diff --git a/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_09-30/outputs_tactile/tactile_cache/dag911262r00035d_lerobot_0327_114353_7434c583/episodes/ep000104/gripper_right_tactile_force_metrics.json b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_09-30/outputs_tactile/tactile_cache/dag911262r00035d_lerobot_0327_114353_7434c583/episodes/ep000104/gripper_right_tactile_force_metrics.json
new file mode 100644
index 0000000000000000000000000000000000000000..d06e6e3585ee4aa22fb21acb83cffc94eb92972c
--- /dev/null
+++ b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_09-30/outputs_tactile/tactile_cache/dag911262r00035d_lerobot_0327_114353_7434c583/episodes/ep000104/gripper_right_tactile_force_metrics.json
@@ -0,0 +1,9 @@
+{
+  "depth_peak": 0.0006839418783783913,
+  "shear_peak": 0.0023069344460964203,
+  "force_magnitude_peak": 0.002339212456718087,
+  "reference_frame_count": 0,
+  "dataset_name": "dag911262r00035d_lerobot_0327_114353",
+  "episode_index": 104,
+  "sensor": "gripper_right_tactile"
+}
\ No newline at end of file
diff --git a/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_09-30/outputs_tactile/tactile_cache/dag911262r00035d_lerobot_0327_114353_7434c583/episodes/ep000107/gripper_right_tactile_contact_metrics.json b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_09-30/outputs_tactile/tactile_cache/dag911262r00035d_lerobot_0327_114353_7434c583/episodes/ep000107/gripper_right_tactile_contact_metrics.json
new file mode 100644
index 0000000000000000000000000000000000000000..0c175e7e238ae5298a594ba6d24ffe3827c256c1
--- /dev/null
+++ b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_09-30/outputs_tactile/tactile_cache/dag911262r00035d_lerobot_0327_114353_7434c583/episodes/ep000107/gripper_right_tactile_contact_metrics.json
@@ -0,0 +1,12 @@
+{
+  "contact_time": 3.566666666666667,
+  "contact_ratio": 0.6331360946745562,
+  "avg_contact_area": 1000.5700934579439,
+  "contact_entropy": 0.1122705570316523,
+  "total_frames": 169,
+  "fps": 30.0,
+  "reference_frame_count": 0,
+  "dataset_name": "dag911262r00035d_lerobot_0327_114353",
+  "episode_index": 107,
+  "sensor": "gripper_right_tactile"
+}
\ No newline at end of file
diff --git a/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_09-30/outputs_tactile/tactile_cache/dag911262r00035d_lerobot_0327_114353_7434c583/episodes/ep000110/gripper_right_tactile_force_metrics.json b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_09-30/outputs_tactile/tactile_cache/dag911262r00035d_lerobot_0327_114353_7434c583/episodes/ep000110/gripper_right_tactile_force_metrics.json
new file mode 100644
index 0000000000000000000000000000000000000000..483a81d6563dd174ec735913399e08bdfdc28678
--- /dev/null
+++ b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_09-30/outputs_tactile/tactile_cache/dag911262r00035d_lerobot_0327_114353_7434c583/episodes/ep000110/gripper_right_tactile_force_metrics.json
@@ -0,0 +1,9 @@
+{
+  "depth_peak": 0.002876059152185917,
+  "shear_peak": 0.010421286337077618,
+  "force_magnitude_peak": 0.010785534046590328,
+  "reference_frame_count": 0,
+  "dataset_name": "dag911262r00035d_lerobot_0327_114353",
+  "episode_index": 110,
+  "sensor": "gripper_right_tactile"
+}
\ No newline at end of file
diff --git a/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_09-30/outputs_tactile/tactile_cache/dag911262r00035d_lerobot_0327_114353_7434c583/episodes/ep000122/gripper_right_tactile_contact_metrics.json b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_09-30/outputs_tactile/tactile_cache/dag911262r00035d_lerobot_0327_114353_7434c583/episodes/ep000122/gripper_right_tactile_contact_metrics.json
new file mode 100644
index 0000000000000000000000000000000000000000..270c7b83a7d3f0a4f0ad0592d8a00b0b812e1dc2
--- /dev/null
+++ b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_09-30/outputs_tactile/tactile_cache/dag911262r00035d_lerobot_0327_114353_7434c583/episodes/ep000122/gripper_right_tactile_contact_metrics.json
@@ -0,0 +1,12 @@
+{
+  "contact_time": 3.5,
+  "contact_ratio": 0.375,
+  "avg_contact_area": 57.476190476190474,
+  "contact_entropy": 0.0,
+  "total_frames": 280,
+  "fps": 30.0,
+  "reference_frame_count": 0,
+  "dataset_name": "dag911262r00035d_lerobot_0327_114353",
+  "episode_index": 122,
+  "sensor": "gripper_right_tactile"
+}
\ No newline at end of file
diff --git a/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_09-30/outputs_tactile/tactile_cache/dag911262r00035d_lerobot_0327_114353_7434c583/episodes/ep000122/gripper_right_tactile_force_metrics.json b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_09-30/outputs_tactile/tactile_cache/dag911262r00035d_lerobot_0327_114353_7434c583/episodes/ep000122/gripper_right_tactile_force_metrics.json
new file mode 100644
index 0000000000000000000000000000000000000000..1270640a9fe64e5b8a7912e7ec7b0db33c6dbbbd
--- /dev/null
+++ b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_09-30/outputs_tactile/tactile_cache/dag911262r00035d_lerobot_0327_114353_7434c583/episodes/ep000122/gripper_right_tactile_force_metrics.json
@@ -0,0 +1,9 @@
+{
+  "depth_peak": 0.0005596584524028003,
+  "shear_peak": 0.0024514442775398493,
+  "force_magnitude_peak": 0.0029278616420924664,
+  "reference_frame_count": 0,
+  "dataset_name": "dag911262r00035d_lerobot_0327_114353",
+  "episode_index": 122,
+  "sensor": "gripper_right_tactile"
+}
\ No newline at end of file
diff --git a/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_09-30/outputs_tactile/tactile_cache/dag911262r00035d_lerobot_0327_114353_7434c583/episodes/ep000124/gripper_right_tactile_contact_metrics.json b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_09-30/outputs_tactile/tactile_cache/dag911262r00035d_lerobot_0327_114353_7434c583/episodes/ep000124/gripper_right_tactile_contact_metrics.json
new file mode 100644
index 0000000000000000000000000000000000000000..75771b9da6127c0e35a3ef393aa81ad4edc7608f
--- /dev/null
+++ b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_09-30/outputs_tactile/tactile_cache/dag911262r00035d_lerobot_0327_114353_7434c583/episodes/ep000124/gripper_right_tactile_contact_metrics.json
@@ -0,0 +1,12 @@
+{
+  "contact_time": 2.966666666666667,
+  "contact_ratio": 0.47593582887700536,
+  "avg_contact_area": 48.674157303370784,
+  "contact_entropy": 0.0,
+  "total_frames": 187,
+  "fps": 30.0,
+  "reference_frame_count": 0,
+  "dataset_name": "dag911262r00035d_lerobot_0327_114353",
+  "episode_index": 124,
+  "sensor": "gripper_right_tactile"
+}
\ No newline at end of file
diff --git a/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_09-30/outputs_tactile/tactile_cache/dag911262r00035d_lerobot_0327_114353_7434c583/episodes/ep000132/gripper_right_tactile_force_metrics.json b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_09-30/outputs_tactile/tactile_cache/dag911262r00035d_lerobot_0327_114353_7434c583/episodes/ep000132/gripper_right_tactile_force_metrics.json
new file mode 100644
index 0000000000000000000000000000000000000000..13bf07d29e510da647130fd1e05ceb7e590051bf
--- /dev/null
+++ b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_09-30/outputs_tactile/tactile_cache/dag911262r00035d_lerobot_0327_114353_7434c583/episodes/ep000132/gripper_right_tactile_force_metrics.json
@@ -0,0 +1,9 @@
+{
+  "depth_peak": 0.0009448931668885052,
+  "shear_peak": 0.0009031451190821826,
+  "force_magnitude_peak": 0.0012049598153680563,
+  "reference_frame_count": 0,
+  "dataset_name": "dag911262r00035d_lerobot_0327_114353",
+  "episode_index": 132,
+  "sensor": "gripper_right_tactile"
+}
\ No newline at end of file
diff --git a/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_09-30/outputs_tactile/tactile_cache/dag911262r00035d_lerobot_0327_114353_7434c583/episodes/ep000137/gripper_right_tactile_contact_metrics.json b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_09-30/outputs_tactile/tactile_cache/dag911262r00035d_lerobot_0327_114353_7434c583/episodes/ep000137/gripper_right_tactile_contact_metrics.json
new file mode 100644
index 0000000000000000000000000000000000000000..e96697299192cfe21eab05f8505555a60f40b9b3
--- /dev/null
+++ b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_09-30/outputs_tactile/tactile_cache/dag911262r00035d_lerobot_0327_114353_7434c583/episodes/ep000137/gripper_right_tactile_contact_metrics.json
@@ -0,0 +1,12 @@
+{
+  "contact_time": 3.3666666666666667,
+  "contact_ratio": 0.6158536585365854,
+  "avg_contact_area": 44.633663366336634,
+  "contact_entropy": 0.0,
+  "total_frames": 164,
+  "fps": 30.0,
+  "reference_frame_count": 0,
+  "dataset_name": "dag911262r00035d_lerobot_0327_114353",
+  "episode_index": 137,
+  "sensor": "gripper_right_tactile"
+}
\ No newline at end of file
diff --git a/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_09-30/outputs_tactile/tactile_cache/dag911262r00035d_lerobot_0327_114353_7434c583/episodes/ep000142/gripper_right_tactile_contact_metrics.json b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_09-30/outputs_tactile/tactile_cache/dag911262r00035d_lerobot_0327_114353_7434c583/episodes/ep000142/gripper_right_tactile_contact_metrics.json
new file mode 100644
index 0000000000000000000000000000000000000000..98913b2c3485dffffe1518db6fa17de2ab326d03
--- /dev/null
+++ b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_09-30/outputs_tactile/tactile_cache/dag911262r00035d_lerobot_0327_114353_7434c583/episodes/ep000142/gripper_right_tactile_contact_metrics.json
@@ -0,0 +1,12 @@
+{
+  "contact_time": 1.0333333333333334,
+  "contact_ratio": 0.17032967032967034,
+  "avg_contact_area": 19.129032258064516,
+  "contact_entropy": 0.0,
+  "total_frames": 182,
+  "fps": 30.0,
+  "reference_frame_count": 0,
+  "dataset_name": "dag911262r00035d_lerobot_0327_114353",
+  "episode_index": 142,
+  "sensor": "gripper_right_tactile"
+}
\ No newline at end of file
diff --git a/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_09-30/outputs_tactile/tactile_cache/dag911262r00035d_lerobot_0327_114353_7434c583/episodes/ep000142/gripper_right_tactile_force_metrics.json b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_09-30/outputs_tactile/tactile_cache/dag911262r00035d_lerobot_0327_114353_7434c583/episodes/ep000142/gripper_right_tactile_force_metrics.json
new file mode 100644
index 0000000000000000000000000000000000000000..f7d5367d82f8f98791979881dc73d3db95fd357d
--- /dev/null
+++ b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_09-30/outputs_tactile/tactile_cache/dag911262r00035d_lerobot_0327_114353_7434c583/episodes/ep000142/gripper_right_tactile_force_metrics.json
@@ -0,0 +1,9 @@
+{
+  "depth_peak": 0.00036939833080396056,
+  "shear_peak": 0.0014042708789929748,
+  "force_magnitude_peak": 0.002209112513810396,
+  "reference_frame_count": 0,
+  "dataset_name": "dag911262r00035d_lerobot_0327_114353",
+  "episode_index": 142,
+  "sensor": "gripper_right_tactile"
+}
\ No newline at end of file
diff --git a/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_09-30/outputs_tactile/tactile_cache/dag911262r00035d_lerobot_0327_114353_7434c583/episodes/ep000144/gripper_right_tactile_force_metrics.json b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_09-30/outputs_tactile/tactile_cache/dag911262r00035d_lerobot_0327_114353_7434c583/episodes/ep000144/gripper_right_tactile_force_metrics.json
new file mode 100644
index 0000000000000000000000000000000000000000..a2535fe47c61d58fbd1dd4b397668e4e82e96ee3
--- /dev/null
+++ b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_09-30/outputs_tactile/tactile_cache/dag911262r00035d_lerobot_0327_114353_7434c583/episodes/ep000144/gripper_right_tactile_force_metrics.json
@@ -0,0 +1,9 @@
+{
+  "depth_peak": 0.00064653973095119,
+  "shear_peak": 0.0021346616558730602,
+  "force_magnitude_peak": 0.0029730836395174265,
+  "reference_frame_count": 0,
+  "dataset_name": "dag911262r00035d_lerobot_0327_114353",
+  "episode_index": 144,
+  "sensor": "gripper_right_tactile"
+}
\ No newline at end of file
diff --git a/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_09-30/outputs_tactile/tactile_cache/dag911262r00035d_lerobot_0327_114353_7434c583/episodes/ep000147/gripper_right_tactile_contact_metrics.json b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_09-30/outputs_tactile/tactile_cache/dag911262r00035d_lerobot_0327_114353_7434c583/episodes/ep000147/gripper_right_tactile_contact_metrics.json
new file mode 100644
index 0000000000000000000000000000000000000000..b9c8c1c31afa0c33503943b093b0066b09c946a7
--- /dev/null
+++ b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_09-30/outputs_tactile/tactile_cache/dag911262r00035d_lerobot_0327_114353_7434c583/episodes/ep000147/gripper_right_tactile_contact_metrics.json
@@ -0,0 +1,12 @@
+{
+  "contact_time": 0.0,
+  "contact_ratio": 0.0,
+  "avg_contact_area": 0.0,
+  "contact_entropy": 0.0,
+  "total_frames": 246,
+  "fps": 30.0,
+  "reference_frame_count": 0,
+  "dataset_name": "dag911262r00035d_lerobot_0327_114353",
+  "episode_index": 147,
+  "sensor": "gripper_right_tactile"
+}
\ No newline at end of file
diff --git a/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_09-30/outputs_tactile/tactile_cache/dag911262r00035d_lerobot_0327_114353_7434c583/episodes/ep000150/gripper_left_tactile_force_metrics.json b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_09-30/outputs_tactile/tactile_cache/dag911262r00035d_lerobot_0327_114353_7434c583/episodes/ep000150/gripper_left_tactile_force_metrics.json
new file mode 100644
index 0000000000000000000000000000000000000000..15c4eaeed6a99f0e1d83a284af6cec6fef796688
--- /dev/null
+++ b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_09-30/outputs_tactile/tactile_cache/dag911262r00035d_lerobot_0327_114353_7434c583/episodes/ep000150/gripper_left_tactile_force_metrics.json
@@ -0,0 +1,9 @@
+{
+  "depth_peak": 0.0035505134146660566,
+  "shear_peak": 0.0019157262286171317,
+  "force_magnitude_peak": 0.0036436435766518116,
+  "reference_frame_count": 0,
+  "dataset_name": "dag911262r00035d_lerobot_0327_114353",
+  "episode_index": 150,
+  "sensor": "gripper_left_tactile"
+}
\ No newline at end of file
diff --git a/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_09-30/outputs_tactile/tactile_cache/dag911262r00035d_lerobot_0327_114353_7434c583/episodes/ep000150/gripper_right_tactile_force_metrics.json b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_09-30/outputs_tactile/tactile_cache/dag911262r00035d_lerobot_0327_114353_7434c583/episodes/ep000150/gripper_right_tactile_force_metrics.json
new file mode 100644
index 0000000000000000000000000000000000000000..a8c1f35214bc5136536d046f8fb39991688ef5fd
--- /dev/null
+++ b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_09-30/outputs_tactile/tactile_cache/dag911262r00035d_lerobot_0327_114353_7434c583/episodes/ep000150/gripper_right_tactile_force_metrics.json
@@ -0,0 +1,9 @@
+{
+  "depth_peak": 0.0011001677485182881,
+  "shear_peak": 0.0017404287355020642,
+  "force_magnitude_peak": 0.0018425968009978533,
+  "reference_frame_count": 0,
+  "dataset_name": "dag911262r00035d_lerobot_0327_114353",
+  "episode_index": 150,
+  "sensor": "gripper_right_tactile"
+}
\ No newline at end of file
diff --git a/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_09-30/outputs_tactile/tactile_cache/dag911262r00035d_lerobot_0327_114353_7434c583/episodes/ep000152/gripper_left_tactile_contact_metrics.json b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_09-30/outputs_tactile/tactile_cache/dag911262r00035d_lerobot_0327_114353_7434c583/episodes/ep000152/gripper_left_tactile_contact_metrics.json
new file mode 100644
index 0000000000000000000000000000000000000000..61d193e6226b1074a9dfc4845be81eec9642afa2
--- /dev/null
+++ b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_09-30/outputs_tactile/tactile_cache/dag911262r00035d_lerobot_0327_114353_7434c583/episodes/ep000152/gripper_left_tactile_contact_metrics.json
@@ -0,0 +1,12 @@
+{
+  "contact_time": 3.2666666666666666,
+  "contact_ratio": 0.47115384615384615,
+  "avg_contact_area": 954.9183673469388,
+  "contact_entropy": 0.0,
+  "total_frames": 208,
+  "fps": 30.0,
+  "reference_frame_count": 0,
+  "dataset_name": "dag911262r00035d_lerobot_0327_114353",
+  "episode_index": 152,
+  "sensor": "gripper_left_tactile"
+}
\ No newline at end of file
diff --git a/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_09-30/outputs_tactile/tactile_cache/dag911262r00035d_lerobot_0327_114353_7434c583/episodes/ep000157/gripper_left_tactile_contact_metrics.json b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_09-30/outputs_tactile/tactile_cache/dag911262r00035d_lerobot_0327_114353_7434c583/episodes/ep000157/gripper_left_tactile_contact_metrics.json
new file mode 100644
index 0000000000000000000000000000000000000000..ba7d12c2e87bbda05d23a1b544d1671dc4a3b708
--- /dev/null
+++ b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_09-30/outputs_tactile/tactile_cache/dag911262r00035d_lerobot_0327_114353_7434c583/episodes/ep000157/gripper_left_tactile_contact_metrics.json
@@ -0,0 +1,12 @@
+{
+  "contact_time": 4.833333333333333,
+  "contact_ratio": 0.6304347826086957,
+  "avg_contact_area": 2113.406896551724,
+  "contact_entropy": 0.7765521389883483,
+  "total_frames": 230,
+  "fps": 30.0,
+  "reference_frame_count": 0,
+  "dataset_name": "dag911262r00035d_lerobot_0327_114353",
+  "episode_index": 157,
+  "sensor": "gripper_left_tactile"
+}
\ No newline at end of file
diff --git a/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_09-30/outputs_tactile/tactile_cache/dag911262r00035d_lerobot_0327_114353_7434c583/episodes/ep000162/gripper_right_tactile_contact_metrics.json b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_09-30/outputs_tactile/tactile_cache/dag911262r00035d_lerobot_0327_114353_7434c583/episodes/ep000162/gripper_right_tactile_contact_metrics.json
new file mode 100644
index 0000000000000000000000000000000000000000..d04dc87df3cc4c2331f7c76d6868dbc0af352922
--- /dev/null
+++ b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_09-30/outputs_tactile/tactile_cache/dag911262r00035d_lerobot_0327_114353_7434c583/episodes/ep000162/gripper_right_tactile_contact_metrics.json
@@ -0,0 +1,12 @@
+{
+  "contact_time": 1.4,
+  "contact_ratio": 0.22105263157894736,
+  "avg_contact_area": 95.02380952380952,
+  "contact_entropy": 0.0,
+  "total_frames": 190,
+  "fps": 30.0,
+  "reference_frame_count": 0,
+  "dataset_name": "dag911262r00035d_lerobot_0327_114353",
+  "episode_index": 162,
+  "sensor": "gripper_right_tactile"
+}
\ No newline at end of file
diff --git a/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_09-30/outputs_tactile/tactile_cache/dag911262r00035d_lerobot_0327_114353_7434c583/episodes/ep000162/gripper_right_tactile_force_metrics.json b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_09-30/outputs_tactile/tactile_cache/dag911262r00035d_lerobot_0327_114353_7434c583/episodes/ep000162/gripper_right_tactile_force_metrics.json
new file mode 100644
index 0000000000000000000000000000000000000000..486b185d5f62e0d097b5a5600ec9e78e2189d274
--- /dev/null
+++ b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_09-30/outputs_tactile/tactile_cache/dag911262r00035d_lerobot_0327_114353_7434c583/episodes/ep000162/gripper_right_tactile_force_metrics.json
@@ -0,0 +1,9 @@
+{
+  "depth_peak": 0.00015550063108094037,
+  "shear_peak": 0.002590646268799901,
+  "force_magnitude_peak": 0.002886122791096568,
+  "reference_frame_count": 0,
+  "dataset_name": "dag911262r00035d_lerobot_0327_114353",
+  "episode_index": 162,
+  "sensor": "gripper_right_tactile"
+}
\ No newline at end of file
diff --git a/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_09-30/outputs_tactile/tactile_cache/dag911262r00035d_lerobot_0327_114353_7434c583/episodes/ep000164/gripper_left_tactile_force_metrics.json b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_09-30/outputs_tactile/tactile_cache/dag911262r00035d_lerobot_0327_114353_7434c583/episodes/ep000164/gripper_left_tactile_force_metrics.json
new file mode 100644
index 0000000000000000000000000000000000000000..b5cc9ae950c2e62dd8c3c7b0ae8eb545a67dcc38
--- /dev/null
+++ b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_09-30/outputs_tactile/tactile_cache/dag911262r00035d_lerobot_0327_114353_7434c583/episodes/ep000164/gripper_left_tactile_force_metrics.json
@@ -0,0 +1,9 @@
+{
+  "depth_peak": 0.0022588863503187895,
+  "shear_peak": 0.0019036560552194715,
+  "force_magnitude_peak": 0.0025639603845775127,
+  "reference_frame_count": 0,
+  "dataset_name": "dag911262r00035d_lerobot_0327_114353",
+  "episode_index": 164,
+  "sensor": "gripper_left_tactile"
+}
\ No newline at end of file
diff --git a/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_09-30/outputs_tactile/tactile_cache/dag911262r00035d_lerobot_0327_114353_7434c583/episodes/ep000164/gripper_right_tactile_contact_metrics.json b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_09-30/outputs_tactile/tactile_cache/dag911262r00035d_lerobot_0327_114353_7434c583/episodes/ep000164/gripper_right_tactile_contact_metrics.json
new file mode 100644
index 0000000000000000000000000000000000000000..abfc76232e60bb1bffd8f1d48266e8cf78377303
--- /dev/null
+++ b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_09-30/outputs_tactile/tactile_cache/dag911262r00035d_lerobot_0327_114353_7434c583/episodes/ep000164/gripper_right_tactile_contact_metrics.json
@@ -0,0 +1,12 @@
+{
+  "contact_time": 0.36666666666666664,
+  "contact_ratio": 0.05527638190954774,
+  "avg_contact_area": 4.090909090909091,
+  "contact_entropy": 0.0,
+  "total_frames": 199,
+  "fps": 30.0,
+  "reference_frame_count": 0,
+  "dataset_name": "dag911262r00035d_lerobot_0327_114353",
+  "episode_index": 164,
+  "sensor": "gripper_right_tactile"
+}
\ No newline at end of file
diff --git a/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_09-30/outputs_tactile/tactile_cache/dag911262r00035d_lerobot_0327_114353_7434c583/episodes/ep000167/gripper_left_tactile_contact_metrics.json b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_09-30/outputs_tactile/tactile_cache/dag911262r00035d_lerobot_0327_114353_7434c583/episodes/ep000167/gripper_left_tactile_contact_metrics.json
new file mode 100644
index 0000000000000000000000000000000000000000..0671d0017de8244ade25a7c3736cfd3ad7e7b848
--- /dev/null
+++ b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_09-30/outputs_tactile/tactile_cache/dag911262r00035d_lerobot_0327_114353_7434c583/episodes/ep000167/gripper_left_tactile_contact_metrics.json
@@ -0,0 +1,12 @@
+{
+  "contact_time": 4.9,
+  "contact_ratio": 0.7,
+  "avg_contact_area": 165.28571428571428,
+  "contact_entropy": 0.0,
+  "total_frames": 210,
+  "fps": 30.0,
+  "reference_frame_count": 0,
+  "dataset_name": "dag911262r00035d_lerobot_0327_114353",
+  "episode_index": 167,
+  "sensor": "gripper_left_tactile"
+}
\ No newline at end of file
diff --git a/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_09-30/outputs_tactile/tactile_cache/dag911262r00035d_lerobot_0327_114353_7434c583/episodes/ep000171/gripper_left_tactile_force_metrics.json b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_09-30/outputs_tactile/tactile_cache/dag911262r00035d_lerobot_0327_114353_7434c583/episodes/ep000171/gripper_left_tactile_force_metrics.json
new file mode 100644
index 0000000000000000000000000000000000000000..594de09311cf6253ae7f6e69fcdb7e74eace70d2
--- /dev/null
+++ b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_09-30/outputs_tactile/tactile_cache/dag911262r00035d_lerobot_0327_114353_7434c583/episodes/ep000171/gripper_left_tactile_force_metrics.json
@@ -0,0 +1,9 @@
+{
+  "depth_peak": 0.001995553495362401,
+  "shear_peak": 0.002452906919643283,
+  "force_magnitude_peak": 0.0026510050520300865,
+  "reference_frame_count": 0,
+  "dataset_name": "dag911262r00035d_lerobot_0327_114353",
+  "episode_index": 171,
+  "sensor": "gripper_left_tactile"
+}
\ No newline at end of file
diff --git a/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_09-30/outputs_tactile/tactile_cache/dag911262r00035d_lerobot_0327_114353_7434c583/episodes/ep000172/gripper_right_tactile_force_metrics.json b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_09-30/outputs_tactile/tactile_cache/dag911262r00035d_lerobot_0327_114353_7434c583/episodes/ep000172/gripper_right_tactile_force_metrics.json
new file mode 100644
index 0000000000000000000000000000000000000000..043bc91c50950745affe545d5eef81a815f16b04
--- /dev/null
+++ b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_09-30/outputs_tactile/tactile_cache/dag911262r00035d_lerobot_0327_114353_7434c583/episodes/ep000172/gripper_right_tactile_force_metrics.json
@@ -0,0 +1,9 @@
+{
+  "depth_peak": 0.004795616026967764,
+  "shear_peak": 0.0009219303610734642,
+  "force_magnitude_peak": 0.0048402296379208565,
+  "reference_frame_count": 0,
+  "dataset_name": "dag911262r00035d_lerobot_0327_114353",
+  "episode_index": 172,
+  "sensor": "gripper_right_tactile"
+}
\ No newline at end of file
diff --git a/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_09-30/outputs_tactile/tactile_cache/dag911262r00035d_lerobot_0327_114353_7434c583/episodes/ep000175/gripper_left_tactile_contact_metrics.json b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_09-30/outputs_tactile/tactile_cache/dag911262r00035d_lerobot_0327_114353_7434c583/episodes/ep000175/gripper_left_tactile_contact_metrics.json
new file mode 100644
index 0000000000000000000000000000000000000000..6288c472a7556f812aa9ba26e1f93c941c92ea32
--- /dev/null
+++ b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_09-30/outputs_tactile/tactile_cache/dag911262r00035d_lerobot_0327_114353_7434c583/episodes/ep000175/gripper_left_tactile_contact_metrics.json
@@ -0,0 +1,12 @@
+{
+  "contact_time": 5.033333333333333,
+  "contact_ratio": 0.8342541436464088,
+  "avg_contact_area": 789.0993377483444,
+  "contact_entropy": 0.6501835062174067,
+  "total_frames": 181,
+  "fps": 30.0,
+  "reference_frame_count": 0,
+  "dataset_name": "dag911262r00035d_lerobot_0327_114353",
+  "episode_index": 175,
+  "sensor": "gripper_left_tactile"
+}
\ No newline at end of file
diff --git a/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_09-30/outputs_tactile/tactile_cache/dag911262r00035d_lerobot_0327_114353_7434c583/episodes/ep000177/gripper_right_tactile_contact_metrics.json b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_09-30/outputs_tactile/tactile_cache/dag911262r00035d_lerobot_0327_114353_7434c583/episodes/ep000177/gripper_right_tactile_contact_metrics.json
new file mode 100644
index 0000000000000000000000000000000000000000..e6c4af0a33f7c3a7e595eaa67e5dcbdcf417bfcc
--- /dev/null
+++ b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_09-30/outputs_tactile/tactile_cache/dag911262r00035d_lerobot_0327_114353_7434c583/episodes/ep000177/gripper_right_tactile_contact_metrics.json
@@ -0,0 +1,12 @@
+{
+  "contact_time": 3.8333333333333335,
+  "contact_ratio": 0.71875,
+  "avg_contact_area": 2214.426086956522,
+  "contact_entropy": 5.280661084391301e-05,
+  "total_frames": 160,
+  "fps": 30.0,
+  "reference_frame_count": 0,
+  "dataset_name": "dag911262r00035d_lerobot_0327_114353",
+  "episode_index": 177,
+  "sensor": "gripper_right_tactile"
+}
\ No newline at end of file
diff --git a/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_09-30/outputs_tactile/tactile_cache/dag911262r00035d_lerobot_0327_114353_7434c583/episodes/ep000178/gripper_left_tactile_force_metrics.json b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_09-30/outputs_tactile/tactile_cache/dag911262r00035d_lerobot_0327_114353_7434c583/episodes/ep000178/gripper_left_tactile_force_metrics.json
new file mode 100644
index 0000000000000000000000000000000000000000..290d5e0ed07f267d2629eb1a5cfc6b26ecdfdf9c
--- /dev/null
+++ b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_09-30/outputs_tactile/tactile_cache/dag911262r00035d_lerobot_0327_114353_7434c583/episodes/ep000178/gripper_left_tactile_force_metrics.json
@@ -0,0 +1,9 @@
+{
+  "depth_peak": 0.0035145196598023176,
+  "shear_peak": 0.002469200873747468,
+  "force_magnitude_peak": 0.004269052762538195,
+  "reference_frame_count": 0,
+  "dataset_name": "dag911262r00035d_lerobot_0327_114353",
+  "episode_index": 178,
+  "sensor": "gripper_left_tactile"
+}
\ No newline at end of file
diff --git a/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_09-30/outputs_tactile/tactile_cache/dag911262r00035d_lerobot_0327_114353_7434c583/episodes/ep000182/gripper_left_tactile_force_metrics.json b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_09-30/outputs_tactile/tactile_cache/dag911262r00035d_lerobot_0327_114353_7434c583/episodes/ep000182/gripper_left_tactile_force_metrics.json
new file mode 100644
index 0000000000000000000000000000000000000000..810cd924280bc93ac40317eef0d46940ab16ef7e
--- /dev/null
+++ b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_09-30/outputs_tactile/tactile_cache/dag911262r00035d_lerobot_0327_114353_7434c583/episodes/ep000182/gripper_left_tactile_force_metrics.json
@@ -0,0 +1,9 @@
+{
+  "depth_peak": 0.0012403157306835055,
+  "shear_peak": 0.0023817557375878096,
+  "force_magnitude_peak": 0.002951443661004305,
+  "reference_frame_count": 0,
+  "dataset_name": "dag911262r00035d_lerobot_0327_114353",
+  "episode_index": 182,
+  "sensor": "gripper_left_tactile"
+}
\ No newline at end of file
diff --git a/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_09-30/outputs_tactile/tactile_cache/dag911262r00035d_lerobot_0327_114353_7434c583/episodes/ep000182/gripper_right_tactile_contact_metrics.json b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_09-30/outputs_tactile/tactile_cache/dag911262r00035d_lerobot_0327_114353_7434c583/episodes/ep000182/gripper_right_tactile_contact_metrics.json
new file mode 100644
index 0000000000000000000000000000000000000000..d4f343dadb520fdcbacfe3c7b8780873a5a4dc6b
--- /dev/null
+++ b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_09-30/outputs_tactile/tactile_cache/dag911262r00035d_lerobot_0327_114353_7434c583/episodes/ep000182/gripper_right_tactile_contact_metrics.json
@@ -0,0 +1,12 @@
+{
+  "contact_time": 6.266666666666667,
+  "contact_ratio": 0.6811594202898551,
+  "avg_contact_area": 10087.824468085106,
+  "contact_entropy": 0.5221335156953739,
+  "total_frames": 276,
+  "fps": 30.0,
+  "reference_frame_count": 0,
+  "dataset_name": "dag911262r00035d_lerobot_0327_114353",
+  "episode_index": 182,
+  "sensor": "gripper_right_tactile"
+}
\ No newline at end of file
diff --git a/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_09-30/outputs_tactile/tactile_cache/dag911262r00035d_lerobot_0327_114353_7434c583/episodes/ep000182/gripper_right_tactile_force_metrics.json b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_09-30/outputs_tactile/tactile_cache/dag911262r00035d_lerobot_0327_114353_7434c583/episodes/ep000182/gripper_right_tactile_force_metrics.json
new file mode 100644
index 0000000000000000000000000000000000000000..db951bac7ac8faa5878c5ef323d1ca8e7dff6bb3
--- /dev/null
+++ b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_09-30/outputs_tactile/tactile_cache/dag911262r00035d_lerobot_0327_114353_7434c583/episodes/ep000182/gripper_right_tactile_force_metrics.json
@@ -0,0 +1,9 @@
+{
+  "depth_peak": 0.012066368944942951,
+  "shear_peak": 0.0036569982767105103,
+  "force_magnitude_peak": 0.012605562806129456,
+  "reference_frame_count": 0,
+  "dataset_name": "dag911262r00035d_lerobot_0327_114353",
+  "episode_index": 182,
+  "sensor": "gripper_right_tactile"
+}
\ No newline at end of file
diff --git a/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_09-30/outputs_tactile/tactile_cache/dag911262r00035d_lerobot_0327_114353_7434c583/episodes/ep000183/gripper_left_tactile_contact_metrics.json b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_09-30/outputs_tactile/tactile_cache/dag911262r00035d_lerobot_0327_114353_7434c583/episodes/ep000183/gripper_left_tactile_contact_metrics.json
new file mode 100644
index 0000000000000000000000000000000000000000..11d7a965e442e7632e969e59b0f44e05b9500874
--- /dev/null
+++ b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_09-30/outputs_tactile/tactile_cache/dag911262r00035d_lerobot_0327_114353_7434c583/episodes/ep000183/gripper_left_tactile_contact_metrics.json
@@ -0,0 +1,12 @@
+{
+  "contact_time": 1.8,
+  "contact_ratio": 0.2465753424657534,
+  "avg_contact_area": 62.074074074074076,
+  "contact_entropy": 0.0,
+  "total_frames": 219,
+  "fps": 30.0,
+  "reference_frame_count": 0,
+  "dataset_name": "dag911262r00035d_lerobot_0327_114353",
+  "episode_index": 183,
+  "sensor": "gripper_left_tactile"
+}
\ No newline at end of file
diff --git a/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_09-30/outputs_tactile/tactile_cache/dag911262r00035d_lerobot_0327_114353_7434c583/episodes/ep000184/gripper_right_tactile_force_metrics.json b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_09-30/outputs_tactile/tactile_cache/dag911262r00035d_lerobot_0327_114353_7434c583/episodes/ep000184/gripper_right_tactile_force_metrics.json
new file mode 100644
index 0000000000000000000000000000000000000000..cb9a92710182aa36b0402808c8e9e6585ba20bfc
--- /dev/null
+++ b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_09-30/outputs_tactile/tactile_cache/dag911262r00035d_lerobot_0327_114353_7434c583/episodes/ep000184/gripper_right_tactile_force_metrics.json
@@ -0,0 +1,9 @@
+{
+  "depth_peak": 0.005316110327839851,
+  "shear_peak": 0.008837812580168247,
+  "force_magnitude_peak": 0.009439637884497643,
+  "reference_frame_count": 0,
+  "dataset_name": "dag911262r00035d_lerobot_0327_114353",
+  "episode_index": 184,
+  "sensor": "gripper_right_tactile"
+}
\ No newline at end of file
diff --git a/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_09-30/outputs_tactile/tactile_cache/dag911262r00035d_lerobot_0327_114353_7434c583/episodes/ep000187/gripper_right_tactile_contact_metrics.json b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_09-30/outputs_tactile/tactile_cache/dag911262r00035d_lerobot_0327_114353_7434c583/episodes/ep000187/gripper_right_tactile_contact_metrics.json
new file mode 100644
index 0000000000000000000000000000000000000000..7db5aad7b71e49aac7b41cb6654411c1456c6a4e
--- /dev/null
+++ b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_09-30/outputs_tactile/tactile_cache/dag911262r00035d_lerobot_0327_114353_7434c583/episodes/ep000187/gripper_right_tactile_contact_metrics.json
@@ -0,0 +1,12 @@
+{
+  "contact_time": 7.366666666666666,
+  "contact_ratio": 0.6717325227963525,
+  "avg_contact_area": 1517.8190045248869,
+  "contact_entropy": 0.04979298608206771,
+  "total_frames": 329,
+  "fps": 30.0,
+  "reference_frame_count": 0,
+  "dataset_name": "dag911262r00035d_lerobot_0327_114353",
+  "episode_index": 187,
+  "sensor": "gripper_right_tactile"
+}
\ No newline at end of file
diff --git a/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_09-30/outputs_tactile/tactile_cache/dag911262r00035d_lerobot_0327_114353_7434c583/episodes/ep000190/gripper_left_tactile_force_metrics.json b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_09-30/outputs_tactile/tactile_cache/dag911262r00035d_lerobot_0327_114353_7434c583/episodes/ep000190/gripper_left_tactile_force_metrics.json
new file mode 100644
index 0000000000000000000000000000000000000000..03f8d575b44ba7bda0b26b7b75310949207819fb
--- /dev/null
+++ b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_09-30/outputs_tactile/tactile_cache/dag911262r00035d_lerobot_0327_114353_7434c583/episodes/ep000190/gripper_left_tactile_force_metrics.json
@@ -0,0 +1,9 @@
+{
+  "depth_peak": 0.004408066160976887,
+  "shear_peak": 0.003199000610038638,
+  "force_magnitude_peak": 0.0046963877975940704,
+  "reference_frame_count": 0,
+  "dataset_name": "dag911262r00035d_lerobot_0327_114353",
+  "episode_index": 190,
+  "sensor": "gripper_left_tactile"
+}
\ No newline at end of file
diff --git a/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_09-30/outputs_tactile/tactile_cache/dag911262r00035d_lerobot_0327_114353_7434c583/episodes/ep000190/gripper_right_tactile_force_metrics.json b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_09-30/outputs_tactile/tactile_cache/dag911262r00035d_lerobot_0327_114353_7434c583/episodes/ep000190/gripper_right_tactile_force_metrics.json
new file mode 100644
index 0000000000000000000000000000000000000000..59b2da646be4ab9e1f42b407720cebe2c5b1a0ca
--- /dev/null
+++ b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_09-30/outputs_tactile/tactile_cache/dag911262r00035d_lerobot_0327_114353_7434c583/episodes/ep000190/gripper_right_tactile_force_metrics.json
@@ -0,0 +1,9 @@
+{
+  "depth_peak": 0.007482335902750492,
+  "shear_peak": 0.007201307453215122,
+  "force_magnitude_peak": 0.009428182616829872,
+  "reference_frame_count": 0,
+  "dataset_name": "dag911262r00035d_lerobot_0327_114353",
+  "episode_index": 190,
+  "sensor": "gripper_right_tactile"
+}
\ No newline at end of file
diff --git a/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_09-30/outputs_tactile/tactile_cache/dag911262r00035d_lerobot_0327_114353_7434c583/episodes/ep000192/gripper_left_tactile_contact_metrics.json b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_09-30/outputs_tactile/tactile_cache/dag911262r00035d_lerobot_0327_114353_7434c583/episodes/ep000192/gripper_left_tactile_contact_metrics.json
new file mode 100644
index 0000000000000000000000000000000000000000..0ff8ad820fee89e3cb280acdcd3324ee5a6e52c3
--- /dev/null
+++ b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_09-30/outputs_tactile/tactile_cache/dag911262r00035d_lerobot_0327_114353_7434c583/episodes/ep000192/gripper_left_tactile_contact_metrics.json
@@ -0,0 +1,12 @@
+{
+  "contact_time": 9.233333333333333,
+  "contact_ratio": 0.8219584569732937,
+  "avg_contact_area": 2140.086642599278,
+  "contact_entropy": 0.6332993769976838,
+  "total_frames": 337,
+  "fps": 30.0,
+  "reference_frame_count": 0,
+  "dataset_name": "dag911262r00035d_lerobot_0327_114353",
+  "episode_index": 192,
+  "sensor": "gripper_left_tactile"
+}
\ No newline at end of file
diff --git a/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_09-30/outputs_tactile/tactile_cache/dag911262r00035d_lerobot_0327_114353_7434c583/episodes/ep000197/gripper_left_tactile_contact_metrics.json b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_09-30/outputs_tactile/tactile_cache/dag911262r00035d_lerobot_0327_114353_7434c583/episodes/ep000197/gripper_left_tactile_contact_metrics.json
new file mode 100644
index 0000000000000000000000000000000000000000..6e9d6bca2db0e0068854438d0fbd675e2d166d4e
--- /dev/null
+++ b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_09-30/outputs_tactile/tactile_cache/dag911262r00035d_lerobot_0327_114353_7434c583/episodes/ep000197/gripper_left_tactile_contact_metrics.json
@@ -0,0 +1,12 @@
+{
+  "contact_time": 5.4,
+  "contact_ratio": 0.44505494505494503,
+  "avg_contact_area": 4191.432098765432,
+  "contact_entropy": 0.5291554775065647,
+  "total_frames": 364,
+  "fps": 30.0,
+  "reference_frame_count": 0,
+  "dataset_name": "dag911262r00035d_lerobot_0327_114353",
+  "episode_index": 197,
+  "sensor": "gripper_left_tactile"
+}
\ No newline at end of file
diff --git a/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_09-30/outputs_tactile/tactile_cache/dag911262r00035d_lerobot_0327_114353_7434c583/episodes/ep000202/gripper_right_tactile_contact_metrics.json b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_09-30/outputs_tactile/tactile_cache/dag911262r00035d_lerobot_0327_114353_7434c583/episodes/ep000202/gripper_right_tactile_contact_metrics.json
new file mode 100644
index 0000000000000000000000000000000000000000..17eafa37c27a0eaa2ea4c3285cdeb6e2a3f32aa6
--- /dev/null
+++ b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_09-30/outputs_tactile/tactile_cache/dag911262r00035d_lerobot_0327_114353_7434c583/episodes/ep000202/gripper_right_tactile_contact_metrics.json
@@ -0,0 +1,12 @@
+{
+  "contact_time": 4.566666666666666,
+  "contact_ratio": 0.6199095022624435,
+  "avg_contact_area": 5047.058394160584,
+  "contact_entropy": 0.6137635275142037,
+  "total_frames": 221,
+  "fps": 30.0,
+  "reference_frame_count": 0,
+  "dataset_name": "dag911262r00035d_lerobot_0327_114353",
+  "episode_index": 202,
+  "sensor": "gripper_right_tactile"
+}
\ No newline at end of file
diff --git a/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_09-30/outputs_tactile/tactile_cache/dag911262r00035d_lerobot_0327_114353_7434c583/episodes/ep000202/gripper_right_tactile_force_metrics.json b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_09-30/outputs_tactile/tactile_cache/dag911262r00035d_lerobot_0327_114353_7434c583/episodes/ep000202/gripper_right_tactile_force_metrics.json
new file mode 100644
index 0000000000000000000000000000000000000000..883965ec55dfe3ed26373213b71572027aae4eda
--- /dev/null
+++ b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_09-30/outputs_tactile/tactile_cache/dag911262r00035d_lerobot_0327_114353_7434c583/episodes/ep000202/gripper_right_tactile_force_metrics.json
@@ -0,0 +1,9 @@
+{
+  "depth_peak": 0.006446776445955038,
+  "shear_peak": 0.0035392162390053272,
+  "force_magnitude_peak": 0.006934399716556072,
+  "reference_frame_count": 0,
+  "dataset_name": "dag911262r00035d_lerobot_0327_114353",
+  "episode_index": 202,
+  "sensor": "gripper_right_tactile"
+}
\ No newline at end of file
diff --git a/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_09-30/outputs_tactile/tactile_cache/dag911262r00035d_lerobot_0327_114353_7434c583/episodes/ep000204/gripper_left_tactile_force_metrics.json b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_09-30/outputs_tactile/tactile_cache/dag911262r00035d_lerobot_0327_114353_7434c583/episodes/ep000204/gripper_left_tactile_force_metrics.json
new file mode 100644
index 0000000000000000000000000000000000000000..86779571e7c797624a4d551b0dd94bd048d9bba6
--- /dev/null
+++ b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_09-30/outputs_tactile/tactile_cache/dag911262r00035d_lerobot_0327_114353_7434c583/episodes/ep000204/gripper_left_tactile_force_metrics.json
@@ -0,0 +1,9 @@
+{
+  "depth_peak": 0.0008506413432769477,
+  "shear_peak": 0.002063086722046137,
+  "force_magnitude_peak": 0.002068266039714217,
+  "reference_frame_count": 0,
+  "dataset_name": "dag911262r00035d_lerobot_0327_114353",
+  "episode_index": 204,
+  "sensor": "gripper_left_tactile"
+}
\ No newline at end of file
diff --git a/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_09-30/outputs_tactile/tactile_cache/dag911262r00035d_lerobot_0327_114353_7434c583/episodes/ep000204/gripper_right_tactile_contact_metrics.json b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_09-30/outputs_tactile/tactile_cache/dag911262r00035d_lerobot_0327_114353_7434c583/episodes/ep000204/gripper_right_tactile_contact_metrics.json
new file mode 100644
index 0000000000000000000000000000000000000000..902f839769f079ce075d9f59d808a6838ef8f9ed
--- /dev/null
+++ b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_09-30/outputs_tactile/tactile_cache/dag911262r00035d_lerobot_0327_114353_7434c583/episodes/ep000204/gripper_right_tactile_contact_metrics.json
@@ -0,0 +1,12 @@
+{
+  "contact_time": 5.066666666666666,
+  "contact_ratio": 0.7835051546391752,
+  "avg_contact_area": 8561.355263157895,
+  "contact_entropy": 0.5798276776912661,
+  "total_frames": 194,
+  "fps": 30.0,
+  "reference_frame_count": 0,
+  "dataset_name": "dag911262r00035d_lerobot_0327_114353",
+  "episode_index": 204,
+  "sensor": "gripper_right_tactile"
+}
\ No newline at end of file
diff --git a/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_09-30/outputs_tactile/tactile_cache/dag911262r00035d_lerobot_0327_114353_7434c583/episodes/ep000207/gripper_left_tactile_contact_metrics.json b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_09-30/outputs_tactile/tactile_cache/dag911262r00035d_lerobot_0327_114353_7434c583/episodes/ep000207/gripper_left_tactile_contact_metrics.json
new file mode 100644
index 0000000000000000000000000000000000000000..a182d617b67c4184b84759e86c8a7a70551f0e2e
--- /dev/null
+++ b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_09-30/outputs_tactile/tactile_cache/dag911262r00035d_lerobot_0327_114353_7434c583/episodes/ep000207/gripper_left_tactile_contact_metrics.json
@@ -0,0 +1,12 @@
+{
+  "contact_time": 8.5,
+  "contact_ratio": 0.45373665480427045,
+  "avg_contact_area": 1815.172549019608,
+  "contact_entropy": 0.4788872805498375,
+  "total_frames": 562,
+  "fps": 30.0,
+  "reference_frame_count": 0,
+  "dataset_name": "dag911262r00035d_lerobot_0327_114353",
+  "episode_index": 207,
+  "sensor": "gripper_left_tactile"
+}
\ No newline at end of file
diff --git a/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_09-30/outputs_tactile/tactile_cache/dag911262r00035d_lerobot_0327_114353_7434c583/episodes/ep000211/gripper_left_tactile_force_metrics.json b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_09-30/outputs_tactile/tactile_cache/dag911262r00035d_lerobot_0327_114353_7434c583/episodes/ep000211/gripper_left_tactile_force_metrics.json
new file mode 100644
index 0000000000000000000000000000000000000000..ae3e28b8d224d4afa0453af3e0487b04d4f48321
--- /dev/null
+++ b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_09-30/outputs_tactile/tactile_cache/dag911262r00035d_lerobot_0327_114353_7434c583/episodes/ep000211/gripper_left_tactile_force_metrics.json
@@ -0,0 +1,9 @@
+{
+  "depth_peak": 0.005261755082756281,
+  "shear_peak": 0.0018698549829423428,
+  "force_magnitude_peak": 0.005299853160977364,
+  "reference_frame_count": 0,
+  "dataset_name": "dag911262r00035d_lerobot_0327_114353",
+  "episode_index": 211,
+  "sensor": "gripper_left_tactile"
+}
\ No newline at end of file
diff --git a/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_09-30/outputs_tactile/tactile_cache/dag911262r00035d_lerobot_0327_114353_7434c583/episodes/ep000212/gripper_right_tactile_force_metrics.json b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_09-30/outputs_tactile/tactile_cache/dag911262r00035d_lerobot_0327_114353_7434c583/episodes/ep000212/gripper_right_tactile_force_metrics.json
new file mode 100644
index 0000000000000000000000000000000000000000..9cdf742710332b64bd897d44bb9846527bceb81f
--- /dev/null
+++ b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_09-30/outputs_tactile/tactile_cache/dag911262r00035d_lerobot_0327_114353_7434c583/episodes/ep000212/gripper_right_tactile_force_metrics.json
@@ -0,0 +1,9 @@
+{
+  "depth_peak": 0.008980969898402691,
+  "shear_peak": 0.0016096733743324876,
+  "force_magnitude_peak": 0.009099721908569336,
+  "reference_frame_count": 0,
+  "dataset_name": "dag911262r00035d_lerobot_0327_114353",
+  "episode_index": 212,
+  "sensor": "gripper_right_tactile"
+}
\ No newline at end of file
diff --git a/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_09-30/outputs_tactile/tactile_cache/dag911262r00035d_lerobot_0327_114353_7434c583/episodes/ep000215/gripper_left_tactile_contact_metrics.json b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_09-30/outputs_tactile/tactile_cache/dag911262r00035d_lerobot_0327_114353_7434c583/episodes/ep000215/gripper_left_tactile_contact_metrics.json
new file mode 100644
index 0000000000000000000000000000000000000000..484b0e950da26567c4e425a277f2dcadf772915e
--- /dev/null
+++ b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_09-30/outputs_tactile/tactile_cache/dag911262r00035d_lerobot_0327_114353_7434c583/episodes/ep000215/gripper_left_tactile_contact_metrics.json
@@ -0,0 +1,12 @@
+{
+  "contact_time": 7.266666666666667,
+  "contact_ratio": 0.7758007117437722,
+  "avg_contact_area": 2029.7339449541284,
+  "contact_entropy": 0.35699232267009834,
+  "total_frames": 281,
+  "fps": 30.0,
+  "reference_frame_count": 0,
+  "dataset_name": "dag911262r00035d_lerobot_0327_114353",
+  "episode_index": 215,
+  "sensor": "gripper_left_tactile"
+}
\ No newline at end of file
diff --git a/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_09-30/outputs_tactile/tactile_cache/dag911262r00035d_lerobot_0327_114353_7434c583/episodes/ep000217/gripper_right_tactile_contact_metrics.json b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_09-30/outputs_tactile/tactile_cache/dag911262r00035d_lerobot_0327_114353_7434c583/episodes/ep000217/gripper_right_tactile_contact_metrics.json
new file mode 100644
index 0000000000000000000000000000000000000000..1e7630f0e49fe41e6f5f34472c859fd4fdb60c2b
--- /dev/null
+++ b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_09-30/outputs_tactile/tactile_cache/dag911262r00035d_lerobot_0327_114353_7434c583/episodes/ep000217/gripper_right_tactile_contact_metrics.json
@@ -0,0 +1,12 @@
+{
+  "contact_time": 6.266666666666667,
+  "contact_ratio": 0.5714285714285714,
+  "avg_contact_area": 4055.2127659574467,
+  "contact_entropy": 0.4928452982089596,
+  "total_frames": 329,
+  "fps": 30.0,
+  "reference_frame_count": 0,
+  "dataset_name": "dag911262r00035d_lerobot_0327_114353",
+  "episode_index": 217,
+  "sensor": "gripper_right_tactile"
+}
\ No newline at end of file
diff --git a/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_09-30/outputs_tactile/tactile_cache/dag911262r00035d_lerobot_0327_114353_7434c583/episodes/ep000218/gripper_left_tactile_force_metrics.json b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_09-30/outputs_tactile/tactile_cache/dag911262r00035d_lerobot_0327_114353_7434c583/episodes/ep000218/gripper_left_tactile_force_metrics.json
new file mode 100644
index 0000000000000000000000000000000000000000..53eb4b8f79802a0a8431959628ff30ee18da92cd
--- /dev/null
+++ b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_09-30/outputs_tactile/tactile_cache/dag911262r00035d_lerobot_0327_114353_7434c583/episodes/ep000218/gripper_left_tactile_force_metrics.json
@@ -0,0 +1,9 @@
+{
+  "depth_peak": 0.0019125795224681497,
+  "shear_peak": 0.0017940662801265717,
+  "force_magnitude_peak": 0.0025925319641828537,
+  "reference_frame_count": 0,
+  "dataset_name": "dag911262r00035d_lerobot_0327_114353",
+  "episode_index": 218,
+  "sensor": "gripper_left_tactile"
+}
\ No newline at end of file
diff --git a/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_09-30/outputs_tactile/tactile_cache/dag911262r00035d_lerobot_0327_114353_7434c583/episodes/ep000222/gripper_left_tactile_force_metrics.json b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_09-30/outputs_tactile/tactile_cache/dag911262r00035d_lerobot_0327_114353_7434c583/episodes/ep000222/gripper_left_tactile_force_metrics.json
new file mode 100644
index 0000000000000000000000000000000000000000..d182ee818f0c5dd1af3c3f2eb95cc4a96aa3f6d5
--- /dev/null
+++ b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_09-30/outputs_tactile/tactile_cache/dag911262r00035d_lerobot_0327_114353_7434c583/episodes/ep000222/gripper_left_tactile_force_metrics.json
@@ -0,0 +1,9 @@
+{
+  "depth_peak": 0.0018913845997303724,
+  "shear_peak": 0.002497212728485465,
+  "force_magnitude_peak": 0.00250849686563015,
+  "reference_frame_count": 0,
+  "dataset_name": "dag911262r00035d_lerobot_0327_114353",
+  "episode_index": 222,
+  "sensor": "gripper_left_tactile"
+}
\ No newline at end of file
diff --git a/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_09-30/outputs_tactile/tactile_cache/dag911262r00035d_lerobot_0327_114353_7434c583/episodes/ep000222/gripper_right_tactile_contact_metrics.json b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_09-30/outputs_tactile/tactile_cache/dag911262r00035d_lerobot_0327_114353_7434c583/episodes/ep000222/gripper_right_tactile_contact_metrics.json
new file mode 100644
index 0000000000000000000000000000000000000000..b8cfe129328a031c286079220cfc9d32eaab2be2
--- /dev/null
+++ b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_09-30/outputs_tactile/tactile_cache/dag911262r00035d_lerobot_0327_114353_7434c583/episodes/ep000222/gripper_right_tactile_contact_metrics.json
@@ -0,0 +1,12 @@
+{
+  "contact_time": 8.2,
+  "contact_ratio": 0.935361216730038,
+  "avg_contact_area": 15030.71544715447,
+  "contact_entropy": 0.18150215135229034,
+  "total_frames": 263,
+  "fps": 30.0,
+  "reference_frame_count": 0,
+  "dataset_name": "dag911262r00035d_lerobot_0327_114353",
+  "episode_index": 222,
+  "sensor": "gripper_right_tactile"
+}
\ No newline at end of file
diff --git a/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_09-30/outputs_tactile/tactile_cache/dag911262r00035d_lerobot_0327_114353_7434c583/episodes/ep000222/gripper_right_tactile_force_metrics.json b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_09-30/outputs_tactile/tactile_cache/dag911262r00035d_lerobot_0327_114353_7434c583/episodes/ep000222/gripper_right_tactile_force_metrics.json
new file mode 100644
index 0000000000000000000000000000000000000000..c4b8934295c7b41370168d72e66e98f01ab97321
--- /dev/null
+++ b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_09-30/outputs_tactile/tactile_cache/dag911262r00035d_lerobot_0327_114353_7434c583/episodes/ep000222/gripper_right_tactile_force_metrics.json
@@ -0,0 +1,9 @@
+{
+  "depth_peak": 0.00319184479303658,
+  "shear_peak": 0.004745509475469589,
+  "force_magnitude_peak": 0.008493281900882721,
+  "reference_frame_count": 0,
+  "dataset_name": "dag911262r00035d_lerobot_0327_114353",
+  "episode_index": 222,
+  "sensor": "gripper_right_tactile"
+}
\ No newline at end of file
diff --git a/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_09-30/outputs_tactile/tactile_cache/dag911262r00035d_lerobot_0327_114353_7434c583/episodes/ep000223/gripper_left_tactile_contact_metrics.json b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_09-30/outputs_tactile/tactile_cache/dag911262r00035d_lerobot_0327_114353_7434c583/episodes/ep000223/gripper_left_tactile_contact_metrics.json
new file mode 100644
index 0000000000000000000000000000000000000000..1f71502ebae820d5c30e1ccc1ee63ed1d213eb6b
--- /dev/null
+++ b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_09-30/outputs_tactile/tactile_cache/dag911262r00035d_lerobot_0327_114353_7434c583/episodes/ep000223/gripper_left_tactile_contact_metrics.json
@@ -0,0 +1,12 @@
+{
+  "contact_time": 12.733333333333333,
+  "contact_ratio": 0.7034990791896869,
+  "avg_contact_area": 995.6178010471205,
+  "contact_entropy": 0.529942371422008,
+  "total_frames": 543,
+  "fps": 30.0,
+  "reference_frame_count": 0,
+  "dataset_name": "dag911262r00035d_lerobot_0327_114353",
+  "episode_index": 223,
+  "sensor": "gripper_left_tactile"
+}
\ No newline at end of file
diff --git a/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_09-30/outputs_tactile/tactile_cache/dag911262r00035d_lerobot_0327_114353_7434c583/episodes/ep000224/gripper_right_tactile_force_metrics.json b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_09-30/outputs_tactile/tactile_cache/dag911262r00035d_lerobot_0327_114353_7434c583/episodes/ep000224/gripper_right_tactile_force_metrics.json
new file mode 100644
index 0000000000000000000000000000000000000000..f23e4b90d715f9ca227a4aaba9a7aa64a4b07db4
--- /dev/null
+++ b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_09-30/outputs_tactile/tactile_cache/dag911262r00035d_lerobot_0327_114353_7434c583/episodes/ep000224/gripper_right_tactile_force_metrics.json
@@ -0,0 +1,9 @@
+{
+  "depth_peak": 0.013085228390991688,
+  "shear_peak": 0.006183370016515255,
+  "force_magnitude_peak": 0.013224774971604347,
+  "reference_frame_count": 0,
+  "dataset_name": "dag911262r00035d_lerobot_0327_114353",
+  "episode_index": 224,
+  "sensor": "gripper_right_tactile"
+}
\ No newline at end of file
diff --git a/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_09-30/outputs_tactile/tactile_cache/dag911262r00035d_lerobot_0327_114353_7434c583/episodes/ep000227/gripper_right_tactile_contact_metrics.json b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_09-30/outputs_tactile/tactile_cache/dag911262r00035d_lerobot_0327_114353_7434c583/episodes/ep000227/gripper_right_tactile_contact_metrics.json
new file mode 100644
index 0000000000000000000000000000000000000000..2ff1af21e2000814d435942881916d7c0e0cbcb5
--- /dev/null
+++ b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_09-30/outputs_tactile/tactile_cache/dag911262r00035d_lerobot_0327_114353_7434c583/episodes/ep000227/gripper_right_tactile_contact_metrics.json
@@ -0,0 +1,12 @@
+{
+  "contact_time": 3.566666666666667,
+  "contact_ratio": 0.6645962732919255,
+  "avg_contact_area": 16805.803738317758,
+  "contact_entropy": 0.6726048133192979,
+  "total_frames": 161,
+  "fps": 30.0,
+  "reference_frame_count": 0,
+  "dataset_name": "dag911262r00035d_lerobot_0327_114353",
+  "episode_index": 227,
+  "sensor": "gripper_right_tactile"
+}
\ No newline at end of file
diff --git a/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_09-30/outputs_tactile/tactile_cache/dag911262r00035d_lerobot_0327_114353_7434c583/episodes/ep000230/gripper_left_tactile_force_metrics.json b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_09-30/outputs_tactile/tactile_cache/dag911262r00035d_lerobot_0327_114353_7434c583/episodes/ep000230/gripper_left_tactile_force_metrics.json
new file mode 100644
index 0000000000000000000000000000000000000000..eb831eeb1e846e08be410e22305686844c01d5e7
--- /dev/null
+++ b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_09-30/outputs_tactile/tactile_cache/dag911262r00035d_lerobot_0327_114353_7434c583/episodes/ep000230/gripper_left_tactile_force_metrics.json
@@ -0,0 +1,9 @@
+{
+  "depth_peak": 0.007496626116335392,
+  "shear_peak": 0.011317639611661434,
+  "force_magnitude_peak": 0.013528076931834221,
+  "reference_frame_count": 0,
+  "dataset_name": "dag911262r00035d_lerobot_0327_114353",
+  "episode_index": 230,
+  "sensor": "gripper_left_tactile"
+}
\ No newline at end of file
diff --git a/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_09-30/outputs_tactile/tactile_cache/dag911262r00035d_lerobot_0327_114353_7434c583/episodes/ep000230/gripper_right_tactile_force_metrics.json b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_09-30/outputs_tactile/tactile_cache/dag911262r00035d_lerobot_0327_114353_7434c583/episodes/ep000230/gripper_right_tactile_force_metrics.json
new file mode 100644
index 0000000000000000000000000000000000000000..780844bb62f272d4ad6d3da23166f92cd95d3651
--- /dev/null
+++ b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_09-30/outputs_tactile/tactile_cache/dag911262r00035d_lerobot_0327_114353_7434c583/episodes/ep000230/gripper_right_tactile_force_metrics.json
@@ -0,0 +1,9 @@
+{
+  "depth_peak": 0.0014699334278702736,
+  "shear_peak": 0.004912172444164753,
+  "force_magnitude_peak": 0.0050520882941782475,
+  "reference_frame_count": 0,
+  "dataset_name": "dag911262r00035d_lerobot_0327_114353",
+  "episode_index": 230,
+  "sensor": "gripper_right_tactile"
+}
\ No newline at end of file
diff --git a/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_09-30/outputs_tactile/tactile_cache/dag911262r00035d_lerobot_0327_114353_7434c583/episodes/ep000232/gripper_left_tactile_contact_metrics.json b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_09-30/outputs_tactile/tactile_cache/dag911262r00035d_lerobot_0327_114353_7434c583/episodes/ep000232/gripper_left_tactile_contact_metrics.json
new file mode 100644
index 0000000000000000000000000000000000000000..6ffbf84fca8f8489ce81f2f4200052b844b493da
--- /dev/null
+++ b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_09-30/outputs_tactile/tactile_cache/dag911262r00035d_lerobot_0327_114353_7434c583/episodes/ep000232/gripper_left_tactile_contact_metrics.json
@@ -0,0 +1,12 @@
+{
+  "contact_time": 8.333333333333334,
+  "contact_ratio": 0.9090909090909091,
+  "avg_contact_area": 2023.58,
+  "contact_entropy": 0.7936661308990186,
+  "total_frames": 275,
+  "fps": 30.0,
+  "reference_frame_count": 0,
+  "dataset_name": "dag911262r00035d_lerobot_0327_114353",
+  "episode_index": 232,
+  "sensor": "gripper_left_tactile"
+}
\ No newline at end of file
diff --git a/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_09-30/outputs_tactile/tactile_cache/dag911262r00035d_lerobot_0327_114353_7434c583/episodes/ep000237/gripper_left_tactile_contact_metrics.json b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_09-30/outputs_tactile/tactile_cache/dag911262r00035d_lerobot_0327_114353_7434c583/episodes/ep000237/gripper_left_tactile_contact_metrics.json
new file mode 100644
index 0000000000000000000000000000000000000000..07ac471f5b6edc88a6f9ebf67cbd0d798ce0ba5e
--- /dev/null
+++ b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_09-30/outputs_tactile/tactile_cache/dag911262r00035d_lerobot_0327_114353_7434c583/episodes/ep000237/gripper_left_tactile_contact_metrics.json
@@ -0,0 +1,12 @@
+{
+  "contact_time": 2.066666666666667,
+  "contact_ratio": 0.3974358974358974,
+  "avg_contact_area": 172.96774193548387,
+  "contact_entropy": 0.0,
+  "total_frames": 156,
+  "fps": 30.0,
+  "reference_frame_count": 0,
+  "dataset_name": "dag911262r00035d_lerobot_0327_114353",
+  "episode_index": 237,
+  "sensor": "gripper_left_tactile"
+}
\ No newline at end of file
diff --git a/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_09-30/outputs_tactile/tactile_cache/dag911262r00035d_lerobot_0327_114353_7434c583/episodes/ep000242/gripper_right_tactile_contact_metrics.json b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_09-30/outputs_tactile/tactile_cache/dag911262r00035d_lerobot_0327_114353_7434c583/episodes/ep000242/gripper_right_tactile_contact_metrics.json
new file mode 100644
index 0000000000000000000000000000000000000000..db7e76b76db0f2a22d4360d37bab58cb95dfd409
--- /dev/null
+++ b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_09-30/outputs_tactile/tactile_cache/dag911262r00035d_lerobot_0327_114353_7434c583/episodes/ep000242/gripper_right_tactile_contact_metrics.json
@@ -0,0 +1,12 @@
+{
+  "contact_time": 5.6,
+  "contact_ratio": 0.9710982658959537,
+  "avg_contact_area": 11037.654761904761,
+  "contact_entropy": 0.5337819369156944,
+  "total_frames": 173,
+  "fps": 30.0,
+  "reference_frame_count": 0,
+  "dataset_name": "dag911262r00035d_lerobot_0327_114353",
+  "episode_index": 242,
+  "sensor": "gripper_right_tactile"
+}
\ No newline at end of file
diff --git a/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_09-30/outputs_tactile/tactile_cache/dag911262r00035d_lerobot_0327_114353_7434c583/episodes/ep000242/gripper_right_tactile_force_metrics.json b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_09-30/outputs_tactile/tactile_cache/dag911262r00035d_lerobot_0327_114353_7434c583/episodes/ep000242/gripper_right_tactile_force_metrics.json
new file mode 100644
index 0000000000000000000000000000000000000000..142ae9d7bf7ee248d7e91e128994029902dd8ae6
--- /dev/null
+++ b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_09-30/outputs_tactile/tactile_cache/dag911262r00035d_lerobot_0327_114353_7434c583/episodes/ep000242/gripper_right_tactile_force_metrics.json
@@ -0,0 +1,9 @@
+{
+  "depth_peak": 0.006269567646086216,
+  "shear_peak": 0.008588873781263828,
+  "force_magnitude_peak": 0.010404997505247593,
+  "reference_frame_count": 0,
+  "dataset_name": "dag911262r00035d_lerobot_0327_114353",
+  "episode_index": 242,
+  "sensor": "gripper_right_tactile"
+}
\ No newline at end of file
diff --git a/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_09-30/outputs_tactile/tactile_cache/dag911262r00035d_lerobot_0327_114353_7434c583/episodes/ep000244/gripper_left_tactile_force_metrics.json b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_09-30/outputs_tactile/tactile_cache/dag911262r00035d_lerobot_0327_114353_7434c583/episodes/ep000244/gripper_left_tactile_force_metrics.json
new file mode 100644
index 0000000000000000000000000000000000000000..b2c1a2b0ec509ff24b5b32ce53b17bb18bf017d7
--- /dev/null
+++ b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_09-30/outputs_tactile/tactile_cache/dag911262r00035d_lerobot_0327_114353_7434c583/episodes/ep000244/gripper_left_tactile_force_metrics.json
@@ -0,0 +1,9 @@
+{
+  "depth_peak": 0.0011733205756172538,
+  "shear_peak": 0.0007144967676140368,
+  "force_magnitude_peak": 0.0012371817138046026,
+  "reference_frame_count": 0,
+  "dataset_name": "dag911262r00035d_lerobot_0327_114353",
+  "episode_index": 244,
+  "sensor": "gripper_left_tactile"
+}
\ No newline at end of file
diff --git a/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_09-30/outputs_tactile/tactile_cache/dag911262r00035d_lerobot_0327_114353_7434c583/episodes/ep000244/gripper_right_tactile_contact_metrics.json b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_09-30/outputs_tactile/tactile_cache/dag911262r00035d_lerobot_0327_114353_7434c583/episodes/ep000244/gripper_right_tactile_contact_metrics.json
new file mode 100644
index 0000000000000000000000000000000000000000..80760177b7cc8a06b1caf5a81e71efe58ea32fd8
--- /dev/null
+++ b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_09-30/outputs_tactile/tactile_cache/dag911262r00035d_lerobot_0327_114353_7434c583/episodes/ep000244/gripper_right_tactile_contact_metrics.json
@@ -0,0 +1,12 @@
+{
+  "contact_time": 4.666666666666667,
+  "contact_ratio": 0.7291666666666666,
+  "avg_contact_area": 14142.164285714285,
+  "contact_entropy": 0.005737381122653722,
+  "total_frames": 192,
+  "fps": 30.0,
+  "reference_frame_count": 0,
+  "dataset_name": "dag911262r00035d_lerobot_0327_114353",
+  "episode_index": 244,
+  "sensor": "gripper_right_tactile"
+}
\ No newline at end of file
diff --git a/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_09-30/outputs_tactile/tactile_cache/dag911262r00035d_lerobot_0327_114353_7434c583/episodes/ep000247/gripper_left_tactile_contact_metrics.json b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_09-30/outputs_tactile/tactile_cache/dag911262r00035d_lerobot_0327_114353_7434c583/episodes/ep000247/gripper_left_tactile_contact_metrics.json
new file mode 100644
index 0000000000000000000000000000000000000000..3d6ba8bca05a5faaab7c28f91057ad0a99c5bfac
--- /dev/null
+++ b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_09-30/outputs_tactile/tactile_cache/dag911262r00035d_lerobot_0327_114353_7434c583/episodes/ep000247/gripper_left_tactile_contact_metrics.json
@@ -0,0 +1,12 @@
+{
+  "contact_time": 7.066666666666666,
+  "contact_ratio": 0.6905537459283387,
+  "avg_contact_area": 2644.4150943396226,
+  "contact_entropy": 0.6818315769938325,
+  "total_frames": 307,
+  "fps": 30.0,
+  "reference_frame_count": 0,
+  "dataset_name": "dag911262r00035d_lerobot_0327_114353",
+  "episode_index": 247,
+  "sensor": "gripper_left_tactile"
+}
\ No newline at end of file
diff --git a/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_09-30/outputs_tactile/tactile_cache/dag911262r00035d_lerobot_0327_114353_7434c583/episodes/ep000251/gripper_left_tactile_force_metrics.json b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_09-30/outputs_tactile/tactile_cache/dag911262r00035d_lerobot_0327_114353_7434c583/episodes/ep000251/gripper_left_tactile_force_metrics.json
new file mode 100644
index 0000000000000000000000000000000000000000..139b9d5274e2789408eb29c6bd784802bc7ab59a
--- /dev/null
+++ b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_09-30/outputs_tactile/tactile_cache/dag911262r00035d_lerobot_0327_114353_7434c583/episodes/ep000251/gripper_left_tactile_force_metrics.json
@@ -0,0 +1,9 @@
+{
+  "depth_peak": 0.004147443920373917,
+  "shear_peak": 0.002640375168994069,
+  "force_magnitude_peak": 0.004327663220465183,
+  "reference_frame_count": 0,
+  "dataset_name": "dag911262r00035d_lerobot_0327_114353",
+  "episode_index": 251,
+  "sensor": "gripper_left_tactile"
+}
\ No newline at end of file
diff --git a/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_09-30/outputs_tactile/tactile_cache/dag911262r00035d_lerobot_0327_114353_7434c583/episodes/ep000252/gripper_right_tactile_force_metrics.json b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_09-30/outputs_tactile/tactile_cache/dag911262r00035d_lerobot_0327_114353_7434c583/episodes/ep000252/gripper_right_tactile_force_metrics.json
new file mode 100644
index 0000000000000000000000000000000000000000..ccab4873ba722fde1321b9f73832a882b30bd329
--- /dev/null
+++ b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_09-30/outputs_tactile/tactile_cache/dag911262r00035d_lerobot_0327_114353_7434c583/episodes/ep000252/gripper_right_tactile_force_metrics.json
@@ -0,0 +1,9 @@
+{
+  "depth_peak": 0.014730106107890606,
+  "shear_peak": 0.006158084608614445,
+  "force_magnitude_peak": 0.015899984166026115,
+  "reference_frame_count": 0,
+  "dataset_name": "dag911262r00035d_lerobot_0327_114353",
+  "episode_index": 252,
+  "sensor": "gripper_right_tactile"
+}
\ No newline at end of file
diff --git a/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_09-30/outputs_tactile/tactile_cache/dag911262r00035d_lerobot_0327_114353_7434c583/episodes/ep000255/gripper_left_tactile_contact_metrics.json b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_09-30/outputs_tactile/tactile_cache/dag911262r00035d_lerobot_0327_114353_7434c583/episodes/ep000255/gripper_left_tactile_contact_metrics.json
new file mode 100644
index 0000000000000000000000000000000000000000..86d043d841c05f065c22765a2deace69bbffd164
--- /dev/null
+++ b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_09-30/outputs_tactile/tactile_cache/dag911262r00035d_lerobot_0327_114353_7434c583/episodes/ep000255/gripper_left_tactile_contact_metrics.json
@@ -0,0 +1,12 @@
+{
+  "contact_time": 7.466666666666667,
+  "contact_ratio": 0.7249190938511327,
+  "avg_contact_area": 3337.1875,
+  "contact_entropy": 0.36468772364499297,
+  "total_frames": 309,
+  "fps": 30.0,
+  "reference_frame_count": 0,
+  "dataset_name": "dag911262r00035d_lerobot_0327_114353",
+  "episode_index": 255,
+  "sensor": "gripper_left_tactile"
+}
\ No newline at end of file
diff --git a/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_09-30/outputs_tactile/tactile_cache/dag911262r00035d_lerobot_0327_114353_7434c583/episodes/ep000257/gripper_right_tactile_contact_metrics.json b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_09-30/outputs_tactile/tactile_cache/dag911262r00035d_lerobot_0327_114353_7434c583/episodes/ep000257/gripper_right_tactile_contact_metrics.json
new file mode 100644
index 0000000000000000000000000000000000000000..9ea49b071425964d37d6849d1368a6fdfdfd4107
--- /dev/null
+++ b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_09-30/outputs_tactile/tactile_cache/dag911262r00035d_lerobot_0327_114353_7434c583/episodes/ep000257/gripper_right_tactile_contact_metrics.json
@@ -0,0 +1,12 @@
+{
+  "contact_time": 8.133333333333333,
+  "contact_ratio": 0.5635103926096998,
+  "avg_contact_area": 11449.282786885246,
+  "contact_entropy": 0.6396667336625818,
+  "total_frames": 433,
+  "fps": 30.0,
+  "reference_frame_count": 0,
+  "dataset_name": "dag911262r00035d_lerobot_0327_114353",
+  "episode_index": 257,
+  "sensor": "gripper_right_tactile"
+}
\ No newline at end of file
diff --git a/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_09-30/outputs_tactile/tactile_cache/dag911262r00035d_lerobot_0327_114353_7434c583/episodes/ep000258/gripper_left_tactile_force_metrics.json b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_09-30/outputs_tactile/tactile_cache/dag911262r00035d_lerobot_0327_114353_7434c583/episodes/ep000258/gripper_left_tactile_force_metrics.json
new file mode 100644
index 0000000000000000000000000000000000000000..25b86d32d67935ac79f4dfe270e391e7e907a9fb
--- /dev/null
+++ b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_09-30/outputs_tactile/tactile_cache/dag911262r00035d_lerobot_0327_114353_7434c583/episodes/ep000258/gripper_left_tactile_force_metrics.json
@@ -0,0 +1,9 @@
+{
+  "depth_peak": 0.0004927684785798192,
+  "shear_peak": 0.001383547205477953,
+  "force_magnitude_peak": 0.0017045848071575165,
+  "reference_frame_count": 0,
+  "dataset_name": "dag911262r00035d_lerobot_0327_114353",
+  "episode_index": 258,
+  "sensor": "gripper_left_tactile"
+}
\ No newline at end of file
diff --git a/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_09-30/outputs_tactile/tactile_cache/dag911262r00035d_lerobot_0327_114353_7434c583/episodes/ep000262/gripper_left_tactile_force_metrics.json b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_09-30/outputs_tactile/tactile_cache/dag911262r00035d_lerobot_0327_114353_7434c583/episodes/ep000262/gripper_left_tactile_force_metrics.json
new file mode 100644
index 0000000000000000000000000000000000000000..b09fab8a6847d287796b978c217a8994c1b2234d
--- /dev/null
+++ b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_09-30/outputs_tactile/tactile_cache/dag911262r00035d_lerobot_0327_114353_7434c583/episodes/ep000262/gripper_left_tactile_force_metrics.json
@@ -0,0 +1,9 @@
+{
+  "depth_peak": 0.0016062305076047778,
+  "shear_peak": 0.0014184287283569574,
+  "force_magnitude_peak": 0.001845475286245346,
+  "reference_frame_count": 0,
+  "dataset_name": "dag911262r00035d_lerobot_0327_114353",
+  "episode_index": 262,
+  "sensor": "gripper_left_tactile"
+}
\ No newline at end of file
diff --git a/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_09-30/outputs_tactile/tactile_cache/dag911262r00035d_lerobot_0327_114353_7434c583/episodes/ep000262/gripper_right_tactile_contact_metrics.json b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_09-30/outputs_tactile/tactile_cache/dag911262r00035d_lerobot_0327_114353_7434c583/episodes/ep000262/gripper_right_tactile_contact_metrics.json
new file mode 100644
index 0000000000000000000000000000000000000000..16a2a373bf00561341634fb3625eb04f9d79a99e
--- /dev/null
+++ b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_09-30/outputs_tactile/tactile_cache/dag911262r00035d_lerobot_0327_114353_7434c583/episodes/ep000262/gripper_right_tactile_contact_metrics.json
@@ -0,0 +1,12 @@
+{
+  "contact_time": 3.033333333333333,
+  "contact_ratio": 0.4080717488789238,
+  "avg_contact_area": 1606.967032967033,
+  "contact_entropy": 0.0,
+  "total_frames": 223,
+  "fps": 30.0,
+  "reference_frame_count": 0,
+  "dataset_name": "dag911262r00035d_lerobot_0327_114353",
+  "episode_index": 262,
+  "sensor": "gripper_right_tactile"
+}
\ No newline at end of file
diff --git a/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_09-30/outputs_tactile/tactile_cache/dag911262r00035d_lerobot_0327_114353_7434c583/episodes/ep000262/gripper_right_tactile_force_metrics.json b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_09-30/outputs_tactile/tactile_cache/dag911262r00035d_lerobot_0327_114353_7434c583/episodes/ep000262/gripper_right_tactile_force_metrics.json
new file mode 100644
index 0000000000000000000000000000000000000000..8e7ff125ef3c4b444fcec7614b2e287b9a2b746f
--- /dev/null
+++ b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_09-30/outputs_tactile/tactile_cache/dag911262r00035d_lerobot_0327_114353_7434c583/episodes/ep000262/gripper_right_tactile_force_metrics.json
@@ -0,0 +1,9 @@
+{
+  "depth_peak": 0.003554435446858406,
+  "shear_peak": 0.003422179026529193,
+  "force_magnitude_peak": 0.004806899931281805,
+  "reference_frame_count": 0,
+  "dataset_name": "dag911262r00035d_lerobot_0327_114353",
+  "episode_index": 262,
+  "sensor": "gripper_right_tactile"
+}
\ No newline at end of file
diff --git a/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_09-30/outputs_tactile/tactile_cache/dag911262r00035d_lerobot_0327_114353_7434c583/episodes/ep000263/gripper_left_tactile_contact_metrics.json b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_09-30/outputs_tactile/tactile_cache/dag911262r00035d_lerobot_0327_114353_7434c583/episodes/ep000263/gripper_left_tactile_contact_metrics.json
new file mode 100644
index 0000000000000000000000000000000000000000..17d326c9a1ce103add8e825d50a55b85385f5834
--- /dev/null
+++ b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_09-30/outputs_tactile/tactile_cache/dag911262r00035d_lerobot_0327_114353_7434c583/episodes/ep000263/gripper_left_tactile_contact_metrics.json
@@ -0,0 +1,12 @@
+{
+  "contact_time": 6.3,
+  "contact_ratio": 0.4632352941176471,
+  "avg_contact_area": 48.925925925925924,
+  "contact_entropy": 0.04919514389017872,
+  "total_frames": 408,
+  "fps": 30.0,
+  "reference_frame_count": 0,
+  "dataset_name": "dag911262r00035d_lerobot_0327_114353",
+  "episode_index": 263,
+  "sensor": "gripper_left_tactile"
+}
\ No newline at end of file
diff --git a/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_09-30/outputs_tactile/tactile_cache/dag911262r00035d_lerobot_0327_114353_7434c583/episodes/ep000264/gripper_right_tactile_force_metrics.json b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_09-30/outputs_tactile/tactile_cache/dag911262r00035d_lerobot_0327_114353_7434c583/episodes/ep000264/gripper_right_tactile_force_metrics.json
new file mode 100644
index 0000000000000000000000000000000000000000..89b898b4c78b99f2de4b67573aefe8ef9b62eb9e
--- /dev/null
+++ b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_09-30/outputs_tactile/tactile_cache/dag911262r00035d_lerobot_0327_114353_7434c583/episodes/ep000264/gripper_right_tactile_force_metrics.json
@@ -0,0 +1,9 @@
+{
+  "depth_peak": 0.001517860684543848,
+  "shear_peak": 0.012401111423969269,
+  "force_magnitude_peak": 0.01565595529973507,
+  "reference_frame_count": 0,
+  "dataset_name": "dag911262r00035d_lerobot_0327_114353",
+  "episode_index": 264,
+  "sensor": "gripper_right_tactile"
+}
\ No newline at end of file
diff --git a/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_09-30/outputs_tactile/tactile_cache/dag911262r00035d_lerobot_0327_114353_7434c583/episodes/ep000267/gripper_right_tactile_contact_metrics.json b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_09-30/outputs_tactile/tactile_cache/dag911262r00035d_lerobot_0327_114353_7434c583/episodes/ep000267/gripper_right_tactile_contact_metrics.json
new file mode 100644
index 0000000000000000000000000000000000000000..6274acb1fc10bd63aba20f2764e2b21d859edd33
--- /dev/null
+++ b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_09-30/outputs_tactile/tactile_cache/dag911262r00035d_lerobot_0327_114353_7434c583/episodes/ep000267/gripper_right_tactile_contact_metrics.json
@@ -0,0 +1,12 @@
+{
+  "contact_time": 10.033333333333333,
+  "contact_ratio": 0.665929203539823,
+  "avg_contact_area": 10468.757475083057,
+  "contact_entropy": 0.2019036900758306,
+  "total_frames": 452,
+  "fps": 30.0,
+  "reference_frame_count": 0,
+  "dataset_name": "dag911262r00035d_lerobot_0327_114353",
+  "episode_index": 267,
+  "sensor": "gripper_right_tactile"
+}
\ No newline at end of file
diff --git a/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_09-30/outputs_tactile/tactile_cache/dag911262r00035d_lerobot_0327_114353_7434c583/episodes/ep000270/gripper_left_tactile_force_metrics.json b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_09-30/outputs_tactile/tactile_cache/dag911262r00035d_lerobot_0327_114353_7434c583/episodes/ep000270/gripper_left_tactile_force_metrics.json
new file mode 100644
index 0000000000000000000000000000000000000000..7500c0fb7a82d9d59dd7b143118c24b293e0a0d7
--- /dev/null
+++ b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_09-30/outputs_tactile/tactile_cache/dag911262r00035d_lerobot_0327_114353_7434c583/episodes/ep000270/gripper_left_tactile_force_metrics.json
@@ -0,0 +1,9 @@
+{
+  "depth_peak": 0.00030778785003349185,
+  "shear_peak": 0.0022691977210342884,
+  "force_magnitude_peak": 0.003125307383015752,
+  "reference_frame_count": 0,
+  "dataset_name": "dag911262r00035d_lerobot_0327_114353",
+  "episode_index": 270,
+  "sensor": "gripper_left_tactile"
+}
\ No newline at end of file
diff --git a/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_09-30/outputs_tactile/tactile_cache/dag911262r00035d_lerobot_0327_114353_7434c583/episodes/ep000270/gripper_right_tactile_force_metrics.json b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_09-30/outputs_tactile/tactile_cache/dag911262r00035d_lerobot_0327_114353_7434c583/episodes/ep000270/gripper_right_tactile_force_metrics.json
new file mode 100644
index 0000000000000000000000000000000000000000..f8fcad807ecd37eb43216bfd164be934568deac7
--- /dev/null
+++ b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_09-30/outputs_tactile/tactile_cache/dag911262r00035d_lerobot_0327_114353_7434c583/episodes/ep000270/gripper_right_tactile_force_metrics.json
@@ -0,0 +1,9 @@
+{
+  "depth_peak": 0.004001199267804623,
+  "shear_peak": 0.0028197811916470528,
+  "force_magnitude_peak": 0.0044028740376234055,
+  "reference_frame_count": 0,
+  "dataset_name": "dag911262r00035d_lerobot_0327_114353",
+  "episode_index": 270,
+  "sensor": "gripper_right_tactile"
+}
\ No newline at end of file
diff --git a/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_09-30/outputs_tactile/tactile_cache/dag911262r00035d_lerobot_0327_114353_7434c583/episodes/ep000272/gripper_left_tactile_contact_metrics.json b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_09-30/outputs_tactile/tactile_cache/dag911262r00035d_lerobot_0327_114353_7434c583/episodes/ep000272/gripper_left_tactile_contact_metrics.json
new file mode 100644
index 0000000000000000000000000000000000000000..85926e7fc415a08bd8d48fa47ea204240f41aa9f
--- /dev/null
+++ b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_09-30/outputs_tactile/tactile_cache/dag911262r00035d_lerobot_0327_114353_7434c583/episodes/ep000272/gripper_left_tactile_contact_metrics.json
@@ -0,0 +1,12 @@
+{
+  "contact_time": 12.1,
+  "contact_ratio": 0.7707006369426752,
+  "avg_contact_area": 3534.473829201102,
+  "contact_entropy": 0.8302799324352447,
+  "total_frames": 471,
+  "fps": 30.0,
+  "reference_frame_count": 0,
+  "dataset_name": "dag911262r00035d_lerobot_0327_114353",
+  "episode_index": 272,
+  "sensor": "gripper_left_tactile"
+}
\ No newline at end of file
diff --git a/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_09-30/outputs_tactile/tactile_cache/dag911262r00035d_lerobot_0327_114353_7434c583/episodes/ep000277/gripper_left_tactile_contact_metrics.json b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_09-30/outputs_tactile/tactile_cache/dag911262r00035d_lerobot_0327_114353_7434c583/episodes/ep000277/gripper_left_tactile_contact_metrics.json
new file mode 100644
index 0000000000000000000000000000000000000000..9089f8c4c23f1e2d8fd932e8c6d9bbd87843de12
--- /dev/null
+++ b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_09-30/outputs_tactile/tactile_cache/dag911262r00035d_lerobot_0327_114353_7434c583/episodes/ep000277/gripper_left_tactile_contact_metrics.json
@@ -0,0 +1,12 @@
+{
+  "contact_time": 10.6,
+  "contact_ratio": 0.8412698412698413,
+  "avg_contact_area": 568.5,
+  "contact_entropy": 0.7747883543355849,
+  "total_frames": 378,
+  "fps": 30.0,
+  "reference_frame_count": 0,
+  "dataset_name": "dag911262r00035d_lerobot_0327_114353",
+  "episode_index": 277,
+  "sensor": "gripper_left_tactile"
+}
\ No newline at end of file
diff --git a/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_09-30/outputs_tactile/tactile_cache/dag911262r00035d_lerobot_0327_114353_7434c583/episodes/ep000282/gripper_right_tactile_contact_metrics.json b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_09-30/outputs_tactile/tactile_cache/dag911262r00035d_lerobot_0327_114353_7434c583/episodes/ep000282/gripper_right_tactile_contact_metrics.json
new file mode 100644
index 0000000000000000000000000000000000000000..9efa6fdb49cc7c6f97e6c1c0e04dbba371c2ec4d
--- /dev/null
+++ b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_09-30/outputs_tactile/tactile_cache/dag911262r00035d_lerobot_0327_114353_7434c583/episodes/ep000282/gripper_right_tactile_contact_metrics.json
@@ -0,0 +1,12 @@
+{
+  "contact_time": 8.666666666666666,
+  "contact_ratio": 0.654911838790932,
+  "avg_contact_area": 7549.15,
+  "contact_entropy": 0.6420936854193042,
+  "total_frames": 397,
+  "fps": 30.0,
+  "reference_frame_count": 0,
+  "dataset_name": "dag911262r00035d_lerobot_0327_114353",
+  "episode_index": 282,
+  "sensor": "gripper_right_tactile"
+}
\ No newline at end of file
diff --git a/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_09-30/outputs_tactile/tactile_cache/dag911262r00035d_lerobot_0327_114353_7434c583/episodes/ep000282/gripper_right_tactile_force_metrics.json b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_09-30/outputs_tactile/tactile_cache/dag911262r00035d_lerobot_0327_114353_7434c583/episodes/ep000282/gripper_right_tactile_force_metrics.json
new file mode 100644
index 0000000000000000000000000000000000000000..dbe3684470aa57ad32df19de6d5de11d9ad54202
--- /dev/null
+++ b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_09-30/outputs_tactile/tactile_cache/dag911262r00035d_lerobot_0327_114353_7434c583/episodes/ep000282/gripper_right_tactile_force_metrics.json
@@ -0,0 +1,9 @@
+{
+  "depth_peak": 0.010676175355911255,
+  "shear_peak": 0.005766123533248901,
+  "force_magnitude_peak": 0.011143190786242485,
+  "reference_frame_count": 0,
+  "dataset_name": "dag911262r00035d_lerobot_0327_114353",
+  "episode_index": 282,
+  "sensor": "gripper_right_tactile"
+}
\ No newline at end of file
diff --git a/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_09-30/outputs_tactile/tactile_cache/dag911262r00035d_lerobot_0327_114353_7434c583/episodes/ep000284/gripper_left_tactile_force_metrics.json b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_09-30/outputs_tactile/tactile_cache/dag911262r00035d_lerobot_0327_114353_7434c583/episodes/ep000284/gripper_left_tactile_force_metrics.json
new file mode 100644
index 0000000000000000000000000000000000000000..8cd8f07d025673a8cf42a822f31d653955a03741
--- /dev/null
+++ b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_09-30/outputs_tactile/tactile_cache/dag911262r00035d_lerobot_0327_114353_7434c583/episodes/ep000284/gripper_left_tactile_force_metrics.json
@@ -0,0 +1,9 @@
+{
+  "depth_peak": 0.007332704961299896,
+  "shear_peak": 0.004727579653263092,
+  "force_magnitude_peak": 0.007445408497005701,
+  "reference_frame_count": 0,
+  "dataset_name": "dag911262r00035d_lerobot_0327_114353",
+  "episode_index": 284,
+  "sensor": "gripper_left_tactile"
+}
\ No newline at end of file
diff --git a/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_09-30/outputs_tactile/tactile_cache/dag911262r00035d_lerobot_0327_114353_7434c583/episodes/ep000284/gripper_right_tactile_contact_metrics.json b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_09-30/outputs_tactile/tactile_cache/dag911262r00035d_lerobot_0327_114353_7434c583/episodes/ep000284/gripper_right_tactile_contact_metrics.json
new file mode 100644
index 0000000000000000000000000000000000000000..2d6f4729274a3943cc60a0e82922fcac410b4899
--- /dev/null
+++ b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_09-30/outputs_tactile/tactile_cache/dag911262r00035d_lerobot_0327_114353_7434c583/episodes/ep000284/gripper_right_tactile_contact_metrics.json
@@ -0,0 +1,12 @@
+{
+  "contact_time": 7.466666666666667,
+  "contact_ratio": 0.5185185185185185,
+  "avg_contact_area": 9783.84375,
+  "contact_entropy": 0.6188014411284005,
+  "total_frames": 432,
+  "fps": 30.0,
+  "reference_frame_count": 0,
+  "dataset_name": "dag911262r00035d_lerobot_0327_114353",
+  "episode_index": 284,
+  "sensor": "gripper_right_tactile"
+}
\ No newline at end of file
diff --git a/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_09-30/outputs_tactile/tactile_cache/dag911262r00035d_lerobot_0327_114353_7434c583/episodes/ep000287/gripper_left_tactile_contact_metrics.json b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_09-30/outputs_tactile/tactile_cache/dag911262r00035d_lerobot_0327_114353_7434c583/episodes/ep000287/gripper_left_tactile_contact_metrics.json
new file mode 100644
index 0000000000000000000000000000000000000000..9101aecfd474d73b1757c0c70216c855dc9a6496
--- /dev/null
+++ b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_09-30/outputs_tactile/tactile_cache/dag911262r00035d_lerobot_0327_114353_7434c583/episodes/ep000287/gripper_left_tactile_contact_metrics.json
@@ -0,0 +1,12 @@
+{
+  "contact_time": 8.3,
+  "contact_ratio": 0.5081632653061224,
+  "avg_contact_area": 1379.7349397590363,
+  "contact_entropy": 0.38742583632299665,
+  "total_frames": 490,
+  "fps": 30.0,
+  "reference_frame_count": 0,
+  "dataset_name": "dag911262r00035d_lerobot_0327_114353",
+  "episode_index": 287,
+  "sensor": "gripper_left_tactile"
+}
\ No newline at end of file
diff --git a/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_09-30/outputs_tactile/tactile_cache/dag911262r00035d_lerobot_0327_114353_7434c583/episodes/ep000291/gripper_left_tactile_force_metrics.json b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_09-30/outputs_tactile/tactile_cache/dag911262r00035d_lerobot_0327_114353_7434c583/episodes/ep000291/gripper_left_tactile_force_metrics.json
new file mode 100644
index 0000000000000000000000000000000000000000..9c256b0c1e320a62395d23552712e71e20315f3e
--- /dev/null
+++ b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_09-30/outputs_tactile/tactile_cache/dag911262r00035d_lerobot_0327_114353_7434c583/episodes/ep000291/gripper_left_tactile_force_metrics.json
@@ -0,0 +1,9 @@
+{
+  "depth_peak": 0.002369804074987769,
+  "shear_peak": 0.003713885322213173,
+  "force_magnitude_peak": 0.0052533335983753204,
+  "reference_frame_count": 0,
+  "dataset_name": "dag911262r00035d_lerobot_0327_114353",
+  "episode_index": 291,
+  "sensor": "gripper_left_tactile"
+}
\ No newline at end of file
diff --git a/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_09-30/outputs_tactile/tactile_cache/dag911262r00035d_lerobot_0327_114353_7434c583/episodes/ep000292/gripper_right_tactile_force_metrics.json b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_09-30/outputs_tactile/tactile_cache/dag911262r00035d_lerobot_0327_114353_7434c583/episodes/ep000292/gripper_right_tactile_force_metrics.json
new file mode 100644
index 0000000000000000000000000000000000000000..48979e48f799748716275a60db02b24603a83b7a
--- /dev/null
+++ b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_09-30/outputs_tactile/tactile_cache/dag911262r00035d_lerobot_0327_114353_7434c583/episodes/ep000292/gripper_right_tactile_force_metrics.json
@@ -0,0 +1,9 @@
+{
+  "depth_peak": 0.004201401490718126,
+  "shear_peak": 0.00498184422031045,
+  "force_magnitude_peak": 0.005878020077943802,
+  "reference_frame_count": 0,
+  "dataset_name": "dag911262r00035d_lerobot_0327_114353",
+  "episode_index": 292,
+  "sensor": "gripper_right_tactile"
+}
\ No newline at end of file
diff --git a/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_09-30/outputs_tactile/tactile_cache/dag911262r00035d_lerobot_0327_114353_7434c583/episodes/ep000295/gripper_left_tactile_contact_metrics.json b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_09-30/outputs_tactile/tactile_cache/dag911262r00035d_lerobot_0327_114353_7434c583/episodes/ep000295/gripper_left_tactile_contact_metrics.json
new file mode 100644
index 0000000000000000000000000000000000000000..d5381e8c7c71bbab837a99e0853b1319980dd3c0
--- /dev/null
+++ b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_09-30/outputs_tactile/tactile_cache/dag911262r00035d_lerobot_0327_114353_7434c583/episodes/ep000295/gripper_left_tactile_contact_metrics.json
@@ -0,0 +1,12 @@
+{
+  "contact_time": 19.3,
+  "contact_ratio": 0.9264,
+  "avg_contact_area": 1483.0310880829015,
+  "contact_entropy": 0.797664523021425,
+  "total_frames": 625,
+  "fps": 30.0,
+  "reference_frame_count": 0,
+  "dataset_name": "dag911262r00035d_lerobot_0327_114353",
+  "episode_index": 295,
+  "sensor": "gripper_left_tactile"
+}
\ No newline at end of file
diff --git a/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_09-30/outputs_tactile/tactile_cache/dag911262r00035d_lerobot_0327_114353_7434c583/episodes/ep000297/gripper_right_tactile_contact_metrics.json b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_09-30/outputs_tactile/tactile_cache/dag911262r00035d_lerobot_0327_114353_7434c583/episodes/ep000297/gripper_right_tactile_contact_metrics.json
new file mode 100644
index 0000000000000000000000000000000000000000..91dea61afe3038f3a552eb0c58f194d6828fc159
--- /dev/null
+++ b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_09-30/outputs_tactile/tactile_cache/dag911262r00035d_lerobot_0327_114353_7434c583/episodes/ep000297/gripper_right_tactile_contact_metrics.json
@@ -0,0 +1,12 @@
+{
+  "contact_time": 7.4,
+  "contact_ratio": 0.7551020408163265,
+  "avg_contact_area": 5902.698198198198,
+  "contact_entropy": 0.7355787422169173,
+  "total_frames": 294,
+  "fps": 30.0,
+  "reference_frame_count": 0,
+  "dataset_name": "dag911262r00035d_lerobot_0327_114353",
+  "episode_index": 297,
+  "sensor": "gripper_right_tactile"
+}
\ No newline at end of file
diff --git a/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_09-30/outputs_tactile/tactile_cache/dag911262r00035d_lerobot_0327_114353_7434c583/episodes/ep000298/gripper_left_tactile_force_metrics.json b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_09-30/outputs_tactile/tactile_cache/dag911262r00035d_lerobot_0327_114353_7434c583/episodes/ep000298/gripper_left_tactile_force_metrics.json
new file mode 100644
index 0000000000000000000000000000000000000000..f9bfbedf973fafe3a593d613c2eebaad70e53fad
--- /dev/null
+++ b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_09-30/outputs_tactile/tactile_cache/dag911262r00035d_lerobot_0327_114353_7434c583/episodes/ep000298/gripper_left_tactile_force_metrics.json
@@ -0,0 +1,9 @@
+{
+  "depth_peak": 0.001445014146156609,
+  "shear_peak": 0.0051476419903337955,
+  "force_magnitude_peak": 0.005486864596605301,
+  "reference_frame_count": 0,
+  "dataset_name": "dag911262r00035d_lerobot_0327_114353",
+  "episode_index": 298,
+  "sensor": "gripper_left_tactile"
+}
\ No newline at end of file
diff --git a/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_09-30/outputs_tactile/tactile_cache/dag911262r00035d_lerobot_0327_114353_7434c583/episodes/ep000302/gripper_left_tactile_force_metrics.json b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_09-30/outputs_tactile/tactile_cache/dag911262r00035d_lerobot_0327_114353_7434c583/episodes/ep000302/gripper_left_tactile_force_metrics.json
new file mode 100644
index 0000000000000000000000000000000000000000..2bf9feda1b47e1b901a14c56087f8e153e6f9075
--- /dev/null
+++ b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_09-30/outputs_tactile/tactile_cache/dag911262r00035d_lerobot_0327_114353_7434c583/episodes/ep000302/gripper_left_tactile_force_metrics.json
@@ -0,0 +1,9 @@
+{
+  "depth_peak": 0.006315607111901045,
+  "shear_peak": 0.0018318808870390058,
+  "force_magnitude_peak": 0.0065759168937802315,
+  "reference_frame_count": 0,
+  "dataset_name": "dag911262r00035d_lerobot_0327_114353",
+  "episode_index": 302,
+  "sensor": "gripper_left_tactile"
+}
\ No newline at end of file
diff --git a/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_09-30/outputs_tactile/tactile_cache/dag911262r00035d_lerobot_0327_114353_7434c583/episodes/ep000302/gripper_right_tactile_contact_metrics.json b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_09-30/outputs_tactile/tactile_cache/dag911262r00035d_lerobot_0327_114353_7434c583/episodes/ep000302/gripper_right_tactile_contact_metrics.json
new file mode 100644
index 0000000000000000000000000000000000000000..58ad7c83a88522c824987a7ed671c4b65fa6dd85
--- /dev/null
+++ b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_09-30/outputs_tactile/tactile_cache/dag911262r00035d_lerobot_0327_114353_7434c583/episodes/ep000302/gripper_right_tactile_contact_metrics.json
@@ -0,0 +1,12 @@
+{
+  "contact_time": 6.833333333333333,
+  "contact_ratio": 0.34628378378378377,
+  "avg_contact_area": 943.9512195121952,
+  "contact_entropy": 0.0013781396392366376,
+  "total_frames": 592,
+  "fps": 30.0,
+  "reference_frame_count": 0,
+  "dataset_name": "dag911262r00035d_lerobot_0327_114353",
+  "episode_index": 302,
+  "sensor": "gripper_right_tactile"
+}
\ No newline at end of file
diff --git a/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_09-30/outputs_tactile/tactile_cache/dag911262r00035d_lerobot_0327_114353_7434c583/episodes/ep000302/gripper_right_tactile_force_metrics.json b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_09-30/outputs_tactile/tactile_cache/dag911262r00035d_lerobot_0327_114353_7434c583/episodes/ep000302/gripper_right_tactile_force_metrics.json
new file mode 100644
index 0000000000000000000000000000000000000000..d6a530d74623cd3f4e9731b3ca75be7f2106390e
--- /dev/null
+++ b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_09-30/outputs_tactile/tactile_cache/dag911262r00035d_lerobot_0327_114353_7434c583/episodes/ep000302/gripper_right_tactile_force_metrics.json
@@ -0,0 +1,9 @@
+{
+  "depth_peak": 0.0014514578506350517,
+  "shear_peak": 0.004525013267993927,
+  "force_magnitude_peak": 0.004927095491439104,
+  "reference_frame_count": 0,
+  "dataset_name": "dag911262r00035d_lerobot_0327_114353",
+  "episode_index": 302,
+  "sensor": "gripper_right_tactile"
+}
\ No newline at end of file
diff --git a/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_09-30/outputs_tactile/tactile_cache/dag911262r00035d_lerobot_0327_114353_7434c583/episodes/ep000303/gripper_left_tactile_contact_metrics.json b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_09-30/outputs_tactile/tactile_cache/dag911262r00035d_lerobot_0327_114353_7434c583/episodes/ep000303/gripper_left_tactile_contact_metrics.json
new file mode 100644
index 0000000000000000000000000000000000000000..4fc6f1b27d13e2095364584dbf22a4faa29afd09
--- /dev/null
+++ b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_09-30/outputs_tactile/tactile_cache/dag911262r00035d_lerobot_0327_114353_7434c583/episodes/ep000303/gripper_left_tactile_contact_metrics.json
@@ -0,0 +1,12 @@
+{
+  "contact_time": 8.866666666666667,
+  "contact_ratio": 0.9366197183098591,
+  "avg_contact_area": 1579.6842105263158,
+  "contact_entropy": 0.18508981220121912,
+  "total_frames": 284,
+  "fps": 30.0,
+  "reference_frame_count": 0,
+  "dataset_name": "dag911262r00035d_lerobot_0327_114353",
+  "episode_index": 303,
+  "sensor": "gripper_left_tactile"
+}
\ No newline at end of file
diff --git a/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_09-30/outputs_tactile/tactile_cache/dag911262r00035d_lerobot_0327_114353_7434c583/episodes/ep000304/gripper_right_tactile_force_metrics.json b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_09-30/outputs_tactile/tactile_cache/dag911262r00035d_lerobot_0327_114353_7434c583/episodes/ep000304/gripper_right_tactile_force_metrics.json
new file mode 100644
index 0000000000000000000000000000000000000000..9aed9c496eec0f1dafbe01cb0fb9b57cf72db8ae
--- /dev/null
+++ b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_09-30/outputs_tactile/tactile_cache/dag911262r00035d_lerobot_0327_114353_7434c583/episodes/ep000304/gripper_right_tactile_force_metrics.json
@@ -0,0 +1,9 @@
+{
+  "depth_peak": 0.007082178257405758,
+  "shear_peak": 0.006988909561187029,
+  "force_magnitude_peak": 0.008219296112656593,
+  "reference_frame_count": 0,
+  "dataset_name": "dag911262r00035d_lerobot_0327_114353",
+  "episode_index": 304,
+  "sensor": "gripper_right_tactile"
+}
\ No newline at end of file
diff --git a/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_09-30/outputs_tactile/tactile_cache/dag911262r00035d_lerobot_0327_114353_7434c583/episodes/ep000307/gripper_right_tactile_contact_metrics.json b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_09-30/outputs_tactile/tactile_cache/dag911262r00035d_lerobot_0327_114353_7434c583/episodes/ep000307/gripper_right_tactile_contact_metrics.json
new file mode 100644
index 0000000000000000000000000000000000000000..32d43ea3eba27f5e1c83469baa1722c077483eda
--- /dev/null
+++ b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_09-30/outputs_tactile/tactile_cache/dag911262r00035d_lerobot_0327_114353_7434c583/episodes/ep000307/gripper_right_tactile_contact_metrics.json
@@ -0,0 +1,12 @@
+{
+  "contact_time": 7.233333333333333,
+  "contact_ratio": 0.5740740740740741,
+  "avg_contact_area": 387.7649769585253,
+  "contact_entropy": 0.15615746408594633,
+  "total_frames": 378,
+  "fps": 30.0,
+  "reference_frame_count": 0,
+  "dataset_name": "dag911262r00035d_lerobot_0327_114353",
+  "episode_index": 307,
+  "sensor": "gripper_right_tactile"
+}
\ No newline at end of file
diff --git a/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_09-30/outputs_tactile/tactile_cache/dag911262r00035d_lerobot_0327_114353_7434c583/episodes/ep000310/gripper_left_tactile_force_metrics.json b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_09-30/outputs_tactile/tactile_cache/dag911262r00035d_lerobot_0327_114353_7434c583/episodes/ep000310/gripper_left_tactile_force_metrics.json
new file mode 100644
index 0000000000000000000000000000000000000000..40b4b92ecd4fede106b9af834f29d7c0a2db988d
--- /dev/null
+++ b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_09-30/outputs_tactile/tactile_cache/dag911262r00035d_lerobot_0327_114353_7434c583/episodes/ep000310/gripper_left_tactile_force_metrics.json
@@ -0,0 +1,9 @@
+{
+  "depth_peak": 0.010596820153295994,
+  "shear_peak": 0.0018435997189953923,
+  "force_magnitude_peak": 0.010638503357768059,
+  "reference_frame_count": 0,
+  "dataset_name": "dag911262r00035d_lerobot_0327_114353",
+  "episode_index": 310,
+  "sensor": "gripper_left_tactile"
+}
\ No newline at end of file
diff --git a/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_09-30/outputs_tactile/tactile_cache/dag911262r00035d_lerobot_0327_114353_7434c583/episodes/ep000310/gripper_right_tactile_force_metrics.json b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_09-30/outputs_tactile/tactile_cache/dag911262r00035d_lerobot_0327_114353_7434c583/episodes/ep000310/gripper_right_tactile_force_metrics.json
new file mode 100644
index 0000000000000000000000000000000000000000..42e3f932f97f6a70d43f28c2ef3e71a1ea612399
--- /dev/null
+++ b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_09-30/outputs_tactile/tactile_cache/dag911262r00035d_lerobot_0327_114353_7434c583/episodes/ep000310/gripper_right_tactile_force_metrics.json
@@ -0,0 +1,9 @@
+{
+  "depth_peak": 0.0017051809700205922,
+  "shear_peak": 0.011356939561665058,
+  "force_magnitude_peak": 0.0114824827760458,
+  "reference_frame_count": 0,
+  "dataset_name": "dag911262r00035d_lerobot_0327_114353",
+  "episode_index": 310,
+  "sensor": "gripper_right_tactile"
+}
\ No newline at end of file
diff --git a/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_09-30/outputs_tactile/tactile_cache/dag911262r00035d_lerobot_0327_114353_7434c583/episodes/ep000312/gripper_left_tactile_contact_metrics.json b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_09-30/outputs_tactile/tactile_cache/dag911262r00035d_lerobot_0327_114353_7434c583/episodes/ep000312/gripper_left_tactile_contact_metrics.json
new file mode 100644
index 0000000000000000000000000000000000000000..5ffc98ab092cc900b05646d8b25902fded7c7125
--- /dev/null
+++ b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_09-30/outputs_tactile/tactile_cache/dag911262r00035d_lerobot_0327_114353_7434c583/episodes/ep000312/gripper_left_tactile_contact_metrics.json
@@ -0,0 +1,12 @@
+{
+  "contact_time": 5.933333333333334,
+  "contact_ratio": 0.6768060836501901,
+  "avg_contact_area": 5158.550561797752,
+  "contact_entropy": 0.7357772647434664,
+  "total_frames": 263,
+  "fps": 30.0,
+  "reference_frame_count": 0,
+  "dataset_name": "dag911262r00035d_lerobot_0327_114353",
+  "episode_index": 312,
+  "sensor": "gripper_left_tactile"
+}
\ No newline at end of file
diff --git a/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_09-30/outputs_tactile/tactile_cache/dag911262r00035d_lerobot_0327_114353_7434c583/episodes/ep000317/gripper_left_tactile_contact_metrics.json b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_09-30/outputs_tactile/tactile_cache/dag911262r00035d_lerobot_0327_114353_7434c583/episodes/ep000317/gripper_left_tactile_contact_metrics.json
new file mode 100644
index 0000000000000000000000000000000000000000..155adedb0950c3e0acfbd70b222eeab33617c352
--- /dev/null
+++ b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_09-30/outputs_tactile/tactile_cache/dag911262r00035d_lerobot_0327_114353_7434c583/episodes/ep000317/gripper_left_tactile_contact_metrics.json
@@ -0,0 +1,12 @@
+{
+  "contact_time": 7.3,
+  "contact_ratio": 0.538083538083538,
+  "avg_contact_area": 1161.7716894977168,
+  "contact_entropy": 0.07997240760761426,
+  "total_frames": 407,
+  "fps": 30.0,
+  "reference_frame_count": 0,
+  "dataset_name": "dag911262r00035d_lerobot_0327_114353",
+  "episode_index": 317,
+  "sensor": "gripper_left_tactile"
+}
\ No newline at end of file
diff --git a/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_09-30/outputs_tactile/tactile_cache/dag911262r00035d_lerobot_0327_114353_7434c583/episodes/ep000322/gripper_right_tactile_contact_metrics.json b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_09-30/outputs_tactile/tactile_cache/dag911262r00035d_lerobot_0327_114353_7434c583/episodes/ep000322/gripper_right_tactile_contact_metrics.json
new file mode 100644
index 0000000000000000000000000000000000000000..96f8bc5cd33e68c081b883ff0221ba358c09c339
--- /dev/null
+++ b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_09-30/outputs_tactile/tactile_cache/dag911262r00035d_lerobot_0327_114353_7434c583/episodes/ep000322/gripper_right_tactile_contact_metrics.json
@@ -0,0 +1,12 @@
+{
+  "contact_time": 12.8,
+  "contact_ratio": 0.8514412416851441,
+  "avg_contact_area": 5904.674479166667,
+  "contact_entropy": 0.61416831808664,
+  "total_frames": 451,
+  "fps": 30.0,
+  "reference_frame_count": 0,
+  "dataset_name": "dag911262r00035d_lerobot_0327_114353",
+  "episode_index": 322,
+  "sensor": "gripper_right_tactile"
+}
\ No newline at end of file
diff --git a/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_09-30/outputs_tactile/tactile_cache/dag911262r00035d_lerobot_0327_114353_7434c583/episodes/ep000322/gripper_right_tactile_force_metrics.json b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_09-30/outputs_tactile/tactile_cache/dag911262r00035d_lerobot_0327_114353_7434c583/episodes/ep000322/gripper_right_tactile_force_metrics.json
new file mode 100644
index 0000000000000000000000000000000000000000..bedf48eb96e84f770e36381a2a3f316736a6c988
--- /dev/null
+++ b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_09-30/outputs_tactile/tactile_cache/dag911262r00035d_lerobot_0327_114353_7434c583/episodes/ep000322/gripper_right_tactile_force_metrics.json
@@ -0,0 +1,9 @@
+{
+  "depth_peak": 0.00980791263282299,
+  "shear_peak": 0.007321851793676615,
+  "force_magnitude_peak": 0.009897756390273571,
+  "reference_frame_count": 0,
+  "dataset_name": "dag911262r00035d_lerobot_0327_114353",
+  "episode_index": 322,
+  "sensor": "gripper_right_tactile"
+}
\ No newline at end of file
diff --git a/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_09-30/outputs_tactile/tactile_cache/dag911262r00035d_lerobot_0327_114353_7434c583/episodes/ep000324/gripper_left_tactile_force_metrics.json b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_09-30/outputs_tactile/tactile_cache/dag911262r00035d_lerobot_0327_114353_7434c583/episodes/ep000324/gripper_left_tactile_force_metrics.json
new file mode 100644
index 0000000000000000000000000000000000000000..6d73e8f3c84b82dea4f75620228df912920192b1
--- /dev/null
+++ b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_09-30/outputs_tactile/tactile_cache/dag911262r00035d_lerobot_0327_114353_7434c583/episodes/ep000324/gripper_left_tactile_force_metrics.json
@@ -0,0 +1,9 @@
+{
+  "depth_peak": 0.0050230566412210464,
+  "shear_peak": 0.004052286967635155,
+  "force_magnitude_peak": 0.006453846115618944,
+  "reference_frame_count": 0,
+  "dataset_name": "dag911262r00035d_lerobot_0327_114353",
+  "episode_index": 324,
+  "sensor": "gripper_left_tactile"
+}
\ No newline at end of file
diff --git a/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_09-30/outputs_tactile/tactile_cache/dag911262r00035d_lerobot_0327_114353_7434c583/episodes/ep000324/gripper_right_tactile_contact_metrics.json b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_09-30/outputs_tactile/tactile_cache/dag911262r00035d_lerobot_0327_114353_7434c583/episodes/ep000324/gripper_right_tactile_contact_metrics.json
new file mode 100644
index 0000000000000000000000000000000000000000..12bbe98e4b7a73112be4e66a3bb90a5798215d7f
--- /dev/null
+++ b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_09-30/outputs_tactile/tactile_cache/dag911262r00035d_lerobot_0327_114353_7434c583/episodes/ep000324/gripper_right_tactile_contact_metrics.json
@@ -0,0 +1,12 @@
+{
+  "contact_time": 8.566666666666666,
+  "contact_ratio": 0.6572890025575447,
+  "avg_contact_area": 10282.303501945526,
+  "contact_entropy": 0.6672587313570331,
+  "total_frames": 391,
+  "fps": 30.0,
+  "reference_frame_count": 0,
+  "dataset_name": "dag911262r00035d_lerobot_0327_114353",
+  "episode_index": 324,
+  "sensor": "gripper_right_tactile"
+}
\ No newline at end of file
diff --git a/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_09-30/outputs_tactile/tactile_cache/dag911262r00035d_lerobot_0327_114353_7434c583/episodes/ep000327/gripper_left_tactile_contact_metrics.json b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_09-30/outputs_tactile/tactile_cache/dag911262r00035d_lerobot_0327_114353_7434c583/episodes/ep000327/gripper_left_tactile_contact_metrics.json
new file mode 100644
index 0000000000000000000000000000000000000000..6e52db23608c5121716b5b48163a7b045fc5c4ef
--- /dev/null
+++ b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_09-30/outputs_tactile/tactile_cache/dag911262r00035d_lerobot_0327_114353_7434c583/episodes/ep000327/gripper_left_tactile_contact_metrics.json
@@ -0,0 +1,12 @@
+{
+  "contact_time": 7.866666666666666,
+  "contact_ratio": 0.8905660377358491,
+  "avg_contact_area": 4744.233050847458,
+  "contact_entropy": 0.6662934858513998,
+  "total_frames": 265,
+  "fps": 30.0,
+  "reference_frame_count": 0,
+  "dataset_name": "dag911262r00035d_lerobot_0327_114353",
+  "episode_index": 327,
+  "sensor": "gripper_left_tactile"
+}
\ No newline at end of file
diff --git a/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_09-30/outputs_tactile/tactile_cache/dag911262r00035d_lerobot_0327_114353_7434c583/episodes/ep000331/gripper_left_tactile_force_metrics.json b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_09-30/outputs_tactile/tactile_cache/dag911262r00035d_lerobot_0327_114353_7434c583/episodes/ep000331/gripper_left_tactile_force_metrics.json
new file mode 100644
index 0000000000000000000000000000000000000000..3e3d3b8574af4041b47cac48151ac9ffec18c1a9
--- /dev/null
+++ b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_09-30/outputs_tactile/tactile_cache/dag911262r00035d_lerobot_0327_114353_7434c583/episodes/ep000331/gripper_left_tactile_force_metrics.json
@@ -0,0 +1,9 @@
+{
+  "depth_peak": 0.0069810813292860985,
+  "shear_peak": 0.003623315831646323,
+  "force_magnitude_peak": 0.007107091601938009,
+  "reference_frame_count": 0,
+  "dataset_name": "dag911262r00035d_lerobot_0327_114353",
+  "episode_index": 331,
+  "sensor": "gripper_left_tactile"
+}
\ No newline at end of file
diff --git a/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_09-30/outputs_tactile/tactile_cache/dag911262r00035d_lerobot_0327_114353_7434c583/episodes/ep000332/gripper_right_tactile_force_metrics.json b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_09-30/outputs_tactile/tactile_cache/dag911262r00035d_lerobot_0327_114353_7434c583/episodes/ep000332/gripper_right_tactile_force_metrics.json
new file mode 100644
index 0000000000000000000000000000000000000000..7da49ea38fa6b285265c9f5061ba1d3f1763e3a7
--- /dev/null
+++ b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_09-30/outputs_tactile/tactile_cache/dag911262r00035d_lerobot_0327_114353_7434c583/episodes/ep000332/gripper_right_tactile_force_metrics.json
@@ -0,0 +1,9 @@
+{
+  "depth_peak": 0.0029985124710947275,
+  "shear_peak": 0.016206204891204834,
+  "force_magnitude_peak": 0.016212331131100655,
+  "reference_frame_count": 0,
+  "dataset_name": "dag911262r00035d_lerobot_0327_114353",
+  "episode_index": 332,
+  "sensor": "gripper_right_tactile"
+}
\ No newline at end of file
diff --git a/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_09-30/outputs_tactile/tactile_cache/dag911262r00035d_lerobot_0327_114353_7434c583/episodes/ep000335/gripper_left_tactile_contact_metrics.json b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_09-30/outputs_tactile/tactile_cache/dag911262r00035d_lerobot_0327_114353_7434c583/episodes/ep000335/gripper_left_tactile_contact_metrics.json
new file mode 100644
index 0000000000000000000000000000000000000000..b4f4ab7bd30b807add7ba2b51880a27e768ecf36
--- /dev/null
+++ b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_09-30/outputs_tactile/tactile_cache/dag911262r00035d_lerobot_0327_114353_7434c583/episodes/ep000335/gripper_left_tactile_contact_metrics.json
@@ -0,0 +1,12 @@
+{
+  "contact_time": 7.3,
+  "contact_ratio": 0.6780185758513931,
+  "avg_contact_area": 2639.849315068493,
+  "contact_entropy": 0.9750815282149773,
+  "total_frames": 323,
+  "fps": 30.0,
+  "reference_frame_count": 0,
+  "dataset_name": "dag911262r00035d_lerobot_0327_114353",
+  "episode_index": 335,
+  "sensor": "gripper_left_tactile"
+}
\ No newline at end of file
diff --git a/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_09-30/outputs_tactile/tactile_cache/dag911262r00035d_lerobot_0327_114353_7434c583/episodes/ep000337/gripper_right_tactile_contact_metrics.json b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_09-30/outputs_tactile/tactile_cache/dag911262r00035d_lerobot_0327_114353_7434c583/episodes/ep000337/gripper_right_tactile_contact_metrics.json
new file mode 100644
index 0000000000000000000000000000000000000000..6dd71b35d7ff18a5efe2e570382bb91144c27f37
--- /dev/null
+++ b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_09-30/outputs_tactile/tactile_cache/dag911262r00035d_lerobot_0327_114353_7434c583/episodes/ep000337/gripper_right_tactile_contact_metrics.json
@@ -0,0 +1,12 @@
+{
+  "contact_time": 6.5,
+  "contact_ratio": 0.5945121951219512,
+  "avg_contact_area": 2339.266666666667,
+  "contact_entropy": 0.7730720658450131,
+  "total_frames": 328,
+  "fps": 30.0,
+  "reference_frame_count": 0,
+  "dataset_name": "dag911262r00035d_lerobot_0327_114353",
+  "episode_index": 337,
+  "sensor": "gripper_right_tactile"
+}
\ No newline at end of file
diff --git a/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_09-30/outputs_tactile/tactile_cache/dag911262r00035d_lerobot_0327_114353_7434c583/episodes/ep000338/gripper_left_tactile_force_metrics.json b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_09-30/outputs_tactile/tactile_cache/dag911262r00035d_lerobot_0327_114353_7434c583/episodes/ep000338/gripper_left_tactile_force_metrics.json
new file mode 100644
index 0000000000000000000000000000000000000000..7d440207fa934c325652042188a32030d990774a
--- /dev/null
+++ b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_09-30/outputs_tactile/tactile_cache/dag911262r00035d_lerobot_0327_114353_7434c583/episodes/ep000338/gripper_left_tactile_force_metrics.json
@@ -0,0 +1,9 @@
+{
+  "depth_peak": 0.00571006815880537,
+  "shear_peak": 0.006495794281363487,
+  "force_magnitude_peak": 0.007139784749597311,
+  "reference_frame_count": 0,
+  "dataset_name": "dag911262r00035d_lerobot_0327_114353",
+  "episode_index": 338,
+  "sensor": "gripper_left_tactile"
+}
\ No newline at end of file
diff --git a/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_09-30/outputs_tactile/tactile_cache/dag911262r00035d_lerobot_0327_114353_7434c583/episodes/ep000342/gripper_left_tactile_force_metrics.json b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_09-30/outputs_tactile/tactile_cache/dag911262r00035d_lerobot_0327_114353_7434c583/episodes/ep000342/gripper_left_tactile_force_metrics.json
new file mode 100644
index 0000000000000000000000000000000000000000..078a47e01b702f346134dad9c300f563b076dd72
--- /dev/null
+++ b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_09-30/outputs_tactile/tactile_cache/dag911262r00035d_lerobot_0327_114353_7434c583/episodes/ep000342/gripper_left_tactile_force_metrics.json
@@ -0,0 +1,9 @@
+{
+  "depth_peak": 0.006484292447566986,
+  "shear_peak": 0.0025339333806186914,
+  "force_magnitude_peak": 0.006564106326550245,
+  "reference_frame_count": 0,
+  "dataset_name": "dag911262r00035d_lerobot_0327_114353",
+  "episode_index": 342,
+  "sensor": "gripper_left_tactile"
+}
\ No newline at end of file
diff --git a/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_09-30/outputs_tactile/tactile_cache/dag911262r00035d_lerobot_0327_114353_7434c583/episodes/ep000342/gripper_right_tactile_contact_metrics.json b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_09-30/outputs_tactile/tactile_cache/dag911262r00035d_lerobot_0327_114353_7434c583/episodes/ep000342/gripper_right_tactile_contact_metrics.json
new file mode 100644
index 0000000000000000000000000000000000000000..34bdf93a60868fbfe3b44b455b2fd6a13aa634d5
--- /dev/null
+++ b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_09-30/outputs_tactile/tactile_cache/dag911262r00035d_lerobot_0327_114353_7434c583/episodes/ep000342/gripper_right_tactile_contact_metrics.json
@@ -0,0 +1,12 @@
+{
+  "contact_time": 2.3333333333333335,
+  "contact_ratio": 0.12089810017271158,
+  "avg_contact_area": 1386.8714285714286,
+  "contact_entropy": 0.5445371784228011,
+  "total_frames": 579,
+  "fps": 30.0,
+  "reference_frame_count": 0,
+  "dataset_name": "dag911262r00035d_lerobot_0327_114353",
+  "episode_index": 342,
+  "sensor": "gripper_right_tactile"
+}
\ No newline at end of file
diff --git a/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_09-30/outputs_tactile/tactile_cache/dag911262r00035d_lerobot_0327_114353_7434c583/episodes/ep000342/gripper_right_tactile_force_metrics.json b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_09-30/outputs_tactile/tactile_cache/dag911262r00035d_lerobot_0327_114353_7434c583/episodes/ep000342/gripper_right_tactile_force_metrics.json
new file mode 100644
index 0000000000000000000000000000000000000000..fe0baaadfd85f1adc39c91b25cdd00705c1b109e
--- /dev/null
+++ b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_09-30/outputs_tactile/tactile_cache/dag911262r00035d_lerobot_0327_114353_7434c583/episodes/ep000342/gripper_right_tactile_force_metrics.json
@@ -0,0 +1,9 @@
+{
+  "depth_peak": 0.00730277830734849,
+  "shear_peak": 0.005393603350967169,
+  "force_magnitude_peak": 0.008512066677212715,
+  "reference_frame_count": 0,
+  "dataset_name": "dag911262r00035d_lerobot_0327_114353",
+  "episode_index": 342,
+  "sensor": "gripper_right_tactile"
+}
\ No newline at end of file
diff --git a/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_09-30/outputs_tactile/tactile_cache/dag911262r00035d_lerobot_0327_114353_7434c583/episodes/ep000343/gripper_left_tactile_contact_metrics.json b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_09-30/outputs_tactile/tactile_cache/dag911262r00035d_lerobot_0327_114353_7434c583/episodes/ep000343/gripper_left_tactile_contact_metrics.json
new file mode 100644
index 0000000000000000000000000000000000000000..c8506230f99d12358499be2c1268fad452d136c8
--- /dev/null
+++ b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_09-30/outputs_tactile/tactile_cache/dag911262r00035d_lerobot_0327_114353_7434c583/episodes/ep000343/gripper_left_tactile_contact_metrics.json
@@ -0,0 +1,12 @@
+{
+  "contact_time": 7.3,
+  "contact_ratio": 0.8938775510204081,
+  "avg_contact_area": 5633.972602739726,
+  "contact_entropy": 0.2554626195852257,
+  "total_frames": 245,
+  "fps": 30.0,
+  "reference_frame_count": 0,
+  "dataset_name": "dag911262r00035d_lerobot_0327_114353",
+  "episode_index": 343,
+  "sensor": "gripper_left_tactile"
+}
\ No newline at end of file
diff --git a/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_09-30/outputs_tactile/tactile_cache/dag911262r00035d_lerobot_0327_114353_7434c583/episodes/ep000344/gripper_right_tactile_force_metrics.json b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_09-30/outputs_tactile/tactile_cache/dag911262r00035d_lerobot_0327_114353_7434c583/episodes/ep000344/gripper_right_tactile_force_metrics.json
new file mode 100644
index 0000000000000000000000000000000000000000..09e596864653130b9ed2d07a55ef3578440a36d3
--- /dev/null
+++ b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_09-30/outputs_tactile/tactile_cache/dag911262r00035d_lerobot_0327_114353_7434c583/episodes/ep000344/gripper_right_tactile_force_metrics.json
@@ -0,0 +1,9 @@
+{
+  "depth_peak": 0.002531641162931919,
+  "shear_peak": 0.007998372428119183,
+  "force_magnitude_peak": 0.008066858164966106,
+  "reference_frame_count": 0,
+  "dataset_name": "dag911262r00035d_lerobot_0327_114353",
+  "episode_index": 344,
+  "sensor": "gripper_right_tactile"
+}
\ No newline at end of file
diff --git a/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_09-30/outputs_tactile/tactile_cache/dag911262r00035d_lerobot_0327_114353_7434c583/episodes/ep000347/gripper_right_tactile_contact_metrics.json b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_09-30/outputs_tactile/tactile_cache/dag911262r00035d_lerobot_0327_114353_7434c583/episodes/ep000347/gripper_right_tactile_contact_metrics.json
new file mode 100644
index 0000000000000000000000000000000000000000..fb3cfcef0417bf2d47b0a176f8fde28d65cecf5d
--- /dev/null
+++ b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_09-30/outputs_tactile/tactile_cache/dag911262r00035d_lerobot_0327_114353_7434c583/episodes/ep000347/gripper_right_tactile_contact_metrics.json
@@ -0,0 +1,12 @@
+{
+  "contact_time": 12.333333333333334,
+  "contact_ratio": 0.7170542635658915,
+  "avg_contact_area": 3473.327027027027,
+  "contact_entropy": 0.21006732414800927,
+  "total_frames": 516,
+  "fps": 30.0,
+  "reference_frame_count": 0,
+  "dataset_name": "dag911262r00035d_lerobot_0327_114353",
+  "episode_index": 347,
+  "sensor": "gripper_right_tactile"
+}
\ No newline at end of file
diff --git a/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_09-30/outputs_tactile/tactile_cache/dag911262r00035d_lerobot_0327_114353_7434c583/episodes/ep000350/gripper_left_tactile_force_metrics.json b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_09-30/outputs_tactile/tactile_cache/dag911262r00035d_lerobot_0327_114353_7434c583/episodes/ep000350/gripper_left_tactile_force_metrics.json
new file mode 100644
index 0000000000000000000000000000000000000000..9f08494c9d36d6dcb0a507c189985d37d3ecd777
--- /dev/null
+++ b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_09-30/outputs_tactile/tactile_cache/dag911262r00035d_lerobot_0327_114353_7434c583/episodes/ep000350/gripper_left_tactile_force_metrics.json
@@ -0,0 +1,9 @@
+{
+  "depth_peak": 0.003608922939747572,
+  "shear_peak": 0.0037837717682123184,
+  "force_magnitude_peak": 0.003787851892411709,
+  "reference_frame_count": 0,
+  "dataset_name": "dag911262r00035d_lerobot_0327_114353",
+  "episode_index": 350,
+  "sensor": "gripper_left_tactile"
+}
\ No newline at end of file
diff --git a/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_09-30/outputs_tactile/tactile_cache/dag911262r00035d_lerobot_0327_114353_7434c583/episodes/ep000350/gripper_right_tactile_force_metrics.json b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_09-30/outputs_tactile/tactile_cache/dag911262r00035d_lerobot_0327_114353_7434c583/episodes/ep000350/gripper_right_tactile_force_metrics.json
new file mode 100644
index 0000000000000000000000000000000000000000..5267a2becf68d0909336047865facbea88e5a5ae
--- /dev/null
+++ b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_09-30/outputs_tactile/tactile_cache/dag911262r00035d_lerobot_0327_114353_7434c583/episodes/ep000350/gripper_right_tactile_force_metrics.json
@@ -0,0 +1,9 @@
+{
+  "depth_peak": 0.007666563615202904,
+  "shear_peak": 0.003986948635429144,
+  "force_magnitude_peak": 0.0077561489306390285,
+  "reference_frame_count": 0,
+  "dataset_name": "dag911262r00035d_lerobot_0327_114353",
+  "episode_index": 350,
+  "sensor": "gripper_right_tactile"
+}
\ No newline at end of file
diff --git a/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_09-30/outputs_tactile/tactile_cache/dag911262r00035d_lerobot_0327_114353_7434c583/episodes/ep000352/gripper_left_tactile_contact_metrics.json b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_09-30/outputs_tactile/tactile_cache/dag911262r00035d_lerobot_0327_114353_7434c583/episodes/ep000352/gripper_left_tactile_contact_metrics.json
new file mode 100644
index 0000000000000000000000000000000000000000..7ecee4ed7f3d0a952d95d37e714fdbc48bd08ad9
--- /dev/null
+++ b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_09-30/outputs_tactile/tactile_cache/dag911262r00035d_lerobot_0327_114353_7434c583/episodes/ep000352/gripper_left_tactile_contact_metrics.json
@@ -0,0 +1,12 @@
+{
+  "contact_time": 5.2,
+  "contact_ratio": 0.5454545454545454,
+  "avg_contact_area": 3050.6923076923076,
+  "contact_entropy": 0.7904971305360808,
+  "total_frames": 286,
+  "fps": 30.0,
+  "reference_frame_count": 0,
+  "dataset_name": "dag911262r00035d_lerobot_0327_114353",
+  "episode_index": 352,
+  "sensor": "gripper_left_tactile"
+}
\ No newline at end of file
diff --git a/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_09-30/outputs_tactile/tactile_cache/dag911262r00035d_lerobot_0327_114353_7434c583/episodes/ep000357/gripper_left_tactile_contact_metrics.json b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_09-30/outputs_tactile/tactile_cache/dag911262r00035d_lerobot_0327_114353_7434c583/episodes/ep000357/gripper_left_tactile_contact_metrics.json
new file mode 100644
index 0000000000000000000000000000000000000000..492f1dc62db0261919eef70cbe12ab6ab1c5a0be
--- /dev/null
+++ b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_09-30/outputs_tactile/tactile_cache/dag911262r00035d_lerobot_0327_114353_7434c583/episodes/ep000357/gripper_left_tactile_contact_metrics.json
@@ -0,0 +1,12 @@
+{
+  "contact_time": 7.466666666666667,
+  "contact_ratio": 1.0,
+  "avg_contact_area": 1559.5580357142858,
+  "contact_entropy": 0.541728629554873,
+  "total_frames": 224,
+  "fps": 30.0,
+  "reference_frame_count": 0,
+  "dataset_name": "dag911262r00035d_lerobot_0327_114353",
+  "episode_index": 357,
+  "sensor": "gripper_left_tactile"
+}
\ No newline at end of file
diff --git a/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_09-30/outputs_tactile/tactile_cache/dag911262r00035d_lerobot_0327_114353_7434c583/episodes/ep000362/gripper_right_tactile_contact_metrics.json b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_09-30/outputs_tactile/tactile_cache/dag911262r00035d_lerobot_0327_114353_7434c583/episodes/ep000362/gripper_right_tactile_contact_metrics.json
new file mode 100644
index 0000000000000000000000000000000000000000..10a81d5cd155716162cfe9fa4bef153ab6f55776
--- /dev/null
+++ b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_09-30/outputs_tactile/tactile_cache/dag911262r00035d_lerobot_0327_114353_7434c583/episodes/ep000362/gripper_right_tactile_contact_metrics.json
@@ -0,0 +1,12 @@
+{
+  "contact_time": 4.533333333333333,
+  "contact_ratio": 0.8143712574850299,
+  "avg_contact_area": 444.56617647058823,
+  "contact_entropy": 0.005985822421994787,
+  "total_frames": 167,
+  "fps": 30.0,
+  "reference_frame_count": 0,
+  "dataset_name": "dag911262r00035d_lerobot_0327_114353",
+  "episode_index": 362,
+  "sensor": "gripper_right_tactile"
+}
\ No newline at end of file
diff --git a/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_09-30/outputs_tactile/tactile_cache/dag911262r00035d_lerobot_0327_114353_7434c583/episodes/ep000362/gripper_right_tactile_force_metrics.json b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_09-30/outputs_tactile/tactile_cache/dag911262r00035d_lerobot_0327_114353_7434c583/episodes/ep000362/gripper_right_tactile_force_metrics.json
new file mode 100644
index 0000000000000000000000000000000000000000..7f5f1ce035f11a3de50cbb5cf5620ac60651b32f
--- /dev/null
+++ b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_09-30/outputs_tactile/tactile_cache/dag911262r00035d_lerobot_0327_114353_7434c583/episodes/ep000362/gripper_right_tactile_force_metrics.json
@@ -0,0 +1,9 @@
+{
+  "depth_peak": 0.0022767798509448767,
+  "shear_peak": 0.0023945877328515053,
+  "force_magnitude_peak": 0.0031916750594973564,
+  "reference_frame_count": 0,
+  "dataset_name": "dag911262r00035d_lerobot_0327_114353",
+  "episode_index": 362,
+  "sensor": "gripper_right_tactile"
+}
\ No newline at end of file
diff --git a/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_09-30/outputs_tactile/tactile_cache/dag911262r00035d_lerobot_0327_114353_7434c583/episodes/ep000364/gripper_left_tactile_force_metrics.json b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_09-30/outputs_tactile/tactile_cache/dag911262r00035d_lerobot_0327_114353_7434c583/episodes/ep000364/gripper_left_tactile_force_metrics.json
new file mode 100644
index 0000000000000000000000000000000000000000..3ad0b9905d2167ee99e672c3fe562bf23b161339
--- /dev/null
+++ b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_09-30/outputs_tactile/tactile_cache/dag911262r00035d_lerobot_0327_114353_7434c583/episodes/ep000364/gripper_left_tactile_force_metrics.json
@@ -0,0 +1,9 @@
+{
+  "depth_peak": 0.0010703769512474537,
+  "shear_peak": 0.004054399207234383,
+  "force_magnitude_peak": 0.004318986088037491,
+  "reference_frame_count": 0,
+  "dataset_name": "dag911262r00035d_lerobot_0327_114353",
+  "episode_index": 364,
+  "sensor": "gripper_left_tactile"
+}
\ No newline at end of file
diff --git a/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_09-30/outputs_tactile/tactile_cache/dag911262r00035d_lerobot_0327_114353_7434c583/episodes/ep000364/gripper_right_tactile_contact_metrics.json b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_09-30/outputs_tactile/tactile_cache/dag911262r00035d_lerobot_0327_114353_7434c583/episodes/ep000364/gripper_right_tactile_contact_metrics.json
new file mode 100644
index 0000000000000000000000000000000000000000..1466c2499c39fd3bdcd9fda7dac0ff1b445e3277
--- /dev/null
+++ b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_09-30/outputs_tactile/tactile_cache/dag911262r00035d_lerobot_0327_114353_7434c583/episodes/ep000364/gripper_right_tactile_contact_metrics.json
@@ -0,0 +1,12 @@
+{
+  "contact_time": 4.6,
+  "contact_ratio": 0.8214285714285714,
+  "avg_contact_area": 6860.289855072464,
+  "contact_entropy": 0.0,
+  "total_frames": 168,
+  "fps": 30.0,
+  "reference_frame_count": 0,
+  "dataset_name": "dag911262r00035d_lerobot_0327_114353",
+  "episode_index": 364,
+  "sensor": "gripper_right_tactile"
+}
\ No newline at end of file
diff --git a/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_09-30/outputs_tactile/tactile_cache/dag911262r00035d_lerobot_0327_114353_7434c583/episodes/ep000367/gripper_left_tactile_contact_metrics.json b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_09-30/outputs_tactile/tactile_cache/dag911262r00035d_lerobot_0327_114353_7434c583/episodes/ep000367/gripper_left_tactile_contact_metrics.json
new file mode 100644
index 0000000000000000000000000000000000000000..93c857fab1773b23873ce2d95177d95807ed1557
--- /dev/null
+++ b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_09-30/outputs_tactile/tactile_cache/dag911262r00035d_lerobot_0327_114353_7434c583/episodes/ep000367/gripper_left_tactile_contact_metrics.json
@@ -0,0 +1,12 @@
+{
+  "contact_time": 5.7,
+  "contact_ratio": 0.8221153846153846,
+  "avg_contact_area": 1631.654970760234,
+  "contact_entropy": 0.8637692639502182,
+  "total_frames": 208,
+  "fps": 30.0,
+  "reference_frame_count": 0,
+  "dataset_name": "dag911262r00035d_lerobot_0327_114353",
+  "episode_index": 367,
+  "sensor": "gripper_left_tactile"
+}
\ No newline at end of file
diff --git a/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_09-30/outputs_tactile/tactile_cache/dag911262r00035d_lerobot_0327_114353_7434c583/episodes/ep000371/gripper_left_tactile_force_metrics.json b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_09-30/outputs_tactile/tactile_cache/dag911262r00035d_lerobot_0327_114353_7434c583/episodes/ep000371/gripper_left_tactile_force_metrics.json
new file mode 100644
index 0000000000000000000000000000000000000000..985b9155c10a094bdb0107e2c9b0d67c6d97a5ac
--- /dev/null
+++ b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_09-30/outputs_tactile/tactile_cache/dag911262r00035d_lerobot_0327_114353_7434c583/episodes/ep000371/gripper_left_tactile_force_metrics.json
@@ -0,0 +1,9 @@
+{
+  "depth_peak": 0.0029729625675827265,
+  "shear_peak": 0.004474111832678318,
+  "force_magnitude_peak": 0.005330586340278387,
+  "reference_frame_count": 0,
+  "dataset_name": "dag911262r00035d_lerobot_0327_114353",
+  "episode_index": 371,
+  "sensor": "gripper_left_tactile"
+}
\ No newline at end of file
diff --git a/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_09-30/outputs_tactile/tactile_cache/dag911262r00035d_lerobot_0327_114353_7434c583/episodes/ep000372/gripper_right_tactile_force_metrics.json b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_09-30/outputs_tactile/tactile_cache/dag911262r00035d_lerobot_0327_114353_7434c583/episodes/ep000372/gripper_right_tactile_force_metrics.json
new file mode 100644
index 0000000000000000000000000000000000000000..c4d9a807d130158f3c789b3e535127fbba4d2500
--- /dev/null
+++ b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_09-30/outputs_tactile/tactile_cache/dag911262r00035d_lerobot_0327_114353_7434c583/episodes/ep000372/gripper_right_tactile_force_metrics.json
@@ -0,0 +1,9 @@
+{
+  "depth_peak": 0.007746309507638216,
+  "shear_peak": 0.009882934391498566,
+  "force_magnitude_peak": 0.010193387046456337,
+  "reference_frame_count": 0,
+  "dataset_name": "dag911262r00035d_lerobot_0327_114353",
+  "episode_index": 372,
+  "sensor": "gripper_right_tactile"
+}
\ No newline at end of file
diff --git a/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_09-30/outputs_tactile/tactile_cache/dag911262r00035d_lerobot_0327_114353_7434c583/episodes/ep000375/gripper_left_tactile_contact_metrics.json b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_09-30/outputs_tactile/tactile_cache/dag911262r00035d_lerobot_0327_114353_7434c583/episodes/ep000375/gripper_left_tactile_contact_metrics.json
new file mode 100644
index 0000000000000000000000000000000000000000..cca00aa44623c892a26fd0b06bdf15e5cb0ef47e
--- /dev/null
+++ b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_09-30/outputs_tactile/tactile_cache/dag911262r00035d_lerobot_0327_114353_7434c583/episodes/ep000375/gripper_left_tactile_contact_metrics.json
@@ -0,0 +1,12 @@
+{
+  "contact_time": 1.4,
+  "contact_ratio": 0.27450980392156865,
+  "avg_contact_area": 926.1666666666666,
+  "contact_entropy": 0.0820991973547317,
+  "total_frames": 153,
+  "fps": 30.0,
+  "reference_frame_count": 0,
+  "dataset_name": "dag911262r00035d_lerobot_0327_114353",
+  "episode_index": 375,
+  "sensor": "gripper_left_tactile"
+}
\ No newline at end of file
diff --git a/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_09-30/outputs_tactile/tactile_cache/dag911262r00035d_lerobot_0327_114353_7434c583/episodes/ep000377/gripper_right_tactile_contact_metrics.json b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_09-30/outputs_tactile/tactile_cache/dag911262r00035d_lerobot_0327_114353_7434c583/episodes/ep000377/gripper_right_tactile_contact_metrics.json
new file mode 100644
index 0000000000000000000000000000000000000000..ca4a6bd91abb3eedbd629393523f5128d852d5a0
--- /dev/null
+++ b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_09-30/outputs_tactile/tactile_cache/dag911262r00035d_lerobot_0327_114353_7434c583/episodes/ep000377/gripper_right_tactile_contact_metrics.json
@@ -0,0 +1,12 @@
+{
+  "contact_time": 3.066666666666667,
+  "contact_ratio": 0.5027322404371585,
+  "avg_contact_area": 1454.0869565217392,
+  "contact_entropy": 0.34345212168751865,
+  "total_frames": 183,
+  "fps": 30.0,
+  "reference_frame_count": 0,
+  "dataset_name": "dag911262r00035d_lerobot_0327_114353",
+  "episode_index": 377,
+  "sensor": "gripper_right_tactile"
+}
\ No newline at end of file
diff --git a/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_09-30/outputs_tactile/tactile_cache/dag911262r00035d_lerobot_0327_114353_7434c583/episodes/ep000378/gripper_left_tactile_force_metrics.json b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_09-30/outputs_tactile/tactile_cache/dag911262r00035d_lerobot_0327_114353_7434c583/episodes/ep000378/gripper_left_tactile_force_metrics.json
new file mode 100644
index 0000000000000000000000000000000000000000..c8e49148815a168f7ad97f8923dd4c04e151e2d2
--- /dev/null
+++ b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_09-30/outputs_tactile/tactile_cache/dag911262r00035d_lerobot_0327_114353_7434c583/episodes/ep000378/gripper_left_tactile_force_metrics.json
@@ -0,0 +1,9 @@
+{
+  "depth_peak": 0.0006807782338000834,
+  "shear_peak": 0.00219689030200243,
+  "force_magnitude_peak": 0.0023608875926584005,
+  "reference_frame_count": 0,
+  "dataset_name": "dag911262r00035d_lerobot_0327_114353",
+  "episode_index": 378,
+  "sensor": "gripper_left_tactile"
+}
\ No newline at end of file
diff --git a/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_09-30/outputs_tactile/tactile_cache/dag911262r00035d_lerobot_0327_114353_7434c583/episodes/ep000382/gripper_left_tactile_force_metrics.json b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_09-30/outputs_tactile/tactile_cache/dag911262r00035d_lerobot_0327_114353_7434c583/episodes/ep000382/gripper_left_tactile_force_metrics.json
new file mode 100644
index 0000000000000000000000000000000000000000..8709cf21b100cbed56784be3e7821734ba1dc8e1
--- /dev/null
+++ b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_09-30/outputs_tactile/tactile_cache/dag911262r00035d_lerobot_0327_114353_7434c583/episodes/ep000382/gripper_left_tactile_force_metrics.json
@@ -0,0 +1,9 @@
+{
+  "depth_peak": 0.0012415918754413724,
+  "shear_peak": 0.001462276908569038,
+  "force_magnitude_peak": 0.00183957745321095,
+  "reference_frame_count": 0,
+  "dataset_name": "dag911262r00035d_lerobot_0327_114353",
+  "episode_index": 382,
+  "sensor": "gripper_left_tactile"
+}
\ No newline at end of file
diff --git a/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_09-30/outputs_tactile/tactile_cache/dag911262r00035d_lerobot_0327_114353_7434c583/episodes/ep000382/gripper_right_tactile_contact_metrics.json b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_09-30/outputs_tactile/tactile_cache/dag911262r00035d_lerobot_0327_114353_7434c583/episodes/ep000382/gripper_right_tactile_contact_metrics.json
new file mode 100644
index 0000000000000000000000000000000000000000..7d3a3cb60f00626cc69cf22f057d115cb1a6a68c
--- /dev/null
+++ b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_09-30/outputs_tactile/tactile_cache/dag911262r00035d_lerobot_0327_114353_7434c583/episodes/ep000382/gripper_right_tactile_contact_metrics.json
@@ -0,0 +1,12 @@
+{
+  "contact_time": 5.233333333333333,
+  "contact_ratio": 0.8263157894736842,
+  "avg_contact_area": 2789.6942675159235,
+  "contact_entropy": 0.136464485167656,
+  "total_frames": 190,
+  "fps": 30.0,
+  "reference_frame_count": 0,
+  "dataset_name": "dag911262r00035d_lerobot_0327_114353",
+  "episode_index": 382,
+  "sensor": "gripper_right_tactile"
+}
\ No newline at end of file
diff --git a/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_09-30/outputs_tactile/tactile_cache/dag911262r00035d_lerobot_0327_114353_7434c583/episodes/ep000382/gripper_right_tactile_force_metrics.json b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_09-30/outputs_tactile/tactile_cache/dag911262r00035d_lerobot_0327_114353_7434c583/episodes/ep000382/gripper_right_tactile_force_metrics.json
new file mode 100644
index 0000000000000000000000000000000000000000..91f1236514730b5df0898efec0a8f659e30ec400
--- /dev/null
+++ b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_09-30/outputs_tactile/tactile_cache/dag911262r00035d_lerobot_0327_114353_7434c583/episodes/ep000382/gripper_right_tactile_force_metrics.json
@@ -0,0 +1,9 @@
+{
+  "depth_peak": 0.0016322869341820478,
+  "shear_peak": 0.0063869222067296505,
+  "force_magnitude_peak": 0.006574193015694618,
+  "reference_frame_count": 0,
+  "dataset_name": "dag911262r00035d_lerobot_0327_114353",
+  "episode_index": 382,
+  "sensor": "gripper_right_tactile"
+}
\ No newline at end of file
diff --git a/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_09-30/outputs_tactile/tactile_cache/dag911262r00035d_lerobot_0327_114353_7434c583/episodes/ep000383/gripper_left_tactile_contact_metrics.json b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_09-30/outputs_tactile/tactile_cache/dag911262r00035d_lerobot_0327_114353_7434c583/episodes/ep000383/gripper_left_tactile_contact_metrics.json
new file mode 100644
index 0000000000000000000000000000000000000000..c770161e5c82bb2a503dfa76c131934cd23e8329
--- /dev/null
+++ b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_09-30/outputs_tactile/tactile_cache/dag911262r00035d_lerobot_0327_114353_7434c583/episodes/ep000383/gripper_left_tactile_contact_metrics.json
@@ -0,0 +1,12 @@
+{
+  "contact_time": 0.4666666666666667,
+  "contact_ratio": 0.0875,
+  "avg_contact_area": 468.5,
+  "contact_entropy": 0.007314874007382235,
+  "total_frames": 160,
+  "fps": 30.0,
+  "reference_frame_count": 0,
+  "dataset_name": "dag911262r00035d_lerobot_0327_114353",
+  "episode_index": 383,
+  "sensor": "gripper_left_tactile"
+}
\ No newline at end of file
diff --git a/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_09-30/outputs_tactile/tactile_cache/dag911262r00035d_lerobot_0327_114353_7434c583/episodes/ep000384/gripper_right_tactile_force_metrics.json b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_09-30/outputs_tactile/tactile_cache/dag911262r00035d_lerobot_0327_114353_7434c583/episodes/ep000384/gripper_right_tactile_force_metrics.json
new file mode 100644
index 0000000000000000000000000000000000000000..0b4cf0e67c2f34e9c26681bc031da18fdf8788d1
--- /dev/null
+++ b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_09-30/outputs_tactile/tactile_cache/dag911262r00035d_lerobot_0327_114353_7434c583/episodes/ep000384/gripper_right_tactile_force_metrics.json
@@ -0,0 +1,9 @@
+{
+  "depth_peak": 0.0018429282354190946,
+  "shear_peak": 0.009637463837862015,
+  "force_magnitude_peak": 0.009818271733820438,
+  "reference_frame_count": 0,
+  "dataset_name": "dag911262r00035d_lerobot_0327_114353",
+  "episode_index": 384,
+  "sensor": "gripper_right_tactile"
+}
\ No newline at end of file
diff --git a/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_09-30/outputs_tactile/tactile_cache/dag911262r00035d_lerobot_0327_114353_7434c583/episodes/ep000387/gripper_right_tactile_contact_metrics.json b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_09-30/outputs_tactile/tactile_cache/dag911262r00035d_lerobot_0327_114353_7434c583/episodes/ep000387/gripper_right_tactile_contact_metrics.json
new file mode 100644
index 0000000000000000000000000000000000000000..602e0898b7cb94f1e83c578dc8a5b92ffe5f9918
--- /dev/null
+++ b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_09-30/outputs_tactile/tactile_cache/dag911262r00035d_lerobot_0327_114353_7434c583/episodes/ep000387/gripper_right_tactile_contact_metrics.json
@@ -0,0 +1,12 @@
+{
+  "contact_time": 3.8,
+  "contact_ratio": 0.8382352941176471,
+  "avg_contact_area": 2306.157894736842,
+  "contact_entropy": 0.0,
+  "total_frames": 136,
+  "fps": 30.0,
+  "reference_frame_count": 0,
+  "dataset_name": "dag911262r00035d_lerobot_0327_114353",
+  "episode_index": 387,
+  "sensor": "gripper_right_tactile"
+}
\ No newline at end of file
diff --git a/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_09-30/outputs_tactile/tactile_cache/dag911262r00035d_lerobot_0327_114353_7434c583/episodes/ep000390/gripper_left_tactile_force_metrics.json b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_09-30/outputs_tactile/tactile_cache/dag911262r00035d_lerobot_0327_114353_7434c583/episodes/ep000390/gripper_left_tactile_force_metrics.json
new file mode 100644
index 0000000000000000000000000000000000000000..3648e20afff1970795a42e9574502eaf34a29fff
--- /dev/null
+++ b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_09-30/outputs_tactile/tactile_cache/dag911262r00035d_lerobot_0327_114353_7434c583/episodes/ep000390/gripper_left_tactile_force_metrics.json
@@ -0,0 +1,9 @@
+{
+  "depth_peak": 0.004349229391664267,
+  "shear_peak": 0.0019321119179949164,
+  "force_magnitude_peak": 0.004352211020886898,
+  "reference_frame_count": 0,
+  "dataset_name": "dag911262r00035d_lerobot_0327_114353",
+  "episode_index": 390,
+  "sensor": "gripper_left_tactile"
+}
\ No newline at end of file
diff --git a/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_09-30/outputs_tactile/tactile_cache/dag911262r00035d_lerobot_0327_114353_7434c583/episodes/ep000390/gripper_right_tactile_force_metrics.json b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_09-30/outputs_tactile/tactile_cache/dag911262r00035d_lerobot_0327_114353_7434c583/episodes/ep000390/gripper_right_tactile_force_metrics.json
new file mode 100644
index 0000000000000000000000000000000000000000..a1af791f65c333d6239a2c2364fbf75fa352c7df
--- /dev/null
+++ b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_09-30/outputs_tactile/tactile_cache/dag911262r00035d_lerobot_0327_114353_7434c583/episodes/ep000390/gripper_right_tactile_force_metrics.json
@@ -0,0 +1,9 @@
+{
+  "depth_peak": 0.002923221094533801,
+  "shear_peak": 0.009664198383688927,
+  "force_magnitude_peak": 0.009922424331307411,
+  "reference_frame_count": 0,
+  "dataset_name": "dag911262r00035d_lerobot_0327_114353",
+  "episode_index": 390,
+  "sensor": "gripper_right_tactile"
+}
\ No newline at end of file
diff --git a/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_09-30/outputs_tactile/tactile_cache/dag911262r00035d_lerobot_0327_114353_7434c583/episodes/ep000392/gripper_left_tactile_contact_metrics.json b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_09-30/outputs_tactile/tactile_cache/dag911262r00035d_lerobot_0327_114353_7434c583/episodes/ep000392/gripper_left_tactile_contact_metrics.json
new file mode 100644
index 0000000000000000000000000000000000000000..e729d904e8a08ef6be154a5dd7ca5d8c03c328c8
--- /dev/null
+++ b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_09-30/outputs_tactile/tactile_cache/dag911262r00035d_lerobot_0327_114353_7434c583/episodes/ep000392/gripper_left_tactile_contact_metrics.json
@@ -0,0 +1,12 @@
+{
+  "contact_time": 2.533333333333333,
+  "contact_ratio": 0.4779874213836478,
+  "avg_contact_area": 4673.710526315789,
+  "contact_entropy": 0.07318579552466939,
+  "total_frames": 159,
+  "fps": 30.0,
+  "reference_frame_count": 0,
+  "dataset_name": "dag911262r00035d_lerobot_0327_114353",
+  "episode_index": 392,
+  "sensor": "gripper_left_tactile"
+}
\ No newline at end of file
diff --git a/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_09-30/outputs_tactile/tactile_cache/dag911262r00035d_lerobot_0327_114353_7434c583/episodes/ep000397/gripper_left_tactile_contact_metrics.json b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_09-30/outputs_tactile/tactile_cache/dag911262r00035d_lerobot_0327_114353_7434c583/episodes/ep000397/gripper_left_tactile_contact_metrics.json
new file mode 100644
index 0000000000000000000000000000000000000000..db9efd7020e379e299774ba64779addf9cb25eeb
--- /dev/null
+++ b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_09-30/outputs_tactile/tactile_cache/dag911262r00035d_lerobot_0327_114353_7434c583/episodes/ep000397/gripper_left_tactile_contact_metrics.json
@@ -0,0 +1,12 @@
+{
+  "contact_time": 3.5,
+  "contact_ratio": 0.5023923444976076,
+  "avg_contact_area": 1984.7809523809524,
+  "contact_entropy": 0.6519873610695304,
+  "total_frames": 209,
+  "fps": 30.0,
+  "reference_frame_count": 0,
+  "dataset_name": "dag911262r00035d_lerobot_0327_114353",
+  "episode_index": 397,
+  "sensor": "gripper_left_tactile"
+}
\ No newline at end of file
diff --git a/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_09-30/outputs_tactile/tactile_cache/dag911262r00035d_lerobot_0327_114353_7434c583/episodes/ep000402/gripper_right_tactile_contact_metrics.json b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_09-30/outputs_tactile/tactile_cache/dag911262r00035d_lerobot_0327_114353_7434c583/episodes/ep000402/gripper_right_tactile_contact_metrics.json
new file mode 100644
index 0000000000000000000000000000000000000000..32f9256659fad69c01b231518b7e4acd37a16369
--- /dev/null
+++ b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_09-30/outputs_tactile/tactile_cache/dag911262r00035d_lerobot_0327_114353_7434c583/episodes/ep000402/gripper_right_tactile_contact_metrics.json
@@ -0,0 +1,12 @@
+{
+  "contact_time": 1.5333333333333334,
+  "contact_ratio": 0.1796875,
+  "avg_contact_area": 3067.978260869565,
+  "contact_entropy": 0.5546754617490927,
+  "total_frames": 256,
+  "fps": 30.0,
+  "reference_frame_count": 0,
+  "dataset_name": "dag911262r00035d_lerobot_0327_114353",
+  "episode_index": 402,
+  "sensor": "gripper_right_tactile"
+}
\ No newline at end of file
diff --git a/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_09-30/outputs_tactile/tactile_cache/dag911262r00035d_lerobot_0327_114353_7434c583/episodes/ep000402/gripper_right_tactile_force_metrics.json b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_09-30/outputs_tactile/tactile_cache/dag911262r00035d_lerobot_0327_114353_7434c583/episodes/ep000402/gripper_right_tactile_force_metrics.json
new file mode 100644
index 0000000000000000000000000000000000000000..bf5f702bdd707c19bb6e83077bef118613b7f065
--- /dev/null
+++ b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_09-30/outputs_tactile/tactile_cache/dag911262r00035d_lerobot_0327_114353_7434c583/episodes/ep000402/gripper_right_tactile_force_metrics.json
@@ -0,0 +1,9 @@
+{
+  "depth_peak": 0.0030406764708459377,
+  "shear_peak": 0.004647086840122938,
+  "force_magnitude_peak": 0.005553478840738535,
+  "reference_frame_count": 0,
+  "dataset_name": "dag911262r00035d_lerobot_0327_114353",
+  "episode_index": 402,
+  "sensor": "gripper_right_tactile"
+}
\ No newline at end of file
diff --git a/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_09-30/outputs_tactile/tactile_cache/dag911262r00035d_lerobot_0327_114353_7434c583/episodes/ep000404/gripper_left_tactile_force_metrics.json b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_09-30/outputs_tactile/tactile_cache/dag911262r00035d_lerobot_0327_114353_7434c583/episodes/ep000404/gripper_left_tactile_force_metrics.json
new file mode 100644
index 0000000000000000000000000000000000000000..da98896dd0240bba98c070eed86c3127f31bf796
--- /dev/null
+++ b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_09-30/outputs_tactile/tactile_cache/dag911262r00035d_lerobot_0327_114353_7434c583/episodes/ep000404/gripper_left_tactile_force_metrics.json
@@ -0,0 +1,9 @@
+{
+  "depth_peak": 0.005577073898166418,
+  "shear_peak": 0.005851381458342075,
+  "force_magnitude_peak": 0.00787732470780611,
+  "reference_frame_count": 0,
+  "dataset_name": "dag911262r00035d_lerobot_0327_114353",
+  "episode_index": 404,
+  "sensor": "gripper_left_tactile"
+}
\ No newline at end of file
diff --git a/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_09-30/outputs_tactile/tactile_cache/dag911262r00035d_lerobot_0327_114353_7434c583/episodes/ep000404/gripper_right_tactile_contact_metrics.json b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_09-30/outputs_tactile/tactile_cache/dag911262r00035d_lerobot_0327_114353_7434c583/episodes/ep000404/gripper_right_tactile_contact_metrics.json
new file mode 100644
index 0000000000000000000000000000000000000000..6b8dddeab6f8966f07005972218594b593ab4f78
--- /dev/null
+++ b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_09-30/outputs_tactile/tactile_cache/dag911262r00035d_lerobot_0327_114353_7434c583/episodes/ep000404/gripper_right_tactile_contact_metrics.json
@@ -0,0 +1,12 @@
+{
+  "contact_time": 1.7,
+  "contact_ratio": 0.29651162790697677,
+  "avg_contact_area": 4253.725490196079,
+  "contact_entropy": 0.4796665353499859,
+  "total_frames": 172,
+  "fps": 30.0,
+  "reference_frame_count": 0,
+  "dataset_name": "dag911262r00035d_lerobot_0327_114353",
+  "episode_index": 404,
+  "sensor": "gripper_right_tactile"
+}
\ No newline at end of file
diff --git a/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_09-30/outputs_tactile/tactile_cache/dag911262r00035d_lerobot_0327_114353_7434c583/episodes/ep000407/gripper_left_tactile_contact_metrics.json b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_09-30/outputs_tactile/tactile_cache/dag911262r00035d_lerobot_0327_114353_7434c583/episodes/ep000407/gripper_left_tactile_contact_metrics.json
new file mode 100644
index 0000000000000000000000000000000000000000..b073c64c39efadcb6b55e953be65e5c669f5161b
--- /dev/null
+++ b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_09-30/outputs_tactile/tactile_cache/dag911262r00035d_lerobot_0327_114353_7434c583/episodes/ep000407/gripper_left_tactile_contact_metrics.json
@@ -0,0 +1,12 @@
+{
+  "contact_time": 3.7,
+  "contact_ratio": 0.6201117318435754,
+  "avg_contact_area": 128.87387387387386,
+  "contact_entropy": 0.0,
+  "total_frames": 179,
+  "fps": 30.0,
+  "reference_frame_count": 0,
+  "dataset_name": "dag911262r00035d_lerobot_0327_114353",
+  "episode_index": 407,
+  "sensor": "gripper_left_tactile"
+}
\ No newline at end of file
diff --git a/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_09-30/outputs_tactile/tactile_cache/dag911262r00035d_lerobot_0327_114353_7434c583/episodes/ep000411/gripper_left_tactile_force_metrics.json b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_09-30/outputs_tactile/tactile_cache/dag911262r00035d_lerobot_0327_114353_7434c583/episodes/ep000411/gripper_left_tactile_force_metrics.json
new file mode 100644
index 0000000000000000000000000000000000000000..ec4879d504e8965a6c1bb966a5dc0e0e5b111199
--- /dev/null
+++ b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_09-30/outputs_tactile/tactile_cache/dag911262r00035d_lerobot_0327_114353_7434c583/episodes/ep000411/gripper_left_tactile_force_metrics.json
@@ -0,0 +1,9 @@
+{
+  "depth_peak": 0.005223266780376434,
+  "shear_peak": 0.002600527135655284,
+  "force_magnitude_peak": 0.00572930509224534,
+  "reference_frame_count": 0,
+  "dataset_name": "dag911262r00035d_lerobot_0327_114353",
+  "episode_index": 411,
+  "sensor": "gripper_left_tactile"
+}
\ No newline at end of file
diff --git a/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_09-30/outputs_tactile/tactile_cache/dag911262r00035d_lerobot_0327_114353_7434c583/episodes/ep000412/gripper_right_tactile_force_metrics.json b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_09-30/outputs_tactile/tactile_cache/dag911262r00035d_lerobot_0327_114353_7434c583/episodes/ep000412/gripper_right_tactile_force_metrics.json
new file mode 100644
index 0000000000000000000000000000000000000000..0380f7116ce4c42ed6a0fab2058aeaac88a26754
--- /dev/null
+++ b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_09-30/outputs_tactile/tactile_cache/dag911262r00035d_lerobot_0327_114353_7434c583/episodes/ep000412/gripper_right_tactile_force_metrics.json
@@ -0,0 +1,9 @@
+{
+  "depth_peak": 0.009080430492758751,
+  "shear_peak": 0.008257475681602955,
+  "force_magnitude_peak": 0.01210580114275217,
+  "reference_frame_count": 0,
+  "dataset_name": "dag911262r00035d_lerobot_0327_114353",
+  "episode_index": 412,
+  "sensor": "gripper_right_tactile"
+}
\ No newline at end of file
diff --git a/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_09-30/outputs_tactile/tactile_cache/dag911262r00035d_lerobot_0327_114353_7434c583/episodes/ep000415/gripper_left_tactile_contact_metrics.json b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_09-30/outputs_tactile/tactile_cache/dag911262r00035d_lerobot_0327_114353_7434c583/episodes/ep000415/gripper_left_tactile_contact_metrics.json
new file mode 100644
index 0000000000000000000000000000000000000000..a6be7f83254b2d602d929c365e47b2a7c45d29b2
--- /dev/null
+++ b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_09-30/outputs_tactile/tactile_cache/dag911262r00035d_lerobot_0327_114353_7434c583/episodes/ep000415/gripper_left_tactile_contact_metrics.json
@@ -0,0 +1,12 @@
+{
+  "contact_time": 2.7666666666666666,
+  "contact_ratio": 0.2881944444444444,
+  "avg_contact_area": 5084.566265060241,
+  "contact_entropy": 0.5113486245271784,
+  "total_frames": 288,
+  "fps": 30.0,
+  "reference_frame_count": 0,
+  "dataset_name": "dag911262r00035d_lerobot_0327_114353",
+  "episode_index": 415,
+  "sensor": "gripper_left_tactile"
+}
\ No newline at end of file
diff --git a/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_09-30/outputs_tactile/tactile_cache/dag911262r00035d_lerobot_0327_114353_7434c583/episodes/ep000417/gripper_right_tactile_contact_metrics.json b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_09-30/outputs_tactile/tactile_cache/dag911262r00035d_lerobot_0327_114353_7434c583/episodes/ep000417/gripper_right_tactile_contact_metrics.json
new file mode 100644
index 0000000000000000000000000000000000000000..0b97066dce043f168a1d0f2271a150cb0cde9808
--- /dev/null
+++ b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_09-30/outputs_tactile/tactile_cache/dag911262r00035d_lerobot_0327_114353_7434c583/episodes/ep000417/gripper_right_tactile_contact_metrics.json
@@ -0,0 +1,12 @@
+{
+  "contact_time": 5.0,
+  "contact_ratio": 0.5617977528089888,
+  "avg_contact_area": 5758.246666666667,
+  "contact_entropy": 0.13951063266550803,
+  "total_frames": 267,
+  "fps": 30.0,
+  "reference_frame_count": 0,
+  "dataset_name": "dag911262r00035d_lerobot_0327_114353",
+  "episode_index": 417,
+  "sensor": "gripper_right_tactile"
+}
\ No newline at end of file
diff --git a/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_09-30/outputs_tactile/tactile_cache/dag911262r00035d_lerobot_0327_114353_7434c583/episodes/ep000418/gripper_left_tactile_force_metrics.json b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_09-30/outputs_tactile/tactile_cache/dag911262r00035d_lerobot_0327_114353_7434c583/episodes/ep000418/gripper_left_tactile_force_metrics.json
new file mode 100644
index 0000000000000000000000000000000000000000..811108403bfd6c6f44ef8f4e22317a639d82feb3
--- /dev/null
+++ b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_09-30/outputs_tactile/tactile_cache/dag911262r00035d_lerobot_0327_114353_7434c583/episodes/ep000418/gripper_left_tactile_force_metrics.json
@@ -0,0 +1,9 @@
+{
+  "depth_peak": 0.00628327764570713,
+  "shear_peak": 0.005040358752012253,
+  "force_magnitude_peak": 0.006892002187669277,
+  "reference_frame_count": 0,
+  "dataset_name": "dag911262r00035d_lerobot_0327_114353",
+  "episode_index": 418,
+  "sensor": "gripper_left_tactile"
+}
\ No newline at end of file
diff --git a/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_09-30/outputs_tactile/tactile_cache/dag911262r00035d_lerobot_0327_114353_7434c583/episodes/ep000422/gripper_left_tactile_force_metrics.json b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_09-30/outputs_tactile/tactile_cache/dag911262r00035d_lerobot_0327_114353_7434c583/episodes/ep000422/gripper_left_tactile_force_metrics.json
new file mode 100644
index 0000000000000000000000000000000000000000..6306c01c6c0c5fccdbee6ba96e882a7080d7b921
--- /dev/null
+++ b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_09-30/outputs_tactile/tactile_cache/dag911262r00035d_lerobot_0327_114353_7434c583/episodes/ep000422/gripper_left_tactile_force_metrics.json
@@ -0,0 +1,9 @@
+{
+  "depth_peak": 0.004386624787002802,
+  "shear_peak": 0.0035358185414224863,
+  "force_magnitude_peak": 0.005580426659435034,
+  "reference_frame_count": 0,
+  "dataset_name": "dag911262r00035d_lerobot_0327_114353",
+  "episode_index": 422,
+  "sensor": "gripper_left_tactile"
+}
\ No newline at end of file
diff --git a/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_09-30/outputs_tactile/tactile_cache/dag911262r00035d_lerobot_0327_114353_7434c583/episodes/ep000422/gripper_right_tactile_contact_metrics.json b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_09-30/outputs_tactile/tactile_cache/dag911262r00035d_lerobot_0327_114353_7434c583/episodes/ep000422/gripper_right_tactile_contact_metrics.json
new file mode 100644
index 0000000000000000000000000000000000000000..767e2341ec19aaa3010fab6fc22b9bc0501d44bd
--- /dev/null
+++ b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_09-30/outputs_tactile/tactile_cache/dag911262r00035d_lerobot_0327_114353_7434c583/episodes/ep000422/gripper_right_tactile_contact_metrics.json
@@ -0,0 +1,12 @@
+{
+  "contact_time": 1.7666666666666666,
+  "contact_ratio": 0.3419354838709677,
+  "avg_contact_area": 2347.377358490566,
+  "contact_entropy": 0.3544309393389517,
+  "total_frames": 155,
+  "fps": 30.0,
+  "reference_frame_count": 0,
+  "dataset_name": "dag911262r00035d_lerobot_0327_114353",
+  "episode_index": 422,
+  "sensor": "gripper_right_tactile"
+}
\ No newline at end of file
diff --git a/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_09-30/outputs_tactile/tactile_cache/dag911262r00035d_lerobot_0327_114353_7434c583/episodes/ep000422/gripper_right_tactile_force_metrics.json b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_09-30/outputs_tactile/tactile_cache/dag911262r00035d_lerobot_0327_114353_7434c583/episodes/ep000422/gripper_right_tactile_force_metrics.json
new file mode 100644
index 0000000000000000000000000000000000000000..d653e3969e56c1e24443de4d22fd59d98dc24e8b
--- /dev/null
+++ b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_09-30/outputs_tactile/tactile_cache/dag911262r00035d_lerobot_0327_114353_7434c583/episodes/ep000422/gripper_right_tactile_force_metrics.json
@@ -0,0 +1,9 @@
+{
+  "depth_peak": 0.004552645143121481,
+  "shear_peak": 0.0027592964470386505,
+  "force_magnitude_peak": 0.0052278614602983,
+  "reference_frame_count": 0,
+  "dataset_name": "dag911262r00035d_lerobot_0327_114353",
+  "episode_index": 422,
+  "sensor": "gripper_right_tactile"
+}
\ No newline at end of file
diff --git a/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_09-30/outputs_tactile/tactile_cache/dag911262r00035d_lerobot_0327_114353_7434c583/episodes/ep000423/gripper_left_tactile_contact_metrics.json b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_09-30/outputs_tactile/tactile_cache/dag911262r00035d_lerobot_0327_114353_7434c583/episodes/ep000423/gripper_left_tactile_contact_metrics.json
new file mode 100644
index 0000000000000000000000000000000000000000..c6181b5732535bd80a4e051dbaf243288007626c
--- /dev/null
+++ b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_09-30/outputs_tactile/tactile_cache/dag911262r00035d_lerobot_0327_114353_7434c583/episodes/ep000423/gripper_left_tactile_contact_metrics.json
@@ -0,0 +1,12 @@
+{
+  "contact_time": 2.8333333333333335,
+  "contact_ratio": 0.36796536796536794,
+  "avg_contact_area": 3895.6235294117646,
+  "contact_entropy": 0.6780539524194527,
+  "total_frames": 231,
+  "fps": 30.0,
+  "reference_frame_count": 0,
+  "dataset_name": "dag911262r00035d_lerobot_0327_114353",
+  "episode_index": 423,
+  "sensor": "gripper_left_tactile"
+}
\ No newline at end of file
diff --git a/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_09-30/outputs_tactile/tactile_cache/dag911262r00035d_lerobot_0327_114353_7434c583/episodes/ep000424/gripper_right_tactile_force_metrics.json b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_09-30/outputs_tactile/tactile_cache/dag911262r00035d_lerobot_0327_114353_7434c583/episodes/ep000424/gripper_right_tactile_force_metrics.json
new file mode 100644
index 0000000000000000000000000000000000000000..24f0fd4e32169afbf0b9efa274738c54c04eb311
--- /dev/null
+++ b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_09-30/outputs_tactile/tactile_cache/dag911262r00035d_lerobot_0327_114353_7434c583/episodes/ep000424/gripper_right_tactile_force_metrics.json
@@ -0,0 +1,9 @@
+{
+  "depth_peak": 0.00037968275137245655,
+  "shear_peak": 0.002497427398338914,
+  "force_magnitude_peak": 0.0025178641080856323,
+  "reference_frame_count": 0,
+  "dataset_name": "dag911262r00035d_lerobot_0327_114353",
+  "episode_index": 424,
+  "sensor": "gripper_right_tactile"
+}
\ No newline at end of file
diff --git a/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_09-30/outputs_tactile/tactile_cache/dag911262r00035d_lerobot_0327_114353_7434c583/episodes/ep000427/gripper_right_tactile_contact_metrics.json b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_09-30/outputs_tactile/tactile_cache/dag911262r00035d_lerobot_0327_114353_7434c583/episodes/ep000427/gripper_right_tactile_contact_metrics.json
new file mode 100644
index 0000000000000000000000000000000000000000..8fdb7786dd300c09f31ae27a1448d61de540f7a2
--- /dev/null
+++ b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_09-30/outputs_tactile/tactile_cache/dag911262r00035d_lerobot_0327_114353_7434c583/episodes/ep000427/gripper_right_tactile_contact_metrics.json
@@ -0,0 +1,12 @@
+{
+  "contact_time": 3.6333333333333333,
+  "contact_ratio": 0.42578125,
+  "avg_contact_area": 1748.1743119266055,
+  "contact_entropy": 0.28679508312657487,
+  "total_frames": 256,
+  "fps": 30.0,
+  "reference_frame_count": 0,
+  "dataset_name": "dag911262r00035d_lerobot_0327_114353",
+  "episode_index": 427,
+  "sensor": "gripper_right_tactile"
+}
\ No newline at end of file
diff --git a/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_09-30/outputs_tactile/tactile_cache/dag911262r00035d_lerobot_0327_114353_7434c583/episodes/ep000430/gripper_left_tactile_force_metrics.json b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_09-30/outputs_tactile/tactile_cache/dag911262r00035d_lerobot_0327_114353_7434c583/episodes/ep000430/gripper_left_tactile_force_metrics.json
new file mode 100644
index 0000000000000000000000000000000000000000..c2ce769b4a8d0555833d4d5de7ccedbe6ffe1946
--- /dev/null
+++ b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_09-30/outputs_tactile/tactile_cache/dag911262r00035d_lerobot_0327_114353_7434c583/episodes/ep000430/gripper_left_tactile_force_metrics.json
@@ -0,0 +1,9 @@
+{
+  "depth_peak": 0.0014212126843631268,
+  "shear_peak": 0.0023012978490442038,
+  "force_magnitude_peak": 0.0023194835521280766,
+  "reference_frame_count": 0,
+  "dataset_name": "dag911262r00035d_lerobot_0327_114353",
+  "episode_index": 430,
+  "sensor": "gripper_left_tactile"
+}
\ No newline at end of file
diff --git a/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_09-30/outputs_tactile/tactile_cache/dag911262r00035d_lerobot_0327_114353_7434c583/episodes/ep000430/gripper_right_tactile_force_metrics.json b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_09-30/outputs_tactile/tactile_cache/dag911262r00035d_lerobot_0327_114353_7434c583/episodes/ep000430/gripper_right_tactile_force_metrics.json
new file mode 100644
index 0000000000000000000000000000000000000000..a643e59c1f96c5a0bd36e73303d466effb7d6a67
--- /dev/null
+++ b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_09-30/outputs_tactile/tactile_cache/dag911262r00035d_lerobot_0327_114353_7434c583/episodes/ep000430/gripper_right_tactile_force_metrics.json
@@ -0,0 +1,9 @@
+{
+  "depth_peak": 0.0017106854356825352,
+  "shear_peak": 0.007060656324028969,
+  "force_magnitude_peak": 0.007188125047832727,
+  "reference_frame_count": 0,
+  "dataset_name": "dag911262r00035d_lerobot_0327_114353",
+  "episode_index": 430,
+  "sensor": "gripper_right_tactile"
+}
\ No newline at end of file
diff --git a/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_09-30/outputs_tactile/tactile_cache/dag911262r00035d_lerobot_0327_114353_7434c583/episodes/ep000432/gripper_left_tactile_contact_metrics.json b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_09-30/outputs_tactile/tactile_cache/dag911262r00035d_lerobot_0327_114353_7434c583/episodes/ep000432/gripper_left_tactile_contact_metrics.json
new file mode 100644
index 0000000000000000000000000000000000000000..51f04ef3e73b7c85c4507beb92e8e4e47f7ebb35
--- /dev/null
+++ b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_09-30/outputs_tactile/tactile_cache/dag911262r00035d_lerobot_0327_114353_7434c583/episodes/ep000432/gripper_left_tactile_contact_metrics.json
@@ -0,0 +1,12 @@
+{
+  "contact_time": 6.133333333333334,
+  "contact_ratio": 0.7330677290836654,
+  "avg_contact_area": 643.2445652173913,
+  "contact_entropy": 0.3571523047146756,
+  "total_frames": 251,
+  "fps": 30.0,
+  "reference_frame_count": 0,
+  "dataset_name": "dag911262r00035d_lerobot_0327_114353",
+  "episode_index": 432,
+  "sensor": "gripper_left_tactile"
+}
\ No newline at end of file
diff --git a/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_09-30/outputs_tactile/tactile_cache/dag911262r00035d_lerobot_0327_114353_7434c583/episodes/ep000437/gripper_left_tactile_contact_metrics.json b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_09-30/outputs_tactile/tactile_cache/dag911262r00035d_lerobot_0327_114353_7434c583/episodes/ep000437/gripper_left_tactile_contact_metrics.json
new file mode 100644
index 0000000000000000000000000000000000000000..2e0b5ce8cb942018ead8d8a6418bf9e378a4c275
--- /dev/null
+++ b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_09-30/outputs_tactile/tactile_cache/dag911262r00035d_lerobot_0327_114353_7434c583/episodes/ep000437/gripper_left_tactile_contact_metrics.json
@@ -0,0 +1,12 @@
+{
+  "contact_time": 2.933333333333333,
+  "contact_ratio": 0.46808510638297873,
+  "avg_contact_area": 308.8863636363636,
+  "contact_entropy": 0.016822059304570248,
+  "total_frames": 188,
+  "fps": 30.0,
+  "reference_frame_count": 0,
+  "dataset_name": "dag911262r00035d_lerobot_0327_114353",
+  "episode_index": 437,
+  "sensor": "gripper_left_tactile"
+}
\ No newline at end of file
diff --git a/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_09-30/outputs_tactile/tactile_cache/dag911262r00035d_lerobot_0327_114353_7434c583/episodes/ep000442/gripper_right_tactile_contact_metrics.json b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_09-30/outputs_tactile/tactile_cache/dag911262r00035d_lerobot_0327_114353_7434c583/episodes/ep000442/gripper_right_tactile_contact_metrics.json
new file mode 100644
index 0000000000000000000000000000000000000000..cedef0b9a606214652287316a01f356a7ae44b8e
--- /dev/null
+++ b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_09-30/outputs_tactile/tactile_cache/dag911262r00035d_lerobot_0327_114353_7434c583/episodes/ep000442/gripper_right_tactile_contact_metrics.json
@@ -0,0 +1,12 @@
+{
+  "contact_time": 2.566666666666667,
+  "contact_ratio": 0.39285714285714285,
+  "avg_contact_area": 585.6103896103896,
+  "contact_entropy": 0.019481619293830302,
+  "total_frames": 196,
+  "fps": 30.0,
+  "reference_frame_count": 0,
+  "dataset_name": "dag911262r00035d_lerobot_0327_114353",
+  "episode_index": 442,
+  "sensor": "gripper_right_tactile"
+}
\ No newline at end of file
diff --git a/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_09-30/outputs_tactile/tactile_cache/dag911262r00035d_lerobot_0327_114353_7434c583/episodes/ep000442/gripper_right_tactile_force_metrics.json b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_09-30/outputs_tactile/tactile_cache/dag911262r00035d_lerobot_0327_114353_7434c583/episodes/ep000442/gripper_right_tactile_force_metrics.json
new file mode 100644
index 0000000000000000000000000000000000000000..3c4355e98a213aa2ebaf1a31cb6d51a678bf5f37
--- /dev/null
+++ b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_09-30/outputs_tactile/tactile_cache/dag911262r00035d_lerobot_0327_114353_7434c583/episodes/ep000442/gripper_right_tactile_force_metrics.json
@@ -0,0 +1,9 @@
+{
+  "depth_peak": 0.000383569800760597,
+  "shear_peak": 0.0021575146820396185,
+  "force_magnitude_peak": 0.0021685140673071146,
+  "reference_frame_count": 0,
+  "dataset_name": "dag911262r00035d_lerobot_0327_114353",
+  "episode_index": 442,
+  "sensor": "gripper_right_tactile"
+}
\ No newline at end of file
diff --git a/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_09-30/outputs_tactile/tactile_cache/dag911262r00035d_lerobot_0327_114353_7434c583/episodes/ep000444/gripper_left_tactile_force_metrics.json b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_09-30/outputs_tactile/tactile_cache/dag911262r00035d_lerobot_0327_114353_7434c583/episodes/ep000444/gripper_left_tactile_force_metrics.json
new file mode 100644
index 0000000000000000000000000000000000000000..74c9da204d7bb1edcb12bf04c0eb70ac21f7ecff
--- /dev/null
+++ b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_09-30/outputs_tactile/tactile_cache/dag911262r00035d_lerobot_0327_114353_7434c583/episodes/ep000444/gripper_left_tactile_force_metrics.json
@@ -0,0 +1,9 @@
+{
+  "depth_peak": 0.003661694470793009,
+  "shear_peak": 0.003962460905313492,
+  "force_magnitude_peak": 0.005395285319536924,
+  "reference_frame_count": 0,
+  "dataset_name": "dag911262r00035d_lerobot_0327_114353",
+  "episode_index": 444,
+  "sensor": "gripper_left_tactile"
+}
\ No newline at end of file
diff --git a/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_09-30/outputs_tactile/tactile_cache/dag911262r00035d_lerobot_0327_114353_7434c583/episodes/ep000444/gripper_right_tactile_contact_metrics.json b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_09-30/outputs_tactile/tactile_cache/dag911262r00035d_lerobot_0327_114353_7434c583/episodes/ep000444/gripper_right_tactile_contact_metrics.json
new file mode 100644
index 0000000000000000000000000000000000000000..90813de8ad7fa257843f8a5ed208a35dda8a4fee
--- /dev/null
+++ b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_09-30/outputs_tactile/tactile_cache/dag911262r00035d_lerobot_0327_114353_7434c583/episodes/ep000444/gripper_right_tactile_contact_metrics.json
@@ -0,0 +1,12 @@
+{
+  "contact_time": 3.3333333333333335,
+  "contact_ratio": 0.4975124378109453,
+  "avg_contact_area": 2484.06,
+  "contact_entropy": 0.22622073868823625,
+  "total_frames": 201,
+  "fps": 30.0,
+  "reference_frame_count": 0,
+  "dataset_name": "dag911262r00035d_lerobot_0327_114353",
+  "episode_index": 444,
+  "sensor": "gripper_right_tactile"
+}
\ No newline at end of file
diff --git a/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_09-30/outputs_tactile/tactile_cache/dag911262r00035d_lerobot_0327_114353_7434c583/episodes/ep000447/gripper_left_tactile_contact_metrics.json b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_09-30/outputs_tactile/tactile_cache/dag911262r00035d_lerobot_0327_114353_7434c583/episodes/ep000447/gripper_left_tactile_contact_metrics.json
new file mode 100644
index 0000000000000000000000000000000000000000..ff36e5caa6e542af50c537e7c224b5cbd3682924
--- /dev/null
+++ b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_09-30/outputs_tactile/tactile_cache/dag911262r00035d_lerobot_0327_114353_7434c583/episodes/ep000447/gripper_left_tactile_contact_metrics.json
@@ -0,0 +1,12 @@
+{
+  "contact_time": 5.8,
+  "contact_ratio": 0.6718146718146718,
+  "avg_contact_area": 1295.7528735632184,
+  "contact_entropy": 0.06781115534691871,
+  "total_frames": 259,
+  "fps": 30.0,
+  "reference_frame_count": 0,
+  "dataset_name": "dag911262r00035d_lerobot_0327_114353",
+  "episode_index": 447,
+  "sensor": "gripper_left_tactile"
+}
\ No newline at end of file
diff --git a/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_09-30/outputs_tactile/tactile_cache/dag911262r00035d_lerobot_0327_114353_7434c583/episodes/ep000451/gripper_left_tactile_force_metrics.json b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_09-30/outputs_tactile/tactile_cache/dag911262r00035d_lerobot_0327_114353_7434c583/episodes/ep000451/gripper_left_tactile_force_metrics.json
new file mode 100644
index 0000000000000000000000000000000000000000..06391d529f025c6264915fca5eda5707724337f5
--- /dev/null
+++ b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_09-30/outputs_tactile/tactile_cache/dag911262r00035d_lerobot_0327_114353_7434c583/episodes/ep000451/gripper_left_tactile_force_metrics.json
@@ -0,0 +1,9 @@
+{
+  "depth_peak": 0.0014911555917933583,
+  "shear_peak": 0.0020997393876314163,
+  "force_magnitude_peak": 0.002150455955415964,
+  "reference_frame_count": 0,
+  "dataset_name": "dag911262r00035d_lerobot_0327_114353",
+  "episode_index": 451,
+  "sensor": "gripper_left_tactile"
+}
\ No newline at end of file
diff --git a/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_09-30/outputs_tactile/tactile_cache/dag911262r00035d_lerobot_0327_114353_7434c583/episodes/ep000452/gripper_right_tactile_force_metrics.json b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_09-30/outputs_tactile/tactile_cache/dag911262r00035d_lerobot_0327_114353_7434c583/episodes/ep000452/gripper_right_tactile_force_metrics.json
new file mode 100644
index 0000000000000000000000000000000000000000..6098fe189964c200191bb6830f4d362a374bb08a
--- /dev/null
+++ b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_09-30/outputs_tactile/tactile_cache/dag911262r00035d_lerobot_0327_114353_7434c583/episodes/ep000452/gripper_right_tactile_force_metrics.json
@@ -0,0 +1,9 @@
+{
+  "depth_peak": 0.009202241897583008,
+  "shear_peak": 0.01401689276099205,
+  "force_magnitude_peak": 0.01423993892967701,
+  "reference_frame_count": 0,
+  "dataset_name": "dag911262r00035d_lerobot_0327_114353",
+  "episode_index": 452,
+  "sensor": "gripper_right_tactile"
+}
\ No newline at end of file
diff --git a/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_09-30/outputs_tactile/tactile_cache/dag911262r00035d_lerobot_0327_114353_7434c583/episodes/ep000455/gripper_left_tactile_contact_metrics.json b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_09-30/outputs_tactile/tactile_cache/dag911262r00035d_lerobot_0327_114353_7434c583/episodes/ep000455/gripper_left_tactile_contact_metrics.json
new file mode 100644
index 0000000000000000000000000000000000000000..6b15868d0e9ac6206eccfed2e411428eaa7b9a17
--- /dev/null
+++ b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_09-30/outputs_tactile/tactile_cache/dag911262r00035d_lerobot_0327_114353_7434c583/episodes/ep000455/gripper_left_tactile_contact_metrics.json
@@ -0,0 +1,12 @@
+{
+  "contact_time": 2.8666666666666667,
+  "contact_ratio": 0.42786069651741293,
+  "avg_contact_area": 2277.4418604651164,
+  "contact_entropy": 0.392218668230356,
+  "total_frames": 201,
+  "fps": 30.0,
+  "reference_frame_count": 0,
+  "dataset_name": "dag911262r00035d_lerobot_0327_114353",
+  "episode_index": 455,
+  "sensor": "gripper_left_tactile"
+}
\ No newline at end of file
diff --git a/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_09-30/outputs_tactile/tactile_cache/dag911262r00035d_lerobot_0327_114353_7434c583/episodes/ep000457/gripper_right_tactile_contact_metrics.json b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_09-30/outputs_tactile/tactile_cache/dag911262r00035d_lerobot_0327_114353_7434c583/episodes/ep000457/gripper_right_tactile_contact_metrics.json
new file mode 100644
index 0000000000000000000000000000000000000000..03986734c521ca137bcbcb9bea14566afd89dfce
--- /dev/null
+++ b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_09-30/outputs_tactile/tactile_cache/dag911262r00035d_lerobot_0327_114353_7434c583/episodes/ep000457/gripper_right_tactile_contact_metrics.json
@@ -0,0 +1,12 @@
+{
+  "contact_time": 5.4,
+  "contact_ratio": 0.6893617021276596,
+  "avg_contact_area": 4216.055555555556,
+  "contact_entropy": 0.2335395639921321,
+  "total_frames": 235,
+  "fps": 30.0,
+  "reference_frame_count": 0,
+  "dataset_name": "dag911262r00035d_lerobot_0327_114353",
+  "episode_index": 457,
+  "sensor": "gripper_right_tactile"
+}
\ No newline at end of file
diff --git a/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_09-30/outputs_tactile/tactile_cache/dag911262r00035d_lerobot_0327_114353_7434c583/episodes/ep000458/gripper_left_tactile_force_metrics.json b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_09-30/outputs_tactile/tactile_cache/dag911262r00035d_lerobot_0327_114353_7434c583/episodes/ep000458/gripper_left_tactile_force_metrics.json
new file mode 100644
index 0000000000000000000000000000000000000000..4d23ee7e3a268d3b83722f1401161bc676ddf2e7
--- /dev/null
+++ b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_09-30/outputs_tactile/tactile_cache/dag911262r00035d_lerobot_0327_114353_7434c583/episodes/ep000458/gripper_left_tactile_force_metrics.json
@@ -0,0 +1,9 @@
+{
+  "depth_peak": 0.00438984390348196,
+  "shear_peak": 0.0013027242384850979,
+  "force_magnitude_peak": 0.004497577901929617,
+  "reference_frame_count": 0,
+  "dataset_name": "dag911262r00035d_lerobot_0327_114353",
+  "episode_index": 458,
+  "sensor": "gripper_left_tactile"
+}
\ No newline at end of file
diff --git a/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_09-30/outputs_tactile/tactile_cache/dag911262r00035d_lerobot_0327_114353_7434c583/episodes/ep000462/gripper_left_tactile_force_metrics.json b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_09-30/outputs_tactile/tactile_cache/dag911262r00035d_lerobot_0327_114353_7434c583/episodes/ep000462/gripper_left_tactile_force_metrics.json
new file mode 100644
index 0000000000000000000000000000000000000000..9f193e0ae086b613e6c5bcc6e41a217632e42ea6
--- /dev/null
+++ b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_09-30/outputs_tactile/tactile_cache/dag911262r00035d_lerobot_0327_114353_7434c583/episodes/ep000462/gripper_left_tactile_force_metrics.json
@@ -0,0 +1,9 @@
+{
+  "depth_peak": 0.0009746138821355999,
+  "shear_peak": 0.0014169695787131786,
+  "force_magnitude_peak": 0.0017026785062626004,
+  "reference_frame_count": 0,
+  "dataset_name": "dag911262r00035d_lerobot_0327_114353",
+  "episode_index": 462,
+  "sensor": "gripper_left_tactile"
+}
\ No newline at end of file
diff --git a/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_09-30/outputs_tactile/tactile_cache/dag911262r00035d_lerobot_0327_114353_7434c583/episodes/ep000462/gripper_right_tactile_contact_metrics.json b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_09-30/outputs_tactile/tactile_cache/dag911262r00035d_lerobot_0327_114353_7434c583/episodes/ep000462/gripper_right_tactile_contact_metrics.json
new file mode 100644
index 0000000000000000000000000000000000000000..1b127ce4f07157a2c0dda0b9f968ff3e06ba8927
--- /dev/null
+++ b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_09-30/outputs_tactile/tactile_cache/dag911262r00035d_lerobot_0327_114353_7434c583/episodes/ep000462/gripper_right_tactile_contact_metrics.json
@@ -0,0 +1,12 @@
+{
+  "contact_time": 3.7,
+  "contact_ratio": 0.5842105263157895,
+  "avg_contact_area": 3767.09009009009,
+  "contact_entropy": 0.0383326443413841,
+  "total_frames": 190,
+  "fps": 30.0,
+  "reference_frame_count": 0,
+  "dataset_name": "dag911262r00035d_lerobot_0327_114353",
+  "episode_index": 462,
+  "sensor": "gripper_right_tactile"
+}
\ No newline at end of file
diff --git a/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_09-30/outputs_tactile/tactile_cache/dag911262r00035d_lerobot_0327_114353_7434c583/episodes/ep000462/gripper_right_tactile_force_metrics.json b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_09-30/outputs_tactile/tactile_cache/dag911262r00035d_lerobot_0327_114353_7434c583/episodes/ep000462/gripper_right_tactile_force_metrics.json
new file mode 100644
index 0000000000000000000000000000000000000000..1d62c984b9fb8562a6b1244c065aa9dcd6f239b5
--- /dev/null
+++ b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_09-30/outputs_tactile/tactile_cache/dag911262r00035d_lerobot_0327_114353_7434c583/episodes/ep000462/gripper_right_tactile_force_metrics.json
@@ -0,0 +1,9 @@
+{
+  "depth_peak": 0.0015734410844743252,
+  "shear_peak": 0.01265833992511034,
+  "force_magnitude_peak": 0.012958156876266003,
+  "reference_frame_count": 0,
+  "dataset_name": "dag911262r00035d_lerobot_0327_114353",
+  "episode_index": 462,
+  "sensor": "gripper_right_tactile"
+}
\ No newline at end of file
diff --git a/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_09-30/outputs_tactile/tactile_cache/dag911262r00035d_lerobot_0327_114353_7434c583/episodes/ep000463/gripper_left_tactile_contact_metrics.json b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_09-30/outputs_tactile/tactile_cache/dag911262r00035d_lerobot_0327_114353_7434c583/episodes/ep000463/gripper_left_tactile_contact_metrics.json
new file mode 100644
index 0000000000000000000000000000000000000000..7f444d8d4d060043da8d2a15c9e9796a46a788f6
--- /dev/null
+++ b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_09-30/outputs_tactile/tactile_cache/dag911262r00035d_lerobot_0327_114353_7434c583/episodes/ep000463/gripper_left_tactile_contact_metrics.json
@@ -0,0 +1,12 @@
+{
+  "contact_time": 4.066666666666666,
+  "contact_ratio": 0.5545454545454546,
+  "avg_contact_area": 278.327868852459,
+  "contact_entropy": 0.0,
+  "total_frames": 220,
+  "fps": 30.0,
+  "reference_frame_count": 0,
+  "dataset_name": "dag911262r00035d_lerobot_0327_114353",
+  "episode_index": 463,
+  "sensor": "gripper_left_tactile"
+}
\ No newline at end of file
diff --git a/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_09-30/outputs_tactile/tactile_cache/dag911262r00035d_lerobot_0327_114353_7434c583/episodes/ep000464/gripper_right_tactile_force_metrics.json b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_09-30/outputs_tactile/tactile_cache/dag911262r00035d_lerobot_0327_114353_7434c583/episodes/ep000464/gripper_right_tactile_force_metrics.json
new file mode 100644
index 0000000000000000000000000000000000000000..c3239c988d2906c5d07222511c1019ba8f5e3870
--- /dev/null
+++ b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_09-30/outputs_tactile/tactile_cache/dag911262r00035d_lerobot_0327_114353_7434c583/episodes/ep000464/gripper_right_tactile_force_metrics.json
@@ -0,0 +1,9 @@
+{
+  "depth_peak": 0.005719996523112059,
+  "shear_peak": 0.004317325074225664,
+  "force_magnitude_peak": 0.006488421466201544,
+  "reference_frame_count": 0,
+  "dataset_name": "dag911262r00035d_lerobot_0327_114353",
+  "episode_index": 464,
+  "sensor": "gripper_right_tactile"
+}
\ No newline at end of file
diff --git a/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_09-30/outputs_tactile/tactile_cache/dag911262r00035d_lerobot_0327_114353_7434c583/episodes/ep000467/gripper_right_tactile_contact_metrics.json b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_09-30/outputs_tactile/tactile_cache/dag911262r00035d_lerobot_0327_114353_7434c583/episodes/ep000467/gripper_right_tactile_contact_metrics.json
new file mode 100644
index 0000000000000000000000000000000000000000..7e1f09dfb9907e5e38a9c3caa22f0120561f43ff
--- /dev/null
+++ b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_09-30/outputs_tactile/tactile_cache/dag911262r00035d_lerobot_0327_114353_7434c583/episodes/ep000467/gripper_right_tactile_contact_metrics.json
@@ -0,0 +1,12 @@
+{
+  "contact_time": 3.6666666666666665,
+  "contact_ratio": 0.44534412955465585,
+  "avg_contact_area": 3465.1181818181817,
+  "contact_entropy": 0.12062393621031252,
+  "total_frames": 247,
+  "fps": 30.0,
+  "reference_frame_count": 0,
+  "dataset_name": "dag911262r00035d_lerobot_0327_114353",
+  "episode_index": 467,
+  "sensor": "gripper_right_tactile"
+}
\ No newline at end of file
diff --git a/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_09-30/outputs_tactile/tactile_cache/dag911262r00035d_lerobot_0327_114353_7434c583/episodes/ep000470/gripper_left_tactile_force_metrics.json b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_09-30/outputs_tactile/tactile_cache/dag911262r00035d_lerobot_0327_114353_7434c583/episodes/ep000470/gripper_left_tactile_force_metrics.json
new file mode 100644
index 0000000000000000000000000000000000000000..0375cc4273534c3c41433cef38c1adfc60f8d97f
--- /dev/null
+++ b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_09-30/outputs_tactile/tactile_cache/dag911262r00035d_lerobot_0327_114353_7434c583/episodes/ep000470/gripper_left_tactile_force_metrics.json
@@ -0,0 +1,9 @@
+{
+  "depth_peak": 0.002769137965515256,
+  "shear_peak": 0.0014381228247657418,
+  "force_magnitude_peak": 0.003019190626218915,
+  "reference_frame_count": 0,
+  "dataset_name": "dag911262r00035d_lerobot_0327_114353",
+  "episode_index": 470,
+  "sensor": "gripper_left_tactile"
+}
\ No newline at end of file
diff --git a/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_09-30/outputs_tactile/tactile_cache/dag911262r00035d_lerobot_0327_114353_7434c583/episodes/ep000470/gripper_right_tactile_force_metrics.json b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_09-30/outputs_tactile/tactile_cache/dag911262r00035d_lerobot_0327_114353_7434c583/episodes/ep000470/gripper_right_tactile_force_metrics.json
new file mode 100644
index 0000000000000000000000000000000000000000..585af8d08f06fc79718d4e1ae03571c9c89b4f88
--- /dev/null
+++ b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_09-30/outputs_tactile/tactile_cache/dag911262r00035d_lerobot_0327_114353_7434c583/episodes/ep000470/gripper_right_tactile_force_metrics.json
@@ -0,0 +1,9 @@
+{
+  "depth_peak": 0.015182960778474808,
+  "shear_peak": 0.007145199459046125,
+  "force_magnitude_peak": 0.015863144770264626,
+  "reference_frame_count": 0,
+  "dataset_name": "dag911262r00035d_lerobot_0327_114353",
+  "episode_index": 470,
+  "sensor": "gripper_right_tactile"
+}
\ No newline at end of file
diff --git a/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_09-30/outputs_tactile/tactile_cache/dag911262r00035d_lerobot_0327_114353_7434c583/episodes/ep000472/gripper_left_tactile_contact_metrics.json b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_09-30/outputs_tactile/tactile_cache/dag911262r00035d_lerobot_0327_114353_7434c583/episodes/ep000472/gripper_left_tactile_contact_metrics.json
new file mode 100644
index 0000000000000000000000000000000000000000..8277c63ef9b0129182c41d38422c80208b428057
--- /dev/null
+++ b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_09-30/outputs_tactile/tactile_cache/dag911262r00035d_lerobot_0327_114353_7434c583/episodes/ep000472/gripper_left_tactile_contact_metrics.json
@@ -0,0 +1,12 @@
+{
+  "contact_time": 4.033333333333333,
+  "contact_ratio": 0.37694704049844235,
+  "avg_contact_area": 577.1239669421487,
+  "contact_entropy": 0.5191702158099086,
+  "total_frames": 321,
+  "fps": 30.0,
+  "reference_frame_count": 0,
+  "dataset_name": "dag911262r00035d_lerobot_0327_114353",
+  "episode_index": 472,
+  "sensor": "gripper_left_tactile"
+}
\ No newline at end of file
diff --git a/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_09-30/outputs_tactile/tactile_cache/dag911262r00035d_lerobot_0327_114353_7434c583/episodes/ep000477/gripper_left_tactile_contact_metrics.json b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_09-30/outputs_tactile/tactile_cache/dag911262r00035d_lerobot_0327_114353_7434c583/episodes/ep000477/gripper_left_tactile_contact_metrics.json
new file mode 100644
index 0000000000000000000000000000000000000000..062d13286c97172cd116b5646b1de79cc004d984
--- /dev/null
+++ b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_09-30/outputs_tactile/tactile_cache/dag911262r00035d_lerobot_0327_114353_7434c583/episodes/ep000477/gripper_left_tactile_contact_metrics.json
@@ -0,0 +1,12 @@
+{
+  "contact_time": 2.466666666666667,
+  "contact_ratio": 0.32456140350877194,
+  "avg_contact_area": 1451.3243243243244,
+  "contact_entropy": 0.31658492039758784,
+  "total_frames": 228,
+  "fps": 30.0,
+  "reference_frame_count": 0,
+  "dataset_name": "dag911262r00035d_lerobot_0327_114353",
+  "episode_index": 477,
+  "sensor": "gripper_left_tactile"
+}
\ No newline at end of file
diff --git a/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_09-30/outputs_tactile/tactile_cache/dag911262r00035d_lerobot_0327_114353_7434c583/episodes/ep000482/gripper_right_tactile_contact_metrics.json b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_09-30/outputs_tactile/tactile_cache/dag911262r00035d_lerobot_0327_114353_7434c583/episodes/ep000482/gripper_right_tactile_contact_metrics.json
new file mode 100644
index 0000000000000000000000000000000000000000..8ca4431c84f62a58582cddd6fdd79f2e00e5047d
--- /dev/null
+++ b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_09-30/outputs_tactile/tactile_cache/dag911262r00035d_lerobot_0327_114353_7434c583/episodes/ep000482/gripper_right_tactile_contact_metrics.json
@@ -0,0 +1,12 @@
+{
+  "contact_time": 6.633333333333334,
+  "contact_ratio": 0.8923766816143498,
+  "avg_contact_area": 799.6381909547739,
+  "contact_entropy": 0.5720420817114614,
+  "total_frames": 223,
+  "fps": 30.0,
+  "reference_frame_count": 0,
+  "dataset_name": "dag911262r00035d_lerobot_0327_114353",
+  "episode_index": 482,
+  "sensor": "gripper_right_tactile"
+}
\ No newline at end of file
diff --git a/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_09-30/outputs_tactile/tactile_cache/dag911262r00035d_lerobot_0327_114353_7434c583/episodes/ep000482/gripper_right_tactile_force_metrics.json b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_09-30/outputs_tactile/tactile_cache/dag911262r00035d_lerobot_0327_114353_7434c583/episodes/ep000482/gripper_right_tactile_force_metrics.json
new file mode 100644
index 0000000000000000000000000000000000000000..4086736c4d4e6adbf3a772297fdcaa4b235486a6
--- /dev/null
+++ b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_09-30/outputs_tactile/tactile_cache/dag911262r00035d_lerobot_0327_114353_7434c583/episodes/ep000482/gripper_right_tactile_force_metrics.json
@@ -0,0 +1,9 @@
+{
+  "depth_peak": 0.005159121006727219,
+  "shear_peak": 0.005677242763340473,
+  "force_magnitude_peak": 0.0073208799585700035,
+  "reference_frame_count": 0,
+  "dataset_name": "dag911262r00035d_lerobot_0327_114353",
+  "episode_index": 482,
+  "sensor": "gripper_right_tactile"
+}
\ No newline at end of file
diff --git a/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_09-30/outputs_tactile/tactile_cache/dag911262r00035d_lerobot_0327_114353_7434c583/episodes/ep000484/gripper_left_tactile_force_metrics.json b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_09-30/outputs_tactile/tactile_cache/dag911262r00035d_lerobot_0327_114353_7434c583/episodes/ep000484/gripper_left_tactile_force_metrics.json
new file mode 100644
index 0000000000000000000000000000000000000000..bc012e25ee00a3994de8647b3517d294ce84248c
--- /dev/null
+++ b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_09-30/outputs_tactile/tactile_cache/dag911262r00035d_lerobot_0327_114353_7434c583/episodes/ep000484/gripper_left_tactile_force_metrics.json
@@ -0,0 +1,9 @@
+{
+  "depth_peak": 0.008840066380798817,
+  "shear_peak": 0.0025338090490549803,
+  "force_magnitude_peak": 0.00914035551249981,
+  "reference_frame_count": 0,
+  "dataset_name": "dag911262r00035d_lerobot_0327_114353",
+  "episode_index": 484,
+  "sensor": "gripper_left_tactile"
+}
\ No newline at end of file
diff --git a/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_09-30/outputs_tactile/tactile_cache/dag911262r00035d_lerobot_0327_114353_7434c583/episodes/ep000484/gripper_right_tactile_contact_metrics.json b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_09-30/outputs_tactile/tactile_cache/dag911262r00035d_lerobot_0327_114353_7434c583/episodes/ep000484/gripper_right_tactile_contact_metrics.json
new file mode 100644
index 0000000000000000000000000000000000000000..7c9ba8094cbbffb7886c9fdad062b619588620b6
--- /dev/null
+++ b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_09-30/outputs_tactile/tactile_cache/dag911262r00035d_lerobot_0327_114353_7434c583/episodes/ep000484/gripper_right_tactile_contact_metrics.json
@@ -0,0 +1,12 @@
+{
+  "contact_time": 5.466666666666667,
+  "contact_ratio": 0.5448504983388704,
+  "avg_contact_area": 6536.963414634146,
+  "contact_entropy": 0.5696367262233033,
+  "total_frames": 301,
+  "fps": 30.0,
+  "reference_frame_count": 0,
+  "dataset_name": "dag911262r00035d_lerobot_0327_114353",
+  "episode_index": 484,
+  "sensor": "gripper_right_tactile"
+}
\ No newline at end of file
diff --git a/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_09-30/outputs_tactile/tactile_cache/dag911262r00035d_lerobot_0327_114353_7434c583/episodes/ep000487/gripper_left_tactile_contact_metrics.json b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_09-30/outputs_tactile/tactile_cache/dag911262r00035d_lerobot_0327_114353_7434c583/episodes/ep000487/gripper_left_tactile_contact_metrics.json
new file mode 100644
index 0000000000000000000000000000000000000000..6fd5c69cd1a1bfa82cb98595973b71d489e22606
--- /dev/null
+++ b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_09-30/outputs_tactile/tactile_cache/dag911262r00035d_lerobot_0327_114353_7434c583/episodes/ep000487/gripper_left_tactile_contact_metrics.json
@@ -0,0 +1,12 @@
+{
+  "contact_time": 3.0,
+  "contact_ratio": 0.5521472392638037,
+  "avg_contact_area": 4074.233333333333,
+  "contact_entropy": 0.444334388674365,
+  "total_frames": 163,
+  "fps": 30.0,
+  "reference_frame_count": 0,
+  "dataset_name": "dag911262r00035d_lerobot_0327_114353",
+  "episode_index": 487,
+  "sensor": "gripper_left_tactile"
+}
\ No newline at end of file
diff --git a/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_09-30/outputs_tactile/tactile_cache/dag911262r00035d_lerobot_0327_114353_7434c583/episodes/ep000491/gripper_left_tactile_force_metrics.json b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_09-30/outputs_tactile/tactile_cache/dag911262r00035d_lerobot_0327_114353_7434c583/episodes/ep000491/gripper_left_tactile_force_metrics.json
new file mode 100644
index 0000000000000000000000000000000000000000..79d723ce1c5e111393f9e8f737674df60bc484b9
--- /dev/null
+++ b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_09-30/outputs_tactile/tactile_cache/dag911262r00035d_lerobot_0327_114353_7434c583/episodes/ep000491/gripper_left_tactile_force_metrics.json
@@ -0,0 +1,9 @@
+{
+  "depth_peak": 0.0020979084074497223,
+  "shear_peak": 0.0010728364577516913,
+  "force_magnitude_peak": 0.0022685639560222626,
+  "reference_frame_count": 0,
+  "dataset_name": "dag911262r00035d_lerobot_0327_114353",
+  "episode_index": 491,
+  "sensor": "gripper_left_tactile"
+}
\ No newline at end of file
diff --git a/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_09-30/outputs_tactile/tactile_cache/dag911262r00035d_lerobot_0327_114353_7434c583/episodes/ep000492/gripper_right_tactile_force_metrics.json b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_09-30/outputs_tactile/tactile_cache/dag911262r00035d_lerobot_0327_114353_7434c583/episodes/ep000492/gripper_right_tactile_force_metrics.json
new file mode 100644
index 0000000000000000000000000000000000000000..899075de8e3eb4cebb7c1fd0c1376a5e7420b5a9
--- /dev/null
+++ b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_09-30/outputs_tactile/tactile_cache/dag911262r00035d_lerobot_0327_114353_7434c583/episodes/ep000492/gripper_right_tactile_force_metrics.json
@@ -0,0 +1,9 @@
+{
+  "depth_peak": 0.0066416217014193535,
+  "shear_peak": 0.003465056186541915,
+  "force_magnitude_peak": 0.006737147457897663,
+  "reference_frame_count": 0,
+  "dataset_name": "dag911262r00035d_lerobot_0327_114353",
+  "episode_index": 492,
+  "sensor": "gripper_right_tactile"
+}
\ No newline at end of file
diff --git a/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_09-30/outputs_tactile/tactile_cache/dag911262r00035d_lerobot_0327_114353_7434c583/episodes/ep000495/gripper_left_tactile_contact_metrics.json b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_09-30/outputs_tactile/tactile_cache/dag911262r00035d_lerobot_0327_114353_7434c583/episodes/ep000495/gripper_left_tactile_contact_metrics.json
new file mode 100644
index 0000000000000000000000000000000000000000..2533ff9c113f29da1d2d51185dd5362413322907
--- /dev/null
+++ b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_09-30/outputs_tactile/tactile_cache/dag911262r00035d_lerobot_0327_114353_7434c583/episodes/ep000495/gripper_left_tactile_contact_metrics.json
@@ -0,0 +1,12 @@
+{
+  "contact_time": 1.7333333333333334,
+  "contact_ratio": 0.33121019108280253,
+  "avg_contact_area": 795.5961538461538,
+  "contact_entropy": 0.7154828974664391,
+  "total_frames": 157,
+  "fps": 30.0,
+  "reference_frame_count": 0,
+  "dataset_name": "dag911262r00035d_lerobot_0327_114353",
+  "episode_index": 495,
+  "sensor": "gripper_left_tactile"
+}
\ No newline at end of file
diff --git a/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_09-30/outputs_tactile/tactile_cache/dag911262r00035d_lerobot_0327_114353_7434c583/episodes/ep000497/gripper_right_tactile_contact_metrics.json b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_09-30/outputs_tactile/tactile_cache/dag911262r00035d_lerobot_0327_114353_7434c583/episodes/ep000497/gripper_right_tactile_contact_metrics.json
new file mode 100644
index 0000000000000000000000000000000000000000..c55d5e819f8cc309d6c48a92dac35134ed143218
--- /dev/null
+++ b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_09-30/outputs_tactile/tactile_cache/dag911262r00035d_lerobot_0327_114353_7434c583/episodes/ep000497/gripper_right_tactile_contact_metrics.json
@@ -0,0 +1,12 @@
+{
+  "contact_time": 3.466666666666667,
+  "contact_ratio": 0.6081871345029239,
+  "avg_contact_area": 1233.423076923077,
+  "contact_entropy": 0.2507595590244062,
+  "total_frames": 171,
+  "fps": 30.0,
+  "reference_frame_count": 0,
+  "dataset_name": "dag911262r00035d_lerobot_0327_114353",
+  "episode_index": 497,
+  "sensor": "gripper_right_tactile"
+}
\ No newline at end of file
diff --git a/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_09-30/outputs_tactile/tactile_cache/dag911262r00035d_lerobot_0327_114353_7434c583/episodes/ep000498/gripper_left_tactile_force_metrics.json b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_09-30/outputs_tactile/tactile_cache/dag911262r00035d_lerobot_0327_114353_7434c583/episodes/ep000498/gripper_left_tactile_force_metrics.json
new file mode 100644
index 0000000000000000000000000000000000000000..73e1df200e530c48b064e970f0a2c143ab186faf
--- /dev/null
+++ b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_09-30/outputs_tactile/tactile_cache/dag911262r00035d_lerobot_0327_114353_7434c583/episodes/ep000498/gripper_left_tactile_force_metrics.json
@@ -0,0 +1,9 @@
+{
+  "depth_peak": 0.002783853095024824,
+  "shear_peak": 0.0012786909937858582,
+  "force_magnitude_peak": 0.0028207777068018913,
+  "reference_frame_count": 0,
+  "dataset_name": "dag911262r00035d_lerobot_0327_114353",
+  "episode_index": 498,
+  "sensor": "gripper_left_tactile"
+}
\ No newline at end of file
diff --git a/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_09-30/outputs_tactile/tactile_cache/dag911262r00035d_lerobot_0327_114353_7434c583/episodes/ep000502/gripper_left_tactile_force_metrics.json b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_09-30/outputs_tactile/tactile_cache/dag911262r00035d_lerobot_0327_114353_7434c583/episodes/ep000502/gripper_left_tactile_force_metrics.json
new file mode 100644
index 0000000000000000000000000000000000000000..d6956d311737f432b6fbd873bad7fc3c2157ab64
--- /dev/null
+++ b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_09-30/outputs_tactile/tactile_cache/dag911262r00035d_lerobot_0327_114353_7434c583/episodes/ep000502/gripper_left_tactile_force_metrics.json
@@ -0,0 +1,9 @@
+{
+  "depth_peak": 0.005728473886847496,
+  "shear_peak": 0.0042079295963048935,
+  "force_magnitude_peak": 0.006001066416501999,
+  "reference_frame_count": 0,
+  "dataset_name": "dag911262r00035d_lerobot_0327_114353",
+  "episode_index": 502,
+  "sensor": "gripper_left_tactile"
+}
\ No newline at end of file
diff --git a/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_09-30/outputs_tactile/tactile_cache/dag911262r00035d_lerobot_0327_114353_7434c583/episodes/ep000502/gripper_right_tactile_contact_metrics.json b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_09-30/outputs_tactile/tactile_cache/dag911262r00035d_lerobot_0327_114353_7434c583/episodes/ep000502/gripper_right_tactile_contact_metrics.json
new file mode 100644
index 0000000000000000000000000000000000000000..9cbd5fc90da7d54176c545040c13e0c27ad4c3a8
--- /dev/null
+++ b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_09-30/outputs_tactile/tactile_cache/dag911262r00035d_lerobot_0327_114353_7434c583/episodes/ep000502/gripper_right_tactile_contact_metrics.json
@@ -0,0 +1,12 @@
+{
+  "contact_time": 5.833333333333333,
+  "contact_ratio": 0.5319148936170213,
+  "avg_contact_area": 4894.617142857142,
+  "contact_entropy": 0.06948655720327919,
+  "total_frames": 329,
+  "fps": 30.0,
+  "reference_frame_count": 0,
+  "dataset_name": "dag911262r00035d_lerobot_0327_114353",
+  "episode_index": 502,
+  "sensor": "gripper_right_tactile"
+}
\ No newline at end of file
diff --git a/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_09-30/outputs_tactile/tactile_cache/dag911262r00035d_lerobot_0327_114353_7434c583/episodes/ep000502/gripper_right_tactile_force_metrics.json b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_09-30/outputs_tactile/tactile_cache/dag911262r00035d_lerobot_0327_114353_7434c583/episodes/ep000502/gripper_right_tactile_force_metrics.json
new file mode 100644
index 0000000000000000000000000000000000000000..3a104d1cc3468049d235622d929f6adf5b54a69d
--- /dev/null
+++ b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_09-30/outputs_tactile/tactile_cache/dag911262r00035d_lerobot_0327_114353_7434c583/episodes/ep000502/gripper_right_tactile_force_metrics.json
@@ -0,0 +1,9 @@
+{
+  "depth_peak": 0.0008207137580029666,
+  "shear_peak": 0.007811320945620537,
+  "force_magnitude_peak": 0.007815889082849026,
+  "reference_frame_count": 0,
+  "dataset_name": "dag911262r00035d_lerobot_0327_114353",
+  "episode_index": 502,
+  "sensor": "gripper_right_tactile"
+}
\ No newline at end of file
diff --git a/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_09-30/outputs_tactile/tactile_cache/dag911262r00035d_lerobot_0327_114353_7434c583/episodes/ep000503/gripper_left_tactile_contact_metrics.json b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_09-30/outputs_tactile/tactile_cache/dag911262r00035d_lerobot_0327_114353_7434c583/episodes/ep000503/gripper_left_tactile_contact_metrics.json
new file mode 100644
index 0000000000000000000000000000000000000000..794499f79fe6778bf64433583d532cf799c81725
--- /dev/null
+++ b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_09-30/outputs_tactile/tactile_cache/dag911262r00035d_lerobot_0327_114353_7434c583/episodes/ep000503/gripper_left_tactile_contact_metrics.json
@@ -0,0 +1,12 @@
+{
+  "contact_time": 2.8333333333333335,
+  "contact_ratio": 0.47752808988764045,
+  "avg_contact_area": 3584.1529411764704,
+  "contact_entropy": 0.7785827016970241,
+  "total_frames": 178,
+  "fps": 30.0,
+  "reference_frame_count": 0,
+  "dataset_name": "dag911262r00035d_lerobot_0327_114353",
+  "episode_index": 503,
+  "sensor": "gripper_left_tactile"
+}
\ No newline at end of file
diff --git a/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_09-30/outputs_tactile/tactile_cache/dag911262r00035d_lerobot_0327_114353_7434c583/episodes/ep000510/gripper_left_tactile_force_metrics.json b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_09-30/outputs_tactile/tactile_cache/dag911262r00035d_lerobot_0327_114353_7434c583/episodes/ep000510/gripper_left_tactile_force_metrics.json
new file mode 100644
index 0000000000000000000000000000000000000000..78169c85da104e3b3d4259022bd8181a4660f657
--- /dev/null
+++ b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_09-30/outputs_tactile/tactile_cache/dag911262r00035d_lerobot_0327_114353_7434c583/episodes/ep000510/gripper_left_tactile_force_metrics.json
@@ -0,0 +1,9 @@
+{
+  "depth_peak": 0.0030412066262215376,
+  "shear_peak": 0.0020616184920072556,
+  "force_magnitude_peak": 0.0036741269286721945,
+  "reference_frame_count": 0,
+  "dataset_name": "dag911262r00035d_lerobot_0327_114353",
+  "episode_index": 510,
+  "sensor": "gripper_left_tactile"
+}
\ No newline at end of file
diff --git a/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_09-30/outputs_tactile/tactile_cache/dag911262r00035d_lerobot_0327_114353_7434c583/episodes/ep000512/gripper_left_tactile_contact_metrics.json b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_09-30/outputs_tactile/tactile_cache/dag911262r00035d_lerobot_0327_114353_7434c583/episodes/ep000512/gripper_left_tactile_contact_metrics.json
new file mode 100644
index 0000000000000000000000000000000000000000..2355982e8a026f8c0129890cfdeecde16a11e95f
--- /dev/null
+++ b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_09-30/outputs_tactile/tactile_cache/dag911262r00035d_lerobot_0327_114353_7434c583/episodes/ep000512/gripper_left_tactile_contact_metrics.json
@@ -0,0 +1,12 @@
+{
+  "contact_time": 2.1,
+  "contact_ratio": 0.3058252427184466,
+  "avg_contact_area": 77.44444444444444,
+  "contact_entropy": 0.2265499918757744,
+  "total_frames": 206,
+  "fps": 30.0,
+  "reference_frame_count": 0,
+  "dataset_name": "dag911262r00035d_lerobot_0327_114353",
+  "episode_index": 512,
+  "sensor": "gripper_left_tactile"
+}
\ No newline at end of file
diff --git a/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_09-30/outputs_tactile/tactile_cache/dag911262r00035d_lerobot_0327_114353_7434c583/episodes/ep000517/gripper_left_tactile_contact_metrics.json b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_09-30/outputs_tactile/tactile_cache/dag911262r00035d_lerobot_0327_114353_7434c583/episodes/ep000517/gripper_left_tactile_contact_metrics.json
new file mode 100644
index 0000000000000000000000000000000000000000..53830ad068a39fd23dd8c8cba2240606285ebd82
--- /dev/null
+++ b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_09-30/outputs_tactile/tactile_cache/dag911262r00035d_lerobot_0327_114353_7434c583/episodes/ep000517/gripper_left_tactile_contact_metrics.json
@@ -0,0 +1,12 @@
+{
+  "contact_time": 3.2333333333333334,
+  "contact_ratio": 0.5773809523809523,
+  "avg_contact_area": 1853.4845360824743,
+  "contact_entropy": 0.7217355933653193,
+  "total_frames": 168,
+  "fps": 30.0,
+  "reference_frame_count": 0,
+  "dataset_name": "dag911262r00035d_lerobot_0327_114353",
+  "episode_index": 517,
+  "sensor": "gripper_left_tactile"
+}
\ No newline at end of file
diff --git a/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_09-30/outputs_tactile/tactile_cache/dag911262r00035d_lerobot_0327_114353_7434c583/episodes/ep000524/gripper_left_tactile_force_metrics.json b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_09-30/outputs_tactile/tactile_cache/dag911262r00035d_lerobot_0327_114353_7434c583/episodes/ep000524/gripper_left_tactile_force_metrics.json
new file mode 100644
index 0000000000000000000000000000000000000000..0fae016cc91ade97eb8913bfbb2dc8746b922a74
--- /dev/null
+++ b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_09-30/outputs_tactile/tactile_cache/dag911262r00035d_lerobot_0327_114353_7434c583/episodes/ep000524/gripper_left_tactile_force_metrics.json
@@ -0,0 +1,9 @@
+{
+  "depth_peak": 0.0036234853323549032,
+  "shear_peak": 0.003192273201420903,
+  "force_magnitude_peak": 0.004756543785333633,
+  "reference_frame_count": 0,
+  "dataset_name": "dag911262r00035d_lerobot_0327_114353",
+  "episode_index": 524,
+  "sensor": "gripper_left_tactile"
+}
\ No newline at end of file
diff --git a/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_09-30/outputs_tactile/tactile_cache/dag911262r00035d_lerobot_0327_114353_7434c583/episodes/ep000527/gripper_left_tactile_contact_metrics.json b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_09-30/outputs_tactile/tactile_cache/dag911262r00035d_lerobot_0327_114353_7434c583/episodes/ep000527/gripper_left_tactile_contact_metrics.json
new file mode 100644
index 0000000000000000000000000000000000000000..201698bbcae4f3b80c3dab9fbcd323310d6fa372
--- /dev/null
+++ b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_09-30/outputs_tactile/tactile_cache/dag911262r00035d_lerobot_0327_114353_7434c583/episodes/ep000527/gripper_left_tactile_contact_metrics.json
@@ -0,0 +1,12 @@
+{
+  "contact_time": 0.3,
+  "contact_ratio": 0.05625,
+  "avg_contact_area": 1452.111111111111,
+  "contact_entropy": 0.47955051762225837,
+  "total_frames": 160,
+  "fps": 30.0,
+  "reference_frame_count": 0,
+  "dataset_name": "dag911262r00035d_lerobot_0327_114353",
+  "episode_index": 527,
+  "sensor": "gripper_left_tactile"
+}
\ No newline at end of file
diff --git a/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_09-30/outputs_tactile/tactile_cache/dag911262r00035d_lerobot_0327_114353_7434c583/episodes/ep000531/gripper_left_tactile_force_metrics.json b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_09-30/outputs_tactile/tactile_cache/dag911262r00035d_lerobot_0327_114353_7434c583/episodes/ep000531/gripper_left_tactile_force_metrics.json
new file mode 100644
index 0000000000000000000000000000000000000000..d770e44bc871d2d2d43c614bd61ab0045d005b81
--- /dev/null
+++ b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_09-30/outputs_tactile/tactile_cache/dag911262r00035d_lerobot_0327_114353_7434c583/episodes/ep000531/gripper_left_tactile_force_metrics.json
@@ -0,0 +1,9 @@
+{
+  "depth_peak": 0.002087248722091317,
+  "shear_peak": 0.00166513177100569,
+  "force_magnitude_peak": 0.002233195351436734,
+  "reference_frame_count": 0,
+  "dataset_name": "dag911262r00035d_lerobot_0327_114353",
+  "episode_index": 531,
+  "sensor": "gripper_left_tactile"
+}
\ No newline at end of file
diff --git a/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_09-30/outputs_tactile/tactile_cache/dag911262r00035d_lerobot_0327_114353_7434c583/episodes/ep000535/gripper_left_tactile_contact_metrics.json b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_09-30/outputs_tactile/tactile_cache/dag911262r00035d_lerobot_0327_114353_7434c583/episodes/ep000535/gripper_left_tactile_contact_metrics.json
new file mode 100644
index 0000000000000000000000000000000000000000..53f08a491c023bd58515ac3bc4cb3563c9a3e7a0
--- /dev/null
+++ b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_09-30/outputs_tactile/tactile_cache/dag911262r00035d_lerobot_0327_114353_7434c583/episodes/ep000535/gripper_left_tactile_contact_metrics.json
@@ -0,0 +1,12 @@
+{
+  "contact_time": 6.033333333333333,
+  "contact_ratio": 0.6804511278195489,
+  "avg_contact_area": 1264.8950276243095,
+  "contact_entropy": 0.35445950716491403,
+  "total_frames": 266,
+  "fps": 30.0,
+  "reference_frame_count": 0,
+  "dataset_name": "dag911262r00035d_lerobot_0327_114353",
+  "episode_index": 535,
+  "sensor": "gripper_left_tactile"
+}
\ No newline at end of file
diff --git a/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_09-30/outputs_tactile/tactile_cache/dag911262r00035d_lerobot_0327_114353_7434c583/episodes/ep000538/gripper_left_tactile_force_metrics.json b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_09-30/outputs_tactile/tactile_cache/dag911262r00035d_lerobot_0327_114353_7434c583/episodes/ep000538/gripper_left_tactile_force_metrics.json
new file mode 100644
index 0000000000000000000000000000000000000000..158b900777c50ee96ffc262f5cba9b743a2241e7
--- /dev/null
+++ b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_09-30/outputs_tactile/tactile_cache/dag911262r00035d_lerobot_0327_114353_7434c583/episodes/ep000538/gripper_left_tactile_force_metrics.json
@@ -0,0 +1,9 @@
+{
+  "depth_peak": 0.0018502626335248351,
+  "shear_peak": 0.003517378121614456,
+  "force_magnitude_peak": 0.0035950213205069304,
+  "reference_frame_count": 0,
+  "dataset_name": "dag911262r00035d_lerobot_0327_114353",
+  "episode_index": 538,
+  "sensor": "gripper_left_tactile"
+}
\ No newline at end of file
diff --git a/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_09-30/outputs_tactile/tactile_cache/dag911262r00035d_lerobot_0327_114353_7434c583/episodes/ep000542/gripper_left_tactile_force_metrics.json b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_09-30/outputs_tactile/tactile_cache/dag911262r00035d_lerobot_0327_114353_7434c583/episodes/ep000542/gripper_left_tactile_force_metrics.json
new file mode 100644
index 0000000000000000000000000000000000000000..18951828f08a94d45621806e1b3fc25a4723530d
--- /dev/null
+++ b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_09-30/outputs_tactile/tactile_cache/dag911262r00035d_lerobot_0327_114353_7434c583/episodes/ep000542/gripper_left_tactile_force_metrics.json
@@ -0,0 +1,9 @@
+{
+  "depth_peak": 0.0009206316899508238,
+  "shear_peak": 0.0018709931755438447,
+  "force_magnitude_peak": 0.0020071417093276978,
+  "reference_frame_count": 0,
+  "dataset_name": "dag911262r00035d_lerobot_0327_114353",
+  "episode_index": 542,
+  "sensor": "gripper_left_tactile"
+}
\ No newline at end of file
diff --git a/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_09-30/outputs_tactile/tactile_cache/dag911262r00035d_lerobot_0327_114353_7434c583/episodes/ep000543/gripper_left_tactile_contact_metrics.json b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_09-30/outputs_tactile/tactile_cache/dag911262r00035d_lerobot_0327_114353_7434c583/episodes/ep000543/gripper_left_tactile_contact_metrics.json
new file mode 100644
index 0000000000000000000000000000000000000000..4b244f31e7f0cab13ee913541846164099f5f383
--- /dev/null
+++ b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_09-30/outputs_tactile/tactile_cache/dag911262r00035d_lerobot_0327_114353_7434c583/episodes/ep000543/gripper_left_tactile_contact_metrics.json
@@ -0,0 +1,12 @@
+{
+  "contact_time": 2.7333333333333334,
+  "contact_ratio": 0.33884297520661155,
+  "avg_contact_area": 490.4024390243902,
+  "contact_entropy": 0.20500629200461273,
+  "total_frames": 242,
+  "fps": 30.0,
+  "reference_frame_count": 0,
+  "dataset_name": "dag911262r00035d_lerobot_0327_114353",
+  "episode_index": 543,
+  "sensor": "gripper_left_tactile"
+}
\ No newline at end of file