,
+  "sensor": "gripper_left_tactile"
+}
\ No newline at end of file
diff --git a/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-07/outputs_tactile/tactile_cache/dag911262r00025a_lerobot_0326_220254_1d1fdbda/episodes/ep000460/gripper_right_tactile_force_metrics.json b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-07/outputs_tactile/tactile_cache/dag911262r00025a_lerobot_0326_220254_1d1fdbda/episodes/ep000460/gripper_right_tactile_force_metrics.json
new file mode 100644
index 0000000000000000000000000000000000000000..0ee0fcceff9452f8720db99afb3a86fa60e40301
--- /dev/null
+++ b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-07/outputs_tactile/tactile_cache/dag911262r00025a_lerobot_0326_220254_1d1fdbda/episodes/ep000460/gripper_right_tactile_force_metrics.json
@@ -0,0 +1,9 @@
+{
+  "depth_peak": 0.008318395353853703,
+  "shear_peak": 0.0043863863684237,
+  "force_magnitude_peak": 0.009124352596700191,
+  "reference_frame_count": 0,
+  "dataset_name": "dag911262r00025a_lerobot_0326_220254",
+  "episode_index": 460,
+  "sensor": "gripper_right_tactile"
+}
\ No newline at end of file
diff --git a/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-07/outputs_tactile/tactile_cache/dag911262r00025a_lerobot_0326_220254_1d1fdbda/episodes/ep000462/gripper_left_tactile_contact_metrics.json b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-07/outputs_tactile/tactile_cache/dag911262r00025a_lerobot_0326_220254_1d1fdbda/episodes/ep000462/gripper_left_tactile_contact_metrics.json
new file mode 100644
index 0000000000000000000000000000000000000000..4c35587411615320a9395e3579095ab10386d80d
--- /dev/null
+++ b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-07/outputs_tactile/tactile_cache/dag911262r00025a_lerobot_0326_220254_1d1fdbda/episodes/ep000462/gripper_left_tactile_contact_metrics.json
@@ -0,0 +1,12 @@
+{
+  "contact_time": 7.0,
+  "contact_ratio": 0.7720588235294118,
+  "avg_contact_area": 3178.947619047619,
+  "contact_entropy": 0.15663601516375517,
+  "total_frames": 272,
+  "fps": 30.0,
+  "reference_frame_count": 0,
+  "dataset_name": "dag911262r00025a_lerobot_0326_220254",
+  "episode_index": 462,
+  "sensor": "gripper_left_tactile"
+}
\ No newline at end of file
diff --git a/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-07/outputs_tactile/tactile_cache/dag911262r00025a_lerobot_0326_220254_1d1fdbda/episodes/ep000464/gripper_left_tactile_force_metrics.json b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-07/outputs_tactile/tactile_cache/dag911262r00025a_lerobot_0326_220254_1d1fdbda/episodes/ep000464/gripper_left_tactile_force_metrics.json
new file mode 100644
index 0000000000000000000000000000000000000000..b588d39ac77a6b49f0d234c5a98f8f3d0dce1d26
--- /dev/null
+++ b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-07/outputs_tactile/tactile_cache/dag911262r00025a_lerobot_0326_220254_1d1fdbda/episodes/ep000464/gripper_left_tactile_force_metrics.json
@@ -0,0 +1,9 @@
+{
+  "depth_peak": 0.004605753812938929,
+  "shear_peak": 0.004343434702605009,
+  "force_magnitude_peak": 0.0062050120905041695,
+  "reference_frame_count": 0,
+  "dataset_name": "dag911262r00025a_lerobot_0326_220254",
+  "episode_index": 464,
+  "sensor": "gripper_left_tactile"
+}
\ No newline at end of file
diff --git a/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-07/outputs_tactile/tactile_cache/dag911262r00025a_lerobot_0326_220254_1d1fdbda/episodes/ep000469/gripper_left_tactile_force_metrics.json b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-07/outputs_tactile/tactile_cache/dag911262r00025a_lerobot_0326_220254_1d1fdbda/episodes/ep000469/gripper_left_tactile_force_metrics.json
new file mode 100644
index 0000000000000000000000000000000000000000..ae914508fdece72f83422369f4d4f3e0b40bf26b
--- /dev/null
+++ b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-07/outputs_tactile/tactile_cache/dag911262r00025a_lerobot_0326_220254_1d1fdbda/episodes/ep000469/gripper_left_tactile_force_metrics.json
@@ -0,0 +1,9 @@
+{
+  "depth_peak": 0.007558587938547134,
+  "shear_peak": 0.00747414818033576,
+  "force_magnitude_peak": 0.009231003932654858,
+  "reference_frame_count": 0,
+  "dataset_name": "dag911262r00025a_lerobot_0326_220254",
+  "episode_index": 469,
+  "sensor": "gripper_left_tactile"
+}
\ No newline at end of file
diff --git a/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-07/outputs_tactile/tactile_cache/dag911262r00025a_lerobot_0326_220254_1d1fdbda/episodes/ep000470/gripper_right_tactile_contact_metrics.json b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-07/outputs_tactile/tactile_cache/dag911262r00025a_lerobot_0326_220254_1d1fdbda/episodes/ep000470/gripper_right_tactile_contact_metrics.json
new file mode 100644
index 0000000000000000000000000000000000000000..81381080bfb1eddf3cc8409a627e6c6b4fbfd77c
--- /dev/null
+++ b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-07/outputs_tactile/tactile_cache/dag911262r00025a_lerobot_0326_220254_1d1fdbda/episodes/ep000470/gripper_right_tactile_contact_metrics.json
@@ -0,0 +1,12 @@
+{
+  "contact_time": 8.5,
+  "contact_ratio": 0.8121019108280255,
+  "avg_contact_area": 840.3921568627451,
+  "contact_entropy": 0.268955197976939,
+  "total_frames": 314,
+  "fps": 30.0,
+  "reference_frame_count": 0,
+  "dataset_name": "dag911262r00025a_lerobot_0326_220254",
+  "episode_index": 470,
+  "sensor": "gripper_right_tactile"
+}
\ No newline at end of file
diff --git a/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-07/outputs_tactile/tactile_cache/dag911262r00025a_lerobot_0326_220254_1d1fdbda/episodes/ep000471/gripper_left_tactile_force_metrics.json b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-07/outputs_tactile/tactile_cache/dag911262r00025a_lerobot_0326_220254_1d1fdbda/episodes/ep000471/gripper_left_tactile_force_metrics.json
new file mode 100644
index 0000000000000000000000000000000000000000..c9da23e10e3ddd8096009c1447700cd7569fc7ed
--- /dev/null
+++ b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-07/outputs_tactile/tactile_cache/dag911262r00025a_lerobot_0326_220254_1d1fdbda/episodes/ep000471/gripper_left_tactile_force_metrics.json
@@ -0,0 +1,9 @@
+{
+  "depth_peak": 0.006896946579217911,
+  "shear_peak": 0.006355977151542902,
+  "force_magnitude_peak": 0.009379035793244839,
+  "reference_frame_count": 0,
+  "dataset_name": "dag911262r00025a_lerobot_0326_220254",
+  "episode_index": 471,
+  "sensor": "gripper_left_tactile"
+}
\ No newline at end of file
diff --git a/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-07/outputs_tactile/tactile_cache/dag911262r00025a_lerobot_0326_220254_1d1fdbda/episodes/ep000473/gripper_right_tactile_force_metrics.json b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-07/outputs_tactile/tactile_cache/dag911262r00025a_lerobot_0326_220254_1d1fdbda/episodes/ep000473/gripper_right_tactile_force_metrics.json
new file mode 100644
index 0000000000000000000000000000000000000000..94fd401820659b0dbf7c93ea2b4add3148ab10d6
--- /dev/null
+++ b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-07/outputs_tactile/tactile_cache/dag911262r00025a_lerobot_0326_220254_1d1fdbda/episodes/ep000473/gripper_right_tactile_force_metrics.json
@@ -0,0 +1,9 @@
+{
+  "depth_peak": 0.0021410963963717222,
+  "shear_peak": 0.002584822941571474,
+  "force_magnitude_peak": 0.003318465780466795,
+  "reference_frame_count": 0,
+  "dataset_name": "dag911262r00025a_lerobot_0326_220254",
+  "episode_index": 473,
+  "sensor": "gripper_right_tactile"
+}
\ No newline at end of file
diff --git a/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-07/outputs_tactile/tactile_cache/dag911262r00025a_lerobot_0326_220254_1d1fdbda/episodes/ep000477/gripper_right_tactile_contact_metrics.json b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-07/outputs_tactile/tactile_cache/dag911262r00025a_lerobot_0326_220254_1d1fdbda/episodes/ep000477/gripper_right_tactile_contact_metrics.json
new file mode 100644
index 0000000000000000000000000000000000000000..d21b5852f9cfa132fe67d7e889d2de3019fae5d5
--- /dev/null
+++ b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-07/outputs_tactile/tactile_cache/dag911262r00025a_lerobot_0326_220254_1d1fdbda/episodes/ep000477/gripper_right_tactile_contact_metrics.json
@@ -0,0 +1,12 @@
+{
+  "contact_time": 5.166666666666667,
+  "contact_ratio": 0.7242990654205608,
+  "avg_contact_area": 1130.7290322580645,
+  "contact_entropy": 0.26982943454442376,
+  "total_frames": 214,
+  "fps": 30.0,
+  "reference_frame_count": 0,
+  "dataset_name": "dag911262r00025a_lerobot_0326_220254",
+  "episode_index": 477,
+  "sensor": "gripper_right_tactile"
+}
\ No newline at end of file
diff --git a/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-07/outputs_tactile/tactile_cache/dag911262r00025a_lerobot_0326_220254_1d1fdbda/episodes/ep000479/gripper_right_tactile_contact_metrics.json b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-07/outputs_tactile/tactile_cache/dag911262r00025a_lerobot_0326_220254_1d1fdbda/episodes/ep000479/gripper_right_tactile_contact_metrics.json
new file mode 100644
index 0000000000000000000000000000000000000000..65538ff1af95c1b5653510ecb1294ca48b377edb
--- /dev/null
+++ b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-07/outputs_tactile/tactile_cache/dag911262r00025a_lerobot_0326_220254_1d1fdbda/episodes/ep000479/gripper_right_tactile_contact_metrics.json
@@ -0,0 +1,12 @@
+{
+  "contact_time": 5.9,
+  "contact_ratio": 0.7405857740585774,
+  "avg_contact_area": 729.6214689265537,
+  "contact_entropy": 0.2137771724312159,
+  "total_frames": 239,
+  "fps": 30.0,
+  "reference_frame_count": 0,
+  "dataset_name": "dag911262r00025a_lerobot_0326_220254",
+  "episode_index": 479,
+  "sensor": "gripper_right_tactile"
+}
\ No newline at end of file
diff --git a/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-07/outputs_tactile/tactile_cache/dag911262r00025a_lerobot_0326_220254_1d1fdbda/episodes/ep000483/gripper_left_tactile_contact_metrics.json b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-07/outputs_tactile/tactile_cache/dag911262r00025a_lerobot_0326_220254_1d1fdbda/episodes/ep000483/gripper_left_tactile_contact_metrics.json
new file mode 100644
index 0000000000000000000000000000000000000000..b0e402abe9719c1ac67d9c84e7c313e4c1e74f48
--- /dev/null
+++ b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-07/outputs_tactile/tactile_cache/dag911262r00025a_lerobot_0326_220254_1d1fdbda/episodes/ep000483/gripper_left_tactile_contact_metrics.json
@@ -0,0 +1,12 @@
+{
+  "contact_time": 6.9,
+  "contact_ratio": 0.7695167286245354,
+  "avg_contact_area": 1609.159420289855,
+  "contact_entropy": 0.5750240463632736,
+  "total_frames": 269,
+  "fps": 30.0,
+  "reference_frame_count": 0,
+  "dataset_name": "dag911262r00025a_lerobot_0326_220254",
+  "episode_index": 483,
+  "sensor": "gripper_left_tactile"
+}
\ No newline at end of file
diff --git a/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-07/outputs_tactile/tactile_cache/dag911262r00025a_lerobot_0326_220254_1d1fdbda/episodes/ep000484/gripper_left_tactile_force_metrics.json b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-07/outputs_tactile/tactile_cache/dag911262r00025a_lerobot_0326_220254_1d1fdbda/episodes/ep000484/gripper_left_tactile_force_metrics.json
new file mode 100644
index 0000000000000000000000000000000000000000..89be147b800d47561f1f439473fd33e7bf9ff2c4
--- /dev/null
+++ b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-07/outputs_tactile/tactile_cache/dag911262r00025a_lerobot_0326_220254_1d1fdbda/episodes/ep000484/gripper_left_tactile_force_metrics.json
@@ -0,0 +1,9 @@
+{
+  "depth_peak": 0.0022926952224224806,
+  "shear_peak": 0.003981507383286953,
+  "force_magnitude_peak": 0.004137527197599411,
+  "reference_frame_count": 0,
+  "dataset_name": "dag911262r00025a_lerobot_0326_220254",
+  "episode_index": 484,
+  "sensor": "gripper_left_tactile"
+}
\ No newline at end of file
diff --git a/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-07/outputs_tactile/tactile_cache/dag911262r00025a_lerobot_0326_220254_1d1fdbda/episodes/ep000488/gripper_left_tactile_contact_metrics.json b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-07/outputs_tactile/tactile_cache/dag911262r00025a_lerobot_0326_220254_1d1fdbda/episodes/ep000488/gripper_left_tactile_contact_metrics.json
new file mode 100644
index 0000000000000000000000000000000000000000..8b7027d96214386bbb2edb6778f7039a761d6b2e
--- /dev/null
+++ b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-07/outputs_tactile/tactile_cache/dag911262r00025a_lerobot_0326_220254_1d1fdbda/episodes/ep000488/gripper_left_tactile_contact_metrics.json
@@ -0,0 +1,12 @@
+{
+  "contact_time": 8.4,
+  "contact_ratio": 0.865979381443299,
+  "avg_contact_area": 2661.1071428571427,
+  "contact_entropy": 0.360165655530399,
+  "total_frames": 291,
+  "fps": 30.0,
+  "reference_frame_count": 0,
+  "dataset_name": "dag911262r00025a_lerobot_0326_220254",
+  "episode_index": 488,
+  "sensor": "gripper_left_tactile"
+}
\ No newline at end of file
diff --git a/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-07/outputs_tactile/tactile_cache/dag911262r00025a_lerobot_0326_220254_1d1fdbda/episodes/ep000491/gripper_right_tactile_force_metrics.json b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-07/outputs_tactile/tactile_cache/dag911262r00025a_lerobot_0326_220254_1d1fdbda/episodes/ep000491/gripper_right_tactile_force_metrics.json
new file mode 100644
index 0000000000000000000000000000000000000000..d9ecf763de57719f8cd25ba8b8f371043f6f6c7b
--- /dev/null
+++ b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-07/outputs_tactile/tactile_cache/dag911262r00025a_lerobot_0326_220254_1d1fdbda/episodes/ep000491/gripper_right_tactile_force_metrics.json
@@ -0,0 +1,9 @@
+{
+  "depth_peak": 0.009478216990828514,
+  "shear_peak": 0.0027998362202197313,
+  "force_magnitude_peak": 0.009535436518490314,
+  "reference_frame_count": 0,
+  "dataset_name": "dag911262r00025a_lerobot_0326_220254",
+  "episode_index": 491,
+  "sensor": "gripper_right_tactile"
+}
\ No newline at end of file
diff --git a/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-07/outputs_tactile/tactile_cache/dag911262r00025a_lerobot_0326_220254_1d1fdbda/episodes/ep000495/gripper_right_tactile_contact_metrics.json b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-07/outputs_tactile/tactile_cache/dag911262r00025a_lerobot_0326_220254_1d1fdbda/episodes/ep000495/gripper_right_tactile_contact_metrics.json
new file mode 100644
index 0000000000000000000000000000000000000000..a103cf3bd854e0d277b01b60acefad11d5b64556
--- /dev/null
+++ b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-07/outputs_tactile/tactile_cache/dag911262r00025a_lerobot_0326_220254_1d1fdbda/episodes/ep000495/gripper_right_tactile_contact_metrics.json
@@ -0,0 +1,12 @@
+{
+  "contact_time": 5.233333333333333,
+  "contact_ratio": 0.7168949771689498,
+  "avg_contact_area": 3162.6496815286623,
+  "contact_entropy": 0.24080984621285054,
+  "total_frames": 219,
+  "fps": 30.0,
+  "reference_frame_count": 0,
+  "dataset_name": "dag911262r00025a_lerobot_0326_220254",
+  "episode_index": 495,
+  "sensor": "gripper_right_tactile"
+}
\ No newline at end of file
diff --git a/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-07/outputs_tactile/tactile_cache/dag911262r00025a_lerobot_0326_220254_1d1fdbda/episodes/ep000496/gripper_left_tactile_contact_metrics.json b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-07/outputs_tactile/tactile_cache/dag911262r00025a_lerobot_0326_220254_1d1fdbda/episodes/ep000496/gripper_left_tactile_contact_metrics.json
new file mode 100644
index 0000000000000000000000000000000000000000..2290cde4eb6a074070d740e3b8f338d2e70080df
--- /dev/null
+++ b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-07/outputs_tactile/tactile_cache/dag911262r00025a_lerobot_0326_220254_1d1fdbda/episodes/ep000496/gripper_left_tactile_contact_metrics.json
@@ -0,0 +1,12 @@
+{
+  "contact_time": 6.233333333333333,
+  "contact_ratio": 0.751004016064257,
+  "avg_contact_area": 2965.2780748663104,
+  "contact_entropy": 0.02056396202559458,
+  "total_frames": 249,
+  "fps": 30.0,
+  "reference_frame_count": 0,
+  "dataset_name": "dag911262r00025a_lerobot_0326_220254",
+  "episode_index": 496,
+  "sensor": "gripper_left_tactile"
+}
\ No newline at end of file
diff --git a/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-07/outputs_tactile/tactile_cache/dag911262r00025a_lerobot_0326_220254_1d1fdbda/episodes/ep000496/gripper_right_tactile_force_metrics.json b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-07/outputs_tactile/tactile_cache/dag911262r00025a_lerobot_0326_220254_1d1fdbda/episodes/ep000496/gripper_right_tactile_force_metrics.json
new file mode 100644
index 0000000000000000000000000000000000000000..2b77feaf55149e7a42d078fbab4c66e155e776c0
--- /dev/null
+++ b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-07/outputs_tactile/tactile_cache/dag911262r00025a_lerobot_0326_220254_1d1fdbda/episodes/ep000496/gripper_right_tactile_force_metrics.json
@@ -0,0 +1,9 @@
+{
+  "depth_peak": 0.0010914566228166223,
+  "shear_peak": 0.0024303249083459377,
+  "force_magnitude_peak": 0.00254294415935874,
+  "reference_frame_count": 0,
+  "dataset_name": "dag911262r00025a_lerobot_0326_220254",
+  "episode_index": 496,
+  "sensor": "gripper_right_tactile"
+}
\ No newline at end of file
diff --git a/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-07/outputs_tactile/tactile_cache/dag911262r00025a_lerobot_0326_220254_1d1fdbda/episodes/ep000497/gripper_right_tactile_contact_metrics.json b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-07/outputs_tactile/tactile_cache/dag911262r00025a_lerobot_0326_220254_1d1fdbda/episodes/ep000497/gripper_right_tactile_contact_metrics.json
new file mode 100644
index 0000000000000000000000000000000000000000..4457707929178c0d9c6f813ac3ad413b82dcc3ad
--- /dev/null
+++ b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-07/outputs_tactile/tactile_cache/dag911262r00025a_lerobot_0326_220254_1d1fdbda/episodes/ep000497/gripper_right_tactile_contact_metrics.json
@@ -0,0 +1,12 @@
+{
+  "contact_time": 4.666666666666667,
+  "contact_ratio": 0.693069306930693,
+  "avg_contact_area": 412.20714285714286,
+  "contact_entropy": 0.20057901842479603,
+  "total_frames": 202,
+  "fps": 30.0,
+  "reference_frame_count": 0,
+  "dataset_name": "dag911262r00025a_lerobot_0326_220254",
+  "episode_index": 497,
+  "sensor": "gripper_right_tactile"
+}
\ No newline at end of file
diff --git a/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-07/outputs_tactile/tactile_cache/dag911262r00025a_lerobot_0326_220254_1d1fdbda/episodes/ep000498/gripper_left_tactile_contact_metrics.json b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-07/outputs_tactile/tactile_cache/dag911262r00025a_lerobot_0326_220254_1d1fdbda/episodes/ep000498/gripper_left_tactile_contact_metrics.json
new file mode 100644
index 0000000000000000000000000000000000000000..7c81d728501df29662a9ad1f21e6342a98779a90
--- /dev/null
+++ b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-07/outputs_tactile/tactile_cache/dag911262r00025a_lerobot_0326_220254_1d1fdbda/episodes/ep000498/gripper_left_tactile_contact_metrics.json
@@ -0,0 +1,12 @@
+{
+  "contact_time": 6.2,
+  "contact_ratio": 0.7560975609756098,
+  "avg_contact_area": 7485.612903225807,
+  "contact_entropy": 0.3000256304727494,
+  "total_frames": 246,
+  "fps": 30.0,
+  "reference_frame_count": 0,
+  "dataset_name": "dag911262r00025a_lerobot_0326_220254",
+  "episode_index": 498,
+  "sensor": "gripper_left_tactile"
+}
\ No newline at end of file
diff --git a/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-07/outputs_tactile/tactile_cache/dag911262r00025a_lerobot_0326_220254_1d1fdbda/episodes/ep000498/gripper_right_tactile_force_metrics.json b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-07/outputs_tactile/tactile_cache/dag911262r00025a_lerobot_0326_220254_1d1fdbda/episodes/ep000498/gripper_right_tactile_force_metrics.json
new file mode 100644
index 0000000000000000000000000000000000000000..c94ed0b92aa3e667974060ef85a63cd2e9234fac
--- /dev/null
+++ b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-07/outputs_tactile/tactile_cache/dag911262r00025a_lerobot_0326_220254_1d1fdbda/episodes/ep000498/gripper_right_tactile_force_metrics.json
@@ -0,0 +1,9 @@
+{
+  "depth_peak": 0.006873218808323145,
+  "shear_peak": 0.002893280005082488,
+  "force_magnitude_peak": 0.007457359228283167,
+  "reference_frame_count": 0,
+  "dataset_name": "dag911262r00025a_lerobot_0326_220254",
+  "episode_index": 498,
+  "sensor": "gripper_right_tactile"
+}
\ No newline at end of file
diff --git a/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-07/outputs_tactile/tactile_cache/dag911262r00025a_lerobot_0326_220254_1d1fdbda/episodes/ep000499/gripper_left_tactile_force_metrics.json b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-07/outputs_tactile/tactile_cache/dag911262r00025a_lerobot_0326_220254_1d1fdbda/episodes/ep000499/gripper_left_tactile_force_metrics.json
new file mode 100644
index 0000000000000000000000000000000000000000..8c489ac14a772681e898ffa04036479dc64ca203
--- /dev/null
+++ b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-07/outputs_tactile/tactile_cache/dag911262r00025a_lerobot_0326_220254_1d1fdbda/episodes/ep000499/gripper_left_tactile_force_metrics.json
@@ -0,0 +1,9 @@
+{
+  "depth_peak": 0.00214748689904809,
+  "shear_peak": 0.006733715999871492,
+  "force_magnitude_peak": 0.007279661484062672,
+  "reference_frame_count": 0,
+  "dataset_name": "dag911262r00025a_lerobot_0326_220254",
+  "episode_index": 499,
+  "sensor": "gripper_left_tactile"
+}
\ No newline at end of file
diff --git a/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-07/outputs_tactile/tactile_cache/dag911262r00025a_lerobot_0326_220254_1d1fdbda/episodes/ep000500/gripper_right_tactile_force_metrics.json b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-07/outputs_tactile/tactile_cache/dag911262r00025a_lerobot_0326_220254_1d1fdbda/episodes/ep000500/gripper_right_tactile_force_metrics.json
new file mode 100644
index 0000000000000000000000000000000000000000..d4257d97eab4ab313467f61c3f44eb931fd69003
--- /dev/null
+++ b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-07/outputs_tactile/tactile_cache/dag911262r00025a_lerobot_0326_220254_1d1fdbda/episodes/ep000500/gripper_right_tactile_force_metrics.json
@@ -0,0 +1,9 @@
+{
+  "depth_peak": 0.0015589769463986158,
+  "shear_peak": 0.0020507315639406443,
+  "force_magnitude_peak": 0.0023129922337830067,
+  "reference_frame_count": 0,
+  "dataset_name": "dag911262r00025a_lerobot_0326_220254",
+  "episode_index": 500,
+  "sensor": "gripper_right_tactile"
+}
\ No newline at end of file
diff --git a/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-07/outputs_tactile/tactile_cache/dag911262r00025a_lerobot_0326_220254_1d1fdbda/episodes/ep000502/gripper_left_tactile_contact_metrics.json b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-07/outputs_tactile/tactile_cache/dag911262r00025a_lerobot_0326_220254_1d1fdbda/episodes/ep000502/gripper_left_tactile_contact_metrics.json
new file mode 100644
index 0000000000000000000000000000000000000000..50f0889ba24d904c46b63f08c13854ee40d379e8
--- /dev/null
+++ b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-07/outputs_tactile/tactile_cache/dag911262r00025a_lerobot_0326_220254_1d1fdbda/episodes/ep000502/gripper_left_tactile_contact_metrics.json
@@ -0,0 +1,12 @@
+{
+  "contact_time": 8.6,
+  "contact_ratio": 0.8686868686868687,
+  "avg_contact_area": 3212.9302325581393,
+  "contact_entropy": 0.21965958647027176,
+  "total_frames": 297,
+  "fps": 30.0,
+  "reference_frame_count": 0,
+  "dataset_name": "dag911262r00025a_lerobot_0326_220254",
+  "episode_index": 502,
+  "sensor": "gripper_left_tactile"
+}
\ No newline at end of file
diff --git a/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-07/outputs_tactile/tactile_cache/dag911262r00025a_lerobot_0326_220254_1d1fdbda/episodes/ep000504/gripper_left_tactile_force_metrics.json b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-07/outputs_tactile/tactile_cache/dag911262r00025a_lerobot_0326_220254_1d1fdbda/episodes/ep000504/gripper_left_tactile_force_metrics.json
new file mode 100644
index 0000000000000000000000000000000000000000..f077242f24ee2077383bd3847e8e2b38fe01e938
--- /dev/null
+++ b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-07/outputs_tactile/tactile_cache/dag911262r00025a_lerobot_0326_220254_1d1fdbda/episodes/ep000504/gripper_left_tactile_force_metrics.json
@@ -0,0 +1,9 @@
+{
+  "depth_peak": 0.004529292229562998,
+  "shear_peak": 0.002905055182054639,
+  "force_magnitude_peak": 0.004731493070721626,
+  "reference_frame_count": 0,
+  "dataset_name": "dag911262r00025a_lerobot_0326_220254",
+  "episode_index": 504,
+  "sensor": "gripper_left_tactile"
+}
\ No newline at end of file
diff --git a/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-07/outputs_tactile/tactile_cache/dag911262r00025a_lerobot_0326_220254_1d1fdbda/episodes/ep000509/gripper_left_tactile_force_metrics.json b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-07/outputs_tactile/tactile_cache/dag911262r00025a_lerobot_0326_220254_1d1fdbda/episodes/ep000509/gripper_left_tactile_force_metrics.json
new file mode 100644
index 0000000000000000000000000000000000000000..d71938e1a7bc54c8552c43a204eb350998903252
--- /dev/null
+++ b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-07/outputs_tactile/tactile_cache/dag911262r00025a_lerobot_0326_220254_1d1fdbda/episodes/ep000509/gripper_left_tactile_force_metrics.json
@@ -0,0 +1,9 @@
+{
+  "depth_peak": 0.0011970814084634185,
+  "shear_peak": 0.0011191553203389049,
+  "force_magnitude_peak": 0.004428032785654068,
+  "reference_frame_count": 0,
+  "dataset_name": "dag911262r00025a_lerobot_0326_220254",
+  "episode_index": 509,
+  "sensor": "gripper_left_tactile"
+}
\ No newline at end of file
diff --git a/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-07/outputs_tactile/tactile_cache/dag911262r00025a_lerobot_0326_220254_1d1fdbda/episodes/ep000510/gripper_right_tactile_contact_metrics.json b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-07/outputs_tactile/tactile_cache/dag911262r00025a_lerobot_0326_220254_1d1fdbda/episodes/ep000510/gripper_right_tactile_contact_metrics.json
new file mode 100644
index 0000000000000000000000000000000000000000..8d0cf513a97f49a285b9136e66835ef120c9b237
--- /dev/null
+++ b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-07/outputs_tactile/tactile_cache/dag911262r00025a_lerobot_0326_220254_1d1fdbda/episodes/ep000510/gripper_right_tactile_contact_metrics.json
@@ -0,0 +1,12 @@
+{
+  "contact_time": 4.7,
+  "contact_ratio": 0.6380090497737556,
+  "avg_contact_area": 5455.58865248227,
+  "contact_entropy": 0.69016421126657,
+  "total_frames": 221,
+  "fps": 30.0,
+  "reference_frame_count": 0,
+  "dataset_name": "dag911262r00025a_lerobot_0326_220254",
+  "episode_index": 510,
+  "sensor": "gripper_right_tactile"
+}
\ No newline at end of file
diff --git a/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-07/outputs_tactile/tactile_cache/dag911262r00025a_lerobot_0326_220254_1d1fdbda/episodes/ep000511/gripper_left_tactile_force_metrics.json b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-07/outputs_tactile/tactile_cache/dag911262r00025a_lerobot_0326_220254_1d1fdbda/episodes/ep000511/gripper_left_tactile_force_metrics.json
new file mode 100644
index 0000000000000000000000000000000000000000..fedd2554494073edffd40dde48ef957944dfd5f5
--- /dev/null
+++ b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-07/outputs_tactile/tactile_cache/dag911262r00025a_lerobot_0326_220254_1d1fdbda/episodes/ep000511/gripper_left_tactile_force_metrics.json
@@ -0,0 +1,9 @@
+{
+  "depth_peak": 0.0002960849378723651,
+  "shear_peak": 0.0018643538933247328,
+  "force_magnitude_peak": 0.0024052804801613092,
+  "reference_frame_count": 0,
+  "dataset_name": "dag911262r00025a_lerobot_0326_220254",
+  "episode_index": 511,
+  "sensor": "gripper_left_tactile"
+}
\ No newline at end of file
diff --git a/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-07/outputs_tactile/tactile_cache/dag911262r00025a_lerobot_0326_220254_1d1fdbda/episodes/ep000513/gripper_right_tactile_force_metrics.json b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-07/outputs_tactile/tactile_cache/dag911262r00025a_lerobot_0326_220254_1d1fdbda/episodes/ep000513/gripper_right_tactile_force_metrics.json
new file mode 100644
index 0000000000000000000000000000000000000000..a85842474b32131928fe7c833098315b93dda29d
--- /dev/null
+++ b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-07/outputs_tactile/tactile_cache/dag911262r00025a_lerobot_0326_220254_1d1fdbda/episodes/ep000513/gripper_right_tactile_force_metrics.json
@@ -0,0 +1,9 @@
+{
+  "depth_peak": 0.0017592140939086676,
+  "shear_peak": 0.0025910474359989166,
+  "force_magnitude_peak": 0.004227277357131243,
+  "reference_frame_count": 0,
+  "dataset_name": "dag911262r00025a_lerobot_0326_220254",
+  "episode_index": 513,
+  "sensor": "gripper_right_tactile"
+}
\ No newline at end of file
diff --git a/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-07/outputs_tactile/tactile_cache/dag911262r00025a_lerobot_0326_220254_1d1fdbda/episodes/ep000517/gripper_right_tactile_contact_metrics.json b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-07/outputs_tactile/tactile_cache/dag911262r00025a_lerobot_0326_220254_1d1fdbda/episodes/ep000517/gripper_right_tactile_contact_metrics.json
new file mode 100644
index 0000000000000000000000000000000000000000..440e3a5b2a28992335f55931024c9dd7724a5373
--- /dev/null
+++ b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-07/outputs_tactile/tactile_cache/dag911262r00025a_lerobot_0326_220254_1d1fdbda/episodes/ep000517/gripper_right_tactile_contact_metrics.json
@@ -0,0 +1,12 @@
+{
+  "contact_time": 6.833333333333333,
+  "contact_ratio": 0.8167330677290837,
+  "avg_contact_area": 3093.326829268293,
+  "contact_entropy": 0.054245446009247675,
+  "total_frames": 251,
+  "fps": 30.0,
+  "reference_frame_count": 0,
+  "dataset_name": "dag911262r00025a_lerobot_0326_220254",
+  "episode_index": 517,
+  "sensor": "gripper_right_tactile"
+}
\ No newline at end of file
diff --git a/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-07/outputs_tactile/tactile_cache/dag911262r00025a_lerobot_0326_220254_1d1fdbda/episodes/ep000519/gripper_right_tactile_contact_metrics.json b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-07/outputs_tactile/tactile_cache/dag911262r00025a_lerobot_0326_220254_1d1fdbda/episodes/ep000519/gripper_right_tactile_contact_metrics.json
new file mode 100644
index 0000000000000000000000000000000000000000..beff1078f5fd9b2fe70cc657268310b200ae0d52
--- /dev/null
+++ b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-07/outputs_tactile/tactile_cache/dag911262r00025a_lerobot_0326_220254_1d1fdbda/episodes/ep000519/gripper_right_tactile_contact_metrics.json
@@ -0,0 +1,12 @@
+{
+  "contact_time": 3.966666666666667,
+  "contact_ratio": 0.6685393258426966,
+  "avg_contact_area": 873.9243697478992,
+  "contact_entropy": 0.0,
+  "total_frames": 178,
+  "fps": 30.0,
+  "reference_frame_count": 0,
+  "dataset_name": "dag911262r00025a_lerobot_0326_220254",
+  "episode_index": 519,
+  "sensor": "gripper_right_tactile"
+}
\ No newline at end of file
diff --git a/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-07/outputs_tactile/tactile_cache/dag911262r00025a_lerobot_0326_220254_1d1fdbda/episodes/ep000523/gripper_left_tactile_contact_metrics.json b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-07/outputs_tactile/tactile_cache/dag911262r00025a_lerobot_0326_220254_1d1fdbda/episodes/ep000523/gripper_left_tactile_contact_metrics.json
new file mode 100644
index 0000000000000000000000000000000000000000..f2705b5a82b3350923b39e354220980a1e29e1f3
--- /dev/null
+++ b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-07/outputs_tactile/tactile_cache/dag911262r00025a_lerobot_0326_220254_1d1fdbda/episodes/ep000523/gripper_left_tactile_contact_metrics.json
@@ -0,0 +1,12 @@
+{
+  "contact_time": 4.766666666666667,
+  "contact_ratio": 0.8411764705882353,
+  "avg_contact_area": 6991.608391608392,
+  "contact_entropy": 0.703520022881431,
+  "total_frames": 170,
+  "fps": 30.0,
+  "reference_frame_count": 0,
+  "dataset_name": "dag911262r00025a_lerobot_0326_220254",
+  "episode_index": 523,
+  "sensor": "gripper_left_tactile"
+}
\ No newline at end of file
diff --git a/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-07/outputs_tactile/tactile_cache/dag911262r00025a_lerobot_0326_220254_1d1fdbda/episodes/ep000524/gripper_left_tactile_force_metrics.json b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-07/outputs_tactile/tactile_cache/dag911262r00025a_lerobot_0326_220254_1d1fdbda/episodes/ep000524/gripper_left_tactile_force_metrics.json
new file mode 100644
index 0000000000000000000000000000000000000000..3d0162d49882a7220094fc7d7c5d703436bfa234
--- /dev/null
+++ b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-07/outputs_tactile/tactile_cache/dag911262r00025a_lerobot_0326_220254_1d1fdbda/episodes/ep000524/gripper_left_tactile_force_metrics.json
@@ -0,0 +1,9 @@
+{
+  "depth_peak": 0.007764038164168596,
+  "shear_peak": 0.0012246104888617992,
+  "force_magnitude_peak": 0.007769952528178692,
+  "reference_frame_count": 0,
+  "dataset_name": "dag911262r00025a_lerobot_0326_220254",
+  "episode_index": 524,
+  "sensor": "gripper_left_tactile"
+}
\ No newline at end of file
diff --git a/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-07/outputs_tactile/tactile_cache/dag911262r00025a_lerobot_0326_220254_1d1fdbda/episodes/ep000528/gripper_left_tactile_contact_metrics.json b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-07/outputs_tactile/tactile_cache/dag911262r00025a_lerobot_0326_220254_1d1fdbda/episodes/ep000528/gripper_left_tactile_contact_metrics.json
new file mode 100644
index 0000000000000000000000000000000000000000..be89505c24983984ac7e912dea45118d38dc708a
--- /dev/null
+++ b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-07/outputs_tactile/tactile_cache/dag911262r00025a_lerobot_0326_220254_1d1fdbda/episodes/ep000528/gripper_left_tactile_contact_metrics.json
@@ -0,0 +1,12 @@
+{
+  "contact_time": 4.6,
+  "contact_ratio": 0.6865671641791045,
+  "avg_contact_area": 1495.9565217391305,
+  "contact_entropy": 0.22200026691974603,
+  "total_frames": 201,
+  "fps": 30.0,
+  "reference_frame_count": 0,
+  "dataset_name": "dag911262r00025a_lerobot_0326_220254",
+  "episode_index": 528,
+  "sensor": "gripper_left_tactile"
+}
\ No newline at end of file
diff --git a/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-07/outputs_tactile/tactile_cache/dag911262r00025a_lerobot_0326_220254_1d1fdbda/episodes/ep000531/gripper_right_tactile_force_metrics.json b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-07/outputs_tactile/tactile_cache/dag911262r00025a_lerobot_0326_220254_1d1fdbda/episodes/ep000531/gripper_right_tactile_force_metrics.json
new file mode 100644
index 0000000000000000000000000000000000000000..9fd3e2a4676fc6fe563ee6e27db36ae74905b33a
--- /dev/null
+++ b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-07/outputs_tactile/tactile_cache/dag911262r00025a_lerobot_0326_220254_1d1fdbda/episodes/ep000531/gripper_right_tactile_force_metrics.json
@@ -0,0 +1,9 @@
+{
+  "depth_peak": 0.012598716653883457,
+  "shear_peak": 0.006768416613340378,
+  "force_magnitude_peak": 0.014249817468225956,
+  "reference_frame_count": 0,
+  "dataset_name": "dag911262r00025a_lerobot_0326_220254",
+  "episode_index": 531,
+  "sensor": "gripper_right_tactile"
+}
\ No newline at end of file
diff --git a/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-07/outputs_tactile/tactile_cache/dag911262r00025a_lerobot_0326_220254_1d1fdbda/episodes/ep000535/gripper_right_tactile_contact_metrics.json b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-07/outputs_tactile/tactile_cache/dag911262r00025a_lerobot_0326_220254_1d1fdbda/episodes/ep000535/gripper_right_tactile_contact_metrics.json
new file mode 100644
index 0000000000000000000000000000000000000000..f9b04f1038b8e6d3b67302128b7a98fbe877f9f2
--- /dev/null
+++ b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-07/outputs_tactile/tactile_cache/dag911262r00025a_lerobot_0326_220254_1d1fdbda/episodes/ep000535/gripper_right_tactile_contact_metrics.json
@@ -0,0 +1,12 @@
+{
+  "contact_time": 5.9,
+  "contact_ratio": 0.8082191780821918,
+  "avg_contact_area": 2093.762711864407,
+  "contact_entropy": 0.07862735599455535,
+  "total_frames": 219,
+  "fps": 30.0,
+  "reference_frame_count": 0,
+  "dataset_name": "dag911262r00025a_lerobot_0326_220254",
+  "episode_index": 535,
+  "sensor": "gripper_right_tactile"
+}
\ No newline at end of file
diff --git a/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-07/outputs_tactile/tactile_cache/dag911262r00025a_lerobot_0326_220254_1d1fdbda/episodes/ep000536/gripper_left_tactile_contact_metrics.json b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-07/outputs_tactile/tactile_cache/dag911262r00025a_lerobot_0326_220254_1d1fdbda/episodes/ep000536/gripper_left_tactile_contact_metrics.json
new file mode 100644
index 0000000000000000000000000000000000000000..96d5dd2127485f11c08a3726e71825533dbd1524
--- /dev/null
+++ b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-07/outputs_tactile/tactile_cache/dag911262r00025a_lerobot_0326_220254_1d1fdbda/episodes/ep000536/gripper_left_tactile_contact_metrics.json
@@ -0,0 +1,12 @@
+{
+  "contact_time": 5.866666666666666,
+  "contact_ratio": 0.7927927927927928,
+  "avg_contact_area": 2520.931818181818,
+  "contact_entropy": 0.10724204973570865,
+  "total_frames": 222,
+  "fps": 30.0,
+  "reference_frame_count": 0,
+  "dataset_name": "dag911262r00025a_lerobot_0326_220254",
+  "episode_index": 536,
+  "sensor": "gripper_left_tactile"
+}
\ No newline at end of file
diff --git a/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-07/outputs_tactile/tactile_cache/dag911262r00025a_lerobot_0326_220254_1d1fdbda/episodes/ep000536/gripper_right_tactile_force_metrics.json b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-07/outputs_tactile/tactile_cache/dag911262r00025a_lerobot_0326_220254_1d1fdbda/episodes/ep000536/gripper_right_tactile_force_metrics.json
new file mode 100644
index 0000000000000000000000000000000000000000..cbfa0dd5e53d9fc883aaa0f5da0b34a55f00a3f4
--- /dev/null
+++ b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-07/outputs_tactile/tactile_cache/dag911262r00025a_lerobot_0326_220254_1d1fdbda/episodes/ep000536/gripper_right_tactile_force_metrics.json
@@ -0,0 +1,9 @@
+{
+  "depth_peak": 0.006517947651445866,
+  "shear_peak": 0.007939142175018787,
+  "force_magnitude_peak": 0.009397067129611969,
+  "reference_frame_count": 0,
+  "dataset_name": "dag911262r00025a_lerobot_0326_220254",
+  "episode_index": 536,
+  "sensor": "gripper_right_tactile"
+}
\ No newline at end of file
diff --git a/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-07/outputs_tactile/tactile_cache/dag911262r00025a_lerobot_0326_220254_1d1fdbda/episodes/ep000537/gripper_right_tactile_contact_metrics.json b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-07/outputs_tactile/tactile_cache/dag911262r00025a_lerobot_0326_220254_1d1fdbda/episodes/ep000537/gripper_right_tactile_contact_metrics.json
new file mode 100644
index 0000000000000000000000000000000000000000..5014c9be690d37dc10853476098a2bff063f94b7
--- /dev/null
+++ b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-07/outputs_tactile/tactile_cache/dag911262r00025a_lerobot_0326_220254_1d1fdbda/episodes/ep000537/gripper_right_tactile_contact_metrics.json
@@ -0,0 +1,12 @@
+{
+  "contact_time": 4.133333333333334,
+  "contact_ratio": 0.6631016042780749,
+  "avg_contact_area": 972.7983870967741,
+  "contact_entropy": 0.09402609371520443,
+  "total_frames": 187,
+  "fps": 30.0,
+  "reference_frame_count": 0,
+  "dataset_name": "dag911262r00025a_lerobot_0326_220254",
+  "episode_index": 537,
+  "sensor": "gripper_right_tactile"
+}
\ No newline at end of file
diff --git a/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-07/outputs_tactile/tactile_cache/dag911262r00025a_lerobot_0326_220254_1d1fdbda/episodes/ep000538/gripper_left_tactile_contact_metrics.json b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-07/outputs_tactile/tactile_cache/dag911262r00025a_lerobot_0326_220254_1d1fdbda/episodes/ep000538/gripper_left_tactile_contact_metrics.json
new file mode 100644
index 0000000000000000000000000000000000000000..1bafa24a25a7f0032d85f439262637e340eece24
--- /dev/null
+++ b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-07/outputs_tactile/tactile_cache/dag911262r00025a_lerobot_0326_220254_1d1fdbda/episodes/ep000538/gripper_left_tactile_contact_metrics.json
@@ -0,0 +1,12 @@
+{
+  "contact_time": 6.766666666666667,
+  "contact_ratio": 0.8675213675213675,
+  "avg_contact_area": 2208.3940886699506,
+  "contact_entropy": 0.10203429629078424,
+  "total_frames": 234,
+  "fps": 30.0,
+  "reference_frame_count": 0,
+  "dataset_name": "dag911262r00025a_lerobot_0326_220254",
+  "episode_index": 538,
+  "sensor": "gripper_left_tactile"
+}
\ No newline at end of file
diff --git a/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-07/outputs_tactile/tactile_cache/dag911262r00025a_lerobot_0326_220254_1d1fdbda/episodes/ep000538/gripper_right_tactile_force_metrics.json b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-07/outputs_tactile/tactile_cache/dag911262r00025a_lerobot_0326_220254_1d1fdbda/episodes/ep000538/gripper_right_tactile_force_metrics.json
new file mode 100644
index 0000000000000000000000000000000000000000..dab5b6af6eb12c8eee28ac01244f73495193572b
--- /dev/null
+++ b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-07/outputs_tactile/tactile_cache/dag911262r00025a_lerobot_0326_220254_1d1fdbda/episodes/ep000538/gripper_right_tactile_force_metrics.json
@@ -0,0 +1,9 @@
+{
+  "depth_peak": 0.0032675769180059433,
+  "shear_peak": 0.0008508289465680718,
+  "force_magnitude_peak": 0.0032911505550146103,
+  "reference_frame_count": 0,
+  "dataset_name": "dag911262r00025a_lerobot_0326_220254",
+  "episode_index": 538,
+  "sensor": "gripper_right_tactile"
+}
\ No newline at end of file
diff --git a/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-07/outputs_tactile/tactile_cache/dag911262r00025a_lerobot_0326_220254_1d1fdbda/episodes/ep000539/gripper_left_tactile_force_metrics.json b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-07/outputs_tactile/tactile_cache/dag911262r00025a_lerobot_0326_220254_1d1fdbda/episodes/ep000539/gripper_left_tactile_force_metrics.json
new file mode 100644
index 0000000000000000000000000000000000000000..81abdda89b1b1720b320553e54d7fcd6e79e32f9
--- /dev/null
+++ b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-07/outputs_tactile/tactile_cache/dag911262r00025a_lerobot_0326_220254_1d1fdbda/episodes/ep000539/gripper_left_tactile_force_metrics.json
@@ -0,0 +1,9 @@
+{
+  "depth_peak": 0.00217604567296803,
+  "shear_peak": 0.0038793571293354034,
+  "force_magnitude_peak": 0.004191918298602104,
+  "reference_frame_count": 0,
+  "dataset_name": "dag911262r00025a_lerobot_0326_220254",
+  "episode_index": 539,
+  "sensor": "gripper_left_tactile"
+}
\ No newline at end of file
diff --git a/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-07/outputs_tactile/tactile_cache/dag911262r00025a_lerobot_0326_220254_1d1fdbda/episodes/ep000540/gripper_right_tactile_force_metrics.json b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-07/outputs_tactile/tactile_cache/dag911262r00025a_lerobot_0326_220254_1d1fdbda/episodes/ep000540/gripper_right_tactile_force_metrics.json
new file mode 100644
index 0000000000000000000000000000000000000000..fcf873dae4da6ddb2eff56c23689813af1161bc8
--- /dev/null
+++ b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-07/outputs_tactile/tactile_cache/dag911262r00025a_lerobot_0326_220254_1d1fdbda/episodes/ep000540/gripper_right_tactile_force_metrics.json
@@ -0,0 +1,9 @@
+{
+  "depth_peak": 0.009343312121927738,
+  "shear_peak": 0.002852114150300622,
+  "force_magnitude_peak": 0.00954024400562048,
+  "reference_frame_count": 0,
+  "dataset_name": "dag911262r00025a_lerobot_0326_220254",
+  "episode_index": 540,
+  "sensor": "gripper_right_tactile"
+}
\ No newline at end of file
diff --git a/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-07/outputs_tactile/tactile_cache/dag911262r00025a_lerobot_0326_220254_1d1fdbda/episodes/ep000542/gripper_left_tactile_contact_metrics.json b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-07/outputs_tactile/tactile_cache/dag911262r00025a_lerobot_0326_220254_1d1fdbda/episodes/ep000542/gripper_left_tactile_contact_metrics.json
new file mode 100644
index 0000000000000000000000000000000000000000..69ddcc6fdbe114979f8f9f5e0cdfd561f764ebae
--- /dev/null
+++ b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-07/outputs_tactile/tactile_cache/dag911262r00025a_lerobot_0326_220254_1d1fdbda/episodes/ep000542/gripper_left_tactile_contact_metrics.json
@@ -0,0 +1,12 @@
+{
+  "contact_time": 4.9,
+  "contact_ratio": 0.7033492822966507,
+  "avg_contact_area": 2139.4897959183672,
+  "contact_entropy": 0.22542372774042657,
+  "total_frames": 209,
+  "fps": 30.0,
+  "reference_frame_count": 0,
+  "dataset_name": "dag911262r00025a_lerobot_0326_220254",
+  "episode_index": 542,
+  "sensor": "gripper_left_tactile"
+}
\ No newline at end of file
diff --git a/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-07/outputs_tactile/tactile_cache/dag911262r00025a_lerobot_0326_220254_1d1fdbda/episodes/ep000544/gripper_left_tactile_force_metrics.json b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-07/outputs_tactile/tactile_cache/dag911262r00025a_lerobot_0326_220254_1d1fdbda/episodes/ep000544/gripper_left_tactile_force_metrics.json
new file mode 100644
index 0000000000000000000000000000000000000000..63c2b52aa2a3a9410a1ab37c49f80b85b163a4e5
--- /dev/null
+++ b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-07/outputs_tactile/tactile_cache/dag911262r00025a_lerobot_0326_220254_1d1fdbda/episodes/ep000544/gripper_left_tactile_force_metrics.json
@@ -0,0 +1,9 @@
+{
+  "depth_peak": 0.007636734750121832,
+  "shear_peak": 0.0024040492717176676,
+  "force_magnitude_peak": 0.007769789546728134,
+  "reference_frame_count": 0,
+  "dataset_name": "dag911262r00025a_lerobot_0326_220254",
+  "episode_index": 544,
+  "sensor": "gripper_left_tactile"
+}
\ No newline at end of file
diff --git a/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-07/outputs_tactile/tactile_cache/dag911262r00025a_lerobot_0326_220254_1d1fdbda/episodes/ep000549/gripper_left_tactile_force_metrics.json b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-07/outputs_tactile/tactile_cache/dag911262r00025a_lerobot_0326_220254_1d1fdbda/episodes/ep000549/gripper_left_tactile_force_metrics.json
new file mode 100644
index 0000000000000000000000000000000000000000..7a66496efb8aebccd56ada2c6418df68ff20d7ce
--- /dev/null
+++ b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-07/outputs_tactile/tactile_cache/dag911262r00025a_lerobot_0326_220254_1d1fdbda/episodes/ep000549/gripper_left_tactile_force_metrics.json
@@ -0,0 +1,9 @@
+{
+  "depth_peak": 0.009091234765946865,
+  "shear_peak": 0.004522009752690792,
+  "force_magnitude_peak": 0.010153773240745068,
+  "reference_frame_count": 0,
+  "dataset_name": "dag911262r00025a_lerobot_0326_220254",
+  "episode_index": 549,
+  "sensor": "gripper_left_tactile"
+}
\ No newline at end of file
diff --git a/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-07/outputs_tactile/tactile_cache/dag911262r00025a_lerobot_0326_220254_1d1fdbda/episodes/ep000550/gripper_right_tactile_contact_metrics.json b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-07/outputs_tactile/tactile_cache/dag911262r00025a_lerobot_0326_220254_1d1fdbda/episodes/ep000550/gripper_right_tactile_contact_metrics.json
new file mode 100644
index 0000000000000000000000000000000000000000..8c626d987da36126d079025f04b45d8459c10337
--- /dev/null
+++ b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-07/outputs_tactile/tactile_cache/dag911262r00025a_lerobot_0326_220254_1d1fdbda/episodes/ep000550/gripper_right_tactile_contact_metrics.json
@@ -0,0 +1,12 @@
+{
+  "contact_time": 4.833333333333333,
+  "contact_ratio": 0.7837837837837838,
+  "avg_contact_area": 1230.344827586207,
+  "contact_entropy": 0.10702285615292417,
+  "total_frames": 185,
+  "fps": 30.0,
+  "reference_frame_count": 0,
+  "dataset_name": "dag911262r00025a_lerobot_0326_220254",
+  "episode_index": 550,
+  "sensor": "gripper_right_tactile"
+}
\ No newline at end of file
diff --git a/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-07/outputs_tactile/tactile_cache/dag911262r00025a_lerobot_0326_220254_1d1fdbda/episodes/ep000551/gripper_left_tactile_force_metrics.json b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-07/outputs_tactile/tactile_cache/dag911262r00025a_lerobot_0326_220254_1d1fdbda/episodes/ep000551/gripper_left_tactile_force_metrics.json
new file mode 100644
index 0000000000000000000000000000000000000000..371ae83c2ba2f8d45231bac6ddb1b7017a091ba5
--- /dev/null
+++ b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-07/outputs_tactile/tactile_cache/dag911262r00025a_lerobot_0326_220254_1d1fdbda/episodes/ep000551/gripper_left_tactile_force_metrics.json
@@ -0,0 +1,9 @@
+{
+  "depth_peak": 0.0004063381638843566,
+  "shear_peak": 0.0016797948628664017,
+  "force_magnitude_peak": 0.0026808532420545816,
+  "reference_frame_count": 0,
+  "dataset_name": "dag911262r00025a_lerobot_0326_220254",
+  "episode_index": 551,
+  "sensor": "gripper_left_tactile"
+}
\ No newline at end of file
diff --git a/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-07/outputs_tactile/tactile_cache/dag911262r00025a_lerobot_0326_220254_1d1fdbda/episodes/ep000553/gripper_right_tactile_force_metrics.json b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-07/outputs_tactile/tactile_cache/dag911262r00025a_lerobot_0326_220254_1d1fdbda/episodes/ep000553/gripper_right_tactile_force_metrics.json
new file mode 100644
index 0000000000000000000000000000000000000000..feee212f83c5ba2500f0acaa3aa0c67312db2d88
--- /dev/null
+++ b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-07/outputs_tactile/tactile_cache/dag911262r00025a_lerobot_0326_220254_1d1fdbda/episodes/ep000553/gripper_right_tactile_force_metrics.json
@@ -0,0 +1,9 @@
+{
+  "depth_peak": 0.01039114035665989,
+  "shear_peak": 0.005574927665293217,
+  "force_magnitude_peak": 0.011279556900262833,
+  "reference_frame_count": 0,
+  "dataset_name": "dag911262r00025a_lerobot_0326_220254",
+  "episode_index": 553,
+  "sensor": "gripper_right_tactile"
+}
\ No newline at end of file
diff --git a/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-07/outputs_tactile/tactile_cache/dag911262r00025a_lerobot_0326_220254_1d1fdbda/episodes/ep000557/gripper_right_tactile_contact_metrics.json b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-07/outputs_tactile/tactile_cache/dag911262r00025a_lerobot_0326_220254_1d1fdbda/episodes/ep000557/gripper_right_tactile_contact_metrics.json
new file mode 100644
index 0000000000000000000000000000000000000000..bbc552590c823a02d51c05bddd3491e5419c0d79
--- /dev/null
+++ b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-07/outputs_tactile/tactile_cache/dag911262r00025a_lerobot_0326_220254_1d1fdbda/episodes/ep000557/gripper_right_tactile_contact_metrics.json
@@ -0,0 +1,12 @@
+{
+  "contact_time": 4.833333333333333,
+  "contact_ratio": 0.847953216374269,
+  "avg_contact_area": 7472.337931034483,
+  "contact_entropy": 0.6743629569957199,
+  "total_frames": 171,
+  "fps": 30.0,
+  "reference_frame_count": 0,
+  "dataset_name": "dag911262r00025a_lerobot_0326_220254",
+  "episode_index": 557,
+  "sensor": "gripper_right_tactile"
+}
\ No newline at end of file
diff --git a/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-07/outputs_tactile/tactile_cache/dag911262r00025a_lerobot_0326_220254_1d1fdbda/episodes/ep000559/gripper_right_tactile_contact_metrics.json b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-07/outputs_tactile/tactile_cache/dag911262r00025a_lerobot_0326_220254_1d1fdbda/episodes/ep000559/gripper_right_tactile_contact_metrics.json
new file mode 100644
index 0000000000000000000000000000000000000000..7c4ec0c2fb471100c4ceae2d0aa87deb797d9b76
--- /dev/null
+++ b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-07/outputs_tactile/tactile_cache/dag911262r00025a_lerobot_0326_220254_1d1fdbda/episodes/ep000559/gripper_right_tactile_contact_metrics.json
@@ -0,0 +1,12 @@
+{
+  "contact_time": 3.533333333333333,
+  "contact_ratio": 0.6385542168674698,
+  "avg_contact_area": 1649.4245283018868,
+  "contact_entropy": 0.07722144552799706,
+  "total_frames": 166,
+  "fps": 30.0,
+  "reference_frame_count": 0,
+  "dataset_name": "dag911262r00025a_lerobot_0326_220254",
+  "episode_index": 559,
+  "sensor": "gripper_right_tactile"
+}
\ No newline at end of file
diff --git a/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-07/outputs_tactile/tactile_cache/dag911262r00025a_lerobot_0326_220254_1d1fdbda/episodes/ep000563/gripper_left_tactile_contact_metrics.json b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-07/outputs_tactile/tactile_cache/dag911262r00025a_lerobot_0326_220254_1d1fdbda/episodes/ep000563/gripper_left_tactile_contact_metrics.json
new file mode 100644
index 0000000000000000000000000000000000000000..bafb52d44c21216ee8a46534d25e666beb3c8556
--- /dev/null
+++ b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-07/outputs_tactile/tactile_cache/dag911262r00025a_lerobot_0326_220254_1d1fdbda/episodes/ep000563/gripper_left_tactile_contact_metrics.json
@@ -0,0 +1,12 @@
+{
+  "contact_time": 9.333333333333334,
+  "contact_ratio": 0.9150326797385621,
+  "avg_contact_area": 4202.125,
+  "contact_entropy": 0.4736143482787294,
+  "total_frames": 306,
+  "fps": 30.0,
+  "reference_frame_count": 0,
+  "dataset_name": "dag911262r00025a_lerobot_0326_220254",
+  "episode_index": 563,
+  "sensor": "gripper_left_tactile"
+}
\ No newline at end of file
diff --git a/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-07/outputs_tactile/tactile_cache/dag911262r00025a_lerobot_0326_220254_1d1fdbda/episodes/ep000564/gripper_left_tactile_force_metrics.json b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-07/outputs_tactile/tactile_cache/dag911262r00025a_lerobot_0326_220254_1d1fdbda/episodes/ep000564/gripper_left_tactile_force_metrics.json
new file mode 100644
index 0000000000000000000000000000000000000000..b44f2478b507aa53f9eb2d2c77ae74a1cfc5a046
--- /dev/null
+++ b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-07/outputs_tactile/tactile_cache/dag911262r00025a_lerobot_0326_220254_1d1fdbda/episodes/ep000564/gripper_left_tactile_force_metrics.json
@@ -0,0 +1,9 @@
+{
+  "depth_peak": 0.0031189394649118185,
+  "shear_peak": 0.0025234068743884563,
+  "force_magnitude_peak": 0.0033203153870999813,
+  "reference_frame_count": 0,
+  "dataset_name": "dag911262r00025a_lerobot_0326_220254",
+  "episode_index": 564,
+  "sensor": "gripper_left_tactile"
+}
\ No newline at end of file
diff --git a/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-07/outputs_tactile/tactile_cache/dag911262r00025a_lerobot_0326_220254_1d1fdbda/episodes/ep000568/gripper_left_tactile_contact_metrics.json b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-07/outputs_tactile/tactile_cache/dag911262r00025a_lerobot_0326_220254_1d1fdbda/episodes/ep000568/gripper_left_tactile_contact_metrics.json
new file mode 100644
index 0000000000000000000000000000000000000000..10dfbc9007c586f2aa537a652c9e2a75ca11d57e
--- /dev/null
+++ b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-07/outputs_tactile/tactile_cache/dag911262r00025a_lerobot_0326_220254_1d1fdbda/episodes/ep000568/gripper_left_tactile_contact_metrics.json
@@ -0,0 +1,12 @@
+{
+  "contact_time": 4.233333333333333,
+  "contact_ratio": 0.8193548387096774,
+  "avg_contact_area": 4577.881889763779,
+  "contact_entropy": 0.2871279179999349,
+  "total_frames": 155,
+  "fps": 30.0,
+  "reference_frame_count": 0,
+  "dataset_name": "dag911262r00025a_lerobot_0326_220254",
+  "episode_index": 568,
+  "sensor": "gripper_left_tactile"
+}
\ No newline at end of file
diff --git a/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-07/outputs_tactile/tactile_cache/dag911262r00025a_lerobot_0326_220254_1d1fdbda/episodes/ep000571/gripper_right_tactile_force_metrics.json b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-07/outputs_tactile/tactile_cache/dag911262r00025a_lerobot_0326_220254_1d1fdbda/episodes/ep000571/gripper_right_tactile_force_metrics.json
new file mode 100644
index 0000000000000000000000000000000000000000..b11f29166fa7391d6986bd4abc805abedfeede8f
--- /dev/null
+++ b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-07/outputs_tactile/tactile_cache/dag911262r00025a_lerobot_0326_220254_1d1fdbda/episodes/ep000571/gripper_right_tactile_force_metrics.json
@@ -0,0 +1,9 @@
+{
+  "depth_peak": 0.009116464294493198,
+  "shear_peak": 0.013345783576369286,
+  "force_magnitude_peak": 0.016162296757102013,
+  "reference_frame_count": 0,
+  "dataset_name": "dag911262r00025a_lerobot_0326_220254",
+  "episode_index": 571,
+  "sensor": "gripper_right_tactile"
+}
\ No newline at end of file
diff --git a/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-07/outputs_tactile/tactile_cache/dag911262r00025a_lerobot_0326_220254_1d1fdbda/episodes/ep000575/gripper_right_tactile_contact_metrics.json b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-07/outputs_tactile/tactile_cache/dag911262r00025a_lerobot_0326_220254_1d1fdbda/episodes/ep000575/gripper_right_tactile_contact_metrics.json
new file mode 100644
index 0000000000000000000000000000000000000000..25686f5e2ee2cc2b59472e962dcdb6863d0b6698
--- /dev/null
+++ b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-07/outputs_tactile/tactile_cache/dag911262r00025a_lerobot_0326_220254_1d1fdbda/episodes/ep000575/gripper_right_tactile_contact_metrics.json
@@ -0,0 +1,12 @@
+{
+  "contact_time": 4.966666666666667,
+  "contact_ratio": 0.7967914438502673,
+  "avg_contact_area": 14070.221476510067,
+  "contact_entropy": 0.3375392814130429,
+  "total_frames": 187,
+  "fps": 30.0,
+  "reference_frame_count": 0,
+  "dataset_name": "dag911262r00025a_lerobot_0326_220254",
+  "episode_index": 575,
+  "sensor": "gripper_right_tactile"
+}
\ No newline at end of file
diff --git a/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-07/outputs_tactile/tactile_cache/dag911262r00025a_lerobot_0326_220254_1d1fdbda/episodes/ep000576/gripper_left_tactile_contact_metrics.json b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-07/outputs_tactile/tactile_cache/dag911262r00025a_lerobot_0326_220254_1d1fdbda/episodes/ep000576/gripper_left_tactile_contact_metrics.json
new file mode 100644
index 0000000000000000000000000000000000000000..c82706d8a73abb7394bf1a02bae47f789b94a94d
--- /dev/null
+++ b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-07/outputs_tactile/tactile_cache/dag911262r00025a_lerobot_0326_220254_1d1fdbda/episodes/ep000576/gripper_left_tactile_contact_metrics.json
@@ -0,0 +1,12 @@
+{
+  "contact_time": 3.6,
+  "contact_ratio": 0.7248322147651006,
+  "avg_contact_area": 3782.6574074074074,
+  "contact_entropy": 0.3193550633438059,
+  "total_frames": 149,
+  "fps": 30.0,
+  "reference_frame_count": 0,
+  "dataset_name": "dag911262r00025a_lerobot_0326_220254",
+  "episode_index": 576,
+  "sensor": "gripper_left_tactile"
+}
\ No newline at end of file
diff --git a/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-07/outputs_tactile/tactile_cache/dag911262r00025a_lerobot_0326_220254_1d1fdbda/episodes/ep000576/gripper_right_tactile_force_metrics.json b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-07/outputs_tactile/tactile_cache/dag911262r00025a_lerobot_0326_220254_1d1fdbda/episodes/ep000576/gripper_right_tactile_force_metrics.json
new file mode 100644
index 0000000000000000000000000000000000000000..d921b5ac5f8cca871c70aebc25a594457a9b648a
--- /dev/null
+++ b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-07/outputs_tactile/tactile_cache/dag911262r00025a_lerobot_0326_220254_1d1fdbda/episodes/ep000576/gripper_right_tactile_force_metrics.json
@@ -0,0 +1,9 @@
+{
+  "depth_peak": 0.00722932955250144,
+  "shear_peak": 0.004782253876328468,
+  "force_magnitude_peak": 0.008357965387403965,
+  "reference_frame_count": 0,
+  "dataset_name": "dag911262r00025a_lerobot_0326_220254",
+  "episode_index": 576,
+  "sensor": "gripper_right_tactile"
+}
\ No newline at end of file
diff --git a/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-07/outputs_tactile/tactile_cache/dag911262r00025a_lerobot_0326_220254_1d1fdbda/episodes/ep000577/gripper_right_tactile_contact_metrics.json b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-07/outputs_tactile/tactile_cache/dag911262r00025a_lerobot_0326_220254_1d1fdbda/episodes/ep000577/gripper_right_tactile_contact_metrics.json
new file mode 100644
index 0000000000000000000000000000000000000000..18d4671ffa8670552b0a2d0bac558eb500edfc2a
--- /dev/null
+++ b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-07/outputs_tactile/tactile_cache/dag911262r00025a_lerobot_0326_220254_1d1fdbda/episodes/ep000577/gripper_right_tactile_contact_metrics.json
@@ -0,0 +1,12 @@
+{
+  "contact_time": 3.8,
+  "contact_ratio": 0.8201438848920863,
+  "avg_contact_area": 762.3947368421053,
+  "contact_entropy": 0.37088130607035863,
+  "total_frames": 139,
+  "fps": 30.0,
+  "reference_frame_count": 0,
+  "dataset_name": "dag911262r00025a_lerobot_0326_220254",
+  "episode_index": 577,
+  "sensor": "gripper_right_tactile"
+}
\ No newline at end of file
diff --git a/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-07/outputs_tactile/tactile_cache/dag911262r00025a_lerobot_0326_220254_1d1fdbda/episodes/ep000578/gripper_left_tactile_contact_metrics.json b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-07/outputs_tactile/tactile_cache/dag911262r00025a_lerobot_0326_220254_1d1fdbda/episodes/ep000578/gripper_left_tactile_contact_metrics.json
new file mode 100644
index 0000000000000000000000000000000000000000..a7555b24f6d24df649c61f66e7f328a9992aeb30
--- /dev/null
+++ b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-07/outputs_tactile/tactile_cache/dag911262r00025a_lerobot_0326_220254_1d1fdbda/episodes/ep000578/gripper_left_tactile_contact_metrics.json
@@ -0,0 +1,12 @@
+{
+  "contact_time": 6.8,
+  "contact_ratio": 0.8717948717948718,
+  "avg_contact_area": 4965.348039215686,
+  "contact_entropy": 0.019230452839649297,
+  "total_frames": 234,
+  "fps": 30.0,
+  "reference_frame_count": 0,
+  "dataset_name": "dag911262r00025a_lerobot_0326_220254",
+  "episode_index": 578,
+  "sensor": "gripper_left_tactile"
+}
\ No newline at end of file
diff --git a/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-07/outputs_tactile/tactile_cache/dag911262r00025a_lerobot_0326_220254_1d1fdbda/episodes/ep000578/gripper_right_tactile_force_metrics.json b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-07/outputs_tactile/tactile_cache/dag911262r00025a_lerobot_0326_220254_1d1fdbda/episodes/ep000578/gripper_right_tactile_force_metrics.json
new file mode 100644
index 0000000000000000000000000000000000000000..b5ecc3f66819208ac429fc0578dfcc24c06f884c
--- /dev/null
+++ b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-07/outputs_tactile/tactile_cache/dag911262r00025a_lerobot_0326_220254_1d1fdbda/episodes/ep000578/gripper_right_tactile_force_metrics.json
@@ -0,0 +1,9 @@
+{
+  "depth_peak": 0.0038931805174797773,
+  "shear_peak": 0.005770113319158554,
+  "force_magnitude_peak": 0.006903341971337795,
+  "reference_frame_count": 0,
+  "dataset_name": "dag911262r00025a_lerobot_0326_220254",
+  "episode_index": 578,
+  "sensor": "gripper_right_tactile"
+}
\ No newline at end of file
diff --git a/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-07/outputs_tactile/tactile_cache/dag911262r00025a_lerobot_0326_220254_1d1fdbda/episodes/ep000579/gripper_left_tactile_force_metrics.json b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-07/outputs_tactile/tactile_cache/dag911262r00025a_lerobot_0326_220254_1d1fdbda/episodes/ep000579/gripper_left_tactile_force_metrics.json
new file mode 100644
index 0000000000000000000000000000000000000000..c55c33f4aa264c4874f9a2c17524df6a738b2576
--- /dev/null
+++ b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-07/outputs_tactile/tactile_cache/dag911262r00025a_lerobot_0326_220254_1d1fdbda/episodes/ep000579/gripper_left_tactile_force_metrics.json
@@ -0,0 +1,9 @@
+{
+  "depth_peak": 0.002617090241983533,
+  "shear_peak": 0.006219899281859398,
+  "force_magnitude_peak": 0.006360555998980999,
+  "reference_frame_count": 0,
+  "dataset_name": "dag911262r00025a_lerobot_0326_220254",
+  "episode_index": 579,
+  "sensor": "gripper_left_tactile"
+}
\ No newline at end of file
diff --git a/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-07/outputs_tactile/tactile_cache/dag911262r00025a_lerobot_0326_220254_1d1fdbda/episodes/ep000580/gripper_right_tactile_force_metrics.json b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-07/outputs_tactile/tactile_cache/dag911262r00025a_lerobot_0326_220254_1d1fdbda/episodes/ep000580/gripper_right_tactile_force_metrics.json
new file mode 100644
index 0000000000000000000000000000000000000000..788afd303e1e57bdb62ad236c1006bcf113b337b
--- /dev/null
+++ b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-07/outputs_tactile/tactile_cache/dag911262r00025a_lerobot_0326_220254_1d1fdbda/episodes/ep000580/gripper_right_tactile_force_metrics.json
@@ -0,0 +1,9 @@
+{
+  "depth_peak": 0.008051133714616299,
+  "shear_peak": 0.0047084554098546505,
+  "force_magnitude_peak": 0.009161384776234627,
+  "reference_frame_count": 0,
+  "dataset_name": "dag911262r00025a_lerobot_0326_220254",
+  "episode_index": 580,
+  "sensor": "gripper_right_tactile"
+}
\ No newline at end of file
diff --git a/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-07/outputs_tactile/tactile_cache/dag911262r00025a_lerobot_0326_220254_1d1fdbda/episodes/ep000582/gripper_left_tactile_contact_metrics.json b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-07/outputs_tactile/tactile_cache/dag911262r00025a_lerobot_0326_220254_1d1fdbda/episodes/ep000582/gripper_left_tactile_contact_metrics.json
new file mode 100644
index 0000000000000000000000000000000000000000..826c7cd42b17a5682669217a62d823e0d1ec7d78
--- /dev/null
+++ b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-07/outputs_tactile/tactile_cache/dag911262r00025a_lerobot_0326_220254_1d1fdbda/episodes/ep000582/gripper_left_tactile_contact_metrics.json
@@ -0,0 +1,12 @@
+{
+  "contact_time": 3.7666666666666666,
+  "contact_ratio": 0.653179190751445,
+  "avg_contact_area": 2074.619469026549,
+  "contact_entropy": 0.024735215379599128,
+  "total_frames": 173,
+  "fps": 30.0,
+  "reference_frame_count": 0,
+  "dataset_name": "dag911262r00025a_lerobot_0326_220254",
+  "episode_index": 582,
+  "sensor": "gripper_left_tactile"
+}
\ No newline at end of file
diff --git a/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-07/outputs_tactile/tactile_cache/dag911262r00025a_lerobot_0326_220254_1d1fdbda/episodes/ep000584/gripper_left_tactile_force_metrics.json b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-07/outputs_tactile/tactile_cache/dag911262r00025a_lerobot_0326_220254_1d1fdbda/episodes/ep000584/gripper_left_tactile_force_metrics.json
new file mode 100644
index 0000000000000000000000000000000000000000..2d49e88faf1b9ce171f8e54e0555a573acefd226
--- /dev/null
+++ b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-07/outputs_tactile/tactile_cache/dag911262r00025a_lerobot_0326_220254_1d1fdbda/episodes/ep000584/gripper_left_tactile_force_metrics.json
@@ -0,0 +1,9 @@
+{
+  "depth_peak": 0.0013217502273619175,
+  "shear_peak": 0.0014793102163821459,
+  "force_magnitude_peak": 0.002359323436394334,
+  "reference_frame_count": 0,
+  "dataset_name": "dag911262r00025a_lerobot_0326_220254",
+  "episode_index": 584,
+  "sensor": "gripper_left_tactile"
+}
\ No newline at end of file
diff --git a/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-07/outputs_tactile/tactile_cache/dag911262r00025a_lerobot_0326_220254_1d1fdbda/episodes/ep000589/gripper_left_tactile_force_metrics.json b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-07/outputs_tactile/tactile_cache/dag911262r00025a_lerobot_0326_220254_1d1fdbda/episodes/ep000589/gripper_left_tactile_force_metrics.json
new file mode 100644
index 0000000000000000000000000000000000000000..3c978e5ec15eb0b75b8ed47c31968adda39d6971
--- /dev/null
+++ b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-07/outputs_tactile/tactile_cache/dag911262r00025a_lerobot_0326_220254_1d1fdbda/episodes/ep000589/gripper_left_tactile_force_metrics.json
@@ -0,0 +1,9 @@
+{
+  "depth_peak": 0.0034929108805954456,
+  "shear_peak": 0.004405660089105368,
+  "force_magnitude_peak": 0.005622300785034895,
+  "reference_frame_count": 0,
+  "dataset_name": "dag911262r00025a_lerobot_0326_220254",
+  "episode_index": 589,
+  "sensor": "gripper_left_tactile"
+}
\ No newline at end of file
diff --git a/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-07/outputs_tactile/tactile_cache/dag911262r00025a_lerobot_0326_220254_1d1fdbda/episodes/ep000590/gripper_right_tactile_contact_metrics.json b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-07/outputs_tactile/tactile_cache/dag911262r00025a_lerobot_0326_220254_1d1fdbda/episodes/ep000590/gripper_right_tactile_contact_metrics.json
new file mode 100644
index 0000000000000000000000000000000000000000..f77a46ba46eb190955e3f01e3d1e1fc154510fd0
--- /dev/null
+++ b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-07/outputs_tactile/tactile_cache/dag911262r00025a_lerobot_0326_220254_1d1fdbda/episodes/ep000590/gripper_right_tactile_contact_metrics.json
@@ -0,0 +1,12 @@
+{
+  "contact_time": 5.433333333333334,
+  "contact_ratio": 0.6791666666666667,
+  "avg_contact_area": 1484.723926380368,
+  "contact_entropy": 0.7811959782112622,
+  "total_frames": 240,
+  "fps": 30.0,
+  "reference_frame_count": 0,
+  "dataset_name": "dag911262r00025a_lerobot_0326_220254",
+  "episode_index": 590,
+  "sensor": "gripper_right_tactile"
+}
\ No newline at end of file
diff --git a/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-07/outputs_tactile/tactile_cache/dag911262r00025a_lerobot_0326_220254_1d1fdbda/episodes/ep000591/gripper_left_tactile_force_metrics.json b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-07/outputs_tactile/tactile_cache/dag911262r00025a_lerobot_0326_220254_1d1fdbda/episodes/ep000591/gripper_left_tactile_force_metrics.json
new file mode 100644
index 0000000000000000000000000000000000000000..6b192d931e3517892c0e94532572161922a686a1
--- /dev/null
+++ b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-07/outputs_tactile/tactile_cache/dag911262r00025a_lerobot_0326_220254_1d1fdbda/episodes/ep000591/gripper_left_tactile_force_metrics.json
@@ -0,0 +1,9 @@
+{
+  "depth_peak": 0.010703151114284992,
+  "shear_peak": 0.005401664413511753,
+  "force_magnitude_peak": 0.011988970451056957,
+  "reference_frame_count": 0,
+  "dataset_name": "dag911262r00025a_lerobot_0326_220254",
+  "episode_index": 591,
+  "sensor": "gripper_left_tactile"
+}
\ No newline at end of file
diff --git a/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-07/outputs_tactile/tactile_cache/dag911262r00025a_lerobot_0326_220254_1d1fdbda/episodes/ep000593/gripper_right_tactile_force_metrics.json b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-07/outputs_tactile/tactile_cache/dag911262r00025a_lerobot_0326_220254_1d1fdbda/episodes/ep000593/gripper_right_tactile_force_metrics.json
new file mode 100644
index 0000000000000000000000000000000000000000..7b4ae2b0c3e07d74ea67fedff7373f75785589fa
--- /dev/null
+++ b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-07/outputs_tactile/tactile_cache/dag911262r00025a_lerobot_0326_220254_1d1fdbda/episodes/ep000593/gripper_right_tactile_force_metrics.json
@@ -0,0 +1,9 @@
+{
+  "depth_peak": 0.002843511523678899,
+  "shear_peak": 0.0012537706643342972,
+  "force_magnitude_peak": 0.0029719092417508364,
+  "reference_frame_count": 0,
+  "dataset_name": "dag911262r00025a_lerobot_0326_220254",
+  "episode_index": 593,
+  "sensor": "gripper_right_tactile"
+}
\ No newline at end of file
diff --git a/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-07/outputs_tactile/tactile_cache/dag911262r00025a_lerobot_0326_220254_1d1fdbda/episodes/ep000597/gripper_right_tactile_contact_metrics.json b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-07/outputs_tactile/tactile_cache/dag911262r00025a_lerobot_0326_220254_1d1fdbda/episodes/ep000597/gripper_right_tactile_contact_metrics.json
new file mode 100644
index 0000000000000000000000000000000000000000..9a9413f0cd222ce275cc1563d111d029be05c9dc
--- /dev/null
+++ b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-07/outputs_tactile/tactile_cache/dag911262r00025a_lerobot_0326_220254_1d1fdbda/episodes/ep000597/gripper_right_tactile_contact_metrics.json
@@ -0,0 +1,12 @@
+{
+  "contact_time": 3.8666666666666667,
+  "contact_ratio": 0.655367231638418,
+  "avg_contact_area": 5197.0948275862065,
+  "contact_entropy": 0.11996402257353583,
+  "total_frames": 177,
+  "fps": 30.0,
+  "reference_frame_count": 0,
+  "dataset_name": "dag911262r00025a_lerobot_0326_220254",
+  "episode_index": 597,
+  "sensor": "gripper_right_tactile"
+}
\ No newline at end of file
diff --git a/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-07/outputs_tactile/tactile_cache/dag911262r00025a_lerobot_0326_220254_1d1fdbda/episodes/ep000599/gripper_right_tactile_contact_metrics.json b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-07/outputs_tactile/tactile_cache/dag911262r00025a_lerobot_0326_220254_1d1fdbda/episodes/ep000599/gripper_right_tactile_contact_metrics.json
new file mode 100644
index 0000000000000000000000000000000000000000..70aaece26855e83b0a99fefa6967ed5d8475e770
--- /dev/null
+++ b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-07/outputs_tactile/tactile_cache/dag911262r00025a_lerobot_0326_220254_1d1fdbda/episodes/ep000599/gripper_right_tactile_contact_metrics.json
@@ -0,0 +1,12 @@
+{
+  "contact_time": 5.566666666666666,
+  "contact_ratio": 0.9226519337016574,
+  "avg_contact_area": 5307.065868263473,
+  "contact_entropy": 0.2843189637226456,
+  "total_frames": 181,
+  "fps": 30.0,
+  "reference_frame_count": 0,
+  "dataset_name": "dag911262r00025a_lerobot_0326_220254",
+  "episode_index": 599,
+  "sensor": "gripper_right_tactile"
+}
\ No newline at end of file
diff --git a/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-07/outputs_tactile/tactile_cache/dag911262r00025a_lerobot_0326_220254_1d1fdbda/episodes/ep000603/gripper_left_tactile_contact_metrics.json b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-07/outputs_tactile/tactile_cache/dag911262r00025a_lerobot_0326_220254_1d1fdbda/episodes/ep000603/gripper_left_tactile_contact_metrics.json
new file mode 100644
index 0000000000000000000000000000000000000000..c0f47b079eecbc5fdc285232209e4a9542949ec8
--- /dev/null
+++ b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-07/outputs_tactile/tactile_cache/dag911262r00025a_lerobot_0326_220254_1d1fdbda/episodes/ep000603/gripper_left_tactile_contact_metrics.json
@@ -0,0 +1,12 @@
+{
+  "contact_time": 15.4,
+  "contact_ratio": 0.9148514851485149,
+  "avg_contact_area": 3080.969696969697,
+  "contact_entropy": 0.3513237478491758,
+  "total_frames": 505,
+  "fps": 30.0,
+  "reference_frame_count": 0,
+  "dataset_name": "dag911262r00025a_lerobot_0326_220254",
+  "episode_index": 603,
+  "sensor": "gripper_left_tactile"
+}
\ No newline at end of file
diff --git a/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-07/outputs_tactile/tactile_cache/dag911262r00025a_lerobot_0326_220254_1d1fdbda/episodes/ep000604/gripper_left_tactile_force_metrics.json b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-07/outputs_tactile/tactile_cache/dag911262r00025a_lerobot_0326_220254_1d1fdbda/episodes/ep000604/gripper_left_tactile_force_metrics.json
new file mode 100644
index 0000000000000000000000000000000000000000..fc5d093c9cbb0997cbb065f0302fa88a808c2172
--- /dev/null
+++ b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-07/outputs_tactile/tactile_cache/dag911262r00025a_lerobot_0326_220254_1d1fdbda/episodes/ep000604/gripper_left_tactile_force_metrics.json
@@ -0,0 +1,9 @@
+{
+  "depth_peak": 0.0023748790845274925,
+  "shear_peak": 0.0026428899727761745,
+  "force_magnitude_peak": 0.0034057919401675463,
+  "reference_frame_count": 0,
+  "dataset_name": "dag911262r00025a_lerobot_0326_220254",
+  "episode_index": 604,
+  "sensor": "gripper_left_tactile"
+}
\ No newline at end of file
diff --git a/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-07/outputs_tactile/tactile_cache/dag911262r00025a_lerobot_0326_220254_1d1fdbda/episodes/ep000608/gripper_left_tactile_contact_metrics.json b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-07/outputs_tactile/tactile_cache/dag911262r00025a_lerobot_0326_220254_1d1fdbda/episodes/ep000608/gripper_left_tactile_contact_metrics.json
new file mode 100644
index 0000000000000000000000000000000000000000..a97b8ddd52b2e3e1c0a89fa34381ddc540620647
--- /dev/null
+++ b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-07/outputs_tactile/tactile_cache/dag911262r00025a_lerobot_0326_220254_1d1fdbda/episodes/ep000608/gripper_left_tactile_contact_metrics.json
@@ -0,0 +1,12 @@
+{
+  "contact_time": 14.233333333333333,
+  "contact_ratio": 0.8714285714285714,
+  "avg_contact_area": 1937.2599531615924,
+  "contact_entropy": 0.15764212069261618,
+  "total_frames": 490,
+  "fps": 30.0,
+  "reference_frame_count": 0,
+  "dataset_name": "dag911262r00025a_lerobot_0326_220254",
+  "episode_index": 608,
+  "sensor": "gripper_left_tactile"
+}
\ No newline at end of file
diff --git a/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-07/outputs_tactile/tactile_cache/dag911262r00025a_lerobot_0326_220254_1d1fdbda/episodes/ep000611/gripper_right_tactile_force_metrics.json b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-07/outputs_tactile/tactile_cache/dag911262r00025a_lerobot_0326_220254_1d1fdbda/episodes/ep000611/gripper_right_tactile_force_metrics.json
new file mode 100644
index 0000000000000000000000000000000000000000..69882c8ac2e88c58b2f5dfb9845e6053c3e6acba
--- /dev/null
+++ b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-07/outputs_tactile/tactile_cache/dag911262r00025a_lerobot_0326_220254_1d1fdbda/episodes/ep000611/gripper_right_tactile_force_metrics.json
@@ -0,0 +1,9 @@
+{
+  "depth_peak": 0.011210772208869457,
+  "shear_peak": 0.007467809598892927,
+  "force_magnitude_peak": 0.013439050875604153,
+  "reference_frame_count": 0,
+  "dataset_name": "dag911262r00025a_lerobot_0326_220254",
+  "episode_index": 611,
+  "sensor": "gripper_right_tactile"
+}
\ No newline at end of file
diff --git a/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-07/outputs_tactile/tactile_cache/dag911262r00025a_lerobot_0326_220254_1d1fdbda/episodes/ep000615/gripper_right_tactile_contact_metrics.json b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-07/outputs_tactile/tactile_cache/dag911262r00025a_lerobot_0326_220254_1d1fdbda/episodes/ep000615/gripper_right_tactile_contact_metrics.json
new file mode 100644
index 0000000000000000000000000000000000000000..459b668e0a03a6f22b06d609d70e1b96a597d666
--- /dev/null
+++ b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-07/outputs_tactile/tactile_cache/dag911262r00025a_lerobot_0326_220254_1d1fdbda/episodes/ep000615/gripper_right_tactile_contact_metrics.json
@@ -0,0 +1,12 @@
+{
+  "contact_time": 3.3666666666666667,
+  "contact_ratio": 0.63125,
+  "avg_contact_area": 1444.2772277227723,
+  "contact_entropy": 0.08737559422105773,
+  "total_frames": 160,
+  "fps": 30.0,
+  "reference_frame_count": 0,
+  "dataset_name": "dag911262r00025a_lerobot_0326_220254",
+  "episode_index": 615,
+  "sensor": "gripper_right_tactile"
+}
\ No newline at end of file
diff --git a/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-07/outputs_tactile/tactile_cache/dag911262r00025a_lerobot_0326_220254_1d1fdbda/episodes/ep000616/gripper_left_tactile_contact_metrics.json b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-07/outputs_tactile/tactile_cache/dag911262r00025a_lerobot_0326_220254_1d1fdbda/episodes/ep000616/gripper_left_tactile_contact_metrics.json
new file mode 100644
index 0000000000000000000000000000000000000000..8db8b987868947edde3b77648bfe59c1bb7c3dae
--- /dev/null
+++ b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-07/outputs_tactile/tactile_cache/dag911262r00025a_lerobot_0326_220254_1d1fdbda/episodes/ep000616/gripper_left_tactile_contact_metrics.json
@@ -0,0 +1,12 @@
+{
+  "contact_time": 8.3,
+  "contact_ratio": 0.8924731182795699,
+  "avg_contact_area": 4204.8674698795185,
+  "contact_entropy": 0.5028398052945185,
+  "total_frames": 279,
+  "fps": 30.0,
+  "reference_frame_count": 0,
+  "dataset_name": "dag911262r00025a_lerobot_0326_220254",
+  "episode_index": 616,
+  "sensor": "gripper_left_tactile"
+}
\ No newline at end of file
diff --git a/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-07/outputs_tactile/tactile_cache/dag911262r00025a_lerobot_0326_220254_1d1fdbda/episodes/ep000616/gripper_right_tactile_force_metrics.json b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-07/outputs_tactile/tactile_cache/dag911262r00025a_lerobot_0326_220254_1d1fdbda/episodes/ep000616/gripper_right_tactile_force_metrics.json
new file mode 100644
index 0000000000000000000000000000000000000000..650e6239a6cf20ed8fe8082552f343397e5f0374
--- /dev/null
+++ b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-07/outputs_tactile/tactile_cache/dag911262r00025a_lerobot_0326_220254_1d1fdbda/episodes/ep000616/gripper_right_tactile_force_metrics.json
@@ -0,0 +1,9 @@
+{
+  "depth_peak": 0.012188511900603771,
+  "shear_peak": 0.0060017043724656105,
+  "force_magnitude_peak": 0.012234865687787533,
+  "reference_frame_count": 0,
+  "dataset_name": "dag911262r00025a_lerobot_0326_220254",
+  "episode_index": 616,
+  "sensor": "gripper_right_tactile"
+}
\ No newline at end of file
diff --git a/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-07/outputs_tactile/tactile_cache/dag911262r00025a_lerobot_0326_220254_1d1fdbda/episodes/ep000617/gripper_right_tactile_contact_metrics.json b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-07/outputs_tactile/tactile_cache/dag911262r00025a_lerobot_0326_220254_1d1fdbda/episodes/ep000617/gripper_right_tactile_contact_metrics.json
new file mode 100644
index 0000000000000000000000000000000000000000..81debe2f9092da752b6e0ea1ac425d6e5eef43a1
--- /dev/null
+++ b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-07/outputs_tactile/tactile_cache/dag911262r00025a_lerobot_0326_220254_1d1fdbda/episodes/ep000617/gripper_right_tactile_contact_metrics.json
@@ -0,0 +1,12 @@
+{
+  "contact_time": 16.066666666666666,
+  "contact_ratio": 0.9251439539347409,
+  "avg_contact_area": 2841.7697095435683,
+  "contact_entropy": 0.45136969334648913,
+  "total_frames": 521,
+  "fps": 30.0,
+  "reference_frame_count": 0,
+  "dataset_name": "dag911262r00025a_lerobot_0326_220254",
+  "episode_index": 617,
+  "sensor": "gripper_right_tactile"
+}
\ No newline at end of file
diff --git a/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-07/outputs_tactile/tactile_cache/dag911262r00025a_lerobot_0326_220254_1d1fdbda/episodes/ep000618/gripper_left_tactile_contact_metrics.json b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-07/outputs_tactile/tactile_cache/dag911262r00025a_lerobot_0326_220254_1d1fdbda/episodes/ep000618/gripper_left_tactile_contact_metrics.json
new file mode 100644
index 0000000000000000000000000000000000000000..006433790614a28e2de79ee7b178e9bd30b5e58c
--- /dev/null
+++ b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-07/outputs_tactile/tactile_cache/dag911262r00025a_lerobot_0326_220254_1d1fdbda/episodes/ep000618/gripper_left_tactile_contact_metrics.json
@@ -0,0 +1,12 @@
+{
+  "contact_time": 6.9,
+  "contact_ratio": 0.7781954887218046,
+  "avg_contact_area": 2464.463768115942,
+  "contact_entropy": 0.06657251114444068,
+  "total_frames": 266,
+  "fps": 30.0,
+  "reference_frame_count": 0,
+  "dataset_name": "dag911262r00025a_lerobot_0326_220254",
+  "episode_index": 618,
+  "sensor": "gripper_left_tactile"
+}
\ No newline at end of file
diff --git a/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-07/outputs_tactile/tactile_cache/dag911262r00025a_lerobot_0326_220254_1d1fdbda/episodes/ep000618/gripper_right_tactile_force_metrics.json b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-07/outputs_tactile/tactile_cache/dag911262r00025a_lerobot_0326_220254_1d1fdbda/episodes/ep000618/gripper_right_tactile_force_metrics.json
new file mode 100644
index 0000000000000000000000000000000000000000..d2ed705e1514a303a69b4f4d4f408fc7cc517c19
--- /dev/null
+++ b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-07/outputs_tactile/tactile_cache/dag911262r00025a_lerobot_0326_220254_1d1fdbda/episodes/ep000618/gripper_right_tactile_force_metrics.json
@@ -0,0 +1,9 @@
+{
+  "depth_peak": 0.0023208449129015207,
+  "shear_peak": 0.0012646755203604698,
+  "force_magnitude_peak": 0.002404420170933008,
+  "reference_frame_count": 0,
+  "dataset_name": "dag911262r00025a_lerobot_0326_220254",
+  "episode_index": 618,
+  "sensor": "gripper_right_tactile"
+}
\ No newline at end of file
diff --git a/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-07/outputs_tactile/tactile_cache/dag911262r00025a_lerobot_0326_220254_1d1fdbda/episodes/ep000619/gripper_left_tactile_force_metrics.json b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-07/outputs_tactile/tactile_cache/dag911262r00025a_lerobot_0326_220254_1d1fdbda/episodes/ep000619/gripper_left_tactile_force_metrics.json
new file mode 100644
index 0000000000000000000000000000000000000000..c72673fa7bf23171b58f2668a0d56b2d81e4fd34
--- /dev/null
+++ b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-07/outputs_tactile/tactile_cache/dag911262r00025a_lerobot_0326_220254_1d1fdbda/episodes/ep000619/gripper_left_tactile_force_metrics.json
@@ -0,0 +1,9 @@
+{
+  "depth_peak": 0.004275415558367968,
+  "shear_peak": 0.00373048335313797,
+  "force_magnitude_peak": 0.005221097264438868,
+  "reference_frame_count": 0,
+  "dataset_name": "dag911262r00025a_lerobot_0326_220254",
+  "episode_index": 619,
+  "sensor": "gripper_left_tactile"
+}
\ No newline at end of file
diff --git a/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-07/outputs_tactile/tactile_cache/dag911262r00025a_lerobot_0326_220254_1d1fdbda/episodes/ep000620/gripper_right_tactile_force_metrics.json b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-07/outputs_tactile/tactile_cache/dag911262r00025a_lerobot_0326_220254_1d1fdbda/episodes/ep000620/gripper_right_tactile_force_metrics.json
new file mode 100644
index 0000000000000000000000000000000000000000..4817f39b835b68306858ac2be494a2f0a092f3e8
--- /dev/null
+++ b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-07/outputs_tactile/tactile_cache/dag911262r00025a_lerobot_0326_220254_1d1fdbda/episodes/ep000620/gripper_right_tactile_force_metrics.json
@@ -0,0 +1,9 @@
+{
+  "depth_peak": 0.02005762979388237,
+  "shear_peak": 0.00743709784001112,
+  "force_magnitude_peak": 0.021319126710295677,
+  "reference_frame_count": 0,
+  "dataset_name": "dag911262r00025a_lerobot_0326_220254",
+  "episode_index": 620,
+  "sensor": "gripper_right_tactile"
+}
\ No newline at end of file
diff --git a/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-07/outputs_tactile/tactile_cache/dag911262r00025a_lerobot_0326_220254_1d1fdbda/episodes/ep000622/gripper_left_tactile_contact_metrics.json b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-07/outputs_tactile/tactile_cache/dag911262r00025a_lerobot_0326_220254_1d1fdbda/episodes/ep000622/gripper_left_tactile_contact_metrics.json
new file mode 100644
index 0000000000000000000000000000000000000000..7509e2d1bef819a3613de06c64cc3856618768a7
--- /dev/null
+++ b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-07/outputs_tactile/tactile_cache/dag911262r00025a_lerobot_0326_220254_1d1fdbda/episodes/ep000622/gripper_left_tactile_contact_metrics.json
@@ -0,0 +1,12 @@
+{
+  "contact_time": 7.566666666666666,
+  "contact_ratio": 0.8438661710037175,
+  "avg_contact_area": 1648.5418502202642,
+  "contact_entropy": 0.15488189434762442,
+  "total_frames": 269,
+  "fps": 30.0,
+  "reference_frame_count": 0,
+  "dataset_name": "dag911262r00025a_lerobot_0326_220254",
+  "episode_index": 622,
+  "sensor": "gripper_left_tactile"
+}
\ No newline at end of file
diff --git a/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-07/outputs_tactile/tactile_cache/dag911262r00025a_lerobot_0326_220254_1d1fdbda/episodes/ep000624/gripper_left_tactile_force_metrics.json b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-07/outputs_tactile/tactile_cache/dag911262r00025a_lerobot_0326_220254_1d1fdbda/episodes/ep000624/gripper_left_tactile_force_metrics.json
new file mode 100644
index 0000000000000000000000000000000000000000..70989a8dd8052672a24fe87c1431b472aa01113c
--- /dev/null
+++ b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-07/outputs_tactile/tactile_cache/dag911262r00025a_lerobot_0326_220254_1d1fdbda/episodes/ep000624/gripper_left_tactile_force_metrics.json
@@ -0,0 +1,9 @@
+{
+  "depth_peak": 0.0014590815408155322,
+  "shear_peak": 0.002763226628303528,
+  "force_magnitude_peak": 0.002839611377567053,
+  "reference_frame_count": 0,
+  "dataset_name": "dag911262r00025a_lerobot_0326_220254",
+  "episode_index": 624,
+  "sensor": "gripper_left_tactile"
+}
\ No newline at end of file
diff --git a/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-07/outputs_tactile/tactile_cache/dag911262r00025a_lerobot_0326_220254_1d1fdbda/episodes/ep000629/gripper_left_tactile_force_metrics.json b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-07/outputs_tactile/tactile_cache/dag911262r00025a_lerobot_0326_220254_1d1fdbda/episodes/ep000629/gripper_left_tactile_force_metrics.json
new file mode 100644
index 0000000000000000000000000000000000000000..26d986347867cf8fea82de2b94edcd422c797536
--- /dev/null
+++ b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-07/outputs_tactile/tactile_cache/dag911262r00025a_lerobot_0326_220254_1d1fdbda/episodes/ep000629/gripper_left_tactile_force_metrics.json
@@ -0,0 +1,9 @@
+{
+  "depth_peak": 0.013196046464145184,
+  "shear_peak": 0.0038355193100869656,
+  "force_magnitude_peak": 0.013323689810931683,
+  "reference_frame_count": 0,
+  "dataset_name": "dag911262r00025a_lerobot_0326_220254",
+  "episode_index": 629,
+  "sensor": "gripper_left_tactile"
+}
\ No newline at end of file
diff --git a/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-07/outputs_tactile/tactile_cache/dag911262r00025a_lerobot_0326_220254_1d1fdbda/episodes/ep000630/gripper_right_tactile_contact_metrics.json b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-07/outputs_tactile/tactile_cache/dag911262r00025a_lerobot_0326_220254_1d1fdbda/episodes/ep000630/gripper_right_tactile_contact_metrics.json
new file mode 100644
index 0000000000000000000000000000000000000000..0cec505031e4151a6d36cdbfaa3056f124d21050
--- /dev/null
+++ b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-07/outputs_tactile/tactile_cache/dag911262r00025a_lerobot_0326_220254_1d1fdbda/episodes/ep000630/gripper_right_tactile_contact_metrics.json
@@ -0,0 +1,12 @@
+{
+  "contact_time": 8.4,
+  "contact_ratio": 0.8542372881355932,
+  "avg_contact_area": 11207.603174603175,
+  "contact_entropy": 0.5732817716782876,
+  "total_frames": 295,
+  "fps": 30.0,
+  "reference_frame_count": 0,
+  "dataset_name": "dag911262r00025a_lerobot_0326_220254",
+  "episode_index": 630,
+  "sensor": "gripper_right_tactile"
+}
\ No newline at end of file
diff --git a/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-07/outputs_tactile/tactile_cache/dag911262r00025a_lerobot_0326_220254_1d1fdbda/episodes/ep000631/gripper_left_tactile_force_metrics.json b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-07/outputs_tactile/tactile_cache/dag911262r00025a_lerobot_0326_220254_1d1fdbda/episodes/ep000631/gripper_left_tactile_force_metrics.json
new file mode 100644
index 0000000000000000000000000000000000000000..57e53a7d8556335c854dd29d945f3afbf229d877
--- /dev/null
+++ b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-07/outputs_tactile/tactile_cache/dag911262r00025a_lerobot_0326_220254_1d1fdbda/episodes/ep000631/gripper_left_tactile_force_metrics.json
@@ -0,0 +1,9 @@
+{
+  "depth_peak": 0.002100505633279681,
+  "shear_peak": 0.004222067538648844,
+  "force_magnitude_peak": 0.004696952179074287,
+  "reference_frame_count": 0,
+  "dataset_name": "dag911262r00025a_lerobot_0326_220254",
+  "episode_index": 631,
+  "sensor": "gripper_left_tactile"
+}
\ No newline at end of file
diff --git a/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-07/outputs_tactile/tactile_cache/dag911262r00025a_lerobot_0326_220254_1d1fdbda/episodes/ep000633/gripper_right_tactile_force_metrics.json b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-07/outputs_tactile/tactile_cache/dag911262r00025a_lerobot_0326_220254_1d1fdbda/episodes/ep000633/gripper_right_tactile_force_metrics.json
new file mode 100644
index 0000000000000000000000000000000000000000..591077a312c3118811f86278a1f292b8a3592bb8
--- /dev/null
+++ b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-07/outputs_tactile/tactile_cache/dag911262r00025a_lerobot_0326_220254_1d1fdbda/episodes/ep000633/gripper_right_tactile_force_metrics.json
@@ -0,0 +1,9 @@
+{
+  "depth_peak": 0.016797251999378204,
+  "shear_peak": 0.009178412146866322,
+  "force_magnitude_peak": 0.01908283308148384,
+  "reference_frame_count": 0,
+  "dataset_name": "dag911262r00025a_lerobot_0326_220254",
+  "episode_index": 633,
+  "sensor": "gripper_right_tactile"
+}
\ No newline at end of file
diff --git a/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-07/outputs_tactile/tactile_cache/dag911262r00025a_lerobot_0326_220254_1d1fdbda/episodes/ep000637/gripper_right_tactile_contact_metrics.json b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-07/outputs_tactile/tactile_cache/dag911262r00025a_lerobot_0326_220254_1d1fdbda/episodes/ep000637/gripper_right_tactile_contact_metrics.json
new file mode 100644
index 0000000000000000000000000000000000000000..570febcd3085f510648cdfdeec5940bc37e8971e
--- /dev/null
+++ b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-07/outputs_tactile/tactile_cache/dag911262r00025a_lerobot_0326_220254_1d1fdbda/episodes/ep000637/gripper_right_tactile_contact_metrics.json
@@ -0,0 +1,12 @@
+{
+  "contact_time": 14.466666666666667,
+  "contact_ratio": 0.9175475687103594,
+  "avg_contact_area": 5202.585253456221,
+  "contact_entropy": 0.5096371932582031,
+  "total_frames": 473,
+  "fps": 30.0,
+  "reference_frame_count": 0,
+  "dataset_name": "dag911262r00025a_lerobot_0326_220254",
+  "episode_index": 637,
+  "sensor": "gripper_right_tactile"
+}
\ No newline at end of file
diff --git a/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-07/outputs_tactile/tactile_cache/dag911262r00025a_lerobot_0326_220254_1d1fdbda/episodes/ep000641/gripper_left_tactile_force_metrics.json b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-07/outputs_tactile/tactile_cache/dag911262r00025a_lerobot_0326_220254_1d1fdbda/episodes/ep000641/gripper_left_tactile_force_metrics.json
new file mode 100644
index 0000000000000000000000000000000000000000..df37e536a2f2983b02b4e2382dd1b36577a69d24
--- /dev/null
+++ b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-07/outputs_tactile/tactile_cache/dag911262r00025a_lerobot_0326_220254_1d1fdbda/episodes/ep000641/gripper_left_tactile_force_metrics.json
@@ -0,0 +1,9 @@
+{
+  "depth_peak": 0.006606560666114092,
+  "shear_peak": 0.007088813930749893,
+  "force_magnitude_peak": 0.008913977071642876,
+  "reference_frame_count": 0,
+  "dataset_name": "dag911262r00025a_lerobot_0326_220254",
+  "episode_index": 641,
+  "sensor": "gripper_left_tactile"
+}
\ No newline at end of file
diff --git a/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-07/outputs_tactile/tactile_cache/dag911262r00025a_lerobot_0326_220254_1d1fdbda/episodes/ep000642/gripper_left_tactile_contact_metrics.json b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-07/outputs_tactile/tactile_cache/dag911262r00025a_lerobot_0326_220254_1d1fdbda/episodes/ep000642/gripper_left_tactile_contact_metrics.json
new file mode 100644
index 0000000000000000000000000000000000000000..94a92eac69ae5ed9db92e4f2211b57bd86b9bb7b
--- /dev/null
+++ b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-07/outputs_tactile/tactile_cache/dag911262r00025a_lerobot_0326_220254_1d1fdbda/episodes/ep000642/gripper_left_tactile_contact_metrics.json
@@ -0,0 +1,12 @@
+{
+  "contact_time": 7.066666666666666,
+  "contact_ratio": 0.8945147679324894,
+  "avg_contact_area": 3273.7311320754716,
+  "contact_entropy": 0.14971917302045712,
+  "total_frames": 237,
+  "fps": 30.0,
+  "reference_frame_count": 0,
+  "dataset_name": "dag911262r00025a_lerobot_0326_220254",
+  "episode_index": 642,
+  "sensor": "gripper_left_tactile"
+}
\ No newline at end of file
diff --git a/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-07/outputs_tactile/tactile_cache/dag911262r00025a_lerobot_0326_220254_1d1fdbda/episodes/ep000642/gripper_left_tactile_force_metrics.json b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-07/outputs_tactile/tactile_cache/dag911262r00025a_lerobot_0326_220254_1d1fdbda/episodes/ep000642/gripper_left_tactile_force_metrics.json
new file mode 100644
index 0000000000000000000000000000000000000000..6c01570d6b64a37ef9d54a1a54c993a4c38b23ce
--- /dev/null
+++ b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-07/outputs_tactile/tactile_cache/dag911262r00025a_lerobot_0326_220254_1d1fdbda/episodes/ep000642/gripper_left_tactile_force_metrics.json
@@ -0,0 +1,9 @@
+{
+  "depth_peak": 0.003095347201451659,
+  "shear_peak": 0.0035582659766077995,
+  "force_magnitude_peak": 0.0042306059040129185,
+  "reference_frame_count": 0,
+  "dataset_name": "dag911262r00025a_lerobot_0326_220254",
+  "episode_index": 642,
+  "sensor": "gripper_left_tactile"
+}
\ No newline at end of file
diff --git a/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-07/outputs_tactile/tactile_cache/dag911262r00035d_lerobot_0326_220254_edfea759/episodes/ep000000/gripper_right_tactile_contact_metrics.json b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-07/outputs_tactile/tactile_cache/dag911262r00035d_lerobot_0326_220254_edfea759/episodes/ep000000/gripper_right_tactile_contact_metrics.json
new file mode 100644
index 0000000000000000000000000000000000000000..cea0be2fdd7e81f57fc87d843ee708bdc062abcd
--- /dev/null
+++ b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-07/outputs_tactile/tactile_cache/dag911262r00035d_lerobot_0326_220254_edfea759/episodes/ep000000/gripper_right_tactile_contact_metrics.json
@@ -0,0 +1,12 @@
+{
+  "contact_time": 6.233333333333333,
+  "contact_ratio": 0.748,
+  "avg_contact_area": 6985.5668449197865,
+  "contact_entropy": 0.856720097445012,
+  "total_frames": 250,
+  "fps": 30.0,
+  "reference_frame_count": 0,
+  "dataset_name": "dag911262r00035d_lerobot_0326_220254",
+  "episode_index": 0,
+  "sensor": "gripper_right_tactile"
+}
\ No newline at end of file
diff --git a/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-07/outputs_tactile/tactile_cache/dag911262r00035d_lerobot_0326_220254_edfea759/episodes/ep000003/gripper_left_tactile_contact_metrics.json b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-07/outputs_tactile/tactile_cache/dag911262r00035d_lerobot_0326_220254_edfea759/episodes/ep000003/gripper_left_tactile_contact_metrics.json
new file mode 100644
index 0000000000000000000000000000000000000000..00e0e45de0c8ba21cfd63f86b08c8a96a63a82fe
--- /dev/null
+++ b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-07/outputs_tactile/tactile_cache/dag911262r00035d_lerobot_0326_220254_edfea759/episodes/ep000003/gripper_left_tactile_contact_metrics.json
@@ -0,0 +1,12 @@
+{
+  "contact_time": 1.9,
+  "contact_ratio": 0.24782608695652175,
+  "avg_contact_area": 105.57894736842105,
+  "contact_entropy": 0.009021623140174982,
+  "total_frames": 230,
+  "fps": 30.0,
+  "reference_frame_count": 0,
+  "dataset_name": "dag911262r00035d_lerobot_0326_220254",
+  "episode_index": 3,
+  "sensor": "gripper_left_tactile"
+}
\ No newline at end of file
diff --git a/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-07/outputs_tactile/tactile_cache/dag911262r00035d_lerobot_0326_220254_edfea759/episodes/ep000005/gripper_right_tactile_force_metrics.json b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-07/outputs_tactile/tactile_cache/dag911262r00035d_lerobot_0326_220254_edfea759/episodes/ep000005/gripper_right_tactile_force_metrics.json
new file mode 100644
index 0000000000000000000000000000000000000000..4bd05ac525e605ece0521faf9d937095e5b1eb54
--- /dev/null
+++ b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-07/outputs_tactile/tactile_cache/dag911262r00035d_lerobot_0326_220254_edfea759/episodes/ep000005/gripper_right_tactile_force_metrics.json
@@ -0,0 +1,9 @@
+{
+  "depth_peak": 0.00037809356581419706,
+  "shear_peak": 0.0022548444103449583,
+  "force_magnitude_peak": 0.0025520627386868,
+  "reference_frame_count": 0,
+  "dataset_name": "dag911262r00035d_lerobot_0326_220254",
+  "episode_index": 5,
+  "sensor": "gripper_right_tactile"
+}
\ No newline at end of file
diff --git a/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-07/outputs_tactile/tactile_cache/dag911262r00035d_lerobot_0326_220254_edfea759/episodes/ep000008/gripper_right_tactile_contact_metrics.json b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-07/outputs_tactile/tactile_cache/dag911262r00035d_lerobot_0326_220254_edfea759/episodes/ep000008/gripper_right_tactile_contact_metrics.json
new file mode 100644
index 0000000000000000000000000000000000000000..0df2dddf7b744174536e609c96c7e0034c8d81f0
--- /dev/null
+++ b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-07/outputs_tactile/tactile_cache/dag911262r00035d_lerobot_0326_220254_edfea759/episodes/ep000008/gripper_right_tactile_contact_metrics.json
@@ -0,0 +1,12 @@
+{
+  "contact_time": 5.766666666666667,
+  "contact_ratio": 0.7361702127659574,
+  "avg_contact_area": 4524.93063583815,
+  "contact_entropy": 1.1337716047571915,
+  "total_frames": 235,
+  "fps": 30.0,
+  "reference_frame_count": 0,
+  "dataset_name": "dag911262r00035d_lerobot_0326_220254",
+  "episode_index": 8,
+  "sensor": "gripper_right_tactile"
+}
\ No newline at end of file
diff --git a/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-07/outputs_tactile/tactile_cache/dag911262r00035d_lerobot_0326_220254_edfea759/episodes/ep000009/gripper_right_tactile_force_metrics.json b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-07/outputs_tactile/tactile_cache/dag911262r00035d_lerobot_0326_220254_edfea759/episodes/ep000009/gripper_right_tactile_force_metrics.json
new file mode 100644
index 0000000000000000000000000000000000000000..1b67ca1fc6abcb1435939be1c20cc337579a2e81
--- /dev/null
+++ b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-07/outputs_tactile/tactile_cache/dag911262r00035d_lerobot_0326_220254_edfea759/episodes/ep000009/gripper_right_tactile_force_metrics.json
@@ -0,0 +1,9 @@
+{
+  "depth_peak": 0.0011304151266813278,
+  "shear_peak": 0.0018156218575313687,
+  "force_magnitude_peak": 0.0018274233443662524,
+  "reference_frame_count": 0,
+  "dataset_name": "dag911262r00035d_lerobot_0326_220254",
+  "episode_index": 9,
+  "sensor": "gripper_right_tactile"
+}
\ No newline at end of file
diff --git a/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-07/outputs_tactile/tactile_cache/dag911262r00035d_lerobot_0326_220254_edfea759/episodes/ep000010/gripper_left_tactile_force_metrics.json b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-07/outputs_tactile/tactile_cache/dag911262r00035d_lerobot_0326_220254_edfea759/episodes/ep000010/gripper_left_tactile_force_metrics.json
new file mode 100644
index 0000000000000000000000000000000000000000..2f67fc21b6fc02b6216489b182a2ec3d2198ef47
--- /dev/null
+++ b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-07/outputs_tactile/tactile_cache/dag911262r00035d_lerobot_0326_220254_edfea759/episodes/ep000010/gripper_left_tactile_force_metrics.json
@@ -0,0 +1,9 @@
+{
+  "depth_peak": 0.002210025442764163,
+  "shear_peak": 0.001020836760289967,
+  "force_magnitude_peak": 0.0022675669752061367,
+  "reference_frame_count": 0,
+  "dataset_name": "dag911262r00035d_lerobot_0326_220254",
+  "episode_index": 10,
+  "sensor": "gripper_left_tactile"
+}
\ No newline at end of file
diff --git a/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-07/outputs_tactile/tactile_cache/dag911262r00035d_lerobot_0326_220254_edfea759/episodes/ep000011/gripper_right_tactile_force_metrics.json b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-07/outputs_tactile/tactile_cache/dag911262r00035d_lerobot_0326_220254_edfea759/episodes/ep000011/gripper_right_tactile_force_metrics.json
new file mode 100644
index 0000000000000000000000000000000000000000..760e0a73e4a30c21a16e499621739daa9775e629
--- /dev/null
+++ b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-07/outputs_tactile/tactile_cache/dag911262r00035d_lerobot_0326_220254_edfea759/episodes/ep000011/gripper_right_tactile_force_metrics.json
@@ -0,0 +1,9 @@
+{
+  "depth_peak": 0.0018876049434766173,
+  "shear_peak": 0.0030939511489123106,
+  "force_magnitude_peak": 0.0031019181478768587,
+  "reference_frame_count": 0,
+  "dataset_name": "dag911262r00035d_lerobot_0326_220254",
+  "episode_index": 11,
+  "sensor": "gripper_right_tactile"
+}
\ No newline at end of file
diff --git a/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-07/outputs_tactile/tactile_cache/dag911262r00035d_lerobot_0326_220254_edfea759/episodes/ep000013/gripper_left_tactile_contact_metrics.json b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-07/outputs_tactile/tactile_cache/dag911262r00035d_lerobot_0326_220254_edfea759/episodes/ep000013/gripper_left_tactile_contact_metrics.json
new file mode 100644
index 0000000000000000000000000000000000000000..955cfb8085df719814c02bff430ddcd62c2e46c2
--- /dev/null
+++ b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-07/outputs_tactile/tactile_cache/dag911262r00035d_lerobot_0326_220254_edfea759/episodes/ep000013/gripper_left_tactile_contact_metrics.json
@@ -0,0 +1,12 @@
+{
+  "contact_time": 12.666666666666666,
+  "contact_ratio": 0.7364341085271318,
+  "avg_contact_area": 1444.1368421052632,
+  "contact_entropy": 0.2756714359372859,
+  "total_frames": 516,
+  "fps": 30.0,
+  "reference_frame_count": 0,
+  "dataset_name": "dag911262r00035d_lerobot_0326_220254",
+  "episode_index": 13,
+  "sensor": "gripper_left_tactile"
+}
\ No newline at end of file
diff --git a/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-07/outputs_tactile/tactile_cache/dag911262r00035d_lerobot_0326_220254_edfea759/episodes/ep000014/gripper_left_tactile_force_metrics.json b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-07/outputs_tactile/tactile_cache/dag911262r00035d_lerobot_0326_220254_edfea759/episodes/ep000014/gripper_left_tactile_force_metrics.json
new file mode 100644
index 0000000000000000000000000000000000000000..46e0dafdc4406c96c9dc58f9f56995cfc6eaa863
--- /dev/null
+++ b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-07/outputs_tactile/tactile_cache/dag911262r00035d_lerobot_0326_220254_edfea759/episodes/ep000014/gripper_left_tactile_force_metrics.json
@@ -0,0 +1,9 @@
+{
+  "depth_peak": 0.0010063544614240527,
+  "shear_peak": 0.000905023654922843,
+  "force_magnitude_peak": 0.0011212155222892761,
+  "reference_frame_count": 0,
+  "dataset_name": "dag911262r00035d_lerobot_0326_220254",
+  "episode_index": 14,
+  "sensor": "gripper_left_tactile"
+}
\ No newline at end of file
diff --git a/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-07/outputs_tactile/tactile_cache/dag911262r00035d_lerobot_0326_220254_edfea759/episodes/ep000015/gripper_right_tactile_contact_metrics.json b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-07/outputs_tactile/tactile_cache/dag911262r00035d_lerobot_0326_220254_edfea759/episodes/ep000015/gripper_right_tactile_contact_metrics.json
new file mode 100644
index 0000000000000000000000000000000000000000..8873bdc2f9103637fc0c8a68ac4616cd57a78cb5
--- /dev/null
+++ b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-07/outputs_tactile/tactile_cache/dag911262r00035d_lerobot_0326_220254_edfea759/episodes/ep000015/gripper_right_tactile_contact_metrics.json
@@ -0,0 +1,12 @@
+{
+  "contact_time": 8.233333333333333,
+  "contact_ratio": 0.5771028037383178,
+  "avg_contact_area": 2938.5101214574897,
+  "contact_entropy": 0.6608758354313804,
+  "total_frames": 428,
+  "fps": 30.0,
+  "reference_frame_count": 0,
+  "dataset_name": "dag911262r00035d_lerobot_0326_220254",
+  "episode_index": 15,
+  "sensor": "gripper_right_tactile"
+}
\ No newline at end of file
diff --git a/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-07/outputs_tactile/tactile_cache/dag911262r00035d_lerobot_0326_220254_edfea759/episodes/ep000017/gripper_right_tactile_force_metrics.json b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-07/outputs_tactile/tactile_cache/dag911262r00035d_lerobot_0326_220254_edfea759/episodes/ep000017/gripper_right_tactile_force_metrics.json
new file mode 100644
index 0000000000000000000000000000000000000000..6bfe9663edf2b1ace6d7805f0d740681436aff84
--- /dev/null
+++ b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-07/outputs_tactile/tactile_cache/dag911262r00035d_lerobot_0326_220254_edfea759/episodes/ep000017/gripper_right_tactile_force_metrics.json
@@ -0,0 +1,9 @@
+{
+  "depth_peak": 0.005233026575297117,
+  "shear_peak": 0.0022879615426063538,
+  "force_magnitude_peak": 0.00523699726909399,
+  "reference_frame_count": 0,
+  "dataset_name": "dag911262r00035d_lerobot_0326_220254",
+  "episode_index": 17,
+  "sensor": "gripper_right_tactile"
+}
\ No newline at end of file
diff --git a/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-07/outputs_tactile/tactile_cache/dag911262r00035d_lerobot_0326_220254_edfea759/episodes/ep000018/gripper_left_tactile_contact_metrics.json b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-07/outputs_tactile/tactile_cache/dag911262r00035d_lerobot_0326_220254_edfea759/episodes/ep000018/gripper_left_tactile_contact_metrics.json
new file mode 100644
index 0000000000000000000000000000000000000000..075ea9b9e28764dbae9d2a5573557560018b2ce1
--- /dev/null
+++ b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-07/outputs_tactile/tactile_cache/dag911262r00035d_lerobot_0326_220254_edfea759/episodes/ep000018/gripper_left_tactile_contact_metrics.json
@@ -0,0 +1,12 @@
+{
+  "contact_time": 9.066666666666666,
+  "contact_ratio": 0.5171102661596958,
+  "avg_contact_area": 2888.1286764705883,
+  "contact_entropy": 0.8044684075020253,
+  "total_frames": 526,
+  "fps": 30.0,
+  "reference_frame_count": 0,
+  "dataset_name": "dag911262r00035d_lerobot_0326_220254",
+  "episode_index": 18,
+  "sensor": "gripper_left_tactile"
+}
\ No newline at end of file
diff --git a/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-07/outputs_tactile/tactile_cache/dag911262r00035d_lerobot_0326_220254_edfea759/episodes/ep000019/gripper_left_tactile_force_metrics.json b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-07/outputs_tactile/tactile_cache/dag911262r00035d_lerobot_0326_220254_edfea759/episodes/ep000019/gripper_left_tactile_force_metrics.json
new file mode 100644
index 0000000000000000000000000000000000000000..377c610101ff446fe8597b4f5dfb3d220efebfd3
--- /dev/null
+++ b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-07/outputs_tactile/tactile_cache/dag911262r00035d_lerobot_0326_220254_edfea759/episodes/ep000019/gripper_left_tactile_force_metrics.json
@@ -0,0 +1,9 @@
+{
+  "depth_peak": 0.000932529044803232,
+  "shear_peak": 0.0025561319198459387,
+  "force_magnitude_peak": 0.0025742293801158667,
+  "reference_frame_count": 0,
+  "dataset_name": "dag911262r00035d_lerobot_0326_220254",
+  "episode_index": 19,
+  "sensor": "gripper_left_tactile"
+}
\ No newline at end of file
diff --git a/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-07/outputs_tactile/tactile_cache/dag911262r00035d_lerobot_0326_220254_edfea759/episodes/ep000025/gripper_right_tactile_contact_metrics.json b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-07/outputs_tactile/tactile_cache/dag911262r00035d_lerobot_0326_220254_edfea759/episodes/ep000025/gripper_right_tactile_contact_metrics.json
new file mode 100644
index 0000000000000000000000000000000000000000..f608cf2c16224fc384acf3dd879a5d64fc760ed3
--- /dev/null
+++ b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-07/outputs_tactile/tactile_cache/dag911262r00035d_lerobot_0326_220254_edfea759/episodes/ep000025/gripper_right_tactile_contact_metrics.json
@@ -0,0 +1,12 @@
+{
+  "contact_time": 5.266666666666667,
+  "contact_ratio": 0.5808823529411765,
+  "avg_contact_area": 746.4683544303797,
+  "contact_entropy": 0.2795481311175402,
+  "total_frames": 272,
+  "fps": 30.0,
+  "reference_frame_count": 0,
+  "dataset_name": "dag911262r00035d_lerobot_0326_220254",
+  "episode_index": 25,
+  "sensor": "gripper_right_tactile"
+}
\ No newline at end of file
diff --git a/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-07/outputs_tactile/tactile_cache/dag911262r00035d_lerobot_0326_220254_edfea759/episodes/ep000028/gripper_left_tactile_contact_metrics.json b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-07/outputs_tactile/tactile_cache/dag911262r00035d_lerobot_0326_220254_edfea759/episodes/ep000028/gripper_left_tactile_contact_metrics.json
new file mode 100644
index 0000000000000000000000000000000000000000..2478553818e3400cfbdcd037966b2c921c5d306b
--- /dev/null
+++ b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-07/outputs_tactile/tactile_cache/dag911262r00035d_lerobot_0326_220254_edfea759/episodes/ep000028/gripper_left_tactile_contact_metrics.json
@@ -0,0 +1,12 @@
+{
+  "contact_time": 7.833333333333333,
+  "contact_ratio": 0.7807308970099668,
+  "avg_contact_area": 556.795744680851,
+  "contact_entropy": 0.46550674168019585,
+  "total_frames": 301,
+  "fps": 30.0,
+  "reference_frame_count": 0,
+  "dataset_name": "dag911262r00035d_lerobot_0326_220254",
+  "episode_index": 28,
+  "sensor": "gripper_left_tactile"
+}
\ No newline at end of file
diff --git a/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-07/outputs_tactile/tactile_cache/dag911262r00035d_lerobot_0326_220254_edfea759/episodes/ep000028/gripper_right_tactile_force_metrics.json b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-07/outputs_tactile/tactile_cache/dag911262r00035d_lerobot_0326_220254_edfea759/episodes/ep000028/gripper_right_tactile_force_metrics.json
new file mode 100644
index 0000000000000000000000000000000000000000..6d22b1e4e63df933a21e93450dda1e8f93b0082b
--- /dev/null
+++ b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-07/outputs_tactile/tactile_cache/dag911262r00035d_lerobot_0326_220254_edfea759/episodes/ep000028/gripper_right_tactile_force_metrics.json
@@ -0,0 +1,9 @@
+{
+  "depth_peak": 0.0017430420266464353,
+  "shear_peak": 0.002477014670148492,
+  "force_magnitude_peak": 0.0027517229318618774,
+  "reference_frame_count": 0,
+  "dataset_name": "dag911262r00035d_lerobot_0326_220254",
+  "episode_index": 28,
+  "sensor": "gripper_right_tactile"
+}
\ No newline at end of file
diff --git a/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-07/outputs_tactile/tactile_cache/dag911262r00035d_lerobot_0326_220254_edfea759/episodes/ep000031/gripper_right_tactile_contact_metrics.json b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-07/outputs_tactile/tactile_cache/dag911262r00035d_lerobot_0326_220254_edfea759/episodes/ep000031/gripper_right_tactile_contact_metrics.json
new file mode 100644
index 0000000000000000000000000000000000000000..15ffa6cf4bc86ea7576d30d41a97522b27c6b737
--- /dev/null
+++ b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-07/outputs_tactile/tactile_cache/dag911262r00035d_lerobot_0326_220254_edfea759/episodes/ep000031/gripper_right_tactile_contact_metrics.json
@@ -0,0 +1,12 @@
+{
+  "contact_time": 15.9,
+  "contact_ratio": 0.6579310344827586,
+  "avg_contact_area": 4817.882599580713,
+  "contact_entropy": 0.5805905735634512,
+  "total_frames": 725,
+  "fps": 30.0,
+  "reference_frame_count": 0,
+  "dataset_name": "dag911262r00035d_lerobot_0326_220254",
+  "episode_index": 31,
+  "sensor": "gripper_right_tactile"
+}
\ No newline at end of file
diff --git a/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-07/outputs_tactile/tactile_cache/dag911262r00035d_lerobot_0326_220254_edfea759/episodes/ep000037/gripper_right_tactile_force_metrics.json b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-07/outputs_tactile/tactile_cache/dag911262r00035d_lerobot_0326_220254_edfea759/episodes/ep000037/gripper_right_tactile_force_metrics.json
new file mode 100644
index 0000000000000000000000000000000000000000..6965d06bad3b91baf0ae53a1153cf3fcecde7c82
--- /dev/null
+++ b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-07/outputs_tactile/tactile_cache/dag911262r00035d_lerobot_0326_220254_edfea759/episodes/ep000037/gripper_right_tactile_force_metrics.json
@@ -0,0 +1,9 @@
+{
+  "depth_peak": 0.0140597615391016,
+  "shear_peak": 0.009465640410780907,
+  "force_magnitude_peak": 0.014106247574090958,
+  "reference_frame_count": 0,
+  "dataset_name": "dag911262r00035d_lerobot_0326_220254",
+  "episode_index": 37,
+  "sensor": "gripper_right_tactile"
+}
\ No newline at end of file
diff --git a/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-07/outputs_tactile/tactile_cache/dag911262r00035d_lerobot_0326_220254_edfea759/episodes/ep000038/gripper_left_tactile_contact_metrics.json b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-07/outputs_tactile/tactile_cache/dag911262r00035d_lerobot_0326_220254_edfea759/episodes/ep000038/gripper_left_tactile_contact_metrics.json
new file mode 100644
index 0000000000000000000000000000000000000000..4087283f93dd935735b32bf32014d4a1ab8027f8
--- /dev/null
+++ b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-07/outputs_tactile/tactile_cache/dag911262r00035d_lerobot_0326_220254_edfea759/episodes/ep000038/gripper_left_tactile_contact_metrics.json
@@ -0,0 +1,12 @@
+{
+  "contact_time": 5.1,
+  "contact_ratio": 0.42857142857142855,
+  "avg_contact_area": 15.568627450980392,
+  "contact_entropy": 0.0,
+  "total_frames": 357,
+  "fps": 30.0,
+  "reference_frame_count": 0,
+  "dataset_name": "dag911262r00035d_lerobot_0326_220254",
+  "episode_index": 38,
+  "sensor": "gripper_left_tactile"
+}
\ No newline at end of file
diff --git a/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-07/outputs_tactile/tactile_cache/dag911262r00035d_lerobot_0326_220254_edfea759/episodes/ep000039/gripper_right_tactile_force_metrics.json b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-07/outputs_tactile/tactile_cache/dag911262r00035d_lerobot_0326_220254_edfea759/episodes/ep000039/gripper_right_tactile_force_metrics.json
new file mode 100644
index 0000000000000000000000000000000000000000..16aeb0abc4fc0863a15223b65f7c1e6dd545135e
--- /dev/null
+++ b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-07/outputs_tactile/tactile_cache/dag911262r00035d_lerobot_0326_220254_edfea759/episodes/ep000039/gripper_right_tactile_force_metrics.json
@@ -0,0 +1,9 @@
+{
+  "depth_peak": 0.012258789502084255,
+  "shear_peak": 0.01590450294315815,
+  "force_magnitude_peak": 0.020052794367074966,
+  "reference_frame_count": 0,
+  "dataset_name": "dag911262r00035d_lerobot_0326_220254",
+  "episode_index": 39,
+  "sensor": "gripper_right_tactile"
+}
\ No newline at end of file
diff --git a/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-07/outputs_tactile/tactile_cache/dag911262r00035d_lerobot_0326_220254_edfea759/episodes/ep000043/gripper_left_tactile_contact_metrics.json b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-07/outputs_tactile/tactile_cache/dag911262r00035d_lerobot_0326_220254_edfea759/episodes/ep000043/gripper_left_tactile_contact_metrics.json
new file mode 100644
index 0000000000000000000000000000000000000000..b3e14f831c6330fc9718afad6ff0291cda87a0e8
--- /dev/null
+++ b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-07/outputs_tactile/tactile_cache/dag911262r00035d_lerobot_0326_220254_edfea759/episodes/ep000043/gripper_left_tactile_contact_metrics.json
@@ -0,0 +1,12 @@
+{
+  "contact_time": 2.966666666666667,
+  "contact_ratio": 0.19690265486725664,
+  "avg_contact_area": 291.4831460674157,
+  "contact_entropy": 0.0,
+  "total_frames": 452,
+  "fps": 30.0,
+  "reference_frame_count": 0,
+  "dataset_name": "dag911262r00035d_lerobot_0326_220254",
+  "episode_index": 43,
+  "sensor": "gripper_left_tactile"
+}
\ No newline at end of file
diff --git a/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-07/outputs_tactile/tactile_cache/dag911262r00035d_lerobot_0326_220254_edfea759/episodes/ep000043/gripper_right_tactile_force_metrics.json b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-07/outputs_tactile/tactile_cache/dag911262r00035d_lerobot_0326_220254_edfea759/episodes/ep000043/gripper_right_tactile_force_metrics.json
new file mode 100644
index 0000000000000000000000000000000000000000..7eaedf5eb591e9c136aaca97ab6f1af2968fbbb5
--- /dev/null
+++ b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-07/outputs_tactile/tactile_cache/dag911262r00035d_lerobot_0326_220254_edfea759/episodes/ep000043/gripper_right_tactile_force_metrics.json
@@ -0,0 +1,9 @@
+{
+  "depth_peak": 0.0013179456582292914,
+  "shear_peak": 0.0021651273127645254,
+  "force_magnitude_peak": 0.002369723981246352,
+  "reference_frame_count": 0,
+  "dataset_name": "dag911262r00035d_lerobot_0326_220254",
+  "episode_index": 43,
+  "sensor": "gripper_right_tactile"
+}
\ No newline at end of file
diff --git a/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-07/outputs_tactile/tactile_cache/dag911262r00035d_lerobot_0326_220254_edfea759/episodes/ep000046/gripper_left_tactile_force_metrics.json b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-07/outputs_tactile/tactile_cache/dag911262r00035d_lerobot_0326_220254_edfea759/episodes/ep000046/gripper_left_tactile_force_metrics.json
new file mode 100644
index 0000000000000000000000000000000000000000..2a87a32680e26a100af4869f2bfc4c88e7ce2901
--- /dev/null
+++ b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-07/outputs_tactile/tactile_cache/dag911262r00035d_lerobot_0326_220254_edfea759/episodes/ep000046/gripper_left_tactile_force_metrics.json
@@ -0,0 +1,9 @@
+{
+  "depth_peak": 0.004217036534100771,
+  "shear_peak": 0.003919356502592564,
+  "force_magnitude_peak": 0.00525888754054904,
+  "reference_frame_count": 0,
+  "dataset_name": "dag911262r00035d_lerobot_0326_220254",
+  "episode_index": 46,
+  "sensor": "gripper_left_tactile"
+}
\ No newline at end of file
diff --git a/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-07/outputs_tactile/tactile_cache/dag911262r00035d_lerobot_0326_220254_edfea759/episodes/ep000047/gripper_right_tactile_contact_metrics.json b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-07/outputs_tactile/tactile_cache/dag911262r00035d_lerobot_0326_220254_edfea759/episodes/ep000047/gripper_right_tactile_contact_metrics.json
new file mode 100644
index 0000000000000000000000000000000000000000..a770346bbef298632edad5e5a53fb06e9583fdc7
--- /dev/null
+++ b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-07/outputs_tactile/tactile_cache/dag911262r00035d_lerobot_0326_220254_edfea759/episodes/ep000047/gripper_right_tactile_contact_metrics.json
@@ -0,0 +1,12 @@
+{
+  "contact_time": 12.333333333333334,
+  "contact_ratio": 0.7789473684210526,
+  "avg_contact_area": 148.12702702702703,
+  "contact_entropy": 0.0,
+  "total_frames": 475,
+  "fps": 30.0,
+  "reference_frame_count": 0,
+  "dataset_name": "dag911262r00035d_lerobot_0326_220254",
+  "episode_index": 47,
+  "sensor": "gripper_right_tactile"
+}
\ No newline at end of file
diff --git a/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-07/outputs_tactile/tactile_cache/dag911262r00035d_lerobot_0326_220254_edfea759/episodes/ep000052/gripper_left_tactile_contact_metrics.json b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-07/outputs_tactile/tactile_cache/dag911262r00035d_lerobot_0326_220254_edfea759/episodes/ep000052/gripper_left_tactile_contact_metrics.json
new file mode 100644
index 0000000000000000000000000000000000000000..d6383a7959acf1cebdaf0711cba28b4a17a5d929
--- /dev/null
+++ b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-07/outputs_tactile/tactile_cache/dag911262r00035d_lerobot_0326_220254_edfea759/episodes/ep000052/gripper_left_tactile_contact_metrics.json
@@ -0,0 +1,12 @@
+{
+  "contact_time": 5.3,
+  "contact_ratio": 0.47181008902077154,
+  "avg_contact_area": 697.7106918238994,
+  "contact_entropy": 0.02554228846571519,
+  "total_frames": 337,
+  "fps": 30.0,
+  "reference_frame_count": 0,
+  "dataset_name": "dag911262r00035d_lerobot_0326_220254",
+  "episode_index": 52,
+  "sensor": "gripper_left_tactile"
+}
\ No newline at end of file
diff --git a/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-07/outputs_tactile/tactile_cache/dag911262r00035d_lerobot_0326_220254_edfea759/episodes/ep000052/gripper_right_tactile_contact_metrics.json b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-07/outputs_tactile/tactile_cache/dag911262r00035d_lerobot_0326_220254_edfea759/episodes/ep000052/gripper_right_tactile_contact_metrics.json
new file mode 100644
index 0000000000000000000000000000000000000000..a9e8b7e8d47637574d3370102033f170b993b668
--- /dev/null
+++ b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-07/outputs_tactile/tactile_cache/dag911262r00035d_lerobot_0326_220254_edfea759/episodes/ep000052/gripper_right_tactile_contact_metrics.json
@@ -0,0 +1,12 @@
+{
+  "contact_time": 9.233333333333333,
+  "contact_ratio": 0.8219584569732937,
+  "avg_contact_area": 1002.7761732851985,
+  "contact_entropy": 0.805378814494797,
+  "total_frames": 337,
+  "fps": 30.0,
+  "reference_frame_count": 0,
+  "dataset_name": "dag911262r00035d_lerobot_0326_220254",
+  "episode_index": 52,
+  "sensor": "gripper_right_tactile"
+}
\ No newline at end of file
diff --git a/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-07/outputs_tactile/tactile_cache/dag911262r00035d_lerobot_0326_220254_edfea759/episodes/ep000053/gripper_right_tactile_contact_metrics.json b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-07/outputs_tactile/tactile_cache/dag911262r00035d_lerobot_0326_220254_edfea759/episodes/ep000053/gripper_right_tactile_contact_metrics.json
new file mode 100644
index 0000000000000000000000000000000000000000..4ec4e7a4f46b41896a0ebc48555822e88d8d56d9
--- /dev/null
+++ b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-07/outputs_tactile/tactile_cache/dag911262r00035d_lerobot_0326_220254_edfea759/episodes/ep000053/gripper_right_tactile_contact_metrics.json
@@ -0,0 +1,12 @@
+{
+  "contact_time": 9.466666666666667,
+  "contact_ratio": 0.570281124497992,
+  "avg_contact_area": 1272.5950704225352,
+  "contact_entropy": 0.2540882511446194,
+  "total_frames": 498,
+  "fps": 30.0,
+  "reference_frame_count": 0,
+  "dataset_name": "dag911262r00035d_lerobot_0326_220254",
+  "episode_index": 53,
+  "sensor": "gripper_right_tactile"
+}
\ No newline at end of file
diff --git a/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-07/outputs_tactile/tactile_cache/dag911262r00035d_lerobot_0326_220254_edfea759/episodes/ep000054/gripper_left_tactile_force_metrics.json b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-07/outputs_tactile/tactile_cache/dag911262r00035d_lerobot_0326_220254_edfea759/episodes/ep000054/gripper_left_tactile_force_metrics.json
new file mode 100644
index 0000000000000000000000000000000000000000..bde3fa0098771aef1412fbea7a8ca12e9375c658
--- /dev/null
+++ b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-07/outputs_tactile/tactile_cache/dag911262r00035d_lerobot_0326_220254_edfea759/episodes/ep000054/gripper_left_tactile_force_metrics.json
@@ -0,0 +1,9 @@
+{
+  "depth_peak": 0.004054354038089514,
+  "shear_peak": 0.005196337588131428,
+  "force_magnitude_peak": 0.006271763239055872,
+  "reference_frame_count": 0,
+  "dataset_name": "dag911262r00035d_lerobot_0326_220254",
+  "episode_index": 54,
+  "sensor": "gripper_left_tactile"
+}
\ No newline at end of file
diff --git a/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-07/outputs_tactile/tactile_cache/dag911262r00035d_lerobot_0326_220254_edfea759/episodes/ep000060/gripper_left_tactile_force_metrics.json b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-07/outputs_tactile/tactile_cache/dag911262r00035d_lerobot_0326_220254_edfea759/episodes/ep000060/gripper_left_tactile_force_metrics.json
new file mode 100644
index 0000000000000000000000000000000000000000..beba6451fce2d443b27405af7634cc7a850bcc2f
--- /dev/null
+++ b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-07/outputs_tactile/tactile_cache/dag911262r00035d_lerobot_0326_220254_edfea759/episodes/ep000060/gripper_left_tactile_force_metrics.json
@@ -0,0 +1,9 @@
+{
+  "depth_peak": 0.0010914227459579706,
+  "shear_peak": 0.001987955765798688,
+  "force_magnitude_peak": 0.0024766921997070312,
+  "reference_frame_count": 0,
+  "dataset_name": "dag911262r00035d_lerobot_0326_220254",
+  "episode_index": 60,
+  "sensor": "gripper_left_tactile"
+}
\ No newline at end of file
diff --git a/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-07/outputs_tactile/tactile_cache/dag911262r00035d_lerobot_0326_220254_edfea759/episodes/ep000062/gripper_left_tactile_contact_metrics.json b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-07/outputs_tactile/tactile_cache/dag911262r00035d_lerobot_0326_220254_edfea759/episodes/ep000062/gripper_left_tactile_contact_metrics.json
new file mode 100644
index 0000000000000000000000000000000000000000..40593312040c91618f8e27c460857947c72b8180
--- /dev/null
+++ b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-07/outputs_tactile/tactile_cache/dag911262r00035d_lerobot_0326_220254_edfea759/episodes/ep000062/gripper_left_tactile_contact_metrics.json
@@ -0,0 +1,12 @@
+{
+  "contact_time": 2.2,
+  "contact_ratio": 0.23741007194244604,
+  "avg_contact_area": 33.06060606060606,
+  "contact_entropy": 0.0,
+  "total_frames": 278,
+  "fps": 30.0,
+  "reference_frame_count": 0,
+  "dataset_name": "dag911262r00035d_lerobot_0326_220254",
+  "episode_index": 62,
+  "sensor": "gripper_left_tactile"
+}
\ No newline at end of file
diff --git a/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-07/outputs_tactile/tactile_cache/dag911262r00035d_lerobot_0326_220254_edfea759/episodes/ep000064/gripper_right_tactile_force_metrics.json b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-07/outputs_tactile/tactile_cache/dag911262r00035d_lerobot_0326_220254_edfea759/episodes/ep000064/gripper_right_tactile_force_metrics.json
new file mode 100644
index 0000000000000000000000000000000000000000..28cb7324273edb4c40810875a0ead8dfed727f58
--- /dev/null
+++ b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-07/outputs_tactile/tactile_cache/dag911262r00035d_lerobot_0326_220254_edfea759/episodes/ep000064/gripper_right_tactile_force_metrics.json
@@ -0,0 +1,9 @@
+{
+  "depth_peak": 0.0023489301092922688,
+  "shear_peak": 0.0047657969407737255,
+  "force_magnitude_peak": 0.00528541998937726,
+  "reference_frame_count": 0,
+  "dataset_name": "dag911262r00035d_lerobot_0326_220254",
+  "episode_index": 64,
+  "sensor": "gripper_right_tactile"
+}
\ No newline at end of file
diff --git a/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-07/outputs_tactile/tactile_cache/dag911262r00035d_lerobot_0326_220254_edfea759/episodes/ep000065/gripper_right_tactile_contact_metrics.json b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-07/outputs_tactile/tactile_cache/dag911262r00035d_lerobot_0326_220254_edfea759/episodes/ep000065/gripper_right_tactile_contact_metrics.json
new file mode 100644
index 0000000000000000000000000000000000000000..7d124cebcc02061c02fc25f5f445c76013d48467
--- /dev/null
+++ b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-07/outputs_tactile/tactile_cache/dag911262r00035d_lerobot_0326_220254_edfea759/episodes/ep000065/gripper_right_tactile_contact_metrics.json
@@ -0,0 +1,12 @@
+{
+  "contact_time": 9.333333333333334,
+  "contact_ratio": 0.5919661733615222,
+  "avg_contact_area": 681.9678571428572,
+  "contact_entropy": 0.33525999478971596,
+  "total_frames": 473,
+  "fps": 30.0,
+  "reference_frame_count": 0,
+  "dataset_name": "dag911262r00035d_lerobot_0326_220254",
+  "episode_index": 65,
+  "sensor": "gripper_right_tactile"
+}
\ No newline at end of file
diff --git a/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-07/outputs_tactile/tactile_cache/dag911262r00035d_lerobot_0326_220254_edfea759/episodes/ep000068/gripper_left_tactile_contact_metrics.json b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-07/outputs_tactile/tactile_cache/dag911262r00035d_lerobot_0326_220254_edfea759/episodes/ep000068/gripper_left_tactile_contact_metrics.json
new file mode 100644
index 0000000000000000000000000000000000000000..650c0b30fa1804a3ba13e2a4236ced532aa379db
--- /dev/null
+++ b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-07/outputs_tactile/tactile_cache/dag911262r00035d_lerobot_0326_220254_edfea759/episodes/ep000068/gripper_left_tactile_contact_metrics.json
@@ -0,0 +1,12 @@
+{
+  "contact_time": 7.466666666666667,
+  "contact_ratio": 0.3607085346215781,
+  "avg_contact_area": 691.8705357142857,
+  "contact_entropy": 0.23084270304228996,
+  "total_frames": 621,
+  "fps": 30.0,
+  "reference_frame_count": 0,
+  "dataset_name": "dag911262r00035d_lerobot_0326_220254",
+  "episode_index": 68,
+  "sensor": "gripper_left_tactile"
+}
\ No newline at end of file
diff --git a/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-07/outputs_tactile/tactile_cache/dag911262r00035d_lerobot_0326_220254_edfea759/episodes/ep000068/gripper_right_tactile_force_metrics.json b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-07/outputs_tactile/tactile_cache/dag911262r00035d_lerobot_0326_220254_edfea759/episodes/ep000068/gripper_right_tactile_force_metrics.json
new file mode 100644
index 0000000000000000000000000000000000000000..57c8e4717898bc562d2aa6e272032c639d484afc
--- /dev/null
+++ b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-07/outputs_tactile/tactile_cache/dag911262r00035d_lerobot_0326_220254_edfea759/episodes/ep000068/gripper_right_tactile_force_metrics.json
@@ -0,0 +1,9 @@
+{
+  "depth_peak": 0.006655619479715824,
+  "shear_peak": 0.004263747483491898,
+  "force_magnitude_peak": 0.007844017818570137,
+  "reference_frame_count": 0,
+  "dataset_name": "dag911262r00035d_lerobot_0326_220254",
+  "episode_index": 68,
+  "sensor": "gripper_right_tactile"
+}
\ No newline at end of file
diff --git a/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-07/outputs_tactile/tactile_cache/dag911262r00035d_lerobot_0326_220254_edfea759/episodes/ep000069/gripper_left_tactile_force_metrics.json b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-07/outputs_tactile/tactile_cache/dag911262r00035d_lerobot_0326_220254_edfea759/episodes/ep000069/gripper_left_tactile_force_metrics.json
new file mode 100644
index 0000000000000000000000000000000000000000..6c871121209853f6a65d32fc272f3422f0d95650
--- /dev/null
+++ b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-07/outputs_tactile/tactile_cache/dag911262r00035d_lerobot_0326_220254_edfea759/episodes/ep000069/gripper_left_tactile_force_metrics.json
@@ -0,0 +1,9 @@
+{
+  "depth_peak": 0.008941435255110264,
+  "shear_peak": 0.003426609793677926,
+  "force_magnitude_peak": 0.009172179736196995,
+  "reference_frame_count": 0,
+  "dataset_name": "dag911262r00035d_lerobot_0326_220254",
+  "episode_index": 69,
+  "sensor": "gripper_left_tactile"
+}
\ No newline at end of file
diff --git a/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-07/outputs_tactile/tactile_cache/dag911262r00035d_lerobot_0326_220254_edfea759/episodes/ep000071/gripper_right_tactile_contact_metrics.json b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-07/outputs_tactile/tactile_cache/dag911262r00035d_lerobot_0326_220254_edfea759/episodes/ep000071/gripper_right_tactile_contact_metrics.json
new file mode 100644
index 0000000000000000000000000000000000000000..94a65183e40a02ce2c66c0db31eeecb0d7d1bcd1
--- /dev/null
+++ b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-07/outputs_tactile/tactile_cache/dag911262r00035d_lerobot_0326_220254_edfea759/episodes/ep000071/gripper_right_tactile_contact_metrics.json
@@ -0,0 +1,12 @@
+{
+  "contact_time": 12.933333333333334,
+  "contact_ratio": 1.0,
+  "avg_contact_area": 4560.3917525773195,
+  "contact_entropy": 0.6838685633867919,
+  "total_frames": 388,
+  "fps": 30.0,
+  "reference_frame_count": 0,
+  "dataset_name": "dag911262r00035d_lerobot_0326_220254",
+  "episode_index": 71,
+  "sensor": "gripper_right_tactile"
+}
\ No newline at end of file
diff --git a/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-07/outputs_tactile/tactile_cache/dag911262r00035d_lerobot_0326_220254_edfea759/episodes/ep000072/gripper_left_tactile_force_metrics.json b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-07/outputs_tactile/tactile_cache/dag911262r00035d_lerobot_0326_220254_edfea759/episodes/ep000072/gripper_left_tactile_force_metrics.json
new file mode 100644
index 0000000000000000000000000000000000000000..2a90e51dc6b392695ca4f697422fdcb4c16a6d9d
--- /dev/null
+++ b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-07/outputs_tactile/tactile_cache/dag911262r00035d_lerobot_0326_220254_edfea759/episodes/ep000072/gripper_left_tactile_force_metrics.json
@@ -0,0 +1,9 @@
+{
+  "depth_peak": 0.004323875065892935,
+  "shear_peak": 0.0028494216967374086,
+  "force_magnitude_peak": 0.005069161765277386,
+  "reference_frame_count": 0,
+  "dataset_name": "dag911262r00035d_lerobot_0326_220254",
+  "episode_index": 72,
+  "sensor": "gripper_left_tactile"
+}
\ No newline at end of file
diff --git a/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-07/outputs_tactile/tactile_cache/dag911262r00035d_lerobot_0326_220254_edfea759/episodes/ep000077/gripper_right_tactile_force_metrics.json b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-07/outputs_tactile/tactile_cache/dag911262r00035d_lerobot_0326_220254_edfea759/episodes/ep000077/gripper_right_tactile_force_metrics.json
new file mode 100644
index 0000000000000000000000000000000000000000..f8cbe103eed1f26034e47f3d167768afdeb13d8d
--- /dev/null
+++ b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-07/outputs_tactile/tactile_cache/dag911262r00035d_lerobot_0326_220254_edfea759/episodes/ep000077/gripper_right_tactile_force_metrics.json
@@ -0,0 +1,9 @@
+{
+  "depth_peak": 0.006275473162531853,
+  "shear_peak": 0.004550449084490538,
+  "force_magnitude_peak": 0.007746026385575533,
+  "reference_frame_count": 0,
+  "dataset_name": "dag911262r00035d_lerobot_0326_220254",
+  "episode_index": 77,
+  "sensor": "gripper_right_tactile"
+}
\ No newline at end of file
diff --git a/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-07/outputs_tactile/tactile_cache/dag911262r00035d_lerobot_0326_220254_edfea759/episodes/ep000078/gripper_left_tactile_contact_metrics.json b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-07/outputs_tactile/tactile_cache/dag911262r00035d_lerobot_0326_220254_edfea759/episodes/ep000078/gripper_left_tactile_contact_metrics.json
new file mode 100644
index 0000000000000000000000000000000000000000..6d99adfa0d2324737dbeb31ec23b99e4d7c5bded
--- /dev/null
+++ b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-07/outputs_tactile/tactile_cache/dag911262r00035d_lerobot_0326_220254_edfea759/episodes/ep000078/gripper_left_tactile_contact_metrics.json
@@ -0,0 +1,12 @@
+{
+  "contact_time": 6.533333333333333,
+  "contact_ratio": 0.536986301369863,
+  "avg_contact_area": 370.91326530612247,
+  "contact_entropy": 0.24008953127419985,
+  "total_frames": 365,
+  "fps": 30.0,
+  "reference_frame_count": 0,
+  "dataset_name": "dag911262r00035d_lerobot_0326_220254",
+  "episode_index": 78,
+  "sensor": "gripper_left_tactile"
+}
\ No newline at end of file
diff --git a/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-07/outputs_tactile/tactile_cache/dag911262r00035d_lerobot_0326_220254_edfea759/episodes/ep000079/gripper_right_tactile_force_metrics.json b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-07/outputs_tactile/tactile_cache/dag911262r00035d_lerobot_0326_220254_edfea759/episodes/ep000079/gripper_right_tactile_force_metrics.json
new file mode 100644
index 0000000000000000000000000000000000000000..639f39ab7fa58ae28bc0bb804771f0960421e632
--- /dev/null
+++ b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-07/outputs_tactile/tactile_cache/dag911262r00035d_lerobot_0326_220254_edfea759/episodes/ep000079/gripper_right_tactile_force_metrics.json
@@ -0,0 +1,9 @@
+{
+  "depth_peak": 0.003916135523468256,
+  "shear_peak": 0.0015428262995555997,
+  "force_magnitude_peak": 0.003994835540652275,
+  "reference_frame_count": 0,
+  "dataset_name": "dag911262r00035d_lerobot_0326_220254",
+  "episode_index": 79,
+  "sensor": "gripper_right_tactile"
+}
\ No newline at end of file
diff --git a/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-07/outputs_tactile/tactile_cache/dag911262r00035d_lerobot_0326_220254_edfea759/episodes/ep000083/gripper_left_tactile_contact_metrics.json b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-07/outputs_tactile/tactile_cache/dag911262r00035d_lerobot_0326_220254_edfea759/episodes/ep000083/gripper_left_tactile_contact_metrics.json
new file mode 100644
index 0000000000000000000000000000000000000000..5e854ae5f534a7cf5fe2a4cac03e16a0bb211e1b
--- /dev/null
+++ b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-07/outputs_tactile/tactile_cache/dag911262r00035d_lerobot_0326_220254_edfea759/episodes/ep000083/gripper_left_tactile_contact_metrics.json
@@ -0,0 +1,12 @@
+{
+  "contact_time": 7.333333333333333,
+  "contact_ratio": 0.5263157894736842,
+  "avg_contact_area": 273.22727272727275,
+  "contact_entropy": 0.0,
+  "total_frames": 418,
+  "fps": 30.0,
+  "reference_frame_count": 0,
+  "dataset_name": "dag911262r00035d_lerobot_0326_220254",
+  "episode_index": 83,
+  "sensor": "gripper_left_tactile"
+}
\ No newline at end of file
diff --git a/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-07/outputs_tactile/tactile_cache/dag911262r00035d_lerobot_0326_220254_edfea759/episodes/ep000083/gripper_right_tactile_force_metrics.json b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-07/outputs_tactile/tactile_cache/dag911262r00035d_lerobot_0326_220254_edfea759/episodes/ep000083/gripper_right_tactile_force_metrics.json
new file mode 100644
index 0000000000000000000000000000000000000000..a5dfd37f8bc7c575d96873b9f00865ade9bc67fd
--- /dev/null
+++ b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-07/outputs_tactile/tactile_cache/dag911262r00035d_lerobot_0326_220254_edfea759/episodes/ep000083/gripper_right_tactile_force_metrics.json
@@ -0,0 +1,9 @@
+{
+  "depth_peak": 0.005216815043240786,
+  "shear_peak": 0.004009860567748547,
+  "force_magnitude_peak": 0.006350770592689514,
+  "reference_frame_count": 0,
+  "dataset_name": "dag911262r00035d_lerobot_0326_220254",
+  "episode_index": 83,
+  "sensor": "gripper_right_tactile"
+}
\ No newline at end of file
diff --git a/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-07/outputs_tactile/tactile_cache/dag911262r00035d_lerobot_0326_220254_edfea759/episodes/ep000086/gripper_left_tactile_force_metrics.json b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-07/outputs_tactile/tactile_cache/dag911262r00035d_lerobot_0326_220254_edfea759/episodes/ep000086/gripper_left_tactile_force_metrics.json
new file mode 100644
index 0000000000000000000000000000000000000000..c7f143556d187d63b04a9918019d9e588be77e77
--- /dev/null
+++ b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-07/outputs_tactile/tactile_cache/dag911262r00035d_lerobot_0326_220254_edfea759/episodes/ep000086/gripper_left_tactile_force_metrics.json
@@ -0,0 +1,9 @@
+{
+  "depth_peak": 0.0010942303342744708,
+  "shear_peak": 0.004586776252835989,
+  "force_magnitude_peak": 0.0046132514253258705,
+  "reference_frame_count": 0,
+  "dataset_name": "dag911262r00035d_lerobot_0326_220254",
+  "episode_index": 86,
+  "sensor": "gripper_left_tactile"
+}
\ No newline at end of file
diff --git a/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-07/outputs_tactile/tactile_cache/dag911262r00035d_lerobot_0326_220254_edfea759/episodes/ep000087/gripper_right_tactile_contact_metrics.json b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-07/outputs_tactile/tactile_cache/dag911262r00035d_lerobot_0326_220254_edfea759/episodes/ep000087/gripper_right_tactile_contact_metrics.json
new file mode 100644
index 0000000000000000000000000000000000000000..d0c999ea938ab7974b245ccf24f62ae9ec2b3259
--- /dev/null
+++ b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-07/outputs_tactile/tactile_cache/dag911262r00035d_lerobot_0326_220254_edfea759/episodes/ep000087/gripper_right_tactile_contact_metrics.json
@@ -0,0 +1,12 @@
+{
+  "contact_time": 3.066666666666667,
+  "contact_ratio": 0.27299703264094954,
+  "avg_contact_area": 106.97826086956522,
+  "contact_entropy": 0.0,
+  "total_frames": 337,
+  "fps": 30.0,
+  "reference_frame_count": 0,
+  "dataset_name": "dag911262r00035d_lerobot_0326_220254",
+  "episode_index": 87,
+  "sensor": "gripper_right_tactile"
+}
\ No newline at end of file
diff --git a/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-07/outputs_tactile/tactile_cache/dag911262r00035d_lerobot_0326_220254_edfea759/episodes/ep000092/gripper_left_tactile_contact_metrics.json b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-07/outputs_tactile/tactile_cache/dag911262r00035d_lerobot_0326_220254_edfea759/episodes/ep000092/gripper_left_tactile_contact_metrics.json
new file mode 100644
index 0000000000000000000000000000000000000000..f19b87e3a6a3a81dc281a4c89144dc0708c086da
--- /dev/null
+++ b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-07/outputs_tactile/tactile_cache/dag911262r00035d_lerobot_0326_220254_edfea759/episodes/ep000092/gripper_left_tactile_contact_metrics.json
@@ -0,0 +1,12 @@
+{
+  "contact_time": 9.1,
+  "contact_ratio": 0.7,
+  "avg_contact_area": 4362.908424908425,
+  "contact_entropy": 1.2530628501775325,
+  "total_frames": 390,
+  "fps": 30.0,
+  "reference_frame_count": 0,
+  "dataset_name": "dag911262r00035d_lerobot_0326_220254",
+  "episode_index": 92,
+  "sensor": "gripper_left_tactile"
+}
\ No newline at end of file
diff --git a/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-07/outputs_tactile/tactile_cache/dag911262r00035d_lerobot_0326_220254_edfea759/episodes/ep000092/gripper_right_tactile_contact_metrics.json b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-07/outputs_tactile/tactile_cache/dag911262r00035d_lerobot_0326_220254_edfea759/episodes/ep000092/gripper_right_tactile_contact_metrics.json
new file mode 100644
index 0000000000000000000000000000000000000000..04d73d06867fa661949ba6a6e4134b24877c8e8e
--- /dev/null
+++ b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-07/outputs_tactile/tactile_cache/dag911262r00035d_lerobot_0326_220254_edfea759/episodes/ep000092/gripper_right_tactile_contact_metrics.json
@@ -0,0 +1,12 @@
+{
+  "contact_time": 12.833333333333334,
+  "contact_ratio": 0.9871794871794872,
+  "avg_contact_area": 2836.7636363636366,
+  "contact_entropy": 0.43171930659676394,
+  "total_frames": 390,
+  "fps": 30.0,
+  "reference_frame_count": 0,
+  "dataset_name": "dag911262r00035d_lerobot_0326_220254",
+  "episode_index": 92,
+  "sensor": "gripper_right_tactile"
+}
\ No newline at end of file
diff --git a/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-07/outputs_tactile/tactile_cache/dag911262r00035d_lerobot_0326_220254_edfea759/episodes/ep000093/gripper_right_tactile_contact_metrics.json b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-07/outputs_tactile/tactile_cache/dag911262r00035d_lerobot_0326_220254_edfea759/episodes/ep000093/gripper_right_tactile_contact_metrics.json
new file mode 100644
index 0000000000000000000000000000000000000000..0ab1df63d459b11b7518c104cb46d0596a245918
--- /dev/null
+++ b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-07/outputs_tactile/tactile_cache/dag911262r00035d_lerobot_0326_220254_edfea759/episodes/ep000093/gripper_right_tactile_contact_metrics.json
@@ -0,0 +1,12 @@
+{
+  "contact_time": 8.366666666666667,
+  "contact_ratio": 0.8019169329073482,
+  "avg_contact_area": 56.84860557768924,
+  "contact_entropy": 0.0,
+  "total_frames": 313,
+  "fps": 30.0,
+  "reference_frame_count": 0,
+  "dataset_name": "dag911262r00035d_lerobot_0326_220254",
+  "episode_index": 93,
+  "sensor": "gripper_right_tactile"
+}
\ No newline at end of file
diff --git a/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-07/outputs_tactile/tactile_cache/dag911262r00035d_lerobot_0326_220254_edfea759/episodes/ep000094/gripper_left_tactile_force_metrics.json b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-07/outputs_tactile/tactile_cache/dag911262r00035d_lerobot_0326_220254_edfea759/episodes/ep000094/gripper_left_tactile_force_metrics.json
new file mode 100644
index 0000000000000000000000000000000000000000..4a27740b7a190635f0def41c0b018dd888088113
--- /dev/null
+++ b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-07/outputs_tactile/tactile_cache/dag911262r00035d_lerobot_0326_220254_edfea759/episodes/ep000094/gripper_left_tactile_force_metrics.json
@@ -0,0 +1,9 @@
+{
+  "depth_peak": 0.0010599930537864566,
+  "shear_peak": 0.0064240554347634315,
+  "force_magnitude_peak": 0.006713553331792355,
+  "reference_frame_count": 0,
+  "dataset_name": "dag911262r00035d_lerobot_0326_220254",
+  "episode_index": 94,
+  "sensor": "gripper_left_tactile"
+}
\ No newline at end of file
diff --git a/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-07/outputs_tactile/tactile_cache/dag911262r00035d_lerobot_0326_220254_edfea759/episodes/ep000100/gripper_left_tactile_force_metrics.json b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-07/outputs_tactile/tactile_cache/dag911262r00035d_lerobot_0326_220254_edfea759/episodes/ep000100/gripper_left_tactile_force_metrics.json
new file mode 100644
index 0000000000000000000000000000000000000000..f48973d796d17fb13bb1c9284f77156d294d3e81
--- /dev/null
+++ b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-07/outputs_tactile/tactile_cache/dag911262r00035d_lerobot_0326_220254_edfea759/episodes/ep000100/gripper_left_tactile_force_metrics.json
@@ -0,0 +1,9 @@
+{
+  "depth_peak": 0.0014150254428386688,
+  "shear_peak": 0.0043760137632489204,
+  "force_magnitude_peak": 0.00446518836542964,
+  "reference_frame_count": 0,
+  "dataset_name": "dag911262r00035d_lerobot_0326_220254",
+  "episode_index": 100,
+  "sensor": "gripper_left_tactile"
+}
\ No newline at end of file
diff --git a/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-07/outputs_tactile/tactile_cache/dag911262r00035d_lerobot_0326_220254_edfea759/episodes/ep000102/gripper_left_tactile_contact_metrics.json b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-07/outputs_tactile/tactile_cache/dag911262r00035d_lerobot_0326_220254_edfea759/episodes/ep000102/gripper_left_tactile_contact_metrics.json
new file mode 100644
index 0000000000000000000000000000000000000000..1ea77851c1ade4901d58296ee8cf3e2f50a8b707
--- /dev/null
+++ b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-07/outputs_tactile/tactile_cache/dag911262r00035d_lerobot_0326_220254_edfea759/episodes/ep000102/gripper_left_tactile_contact_metrics.json
@@ -0,0 +1,12 @@
+{
+  "contact_time": 13.233333333333333,
+  "contact_ratio": 0.7924151696606786,
+  "avg_contact_area": 4150.256926952141,
+  "contact_entropy": 0.9833184882987017,
+  "total_frames": 501,
+  "fps": 30.0,
+  "reference_frame_count": 0,
+  "dataset_name": "dag911262r00035d_lerobot_0326_220254",
+  "episode_index": 102,
+  "sensor": "gripper_left_tactile"
+}
\ No newline at end of file
diff --git a/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-07/outputs_tactile/tactile_cache/dag911262r00035d_lerobot_0326_220254_edfea759/episodes/ep000104/gripper_right_tactile_force_metrics.json b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-07/outputs_tactile/tactile_cache/dag911262r00035d_lerobot_0326_220254_edfea759/episodes/ep000104/gripper_right_tactile_force_metrics.json
new file mode 100644
index 0000000000000000000000000000000000000000..3f00c93d0c579a54add3b460fb80b656f20e217a
--- /dev/null
+++ b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-07/outputs_tactile/tactile_cache/dag911262r00035d_lerobot_0326_220254_edfea759/episodes/ep000104/gripper_right_tactile_force_metrics.json
@@ -0,0 +1,9 @@
+{
+  "depth_peak": 0.008342589251697063,
+  "shear_peak": 0.009209810756146908,
+  "force_magnitude_peak": 0.012426560744643211,
+  "reference_frame_count": 0,
+  "dataset_name": "dag911262r00035d_lerobot_0326_220254",
+  "episode_index": 104,
+  "sensor": "gripper_right_tactile"
+}
\ No newline at end of file
diff --git a/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-07/outputs_tactile/tactile_cache/dag911262r00035d_lerobot_0326_220254_edfea759/episodes/ep000105/gripper_right_tactile_contact_metrics.json b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-07/outputs_tactile/tactile_cache/dag911262r00035d_lerobot_0326_220254_edfea759/episodes/ep000105/gripper_right_tactile_contact_metrics.json
new file mode 100644
index 0000000000000000000000000000000000000000..37f5af84d4f663bc7550b590e894883f7242fff2
--- /dev/null
+++ b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-07/outputs_tactile/tactile_cache/dag911262r00035d_lerobot_0326_220254_edfea759/episodes/ep000105/gripper_right_tactile_contact_metrics.json
@@ -0,0 +1,12 @@
+{
+  "contact_time": 7.2,
+  "contact_ratio": 0.5581395348837209,
+  "avg_contact_area": 3059.8796296296296,
+  "contact_entropy": 0.6133070489761374,
+  "total_frames": 387,
+  "fps": 30.0,
+  "reference_frame_count": 0,
+  "dataset_name": "dag911262r00035d_lerobot_0326_220254",
+  "episode_index": 105,
+  "sensor": "gripper_right_tactile"
+}
\ No newline at end of file
diff --git a/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-07/outputs_tactile/tactile_cache/dag911262r00035d_lerobot_0326_220254_edfea759/episodes/ep000108/gripper_left_tactile_contact_metrics.json b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-07/outputs_tactile/tactile_cache/dag911262r00035d_lerobot_0326_220254_edfea759/episodes/ep000108/gripper_left_tactile_contact_metrics.json
new file mode 100644
index 0000000000000000000000000000000000000000..636edb029f5000262144a6797c3788deeba06c37
--- /dev/null
+++ b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-07/outputs_tactile/tactile_cache/dag911262r00035d_lerobot_0326_220254_edfea759/episodes/ep000108/gripper_left_tactile_contact_metrics.json
@@ -0,0 +1,12 @@
+{
+  "contact_time": 8.166666666666666,
+  "contact_ratio": 0.5168776371308017,
+  "avg_contact_area": 4447.816326530612,
+  "contact_entropy": 1.16866342638398,
+  "total_frames": 474,
+  "fps": 30.0,
+  "reference_frame_count": 0,
+  "dataset_name": "dag911262r00035d_lerobot_0326_220254",
+  "episode_index": 108,
+  "sensor": "gripper_left_tactile"
+}
\ No newline at end of file
diff --git a/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-07/outputs_tactile/tactile_cache/dag911262r00035d_lerobot_0326_220254_edfea759/episodes/ep000108/gripper_right_tactile_force_metrics.json b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-07/outputs_tactile/tactile_cache/dag911262r00035d_lerobot_0326_220254_edfea759/episodes/ep000108/gripper_right_tactile_force_metrics.json
new file mode 100644
index 0000000000000000000000000000000000000000..84110c3b936ed98ea431546cf3af6382f22ada5d
--- /dev/null
+++ b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-07/outputs_tactile/tactile_cache/dag911262r00035d_lerobot_0326_220254_edfea759/episodes/ep000108/gripper_right_tactile_force_metrics.json
@@ -0,0 +1,9 @@
+{
+  "depth_peak": 0.0035562077537178993,
+  "shear_peak": 0.006352231837809086,
+  "force_magnitude_peak": 0.00726244505494833,
+  "reference_frame_count": 0,
+  "dataset_name": "dag911262r00035d_lerobot_0326_220254",
+  "episode_index": 108,
+  "sensor": "gripper_right_tactile"
+}
\ No newline at end of file
diff --git a/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-07/outputs_tactile/tactile_cache/dag911262r00035d_lerobot_0326_220254_edfea759/episodes/ep000109/gripper_left_tactile_force_metrics.json b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-07/outputs_tactile/tactile_cache/dag911262r00035d_lerobot_0326_220254_edfea759/episodes/ep000109/gripper_left_tactile_force_metrics.json
new file mode 100644
index 0000000000000000000000000000000000000000..64723189919ec4e2f86013b902b31a8d3ff7fccb
--- /dev/null
+++ b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-07/outputs_tactile/tactile_cache/dag911262r00035d_lerobot_0326_220254_edfea759/episodes/ep000109/gripper_left_tactile_force_metrics.json
@@ -0,0 +1,9 @@
+{
+  "depth_peak": 0.007087930105626583,
+  "shear_peak": 0.002507793251425028,
+  "force_magnitude_peak": 0.00709492526948452,
+  "reference_frame_count": 0,
+  "dataset_name": "dag911262r00035d_lerobot_0326_220254",
+  "episode_index": 109,
+  "sensor": "gripper_left_tactile"
+}
\ No newline at end of file
diff --git a/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-07/outputs_tactile/tactile_cache/dag911262r00035d_lerobot_0326_220254_edfea759/episodes/ep000111/gripper_right_tactile_contact_metrics.json b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-07/outputs_tactile/tactile_cache/dag911262r00035d_lerobot_0326_220254_edfea759/episodes/ep000111/gripper_right_tactile_contact_metrics.json
new file mode 100644
index 0000000000000000000000000000000000000000..9fd58b52044250b9527bbd48fe7862c0bcf0c38c
--- /dev/null
+++ b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-07/outputs_tactile/tactile_cache/dag911262r00035d_lerobot_0326_220254_edfea759/episodes/ep000111/gripper_right_tactile_contact_metrics.json
@@ -0,0 +1,12 @@
+{
+  "contact_time": 4.666666666666667,
+  "contact_ratio": 0.343980343980344,
+  "avg_contact_area": 58.128571428571426,
+  "contact_entropy": 0.0,
+  "total_frames": 407,
+  "fps": 30.0,
+  "reference_frame_count": 0,
+  "dataset_name": "dag911262r00035d_lerobot_0326_220254",
+  "episode_index": 111,
+  "sensor": "gripper_right_tactile"
+}
\ No newline at end of file
diff --git a/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-07/outputs_tactile/tactile_cache/dag911262r00035d_lerobot_0326_220254_edfea759/episodes/ep000112/gripper_left_tactile_force_metrics.json b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-07/outputs_tactile/tactile_cache/dag911262r00035d_lerobot_0326_220254_edfea759/episodes/ep000112/gripper_left_tactile_force_metrics.json
new file mode 100644
index 0000000000000000000000000000000000000000..40cb34ca0e2358776afeb94271148ef3d8953226
--- /dev/null
+++ b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-07/outputs_tactile/tactile_cache/dag911262r00035d_lerobot_0326_220254_edfea759/episodes/ep000112/gripper_left_tactile_force_metrics.json
@@ -0,0 +1,9 @@
+{
+  "depth_peak": 0.007090987637639046,
+  "shear_peak": 0.001964444760233164,
+  "force_magnitude_peak": 0.007242207415401936,
+  "reference_frame_count": 0,
+  "dataset_name": "dag911262r00035d_lerobot_0326_220254",
+  "episode_index": 112,
+  "sensor": "gripper_left_tactile"
+}
\ No newline at end of file
diff --git a/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-07/outputs_tactile/tactile_cache/dag911262r00035d_lerobot_0326_220254_edfea759/episodes/ep000118/gripper_left_tactile_contact_metrics.json b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-07/outputs_tactile/tactile_cache/dag911262r00035d_lerobot_0326_220254_edfea759/episodes/ep000118/gripper_left_tactile_contact_metrics.json
new file mode 100644
index 0000000000000000000000000000000000000000..33b9f0849266e84be5064ae384a81d945ebfa1e1
--- /dev/null
+++ b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-07/outputs_tactile/tactile_cache/dag911262r00035d_lerobot_0326_220254_edfea759/episodes/ep000118/gripper_left_tactile_contact_metrics.json
@@ -0,0 +1,12 @@
+{
+  "contact_time": 9.2,
+  "contact_ratio": 0.5644171779141104,
+  "avg_contact_area": 948.7065217391304,
+  "contact_entropy": 0.45319080944543055,
+  "total_frames": 489,
+  "fps": 30.0,
+  "reference_frame_count": 0,
+  "dataset_name": "dag911262r00035d_lerobot_0326_220254",
+  "episode_index": 118,
+  "sensor": "gripper_left_tactile"
+}
\ No newline at end of file
diff --git a/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-07/outputs_tactile/tactile_cache/dag911262r00035d_lerobot_0326_220254_edfea759/episodes/ep000123/gripper_left_tactile_contact_metrics.json b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-07/outputs_tactile/tactile_cache/dag911262r00035d_lerobot_0326_220254_edfea759/episodes/ep000123/gripper_left_tactile_contact_metrics.json
new file mode 100644
index 0000000000000000000000000000000000000000..0bacf09d2c333416e0ebda06e260aeff747c2e21
--- /dev/null
+++ b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-07/outputs_tactile/tactile_cache/dag911262r00035d_lerobot_0326_220254_edfea759/episodes/ep000123/gripper_left_tactile_contact_metrics.json
@@ -0,0 +1,12 @@
+{
+  "contact_time": 12.833333333333334,
+  "contact_ratio": 0.8651685393258427,
+  "avg_contact_area": 1996.812987012987,
+  "contact_entropy": 0.8220929926235189,
+  "total_frames": 445,
+  "fps": 30.0,
+  "reference_frame_count": 0,
+  "dataset_name": "dag911262r00035d_lerobot_0326_220254",
+  "episode_index": 123,
+  "sensor": "gripper_left_tactile"
+}
\ No newline at end of file
diff --git a/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-07/outputs_tactile/tactile_cache/dag911262r00035d_lerobot_0326_220254_edfea759/episodes/ep000126/gripper_left_tactile_force_metrics.json b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-07/outputs_tactile/tactile_cache/dag911262r00035d_lerobot_0326_220254_edfea759/episodes/ep000126/gripper_left_tactile_force_metrics.json
new file mode 100644
index 0000000000000000000000000000000000000000..40c84be76b5f4be07e9b3be6f21424d879273909
--- /dev/null
+++ b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-07/outputs_tactile/tactile_cache/dag911262r00035d_lerobot_0326_220254_edfea759/episodes/ep000126/gripper_left_tactile_force_metrics.json
@@ -0,0 +1,9 @@
+{
+  "depth_peak": 0.008336511440575123,
+  "shear_peak": 0.0029454391915351152,
+  "force_magnitude_peak": 0.008353954181075096,
+  "reference_frame_count": 0,
+  "dataset_name": "dag911262r00035d_lerobot_0326_220254",
+  "episode_index": 126,
+  "sensor": "gripper_left_tactile"
+}
\ No newline at end of file
diff --git a/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-07/outputs_tactile/tactile_cache/dag911262r00035d_lerobot_0326_220254_edfea759/episodes/ep000127/gripper_right_tactile_contact_metrics.json b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-07/outputs_tactile/tactile_cache/dag911262r00035d_lerobot_0326_220254_edfea759/episodes/ep000127/gripper_right_tactile_contact_metrics.json
new file mode 100644
index 0000000000000000000000000000000000000000..b6364b411de44c74f5e3ad679af824c7b4575cb4
--- /dev/null
+++ b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-07/outputs_tactile/tactile_cache/dag911262r00035d_lerobot_0326_220254_edfea759/episodes/ep000127/gripper_right_tactile_contact_metrics.json
@@ -0,0 +1,12 @@
+{
+  "contact_time": 8.2,
+  "contact_ratio": 0.5642201834862385,
+  "avg_contact_area": 242.66260162601625,
+  "contact_entropy": 0.026743340976607716,
+  "total_frames": 436,
+  "fps": 30.0,
+  "reference_frame_count": 0,
+  "dataset_name": "dag911262r00035d_lerobot_0326_220254",
+  "episode_index": 127,
+  "sensor": "gripper_right_tactile"
+}
\ No newline at end of file
diff --git a/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-07/outputs_tactile/tactile_cache/dag911262r00035d_lerobot_0326_220254_edfea759/episodes/ep000132/gripper_left_tactile_contact_metrics.json b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-07/outputs_tactile/tactile_cache/dag911262r00035d_lerobot_0326_220254_edfea759/episodes/ep000132/gripper_left_tactile_contact_metrics.json
new file mode 100644
index 0000000000000000000000000000000000000000..30ffa73c3baa00796b2e6c54828b7e61eb767297
--- /dev/null
+++ b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-07/outputs_tactile/tactile_cache/dag911262r00035d_lerobot_0326_220254_edfea759/episodes/ep000132/gripper_left_tactile_contact_metrics.json
@@ -0,0 +1,12 @@
+{
+  "contact_time": 6.466666666666667,
+  "contact_ratio": 0.60625,
+  "avg_contact_area": 1530.9020618556701,
+  "contact_entropy": 0.6857738200505166,
+  "total_frames": 320,
+  "fps": 30.0,
+  "reference_frame_count": 0,
+  "dataset_name": "dag911262r00035d_lerobot_0326_220254",
+  "episode_index": 132,
+  "sensor": "gripper_left_tactile"
+}
\ No newline at end of file
diff --git a/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-07/outputs_tactile/tactile_cache/dag911262r00035d_lerobot_0326_220254_edfea759/episodes/ep000132/gripper_right_tactile_contact_metrics.json b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-07/outputs_tactile/tactile_cache/dag911262r00035d_lerobot_0326_220254_edfea759/episodes/ep000132/gripper_right_tactile_contact_metrics.json
new file mode 100644
index 0000000000000000000000000000000000000000..7cf98eaa73813d6dabe52e0c8e4a8da6f3a2c707
--- /dev/null
+++ b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-07/outputs_tactile/tactile_cache/dag911262r00035d_lerobot_0326_220254_edfea759/episodes/ep000132/gripper_right_tactile_contact_metrics.json
@@ -0,0 +1,12 @@
+{
+  "contact_time": 3.066666666666667,
+  "contact_ratio": 0.2875,
+  "avg_contact_area": 163.58695652173913,
+  "contact_entropy": 0.0,
+  "total_frames": 320,
+  "fps": 30.0,
+  "reference_frame_count": 0,
+  "dataset_name": "dag911262r00035d_lerobot_0326_220254",
+  "episode_index": 132,
+  "sensor": "gripper_right_tactile"
+}
\ No newline at end of file
diff --git a/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-07/outputs_tactile/tactile_cache/dag911262r00035d_lerobot_0326_220254_edfea759/episodes/ep000133/gripper_right_tactile_contact_metrics.json b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-07/outputs_tactile/tactile_cache/dag911262r00035d_lerobot_0326_220254_edfea759/episodes/ep000133/gripper_right_tactile_contact_metrics.json
new file mode 100644
index 0000000000000000000000000000000000000000..3c62ef0d4f9f36bb38330846bbb9c0b2b47a85ea
--- /dev/null
+++ b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-07/outputs_tactile/tactile_cache/dag911262r00035d_lerobot_0326_220254_edfea759/episodes/ep000133/gripper_right_tactile_contact_metrics.json
@@ -0,0 +1,12 @@
+{
+  "contact_time": 11.533333333333333,
+  "contact_ratio": 0.7330508474576272,
+  "avg_contact_area": 535.1098265895954,
+  "contact_entropy": 0.05757213541166719,
+  "total_frames": 472,
+  "fps": 30.0,
+  "reference_frame_count": 0,
+  "dataset_name": "dag911262r00035d_lerobot_0326_220254",
+  "episode_index": 133,
+  "sensor": "gripper_right_tactile"
+}
\ No newline at end of file
diff --git a/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-07/outputs_tactile/tactile_cache/dag911262r00035d_lerobot_0326_220254_edfea759/episodes/ep000134/gripper_left_tactile_force_metrics.json b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-07/outputs_tactile/tactile_cache/dag911262r00035d_lerobot_0326_220254_edfea759/episodes/ep000134/gripper_left_tactile_force_metrics.json
new file mode 100644
index 0000000000000000000000000000000000000000..232a091cb07b94a3244fc684d95cd5922f4897ef
--- /dev/null
+++ b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-07/outputs_tactile/tactile_cache/dag911262r00035d_lerobot_0326_220254_edfea759/episodes/ep000134/gripper_left_tactile_force_metrics.json
@@ -0,0 +1,9 @@
+{
+  "depth_peak": 0.004173037130385637,
+  "shear_peak": 0.0015245395479723811,
+  "force_magnitude_peak": 0.0044096047058701515,
+  "reference_frame_count": 0,
+  "dataset_name": "dag911262r00035d_lerobot_0326_220254",
+  "episode_index": 134,
+  "sensor": "gripper_left_tactile"
+}
\ No newline at end of file
diff --git a/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-07/outputs_tactile/tactile_cache/dag911262r00035d_lerobot_0326_220254_edfea759/episodes/ep000140/gripper_left_tactile_force_metrics.json b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-07/outputs_tactile/tactile_cache/dag911262r00035d_lerobot_0326_220254_edfea759/episodes/ep000140/gripper_left_tactile_force_metrics.json
new file mode 100644
index 0000000000000000000000000000000000000000..b6494e131ced00439a8a5c4eebda23c5ff977069
--- /dev/null
+++ b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-07/outputs_tactile/tactile_cache/dag911262r00035d_lerobot_0326_220254_edfea759/episodes/ep000140/gripper_left_tactile_force_metrics.json
@@ -0,0 +1,9 @@
+{
+  "depth_peak": 0.0067194667644798756,
+  "shear_peak": 0.0023394899908453226,
+  "force_magnitude_peak": 0.006992922630161047,
+  "reference_frame_count": 0,
+  "dataset_name": "dag911262r00035d_lerobot_0326_220254",
+  "episode_index": 140,
+  "sensor": "gripper_left_tactile"
+}
\ No newline at end of file
diff --git a/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-07/outputs_tactile/tactile_cache/dag911262r00035d_lerobot_0326_220254_edfea759/episodes/ep000142/gripper_left_tactile_contact_metrics.json b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-07/outputs_tactile/tactile_cache/dag911262r00035d_lerobot_0326_220254_edfea759/episodes/ep000142/gripper_left_tactile_contact_metrics.json
new file mode 100644
index 0000000000000000000000000000000000000000..38f48c0f4719808239afe1cd94d2afb4f62f1041
--- /dev/null
+++ b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-07/outputs_tactile/tactile_cache/dag911262r00035d_lerobot_0326_220254_edfea759/episodes/ep000142/gripper_left_tactile_contact_metrics.json
@@ -0,0 +1,12 @@
+{
+  "contact_time": 6.166666666666667,
+  "contact_ratio": 0.49731182795698925,
+  "avg_contact_area": 2940.3783783783783,
+  "contact_entropy": 0.6215027490923017,
+  "total_frames": 372,
+  "fps": 30.0,
+  "reference_frame_count": 0,
+  "dataset_name": "dag911262r00035d_lerobot_0326_220254",
+  "episode_index": 142,
+  "sensor": "gripper_left_tactile"
+}
\ No newline at end of file
diff --git a/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-07/outputs_tactile/tactile_cache/dag911262r00035d_lerobot_0326_220254_edfea759/episodes/ep000144/gripper_right_tactile_force_metrics.json b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-07/outputs_tactile/tactile_cache/dag911262r00035d_lerobot_0326_220254_edfea759/episodes/ep000144/gripper_right_tactile_force_metrics.json
new file mode 100644
index 0000000000000000000000000000000000000000..ff6f71a1c905635ade45574d2ffec655ae24df7e
--- /dev/null
+++ b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-07/outputs_tactile/tactile_cache/dag911262r00035d_lerobot_0326_220254_edfea759/episodes/ep000144/gripper_right_tactile_force_metrics.json
@@ -0,0 +1,9 @@
+{
+  "depth_peak": 0.0005139510612934828,
+  "shear_peak": 0.0011556396493688226,
+  "force_magnitude_peak": 0.002122576581314206,
+  "reference_frame_count": 0,
+  "dataset_name": "dag911262r00035d_lerobot_0326_220254",
+  "episode_index": 144,
+  "sensor": "gripper_right_tactile"
+}
\ No newline at end of file
diff --git a/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-07/outputs_tactile/tactile_cache/dag911262r00035d_lerobot_0326_220254_edfea759/episodes/ep000145/gripper_right_tactile_contact_metrics.json b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-07/outputs_tactile/tactile_cache/dag911262r00035d_lerobot_0326_220254_edfea759/episodes/ep000145/gripper_right_tactile_contact_metrics.json
new file mode 100644
index 0000000000000000000000000000000000000000..f2e685abf8ccfbd1ae54ec2f5293fe4070af2170
--- /dev/null
+++ b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-07/outputs_tactile/tactile_cache/dag911262r00035d_lerobot_0326_220254_edfea759/episodes/ep000145/gripper_right_tactile_contact_metrics.json
@@ -0,0 +1,12 @@
+{
+  "contact_time": 6.533333333333333,
+  "contact_ratio": 0.43555555555555553,
+  "avg_contact_area": 1478.454081632653,
+  "contact_entropy": 0.0462078330372863,
+  "total_frames": 450,
+  "fps": 30.0,
+  "reference_frame_count": 0,
+  "dataset_name": "dag911262r00035d_lerobot_0326_220254",
+  "episode_index": 145,
+  "sensor": "gripper_right_tactile"
+}
\ No newline at end of file
diff --git a/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-07/outputs_tactile/tactile_cache/dag911262r00035d_lerobot_0326_220254_edfea759/episodes/ep000148/gripper_left_tactile_contact_metrics.json b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-07/outputs_tactile/tactile_cache/dag911262r00035d_lerobot_0326_220254_edfea759/episodes/ep000148/gripper_left_tactile_contact_metrics.json
new file mode 100644
index 0000000000000000000000000000000000000000..eb868dac39361a1f0bb0a30413554e87b479095b
--- /dev/null
+++ b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-07/outputs_tactile/tactile_cache/dag911262r00035d_lerobot_0326_220254_edfea759/episodes/ep000148/gripper_left_tactile_contact_metrics.json
@@ -0,0 +1,12 @@
+{
+  "contact_time": 6.2,
+  "contact_ratio": 0.5961538461538461,
+  "avg_contact_area": 237.63440860215053,
+  "contact_entropy": 0.1320579938625015,
+  "total_frames": 312,
+  "fps": 30.0,
+  "reference_frame_count": 0,
+  "dataset_name": "dag911262r00035d_lerobot_0326_220254",
+  "episode_index": 148,
+  "sensor": "gripper_left_tactile"
+}
\ No newline at end of file
diff --git a/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-07/outputs_tactile/tactile_cache/dag911262r00035d_lerobot_0326_220254_edfea759/episodes/ep000148/gripper_right_tactile_force_metrics.json b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-07/outputs_tactile/tactile_cache/dag911262r00035d_lerobot_0326_220254_edfea759/episodes/ep000148/gripper_right_tactile_force_metrics.json
new file mode 100644
index 0000000000000000000000000000000000000000..973a38080998a5048a2c118553d84ae622e4dd44
--- /dev/null
+++ b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-07/outputs_tactile/tactile_cache/dag911262r00035d_lerobot_0326_220254_edfea759/episodes/ep000148/gripper_right_tactile_force_metrics.json
@@ -0,0 +1,9 @@
+{
+  "depth_peak": 0.005758875980973244,
+  "shear_peak": 0.00851935800164938,
+  "force_magnitude_peak": 0.01027461513876915,
+  "reference_frame_count": 0,
+  "dataset_name": "dag911262r00035d_lerobot_0326_220254",
+  "episode_index": 148,
+  "sensor": "gripper_right_tactile"
+}
\ No newline at end of file
diff --git a/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-07/outputs_tactile/tactile_cache/dag911262r00035d_lerobot_0326_220254_edfea759/episodes/ep000149/gripper_left_tactile_force_metrics.json b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-07/outputs_tactile/tactile_cache/dag911262r00035d_lerobot_0326_220254_edfea759/episodes/ep000149/gripper_left_tactile_force_metrics.json
new file mode 100644
index 0000000000000000000000000000000000000000..cfb8b77c9a4e33df743f30f644b42405dc72b02e
--- /dev/null
+++ b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-07/outputs_tactile/tactile_cache/dag911262r00035d_lerobot_0326_220254_edfea759/episodes/ep000149/gripper_left_tactile_force_metrics.json
@@ -0,0 +1,9 @@
+{
+  "depth_peak": 0.0018328709993511438,
+  "shear_peak": 0.0034722788259387016,
+  "force_magnitude_peak": 0.003500241320580244,
+  "reference_frame_count": 0,
+  "dataset_name": "dag911262r00035d_lerobot_0326_220254",
+  "episode_index": 149,
+  "sensor": "gripper_left_tactile"
+}
\ No newline at end of file
diff --git a/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-07/outputs_tactile/tactile_cache/dag911262r00035d_lerobot_0326_220254_edfea759/episodes/ep000151/gripper_right_tactile_contact_metrics.json b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-07/outputs_tactile/tactile_cache/dag911262r00035d_lerobot_0326_220254_edfea759/episodes/ep000151/gripper_right_tactile_contact_metrics.json
new file mode 100644
index 0000000000000000000000000000000000000000..845aedbff8658cc07aaf1093101ef9682d8d3b80
--- /dev/null
+++ b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-07/outputs_tactile/tactile_cache/dag911262r00035d_lerobot_0326_220254_edfea759/episodes/ep000151/gripper_right_tactile_contact_metrics.json
@@ -0,0 +1,12 @@
+{
+  "contact_time": 9.8,
+  "contact_ratio": 0.7757255936675461,
+  "avg_contact_area": 1369.421768707483,
+  "contact_entropy": 0.8552642959041011,
+  "total_frames": 379,
+  "fps": 30.0,
+  "reference_frame_count": 0,
+  "dataset_name": "dag911262r00035d_lerobot_0326_220254",
+  "episode_index": 151,
+  "sensor": "gripper_right_tactile"
+}
\ No newline at end of file
diff --git a/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-07/outputs_tactile/tactile_cache/dag911262r00035d_lerobot_0326_220254_edfea759/episodes/ep000152/gripper_left_tactile_force_metrics.json b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-07/outputs_tactile/tactile_cache/dag911262r00035d_lerobot_0326_220254_edfea759/episodes/ep000152/gripper_left_tactile_force_metrics.json
new file mode 100644
index 0000000000000000000000000000000000000000..6f0e669fd4f9bdc0147ee4e6262dbc5d7eb3aae7
--- /dev/null
+++ b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-07/outputs_tactile/tactile_cache/dag911262r00035d_lerobot_0326_220254_edfea759/episodes/ep000152/gripper_left_tactile_force_metrics.json
@@ -0,0 +1,9 @@
+{
+  "depth_peak": 0.00275926711037755,
+  "shear_peak": 0.0023858665954321623,
+  "force_magnitude_peak": 0.0032767283264547586,
+  "reference_frame_count": 0,
+  "dataset_name": "dag911262r00035d_lerobot_0326_220254",
+  "episode_index": 152,
+  "sensor": "gripper_left_tactile"
+}
\ No newline at end of file