diff --git a/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_09-30/outputs_tactile/tactile_cache/dag911262r00035d_lerobot_0327_114353_7434c583/episodes/ep000108/gripper_right_tactile_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/ep000108/gripper_right_tactile_force_metrics.json
new file mode 100644
index 0000000000000000000000000000000000000000..3ca5615b8754e54e6ec71ebd8de3c192bbf83748
--- /dev/null
+++ b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_09-30/outputs_tactile/tactile_cache/dag911262r00035d_lerobot_0327_114353_7434c583/episodes/ep000108/gripper_right_tactile_force_metrics.json
@@ -0,0 +1,9 @@
+{
+  "depth_peak": 0.0007723026792518795,
+  "shear_peak": 0.0031971344724297523,
+  "force_magnitude_peak": 0.003201898653060198,
+  "reference_frame_count": 0,
+  "dataset_name": "dag911262r00035d_lerobot_0327_114353",
+  "episode_index": 108,
+  "sensor": "gripper_right_tactile"
+}
\ No newline at end of file
diff --git a/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_09-30/outputs_tactile/tactile_cache/dag911262r00035d_lerobot_0327_114353_7434c583/episodes/ep000109/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/ep000109/gripper_right_tactile_force_metrics.json
new file mode 100644
index 0000000000000000000000000000000000000000..3970bec7ed27dfb8eabb7b8eca069a48c9fdc228
--- /dev/null
+++ b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_09-30/outputs_tactile/tactile_cache/dag911262r00035d_lerobot_0327_114353_7434c583/episodes/ep000109/gripper_right_tactile_force_metrics.json
@@ -0,0 +1,9 @@
+{
+  "depth_peak": 0.00039371292223222554,
+  "shear_peak": 0.0012582193594425917,
+  "force_magnitude_peak": 0.0019091893918812275,
+  "reference_frame_count": 0,
+  "dataset_name": "dag911262r00035d_lerobot_0327_114353",
+  "episode_index": 109,
+  "sensor": "gripper_right_tactile"
+}
\ No newline at end of file
diff --git a/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_09-30/outputs_tactile/tactile_cache/dag911262r00035d_lerobot_0327_114353_7434c583/episodes/ep000112/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/ep000112/gripper_right_tactile_force_metrics.json
new file mode 100644
index 0000000000000000000000000000000000000000..182e2be52e75f7e4af1de28b2b7d3ff35717ff2a
--- /dev/null
+++ b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_09-30/outputs_tactile/tactile_cache/dag911262r00035d_lerobot_0327_114353_7434c583/episodes/ep000112/gripper_right_tactile_force_metrics.json
@@ -0,0 +1,9 @@
+{
+  "depth_peak": 0.00012147465167799965,
+  "shear_peak": 0.0033535754773765802,
+  "force_magnitude_peak": 0.0035135652869939804,
+  "reference_frame_count": 0,
+  "dataset_name": "dag911262r00035d_lerobot_0327_114353",
+  "episode_index": 112,
+  "sensor": "gripper_right_tactile"
+}
\ No newline at end of file
diff --git a/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_09-30/outputs_tactile/tactile_cache/dag911262r00035d_lerobot_0327_114353_7434c583/episodes/ep000119/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/ep000119/gripper_right_tactile_contact_metrics.json
new file mode 100644
index 0000000000000000000000000000000000000000..e734c8caaa07c05665450406e30e5ab8a645b180
--- /dev/null
+++ b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_09-30/outputs_tactile/tactile_cache/dag911262r00035d_lerobot_0327_114353_7434c583/episodes/ep000119/gripper_right_tactile_contact_metrics.json
@@ -0,0 +1,12 @@
+{
+  "contact_time": 2.8,
+  "contact_ratio": 0.5957446808510638,
+  "avg_contact_area": 1461.5833333333333,
+  "contact_entropy": 0.6522831908181526,
+  "total_frames": 141,
+  "fps": 30.0,
+  "reference_frame_count": 0,
+  "dataset_name": "dag911262r00035d_lerobot_0327_114353",
+  "episode_index": 119,
+  "sensor": "gripper_right_tactile"
+}
\ No newline at end of file
diff --git a/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_09-30/outputs_tactile/tactile_cache/dag911262r00035d_lerobot_0327_114353_7434c583/episodes/ep000120/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/ep000120/gripper_right_tactile_contact_metrics.json
new file mode 100644
index 0000000000000000000000000000000000000000..ae8a09febfda5823721c96fe84d6127745a2c6e0
--- /dev/null
+++ b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_09-30/outputs_tactile/tactile_cache/dag911262r00035d_lerobot_0327_114353_7434c583/episodes/ep000120/gripper_right_tactile_contact_metrics.json
@@ -0,0 +1,12 @@
+{
+  "contact_time": 0.7333333333333333,
+  "contact_ratio": 0.12716763005780346,
+  "avg_contact_area": 1.5454545454545454,
+  "contact_entropy": 0.0,
+  "total_frames": 173,
+  "fps": 30.0,
+  "reference_frame_count": 0,
+  "dataset_name": "dag911262r00035d_lerobot_0327_114353",
+  "episode_index": 120,
+  "sensor": "gripper_right_tactile"
+}
\ No newline at end of file
diff --git a/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_09-30/outputs_tactile/tactile_cache/dag911262r00035d_lerobot_0327_114353_7434c583/episodes/ep000121/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/ep000121/gripper_right_tactile_contact_metrics.json
new file mode 100644
index 0000000000000000000000000000000000000000..8dd87b2eff212c499b2d2efb67a7b76abc6b2d50
--- /dev/null
+++ b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_09-30/outputs_tactile/tactile_cache/dag911262r00035d_lerobot_0327_114353_7434c583/episodes/ep000121/gripper_right_tactile_contact_metrics.json
@@ -0,0 +1,12 @@
+{
+  "contact_time": 4.2,
+  "contact_ratio": 0.5753424657534246,
+  "avg_contact_area": 330.1746031746032,
+  "contact_entropy": 0.005057886141663889,
+  "total_frames": 219,
+  "fps": 30.0,
+  "reference_frame_count": 0,
+  "dataset_name": "dag911262r00035d_lerobot_0327_114353",
+  "episode_index": 121,
+  "sensor": "gripper_right_tactile"
+}
\ No newline at end of file
diff --git a/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_09-30/outputs_tactile/tactile_cache/dag911262r00035d_lerobot_0327_114353_7434c583/episodes/ep000123/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/ep000123/gripper_right_tactile_contact_metrics.json
new file mode 100644
index 0000000000000000000000000000000000000000..cd06811fb8e11996f14780e353acac510c9215af
--- /dev/null
+++ b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_09-30/outputs_tactile/tactile_cache/dag911262r00035d_lerobot_0327_114353_7434c583/episodes/ep000123/gripper_right_tactile_contact_metrics.json
@@ -0,0 +1,12 @@
+{
+  "contact_time": 4.2,
+  "contact_ratio": 0.5,
+  "avg_contact_area": 41.57936507936508,
+  "contact_entropy": 0.0,
+  "total_frames": 252,
+  "fps": 30.0,
+  "reference_frame_count": 0,
+  "dataset_name": "dag911262r00035d_lerobot_0327_114353",
+  "episode_index": 123,
+  "sensor": "gripper_right_tactile"
+}
\ No newline at end of file
diff --git a/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_09-30/outputs_tactile/tactile_cache/dag911262r00035d_lerobot_0327_114353_7434c583/episodes/ep000128/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/ep000128/gripper_right_tactile_force_metrics.json
new file mode 100644
index 0000000000000000000000000000000000000000..04897188e8c20a985d88c492573969594a771ffb
--- /dev/null
+++ b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_09-30/outputs_tactile/tactile_cache/dag911262r00035d_lerobot_0327_114353_7434c583/episodes/ep000128/gripper_right_tactile_force_metrics.json
@@ -0,0 +1,9 @@
+{
+  "depth_peak": 0.0022457388695329428,
+  "shear_peak": 0.005615224130451679,
+  "force_magnitude_peak": 0.0057392483577132225,
+  "reference_frame_count": 0,
+  "dataset_name": "dag911262r00035d_lerobot_0327_114353",
+  "episode_index": 128,
+  "sensor": "gripper_right_tactile"
+}
\ No newline at end of file
diff --git a/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_09-30/outputs_tactile/tactile_cache/dag911262r00035d_lerobot_0327_114353_7434c583/episodes/ep000129/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/ep000129/gripper_left_tactile_force_metrics.json
new file mode 100644
index 0000000000000000000000000000000000000000..40c03cc04784b78be02c337fa9ebbb2bab3dd5d6
--- /dev/null
+++ b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_09-30/outputs_tactile/tactile_cache/dag911262r00035d_lerobot_0327_114353_7434c583/episodes/ep000129/gripper_left_tactile_force_metrics.json
@@ -0,0 +1,9 @@
+{
+  "depth_peak": 0.004222207702696323,
+  "shear_peak": 0.0008670089300721884,
+  "force_magnitude_peak": 0.004266762640327215,
+  "reference_frame_count": 0,
+  "dataset_name": "dag911262r00035d_lerobot_0327_114353",
+  "episode_index": 129,
+  "sensor": "gripper_left_tactile"
+}
\ No newline at end of file
diff --git a/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_09-30/outputs_tactile/tactile_cache/dag911262r00035d_lerobot_0327_114353_7434c583/episodes/ep000135/gripper_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/ep000135/gripper_right_tactile_contact_metrics.json
new file mode 100644
index 0000000000000000000000000000000000000000..b37b65a71a41e2d765fec57ec8cda4b3632768da
--- /dev/null
+++ b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_09-30/outputs_tactile/tactile_cache/dag911262r00035d_lerobot_0327_114353_7434c583/episodes/ep000135/gripper_right_tactile_contact_metrics.json
@@ -0,0 +1,12 @@
+{
+  "contact_time": 4.133333333333334,
+  "contact_ratio": 0.8266666666666667,
+  "avg_contact_area": 3263.8790322580644,
+  "contact_entropy": 0.5079960754610193,
+  "total_frames": 150,
+  "fps": 30.0,
+  "reference_frame_count": 0,
+  "dataset_name": "dag911262r00035d_lerobot_0327_114353",
+  "episode_index": 135,
+  "sensor": "gripper_right_tactile"
+}
\ No newline at end of file
diff --git a/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_09-30/outputs_tactile/tactile_cache/dag911262r00035d_lerobot_0327_114353_7434c583/episodes/ep000138/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/ep000138/gripper_right_tactile_force_metrics.json
new file mode 100644
index 0000000000000000000000000000000000000000..aba429edfc888848a5e4ea86d54038704099d5eb
--- /dev/null
+++ b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_09-30/outputs_tactile/tactile_cache/dag911262r00035d_lerobot_0327_114353_7434c583/episodes/ep000138/gripper_right_tactile_force_metrics.json
@@ -0,0 +1,9 @@
+{
+  "depth_peak": 0.00029175030067563057,
+  "shear_peak": 0.001554904505610466,
+  "force_magnitude_peak": 0.0017528753960505128,
+  "reference_frame_count": 0,
+  "dataset_name": "dag911262r00035d_lerobot_0327_114353",
+  "episode_index": 138,
+  "sensor": "gripper_right_tactile"
+}
\ No newline at end of file
diff --git a/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_09-30/outputs_tactile/tactile_cache/dag911262r00035d_lerobot_0327_114353_7434c583/episodes/ep000145/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/ep000145/gripper_left_tactile_force_metrics.json
new file mode 100644
index 0000000000000000000000000000000000000000..4ac2b044e9f82ec69707fa01eec0470874735e53
--- /dev/null
+++ b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_09-30/outputs_tactile/tactile_cache/dag911262r00035d_lerobot_0327_114353_7434c583/episodes/ep000145/gripper_left_tactile_force_metrics.json
@@ -0,0 +1,9 @@
+{
+  "depth_peak": 0.005349338054656982,
+  "shear_peak": 0.002168460516259074,
+  "force_magnitude_peak": 0.00558106554672122,
+  "reference_frame_count": 0,
+  "dataset_name": "dag911262r00035d_lerobot_0327_114353",
+  "episode_index": 145,
+  "sensor": "gripper_left_tactile"
+}
\ No newline at end of file
diff --git a/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_09-30/outputs_tactile/tactile_cache/dag911262r00035d_lerobot_0327_114353_7434c583/episodes/ep000146/gripper_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/ep000146/gripper_left_tactile_contact_metrics.json
new file mode 100644
index 0000000000000000000000000000000000000000..da7ac7117d5547acb078e6911890517cd1e32b96
--- /dev/null
+++ b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_09-30/outputs_tactile/tactile_cache/dag911262r00035d_lerobot_0327_114353_7434c583/episodes/ep000146/gripper_left_tactile_contact_metrics.json
@@ -0,0 +1,12 @@
+{
+  "contact_time": 4.366666666666666,
+  "contact_ratio": 0.3742857142857143,
+  "avg_contact_area": 1056.2137404580153,
+  "contact_entropy": 0.5392234362191509,
+  "total_frames": 350,
+  "fps": 30.0,
+  "reference_frame_count": 0,
+  "dataset_name": "dag911262r00035d_lerobot_0327_114353",
+  "episode_index": 146,
+  "sensor": "gripper_left_tactile"
+}
\ No newline at end of file
diff --git a/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_09-30/outputs_tactile/tactile_cache/dag911262r00035d_lerobot_0327_114353_7434c583/episodes/ep000148/gripper_right_tactile_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/ep000148/gripper_right_tactile_force_metrics.json
new file mode 100644
index 0000000000000000000000000000000000000000..7fd172043cff22cf91729c5163f9027b07b751b2
--- /dev/null
+++ b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_09-30/outputs_tactile/tactile_cache/dag911262r00035d_lerobot_0327_114353_7434c583/episodes/ep000148/gripper_right_tactile_force_metrics.json
@@ -0,0 +1,9 @@
+{
+  "depth_peak": 0.0005145444301888347,
+  "shear_peak": 0.0015787172596901655,
+  "force_magnitude_peak": 0.0016366224735975266,
+  "reference_frame_count": 0,
+  "dataset_name": "dag911262r00035d_lerobot_0327_114353",
+  "episode_index": 148,
+  "sensor": "gripper_right_tactile"
+}
\ No newline at end of file
diff --git a/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_09-30/outputs_tactile/tactile_cache/dag911262r00035d_lerobot_0327_114353_7434c583/episodes/ep000149/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/ep000149/gripper_left_tactile_force_metrics.json
new file mode 100644
index 0000000000000000000000000000000000000000..b2890b7f66dcf80a5da19d47c3bacd3d5a939adb
--- /dev/null
+++ b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_09-30/outputs_tactile/tactile_cache/dag911262r00035d_lerobot_0327_114353_7434c583/episodes/ep000149/gripper_left_tactile_force_metrics.json
@@ -0,0 +1,9 @@
+{
+  "depth_peak": 0.005857723765075207,
+  "shear_peak": 0.0022883075289428234,
+  "force_magnitude_peak": 0.006054756697267294,
+  "reference_frame_count": 0,
+  "dataset_name": "dag911262r00035d_lerobot_0327_114353",
+  "episode_index": 149,
+  "sensor": "gripper_left_tactile"
+}
\ No newline at end of file
diff --git a/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_09-30/outputs_tactile/tactile_cache/dag911262r00035d_lerobot_0327_114353_7434c583/episodes/ep000149/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/ep000149/gripper_right_tactile_force_metrics.json
new file mode 100644
index 0000000000000000000000000000000000000000..5b3fae67b950e97811d91f9b5aa110ceafc0fbbe
--- /dev/null
+++ b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_09-30/outputs_tactile/tactile_cache/dag911262r00035d_lerobot_0327_114353_7434c583/episodes/ep000149/gripper_right_tactile_force_metrics.json
@@ -0,0 +1,9 @@
+{
+  "depth_peak": 0.00018208030087407678,
+  "shear_peak": 0.001989596989005804,
+  "force_magnitude_peak": 0.0021564511116594076,
+  "reference_frame_count": 0,
+  "dataset_name": "dag911262r00035d_lerobot_0327_114353",
+  "episode_index": 149,
+  "sensor": "gripper_right_tactile"
+}
\ No newline at end of file
diff --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_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/ep000152/gripper_right_tactile_force_metrics.json
new file mode 100644
index 0000000000000000000000000000000000000000..160997ce042d6cf89bf01489601e692b7bb3ae84
--- /dev/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_right_tactile_force_metrics.json
@@ -0,0 +1,9 @@
+{
+  "depth_peak": 0.0003400234563741833,
+  "shear_peak": 0.0008641097228974104,
+  "force_magnitude_peak": 0.001749178278259933,
+  "reference_frame_count": 0,
+  "dataset_name": "dag911262r00035d_lerobot_0327_114353",
+  "episode_index": 152,
+  "sensor": "gripper_right_tactile"
+}
\ No newline at end of file
diff --git a/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_09-30/outputs_tactile/tactile_cache/dag911262r00035d_lerobot_0327_114353_7434c583/episodes/ep000153/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/ep000153/gripper_left_tactile_contact_metrics.json
new file mode 100644
index 0000000000000000000000000000000000000000..0d9782f42489d018d38ac4b3dfe61b7c569dc592
--- /dev/null
+++ b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_09-30/outputs_tactile/tactile_cache/dag911262r00035d_lerobot_0327_114353_7434c583/episodes/ep000153/gripper_left_tactile_contact_metrics.json
@@ -0,0 +1,12 @@
+{
+  "contact_time": 5.6,
+  "contact_ratio": 0.7887323943661971,
+  "avg_contact_area": 1465.6011904761904,
+  "contact_entropy": 0.8065698173865664,
+  "total_frames": 213,
+  "fps": 30.0,
+  "reference_frame_count": 0,
+  "dataset_name": "dag911262r00035d_lerobot_0327_114353",
+  "episode_index": 153,
+  "sensor": "gripper_left_tactile"
+}
\ No newline at end of file
diff --git a/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_09-30/outputs_tactile/tactile_cache/dag911262r00035d_lerobot_0327_114353_7434c583/episodes/ep000159/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/ep000159/gripper_right_tactile_contact_metrics.json
new file mode 100644
index 0000000000000000000000000000000000000000..bdb931d3e4f16c3b5d17edf3bbe2f5a325883af7
--- /dev/null
+++ b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_09-30/outputs_tactile/tactile_cache/dag911262r00035d_lerobot_0327_114353_7434c583/episodes/ep000159/gripper_right_tactile_contact_metrics.json
@@ -0,0 +1,12 @@
+{
+  "contact_time": 2.8333333333333335,
+  "contact_ratio": 0.3046594982078853,
+  "avg_contact_area": 1829.2,
+  "contact_entropy": 0.0,
+  "total_frames": 279,
+  "fps": 30.0,
+  "reference_frame_count": 0,
+  "dataset_name": "dag911262r00035d_lerobot_0327_114353",
+  "episode_index": 159,
+  "sensor": "gripper_right_tactile"
+}
\ No newline at end of file
diff --git a/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_09-30/outputs_tactile/tactile_cache/dag911262r00035d_lerobot_0327_114353_7434c583/episodes/ep000160/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/ep000160/gripper_right_tactile_contact_metrics.json
new file mode 100644
index 0000000000000000000000000000000000000000..2df664be9ffde3730b8a432841528753033d30e4
--- /dev/null
+++ b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_09-30/outputs_tactile/tactile_cache/dag911262r00035d_lerobot_0327_114353_7434c583/episodes/ep000160/gripper_right_tactile_contact_metrics.json
@@ -0,0 +1,12 @@
+{
+  "contact_time": 4.666666666666667,
+  "contact_ratio": 0.6572769953051644,
+  "avg_contact_area": 2685.714285714286,
+  "contact_entropy": 0.650869096105338,
+  "total_frames": 213,
+  "fps": 30.0,
+  "reference_frame_count": 0,
+  "dataset_name": "dag911262r00035d_lerobot_0327_114353",
+  "episode_index": 160,
+  "sensor": "gripper_right_tactile"
+}
\ No newline at end of file
diff --git a/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_09-30/outputs_tactile/tactile_cache/dag911262r00035d_lerobot_0327_114353_7434c583/episodes/ep000161/gripper_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/ep000161/gripper_right_tactile_contact_metrics.json
new file mode 100644
index 0000000000000000000000000000000000000000..9cce98286f8214c4e0c9ddeec104bb167976fb43
--- /dev/null
+++ b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_09-30/outputs_tactile/tactile_cache/dag911262r00035d_lerobot_0327_114353_7434c583/episodes/ep000161/gripper_right_tactile_contact_metrics.json
@@ -0,0 +1,12 @@
+{
+  "contact_time": 6.6,
+  "contact_ratio": 0.8016194331983806,
+  "avg_contact_area": 1391.4646464646464,
+  "contact_entropy": 0.28204913438861035,
+  "total_frames": 247,
+  "fps": 30.0,
+  "reference_frame_count": 0,
+  "dataset_name": "dag911262r00035d_lerobot_0327_114353",
+  "episode_index": 161,
+  "sensor": "gripper_right_tactile"
+}
\ No newline at end of file
diff --git a/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_09-30/outputs_tactile/tactile_cache/dag911262r00035d_lerobot_0327_114353_7434c583/episodes/ep000163/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/ep000163/gripper_right_tactile_contact_metrics.json
new file mode 100644
index 0000000000000000000000000000000000000000..050eff4921f74b3fb9e945fa425192b6ba511665
--- /dev/null
+++ b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_09-30/outputs_tactile/tactile_cache/dag911262r00035d_lerobot_0327_114353_7434c583/episodes/ep000163/gripper_right_tactile_contact_metrics.json
@@ -0,0 +1,12 @@
+{
+  "contact_time": 2.0,
+  "contact_ratio": 0.25862068965517243,
+  "avg_contact_area": 347.7,
+  "contact_entropy": 0.0,
+  "total_frames": 232,
+  "fps": 30.0,
+  "reference_frame_count": 0,
+  "dataset_name": "dag911262r00035d_lerobot_0327_114353",
+  "episode_index": 163,
+  "sensor": "gripper_right_tactile"
+}
\ No newline at end of file
diff --git a/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_09-30/outputs_tactile/tactile_cache/dag911262r00035d_lerobot_0327_114353_7434c583/episodes/ep000166/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/ep000166/gripper_left_tactile_contact_metrics.json
new file mode 100644
index 0000000000000000000000000000000000000000..e2c0fa3bcce7138fb8553933cb618cbf47a253d9
--- /dev/null
+++ b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_09-30/outputs_tactile/tactile_cache/dag911262r00035d_lerobot_0327_114353_7434c583/episodes/ep000166/gripper_left_tactile_contact_metrics.json
@@ -0,0 +1,12 @@
+{
+  "contact_time": 4.5,
+  "contact_ratio": 0.5720338983050848,
+  "avg_contact_area": 5.555555555555555,
+  "contact_entropy": 0.0,
+  "total_frames": 236,
+  "fps": 30.0,
+  "reference_frame_count": 0,
+  "dataset_name": "dag911262r00035d_lerobot_0327_114353",
+  "episode_index": 166,
+  "sensor": "gripper_left_tactile"
+}
\ No newline at end of file
diff --git a/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_09-30/outputs_tactile/tactile_cache/dag911262r00035d_lerobot_0327_114353_7434c583/episodes/ep000168/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/ep000168/gripper_left_tactile_contact_metrics.json
new file mode 100644
index 0000000000000000000000000000000000000000..1a1644a051dc701d25b0ea8f5546a9daf5959061
--- /dev/null
+++ b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_09-30/outputs_tactile/tactile_cache/dag911262r00035d_lerobot_0327_114353_7434c583/episodes/ep000168/gripper_left_tactile_contact_metrics.json
@@ -0,0 +1,12 @@
+{
+  "contact_time": 5.633333333333334,
+  "contact_ratio": 0.678714859437751,
+  "avg_contact_area": 355.66272189349115,
+  "contact_entropy": 0.35496122372920985,
+  "total_frames": 249,
+  "fps": 30.0,
+  "reference_frame_count": 0,
+  "dataset_name": "dag911262r00035d_lerobot_0327_114353",
+  "episode_index": 168,
+  "sensor": "gripper_left_tactile"
+}
\ No newline at end of file
diff --git a/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_09-30/outputs_tactile/tactile_cache/dag911262r00035d_lerobot_0327_114353_7434c583/episodes/ep000168/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/ep000168/gripper_right_tactile_force_metrics.json
new file mode 100644
index 0000000000000000000000000000000000000000..d948783a66bff51c72d23545fc0ce25004374666
--- /dev/null
+++ b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_09-30/outputs_tactile/tactile_cache/dag911262r00035d_lerobot_0327_114353_7434c583/episodes/ep000168/gripper_right_tactile_force_metrics.json
@@ -0,0 +1,9 @@
+{
+  "depth_peak": 0.003969994373619556,
+  "shear_peak": 0.003292108653113246,
+  "force_magnitude_peak": 0.005157405976206064,
+  "reference_frame_count": 0,
+  "dataset_name": "dag911262r00035d_lerobot_0327_114353",
+  "episode_index": 168,
+  "sensor": "gripper_right_tactile"
+}
\ No newline at end of file
diff --git a/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_09-30/outputs_tactile/tactile_cache/dag911262r00035d_lerobot_0327_114353_7434c583/episodes/ep000169/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/ep000169/gripper_left_tactile_force_metrics.json
new file mode 100644
index 0000000000000000000000000000000000000000..93cc2c8029c3febd94874eec1cab0cffaa57550c
--- /dev/null
+++ b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_09-30/outputs_tactile/tactile_cache/dag911262r00035d_lerobot_0327_114353_7434c583/episodes/ep000169/gripper_left_tactile_force_metrics.json
@@ -0,0 +1,9 @@
+{
+  "depth_peak": 0.0015425313031300902,
+  "shear_peak": 0.001826030551455915,
+  "force_magnitude_peak": 0.0018428207840770483,
+  "reference_frame_count": 0,
+  "dataset_name": "dag911262r00035d_lerobot_0327_114353",
+  "episode_index": 169,
+  "sensor": "gripper_left_tactile"
+}
\ No newline at end of file
diff --git a/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_09-30/outputs_tactile/tactile_cache/dag911262r00035d_lerobot_0327_114353_7434c583/episodes/ep000173/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/ep000173/gripper_left_tactile_force_metrics.json
new file mode 100644
index 0000000000000000000000000000000000000000..fa73f2d6db6943eaccbeae44359f9033b0567e5c
--- /dev/null
+++ b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_09-30/outputs_tactile/tactile_cache/dag911262r00035d_lerobot_0327_114353_7434c583/episodes/ep000173/gripper_left_tactile_force_metrics.json
@@ -0,0 +1,9 @@
+{
+  "depth_peak": 0.0021805521100759506,
+  "shear_peak": 0.003865579143166542,
+  "force_magnitude_peak": 0.003975613042712212,
+  "reference_frame_count": 0,
+  "dataset_name": "dag911262r00035d_lerobot_0327_114353",
+  "episode_index": 173,
+  "sensor": "gripper_left_tactile"
+}
\ No newline at end of file
diff --git a/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_09-30/outputs_tactile/tactile_cache/dag911262r00035d_lerobot_0327_114353_7434c583/episodes/ep000175/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/ep000175/gripper_right_tactile_contact_metrics.json
new file mode 100644
index 0000000000000000000000000000000000000000..445b72d20b14f64425679c4f67cf544f7adb0483
--- /dev/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_right_tactile_contact_metrics.json
@@ -0,0 +1,12 @@
+{
+  "contact_time": 3.2,
+  "contact_ratio": 0.5303867403314917,
+  "avg_contact_area": 2930.6354166666665,
+  "contact_entropy": 0.2901890625991487,
+  "total_frames": 181,
+  "fps": 30.0,
+  "reference_frame_count": 0,
+  "dataset_name": "dag911262r00035d_lerobot_0327_114353",
+  "episode_index": 175,
+  "sensor": "gripper_right_tactile"
+}
\ No newline at end of file
diff --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_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/ep000178/gripper_right_tactile_force_metrics.json
new file mode 100644
index 0000000000000000000000000000000000000000..83b5f465adef31ce5acf72c95cfd82abc4812d90
--- /dev/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_right_tactile_force_metrics.json
@@ -0,0 +1,9 @@
+{
+  "depth_peak": 0.00021472506341524422,
+  "shear_peak": 0.0018030485371127725,
+  "force_magnitude_peak": 0.0018047422636300325,
+  "reference_frame_count": 0,
+  "dataset_name": "dag911262r00035d_lerobot_0327_114353",
+  "episode_index": 178,
+  "sensor": "gripper_right_tactile"
+}
\ No newline at end of file
diff --git a/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_09-30/outputs_tactile/tactile_cache/dag911262r00035d_lerobot_0327_114353_7434c583/episodes/ep000180/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/ep000180/gripper_left_tactile_force_metrics.json
new file mode 100644
index 0000000000000000000000000000000000000000..d1a50699fddd9897c2c6d8ce3e688c63387e337a
--- /dev/null
+++ b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_09-30/outputs_tactile/tactile_cache/dag911262r00035d_lerobot_0327_114353_7434c583/episodes/ep000180/gripper_left_tactile_force_metrics.json
@@ -0,0 +1,9 @@
+{
+  "depth_peak": 0.0026925387792289257,
+  "shear_peak": 0.001629264559596777,
+  "force_magnitude_peak": 0.0027446127496659756,
+  "reference_frame_count": 0,
+  "dataset_name": "dag911262r00035d_lerobot_0327_114353",
+  "episode_index": 180,
+  "sensor": "gripper_left_tactile"
+}
\ No newline at end of file
diff --git a/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_09-30/outputs_tactile/tactile_cache/dag911262r00035d_lerobot_0327_114353_7434c583/episodes/ep000181/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/ep000181/gripper_left_tactile_contact_metrics.json
new file mode 100644
index 0000000000000000000000000000000000000000..7596ffa9929e6ce778768cb54f8697b8c12e9298
--- /dev/null
+++ b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_09-30/outputs_tactile/tactile_cache/dag911262r00035d_lerobot_0327_114353_7434c583/episodes/ep000181/gripper_left_tactile_contact_metrics.json
@@ -0,0 +1,12 @@
+{
+  "contact_time": 2.066666666666667,
+  "contact_ratio": 0.33695652173913043,
+  "avg_contact_area": 16.93548387096774,
+  "contact_entropy": 0.0,
+  "total_frames": 184,
+  "fps": 30.0,
+  "reference_frame_count": 0,
+  "dataset_name": "dag911262r00035d_lerobot_0327_114353",
+  "episode_index": 181,
+  "sensor": "gripper_left_tactile"
+}
\ No newline at end of file
diff --git a/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_09-30/outputs_tactile/tactile_cache/dag911262r00035d_lerobot_0327_114353_7434c583/episodes/ep000185/gripper_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/ep000185/gripper_left_tactile_force_metrics.json
new file mode 100644
index 0000000000000000000000000000000000000000..0aee3a2c1a99e4bb32bafe8091343179a2aab6f6
--- /dev/null
+++ b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_09-30/outputs_tactile/tactile_cache/dag911262r00035d_lerobot_0327_114353_7434c583/episodes/ep000185/gripper_left_tactile_force_metrics.json
@@ -0,0 +1,9 @@
+{
+  "depth_peak": 0.0036105187609791756,
+  "shear_peak": 0.0024511402007192373,
+  "force_magnitude_peak": 0.003629186423495412,
+  "reference_frame_count": 0,
+  "dataset_name": "dag911262r00035d_lerobot_0327_114353",
+  "episode_index": 185,
+  "sensor": "gripper_left_tactile"
+}
\ No newline at end of file
diff --git a/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_09-30/outputs_tactile/tactile_cache/dag911262r00035d_lerobot_0327_114353_7434c583/episodes/ep000186/gripper_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/ep000186/gripper_left_tactile_contact_metrics.json
new file mode 100644
index 0000000000000000000000000000000000000000..391673bb7f4dec9604fd7fb3b2020a5354aad325
--- /dev/null
+++ b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_09-30/outputs_tactile/tactile_cache/dag911262r00035d_lerobot_0327_114353_7434c583/episodes/ep000186/gripper_left_tactile_contact_metrics.json
@@ -0,0 +1,12 @@
+{
+  "contact_time": 16.8,
+  "contact_ratio": 0.7987321711568938,
+  "avg_contact_area": 2129.3849206349205,
+  "contact_entropy": 0.7679266077198246,
+  "total_frames": 631,
+  "fps": 30.0,
+  "reference_frame_count": 0,
+  "dataset_name": "dag911262r00035d_lerobot_0327_114353",
+  "episode_index": 186,
+  "sensor": "gripper_left_tactile"
+}
\ No newline at end of file
diff --git a/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_09-30/outputs_tactile/tactile_cache/dag911262r00035d_lerobot_0327_114353_7434c583/episodes/ep000188/gripper_right_tactile_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/ep000188/gripper_right_tactile_force_metrics.json
new file mode 100644
index 0000000000000000000000000000000000000000..22f743d5c4f4ff945529c88cbd931d0fbd743e3c
--- /dev/null
+++ b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_09-30/outputs_tactile/tactile_cache/dag911262r00035d_lerobot_0327_114353_7434c583/episodes/ep000188/gripper_right_tactile_force_metrics.json
@@ -0,0 +1,9 @@
+{
+  "depth_peak": 0.000968547654338181,
+  "shear_peak": 0.0026087916921824217,
+  "force_magnitude_peak": 0.0026089393068104982,
+  "reference_frame_count": 0,
+  "dataset_name": "dag911262r00035d_lerobot_0327_114353",
+  "episode_index": 188,
+  "sensor": "gripper_right_tactile"
+}
\ No newline at end of file
diff --git a/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_09-30/outputs_tactile/tactile_cache/dag911262r00035d_lerobot_0327_114353_7434c583/episodes/ep000189/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/ep000189/gripper_left_tactile_force_metrics.json
new file mode 100644
index 0000000000000000000000000000000000000000..feaa72285bd4d9566c0158887591aaa018b1754d
--- /dev/null
+++ b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_09-30/outputs_tactile/tactile_cache/dag911262r00035d_lerobot_0327_114353_7434c583/episodes/ep000189/gripper_left_tactile_force_metrics.json
@@ -0,0 +1,9 @@
+{
+  "depth_peak": 0.0002810273435898125,
+  "shear_peak": 0.005088945385068655,
+  "force_magnitude_peak": 0.005395815707743168,
+  "reference_frame_count": 0,
+  "dataset_name": "dag911262r00035d_lerobot_0327_114353",
+  "episode_index": 189,
+  "sensor": "gripper_left_tactile"
+}
\ No newline at end of file
diff --git a/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_09-30/outputs_tactile/tactile_cache/dag911262r00035d_lerobot_0327_114353_7434c583/episodes/ep000189/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/ep000189/gripper_right_tactile_force_metrics.json
new file mode 100644
index 0000000000000000000000000000000000000000..94463da3fa9a04af21c4fe8e4f1401a42d5c161f
--- /dev/null
+++ b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_09-30/outputs_tactile/tactile_cache/dag911262r00035d_lerobot_0327_114353_7434c583/episodes/ep000189/gripper_right_tactile_force_metrics.json
@@ -0,0 +1,9 @@
+{
+  "depth_peak": 0.009377376176416874,
+  "shear_peak": 0.005883845500648022,
+  "force_magnitude_peak": 0.009974692948162556,
+  "reference_frame_count": 0,
+  "dataset_name": "dag911262r00035d_lerobot_0327_114353",
+  "episode_index": 189,
+  "sensor": "gripper_right_tactile"
+}
\ No newline at end of file
diff --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_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/ep000192/gripper_right_tactile_force_metrics.json
new file mode 100644
index 0000000000000000000000000000000000000000..bd42ea996e0286122062df99a8c0f82249b9dabf
--- /dev/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_right_tactile_force_metrics.json
@@ -0,0 +1,9 @@
+{
+  "depth_peak": 0.007047333754599094,
+  "shear_peak": 0.005461065098643303,
+  "force_magnitude_peak": 0.007592863868921995,
+  "reference_frame_count": 0,
+  "dataset_name": "dag911262r00035d_lerobot_0327_114353",
+  "episode_index": 192,
+  "sensor": "gripper_right_tactile"
+}
\ No newline at end of file
diff --git a/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_09-30/outputs_tactile/tactile_cache/dag911262r00035d_lerobot_0327_114353_7434c583/episodes/ep000193/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/ep000193/gripper_left_tactile_contact_metrics.json
new file mode 100644
index 0000000000000000000000000000000000000000..04a2f40c4e6732e7b20a6a45365fcea4da911158
--- /dev/null
+++ b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_09-30/outputs_tactile/tactile_cache/dag911262r00035d_lerobot_0327_114353_7434c583/episodes/ep000193/gripper_left_tactile_contact_metrics.json
@@ -0,0 +1,12 @@
+{
+  "contact_time": 1.5666666666666667,
+  "contact_ratio": 0.2175925925925926,
+  "avg_contact_area": 1.574468085106383,
+  "contact_entropy": 0.0,
+  "total_frames": 216,
+  "fps": 30.0,
+  "reference_frame_count": 0,
+  "dataset_name": "dag911262r00035d_lerobot_0327_114353",
+  "episode_index": 193,
+  "sensor": "gripper_left_tactile"
+}
\ No newline at end of file
diff --git a/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_09-30/outputs_tactile/tactile_cache/dag911262r00035d_lerobot_0327_114353_7434c583/episodes/ep000199/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/ep000199/gripper_right_tactile_contact_metrics.json
new file mode 100644
index 0000000000000000000000000000000000000000..103025576a96a75e1d7bf01c8d5b1756f14cecb1
--- /dev/null
+++ b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_09-30/outputs_tactile/tactile_cache/dag911262r00035d_lerobot_0327_114353_7434c583/episodes/ep000199/gripper_right_tactile_contact_metrics.json
@@ -0,0 +1,12 @@
+{
+  "contact_time": 13.0,
+  "contact_ratio": 0.8280254777070064,
+  "avg_contact_area": 8156.707692307692,
+  "contact_entropy": 0.7534566624669077,
+  "total_frames": 471,
+  "fps": 30.0,
+  "reference_frame_count": 0,
+  "dataset_name": "dag911262r00035d_lerobot_0327_114353",
+  "episode_index": 199,
+  "sensor": "gripper_right_tactile"
+}
\ No newline at end of file
diff --git a/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_09-30/outputs_tactile/tactile_cache/dag911262r00035d_lerobot_0327_114353_7434c583/episodes/ep000200/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/ep000200/gripper_right_tactile_contact_metrics.json
new file mode 100644
index 0000000000000000000000000000000000000000..620e324a2b20b048290effe4b1a1dfa6c7339ae0
--- /dev/null
+++ b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_09-30/outputs_tactile/tactile_cache/dag911262r00035d_lerobot_0327_114353_7434c583/episodes/ep000200/gripper_right_tactile_contact_metrics.json
@@ -0,0 +1,12 @@
+{
+  "contact_time": 4.533333333333333,
+  "contact_ratio": 0.6634146341463415,
+  "avg_contact_area": 5578.058823529412,
+  "contact_entropy": 0.4417973601061738,
+  "total_frames": 205,
+  "fps": 30.0,
+  "reference_frame_count": 0,
+  "dataset_name": "dag911262r00035d_lerobot_0327_114353",
+  "episode_index": 200,
+  "sensor": "gripper_right_tactile"
+}
\ No newline at end of file
diff --git a/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_09-30/outputs_tactile/tactile_cache/dag911262r00035d_lerobot_0327_114353_7434c583/episodes/ep000201/gripper_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/ep000201/gripper_right_tactile_contact_metrics.json
new file mode 100644
index 0000000000000000000000000000000000000000..5a1aa10326b248cacf36abc9a146eb35eb9ed226
--- /dev/null
+++ b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_09-30/outputs_tactile/tactile_cache/dag911262r00035d_lerobot_0327_114353_7434c583/episodes/ep000201/gripper_right_tactile_contact_metrics.json
@@ -0,0 +1,12 @@
+{
+  "contact_time": 7.733333333333333,
+  "contact_ratio": 0.6010362694300518,
+  "avg_contact_area": 13480.094827586207,
+  "contact_entropy": 0.5003443730878525,
+  "total_frames": 386,
+  "fps": 30.0,
+  "reference_frame_count": 0,
+  "dataset_name": "dag911262r00035d_lerobot_0327_114353",
+  "episode_index": 201,
+  "sensor": "gripper_right_tactile"
+}
\ No newline at end of file
diff --git a/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_09-30/outputs_tactile/tactile_cache/dag911262r00035d_lerobot_0327_114353_7434c583/episodes/ep000203/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/ep000203/gripper_right_tactile_contact_metrics.json
new file mode 100644
index 0000000000000000000000000000000000000000..e316f5dff8e617b2e9df66dd79ea09537df2c29a
--- /dev/null
+++ b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_09-30/outputs_tactile/tactile_cache/dag911262r00035d_lerobot_0327_114353_7434c583/episodes/ep000203/gripper_right_tactile_contact_metrics.json
@@ -0,0 +1,12 @@
+{
+  "contact_time": 1.6,
+  "contact_ratio": 0.1563517915309446,
+  "avg_contact_area": 2998.3541666666665,
+  "contact_entropy": 0.16995193898200706,
+  "total_frames": 307,
+  "fps": 30.0,
+  "reference_frame_count": 0,
+  "dataset_name": "dag911262r00035d_lerobot_0327_114353",
+  "episode_index": 203,
+  "sensor": "gripper_right_tactile"
+}
\ No newline at end of file
diff --git a/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_09-30/outputs_tactile/tactile_cache/dag911262r00035d_lerobot_0327_114353_7434c583/episodes/ep000206/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/ep000206/gripper_left_tactile_contact_metrics.json
new file mode 100644
index 0000000000000000000000000000000000000000..e78a2e15d4c7daaa105894cae079e052c3542d77
--- /dev/null
+++ b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_09-30/outputs_tactile/tactile_cache/dag911262r00035d_lerobot_0327_114353_7434c583/episodes/ep000206/gripper_left_tactile_contact_metrics.json
@@ -0,0 +1,12 @@
+{
+  "contact_time": 6.633333333333334,
+  "contact_ratio": 0.7343173431734318,
+  "avg_contact_area": 543.4020100502513,
+  "contact_entropy": 0.4500423993723027,
+  "total_frames": 271,
+  "fps": 30.0,
+  "reference_frame_count": 0,
+  "dataset_name": "dag911262r00035d_lerobot_0327_114353",
+  "episode_index": 206,
+  "sensor": "gripper_left_tactile"
+}
\ No newline at end of file
diff --git a/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_09-30/outputs_tactile/tactile_cache/dag911262r00035d_lerobot_0327_114353_7434c583/episodes/ep000208/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/ep000208/gripper_left_tactile_contact_metrics.json
new file mode 100644
index 0000000000000000000000000000000000000000..65aeecf908eff57fccd511da934de720a0e5a4ec
--- /dev/null
+++ b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_09-30/outputs_tactile/tactile_cache/dag911262r00035d_lerobot_0327_114353_7434c583/episodes/ep000208/gripper_left_tactile_contact_metrics.json
@@ -0,0 +1,12 @@
+{
+  "contact_time": 4.133333333333334,
+  "contact_ratio": 0.6391752577319587,
+  "avg_contact_area": 351.4274193548387,
+  "contact_entropy": 0.0,
+  "total_frames": 194,
+  "fps": 30.0,
+  "reference_frame_count": 0,
+  "dataset_name": "dag911262r00035d_lerobot_0327_114353",
+  "episode_index": 208,
+  "sensor": "gripper_left_tactile"
+}
\ No newline at end of file
diff --git a/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_09-30/outputs_tactile/tactile_cache/dag911262r00035d_lerobot_0327_114353_7434c583/episodes/ep000208/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/ep000208/gripper_right_tactile_force_metrics.json
new file mode 100644
index 0000000000000000000000000000000000000000..58d9cbcc1574aafc66cd7c425c4586437ac8d3fa
--- /dev/null
+++ b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_09-30/outputs_tactile/tactile_cache/dag911262r00035d_lerobot_0327_114353_7434c583/episodes/ep000208/gripper_right_tactile_force_metrics.json
@@ -0,0 +1,9 @@
+{
+  "depth_peak": 0.0072147115133702755,
+  "shear_peak": 0.0015456678811460733,
+  "force_magnitude_peak": 0.007214789278805256,
+  "reference_frame_count": 0,
+  "dataset_name": "dag911262r00035d_lerobot_0327_114353",
+  "episode_index": 208,
+  "sensor": "gripper_right_tactile"
+}
\ No newline at end of file
diff --git a/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_09-30/outputs_tactile/tactile_cache/dag911262r00035d_lerobot_0327_114353_7434c583/episodes/ep000209/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/ep000209/gripper_left_tactile_force_metrics.json
new file mode 100644
index 0000000000000000000000000000000000000000..4dafe073c2fe5d458317832201496826f91bb3c0
--- /dev/null
+++ b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_09-30/outputs_tactile/tactile_cache/dag911262r00035d_lerobot_0327_114353_7434c583/episodes/ep000209/gripper_left_tactile_force_metrics.json
@@ -0,0 +1,9 @@
+{
+  "depth_peak": 0.006199985276907682,
+  "shear_peak": 0.004562183748930693,
+  "force_magnitude_peak": 0.006961086764931679,
+  "reference_frame_count": 0,
+  "dataset_name": "dag911262r00035d_lerobot_0327_114353",
+  "episode_index": 209,
+  "sensor": "gripper_left_tactile"
+}
\ No newline at end of file
diff --git a/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_09-30/outputs_tactile/tactile_cache/dag911262r00035d_lerobot_0327_114353_7434c583/episodes/ep000213/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/ep000213/gripper_left_tactile_force_metrics.json
new file mode 100644
index 0000000000000000000000000000000000000000..fd12162dcefbf8290c0cb620586a29fd6cba2e93
--- /dev/null
+++ b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_09-30/outputs_tactile/tactile_cache/dag911262r00035d_lerobot_0327_114353_7434c583/episodes/ep000213/gripper_left_tactile_force_metrics.json
@@ -0,0 +1,9 @@
+{
+  "depth_peak": 0.002482370939105749,
+  "shear_peak": 0.002124369377270341,
+  "force_magnitude_peak": 0.003223222913220525,
+  "reference_frame_count": 0,
+  "dataset_name": "dag911262r00035d_lerobot_0327_114353",
+  "episode_index": 213,
+  "sensor": "gripper_left_tactile"
+}
\ No newline at end of file
diff --git a/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_09-30/outputs_tactile/tactile_cache/dag911262r00035d_lerobot_0327_114353_7434c583/episodes/ep000215/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/ep000215/gripper_right_tactile_contact_metrics.json
new file mode 100644
index 0000000000000000000000000000000000000000..290b45d24f648fd13ddd20d90a3d435ad4ec4eae
--- /dev/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_right_tactile_contact_metrics.json
@@ -0,0 +1,12 @@
+{
+  "contact_time": 6.866666666666666,
+  "contact_ratio": 0.7330960854092526,
+  "avg_contact_area": 4799.5679611650485,
+  "contact_entropy": 0.3270489342335038,
+  "total_frames": 281,
+  "fps": 30.0,
+  "reference_frame_count": 0,
+  "dataset_name": "dag911262r00035d_lerobot_0327_114353",
+  "episode_index": 215,
+  "sensor": "gripper_right_tactile"
+}
\ No newline at end of file
diff --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_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/ep000218/gripper_right_tactile_force_metrics.json
new file mode 100644
index 0000000000000000000000000000000000000000..323b30c2b0a7917fc57adcdd4744ef86233b6918
--- /dev/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_right_tactile_force_metrics.json
@@ -0,0 +1,9 @@
+{
+  "depth_peak": 0.006670222617685795,
+  "shear_peak": 0.0012977860169485211,
+  "force_magnitude_peak": 0.0067034270614385605,
+  "reference_frame_count": 0,
+  "dataset_name": "dag911262r00035d_lerobot_0327_114353",
+  "episode_index": 218,
+  "sensor": "gripper_right_tactile"
+}
\ No newline at end of file
diff --git a/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_09-30/outputs_tactile/tactile_cache/dag911262r00035d_lerobot_0327_114353_7434c583/episodes/ep000220/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/ep000220/gripper_left_tactile_force_metrics.json
new file mode 100644
index 0000000000000000000000000000000000000000..9ea5f4669d02832ed47522109244893958c37a36
--- /dev/null
+++ b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_09-30/outputs_tactile/tactile_cache/dag911262r00035d_lerobot_0327_114353_7434c583/episodes/ep000220/gripper_left_tactile_force_metrics.json
@@ -0,0 +1,9 @@
+{
+  "depth_peak": 0.0006614334415644407,
+  "shear_peak": 0.002159705152735114,
+  "force_magnitude_peak": 0.0021628120448440313,
+  "reference_frame_count": 0,
+  "dataset_name": "dag911262r00035d_lerobot_0327_114353",
+  "episode_index": 220,
+  "sensor": "gripper_left_tactile"
+}
\ No newline at end of file
diff --git a/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_09-30/outputs_tactile/tactile_cache/dag911262r00035d_lerobot_0327_114353_7434c583/episodes/ep000221/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/ep000221/gripper_left_tactile_contact_metrics.json
new file mode 100644
index 0000000000000000000000000000000000000000..7e1a97a17d453ad022bc885259de3626043d3b48
--- /dev/null
+++ b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_09-30/outputs_tactile/tactile_cache/dag911262r00035d_lerobot_0327_114353_7434c583/episodes/ep000221/gripper_left_tactile_contact_metrics.json
@@ -0,0 +1,12 @@
+{
+  "contact_time": 13.8,
+  "contact_ratio": 0.6602870813397129,
+  "avg_contact_area": 3036.268115942029,
+  "contact_entropy": 0.8458425747542272,
+  "total_frames": 627,
+  "fps": 30.0,
+  "reference_frame_count": 0,
+  "dataset_name": "dag911262r00035d_lerobot_0327_114353",
+  "episode_index": 221,
+  "sensor": "gripper_left_tactile"
+}
\ No newline at end of file
diff --git a/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_09-30/outputs_tactile/tactile_cache/dag911262r00035d_lerobot_0327_114353_7434c583/episodes/ep000225/gripper_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/ep000225/gripper_left_tactile_force_metrics.json
new file mode 100644
index 0000000000000000000000000000000000000000..48df9e9a38a4e699e7346f55abc288e5e65b24e6
--- /dev/null
+++ b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_09-30/outputs_tactile/tactile_cache/dag911262r00035d_lerobot_0327_114353_7434c583/episodes/ep000225/gripper_left_tactile_force_metrics.json
@@ -0,0 +1,9 @@
+{
+  "depth_peak": 0.0016196401556953788,
+  "shear_peak": 0.002471383661031723,
+  "force_magnitude_peak": 0.002932286821305752,
+  "reference_frame_count": 0,
+  "dataset_name": "dag911262r00035d_lerobot_0327_114353",
+  "episode_index": 225,
+  "sensor": "gripper_left_tactile"
+}
\ No newline at end of file
diff --git a/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_09-30/outputs_tactile/tactile_cache/dag911262r00035d_lerobot_0327_114353_7434c583/episodes/ep000226/gripper_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/ep000226/gripper_left_tactile_contact_metrics.json
new file mode 100644
index 0000000000000000000000000000000000000000..10150a533c05d9fd91b3f61dc53dae361ac4f17f
--- /dev/null
+++ b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_09-30/outputs_tactile/tactile_cache/dag911262r00035d_lerobot_0327_114353_7434c583/episodes/ep000226/gripper_left_tactile_contact_metrics.json
@@ -0,0 +1,12 @@
+{
+  "contact_time": 8.833333333333334,
+  "contact_ratio": 0.7142857142857143,
+  "avg_contact_area": 166.49056603773585,
+  "contact_entropy": 0.041163940512617445,
+  "total_frames": 371,
+  "fps": 30.0,
+  "reference_frame_count": 0,
+  "dataset_name": "dag911262r00035d_lerobot_0327_114353",
+  "episode_index": 226,
+  "sensor": "gripper_left_tactile"
+}
\ No newline at end of file
diff --git a/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_09-30/outputs_tactile/tactile_cache/dag911262r00035d_lerobot_0327_114353_7434c583/episodes/ep000228/gripper_right_tactile_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/ep000228/gripper_right_tactile_force_metrics.json
new file mode 100644
index 0000000000000000000000000000000000000000..6468168c0369325a9d78b6c438e53623589a1cc8
--- /dev/null
+++ b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_09-30/outputs_tactile/tactile_cache/dag911262r00035d_lerobot_0327_114353_7434c583/episodes/ep000228/gripper_right_tactile_force_metrics.json
@@ -0,0 +1,9 @@
+{
+  "depth_peak": 0.008527379482984543,
+  "shear_peak": 0.00385044002905488,
+  "force_magnitude_peak": 0.008566793985664845,
+  "reference_frame_count": 0,
+  "dataset_name": "dag911262r00035d_lerobot_0327_114353",
+  "episode_index": 228,
+  "sensor": "gripper_right_tactile"
+}
\ No newline at end of file
diff --git a/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_09-30/outputs_tactile/tactile_cache/dag911262r00035d_lerobot_0327_114353_7434c583/episodes/ep000229/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/ep000229/gripper_left_tactile_force_metrics.json
new file mode 100644
index 0000000000000000000000000000000000000000..a74943ddb0a6e372a6343409054a35aee95a4135
--- /dev/null
+++ b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_09-30/outputs_tactile/tactile_cache/dag911262r00035d_lerobot_0327_114353_7434c583/episodes/ep000229/gripper_left_tactile_force_metrics.json
@@ -0,0 +1,9 @@
+{
+  "depth_peak": 0.0007308247731998563,
+  "shear_peak": 0.0024626951199024916,
+  "force_magnitude_peak": 0.0025206084828823805,
+  "reference_frame_count": 0,
+  "dataset_name": "dag911262r00035d_lerobot_0327_114353",
+  "episode_index": 229,
+  "sensor": "gripper_left_tactile"
+}
\ No newline at end of file
diff --git a/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_09-30/outputs_tactile/tactile_cache/dag911262r00035d_lerobot_0327_114353_7434c583/episodes/ep000229/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/ep000229/gripper_right_tactile_force_metrics.json
new file mode 100644
index 0000000000000000000000000000000000000000..615b31ec0eee5983b05e72f3f3060881116d2464
--- /dev/null
+++ b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_09-30/outputs_tactile/tactile_cache/dag911262r00035d_lerobot_0327_114353_7434c583/episodes/ep000229/gripper_right_tactile_force_metrics.json
@@ -0,0 +1,9 @@
+{
+  "depth_peak": 0.009105649776756763,
+  "shear_peak": 0.007857144810259342,
+  "force_magnitude_peak": 0.0120269525796175,
+  "reference_frame_count": 0,
+  "dataset_name": "dag911262r00035d_lerobot_0327_114353",
+  "episode_index": 229,
+  "sensor": "gripper_right_tactile"
+}
\ No newline at end of file
diff --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_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/ep000232/gripper_right_tactile_force_metrics.json
new file mode 100644
index 0000000000000000000000000000000000000000..6767cb513cf6392714a97af79d633f8091d952f5
--- /dev/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_right_tactile_force_metrics.json
@@ -0,0 +1,9 @@
+{
+  "depth_peak": 0.007116162218153477,
+  "shear_peak": 0.00773565424606204,
+  "force_magnitude_peak": 0.00830274447798729,
+  "reference_frame_count": 0,
+  "dataset_name": "dag911262r00035d_lerobot_0327_114353",
+  "episode_index": 232,
+  "sensor": "gripper_right_tactile"
+}
\ No newline at end of file
diff --git a/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_09-30/outputs_tactile/tactile_cache/dag911262r00035d_lerobot_0327_114353_7434c583/episodes/ep000233/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/ep000233/gripper_left_tactile_contact_metrics.json
new file mode 100644
index 0000000000000000000000000000000000000000..d95efa3ada9ca12f1b43c25188eb16673aef2937
--- /dev/null
+++ b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_09-30/outputs_tactile/tactile_cache/dag911262r00035d_lerobot_0327_114353_7434c583/episodes/ep000233/gripper_left_tactile_contact_metrics.json
@@ -0,0 +1,12 @@
+{
+  "contact_time": 2.3,
+  "contact_ratio": 0.3333333333333333,
+  "avg_contact_area": 167.34782608695653,
+  "contact_entropy": 0.0,
+  "total_frames": 207,
+  "fps": 30.0,
+  "reference_frame_count": 0,
+  "dataset_name": "dag911262r00035d_lerobot_0327_114353",
+  "episode_index": 233,
+  "sensor": "gripper_left_tactile"
+}
\ No newline at end of file
diff --git a/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_09-30/outputs_tactile/tactile_cache/dag911262r00035d_lerobot_0327_114353_7434c583/episodes/ep000239/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/ep000239/gripper_right_tactile_contact_metrics.json
new file mode 100644
index 0000000000000000000000000000000000000000..1e2d1fe41f2b8810e20e6e66afa93eebd347c6f3
--- /dev/null
+++ b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_09-30/outputs_tactile/tactile_cache/dag911262r00035d_lerobot_0327_114353_7434c583/episodes/ep000239/gripper_right_tactile_contact_metrics.json
@@ -0,0 +1,12 @@
+{
+  "contact_time": 7.1,
+  "contact_ratio": 0.6826923076923077,
+  "avg_contact_area": 4420.169014084507,
+  "contact_entropy": 0.14980048190631048,
+  "total_frames": 312,
+  "fps": 30.0,
+  "reference_frame_count": 0,
+  "dataset_name": "dag911262r00035d_lerobot_0327_114353",
+  "episode_index": 239,
+  "sensor": "gripper_right_tactile"
+}
\ No newline at end of file
diff --git a/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_09-30/outputs_tactile/tactile_cache/dag911262r00035d_lerobot_0327_114353_7434c583/episodes/ep000240/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/ep000240/gripper_right_tactile_contact_metrics.json
new file mode 100644
index 0000000000000000000000000000000000000000..30176d1bbaaa779f6694c0d7d0cd771a0230331f
--- /dev/null
+++ b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_09-30/outputs_tactile/tactile_cache/dag911262r00035d_lerobot_0327_114353_7434c583/episodes/ep000240/gripper_right_tactile_contact_metrics.json
@@ -0,0 +1,12 @@
+{
+  "contact_time": 4.0,
+  "contact_ratio": 0.7547169811320755,
+  "avg_contact_area": 12774.416666666666,
+  "contact_entropy": 0.1373560046354347,
+  "total_frames": 159,
+  "fps": 30.0,
+  "reference_frame_count": 0,
+  "dataset_name": "dag911262r00035d_lerobot_0327_114353",
+  "episode_index": 240,
+  "sensor": "gripper_right_tactile"
+}
\ No newline at end of file
diff --git a/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_09-30/outputs_tactile/tactile_cache/dag911262r00035d_lerobot_0327_114353_7434c583/episodes/ep000241/gripper_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/ep000241/gripper_right_tactile_contact_metrics.json
new file mode 100644
index 0000000000000000000000000000000000000000..c5c5e7c00503d9e6f5cba9bb56c10c8069ff65b8
--- /dev/null
+++ b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_09-30/outputs_tactile/tactile_cache/dag911262r00035d_lerobot_0327_114353_7434c583/episodes/ep000241/gripper_right_tactile_contact_metrics.json
@@ -0,0 +1,12 @@
+{
+  "contact_time": 6.466666666666667,
+  "contact_ratio": 0.8220338983050848,
+  "avg_contact_area": 16839.886597938144,
+  "contact_entropy": 0.16019923398505917,
+  "total_frames": 236,
+  "fps": 30.0,
+  "reference_frame_count": 0,
+  "dataset_name": "dag911262r00035d_lerobot_0327_114353",
+  "episode_index": 241,
+  "sensor": "gripper_right_tactile"
+}
\ No newline at end of file
diff --git a/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_09-30/outputs_tactile/tactile_cache/dag911262r00035d_lerobot_0327_114353_7434c583/episodes/ep000243/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/ep000243/gripper_right_tactile_contact_metrics.json
new file mode 100644
index 0000000000000000000000000000000000000000..f0e57d86d0b1b9095cb9336515d11921d602f4f5
--- /dev/null
+++ b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_09-30/outputs_tactile/tactile_cache/dag911262r00035d_lerobot_0327_114353_7434c583/episodes/ep000243/gripper_right_tactile_contact_metrics.json
@@ -0,0 +1,12 @@
+{
+  "contact_time": 9.7,
+  "contact_ratio": 0.6613636363636364,
+  "avg_contact_area": 10612.948453608247,
+  "contact_entropy": 0.4315947992470205,
+  "total_frames": 440,
+  "fps": 30.0,
+  "reference_frame_count": 0,
+  "dataset_name": "dag911262r00035d_lerobot_0327_114353",
+  "episode_index": 243,
+  "sensor": "gripper_right_tactile"
+}
\ No newline at end of file
diff --git a/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_09-30/outputs_tactile/tactile_cache/dag911262r00035d_lerobot_0327_114353_7434c583/episodes/ep000246/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/ep000246/gripper_left_tactile_contact_metrics.json
new file mode 100644
index 0000000000000000000000000000000000000000..637794db3219733e6df2d8aab22595cf15757538
--- /dev/null
+++ b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_09-30/outputs_tactile/tactile_cache/dag911262r00035d_lerobot_0327_114353_7434c583/episodes/ep000246/gripper_left_tactile_contact_metrics.json
@@ -0,0 +1,12 @@
+{
+  "contact_time": 3.1333333333333333,
+  "contact_ratio": 0.5222222222222223,
+  "avg_contact_area": 75.32978723404256,
+  "contact_entropy": 0.0,
+  "total_frames": 180,
+  "fps": 30.0,
+  "reference_frame_count": 0,
+  "dataset_name": "dag911262r00035d_lerobot_0327_114353",
+  "episode_index": 246,
+  "sensor": "gripper_left_tactile"
+}
\ No newline at end of file
diff --git a/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_09-30/outputs_tactile/tactile_cache/dag911262r00035d_lerobot_0327_114353_7434c583/episodes/ep000248/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/ep000248/gripper_left_tactile_contact_metrics.json
new file mode 100644
index 0000000000000000000000000000000000000000..a7619f4ff699e8a818b9bb2823c597d5b07779aa
--- /dev/null
+++ b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_09-30/outputs_tactile/tactile_cache/dag911262r00035d_lerobot_0327_114353_7434c583/episodes/ep000248/gripper_left_tactile_contact_metrics.json
@@ -0,0 +1,12 @@
+{
+  "contact_time": 3.2666666666666666,
+  "contact_ratio": 0.46445497630331756,
+  "avg_contact_area": 1220.8775510204082,
+  "contact_entropy": 0.019744247704627974,
+  "total_frames": 211,
+  "fps": 30.0,
+  "reference_frame_count": 0,
+  "dataset_name": "dag911262r00035d_lerobot_0327_114353",
+  "episode_index": 248,
+  "sensor": "gripper_left_tactile"
+}
\ No newline at end of file
diff --git a/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_09-30/outputs_tactile/tactile_cache/dag911262r00035d_lerobot_0327_114353_7434c583/episodes/ep000248/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/ep000248/gripper_right_tactile_force_metrics.json
new file mode 100644
index 0000000000000000000000000000000000000000..dfa3bfbe00b458bb4f27281df2592c85f1edeacd
--- /dev/null
+++ b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_09-30/outputs_tactile/tactile_cache/dag911262r00035d_lerobot_0327_114353_7434c583/episodes/ep000248/gripper_right_tactile_force_metrics.json
@@ -0,0 +1,9 @@
+{
+  "depth_peak": 0.012072610668838024,
+  "shear_peak": 0.0032171630300581455,
+  "force_magnitude_peak": 0.012329366989433765,
+  "reference_frame_count": 0,
+  "dataset_name": "dag911262r00035d_lerobot_0327_114353",
+  "episode_index": 248,
+  "sensor": "gripper_right_tactile"
+}
\ No newline at end of file
diff --git a/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_09-30/outputs_tactile/tactile_cache/dag911262r00035d_lerobot_0327_114353_7434c583/episodes/ep000249/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/ep000249/gripper_left_tactile_force_metrics.json
new file mode 100644
index 0000000000000000000000000000000000000000..ebd6e453ec76260825a9cef245c711cd316b2de1
--- /dev/null
+++ b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_09-30/outputs_tactile/tactile_cache/dag911262r00035d_lerobot_0327_114353_7434c583/episodes/ep000249/gripper_left_tactile_force_metrics.json
@@ -0,0 +1,9 @@
+{
+  "depth_peak": 0.010781319811940193,
+  "shear_peak": 0.017204269766807556,
+  "force_magnitude_peak": 0.01739424094557762,
+  "reference_frame_count": 0,
+  "dataset_name": "dag911262r00035d_lerobot_0327_114353",
+  "episode_index": 249,
+  "sensor": "gripper_left_tactile"
+}
\ No newline at end of file
diff --git a/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_09-30/outputs_tactile/tactile_cache/dag911262r00035d_lerobot_0327_114353_7434c583/episodes/ep000253/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/ep000253/gripper_left_tactile_force_metrics.json
new file mode 100644
index 0000000000000000000000000000000000000000..0ab94e82c557e2f215e3ce10da6b7e325cd8eeea
--- /dev/null
+++ b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_09-30/outputs_tactile/tactile_cache/dag911262r00035d_lerobot_0327_114353_7434c583/episodes/ep000253/gripper_left_tactile_force_metrics.json
@@ -0,0 +1,9 @@
+{
+  "depth_peak": 0.006119681987911463,
+  "shear_peak": 0.009394260123372078,
+  "force_magnitude_peak": 0.011211718432605267,
+  "reference_frame_count": 0,
+  "dataset_name": "dag911262r00035d_lerobot_0327_114353",
+  "episode_index": 253,
+  "sensor": "gripper_left_tactile"
+}
\ No newline at end of file
diff --git a/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_09-30/outputs_tactile/tactile_cache/dag911262r00035d_lerobot_0327_114353_7434c583/episodes/ep000255/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/ep000255/gripper_right_tactile_contact_metrics.json
new file mode 100644
index 0000000000000000000000000000000000000000..4e837a71851a6e0ece7091c8cdecfa9668d7ab72
--- /dev/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_right_tactile_contact_metrics.json
@@ -0,0 +1,12 @@
+{
+  "contact_time": 8.533333333333333,
+  "contact_ratio": 0.8284789644012945,
+  "avg_contact_area": 10609.7734375,
+  "contact_entropy": 0.2397684908361344,
+  "total_frames": 309,
+  "fps": 30.0,
+  "reference_frame_count": 0,
+  "dataset_name": "dag911262r00035d_lerobot_0327_114353",
+  "episode_index": 255,
+  "sensor": "gripper_right_tactile"
+}
\ No newline at end of file
diff --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_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/ep000258/gripper_right_tactile_force_metrics.json
new file mode 100644
index 0000000000000000000000000000000000000000..0e51a0d40bc797d47379fa303d92214a6f56b89c
--- /dev/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_right_tactile_force_metrics.json
@@ -0,0 +1,9 @@
+{
+  "depth_peak": 0.013627503998577595,
+  "shear_peak": 0.015965549275279045,
+  "force_magnitude_peak": 0.020979013293981552,
+  "reference_frame_count": 0,
+  "dataset_name": "dag911262r00035d_lerobot_0327_114353",
+  "episode_index": 258,
+  "sensor": "gripper_right_tactile"
+}
\ No newline at end of file
diff --git a/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_09-30/outputs_tactile/tactile_cache/dag911262r00035d_lerobot_0327_114353_7434c583/episodes/ep000260/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/ep000260/gripper_left_tactile_force_metrics.json
new file mode 100644
index 0000000000000000000000000000000000000000..58a9f2c3317bc0c38fde46933b28171d05593ade
--- /dev/null
+++ b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_09-30/outputs_tactile/tactile_cache/dag911262r00035d_lerobot_0327_114353_7434c583/episodes/ep000260/gripper_left_tactile_force_metrics.json
@@ -0,0 +1,9 @@
+{
+  "depth_peak": 0.0013277858961373568,
+  "shear_peak": 0.0028746325988322496,
+  "force_magnitude_peak": 0.0029796133749186993,
+  "reference_frame_count": 0,
+  "dataset_name": "dag911262r00035d_lerobot_0327_114353",
+  "episode_index": 260,
+  "sensor": "gripper_left_tactile"
+}
\ No newline at end of file
diff --git a/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_09-30/outputs_tactile/tactile_cache/dag911262r00035d_lerobot_0327_114353_7434c583/episodes/ep000261/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/ep000261/gripper_left_tactile_contact_metrics.json
new file mode 100644
index 0000000000000000000000000000000000000000..14641ef041c3b3c5adc0c00f8b2873039cf42f5f
--- /dev/null
+++ b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_09-30/outputs_tactile/tactile_cache/dag911262r00035d_lerobot_0327_114353_7434c583/episodes/ep000261/gripper_left_tactile_contact_metrics.json
@@ -0,0 +1,12 @@
+{
+  "contact_time": 8.233333333333333,
+  "contact_ratio": 0.5704387990762124,
+  "avg_contact_area": 210.23076923076923,
+  "contact_entropy": 0.35326304466534675,
+  "total_frames": 433,
+  "fps": 30.0,
+  "reference_frame_count": 0,
+  "dataset_name": "dag911262r00035d_lerobot_0327_114353",
+  "episode_index": 261,
+  "sensor": "gripper_left_tactile"
+}
\ No newline at end of file
diff --git a/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_09-30/outputs_tactile/tactile_cache/dag911262r00035d_lerobot_0327_114353_7434c583/episodes/ep000265/gripper_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/ep000265/gripper_left_tactile_force_metrics.json
new file mode 100644
index 0000000000000000000000000000000000000000..31c305905f78f90708bd7e152c2b3621cdc5b30b
--- /dev/null
+++ b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_09-30/outputs_tactile/tactile_cache/dag911262r00035d_lerobot_0327_114353_7434c583/episodes/ep000265/gripper_left_tactile_force_metrics.json
@@ -0,0 +1,9 @@
+{
+  "depth_peak": 0.0020648317877203226,
+  "shear_peak": 0.001999006373807788,
+  "force_magnitude_peak": 0.002164325211197138,
+  "reference_frame_count": 0,
+  "dataset_name": "dag911262r00035d_lerobot_0327_114353",
+  "episode_index": 265,
+  "sensor": "gripper_left_tactile"
+}
\ No newline at end of file
diff --git a/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_09-30/outputs_tactile/tactile_cache/dag911262r00035d_lerobot_0327_114353_7434c583/episodes/ep000266/gripper_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/ep000266/gripper_left_tactile_contact_metrics.json
new file mode 100644
index 0000000000000000000000000000000000000000..00a2fc110e26a7c6d4515bb21c6b714200bb6295
--- /dev/null
+++ b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_09-30/outputs_tactile/tactile_cache/dag911262r00035d_lerobot_0327_114353_7434c583/episodes/ep000266/gripper_left_tactile_contact_metrics.json
@@ -0,0 +1,12 @@
+{
+  "contact_time": 5.166666666666667,
+  "contact_ratio": 0.8157894736842105,
+  "avg_contact_area": 282.258064516129,
+  "contact_entropy": 0.11625723018966981,
+  "total_frames": 190,
+  "fps": 30.0,
+  "reference_frame_count": 0,
+  "dataset_name": "dag911262r00035d_lerobot_0327_114353",
+  "episode_index": 266,
+  "sensor": "gripper_left_tactile"
+}
\ No newline at end of file
diff --git a/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_09-30/outputs_tactile/tactile_cache/dag911262r00035d_lerobot_0327_114353_7434c583/episodes/ep000268/gripper_right_tactile_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/ep000268/gripper_right_tactile_force_metrics.json
new file mode 100644
index 0000000000000000000000000000000000000000..485e8265a76f3360440b5242f57ab6a491aa87e7
--- /dev/null
+++ b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_09-30/outputs_tactile/tactile_cache/dag911262r00035d_lerobot_0327_114353_7434c583/episodes/ep000268/gripper_right_tactile_force_metrics.json
@@ -0,0 +1,9 @@
+{
+  "depth_peak": 0.008930632844567299,
+  "shear_peak": 0.002305433386936784,
+  "force_magnitude_peak": 0.009185677394270897,
+  "reference_frame_count": 0,
+  "dataset_name": "dag911262r00035d_lerobot_0327_114353",
+  "episode_index": 268,
+  "sensor": "gripper_right_tactile"
+}
\ No newline at end of file
diff --git a/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_09-30/outputs_tactile/tactile_cache/dag911262r00035d_lerobot_0327_114353_7434c583/episodes/ep000269/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/ep000269/gripper_left_tactile_force_metrics.json
new file mode 100644
index 0000000000000000000000000000000000000000..7a7f187e888c626878c1514228ca53151ce9242e
--- /dev/null
+++ b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_09-30/outputs_tactile/tactile_cache/dag911262r00035d_lerobot_0327_114353_7434c583/episodes/ep000269/gripper_left_tactile_force_metrics.json
@@ -0,0 +1,9 @@
+{
+  "depth_peak": 0.0013870374532416463,
+  "shear_peak": 0.001959756249561906,
+  "force_magnitude_peak": 0.00275751412846148,
+  "reference_frame_count": 0,
+  "dataset_name": "dag911262r00035d_lerobot_0327_114353",
+  "episode_index": 269,
+  "sensor": "gripper_left_tactile"
+}
\ No newline at end of file
diff --git a/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_09-30/outputs_tactile/tactile_cache/dag911262r00035d_lerobot_0327_114353_7434c583/episodes/ep000269/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/ep000269/gripper_right_tactile_force_metrics.json
new file mode 100644
index 0000000000000000000000000000000000000000..4f2238d0f78b3dbf8225c40bbd6492d64c111a51
--- /dev/null
+++ b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_09-30/outputs_tactile/tactile_cache/dag911262r00035d_lerobot_0327_114353_7434c583/episodes/ep000269/gripper_right_tactile_force_metrics.json
@@ -0,0 +1,9 @@
+{
+  "depth_peak": 0.0027737426571547985,
+  "shear_peak": 0.01055262703448534,
+  "force_magnitude_peak": 0.010626890696585178,
+  "reference_frame_count": 0,
+  "dataset_name": "dag911262r00035d_lerobot_0327_114353",
+  "episode_index": 269,
+  "sensor": "gripper_right_tactile"
+}
\ No newline at end of file
diff --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_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/ep000272/gripper_right_tactile_force_metrics.json
new file mode 100644
index 0000000000000000000000000000000000000000..5c8257fd3e3e89275126c90cc09c38da80c721bf
--- /dev/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_right_tactile_force_metrics.json
@@ -0,0 +1,9 @@
+{
+  "depth_peak": 0.009419022127985954,
+  "shear_peak": 0.0050924988463521,
+  "force_magnitude_peak": 0.009657987393438816,
+  "reference_frame_count": 0,
+  "dataset_name": "dag911262r00035d_lerobot_0327_114353",
+  "episode_index": 272,
+  "sensor": "gripper_right_tactile"
+}
\ No newline at end of file
diff --git a/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_09-30/outputs_tactile/tactile_cache/dag911262r00035d_lerobot_0327_114353_7434c583/episodes/ep000273/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/ep000273/gripper_left_tactile_contact_metrics.json
new file mode 100644
index 0000000000000000000000000000000000000000..3bbfbcc1b9514f17d1fb2ec08f959440a557e331
--- /dev/null
+++ b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_09-30/outputs_tactile/tactile_cache/dag911262r00035d_lerobot_0327_114353_7434c583/episodes/ep000273/gripper_left_tactile_contact_metrics.json
@@ -0,0 +1,12 @@
+{
+  "contact_time": 11.8,
+  "contact_ratio": 0.9915966386554622,
+  "avg_contact_area": 2615.2655367231637,
+  "contact_entropy": 0.11453123421710434,
+  "total_frames": 357,
+  "fps": 30.0,
+  "reference_frame_count": 0,
+  "dataset_name": "dag911262r00035d_lerobot_0327_114353",
+  "episode_index": 273,
+  "sensor": "gripper_left_tactile"
+}
\ No newline at end of file
diff --git a/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_09-30/outputs_tactile/tactile_cache/dag911262r00035d_lerobot_0327_114353_7434c583/episodes/ep000279/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/ep000279/gripper_right_tactile_contact_metrics.json
new file mode 100644
index 0000000000000000000000000000000000000000..6cb707167c60a216ae81bb3a3b67bda2ea0ac85c
--- /dev/null
+++ b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_09-30/outputs_tactile/tactile_cache/dag911262r00035d_lerobot_0327_114353_7434c583/episodes/ep000279/gripper_right_tactile_contact_metrics.json
@@ -0,0 +1,12 @@
+{
+  "contact_time": 15.866666666666667,
+  "contact_ratio": 0.7300613496932515,
+  "avg_contact_area": 9721.432773109243,
+  "contact_entropy": 0.6668829581408902,
+  "total_frames": 652,
+  "fps": 30.0,
+  "reference_frame_count": 0,
+  "dataset_name": "dag911262r00035d_lerobot_0327_114353",
+  "episode_index": 279,
+  "sensor": "gripper_right_tactile"
+}
\ No newline at end of file
diff --git a/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_09-30/outputs_tactile/tactile_cache/dag911262r00035d_lerobot_0327_114353_7434c583/episodes/ep000280/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/ep000280/gripper_right_tactile_contact_metrics.json
new file mode 100644
index 0000000000000000000000000000000000000000..2ccce543175355540d63f9d4c9cc7f24e92cbd90
--- /dev/null
+++ b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_09-30/outputs_tactile/tactile_cache/dag911262r00035d_lerobot_0327_114353_7434c583/episodes/ep000280/gripper_right_tactile_contact_metrics.json
@@ -0,0 +1,12 @@
+{
+  "contact_time": 6.733333333333333,
+  "contact_ratio": 0.6412698412698413,
+  "avg_contact_area": 7363.4009900990095,
+  "contact_entropy": 0.59507172408823,
+  "total_frames": 315,
+  "fps": 30.0,
+  "reference_frame_count": 0,
+  "dataset_name": "dag911262r00035d_lerobot_0327_114353",
+  "episode_index": 280,
+  "sensor": "gripper_right_tactile"
+}
\ No newline at end of file
diff --git a/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_09-30/outputs_tactile/tactile_cache/dag911262r00035d_lerobot_0327_114353_7434c583/episodes/ep000281/gripper_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/ep000281/gripper_right_tactile_contact_metrics.json
new file mode 100644
index 0000000000000000000000000000000000000000..a5bfb17ff7339ae46e4a5108c58461f99d6a5f62
--- /dev/null
+++ b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_09-30/outputs_tactile/tactile_cache/dag911262r00035d_lerobot_0327_114353_7434c583/episodes/ep000281/gripper_right_tactile_contact_metrics.json
@@ -0,0 +1,12 @@
+{
+  "contact_time": 17.633333333333333,
+  "contact_ratio": 1.0,
+  "avg_contact_area": 10854.12854442344,
+  "contact_entropy": 0.1419757263497787,
+  "total_frames": 529,
+  "fps": 30.0,
+  "reference_frame_count": 0,
+  "dataset_name": "dag911262r00035d_lerobot_0327_114353",
+  "episode_index": 281,
+  "sensor": "gripper_right_tactile"
+}
\ No newline at end of file
diff --git a/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_09-30/outputs_tactile/tactile_cache/dag911262r00035d_lerobot_0327_114353_7434c583/episodes/ep000283/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/ep000283/gripper_right_tactile_contact_metrics.json
new file mode 100644
index 0000000000000000000000000000000000000000..a57babdf58d7d5131004f312f9dbe51cba9b3809
--- /dev/null
+++ b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_09-30/outputs_tactile/tactile_cache/dag911262r00035d_lerobot_0327_114353_7434c583/episodes/ep000283/gripper_right_tactile_contact_metrics.json
@@ -0,0 +1,12 @@
+{
+  "contact_time": 11.366666666666667,
+  "contact_ratio": 0.5158850226928896,
+  "avg_contact_area": 9967.475073313783,
+  "contact_entropy": 0.7064580078129247,
+  "total_frames": 661,
+  "fps": 30.0,
+  "reference_frame_count": 0,
+  "dataset_name": "dag911262r00035d_lerobot_0327_114353",
+  "episode_index": 283,
+  "sensor": "gripper_right_tactile"
+}
\ No newline at end of file
diff --git a/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_09-30/outputs_tactile/tactile_cache/dag911262r00035d_lerobot_0327_114353_7434c583/episodes/ep000286/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/ep000286/gripper_left_tactile_contact_metrics.json
new file mode 100644
index 0000000000000000000000000000000000000000..81c51fa5379168b65b5f4c268576a04660aad60d
--- /dev/null
+++ b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_09-30/outputs_tactile/tactile_cache/dag911262r00035d_lerobot_0327_114353_7434c583/episodes/ep000286/gripper_left_tactile_contact_metrics.json
@@ -0,0 +1,12 @@
+{
+  "contact_time": 8.766666666666667,
+  "contact_ratio": 0.7579250720461095,
+  "avg_contact_area": 1735.2243346007604,
+  "contact_entropy": 0.7798044431332962,
+  "total_frames": 347,
+  "fps": 30.0,
+  "reference_frame_count": 0,
+  "dataset_name": "dag911262r00035d_lerobot_0327_114353",
+  "episode_index": 286,
+  "sensor": "gripper_left_tactile"
+}
\ No newline at end of file
diff --git a/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_09-30/outputs_tactile/tactile_cache/dag911262r00035d_lerobot_0327_114353_7434c583/episodes/ep000288/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/ep000288/gripper_left_tactile_contact_metrics.json
new file mode 100644
index 0000000000000000000000000000000000000000..77959f36863b960dbd6a91b3a5004dfe27747575
--- /dev/null
+++ b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_09-30/outputs_tactile/tactile_cache/dag911262r00035d_lerobot_0327_114353_7434c583/episodes/ep000288/gripper_left_tactile_contact_metrics.json
@@ -0,0 +1,12 @@
+{
+  "contact_time": 8.3,
+  "contact_ratio": 0.7388724035608308,
+  "avg_contact_area": 1905.140562248996,
+  "contact_entropy": 0.41618011252671094,
+  "total_frames": 337,
+  "fps": 30.0,
+  "reference_frame_count": 0,
+  "dataset_name": "dag911262r00035d_lerobot_0327_114353",
+  "episode_index": 288,
+  "sensor": "gripper_left_tactile"
+}
\ No newline at end of file
diff --git a/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_09-30/outputs_tactile/tactile_cache/dag911262r00035d_lerobot_0327_114353_7434c583/episodes/ep000288/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/ep000288/gripper_right_tactile_force_metrics.json
new file mode 100644
index 0000000000000000000000000000000000000000..db90fe5a022c97c221413b944b56222136f63f7c
--- /dev/null
+++ b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_09-30/outputs_tactile/tactile_cache/dag911262r00035d_lerobot_0327_114353_7434c583/episodes/ep000288/gripper_right_tactile_force_metrics.json
@@ -0,0 +1,9 @@
+{
+  "depth_peak": 0.011234506033360958,
+  "shear_peak": 0.015125241130590439,
+  "force_magnitude_peak": 0.015565736219286919,
+  "reference_frame_count": 0,
+  "dataset_name": "dag911262r00035d_lerobot_0327_114353",
+  "episode_index": 288,
+  "sensor": "gripper_right_tactile"
+}
\ No newline at end of file
diff --git a/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_09-30/outputs_tactile/tactile_cache/dag911262r00035d_lerobot_0327_114353_7434c583/episodes/ep000289/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/ep000289/gripper_left_tactile_force_metrics.json
new file mode 100644
index 0000000000000000000000000000000000000000..1bc6dd43c9b3a80130b07df87773a6cfe44e9ade
--- /dev/null
+++ b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_09-30/outputs_tactile/tactile_cache/dag911262r00035d_lerobot_0327_114353_7434c583/episodes/ep000289/gripper_left_tactile_force_metrics.json
@@ -0,0 +1,9 @@
+{
+  "depth_peak": 0.0019701425917446613,
+  "shear_peak": 0.0018982973415404558,
+  "force_magnitude_peak": 0.0028236513026058674,
+  "reference_frame_count": 0,
+  "dataset_name": "dag911262r00035d_lerobot_0327_114353",
+  "episode_index": 289,
+  "sensor": "gripper_left_tactile"
+}
\ No newline at end of file
diff --git a/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_09-30/outputs_tactile/tactile_cache/dag911262r00035d_lerobot_0327_114353_7434c583/episodes/ep000293/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/ep000293/gripper_left_tactile_force_metrics.json
new file mode 100644
index 0000000000000000000000000000000000000000..b1e6691c9152426d5619a96725b5ff544491e963
--- /dev/null
+++ b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_09-30/outputs_tactile/tactile_cache/dag911262r00035d_lerobot_0327_114353_7434c583/episodes/ep000293/gripper_left_tactile_force_metrics.json
@@ -0,0 +1,9 @@
+{
+  "depth_peak": 0.005362462718039751,
+  "shear_peak": 0.002899078419432044,
+  "force_magnitude_peak": 0.00536519568413496,
+  "reference_frame_count": 0,
+  "dataset_name": "dag911262r00035d_lerobot_0327_114353",
+  "episode_index": 293,
+  "sensor": "gripper_left_tactile"
+}
\ No newline at end of file
diff --git a/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_09-30/outputs_tactile/tactile_cache/dag911262r00035d_lerobot_0327_114353_7434c583/episodes/ep000295/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/ep000295/gripper_right_tactile_contact_metrics.json
new file mode 100644
index 0000000000000000000000000000000000000000..a51a913ab1e6ca8e8bdc1f1e7f9ee0b96c91b74a
--- /dev/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_right_tactile_contact_metrics.json
@@ -0,0 +1,12 @@
+{
+  "contact_time": 20.0,
+  "contact_ratio": 0.96,
+  "avg_contact_area": 3843.6683333333335,
+  "contact_entropy": 0.3424080345178724,
+  "total_frames": 625,
+  "fps": 30.0,
+  "reference_frame_count": 0,
+  "dataset_name": "dag911262r00035d_lerobot_0327_114353",
+  "episode_index": 295,
+  "sensor": "gripper_right_tactile"
+}
\ No newline at end of file
diff --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_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/ep000298/gripper_right_tactile_force_metrics.json
new file mode 100644
index 0000000000000000000000000000000000000000..163a429aedd72383b5c7380c6ce3f5ba777012dc
--- /dev/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_right_tactile_force_metrics.json
@@ -0,0 +1,9 @@
+{
+  "depth_peak": 0.0026234006509184837,
+  "shear_peak": 0.01058107428252697,
+  "force_magnitude_peak": 0.01125403679907322,
+  "reference_frame_count": 0,
+  "dataset_name": "dag911262r00035d_lerobot_0327_114353",
+  "episode_index": 298,
+  "sensor": "gripper_right_tactile"
+}
\ No newline at end of file
diff --git a/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_09-30/outputs_tactile/tactile_cache/dag911262r00035d_lerobot_0327_114353_7434c583/episodes/ep000300/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/ep000300/gripper_left_tactile_force_metrics.json
new file mode 100644
index 0000000000000000000000000000000000000000..d12b4a1a11b6919d9af44d40cb9bb4ac8c56ca03
--- /dev/null
+++ b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_09-30/outputs_tactile/tactile_cache/dag911262r00035d_lerobot_0327_114353_7434c583/episodes/ep000300/gripper_left_tactile_force_metrics.json
@@ -0,0 +1,9 @@
+{
+  "depth_peak": 0.008294093422591686,
+  "shear_peak": 0.005512595642358065,
+  "force_magnitude_peak": 0.008701234124600887,
+  "reference_frame_count": 0,
+  "dataset_name": "dag911262r00035d_lerobot_0327_114353",
+  "episode_index": 300,
+  "sensor": "gripper_left_tactile"
+}
\ No newline at end of file
diff --git a/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_09-30/outputs_tactile/tactile_cache/dag911262r00035d_lerobot_0327_114353_7434c583/episodes/ep000301/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/ep000301/gripper_left_tactile_contact_metrics.json
new file mode 100644
index 0000000000000000000000000000000000000000..38623ad214e0e0d1b38c28de859c8ef8941bbfae
--- /dev/null
+++ b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_09-30/outputs_tactile/tactile_cache/dag911262r00035d_lerobot_0327_114353_7434c583/episodes/ep000301/gripper_left_tactile_contact_metrics.json
@@ -0,0 +1,12 @@
+{
+  "contact_time": 14.1,
+  "contact_ratio": 0.9484304932735426,
+  "avg_contact_area": 2345.9905437352245,
+  "contact_entropy": 0.7544793782596297,
+  "total_frames": 446,
+  "fps": 30.0,
+  "reference_frame_count": 0,
+  "dataset_name": "dag911262r00035d_lerobot_0327_114353",
+  "episode_index": 301,
+  "sensor": "gripper_left_tactile"
+}
\ No newline at end of file
diff --git a/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_09-30/outputs_tactile/tactile_cache/dag911262r00035d_lerobot_0327_114353_7434c583/episodes/ep000305/gripper_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/ep000305/gripper_left_tactile_force_metrics.json
new file mode 100644
index 0000000000000000000000000000000000000000..d98fa56c0e83a434dfc2fe14c4a9d39bde79a986
--- /dev/null
+++ b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_09-30/outputs_tactile/tactile_cache/dag911262r00035d_lerobot_0327_114353_7434c583/episodes/ep000305/gripper_left_tactile_force_metrics.json
@@ -0,0 +1,9 @@
+{
+  "depth_peak": 0.006398611702024937,
+  "shear_peak": 0.0030197675805538893,
+  "force_magnitude_peak": 0.006546130869537592,
+  "reference_frame_count": 0,
+  "dataset_name": "dag911262r00035d_lerobot_0327_114353",
+  "episode_index": 305,
+  "sensor": "gripper_left_tactile"
+}
\ No newline at end of file
diff --git a/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_09-30/outputs_tactile/tactile_cache/dag911262r00035d_lerobot_0327_114353_7434c583/episodes/ep000306/gripper_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/ep000306/gripper_left_tactile_contact_metrics.json
new file mode 100644
index 0000000000000000000000000000000000000000..7230169ae48cec26d37c292da4db0891302bf4d7
--- /dev/null
+++ b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_09-30/outputs_tactile/tactile_cache/dag911262r00035d_lerobot_0327_114353_7434c583/episodes/ep000306/gripper_left_tactile_contact_metrics.json
@@ -0,0 +1,12 @@
+{
+  "contact_time": 14.366666666666667,
+  "contact_ratio": 0.7966728280961183,
+  "avg_contact_area": 1418.368909512761,
+  "contact_entropy": 0.5404180386008883,
+  "total_frames": 541,
+  "fps": 30.0,
+  "reference_frame_count": 0,
+  "dataset_name": "dag911262r00035d_lerobot_0327_114353",
+  "episode_index": 306,
+  "sensor": "gripper_left_tactile"
+}
\ No newline at end of file
diff --git a/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_09-30/outputs_tactile/tactile_cache/dag911262r00035d_lerobot_0327_114353_7434c583/episodes/ep000308/gripper_right_tactile_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/ep000308/gripper_right_tactile_force_metrics.json
new file mode 100644
index 0000000000000000000000000000000000000000..e94194bb19bf53507e85a64df0f8330ef8d2f713
--- /dev/null
+++ b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_09-30/outputs_tactile/tactile_cache/dag911262r00035d_lerobot_0327_114353_7434c583/episodes/ep000308/gripper_right_tactile_force_metrics.json
@@ -0,0 +1,9 @@
+{
+  "depth_peak": 0.010081798769533634,
+  "shear_peak": 0.009136923588812351,
+  "force_magnitude_peak": 0.01191845815628767,
+  "reference_frame_count": 0,
+  "dataset_name": "dag911262r00035d_lerobot_0327_114353",
+  "episode_index": 308,
+  "sensor": "gripper_right_tactile"
+}
\ No newline at end of file
diff --git a/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_09-30/outputs_tactile/tactile_cache/dag911262r00035d_lerobot_0327_114353_7434c583/episodes/ep000309/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/ep000309/gripper_left_tactile_force_metrics.json
new file mode 100644
index 0000000000000000000000000000000000000000..4ca3920ba2ad94d57961961401c2113f5bd2c62c
--- /dev/null
+++ b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_09-30/outputs_tactile/tactile_cache/dag911262r00035d_lerobot_0327_114353_7434c583/episodes/ep000309/gripper_left_tactile_force_metrics.json
@@ -0,0 +1,9 @@
+{
+  "depth_peak": 0.014245112426578999,
+  "shear_peak": 0.01236385852098465,
+  "force_magnitude_peak": 0.015451694838702679,
+  "reference_frame_count": 0,
+  "dataset_name": "dag911262r00035d_lerobot_0327_114353",
+  "episode_index": 309,
+  "sensor": "gripper_left_tactile"
+}
\ No newline at end of file
diff --git a/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_09-30/outputs_tactile/tactile_cache/dag911262r00035d_lerobot_0327_114353_7434c583/episodes/ep000309/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/ep000309/gripper_right_tactile_force_metrics.json
new file mode 100644
index 0000000000000000000000000000000000000000..13ce017ca734ac98af3aa8a45b34b7d5e1b0270e
--- /dev/null
+++ b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_09-30/outputs_tactile/tactile_cache/dag911262r00035d_lerobot_0327_114353_7434c583/episodes/ep000309/gripper_right_tactile_force_metrics.json
@@ -0,0 +1,9 @@
+{
+  "depth_peak": 0.010003466159105301,
+  "shear_peak": 0.01045818068087101,
+  "force_magnitude_peak": 0.014472141861915588,
+  "reference_frame_count": 0,
+  "dataset_name": "dag911262r00035d_lerobot_0327_114353",
+  "episode_index": 309,
+  "sensor": "gripper_right_tactile"
+}
\ No newline at end of file
diff --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_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/ep000312/gripper_right_tactile_force_metrics.json
new file mode 100644
index 0000000000000000000000000000000000000000..ee8b10eb25051a1c9520fa36b498ce9edac98bbc
--- /dev/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_right_tactile_force_metrics.json
@@ -0,0 +1,9 @@
+{
+  "depth_peak": 0.006744191516190767,
+  "shear_peak": 0.0036451586056500673,
+  "force_magnitude_peak": 0.007133999839425087,
+  "reference_frame_count": 0,
+  "dataset_name": "dag911262r00035d_lerobot_0327_114353",
+  "episode_index": 312,
+  "sensor": "gripper_right_tactile"
+}
\ No newline at end of file
diff --git a/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_09-30/outputs_tactile/tactile_cache/dag911262r00035d_lerobot_0327_114353_7434c583/episodes/ep000313/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/ep000313/gripper_left_tactile_contact_metrics.json
new file mode 100644
index 0000000000000000000000000000000000000000..38e652073043a2b7cb5d1d8ee8f9339a56aa51d6
--- /dev/null
+++ b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_09-30/outputs_tactile/tactile_cache/dag911262r00035d_lerobot_0327_114353_7434c583/episodes/ep000313/gripper_left_tactile_contact_metrics.json
@@ -0,0 +1,12 @@
+{
+  "contact_time": 13.1,
+  "contact_ratio": 0.8811659192825112,
+  "avg_contact_area": 1178.6030534351146,
+  "contact_entropy": 0.12022984676142451,
+  "total_frames": 446,
+  "fps": 30.0,
+  "reference_frame_count": 0,
+  "dataset_name": "dag911262r00035d_lerobot_0327_114353",
+  "episode_index": 313,
+  "sensor": "gripper_left_tactile"
+}
\ No newline at end of file
diff --git a/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_09-30/outputs_tactile/tactile_cache/dag911262r00035d_lerobot_0327_114353_7434c583/episodes/ep000319/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/ep000319/gripper_right_tactile_contact_metrics.json
new file mode 100644
index 0000000000000000000000000000000000000000..893e650952627e51d48b571c94d58b8b3c5ca033
--- /dev/null
+++ b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_09-30/outputs_tactile/tactile_cache/dag911262r00035d_lerobot_0327_114353_7434c583/episodes/ep000319/gripper_right_tactile_contact_metrics.json
@@ -0,0 +1,12 @@
+{
+  "contact_time": 6.866666666666666,
+  "contact_ratio": 0.49282296650717705,
+  "avg_contact_area": 4583.233009708738,
+  "contact_entropy": 0.46636600856275784,
+  "total_frames": 418,
+  "fps": 30.0,
+  "reference_frame_count": 0,
+  "dataset_name": "dag911262r00035d_lerobot_0327_114353",
+  "episode_index": 319,
+  "sensor": "gripper_right_tactile"
+}
\ No newline at end of file
diff --git a/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_09-30/outputs_tactile/tactile_cache/dag911262r00035d_lerobot_0327_114353_7434c583/episodes/ep000320/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/ep000320/gripper_right_tactile_contact_metrics.json
new file mode 100644
index 0000000000000000000000000000000000000000..e7bdf49b736da5a18d38bb3f7064d8253873c0f4
--- /dev/null
+++ b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_09-30/outputs_tactile/tactile_cache/dag911262r00035d_lerobot_0327_114353_7434c583/episodes/ep000320/gripper_right_tactile_contact_metrics.json
@@ -0,0 +1,12 @@
+{
+  "contact_time": 8.866666666666667,
+  "contact_ratio": 0.5541666666666667,
+  "avg_contact_area": 7389.056390977444,
+  "contact_entropy": 0.6530163449283675,
+  "total_frames": 480,
+  "fps": 30.0,
+  "reference_frame_count": 0,
+  "dataset_name": "dag911262r00035d_lerobot_0327_114353",
+  "episode_index": 320,
+  "sensor": "gripper_right_tactile"
+}
\ No newline at end of file
diff --git a/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_09-30/outputs_tactile/tactile_cache/dag911262r00035d_lerobot_0327_114353_7434c583/episodes/ep000321/gripper_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/ep000321/gripper_right_tactile_contact_metrics.json
new file mode 100644
index 0000000000000000000000000000000000000000..898a36df3225ae7b283abbe35531849615d6bbd1
--- /dev/null
+++ b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_09-30/outputs_tactile/tactile_cache/dag911262r00035d_lerobot_0327_114353_7434c583/episodes/ep000321/gripper_right_tactile_contact_metrics.json
@@ -0,0 +1,12 @@
+{
+  "contact_time": 12.233333333333333,
+  "contact_ratio": 0.9607329842931938,
+  "avg_contact_area": 9925.25340599455,
+  "contact_entropy": 0.21677821529458238,
+  "total_frames": 382,
+  "fps": 30.0,
+  "reference_frame_count": 0,
+  "dataset_name": "dag911262r00035d_lerobot_0327_114353",
+  "episode_index": 321,
+  "sensor": "gripper_right_tactile"
+}
\ No newline at end of file
diff --git a/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_09-30/outputs_tactile/tactile_cache/dag911262r00035d_lerobot_0327_114353_7434c583/episodes/ep000323/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/ep000323/gripper_right_tactile_contact_metrics.json
new file mode 100644
index 0000000000000000000000000000000000000000..22a0af20d30de314c425a0ce7cbeac207fac64da
--- /dev/null
+++ b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_09-30/outputs_tactile/tactile_cache/dag911262r00035d_lerobot_0327_114353_7434c583/episodes/ep000323/gripper_right_tactile_contact_metrics.json
@@ -0,0 +1,12 @@
+{
+  "contact_time": 7.433333333333334,
+  "contact_ratio": 0.9409282700421941,
+  "avg_contact_area": 5766.125560538117,
+  "contact_entropy": 0.400882864400743,
+  "total_frames": 237,
+  "fps": 30.0,
+  "reference_frame_count": 0,
+  "dataset_name": "dag911262r00035d_lerobot_0327_114353",
+  "episode_index": 323,
+  "sensor": "gripper_right_tactile"
+}
\ No newline at end of file
diff --git a/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_09-30/outputs_tactile/tactile_cache/dag911262r00035d_lerobot_0327_114353_7434c583/episodes/ep000326/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/ep000326/gripper_left_tactile_contact_metrics.json
new file mode 100644
index 0000000000000000000000000000000000000000..68d0ba1471bc4d3cd96e3231cc3980c032f82e92
--- /dev/null
+++ b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_09-30/outputs_tactile/tactile_cache/dag911262r00035d_lerobot_0327_114353_7434c583/episodes/ep000326/gripper_left_tactile_contact_metrics.json
@@ -0,0 +1,12 @@
+{
+  "contact_time": 1.5666666666666667,
+  "contact_ratio": 0.11435523114355231,
+  "avg_contact_area": 106.42553191489361,
+  "contact_entropy": 0.0,
+  "total_frames": 411,
+  "fps": 30.0,
+  "reference_frame_count": 0,
+  "dataset_name": "dag911262r00035d_lerobot_0327_114353",
+  "episode_index": 326,
+  "sensor": "gripper_left_tactile"
+}
\ No newline at end of file
diff --git a/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_09-30/outputs_tactile/tactile_cache/dag911262r00035d_lerobot_0327_114353_7434c583/episodes/ep000328/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/ep000328/gripper_left_tactile_contact_metrics.json
new file mode 100644
index 0000000000000000000000000000000000000000..b46f6e872f36cf052671218db9bb45ea313b6ee0
--- /dev/null
+++ b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_09-30/outputs_tactile/tactile_cache/dag911262r00035d_lerobot_0327_114353_7434c583/episodes/ep000328/gripper_left_tactile_contact_metrics.json
@@ -0,0 +1,12 @@
+{
+  "contact_time": 3.9,
+  "contact_ratio": 0.3046875,
+  "avg_contact_area": 342.43589743589746,
+  "contact_entropy": 0.0,
+  "total_frames": 384,
+  "fps": 30.0,
+  "reference_frame_count": 0,
+  "dataset_name": "dag911262r00035d_lerobot_0327_114353",
+  "episode_index": 328,
+  "sensor": "gripper_left_tactile"
+}
\ No newline at end of file
diff --git a/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_09-30/outputs_tactile/tactile_cache/dag911262r00035d_lerobot_0327_114353_7434c583/episodes/ep000328/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/ep000328/gripper_right_tactile_force_metrics.json
new file mode 100644
index 0000000000000000000000000000000000000000..9132c79fd995aa558a076f0f2f86524afba85d80
--- /dev/null
+++ b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_09-30/outputs_tactile/tactile_cache/dag911262r00035d_lerobot_0327_114353_7434c583/episodes/ep000328/gripper_right_tactile_force_metrics.json
@@ -0,0 +1,9 @@
+{
+  "depth_peak": 0.014563663862645626,
+  "shear_peak": 0.015752268955111504,
+  "force_magnitude_peak": 0.02049180492758751,
+  "reference_frame_count": 0,
+  "dataset_name": "dag911262r00035d_lerobot_0327_114353",
+  "episode_index": 328,
+  "sensor": "gripper_right_tactile"
+}
\ No newline at end of file
diff --git a/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_09-30/outputs_tactile/tactile_cache/dag911262r00035d_lerobot_0327_114353_7434c583/episodes/ep000329/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/ep000329/gripper_left_tactile_force_metrics.json
new file mode 100644
index 0000000000000000000000000000000000000000..b124e59684d558db0221544dd618318598da655e
--- /dev/null
+++ b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_09-30/outputs_tactile/tactile_cache/dag911262r00035d_lerobot_0327_114353_7434c583/episodes/ep000329/gripper_left_tactile_force_metrics.json
@@ -0,0 +1,9 @@
+{
+  "depth_peak": 0.003389293560758233,
+  "shear_peak": 0.003355607856065035,
+  "force_magnitude_peak": 0.004176996182650328,
+  "reference_frame_count": 0,
+  "dataset_name": "dag911262r00035d_lerobot_0327_114353",
+  "episode_index": 329,
+  "sensor": "gripper_left_tactile"
+}
\ No newline at end of file
diff --git a/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_09-30/outputs_tactile/tactile_cache/dag911262r00035d_lerobot_0327_114353_7434c583/episodes/ep000333/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/ep000333/gripper_left_tactile_force_metrics.json
new file mode 100644
index 0000000000000000000000000000000000000000..e4655023c9892a6dfca32aedb7dccf13db7d283b
--- /dev/null
+++ b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_09-30/outputs_tactile/tactile_cache/dag911262r00035d_lerobot_0327_114353_7434c583/episodes/ep000333/gripper_left_tactile_force_metrics.json
@@ -0,0 +1,9 @@
+{
+  "depth_peak": 0.010134929791092873,
+  "shear_peak": 0.004046640824526548,
+  "force_magnitude_peak": 0.010235358029603958,
+  "reference_frame_count": 0,
+  "dataset_name": "dag911262r00035d_lerobot_0327_114353",
+  "episode_index": 333,
+  "sensor": "gripper_left_tactile"
+}
\ No newline at end of file
diff --git a/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_09-30/outputs_tactile/tactile_cache/dag911262r00035d_lerobot_0327_114353_7434c583/episodes/ep000335/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/ep000335/gripper_right_tactile_contact_metrics.json
new file mode 100644
index 0000000000000000000000000000000000000000..e90c6a6b861e173c1b21e450cbbce716769194b6
--- /dev/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_right_tactile_contact_metrics.json
@@ -0,0 +1,12 @@
+{
+  "contact_time": 6.2,
+  "contact_ratio": 0.5758513931888545,
+  "avg_contact_area": 6976.784946236559,
+  "contact_entropy": 0.6632587082385463,
+  "total_frames": 323,
+  "fps": 30.0,
+  "reference_frame_count": 0,
+  "dataset_name": "dag911262r00035d_lerobot_0327_114353",
+  "episode_index": 335,
+  "sensor": "gripper_right_tactile"
+}
\ No newline at end of file
diff --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_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/ep000338/gripper_right_tactile_force_metrics.json
new file mode 100644
index 0000000000000000000000000000000000000000..e9aac8caf8d7b31e09a933c0ae717f58f93a8e58
--- /dev/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_right_tactile_force_metrics.json
@@ -0,0 +1,9 @@
+{
+  "depth_peak": 0.01004102174192667,
+  "shear_peak": 0.008193779736757278,
+  "force_magnitude_peak": 0.012775164097547531,
+  "reference_frame_count": 0,
+  "dataset_name": "dag911262r00035d_lerobot_0327_114353",
+  "episode_index": 338,
+  "sensor": "gripper_right_tactile"
+}
\ No newline at end of file
diff --git a/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_09-30/outputs_tactile/tactile_cache/dag911262r00035d_lerobot_0327_114353_7434c583/episodes/ep000340/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/ep000340/gripper_left_tactile_force_metrics.json
new file mode 100644
index 0000000000000000000000000000000000000000..e496b66230d1a931ccc332d0891bf3b5ab9f3647
--- /dev/null
+++ b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_09-30/outputs_tactile/tactile_cache/dag911262r00035d_lerobot_0327_114353_7434c583/episodes/ep000340/gripper_left_tactile_force_metrics.json
@@ -0,0 +1,9 @@
+{
+  "depth_peak": 0.007922612130641937,
+  "shear_peak": 0.0031872806139290333,
+  "force_magnitude_peak": 0.008000141009688377,
+  "reference_frame_count": 0,
+  "dataset_name": "dag911262r00035d_lerobot_0327_114353",
+  "episode_index": 340,
+  "sensor": "gripper_left_tactile"
+}
\ No newline at end of file
diff --git a/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_09-30/outputs_tactile/tactile_cache/dag911262r00035d_lerobot_0327_114353_7434c583/episodes/ep000341/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/ep000341/gripper_left_tactile_contact_metrics.json
new file mode 100644
index 0000000000000000000000000000000000000000..cc37a55cf3061a55337706cdecc59dbc98695125
--- /dev/null
+++ b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_09-30/outputs_tactile/tactile_cache/dag911262r00035d_lerobot_0327_114353_7434c583/episodes/ep000341/gripper_left_tactile_contact_metrics.json
@@ -0,0 +1,12 @@
+{
+  "contact_time": 10.833333333333334,
+  "contact_ratio": 0.6526104417670683,
+  "avg_contact_area": 307.8,
+  "contact_entropy": 0.1504449142814051,
+  "total_frames": 498,
+  "fps": 30.0,
+  "reference_frame_count": 0,
+  "dataset_name": "dag911262r00035d_lerobot_0327_114353",
+  "episode_index": 341,
+  "sensor": "gripper_left_tactile"
+}
\ No newline at end of file
diff --git a/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_09-30/outputs_tactile/tactile_cache/dag911262r00035d_lerobot_0327_114353_7434c583/episodes/ep000345/gripper_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/ep000345/gripper_left_tactile_force_metrics.json
new file mode 100644
index 0000000000000000000000000000000000000000..1e3110879d88d344628c3c3ad7c46d43f4b27498
--- /dev/null
+++ b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_09-30/outputs_tactile/tactile_cache/dag911262r00035d_lerobot_0327_114353_7434c583/episodes/ep000345/gripper_left_tactile_force_metrics.json
@@ -0,0 +1,9 @@
+{
+  "depth_peak": 0.010082563385367393,
+  "shear_peak": 0.007320777978748083,
+  "force_magnitude_peak": 0.012389246374368668,
+  "reference_frame_count": 0,
+  "dataset_name": "dag911262r00035d_lerobot_0327_114353",
+  "episode_index": 345,
+  "sensor": "gripper_left_tactile"
+}
\ No newline at end of file
diff --git a/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_09-30/outputs_tactile/tactile_cache/dag911262r00035d_lerobot_0327_114353_7434c583/episodes/ep000346/gripper_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/ep000346/gripper_left_tactile_contact_metrics.json
new file mode 100644
index 0000000000000000000000000000000000000000..b25822f454f47a391a88caa373916630f29542cc
--- /dev/null
+++ b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_09-30/outputs_tactile/tactile_cache/dag911262r00035d_lerobot_0327_114353_7434c583/episodes/ep000346/gripper_left_tactile_contact_metrics.json
@@ -0,0 +1,12 @@
+{
+  "contact_time": 7.933333333333334,
+  "contact_ratio": 0.7933333333333333,
+  "avg_contact_area": 2500.4621848739494,
+  "contact_entropy": 0.6553861161873559,
+  "total_frames": 300,
+  "fps": 30.0,
+  "reference_frame_count": 0,
+  "dataset_name": "dag911262r00035d_lerobot_0327_114353",
+  "episode_index": 346,
+  "sensor": "gripper_left_tactile"
+}
\ No newline at end of file
diff --git a/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_09-30/outputs_tactile/tactile_cache/dag911262r00035d_lerobot_0327_114353_7434c583/episodes/ep000348/gripper_right_tactile_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/ep000348/gripper_right_tactile_force_metrics.json
new file mode 100644
index 0000000000000000000000000000000000000000..9fb5669057714d2ab28d893491e47e86a79a7360
--- /dev/null
+++ b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_09-30/outputs_tactile/tactile_cache/dag911262r00035d_lerobot_0327_114353_7434c583/episodes/ep000348/gripper_right_tactile_force_metrics.json
@@ -0,0 +1,9 @@
+{
+  "depth_peak": 0.011959251947700977,
+  "shear_peak": 0.0026268253568559885,
+  "force_magnitude_peak": 0.01196279190480709,
+  "reference_frame_count": 0,
+  "dataset_name": "dag911262r00035d_lerobot_0327_114353",
+  "episode_index": 348,
+  "sensor": "gripper_right_tactile"
+}
\ No newline at end of file
diff --git a/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_09-30/outputs_tactile/tactile_cache/dag911262r00035d_lerobot_0327_114353_7434c583/episodes/ep000349/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/ep000349/gripper_left_tactile_force_metrics.json
new file mode 100644
index 0000000000000000000000000000000000000000..3b8421f51728b02c98e6cefd568b18867f5e8b0d
--- /dev/null
+++ b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_09-30/outputs_tactile/tactile_cache/dag911262r00035d_lerobot_0327_114353_7434c583/episodes/ep000349/gripper_left_tactile_force_metrics.json
@@ -0,0 +1,9 @@
+{
+  "depth_peak": 0.0031033821869641542,
+  "shear_peak": 0.0044659399427473545,
+  "force_magnitude_peak": 0.00497039407491684,
+  "reference_frame_count": 0,
+  "dataset_name": "dag911262r00035d_lerobot_0327_114353",
+  "episode_index": 349,
+  "sensor": "gripper_left_tactile"
+}
\ No newline at end of file
diff --git a/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_09-30/outputs_tactile/tactile_cache/dag911262r00035d_lerobot_0327_114353_7434c583/episodes/ep000349/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/ep000349/gripper_right_tactile_force_metrics.json
new file mode 100644
index 0000000000000000000000000000000000000000..91097a76bb680e370380bb47ad97e0e20bcca994
--- /dev/null
+++ b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_09-30/outputs_tactile/tactile_cache/dag911262r00035d_lerobot_0327_114353_7434c583/episodes/ep000349/gripper_right_tactile_force_metrics.json
@@ -0,0 +1,9 @@
+{
+  "depth_peak": 0.0014078040840104222,
+  "shear_peak": 0.008358017541468143,
+  "force_magnitude_peak": 0.008580402471125126,
+  "reference_frame_count": 0,
+  "dataset_name": "dag911262r00035d_lerobot_0327_114353",
+  "episode_index": 349,
+  "sensor": "gripper_right_tactile"
+}
\ No newline at end of file
diff --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_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/ep000352/gripper_right_tactile_force_metrics.json
new file mode 100644
index 0000000000000000000000000000000000000000..7295637694a8ee236d8cae8670dadaac769b962a
--- /dev/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_right_tactile_force_metrics.json
@@ -0,0 +1,9 @@
+{
+  "depth_peak": 0.00828399509191513,
+  "shear_peak": 0.0033233813010156155,
+  "force_magnitude_peak": 0.00892577413469553,
+  "reference_frame_count": 0,
+  "dataset_name": "dag911262r00035d_lerobot_0327_114353",
+  "episode_index": 352,
+  "sensor": "gripper_right_tactile"
+}
\ No newline at end of file
diff --git a/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_09-30/outputs_tactile/tactile_cache/dag911262r00035d_lerobot_0327_114353_7434c583/episodes/ep000353/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/ep000353/gripper_left_tactile_contact_metrics.json
new file mode 100644
index 0000000000000000000000000000000000000000..b0ab5d3178ed7839011e1faba0e91ea81741dd48
--- /dev/null
+++ b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_09-30/outputs_tactile/tactile_cache/dag911262r00035d_lerobot_0327_114353_7434c583/episodes/ep000353/gripper_left_tactile_contact_metrics.json
@@ -0,0 +1,12 @@
+{
+  "contact_time": 8.933333333333334,
+  "contact_ratio": 0.5690021231422505,
+  "avg_contact_area": 1718.2574626865671,
+  "contact_entropy": 0.5873078201860009,
+  "total_frames": 471,
+  "fps": 30.0,
+  "reference_frame_count": 0,
+  "dataset_name": "dag911262r00035d_lerobot_0327_114353",
+  "episode_index": 353,
+  "sensor": "gripper_left_tactile"
+}
\ No newline at end of file
diff --git a/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_09-30/outputs_tactile/tactile_cache/dag911262r00035d_lerobot_0327_114353_7434c583/episodes/ep000359/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/ep000359/gripper_right_tactile_contact_metrics.json
new file mode 100644
index 0000000000000000000000000000000000000000..4ab879ffa9c78b0b464263861b0e5eb93aba293b
--- /dev/null
+++ b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_09-30/outputs_tactile/tactile_cache/dag911262r00035d_lerobot_0327_114353_7434c583/episodes/ep000359/gripper_right_tactile_contact_metrics.json
@@ -0,0 +1,12 @@
+{
+  "contact_time": 2.8666666666666667,
+  "contact_ratio": 0.39090909090909093,
+  "avg_contact_area": 1254.8953488372092,
+  "contact_entropy": 0.005409729888926639,
+  "total_frames": 220,
+  "fps": 30.0,
+  "reference_frame_count": 0,
+  "dataset_name": "dag911262r00035d_lerobot_0327_114353",
+  "episode_index": 359,
+  "sensor": "gripper_right_tactile"
+}
\ No newline at end of file
diff --git a/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_09-30/outputs_tactile/tactile_cache/dag911262r00035d_lerobot_0327_114353_7434c583/episodes/ep000360/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/ep000360/gripper_right_tactile_contact_metrics.json
new file mode 100644
index 0000000000000000000000000000000000000000..ef7c0b19b79642b1fd70ad75abb286caa373121d
--- /dev/null
+++ b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_09-30/outputs_tactile/tactile_cache/dag911262r00035d_lerobot_0327_114353_7434c583/episodes/ep000360/gripper_right_tactile_contact_metrics.json
@@ -0,0 +1,12 @@
+{
+  "contact_time": 3.7333333333333334,
+  "contact_ratio": 0.5410628019323671,
+  "avg_contact_area": 3222.5089285714284,
+  "contact_entropy": 0.3849308381872017,
+  "total_frames": 207,
+  "fps": 30.0,
+  "reference_frame_count": 0,
+  "dataset_name": "dag911262r00035d_lerobot_0327_114353",
+  "episode_index": 360,
+  "sensor": "gripper_right_tactile"
+}
\ No newline at end of file
diff --git a/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_09-30/outputs_tactile/tactile_cache/dag911262r00035d_lerobot_0327_114353_7434c583/episodes/ep000361/gripper_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/ep000361/gripper_right_tactile_contact_metrics.json
new file mode 100644
index 0000000000000000000000000000000000000000..f353f558e9ab08d9d0f264eba768f3f6bedffda8
--- /dev/null
+++ b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_09-30/outputs_tactile/tactile_cache/dag911262r00035d_lerobot_0327_114353_7434c583/episodes/ep000361/gripper_right_tactile_contact_metrics.json
@@ -0,0 +1,12 @@
+{
+  "contact_time": 3.6666666666666665,
+  "contact_ratio": 0.4954954954954955,
+  "avg_contact_area": 9680.618181818181,
+  "contact_entropy": 0.3966255826843054,
+  "total_frames": 222,
+  "fps": 30.0,
+  "reference_frame_count": 0,
+  "dataset_name": "dag911262r00035d_lerobot_0327_114353",
+  "episode_index": 361,
+  "sensor": "gripper_right_tactile"
+}
\ No newline at end of file
diff --git a/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_09-30/outputs_tactile/tactile_cache/dag911262r00035d_lerobot_0327_114353_7434c583/episodes/ep000363/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/ep000363/gripper_right_tactile_contact_metrics.json
new file mode 100644
index 0000000000000000000000000000000000000000..d2c3258fdec9d446157a0f307ba152dcdd7563b0
--- /dev/null
+++ b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_09-30/outputs_tactile/tactile_cache/dag911262r00035d_lerobot_0327_114353_7434c583/episodes/ep000363/gripper_right_tactile_contact_metrics.json
@@ -0,0 +1,12 @@
+{
+  "contact_time": 5.4,
+  "contact_ratio": 0.6352941176470588,
+  "avg_contact_area": 6580.962962962963,
+  "contact_entropy": 0.03352186717328182,
+  "total_frames": 255,
+  "fps": 30.0,
+  "reference_frame_count": 0,
+  "dataset_name": "dag911262r00035d_lerobot_0327_114353",
+  "episode_index": 363,
+  "sensor": "gripper_right_tactile"
+}
\ No newline at end of file
diff --git a/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_09-30/outputs_tactile/tactile_cache/dag911262r00035d_lerobot_0327_114353_7434c583/episodes/ep000366/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/ep000366/gripper_left_tactile_contact_metrics.json
new file mode 100644
index 0000000000000000000000000000000000000000..2f4b8fa9a73e84354dfcca1d6fb162636731d67c
--- /dev/null
+++ b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_09-30/outputs_tactile/tactile_cache/dag911262r00035d_lerobot_0327_114353_7434c583/episodes/ep000366/gripper_left_tactile_contact_metrics.json
@@ -0,0 +1,12 @@
+{
+  "contact_time": 2.7666666666666666,
+  "contact_ratio": 0.5570469798657718,
+  "avg_contact_area": 702.277108433735,
+  "contact_entropy": 0.20415364546227183,
+  "total_frames": 149,
+  "fps": 30.0,
+  "reference_frame_count": 0,
+  "dataset_name": "dag911262r00035d_lerobot_0327_114353",
+  "episode_index": 366,
+  "sensor": "gripper_left_tactile"
+}
\ No newline at end of file
diff --git a/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_09-30/outputs_tactile/tactile_cache/dag911262r00035d_lerobot_0327_114353_7434c583/episodes/ep000368/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/ep000368/gripper_left_tactile_contact_metrics.json
new file mode 100644
index 0000000000000000000000000000000000000000..d593682a46b1596b0ad209247c7c7d02a4e5be98
--- /dev/null
+++ b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_09-30/outputs_tactile/tactile_cache/dag911262r00035d_lerobot_0327_114353_7434c583/episodes/ep000368/gripper_left_tactile_contact_metrics.json
@@ -0,0 +1,12 @@
+{
+  "contact_time": 3.3666666666666667,
+  "contact_ratio": 0.6047904191616766,
+  "avg_contact_area": 581.2574257425742,
+  "contact_entropy": 0.31233391625528434,
+  "total_frames": 167,
+  "fps": 30.0,
+  "reference_frame_count": 0,
+  "dataset_name": "dag911262r00035d_lerobot_0327_114353",
+  "episode_index": 368,
+  "sensor": "gripper_left_tactile"
+}
\ No newline at end of file
diff --git a/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_09-30/outputs_tactile/tactile_cache/dag911262r00035d_lerobot_0327_114353_7434c583/episodes/ep000368/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/ep000368/gripper_right_tactile_force_metrics.json
new file mode 100644
index 0000000000000000000000000000000000000000..f83b3420a21f4ab47967cc1966449b26cec2e7a5
--- /dev/null
+++ b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_09-30/outputs_tactile/tactile_cache/dag911262r00035d_lerobot_0327_114353_7434c583/episodes/ep000368/gripper_right_tactile_force_metrics.json
@@ -0,0 +1,9 @@
+{
+  "depth_peak": 0.004146793857216835,
+  "shear_peak": 0.005536410957574844,
+  "force_magnitude_peak": 0.0066350363194942474,
+  "reference_frame_count": 0,
+  "dataset_name": "dag911262r00035d_lerobot_0327_114353",
+  "episode_index": 368,
+  "sensor": "gripper_right_tactile"
+}
\ No newline at end of file
diff --git a/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_09-30/outputs_tactile/tactile_cache/dag911262r00035d_lerobot_0327_114353_7434c583/episodes/ep000369/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/ep000369/gripper_left_tactile_force_metrics.json
new file mode 100644
index 0000000000000000000000000000000000000000..86c1b710cd8c931d49af431798a99b75dee9bfd2
--- /dev/null
+++ b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_09-30/outputs_tactile/tactile_cache/dag911262r00035d_lerobot_0327_114353_7434c583/episodes/ep000369/gripper_left_tactile_force_metrics.json
@@ -0,0 +1,9 @@
+{
+  "depth_peak": 0.0012264742981642485,
+  "shear_peak": 0.0013050503330305219,
+  "force_magnitude_peak": 0.0013961102813482285,
+  "reference_frame_count": 0,
+  "dataset_name": "dag911262r00035d_lerobot_0327_114353",
+  "episode_index": 369,
+  "sensor": "gripper_left_tactile"
+}
\ No newline at end of file
diff --git a/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_09-30/outputs_tactile/tactile_cache/dag911262r00035d_lerobot_0327_114353_7434c583/episodes/ep000373/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/ep000373/gripper_left_tactile_force_metrics.json
new file mode 100644
index 0000000000000000000000000000000000000000..e3631bab5e13c2746141a8c8a051b177fa1c0ed9
--- /dev/null
+++ b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_09-30/outputs_tactile/tactile_cache/dag911262r00035d_lerobot_0327_114353_7434c583/episodes/ep000373/gripper_left_tactile_force_metrics.json
@@ -0,0 +1,9 @@
+{
+  "depth_peak": 0.0017018895596265793,
+  "shear_peak": 0.004474909044802189,
+  "force_magnitude_peak": 0.00455579673871398,
+  "reference_frame_count": 0,
+  "dataset_name": "dag911262r00035d_lerobot_0327_114353",
+  "episode_index": 373,
+  "sensor": "gripper_left_tactile"
+}
\ No newline at end of file
diff --git a/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_09-30/outputs_tactile/tactile_cache/dag911262r00035d_lerobot_0327_114353_7434c583/episodes/ep000375/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/ep000375/gripper_right_tactile_contact_metrics.json
new file mode 100644
index 0000000000000000000000000000000000000000..8003e0dc79b3516cada8ae9c72e9dc04a9aad272
--- /dev/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_right_tactile_contact_metrics.json
@@ -0,0 +1,12 @@
+{
+  "contact_time": 1.8666666666666667,
+  "contact_ratio": 0.3660130718954248,
+  "avg_contact_area": 536.1964285714286,
+  "contact_entropy": 0.0,
+  "total_frames": 153,
+  "fps": 30.0,
+  "reference_frame_count": 0,
+  "dataset_name": "dag911262r00035d_lerobot_0327_114353",
+  "episode_index": 375,
+  "sensor": "gripper_right_tactile"
+}
\ No newline at end of file
diff --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_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/ep000378/gripper_right_tactile_force_metrics.json
new file mode 100644
index 0000000000000000000000000000000000000000..e5d78e6fdc76110d830e7e802bcdf5578f779794
--- /dev/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_right_tactile_force_metrics.json
@@ -0,0 +1,9 @@
+{
+  "depth_peak": 0.001283530960790813,
+  "shear_peak": 0.008142834529280663,
+  "force_magnitude_peak": 0.008155756630003452,
+  "reference_frame_count": 0,
+  "dataset_name": "dag911262r00035d_lerobot_0327_114353",
+  "episode_index": 378,
+  "sensor": "gripper_right_tactile"
+}
\ No newline at end of file
diff --git a/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_09-30/outputs_tactile/tactile_cache/dag911262r00035d_lerobot_0327_114353_7434c583/episodes/ep000380/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/ep000380/gripper_left_tactile_force_metrics.json
new file mode 100644
index 0000000000000000000000000000000000000000..9a6b8ec205a3ec8fc3ced9d750cc8feb1ce2dd24
--- /dev/null
+++ b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_09-30/outputs_tactile/tactile_cache/dag911262r00035d_lerobot_0327_114353_7434c583/episodes/ep000380/gripper_left_tactile_force_metrics.json
@@ -0,0 +1,9 @@
+{
+  "depth_peak": 0.004886184353381395,
+  "shear_peak": 0.00546704325824976,
+  "force_magnitude_peak": 0.007318882737308741,
+  "reference_frame_count": 0,
+  "dataset_name": "dag911262r00035d_lerobot_0327_114353",
+  "episode_index": 380,
+  "sensor": "gripper_left_tactile"
+}
\ No newline at end of file
diff --git a/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_09-30/outputs_tactile/tactile_cache/dag911262r00035d_lerobot_0327_114353_7434c583/episodes/ep000381/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/ep000381/gripper_left_tactile_contact_metrics.json
new file mode 100644
index 0000000000000000000000000000000000000000..f0466f1e036af6f70e7f605dcdc1934338a809ac
--- /dev/null
+++ b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_09-30/outputs_tactile/tactile_cache/dag911262r00035d_lerobot_0327_114353_7434c583/episodes/ep000381/gripper_left_tactile_contact_metrics.json
@@ -0,0 +1,12 @@
+{
+  "contact_time": 1.7333333333333334,
+  "contact_ratio": 0.36619718309859156,
+  "avg_contact_area": 6162.576923076923,
+  "contact_entropy": 0.39914868951853183,
+  "total_frames": 142,
+  "fps": 30.0,
+  "reference_frame_count": 0,
+  "dataset_name": "dag911262r00035d_lerobot_0327_114353",
+  "episode_index": 381,
+  "sensor": "gripper_left_tactile"
+}
\ No newline at end of file
diff --git a/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_09-30/outputs_tactile/tactile_cache/dag911262r00035d_lerobot_0327_114353_7434c583/episodes/ep000385/gripper_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/ep000385/gripper_left_tactile_force_metrics.json
new file mode 100644
index 0000000000000000000000000000000000000000..a148ec0f5766bd9fc16ebbbd1deed9e94fc4d76e
--- /dev/null
+++ b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_09-30/outputs_tactile/tactile_cache/dag911262r00035d_lerobot_0327_114353_7434c583/episodes/ep000385/gripper_left_tactile_force_metrics.json
@@ -0,0 +1,9 @@
+{
+  "depth_peak": 0.004640936851501465,
+  "shear_peak": 0.0038555117789655924,
+  "force_magnitude_peak": 0.00603259913623333,
+  "reference_frame_count": 0,
+  "dataset_name": "dag911262r00035d_lerobot_0327_114353",
+  "episode_index": 385,
+  "sensor": "gripper_left_tactile"
+}
\ No newline at end of file
diff --git a/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_09-30/outputs_tactile/tactile_cache/dag911262r00035d_lerobot_0327_114353_7434c583/episodes/ep000386/gripper_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/ep000386/gripper_left_tactile_contact_metrics.json
new file mode 100644
index 0000000000000000000000000000000000000000..2f5356329166718cc3d53a041b57ca88e227055e
--- /dev/null
+++ b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_09-30/outputs_tactile/tactile_cache/dag911262r00035d_lerobot_0327_114353_7434c583/episodes/ep000386/gripper_left_tactile_contact_metrics.json
@@ -0,0 +1,12 @@
+{
+  "contact_time": 3.933333333333333,
+  "contact_ratio": 0.686046511627907,
+  "avg_contact_area": 872.3644067796611,
+  "contact_entropy": 0.11703227856494987,
+  "total_frames": 172,
+  "fps": 30.0,
+  "reference_frame_count": 0,
+  "dataset_name": "dag911262r00035d_lerobot_0327_114353",
+  "episode_index": 386,
+  "sensor": "gripper_left_tactile"
+}
\ No newline at end of file
diff --git a/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_09-30/outputs_tactile/tactile_cache/dag911262r00035d_lerobot_0327_114353_7434c583/episodes/ep000388/gripper_right_tactile_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/ep000388/gripper_right_tactile_force_metrics.json
new file mode 100644
index 0000000000000000000000000000000000000000..2ccf08d7ff8eefd27e4f0aa7de6e4ff749b069bd
--- /dev/null
+++ b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_09-30/outputs_tactile/tactile_cache/dag911262r00035d_lerobot_0327_114353_7434c583/episodes/ep000388/gripper_right_tactile_force_metrics.json
@@ -0,0 +1,9 @@
+{
+  "depth_peak": 9.831407078308985e-05,
+  "shear_peak": 0.0048795053735375404,
+  "force_magnitude_peak": 0.004946421831846237,
+  "reference_frame_count": 0,
+  "dataset_name": "dag911262r00035d_lerobot_0327_114353",
+  "episode_index": 388,
+  "sensor": "gripper_right_tactile"
+}
\ No newline at end of file
diff --git a/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_09-30/outputs_tactile/tactile_cache/dag911262r00035d_lerobot_0327_114353_7434c583/episodes/ep000389/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/ep000389/gripper_left_tactile_force_metrics.json
new file mode 100644
index 0000000000000000000000000000000000000000..ba72ff456ba090bf3c5566a206c3fdf889801ebb
--- /dev/null
+++ b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_09-30/outputs_tactile/tactile_cache/dag911262r00035d_lerobot_0327_114353_7434c583/episodes/ep000389/gripper_left_tactile_force_metrics.json
@@ -0,0 +1,9 @@
+{
+  "depth_peak": 0.0019032717682421207,
+  "shear_peak": 0.0026434913743287325,
+  "force_magnitude_peak": 0.0027282885275781155,
+  "reference_frame_count": 0,
+  "dataset_name": "dag911262r00035d_lerobot_0327_114353",
+  "episode_index": 389,
+  "sensor": "gripper_left_tactile"
+}
\ No newline at end of file
diff --git a/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_09-30/outputs_tactile/tactile_cache/dag911262r00035d_lerobot_0327_114353_7434c583/episodes/ep000389/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/ep000389/gripper_right_tactile_force_metrics.json
new file mode 100644
index 0000000000000000000000000000000000000000..ade980b3d1728a2b7b7898b51144302ffa32526a
--- /dev/null
+++ b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_09-30/outputs_tactile/tactile_cache/dag911262r00035d_lerobot_0327_114353_7434c583/episodes/ep000389/gripper_right_tactile_force_metrics.json
@@ -0,0 +1,9 @@
+{
+  "depth_peak": 0.0040205009281635284,
+  "shear_peak": 0.0069253225810825825,
+  "force_magnitude_peak": 0.0074156466871500015,
+  "reference_frame_count": 0,
+  "dataset_name": "dag911262r00035d_lerobot_0327_114353",
+  "episode_index": 389,
+  "sensor": "gripper_right_tactile"
+}
\ No newline at end of file
diff --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_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/ep000392/gripper_right_tactile_force_metrics.json
new file mode 100644
index 0000000000000000000000000000000000000000..7ed930cc9ef75b4893ae9ab3fcb2f87397a08c61
--- /dev/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_right_tactile_force_metrics.json
@@ -0,0 +1,9 @@
+{
+  "depth_peak": 0.006048958282917738,
+  "shear_peak": 0.004582413472235203,
+  "force_magnitude_peak": 0.006618306040763855,
+  "reference_frame_count": 0,
+  "dataset_name": "dag911262r00035d_lerobot_0327_114353",
+  "episode_index": 392,
+  "sensor": "gripper_right_tactile"
+}
\ No newline at end of file
diff --git a/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_09-30/outputs_tactile/tactile_cache/dag911262r00035d_lerobot_0327_114353_7434c583/episodes/ep000393/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/ep000393/gripper_left_tactile_contact_metrics.json
new file mode 100644
index 0000000000000000000000000000000000000000..d3384e3a2a067704655bacab385cf830a7c72352
--- /dev/null
+++ b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_09-30/outputs_tactile/tactile_cache/dag911262r00035d_lerobot_0327_114353_7434c583/episodes/ep000393/gripper_left_tactile_contact_metrics.json
@@ -0,0 +1,12 @@
+{
+  "contact_time": 4.2,
+  "contact_ratio": 0.8235294117647058,
+  "avg_contact_area": 2558.4523809523807,
+  "contact_entropy": 0.26132749508580755,
+  "total_frames": 153,
+  "fps": 30.0,
+  "reference_frame_count": 0,
+  "dataset_name": "dag911262r00035d_lerobot_0327_114353",
+  "episode_index": 393,
+  "sensor": "gripper_left_tactile"
+}
\ No newline at end of file
diff --git a/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_09-30/outputs_tactile/tactile_cache/dag911262r00035d_lerobot_0327_114353_7434c583/episodes/ep000399/gripper_right_tactile_contact_metrics.json b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_09-30/outputs_tactile/tactile_cache/dag911262r00035d_lerobot_0327_114353_7434c583/episodes/ep000399/gripper_right_tactile_contact_metrics.json
new file mode 100644
index 0000000000000000000000000000000000000000..0fb944d45e87db2732e143d15622a09d4c225e54
--- /dev/null
+++ b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_09-30/outputs_tactile/tactile_cache/dag911262r00035d_lerobot_0327_114353_7434c583/episodes/ep000399/gripper_right_tactile_contact_metrics.json
@@ -0,0 +1,12 @@
+{
+  "contact_time": 4.966666666666667,
+  "contact_ratio": 0.6742081447963801,
+  "avg_contact_area": 5843.154362416108,
+  "contact_entropy": 0.0978933515892888,
+  "total_frames": 221,
+  "fps": 30.0,
+  "reference_frame_count": 0,
+  "dataset_name": "dag911262r00035d_lerobot_0327_114353",
+  "episode_index": 399,
+  "sensor": "gripper_right_tactile"
+}
\ No newline at end of file
diff --git a/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_09-30/outputs_tactile/tactile_cache/dag911262r00035d_lerobot_0327_114353_7434c583/episodes/ep000400/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/ep000400/gripper_right_tactile_contact_metrics.json
new file mode 100644
index 0000000000000000000000000000000000000000..64210f180a0420a722f6dab8c20fb12f4d43d2bd
--- /dev/null
+++ b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_09-30/outputs_tactile/tactile_cache/dag911262r00035d_lerobot_0327_114353_7434c583/episodes/ep000400/gripper_right_tactile_contact_metrics.json
@@ -0,0 +1,12 @@
+{
+  "contact_time": 3.3666666666666667,
+  "contact_ratio": 0.520618556701031,
+  "avg_contact_area": 2044.6138613861385,
+  "contact_entropy": 0.3595129927037323,
+  "total_frames": 194,
+  "fps": 30.0,
+  "reference_frame_count": 0,
+  "dataset_name": "dag911262r00035d_lerobot_0327_114353",
+  "episode_index": 400,
+  "sensor": "gripper_right_tactile"
+}
\ No newline at end of file
diff --git a/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_09-30/outputs_tactile/tactile_cache/dag911262r00035d_lerobot_0327_114353_7434c583/episodes/ep000401/gripper_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/ep000401/gripper_right_tactile_contact_metrics.json
new file mode 100644
index 0000000000000000000000000000000000000000..d25e5c57d841fa2e857e10629df2131587bda049
--- /dev/null
+++ b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_09-30/outputs_tactile/tactile_cache/dag911262r00035d_lerobot_0327_114353_7434c583/episodes/ep000401/gripper_right_tactile_contact_metrics.json
@@ -0,0 +1,12 @@
+{
+  "contact_time": 4.366666666666666,
+  "contact_ratio": 0.5038461538461538,
+  "avg_contact_area": 6551.358778625954,
+  "contact_entropy": 0.39960754822680467,
+  "total_frames": 260,
+  "fps": 30.0,
+  "reference_frame_count": 0,
+  "dataset_name": "dag911262r00035d_lerobot_0327_114353",
+  "episode_index": 401,
+  "sensor": "gripper_right_tactile"
+}
\ No newline at end of file
diff --git a/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_09-30/outputs_tactile/tactile_cache/dag911262r00035d_lerobot_0327_114353_7434c583/episodes/ep000403/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/ep000403/gripper_right_tactile_contact_metrics.json
new file mode 100644
index 0000000000000000000000000000000000000000..9dfad340f00316cdcd9365f02cbd18dba6758219
--- /dev/null
+++ b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_09-30/outputs_tactile/tactile_cache/dag911262r00035d_lerobot_0327_114353_7434c583/episodes/ep000403/gripper_right_tactile_contact_metrics.json
@@ -0,0 +1,12 @@
+{
+  "contact_time": 4.733333333333333,
+  "contact_ratio": 0.5298507462686567,
+  "avg_contact_area": 8622.274647887323,
+  "contact_entropy": 0.18146582870844294,
+  "total_frames": 268,
+  "fps": 30.0,
+  "reference_frame_count": 0,
+  "dataset_name": "dag911262r00035d_lerobot_0327_114353",
+  "episode_index": 403,
+  "sensor": "gripper_right_tactile"
+}
\ No newline at end of file
diff --git a/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_09-30/outputs_tactile/tactile_cache/dag911262r00035d_lerobot_0327_114353_7434c583/episodes/ep000406/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/ep000406/gripper_left_tactile_contact_metrics.json
new file mode 100644
index 0000000000000000000000000000000000000000..5462ca050b26a5dd95597c00d96e8d7a3ee54e60
--- /dev/null
+++ b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_09-30/outputs_tactile/tactile_cache/dag911262r00035d_lerobot_0327_114353_7434c583/episodes/ep000406/gripper_left_tactile_contact_metrics.json
@@ -0,0 +1,12 @@
+{
+  "contact_time": 4.866666666666666,
+  "contact_ratio": 0.6460176991150443,
+  "avg_contact_area": 2169.719178082192,
+  "contact_entropy": 0.02043507564181766,
+  "total_frames": 226,
+  "fps": 30.0,
+  "reference_frame_count": 0,
+  "dataset_name": "dag911262r00035d_lerobot_0327_114353",
+  "episode_index": 406,
+  "sensor": "gripper_left_tactile"
+}
\ No newline at end of file
diff --git a/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_09-30/outputs_tactile/tactile_cache/dag911262r00035d_lerobot_0327_114353_7434c583/episodes/ep000408/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/ep000408/gripper_left_tactile_contact_metrics.json
new file mode 100644
index 0000000000000000000000000000000000000000..b262fa5b8ff17b5725ab003a1410b0dfa47ce54f
--- /dev/null
+++ b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_09-30/outputs_tactile/tactile_cache/dag911262r00035d_lerobot_0327_114353_7434c583/episodes/ep000408/gripper_left_tactile_contact_metrics.json
@@ -0,0 +1,12 @@
+{
+  "contact_time": 2.2666666666666666,
+  "contact_ratio": 0.23367697594501718,
+  "avg_contact_area": 4299.426470588235,
+  "contact_entropy": 1.0499727498048927,
+  "total_frames": 291,
+  "fps": 30.0,
+  "reference_frame_count": 0,
+  "dataset_name": "dag911262r00035d_lerobot_0327_114353",
+  "episode_index": 408,
+  "sensor": "gripper_left_tactile"
+}
\ No newline at end of file
diff --git a/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_09-30/outputs_tactile/tactile_cache/dag911262r00035d_lerobot_0327_114353_7434c583/episodes/ep000408/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/ep000408/gripper_right_tactile_force_metrics.json
new file mode 100644
index 0000000000000000000000000000000000000000..7c8e2e1607ea8b16be116b85eee268010bbcff39
--- /dev/null
+++ b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_09-30/outputs_tactile/tactile_cache/dag911262r00035d_lerobot_0327_114353_7434c583/episodes/ep000408/gripper_right_tactile_force_metrics.json
@@ -0,0 +1,9 @@
+{
+  "depth_peak": 0.0019549650605767965,
+  "shear_peak": 0.009669559076428413,
+  "force_magnitude_peak": 0.009791992604732513,
+  "reference_frame_count": 0,
+  "dataset_name": "dag911262r00035d_lerobot_0327_114353",
+  "episode_index": 408,
+  "sensor": "gripper_right_tactile"
+}
\ No newline at end of file
diff --git a/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_09-30/outputs_tactile/tactile_cache/dag911262r00035d_lerobot_0327_114353_7434c583/episodes/ep000409/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/ep000409/gripper_left_tactile_force_metrics.json
new file mode 100644
index 0000000000000000000000000000000000000000..15932b53b1b0fccc0856a1d5eb801b7ffeed70e7
--- /dev/null
+++ b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_09-30/outputs_tactile/tactile_cache/dag911262r00035d_lerobot_0327_114353_7434c583/episodes/ep000409/gripper_left_tactile_force_metrics.json
@@ -0,0 +1,9 @@
+{
+  "depth_peak": 0.009005874395370483,
+  "shear_peak": 0.009140979498624802,
+  "force_magnitude_peak": 0.012231382541358471,
+  "reference_frame_count": 0,
+  "dataset_name": "dag911262r00035d_lerobot_0327_114353",
+  "episode_index": 409,
+  "sensor": "gripper_left_tactile"
+}
\ No newline at end of file
diff --git a/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_09-30/outputs_tactile/tactile_cache/dag911262r00035d_lerobot_0327_114353_7434c583/episodes/ep000413/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/ep000413/gripper_left_tactile_force_metrics.json
new file mode 100644
index 0000000000000000000000000000000000000000..9d8e6afaf5cbbf4709246e7f2fa8fff6a87ae198
--- /dev/null
+++ b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_09-30/outputs_tactile/tactile_cache/dag911262r00035d_lerobot_0327_114353_7434c583/episodes/ep000413/gripper_left_tactile_force_metrics.json
@@ -0,0 +1,9 @@
+{
+  "depth_peak": 0.0008524181321263313,
+  "shear_peak": 0.0015962886391207576,
+  "force_magnitude_peak": 0.0023739421740174294,
+  "reference_frame_count": 0,
+  "dataset_name": "dag911262r00035d_lerobot_0327_114353",
+  "episode_index": 413,
+  "sensor": "gripper_left_tactile"
+}
\ No newline at end of file
diff --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_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/ep000415/gripper_right_tactile_contact_metrics.json
new file mode 100644
index 0000000000000000000000000000000000000000..d67590572b7384f160ba9daa49a980beb6286622
--- /dev/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_right_tactile_contact_metrics.json
@@ -0,0 +1,12 @@
+{
+  "contact_time": 3.6666666666666665,
+  "contact_ratio": 0.3819444444444444,
+  "avg_contact_area": 5120.309090909091,
+  "contact_entropy": 0.35586770843622195,
+  "total_frames": 288,
+  "fps": 30.0,
+  "reference_frame_count": 0,
+  "dataset_name": "dag911262r00035d_lerobot_0327_114353",
+  "episode_index": 415,
+  "sensor": "gripper_right_tactile"
+}
\ No newline at end of file
diff --git a/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_09-30/outputs_tactile/tactile_cache/dag911262r00035d_lerobot_0327_114353_7434c583/episodes/ep000418/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/ep000418/gripper_right_tactile_force_metrics.json
new file mode 100644
index 0000000000000000000000000000000000000000..cf54c4b95acf88d32886ecbada751dd6cd648922
--- /dev/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_right_tactile_force_metrics.json
@@ -0,0 +1,9 @@
+{
+  "depth_peak": 0.004522853065282106,
+  "shear_peak": 0.0029422766529023647,
+  "force_magnitude_peak": 0.004749458748847246,
+  "reference_frame_count": 0,
+  "dataset_name": "dag911262r00035d_lerobot_0327_114353",
+  "episode_index": 418,
+  "sensor": "gripper_right_tactile"
+}
\ No newline at end of file
diff --git a/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_09-30/outputs_tactile/tactile_cache/dag911262r00035d_lerobot_0327_114353_7434c583/episodes/ep000420/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/ep000420/gripper_left_tactile_force_metrics.json
new file mode 100644
index 0000000000000000000000000000000000000000..92e0d1e5771df6374f364fa5beb3d7cea8827cea
--- /dev/null
+++ b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_09-30/outputs_tactile/tactile_cache/dag911262r00035d_lerobot_0327_114353_7434c583/episodes/ep000420/gripper_left_tactile_force_metrics.json
@@ -0,0 +1,9 @@
+{
+  "depth_peak": 0.002148448722437024,
+  "shear_peak": 0.002265587681904435,
+  "force_magnitude_peak": 0.0030326179694384336,
+  "reference_frame_count": 0,
+  "dataset_name": "dag911262r00035d_lerobot_0327_114353",
+  "episode_index": 420,
+  "sensor": "gripper_left_tactile"
+}
\ No newline at end of file
diff --git a/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_09-30/outputs_tactile/tactile_cache/dag911262r00035d_lerobot_0327_114353_7434c583/episodes/ep000421/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/ep000421/gripper_left_tactile_contact_metrics.json
new file mode 100644
index 0000000000000000000000000000000000000000..e85152940e9c259b20c16270e1103c0d1bd6986d
--- /dev/null
+++ b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_09-30/outputs_tactile/tactile_cache/dag911262r00035d_lerobot_0327_114353_7434c583/episodes/ep000421/gripper_left_tactile_contact_metrics.json
@@ -0,0 +1,12 @@
+{
+  "contact_time": 5.433333333333334,
+  "contact_ratio": 0.7244444444444444,
+  "avg_contact_area": 393.69325153374234,
+  "contact_entropy": 0.0,
+  "total_frames": 225,
+  "fps": 30.0,
+  "reference_frame_count": 0,
+  "dataset_name": "dag911262r00035d_lerobot_0327_114353",
+  "episode_index": 421,
+  "sensor": "gripper_left_tactile"
+}
\ No newline at end of file
diff --git a/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_09-30/outputs_tactile/tactile_cache/dag911262r00035d_lerobot_0327_114353_7434c583/episodes/ep000425/gripper_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/ep000425/gripper_left_tactile_force_metrics.json
new file mode 100644
index 0000000000000000000000000000000000000000..cdff721a380052bcd617ae080171eb0bdbd72677
--- /dev/null
+++ b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_09-30/outputs_tactile/tactile_cache/dag911262r00035d_lerobot_0327_114353_7434c583/episodes/ep000425/gripper_left_tactile_force_metrics.json
@@ -0,0 +1,9 @@
+{
+  "depth_peak": 0.0017939758254215121,
+  "shear_peak": 0.0014887695433571935,
+  "force_magnitude_peak": 0.002206623088568449,
+  "reference_frame_count": 0,
+  "dataset_name": "dag911262r00035d_lerobot_0327_114353",
+  "episode_index": 425,
+  "sensor": "gripper_left_tactile"
+}
\ No newline at end of file
diff --git a/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_09-30/outputs_tactile/tactile_cache/dag911262r00035d_lerobot_0327_114353_7434c583/episodes/ep000426/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/ep000426/gripper_left_tactile_contact_metrics.json
new file mode 100644
index 0000000000000000000000000000000000000000..6071eb213b83d159ed3b757d8085e61faf78b9ae
--- /dev/null
+++ b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_09-30/outputs_tactile/tactile_cache/dag911262r00035d_lerobot_0327_114353_7434c583/episodes/ep000426/gripper_left_tactile_contact_metrics.json
@@ -0,0 +1,12 @@
+{
+  "contact_time": 3.8666666666666667,
+  "contact_ratio": 0.4444444444444444,
+  "avg_contact_area": 683.0258620689655,
+  "contact_entropy": 0.18588955336775542,
+  "total_frames": 261,
+  "fps": 30.0,
+  "reference_frame_count": 0,
+  "dataset_name": "dag911262r00035d_lerobot_0327_114353",
+  "episode_index": 426,
+  "sensor": "gripper_left_tactile"
+}
\ No newline at end of file
diff --git a/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_09-30/outputs_tactile/tactile_cache/dag911262r00035d_lerobot_0327_114353_7434c583/episodes/ep000428/gripper_right_tactile_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/ep000428/gripper_right_tactile_force_metrics.json
new file mode 100644
index 0000000000000000000000000000000000000000..c6c7b7fdf519e8fbeca3290490946fdd3fd9c24b
--- /dev/null
+++ b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_09-30/outputs_tactile/tactile_cache/dag911262r00035d_lerobot_0327_114353_7434c583/episodes/ep000428/gripper_right_tactile_force_metrics.json
@@ -0,0 +1,9 @@
+{
+  "depth_peak": 0.019120659679174423,
+  "shear_peak": 0.011651144362986088,
+  "force_magnitude_peak": 0.021602267399430275,
+  "reference_frame_count": 0,
+  "dataset_name": "dag911262r00035d_lerobot_0327_114353",
+  "episode_index": 428,
+  "sensor": "gripper_right_tactile"
+}
\ No newline at end of file
diff --git a/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_09-30/outputs_tactile/tactile_cache/dag911262r00035d_lerobot_0327_114353_7434c583/episodes/ep000429/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/ep000429/gripper_left_tactile_force_metrics.json
new file mode 100644
index 0000000000000000000000000000000000000000..d7fff638cce04ea15a99f93c4a7586a9749dee33
--- /dev/null
+++ b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_09-30/outputs_tactile/tactile_cache/dag911262r00035d_lerobot_0327_114353_7434c583/episodes/ep000429/gripper_left_tactile_force_metrics.json
@@ -0,0 +1,9 @@
+{
+  "depth_peak": 0.008905625902116299,
+  "shear_peak": 0.007098221220076084,
+  "force_magnitude_peak": 0.01126334723085165,
+  "reference_frame_count": 0,
+  "dataset_name": "dag911262r00035d_lerobot_0327_114353",
+  "episode_index": 429,
+  "sensor": "gripper_left_tactile"
+}
\ No newline at end of file
diff --git a/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_09-30/outputs_tactile/tactile_cache/dag911262r00035d_lerobot_0327_114353_7434c583/episodes/ep000429/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/ep000429/gripper_right_tactile_force_metrics.json
new file mode 100644
index 0000000000000000000000000000000000000000..21ca6701ea0f43e6d447f2638426df880d7cea36
--- /dev/null
+++ b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_09-30/outputs_tactile/tactile_cache/dag911262r00035d_lerobot_0327_114353_7434c583/episodes/ep000429/gripper_right_tactile_force_metrics.json
@@ -0,0 +1,9 @@
+{
+  "depth_peak": 0.008145106956362724,
+  "shear_peak": 0.007355694659054279,
+  "force_magnitude_peak": 0.010947521775960922,
+  "reference_frame_count": 0,
+  "dataset_name": "dag911262r00035d_lerobot_0327_114353",
+  "episode_index": 429,
+  "sensor": "gripper_right_tactile"
+}
\ No newline at end of file
diff --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_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/ep000432/gripper_right_tactile_force_metrics.json
new file mode 100644
index 0000000000000000000000000000000000000000..42e3989f925c02fc017c07fafc699362c80f6370
--- /dev/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_right_tactile_force_metrics.json
@@ -0,0 +1,9 @@
+{
+  "depth_peak": 0.0031971570570021868,
+  "shear_peak": 0.001946231466718018,
+  "force_magnitude_peak": 0.0034638158977031708,
+  "reference_frame_count": 0,
+  "dataset_name": "dag911262r00035d_lerobot_0327_114353",
+  "episode_index": 432,
+  "sensor": "gripper_right_tactile"
+}
\ No newline at end of file
diff --git a/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_09-30/outputs_tactile/tactile_cache/dag911262r00035d_lerobot_0327_114353_7434c583/episodes/ep000433/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/ep000433/gripper_left_tactile_contact_metrics.json
new file mode 100644
index 0000000000000000000000000000000000000000..47cc7ef1f54cfe1dba8a80676712f49ef8ccd6d9
--- /dev/null
+++ b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_09-30/outputs_tactile/tactile_cache/dag911262r00035d_lerobot_0327_114353_7434c583/episodes/ep000433/gripper_left_tactile_contact_metrics.json
@@ -0,0 +1,12 @@
+{
+  "contact_time": 5.766666666666667,
+  "contact_ratio": 0.7032520325203252,
+  "avg_contact_area": 824.6127167630058,
+  "contact_entropy": 0.7233136472327096,
+  "total_frames": 246,
+  "fps": 30.0,
+  "reference_frame_count": 0,
+  "dataset_name": "dag911262r00035d_lerobot_0327_114353",
+  "episode_index": 433,
+  "sensor": "gripper_left_tactile"
+}
\ No newline at end of file
diff --git a/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_09-30/outputs_tactile/tactile_cache/dag911262r00035d_lerobot_0327_114353_7434c583/episodes/ep000439/gripper_right_tactile_contact_metrics.json b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_09-30/outputs_tactile/tactile_cache/dag911262r00035d_lerobot_0327_114353_7434c583/episodes/ep000439/gripper_right_tactile_contact_metrics.json
new file mode 100644
index 0000000000000000000000000000000000000000..d8ef842f3de4730537b044d9530d94334bbc715b
--- /dev/null
+++ b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_09-30/outputs_tactile/tactile_cache/dag911262r00035d_lerobot_0327_114353_7434c583/episodes/ep000439/gripper_right_tactile_contact_metrics.json
@@ -0,0 +1,12 @@
+{
+  "contact_time": 4.633333333333334,
+  "contact_ratio": 0.7433155080213903,
+  "avg_contact_area": 4986.712230215828,
+  "contact_entropy": 0.4904467637533636,
+  "total_frames": 187,
+  "fps": 30.0,
+  "reference_frame_count": 0,
+  "dataset_name": "dag911262r00035d_lerobot_0327_114353",
+  "episode_index": 439,
+  "sensor": "gripper_right_tactile"
+}
\ No newline at end of file
diff --git a/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_09-30/outputs_tactile/tactile_cache/dag911262r00035d_lerobot_0327_114353_7434c583/episodes/ep000440/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/ep000440/gripper_right_tactile_contact_metrics.json
new file mode 100644
index 0000000000000000000000000000000000000000..4a7d6e9df09b996252fdd8b04a28f1ca61705538
--- /dev/null
+++ b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_09-30/outputs_tactile/tactile_cache/dag911262r00035d_lerobot_0327_114353_7434c583/episodes/ep000440/gripper_right_tactile_contact_metrics.json
@@ -0,0 +1,12 @@
+{
+  "contact_time": 5.1,
+  "contact_ratio": 0.8595505617977528,
+  "avg_contact_area": 4359.411764705882,
+  "contact_entropy": 0.7250589967962638,
+  "total_frames": 178,
+  "fps": 30.0,
+  "reference_frame_count": 0,
+  "dataset_name": "dag911262r00035d_lerobot_0327_114353",
+  "episode_index": 440,
+  "sensor": "gripper_right_tactile"
+}
\ No newline at end of file
diff --git a/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_09-30/outputs_tactile/tactile_cache/dag911262r00035d_lerobot_0327_114353_7434c583/episodes/ep000441/gripper_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/ep000441/gripper_right_tactile_contact_metrics.json
new file mode 100644
index 0000000000000000000000000000000000000000..0f73f9088b54557545ef577c89d93a43c97e8d2e
--- /dev/null
+++ b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_09-30/outputs_tactile/tactile_cache/dag911262r00035d_lerobot_0327_114353_7434c583/episodes/ep000441/gripper_right_tactile_contact_metrics.json
@@ -0,0 +1,12 @@
+{
+  "contact_time": 4.0,
+  "contact_ratio": 0.6629834254143646,
+  "avg_contact_area": 4963.683333333333,
+  "contact_entropy": 0.44517107425558977,
+  "total_frames": 181,
+  "fps": 30.0,
+  "reference_frame_count": 0,
+  "dataset_name": "dag911262r00035d_lerobot_0327_114353",
+  "episode_index": 441,
+  "sensor": "gripper_right_tactile"
+}
\ No newline at end of file
diff --git a/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_09-30/outputs_tactile/tactile_cache/dag911262r00035d_lerobot_0327_114353_7434c583/episodes/ep000443/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/ep000443/gripper_right_tactile_contact_metrics.json
new file mode 100644
index 0000000000000000000000000000000000000000..83d1cc02c98f1d6234ef4a746ac6a2229a4d31ac
--- /dev/null
+++ b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_09-30/outputs_tactile/tactile_cache/dag911262r00035d_lerobot_0327_114353_7434c583/episodes/ep000443/gripper_right_tactile_contact_metrics.json
@@ -0,0 +1,12 @@
+{
+  "contact_time": 3.2,
+  "contact_ratio": 0.3018867924528302,
+  "avg_contact_area": 1596.625,
+  "contact_entropy": 0.010401906032265694,
+  "total_frames": 318,
+  "fps": 30.0,
+  "reference_frame_count": 0,
+  "dataset_name": "dag911262r00035d_lerobot_0327_114353",
+  "episode_index": 443,
+  "sensor": "gripper_right_tactile"
+}
\ No newline at end of file
diff --git a/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_09-30/outputs_tactile/tactile_cache/dag911262r00035d_lerobot_0327_114353_7434c583/episodes/ep000446/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/ep000446/gripper_left_tactile_contact_metrics.json
new file mode 100644
index 0000000000000000000000000000000000000000..4ff24c1246c35b392bcd210e91aaaeab276140ff
--- /dev/null
+++ b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_09-30/outputs_tactile/tactile_cache/dag911262r00035d_lerobot_0327_114353_7434c583/episodes/ep000446/gripper_left_tactile_contact_metrics.json
@@ -0,0 +1,12 @@
+{
+  "contact_time": 1.2,
+  "contact_ratio": 0.1875,
+  "avg_contact_area": 549.6388888888889,
+  "contact_entropy": 0.5046189120050661,
+  "total_frames": 192,
+  "fps": 30.0,
+  "reference_frame_count": 0,
+  "dataset_name": "dag911262r00035d_lerobot_0327_114353",
+  "episode_index": 446,
+  "sensor": "gripper_left_tactile"
+}
\ No newline at end of file
diff --git a/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_09-30/outputs_tactile/tactile_cache/dag911262r00035d_lerobot_0327_114353_7434c583/episodes/ep000448/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/ep000448/gripper_left_tactile_contact_metrics.json
new file mode 100644
index 0000000000000000000000000000000000000000..037af8fbd39143e6f85f84038c6045d11bba0006
--- /dev/null
+++ b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_09-30/outputs_tactile/tactile_cache/dag911262r00035d_lerobot_0327_114353_7434c583/episodes/ep000448/gripper_left_tactile_contact_metrics.json
@@ -0,0 +1,12 @@
+{
+  "contact_time": 4.933333333333334,
+  "contact_ratio": 0.7014218009478673,
+  "avg_contact_area": 820.7837837837837,
+  "contact_entropy": 0.3102621974147187,
+  "total_frames": 211,
+  "fps": 30.0,
+  "reference_frame_count": 0,
+  "dataset_name": "dag911262r00035d_lerobot_0327_114353",
+  "episode_index": 448,
+  "sensor": "gripper_left_tactile"
+}
\ No newline at end of file
diff --git a/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_09-30/outputs_tactile/tactile_cache/dag911262r00035d_lerobot_0327_114353_7434c583/episodes/ep000448/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/ep000448/gripper_right_tactile_force_metrics.json
new file mode 100644
index 0000000000000000000000000000000000000000..0b834fcf536b7307388b230c2dfeb64c4f3a2bb2
--- /dev/null
+++ b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_09-30/outputs_tactile/tactile_cache/dag911262r00035d_lerobot_0327_114353_7434c583/episodes/ep000448/gripper_right_tactile_force_metrics.json
@@ -0,0 +1,9 @@
+{
+  "depth_peak": 0.004110586829483509,
+  "shear_peak": 0.0018874274101108313,
+  "force_magnitude_peak": 0.004126385785639286,
+  "reference_frame_count": 0,
+  "dataset_name": "dag911262r00035d_lerobot_0327_114353",
+  "episode_index": 448,
+  "sensor": "gripper_right_tactile"
+}
\ No newline at end of file
diff --git a/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_09-30/outputs_tactile/tactile_cache/dag911262r00035d_lerobot_0327_114353_7434c583/episodes/ep000449/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/ep000449/gripper_left_tactile_force_metrics.json
new file mode 100644
index 0000000000000000000000000000000000000000..b39e4d8bc31ee347fe6483859f65db6dc06a2c8c
--- /dev/null
+++ b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_09-30/outputs_tactile/tactile_cache/dag911262r00035d_lerobot_0327_114353_7434c583/episodes/ep000449/gripper_left_tactile_force_metrics.json
@@ -0,0 +1,9 @@
+{
+  "depth_peak": 0.0024768314324319363,
+  "shear_peak": 0.0019195341737940907,
+  "force_magnitude_peak": 0.0026206611655652523,
+  "reference_frame_count": 0,
+  "dataset_name": "dag911262r00035d_lerobot_0327_114353",
+  "episode_index": 449,
+  "sensor": "gripper_left_tactile"
+}
\ No newline at end of file
diff --git a/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_09-30/outputs_tactile/tactile_cache/dag911262r00035d_lerobot_0327_114353_7434c583/episodes/ep000453/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/ep000453/gripper_left_tactile_force_metrics.json
new file mode 100644
index 0000000000000000000000000000000000000000..a2ef5460065f05adb4c72d038eccc36b4e50ea0a
--- /dev/null
+++ b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_09-30/outputs_tactile/tactile_cache/dag911262r00035d_lerobot_0327_114353_7434c583/episodes/ep000453/gripper_left_tactile_force_metrics.json
@@ -0,0 +1,9 @@
+{
+  "depth_peak": 0.007345889694988728,
+  "shear_peak": 0.00839194655418396,
+  "force_magnitude_peak": 0.01114161591976881,
+  "reference_frame_count": 0,
+  "dataset_name": "dag911262r00035d_lerobot_0327_114353",
+  "episode_index": 453,
+  "sensor": "gripper_left_tactile"
+}
\ No newline at end of file
diff --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_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/ep000455/gripper_right_tactile_contact_metrics.json
new file mode 100644
index 0000000000000000000000000000000000000000..cd478e2d9bab054c6cc65acfdce93b9d720be3ad
--- /dev/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_right_tactile_contact_metrics.json
@@ -0,0 +1,12 @@
+{
+  "contact_time": 2.2,
+  "contact_ratio": 0.3283582089552239,
+  "avg_contact_area": 1632.6969696969697,
+  "contact_entropy": 0.5609802469254299,
+  "total_frames": 201,
+  "fps": 30.0,
+  "reference_frame_count": 0,
+  "dataset_name": "dag911262r00035d_lerobot_0327_114353",
+  "episode_index": 455,
+  "sensor": "gripper_right_tactile"
+}
\ No newline at end of file
diff --git a/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_09-30/outputs_tactile/tactile_cache/dag911262r00035d_lerobot_0327_114353_7434c583/episodes/ep000458/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/ep000458/gripper_right_tactile_force_metrics.json
new file mode 100644
index 0000000000000000000000000000000000000000..cb020e878cb1e19536fc9f5a54172a2f94cd05f5
--- /dev/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_right_tactile_force_metrics.json
@@ -0,0 +1,9 @@
+{
+  "depth_peak": 0.0026180895511060953,
+  "shear_peak": 0.003408709540963173,
+  "force_magnitude_peak": 0.004179873038083315,
+  "reference_frame_count": 0,
+  "dataset_name": "dag911262r00035d_lerobot_0327_114353",
+  "episode_index": 458,
+  "sensor": "gripper_right_tactile"
+}
\ No newline at end of file
diff --git a/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_09-30/outputs_tactile/tactile_cache/dag911262r00035d_lerobot_0327_114353_7434c583/episodes/ep000460/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/ep000460/gripper_left_tactile_force_metrics.json
new file mode 100644
index 0000000000000000000000000000000000000000..ac825a41abe1bec55d85ed7fd96e17118b18a770
--- /dev/null
+++ b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_09-30/outputs_tactile/tactile_cache/dag911262r00035d_lerobot_0327_114353_7434c583/episodes/ep000460/gripper_left_tactile_force_metrics.json
@@ -0,0 +1,9 @@
+{
+  "depth_peak": 0.0024678006302565336,
+  "shear_peak": 0.0033372181933373213,
+  "force_magnitude_peak": 0.0041185286827385426,
+  "reference_frame_count": 0,
+  "dataset_name": "dag911262r00035d_lerobot_0327_114353",
+  "episode_index": 460,
+  "sensor": "gripper_left_tactile"
+}
\ No newline at end of file
diff --git a/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_09-30/outputs_tactile/tactile_cache/dag911262r00035d_lerobot_0327_114353_7434c583/episodes/ep000461/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/ep000461/gripper_left_tactile_contact_metrics.json
new file mode 100644
index 0000000000000000000000000000000000000000..2bead21e142c82b9924cb5ac9308f09932ff191f
--- /dev/null
+++ b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_09-30/outputs_tactile/tactile_cache/dag911262r00035d_lerobot_0327_114353_7434c583/episodes/ep000461/gripper_left_tactile_contact_metrics.json
@@ -0,0 +1,12 @@
+{
+  "contact_time": 3.2666666666666666,
+  "contact_ratio": 0.6666666666666666,
+  "avg_contact_area": 184.5612244897959,
+  "contact_entropy": 0.3023036724547587,
+  "total_frames": 147,
+  "fps": 30.0,
+  "reference_frame_count": 0,
+  "dataset_name": "dag911262r00035d_lerobot_0327_114353",
+  "episode_index": 461,
+  "sensor": "gripper_left_tactile"
+}
\ No newline at end of file
diff --git a/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_09-30/outputs_tactile/tactile_cache/dag911262r00035d_lerobot_0327_114353_7434c583/episodes/ep000465/gripper_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/ep000465/gripper_left_tactile_force_metrics.json
new file mode 100644
index 0000000000000000000000000000000000000000..0cd0166a0903a89a4bbfbafdb1712a7cd29613d0
--- /dev/null
+++ b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_09-30/outputs_tactile/tactile_cache/dag911262r00035d_lerobot_0327_114353_7434c583/episodes/ep000465/gripper_left_tactile_force_metrics.json
@@ -0,0 +1,9 @@
+{
+  "depth_peak": 0.007257905323058367,
+  "shear_peak": 0.0059705437161028385,
+  "force_magnitude_peak": 0.008955532684922218,
+  "reference_frame_count": 0,
+  "dataset_name": "dag911262r00035d_lerobot_0327_114353",
+  "episode_index": 465,
+  "sensor": "gripper_left_tactile"
+}
\ No newline at end of file
diff --git a/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_09-30/outputs_tactile/tactile_cache/dag911262r00035d_lerobot_0327_114353_7434c583/episodes/ep000466/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/ep000466/gripper_left_tactile_contact_metrics.json
new file mode 100644
index 0000000000000000000000000000000000000000..b712a376a28042b9d6ff7759568ce7b815d4f4ef
--- /dev/null
+++ b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_09-30/outputs_tactile/tactile_cache/dag911262r00035d_lerobot_0327_114353_7434c583/episodes/ep000466/gripper_left_tactile_contact_metrics.json
@@ -0,0 +1,12 @@
+{
+  "contact_time": 2.966666666666667,
+  "contact_ratio": 0.42995169082125606,
+  "avg_contact_area": 39.359550561797754,
+  "contact_entropy": 0.0,
+  "total_frames": 207,
+  "fps": 30.0,
+  "reference_frame_count": 0,
+  "dataset_name": "dag911262r00035d_lerobot_0327_114353",
+  "episode_index": 466,
+  "sensor": "gripper_left_tactile"
+}
\ No newline at end of file
diff --git a/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_09-30/outputs_tactile/tactile_cache/dag911262r00035d_lerobot_0327_114353_7434c583/episodes/ep000468/gripper_right_tactile_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/ep000468/gripper_right_tactile_force_metrics.json
new file mode 100644
index 0000000000000000000000000000000000000000..a62c68cc0f74c4678ccd981c2762fb393059323c
--- /dev/null
+++ b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_09-30/outputs_tactile/tactile_cache/dag911262r00035d_lerobot_0327_114353_7434c583/episodes/ep000468/gripper_right_tactile_force_metrics.json
@@ -0,0 +1,9 @@
+{
+  "depth_peak": 0.005908708553761244,
+  "shear_peak": 0.0048703523352742195,
+  "force_magnitude_peak": 0.007657229900360107,
+  "reference_frame_count": 0,
+  "dataset_name": "dag911262r00035d_lerobot_0327_114353",
+  "episode_index": 468,
+  "sensor": "gripper_right_tactile"
+}
\ No newline at end of file
diff --git a/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_09-30/outputs_tactile/tactile_cache/dag911262r00035d_lerobot_0327_114353_7434c583/episodes/ep000469/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/ep000469/gripper_left_tactile_force_metrics.json
new file mode 100644
index 0000000000000000000000000000000000000000..f76dbcfb18cd5716d43938ec824fbff8d402a566
--- /dev/null
+++ b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_09-30/outputs_tactile/tactile_cache/dag911262r00035d_lerobot_0327_114353_7434c583/episodes/ep000469/gripper_left_tactile_force_metrics.json
@@ -0,0 +1,9 @@
+{
+  "depth_peak": 0.0066568003967404366,
+  "shear_peak": 0.004719840828329325,
+  "force_magnitude_peak": 0.006734789349138737,
+  "reference_frame_count": 0,
+  "dataset_name": "dag911262r00035d_lerobot_0327_114353",
+  "episode_index": 469,
+  "sensor": "gripper_left_tactile"
+}
\ No newline at end of file
diff --git a/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_09-30/outputs_tactile/tactile_cache/dag911262r00035d_lerobot_0327_114353_7434c583/episodes/ep000469/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/ep000469/gripper_right_tactile_force_metrics.json
new file mode 100644
index 0000000000000000000000000000000000000000..5bf96f390bfc204dccd07121c1f7c791f195eac8
--- /dev/null
+++ b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_09-30/outputs_tactile/tactile_cache/dag911262r00035d_lerobot_0327_114353_7434c583/episodes/ep000469/gripper_right_tactile_force_metrics.json
@@ -0,0 +1,9 @@
+{
+  "depth_peak": 0.012110880576074123,
+  "shear_peak": 0.003955662250518799,
+  "force_magnitude_peak": 0.012602388858795166,
+  "reference_frame_count": 0,
+  "dataset_name": "dag911262r00035d_lerobot_0327_114353",
+  "episode_index": 469,
+  "sensor": "gripper_right_tactile"
+}
\ No newline at end of file
diff --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_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/ep000472/gripper_right_tactile_force_metrics.json
new file mode 100644
index 0000000000000000000000000000000000000000..6dec499b095881f25507c6f2d33bf8100b754f5a
--- /dev/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_right_tactile_force_metrics.json
@@ -0,0 +1,9 @@
+{
+  "depth_peak": 0.013287396170198917,
+  "shear_peak": 0.003211249364539981,
+  "force_magnitude_peak": 0.013640018180012703,
+  "reference_frame_count": 0,
+  "dataset_name": "dag911262r00035d_lerobot_0327_114353",
+  "episode_index": 472,
+  "sensor": "gripper_right_tactile"
+}
\ No newline at end of file
diff --git a/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_09-30/outputs_tactile/tactile_cache/dag911262r00035d_lerobot_0327_114353_7434c583/episodes/ep000473/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/ep000473/gripper_left_tactile_contact_metrics.json
new file mode 100644
index 0000000000000000000000000000000000000000..a7546627aa22b1b1a38cc6d64252ccca44ad20bd
--- /dev/null
+++ b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_09-30/outputs_tactile/tactile_cache/dag911262r00035d_lerobot_0327_114353_7434c583/episodes/ep000473/gripper_left_tactile_contact_metrics.json
@@ -0,0 +1,12 @@
+{
+  "contact_time": 6.133333333333334,
+  "contact_ratio": 0.9484536082474226,
+  "avg_contact_area": 1061.1684782608695,
+  "contact_entropy": 0.5832272706800937,
+  "total_frames": 194,
+  "fps": 30.0,
+  "reference_frame_count": 0,
+  "dataset_name": "dag911262r00035d_lerobot_0327_114353",
+  "episode_index": 473,
+  "sensor": "gripper_left_tactile"
+}
\ No newline at end of file
diff --git a/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_09-30/outputs_tactile/tactile_cache/dag911262r00035d_lerobot_0327_114353_7434c583/episodes/ep000479/gripper_right_tactile_contact_metrics.json b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_09-30/outputs_tactile/tactile_cache/dag911262r00035d_lerobot_0327_114353_7434c583/episodes/ep000479/gripper_right_tactile_contact_metrics.json
new file mode 100644
index 0000000000000000000000000000000000000000..93eb4828f500fda2bb89ceb086d66630ab78be11
--- /dev/null
+++ b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_09-30/outputs_tactile/tactile_cache/dag911262r00035d_lerobot_0327_114353_7434c583/episodes/ep000479/gripper_right_tactile_contact_metrics.json
@@ -0,0 +1,12 @@
+{
+  "contact_time": 2.6,
+  "contact_ratio": 0.5064935064935064,
+  "avg_contact_area": 4125.282051282052,
+  "contact_entropy": 0.3444731166714628,
+  "total_frames": 154,
+  "fps": 30.0,
+  "reference_frame_count": 0,
+  "dataset_name": "dag911262r00035d_lerobot_0327_114353",
+  "episode_index": 479,
+  "sensor": "gripper_right_tactile"
+}
\ No newline at end of file
diff --git a/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_09-30/outputs_tactile/tactile_cache/dag911262r00035d_lerobot_0327_114353_7434c583/episodes/ep000480/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/ep000480/gripper_right_tactile_contact_metrics.json
new file mode 100644
index 0000000000000000000000000000000000000000..d9229a4b7ed61255adbf3915ffd08c0b9b8ae8a1
--- /dev/null
+++ b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_09-30/outputs_tactile/tactile_cache/dag911262r00035d_lerobot_0327_114353_7434c583/episodes/ep000480/gripper_right_tactile_contact_metrics.json
@@ -0,0 +1,12 @@
+{
+  "contact_time": 7.133333333333334,
+  "contact_ratio": 0.9727272727272728,
+  "avg_contact_area": 6046.046728971963,
+  "contact_entropy": 0.5153092255270686,
+  "total_frames": 220,
+  "fps": 30.0,
+  "reference_frame_count": 0,
+  "dataset_name": "dag911262r00035d_lerobot_0327_114353",
+  "episode_index": 480,
+  "sensor": "gripper_right_tactile"
+}
\ No newline at end of file
diff --git a/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_09-30/outputs_tactile/tactile_cache/dag911262r00035d_lerobot_0327_114353_7434c583/episodes/ep000481/gripper_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/ep000481/gripper_right_tactile_contact_metrics.json
new file mode 100644
index 0000000000000000000000000000000000000000..f43583f73b41a3c17315075af330610da3702770
--- /dev/null
+++ b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_09-30/outputs_tactile/tactile_cache/dag911262r00035d_lerobot_0327_114353_7434c583/episodes/ep000481/gripper_right_tactile_contact_metrics.json
@@ -0,0 +1,12 @@
+{
+  "contact_time": 5.466666666666667,
+  "contact_ratio": 0.7224669603524229,
+  "avg_contact_area": 11624.603658536585,
+  "contact_entropy": 0.48713514003823327,
+  "total_frames": 227,
+  "fps": 30.0,
+  "reference_frame_count": 0,
+  "dataset_name": "dag911262r00035d_lerobot_0327_114353",
+  "episode_index": 481,
+  "sensor": "gripper_right_tactile"
+}
\ No newline at end of file
diff --git a/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_09-30/outputs_tactile/tactile_cache/dag911262r00035d_lerobot_0327_114353_7434c583/episodes/ep000483/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/ep000483/gripper_right_tactile_contact_metrics.json
new file mode 100644
index 0000000000000000000000000000000000000000..2a8a28a83a136f41f68d14f2cb6bb48e87f2e1da
--- /dev/null
+++ b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_09-30/outputs_tactile/tactile_cache/dag911262r00035d_lerobot_0327_114353_7434c583/episodes/ep000483/gripper_right_tactile_contact_metrics.json
@@ -0,0 +1,12 @@
+{
+  "contact_time": 7.566666666666666,
+  "contact_ratio": 0.9912663755458515,
+  "avg_contact_area": 13249.73127753304,
+  "contact_entropy": 0.4364969510641012,
+  "total_frames": 229,
+  "fps": 30.0,
+  "reference_frame_count": 0,
+  "dataset_name": "dag911262r00035d_lerobot_0327_114353",
+  "episode_index": 483,
+  "sensor": "gripper_right_tactile"
+}
\ No newline at end of file
diff --git a/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_09-30/outputs_tactile/tactile_cache/dag911262r00035d_lerobot_0327_114353_7434c583/episodes/ep000486/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/ep000486/gripper_left_tactile_contact_metrics.json
new file mode 100644
index 0000000000000000000000000000000000000000..e606c95df83db4ce0776d957314740defe0e14c8
--- /dev/null
+++ b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_09-30/outputs_tactile/tactile_cache/dag911262r00035d_lerobot_0327_114353_7434c583/episodes/ep000486/gripper_left_tactile_contact_metrics.json
@@ -0,0 +1,12 @@
+{
+  "contact_time": 2.8333333333333335,
+  "contact_ratio": 0.4521276595744681,
+  "avg_contact_area": 102.83529411764705,
+  "contact_entropy": 0.0,
+  "total_frames": 188,
+  "fps": 30.0,
+  "reference_frame_count": 0,
+  "dataset_name": "dag911262r00035d_lerobot_0327_114353",
+  "episode_index": 486,
+  "sensor": "gripper_left_tactile"
+}
\ No newline at end of file
diff --git a/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_09-30/outputs_tactile/tactile_cache/dag911262r00035d_lerobot_0327_114353_7434c583/episodes/ep000488/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/ep000488/gripper_left_tactile_contact_metrics.json
new file mode 100644
index 0000000000000000000000000000000000000000..19231282381b5d106106a145b1d9e00b76e0c952
--- /dev/null
+++ b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_09-30/outputs_tactile/tactile_cache/dag911262r00035d_lerobot_0327_114353_7434c583/episodes/ep000488/gripper_left_tactile_contact_metrics.json
@@ -0,0 +1,12 @@
+{
+  "contact_time": 2.2,
+  "contact_ratio": 0.29596412556053814,
+  "avg_contact_area": 106.13636363636364,
+  "contact_entropy": 0.0,
+  "total_frames": 223,
+  "fps": 30.0,
+  "reference_frame_count": 0,
+  "dataset_name": "dag911262r00035d_lerobot_0327_114353",
+  "episode_index": 488,
+  "sensor": "gripper_left_tactile"
+}
\ No newline at end of file
diff --git a/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_09-30/outputs_tactile/tactile_cache/dag911262r00035d_lerobot_0327_114353_7434c583/episodes/ep000488/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/ep000488/gripper_right_tactile_force_metrics.json
new file mode 100644
index 0000000000000000000000000000000000000000..7330f1e278e3d8db2cc27c45460462d3f7aa9b19
--- /dev/null
+++ b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_09-30/outputs_tactile/tactile_cache/dag911262r00035d_lerobot_0327_114353_7434c583/episodes/ep000488/gripper_right_tactile_force_metrics.json
@@ -0,0 +1,9 @@
+{
+  "depth_peak": 0.00734424265101552,
+  "shear_peak": 0.004363974090665579,
+  "force_magnitude_peak": 0.007429229095578194,
+  "reference_frame_count": 0,
+  "dataset_name": "dag911262r00035d_lerobot_0327_114353",
+  "episode_index": 488,
+  "sensor": "gripper_right_tactile"
+}
\ No newline at end of file
diff --git a/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_09-30/outputs_tactile/tactile_cache/dag911262r00035d_lerobot_0327_114353_7434c583/episodes/ep000489/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/ep000489/gripper_left_tactile_force_metrics.json
new file mode 100644
index 0000000000000000000000000000000000000000..df8e2e1323cddb0c7ffeee52382dc42642e7bb24
--- /dev/null
+++ b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_09-30/outputs_tactile/tactile_cache/dag911262r00035d_lerobot_0327_114353_7434c583/episodes/ep000489/gripper_left_tactile_force_metrics.json
@@ -0,0 +1,9 @@
+{
+  "depth_peak": 0.0042344857938587666,
+  "shear_peak": 0.007562901359051466,
+  "force_magnitude_peak": 0.008623781614005566,
+  "reference_frame_count": 0,
+  "dataset_name": "dag911262r00035d_lerobot_0327_114353",
+  "episode_index": 489,
+  "sensor": "gripper_left_tactile"
+}
\ No newline at end of file
diff --git a/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_09-30/outputs_tactile/tactile_cache/dag911262r00035d_lerobot_0327_114353_7434c583/episodes/ep000493/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/ep000493/gripper_left_tactile_force_metrics.json
new file mode 100644
index 0000000000000000000000000000000000000000..7c478a60aee87dfc5a5def183b2c8b46354f2cac
--- /dev/null
+++ b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_09-30/outputs_tactile/tactile_cache/dag911262r00035d_lerobot_0327_114353_7434c583/episodes/ep000493/gripper_left_tactile_force_metrics.json
@@ -0,0 +1,9 @@
+{
+  "depth_peak": 0.001452254713512957,
+  "shear_peak": 0.0010301151778548956,
+  "force_magnitude_peak": 0.001682414673268795,
+  "reference_frame_count": 0,
+  "dataset_name": "dag911262r00035d_lerobot_0327_114353",
+  "episode_index": 493,
+  "sensor": "gripper_left_tactile"
+}
\ No newline at end of file
diff --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_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/ep000495/gripper_right_tactile_contact_metrics.json
new file mode 100644
index 0000000000000000000000000000000000000000..b4603bf3d64d0a73effa6290477b89daa34907cb
--- /dev/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_right_tactile_contact_metrics.json
@@ -0,0 +1,12 @@
+{
+  "contact_time": 3.033333333333333,
+  "contact_ratio": 0.5796178343949044,
+  "avg_contact_area": 2552.6043956043954,
+  "contact_entropy": 0.8350402265187323,
+  "total_frames": 157,
+  "fps": 30.0,
+  "reference_frame_count": 0,
+  "dataset_name": "dag911262r00035d_lerobot_0327_114353",
+  "episode_index": 495,
+  "sensor": "gripper_right_tactile"
+}
\ No newline at end of file
diff --git a/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_09-30/outputs_tactile/tactile_cache/dag911262r00035d_lerobot_0327_114353_7434c583/episodes/ep000498/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/ep000498/gripper_right_tactile_force_metrics.json
new file mode 100644
index 0000000000000000000000000000000000000000..851ff02f109e702487892328ec24487394cec2cc
--- /dev/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_right_tactile_force_metrics.json
@@ -0,0 +1,9 @@
+{
+  "depth_peak": 0.002969555789604783,
+  "shear_peak": 0.0014165265019983053,
+  "force_magnitude_peak": 0.003286957973614335,
+  "reference_frame_count": 0,
+  "dataset_name": "dag911262r00035d_lerobot_0327_114353",
+  "episode_index": 498,
+  "sensor": "gripper_right_tactile"
+}
\ No newline at end of file
diff --git a/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_09-30/outputs_tactile/tactile_cache/dag911262r00035d_lerobot_0327_114353_7434c583/episodes/ep000500/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/ep000500/gripper_left_tactile_force_metrics.json
new file mode 100644
index 0000000000000000000000000000000000000000..1457bb0858bd2da6c10e5b9ce01e0e31ebc82abb
--- /dev/null
+++ b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_09-30/outputs_tactile/tactile_cache/dag911262r00035d_lerobot_0327_114353_7434c583/episodes/ep000500/gripper_left_tactile_force_metrics.json
@@ -0,0 +1,9 @@
+{
+  "depth_peak": 0.0015190677950158715,
+  "shear_peak": 0.0009434373932890594,
+  "force_magnitude_peak": 0.0015190717531368136,
+  "reference_frame_count": 0,
+  "dataset_name": "dag911262r00035d_lerobot_0327_114353",
+  "episode_index": 500,
+  "sensor": "gripper_left_tactile"
+}
\ No newline at end of file
diff --git a/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_09-30/outputs_tactile/tactile_cache/dag911262r00035d_lerobot_0327_114353_7434c583/episodes/ep000501/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/ep000501/gripper_left_tactile_contact_metrics.json
new file mode 100644
index 0000000000000000000000000000000000000000..76dc470e2034a2833fac4d6119be0bb3132c35b4
--- /dev/null
+++ b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_09-30/outputs_tactile/tactile_cache/dag911262r00035d_lerobot_0327_114353_7434c583/episodes/ep000501/gripper_left_tactile_contact_metrics.json
@@ -0,0 +1,12 @@
+{
+  "contact_time": 2.7333333333333334,
+  "contact_ratio": 0.36123348017621143,
+  "avg_contact_area": 286.9146341463415,
+  "contact_entropy": 0.07984845394383557,
+  "total_frames": 227,
+  "fps": 30.0,
+  "reference_frame_count": 0,
+  "dataset_name": "dag911262r00035d_lerobot_0327_114353",
+  "episode_index": 501,
+  "sensor": "gripper_left_tactile"
+}
\ No newline at end of file
diff --git a/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_09-30/outputs_tactile/tactile_cache/dag911262r00035d_lerobot_0327_114353_7434c583/episodes/ep000505/gripper_left_tactile_force_metrics.json b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_09-30/outputs_tactile/tactile_cache/dag911262r00035d_lerobot_0327_114353_7434c583/episodes/ep000505/gripper_left_tactile_force_metrics.json
new file mode 100644
index 0000000000000000000000000000000000000000..8a932621ad73586dcd54515a7fc376c45540b244
--- /dev/null
+++ b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_09-30/outputs_tactile/tactile_cache/dag911262r00035d_lerobot_0327_114353_7434c583/episodes/ep000505/gripper_left_tactile_force_metrics.json
@@ -0,0 +1,9 @@
+{
+  "depth_peak": 0.0028946453239768744,
+  "shear_peak": 0.0018330281600356102,
+  "force_magnitude_peak": 0.003331495216116309,
+  "reference_frame_count": 0,
+  "dataset_name": "dag911262r00035d_lerobot_0327_114353",
+  "episode_index": 505,
+  "sensor": "gripper_left_tactile"
+}
\ No newline at end of file
diff --git a/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_09-30/outputs_tactile/tactile_cache/dag911262r00035d_lerobot_0327_114353_7434c583/episodes/ep000506/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/ep000506/gripper_left_tactile_contact_metrics.json
new file mode 100644
index 0000000000000000000000000000000000000000..2dccb5c7e0c84f3afe00c53325f5bf6465a692e4
--- /dev/null
+++ b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_09-30/outputs_tactile/tactile_cache/dag911262r00035d_lerobot_0327_114353_7434c583/episodes/ep000506/gripper_left_tactile_contact_metrics.json
@@ -0,0 +1,12 @@
+{
+  "contact_time": 4.866666666666666,
+  "contact_ratio": 0.6320346320346321,
+  "avg_contact_area": 475.3493150684931,
+  "contact_entropy": 0.0,
+  "total_frames": 231,
+  "fps": 30.0,
+  "reference_frame_count": 0,
+  "dataset_name": "dag911262r00035d_lerobot_0327_114353",
+  "episode_index": 506,
+  "sensor": "gripper_left_tactile"
+}
\ No newline at end of file
diff --git a/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_09-30/outputs_tactile/tactile_cache/dag911262r00035d_lerobot_0327_114353_7434c583/episodes/ep000509/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/ep000509/gripper_left_tactile_force_metrics.json
new file mode 100644
index 0000000000000000000000000000000000000000..d5df1e1cec4e15b8e06edca270c5ab705e01531b
--- /dev/null
+++ b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_09-30/outputs_tactile/tactile_cache/dag911262r00035d_lerobot_0327_114353_7434c583/episodes/ep000509/gripper_left_tactile_force_metrics.json
@@ -0,0 +1,9 @@
+{
+  "depth_peak": 0.0007716889376752079,
+  "shear_peak": 0.0011188773205503821,
+  "force_magnitude_peak": 0.0011282216291874647,
+  "reference_frame_count": 0,
+  "dataset_name": "dag911262r00035d_lerobot_0327_114353",
+  "episode_index": 509,
+  "sensor": "gripper_left_tactile"
+}
\ No newline at end of file
diff --git a/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_09-30/outputs_tactile/tactile_cache/dag911262r00035d_lerobot_0327_114353_7434c583/episodes/ep000513/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/ep000513/gripper_left_tactile_contact_metrics.json
new file mode 100644
index 0000000000000000000000000000000000000000..a11ed999fd91b4c4e4bf40c2f01be2c3a82619ae
--- /dev/null
+++ b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_09-30/outputs_tactile/tactile_cache/dag911262r00035d_lerobot_0327_114353_7434c583/episodes/ep000513/gripper_left_tactile_contact_metrics.json
@@ -0,0 +1,12 @@
+{
+  "contact_time": 5.0,
+  "contact_ratio": 0.6147540983606558,
+  "avg_contact_area": 1505.2533333333333,
+  "contact_entropy": 0.4831590631407993,
+  "total_frames": 244,
+  "fps": 30.0,
+  "reference_frame_count": 0,
+  "dataset_name": "dag911262r00035d_lerobot_0327_114353",
+  "episode_index": 513,
+  "sensor": "gripper_left_tactile"
+}
\ No newline at end of file
diff --git a/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_09-30/outputs_tactile/tactile_cache/dag911262r00035d_lerobot_0327_114353_7434c583/episodes/ep000526/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/ep000526/gripper_left_tactile_contact_metrics.json
new file mode 100644
index 0000000000000000000000000000000000000000..88c469121e55380287c100134259c8b34ae29077
--- /dev/null
+++ b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_09-30/outputs_tactile/tactile_cache/dag911262r00035d_lerobot_0327_114353_7434c583/episodes/ep000526/gripper_left_tactile_contact_metrics.json
@@ -0,0 +1,12 @@
+{
+  "contact_time": 1.6666666666666667,
+  "contact_ratio": 0.1773049645390071,
+  "avg_contact_area": 2536.8,
+  "contact_entropy": 0.4757852781288774,
+  "total_frames": 282,
+  "fps": 30.0,
+  "reference_frame_count": 0,
+  "dataset_name": "dag911262r00035d_lerobot_0327_114353",
+  "episode_index": 526,
+  "sensor": "gripper_left_tactile"
+}
\ No newline at end of file
diff --git a/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_09-30/outputs_tactile/tactile_cache/dag911262r00035d_lerobot_0327_114353_7434c583/episodes/ep000528/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/ep000528/gripper_left_tactile_contact_metrics.json
new file mode 100644
index 0000000000000000000000000000000000000000..c7dbfcf39bb52ece4fcdc1b9fe9edaf0c80f69e5
--- /dev/null
+++ b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_09-30/outputs_tactile/tactile_cache/dag911262r00035d_lerobot_0327_114353_7434c583/episodes/ep000528/gripper_left_tactile_contact_metrics.json
@@ -0,0 +1,12 @@
+{
+  "contact_time": 4.2,
+  "contact_ratio": 0.5971563981042654,
+  "avg_contact_area": 63.92857142857143,
+  "contact_entropy": 0.0,
+  "total_frames": 211,
+  "fps": 30.0,
+  "reference_frame_count": 0,
+  "dataset_name": "dag911262r00035d_lerobot_0327_114353",
+  "episode_index": 528,
+  "sensor": "gripper_left_tactile"
+}
\ No newline at end of file
diff --git a/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_09-30/outputs_tactile/tactile_cache/dag911262r00035d_lerobot_0327_114353_7434c583/episodes/ep000533/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/ep000533/gripper_left_tactile_force_metrics.json
new file mode 100644
index 0000000000000000000000000000000000000000..59a91b43cb0fd99ea60fac5621b83ae9447c6b54
--- /dev/null
+++ b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_09-30/outputs_tactile/tactile_cache/dag911262r00035d_lerobot_0327_114353_7434c583/episodes/ep000533/gripper_left_tactile_force_metrics.json
@@ -0,0 +1,9 @@
+{
+  "depth_peak": 0.001458183047361672,
+  "shear_peak": 0.006334198173135519,
+  "force_magnitude_peak": 0.006391219329088926,
+  "reference_frame_count": 0,
+  "dataset_name": "dag911262r00035d_lerobot_0327_114353",
+  "episode_index": 533,
+  "sensor": "gripper_left_tactile"
+}
\ No newline at end of file
diff --git a/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_09-30/outputs_tactile/tactile_cache/dag911262r00035d_lerobot_0327_114353_7434c583/episodes/ep000540/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/ep000540/gripper_left_tactile_force_metrics.json
new file mode 100644
index 0000000000000000000000000000000000000000..1c4cccf026f76a1252878486238789fe65b0c539
--- /dev/null
+++ b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_09-30/outputs_tactile/tactile_cache/dag911262r00035d_lerobot_0327_114353_7434c583/episodes/ep000540/gripper_left_tactile_force_metrics.json
@@ -0,0 +1,9 @@
+{
+  "depth_peak": 0.0017402637749910355,
+  "shear_peak": 0.0023440495133399963,
+  "force_magnitude_peak": 0.002551373327150941,
+  "reference_frame_count": 0,
+  "dataset_name": "dag911262r00035d_lerobot_0327_114353",
+  "episode_index": 540,
+  "sensor": "gripper_left_tactile"
+}
\ No newline at end of file
diff --git a/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_09-30/outputs_tactile/tactile_cache/dag911262r00035d_lerobot_0327_114353_7434c583/episodes/ep000541/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/ep000541/gripper_left_tactile_contact_metrics.json
new file mode 100644
index 0000000000000000000000000000000000000000..5b104a77b6de612b0dd0a76093fad956960ddf40
--- /dev/null
+++ b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_09-30/outputs_tactile/tactile_cache/dag911262r00035d_lerobot_0327_114353_7434c583/episodes/ep000541/gripper_left_tactile_contact_metrics.json
@@ -0,0 +1,12 @@
+{
+  "contact_time": 3.0,
+  "contact_ratio": 0.4838709677419355,
+  "avg_contact_area": 32.34444444444444,
+  "contact_entropy": 0.0,
+  "total_frames": 186,
+  "fps": 30.0,
+  "reference_frame_count": 0,
+  "dataset_name": "dag911262r00035d_lerobot_0327_114353",
+  "episode_index": 541,
+  "sensor": "gripper_left_tactile"
+}
\ No newline at end of file