diff --git a/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_18-30/outputs_tactile/tactile_cache/dag911262r00025a_lerobot_0327_114548_55b88b4d/episodes/ep000312/gripper_right_tactile_force_metrics.json b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_18-30/outputs_tactile/tactile_cache/dag911262r00025a_lerobot_0327_114548_55b88b4d/episodes/ep000312/gripper_right_tactile_force_metrics.json
new file mode 100644
index 0000000000000000000000000000000000000000..67773adf32e258ea180f37113984a46a00b7659e
--- /dev/null
+++ b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_18-30/outputs_tactile/tactile_cache/dag911262r00025a_lerobot_0327_114548_55b88b4d/episodes/ep000312/gripper_right_tactile_force_metrics.json
@@ -0,0 +1,9 @@
+{
+  "depth_peak": 0.011507025919854641,
+  "shear_peak": 0.004893637262284756,
+  "force_magnitude_peak": 0.01174159999936819,
+  "reference_frame_count": 0,
+  "dataset_name": "dag911262r00025a_lerobot_0327_114548",
+  "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_18-30/outputs_tactile/tactile_cache/dag911262r00025a_lerobot_0327_114548_55b88b4d/episodes/ep000316/gripper_left_tactile_force_metrics.json b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_18-30/outputs_tactile/tactile_cache/dag911262r00025a_lerobot_0327_114548_55b88b4d/episodes/ep000316/gripper_left_tactile_force_metrics.json
new file mode 100644
index 0000000000000000000000000000000000000000..81bcfce71baa4a92af3a527baf2a89cfacfee328
--- /dev/null
+++ b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_18-30/outputs_tactile/tactile_cache/dag911262r00025a_lerobot_0327_114548_55b88b4d/episodes/ep000316/gripper_left_tactile_force_metrics.json
@@ -0,0 +1,9 @@
+{
+  "depth_peak": 0.012276824563741684,
+  "shear_peak": 0.0035019645001739264,
+  "force_magnitude_peak": 0.01247656811028719,
+  "reference_frame_count": 0,
+  "dataset_name": "dag911262r00025a_lerobot_0327_114548",
+  "episode_index": 316,
+  "sensor": "gripper_left_tactile"
+}
\ No newline at end of file
diff --git a/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_18-30/outputs_tactile/tactile_cache/dag911262r00025a_lerobot_0327_114548_55b88b4d/episodes/ep000322/gripper_right_tactile_force_metrics.json b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_18-30/outputs_tactile/tactile_cache/dag911262r00025a_lerobot_0327_114548_55b88b4d/episodes/ep000322/gripper_right_tactile_force_metrics.json
new file mode 100644
index 0000000000000000000000000000000000000000..eee96332d2d11372492c3e8317cc62e798c53fa8
--- /dev/null
+++ b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_18-30/outputs_tactile/tactile_cache/dag911262r00025a_lerobot_0327_114548_55b88b4d/episodes/ep000322/gripper_right_tactile_force_metrics.json
@@ -0,0 +1,9 @@
+{
+  "depth_peak": 0.004705044440925121,
+  "shear_peak": 0.0033659464679658413,
+  "force_magnitude_peak": 0.00576730165630579,
+  "reference_frame_count": 0,
+  "dataset_name": "dag911262r00025a_lerobot_0327_114548",
+  "episode_index": 322,
+  "sensor": "gripper_right_tactile"
+}
\ No newline at end of file
diff --git a/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_18-30/outputs_tactile/tactile_cache/dag911262r00025a_lerobot_0327_114548_55b88b4d/episodes/ep000324/gripper_right_tactile_contact_metrics.json b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_18-30/outputs_tactile/tactile_cache/dag911262r00025a_lerobot_0327_114548_55b88b4d/episodes/ep000324/gripper_right_tactile_contact_metrics.json
new file mode 100644
index 0000000000000000000000000000000000000000..81777bd349713976d244030927debb14ba4baf5b
--- /dev/null
+++ b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_18-30/outputs_tactile/tactile_cache/dag911262r00025a_lerobot_0327_114548_55b88b4d/episodes/ep000324/gripper_right_tactile_contact_metrics.json
@@ -0,0 +1,12 @@
+{
+  "contact_time": 12.433333333333334,
+  "contact_ratio": 0.9097560975609756,
+  "avg_contact_area": 1949.0160857908847,
+  "contact_entropy": 0.5355326262116308,
+  "total_frames": 410,
+  "fps": 30.0,
+  "reference_frame_count": 0,
+  "dataset_name": "dag911262r00025a_lerobot_0327_114548",
+  "episode_index": 324,
+  "sensor": "gripper_right_tactile"
+}
\ No newline at end of file
diff --git a/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_18-30/outputs_tactile/tactile_cache/dag911262r00025a_lerobot_0327_114548_55b88b4d/episodes/ep000326/gripper_right_tactile_contact_metrics.json b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_18-30/outputs_tactile/tactile_cache/dag911262r00025a_lerobot_0327_114548_55b88b4d/episodes/ep000326/gripper_right_tactile_contact_metrics.json
new file mode 100644
index 0000000000000000000000000000000000000000..28e862a886bdc3f40f5f6a2fa85aac0d0b3fc644
--- /dev/null
+++ b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_18-30/outputs_tactile/tactile_cache/dag911262r00025a_lerobot_0327_114548_55b88b4d/episodes/ep000326/gripper_right_tactile_contact_metrics.json
@@ -0,0 +1,12 @@
+{
+  "contact_time": 12.066666666666666,
+  "contact_ratio": 0.9187817258883249,
+  "avg_contact_area": 5088.290055248619,
+  "contact_entropy": 0.20551027192423055,
+  "total_frames": 394,
+  "fps": 30.0,
+  "reference_frame_count": 0,
+  "dataset_name": "dag911262r00025a_lerobot_0327_114548",
+  "episode_index": 326,
+  "sensor": "gripper_right_tactile"
+}
\ No newline at end of file
diff --git a/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_18-30/outputs_tactile/tactile_cache/dag911262r00025a_lerobot_0327_114548_55b88b4d/episodes/ep000329/gripper_right_tactile_force_metrics.json b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_18-30/outputs_tactile/tactile_cache/dag911262r00025a_lerobot_0327_114548_55b88b4d/episodes/ep000329/gripper_right_tactile_force_metrics.json
new file mode 100644
index 0000000000000000000000000000000000000000..75aecea414d8f4709389c9d50ed0d67b49c5c760
--- /dev/null
+++ b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_18-30/outputs_tactile/tactile_cache/dag911262r00025a_lerobot_0327_114548_55b88b4d/episodes/ep000329/gripper_right_tactile_force_metrics.json
@@ -0,0 +1,9 @@
+{
+  "depth_peak": 0.007417866960167885,
+  "shear_peak": 0.0052652484737336636,
+  "force_magnitude_peak": 0.009096570312976837,
+  "reference_frame_count": 0,
+  "dataset_name": "dag911262r00025a_lerobot_0327_114548",
+  "episode_index": 329,
+  "sensor": "gripper_right_tactile"
+}
\ No newline at end of file
diff --git a/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_18-30/outputs_tactile/tactile_cache/dag911262r00025a_lerobot_0327_114548_55b88b4d/episodes/ep000331/gripper_right_tactile_contact_metrics.json b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_18-30/outputs_tactile/tactile_cache/dag911262r00025a_lerobot_0327_114548_55b88b4d/episodes/ep000331/gripper_right_tactile_contact_metrics.json
new file mode 100644
index 0000000000000000000000000000000000000000..34cce70a9ab20a7c908f4510a382293c48510626
--- /dev/null
+++ b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_18-30/outputs_tactile/tactile_cache/dag911262r00025a_lerobot_0327_114548_55b88b4d/episodes/ep000331/gripper_right_tactile_contact_metrics.json
@@ -0,0 +1,12 @@
+{
+  "contact_time": 14.366666666666667,
+  "contact_ratio": 0.9862700228832952,
+  "avg_contact_area": 2332.849187935035,
+  "contact_entropy": 0.3095662763314717,
+  "total_frames": 437,
+  "fps": 30.0,
+  "reference_frame_count": 0,
+  "dataset_name": "dag911262r00025a_lerobot_0327_114548",
+  "episode_index": 331,
+  "sensor": "gripper_right_tactile"
+}
\ No newline at end of file
diff --git a/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_18-30/outputs_tactile/tactile_cache/dag911262r00025a_lerobot_0327_114548_55b88b4d/episodes/ep000331/gripper_right_tactile_force_metrics.json b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_18-30/outputs_tactile/tactile_cache/dag911262r00025a_lerobot_0327_114548_55b88b4d/episodes/ep000331/gripper_right_tactile_force_metrics.json
new file mode 100644
index 0000000000000000000000000000000000000000..f374431214f6f6e7ca67c73a0c1c14fdc426872f
--- /dev/null
+++ b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_18-30/outputs_tactile/tactile_cache/dag911262r00025a_lerobot_0327_114548_55b88b4d/episodes/ep000331/gripper_right_tactile_force_metrics.json
@@ -0,0 +1,9 @@
+{
+  "depth_peak": 0.00547115970402956,
+  "shear_peak": 0.0025896697770804167,
+  "force_magnitude_peak": 0.005862892605364323,
+  "reference_frame_count": 0,
+  "dataset_name": "dag911262r00025a_lerobot_0327_114548",
+  "episode_index": 331,
+  "sensor": "gripper_right_tactile"
+}
\ No newline at end of file
diff --git a/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_18-30/outputs_tactile/tactile_cache/dag911262r00025a_lerobot_0327_114548_55b88b4d/episodes/ep000342/gripper_right_tactile_force_metrics.json b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_18-30/outputs_tactile/tactile_cache/dag911262r00025a_lerobot_0327_114548_55b88b4d/episodes/ep000342/gripper_right_tactile_force_metrics.json
new file mode 100644
index 0000000000000000000000000000000000000000..a61b58a2fe71e96474c8a35278bd03f2d7928a1c
--- /dev/null
+++ b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_18-30/outputs_tactile/tactile_cache/dag911262r00025a_lerobot_0327_114548_55b88b4d/episodes/ep000342/gripper_right_tactile_force_metrics.json
@@ -0,0 +1,9 @@
+{
+  "depth_peak": 0.003513673087581992,
+  "shear_peak": 0.0040178438648581505,
+  "force_magnitude_peak": 0.004281650297343731,
+  "reference_frame_count": 0,
+  "dataset_name": "dag911262r00025a_lerobot_0327_114548",
+  "episode_index": 342,
+  "sensor": "gripper_right_tactile"
+}
\ No newline at end of file
diff --git a/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_18-30/outputs_tactile/tactile_cache/dag911262r00025a_lerobot_0327_114548_55b88b4d/episodes/ep000343/gripper_right_tactile_contact_metrics.json b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_18-30/outputs_tactile/tactile_cache/dag911262r00025a_lerobot_0327_114548_55b88b4d/episodes/ep000343/gripper_right_tactile_contact_metrics.json
new file mode 100644
index 0000000000000000000000000000000000000000..58a98f8cb73b0342fcc9e95f2f3815aa6e2c4809
--- /dev/null
+++ b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_18-30/outputs_tactile/tactile_cache/dag911262r00025a_lerobot_0327_114548_55b88b4d/episodes/ep000343/gripper_right_tactile_contact_metrics.json
@@ -0,0 +1,12 @@
+{
+  "contact_time": 14.0,
+  "contact_ratio": 1.0,
+  "avg_contact_area": 5658.759523809524,
+  "contact_entropy": 0.28390351686931203,
+  "total_frames": 420,
+  "fps": 30.0,
+  "reference_frame_count": 0,
+  "dataset_name": "dag911262r00025a_lerobot_0327_114548",
+  "episode_index": 343,
+  "sensor": "gripper_right_tactile"
+}
\ No newline at end of file
diff --git a/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_18-30/outputs_tactile/tactile_cache/dag911262r00025a_lerobot_0327_114548_55b88b4d/episodes/ep000345/gripper_right_tactile_contact_metrics.json b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_18-30/outputs_tactile/tactile_cache/dag911262r00025a_lerobot_0327_114548_55b88b4d/episodes/ep000345/gripper_right_tactile_contact_metrics.json
new file mode 100644
index 0000000000000000000000000000000000000000..06a048a2f5b32bf42d2f5467597e7c38b0d2447e
--- /dev/null
+++ b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_18-30/outputs_tactile/tactile_cache/dag911262r00025a_lerobot_0327_114548_55b88b4d/episodes/ep000345/gripper_right_tactile_contact_metrics.json
@@ -0,0 +1,12 @@
+{
+  "contact_time": 7.866666666666666,
+  "contact_ratio": 0.8,
+  "avg_contact_area": 2540.89406779661,
+  "contact_entropy": 0.3103239886420839,
+  "total_frames": 295,
+  "fps": 30.0,
+  "reference_frame_count": 0,
+  "dataset_name": "dag911262r00025a_lerobot_0327_114548",
+  "episode_index": 345,
+  "sensor": "gripper_right_tactile"
+}
\ No newline at end of file
diff --git a/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_18-30/outputs_tactile/tactile_cache/dag911262r00025a_lerobot_0327_114548_55b88b4d/episodes/ep000350/gripper_left_tactile_contact_metrics.json b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_18-30/outputs_tactile/tactile_cache/dag911262r00025a_lerobot_0327_114548_55b88b4d/episodes/ep000350/gripper_left_tactile_contact_metrics.json
new file mode 100644
index 0000000000000000000000000000000000000000..1822d56fda58d654d781d27c5bad7142d4da28bc
--- /dev/null
+++ b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_18-30/outputs_tactile/tactile_cache/dag911262r00025a_lerobot_0327_114548_55b88b4d/episodes/ep000350/gripper_left_tactile_contact_metrics.json
@@ -0,0 +1,12 @@
+{
+  "contact_time": 9.766666666666667,
+  "contact_ratio": 0.8253521126760563,
+  "avg_contact_area": 2024.1877133105802,
+  "contact_entropy": 0.22259711308357472,
+  "total_frames": 355,
+  "fps": 30.0,
+  "reference_frame_count": 0,
+  "dataset_name": "dag911262r00025a_lerobot_0327_114548",
+  "episode_index": 350,
+  "sensor": "gripper_left_tactile"
+}
\ No newline at end of file
diff --git a/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_18-30/outputs_tactile/tactile_cache/dag911262r00025a_lerobot_0327_114548_55b88b4d/episodes/ep000352/gripper_left_tactile_force_metrics.json b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_18-30/outputs_tactile/tactile_cache/dag911262r00025a_lerobot_0327_114548_55b88b4d/episodes/ep000352/gripper_left_tactile_force_metrics.json
new file mode 100644
index 0000000000000000000000000000000000000000..6cada527c64c500b84fd81ba580ab917eb9e064c
--- /dev/null
+++ b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_18-30/outputs_tactile/tactile_cache/dag911262r00025a_lerobot_0327_114548_55b88b4d/episodes/ep000352/gripper_left_tactile_force_metrics.json
@@ -0,0 +1,9 @@
+{
+  "depth_peak": 0.010267436504364014,
+  "shear_peak": 0.008381928317248821,
+  "force_magnitude_peak": 0.013189904391765594,
+  "reference_frame_count": 0,
+  "dataset_name": "dag911262r00025a_lerobot_0327_114548",
+  "episode_index": 352,
+  "sensor": "gripper_left_tactile"
+}
\ No newline at end of file
diff --git a/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_18-30/outputs_tactile/tactile_cache/dag911262r00025a_lerobot_0327_114548_55b88b4d/episodes/ep000352/gripper_right_tactile_force_metrics.json b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_18-30/outputs_tactile/tactile_cache/dag911262r00025a_lerobot_0327_114548_55b88b4d/episodes/ep000352/gripper_right_tactile_force_metrics.json
new file mode 100644
index 0000000000000000000000000000000000000000..856657567494155ff58a9857b7356d618211ee8c
--- /dev/null
+++ b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_18-30/outputs_tactile/tactile_cache/dag911262r00025a_lerobot_0327_114548_55b88b4d/episodes/ep000352/gripper_right_tactile_force_metrics.json
@@ -0,0 +1,9 @@
+{
+  "depth_peak": 0.01010056771337986,
+  "shear_peak": 0.0074421861208975315,
+  "force_magnitude_peak": 0.01118831243366003,
+  "reference_frame_count": 0,
+  "dataset_name": "dag911262r00025a_lerobot_0327_114548",
+  "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_18-30/outputs_tactile/tactile_cache/dag911262r00025a_lerobot_0327_114548_55b88b4d/episodes/ep000356/gripper_left_tactile_force_metrics.json b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_18-30/outputs_tactile/tactile_cache/dag911262r00025a_lerobot_0327_114548_55b88b4d/episodes/ep000356/gripper_left_tactile_force_metrics.json
new file mode 100644
index 0000000000000000000000000000000000000000..87ee4cad788a53c168d6d46b13a585ebb76da50d
--- /dev/null
+++ b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_18-30/outputs_tactile/tactile_cache/dag911262r00025a_lerobot_0327_114548_55b88b4d/episodes/ep000356/gripper_left_tactile_force_metrics.json
@@ -0,0 +1,9 @@
+{
+  "depth_peak": 0.01026406604796648,
+  "shear_peak": 0.004174384288489819,
+  "force_magnitude_peak": 0.010784204117953777,
+  "reference_frame_count": 0,
+  "dataset_name": "dag911262r00025a_lerobot_0327_114548",
+  "episode_index": 356,
+  "sensor": "gripper_left_tactile"
+}
\ No newline at end of file
diff --git a/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_18-30/outputs_tactile/tactile_cache/dag911262r00025a_lerobot_0327_114548_55b88b4d/episodes/ep000357/gripper_left_tactile_contact_metrics.json b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_18-30/outputs_tactile/tactile_cache/dag911262r00025a_lerobot_0327_114548_55b88b4d/episodes/ep000357/gripper_left_tactile_contact_metrics.json
new file mode 100644
index 0000000000000000000000000000000000000000..9cb6e657eecacafbd1aa6fea010acb411fdc58ca
--- /dev/null
+++ b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_18-30/outputs_tactile/tactile_cache/dag911262r00025a_lerobot_0327_114548_55b88b4d/episodes/ep000357/gripper_left_tactile_contact_metrics.json
@@ -0,0 +1,12 @@
+{
+  "contact_time": 10.333333333333334,
+  "contact_ratio": 0.9117647058823529,
+  "avg_contact_area": 1557.4612903225807,
+  "contact_entropy": 0.1710724591455369,
+  "total_frames": 340,
+  "fps": 30.0,
+  "reference_frame_count": 0,
+  "dataset_name": "dag911262r00025a_lerobot_0327_114548",
+  "episode_index": 357,
+  "sensor": "gripper_left_tactile"
+}
\ No newline at end of file
diff --git a/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_18-30/outputs_tactile/tactile_cache/dag911262r00025a_lerobot_0327_114548_55b88b4d/episodes/ep000364/gripper_right_tactile_contact_metrics.json b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_18-30/outputs_tactile/tactile_cache/dag911262r00025a_lerobot_0327_114548_55b88b4d/episodes/ep000364/gripper_right_tactile_contact_metrics.json
new file mode 100644
index 0000000000000000000000000000000000000000..6448f2005a78068ec04f592eb999adc9cf2801bd
--- /dev/null
+++ b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_18-30/outputs_tactile/tactile_cache/dag911262r00025a_lerobot_0327_114548_55b88b4d/episodes/ep000364/gripper_right_tactile_contact_metrics.json
@@ -0,0 +1,12 @@
+{
+  "contact_time": 6.066666666666666,
+  "contact_ratio": 0.8792270531400966,
+  "avg_contact_area": 3585.0824175824177,
+  "contact_entropy": 0.3298762210171151,
+  "total_frames": 207,
+  "fps": 30.0,
+  "reference_frame_count": 0,
+  "dataset_name": "dag911262r00025a_lerobot_0327_114548",
+  "episode_index": 364,
+  "sensor": "gripper_right_tactile"
+}
\ No newline at end of file
diff --git a/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_18-30/outputs_tactile/tactile_cache/dag911262r00025a_lerobot_0327_114548_55b88b4d/episodes/ep000366/gripper_right_tactile_contact_metrics.json b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_18-30/outputs_tactile/tactile_cache/dag911262r00025a_lerobot_0327_114548_55b88b4d/episodes/ep000366/gripper_right_tactile_contact_metrics.json
new file mode 100644
index 0000000000000000000000000000000000000000..75f3afe2127c71aadca5f5f26b8ff9ca75418b83
--- /dev/null
+++ b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_18-30/outputs_tactile/tactile_cache/dag911262r00025a_lerobot_0327_114548_55b88b4d/episodes/ep000366/gripper_right_tactile_contact_metrics.json
@@ -0,0 +1,12 @@
+{
+  "contact_time": 11.833333333333334,
+  "contact_ratio": 0.9056122448979592,
+  "avg_contact_area": 4780.892957746479,
+  "contact_entropy": 0.3393583094534916,
+  "total_frames": 392,
+  "fps": 30.0,
+  "reference_frame_count": 0,
+  "dataset_name": "dag911262r00025a_lerobot_0327_114548",
+  "episode_index": 366,
+  "sensor": "gripper_right_tactile"
+}
\ No newline at end of file
diff --git a/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_18-30/outputs_tactile/tactile_cache/dag911262r00025a_lerobot_0327_114548_55b88b4d/episodes/ep000368/gripper_left_tactile_force_metrics.json b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_18-30/outputs_tactile/tactile_cache/dag911262r00025a_lerobot_0327_114548_55b88b4d/episodes/ep000368/gripper_left_tactile_force_metrics.json
new file mode 100644
index 0000000000000000000000000000000000000000..18e8cc50c23a0754bed69018385dd027eff8fa4d
--- /dev/null
+++ b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_18-30/outputs_tactile/tactile_cache/dag911262r00025a_lerobot_0327_114548_55b88b4d/episodes/ep000368/gripper_left_tactile_force_metrics.json
@@ -0,0 +1,9 @@
+{
+  "depth_peak": 0.006255015265196562,
+  "shear_peak": 0.004977135453373194,
+  "force_magnitude_peak": 0.007982082664966583,
+  "reference_frame_count": 0,
+  "dataset_name": "dag911262r00025a_lerobot_0327_114548",
+  "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_18-30/outputs_tactile/tactile_cache/dag911262r00025a_lerobot_0327_114548_55b88b4d/episodes/ep000369/gripper_right_tactile_force_metrics.json b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_18-30/outputs_tactile/tactile_cache/dag911262r00025a_lerobot_0327_114548_55b88b4d/episodes/ep000369/gripper_right_tactile_force_metrics.json
new file mode 100644
index 0000000000000000000000000000000000000000..82b5337bf2571009b5b0b3c4e8922f97d9b438c8
--- /dev/null
+++ b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_18-30/outputs_tactile/tactile_cache/dag911262r00025a_lerobot_0327_114548_55b88b4d/episodes/ep000369/gripper_right_tactile_force_metrics.json
@@ -0,0 +1,9 @@
+{
+  "depth_peak": 0.0041915238834917545,
+  "shear_peak": 0.0016355771804228425,
+  "force_magnitude_peak": 0.00419243797659874,
+  "reference_frame_count": 0,
+  "dataset_name": "dag911262r00025a_lerobot_0327_114548",
+  "episode_index": 369,
+  "sensor": "gripper_right_tactile"
+}
\ No newline at end of file
diff --git a/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_18-30/outputs_tactile/tactile_cache/dag911262r00025a_lerobot_0327_114548_55b88b4d/episodes/ep000371/gripper_right_tactile_contact_metrics.json b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_18-30/outputs_tactile/tactile_cache/dag911262r00025a_lerobot_0327_114548_55b88b4d/episodes/ep000371/gripper_right_tactile_contact_metrics.json
new file mode 100644
index 0000000000000000000000000000000000000000..9320004fb13ca184697b8638f910f49ff2725d83
--- /dev/null
+++ b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_18-30/outputs_tactile/tactile_cache/dag911262r00025a_lerobot_0327_114548_55b88b4d/episodes/ep000371/gripper_right_tactile_contact_metrics.json
@@ -0,0 +1,12 @@
+{
+  "contact_time": 5.6,
+  "contact_ratio": 0.9545454545454546,
+  "avg_contact_area": 4525.398809523809,
+  "contact_entropy": 0.24244810447709336,
+  "total_frames": 176,
+  "fps": 30.0,
+  "reference_frame_count": 0,
+  "dataset_name": "dag911262r00025a_lerobot_0327_114548",
+  "episode_index": 371,
+  "sensor": "gripper_right_tactile"
+}
\ No newline at end of file
diff --git a/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_18-30/outputs_tactile/tactile_cache/dag911262r00025a_lerobot_0327_114548_55b88b4d/episodes/ep000371/gripper_right_tactile_force_metrics.json b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_18-30/outputs_tactile/tactile_cache/dag911262r00025a_lerobot_0327_114548_55b88b4d/episodes/ep000371/gripper_right_tactile_force_metrics.json
new file mode 100644
index 0000000000000000000000000000000000000000..01ddd25ee92e1650be34f571dfed6696fbb4bcc0
--- /dev/null
+++ b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_18-30/outputs_tactile/tactile_cache/dag911262r00025a_lerobot_0327_114548_55b88b4d/episodes/ep000371/gripper_right_tactile_force_metrics.json
@@ -0,0 +1,9 @@
+{
+  "depth_peak": 0.006233701482415199,
+  "shear_peak": 0.0029268753714859486,
+  "force_magnitude_peak": 0.006443151272833347,
+  "reference_frame_count": 0,
+  "dataset_name": "dag911262r00025a_lerobot_0327_114548",
+  "episode_index": 371,
+  "sensor": "gripper_right_tactile"
+}
\ No newline at end of file
diff --git a/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_18-30/outputs_tactile/tactile_cache/dag911262r00025a_lerobot_0327_114548_55b88b4d/episodes/ep000372/gripper_left_tactile_contact_metrics.json b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_18-30/outputs_tactile/tactile_cache/dag911262r00025a_lerobot_0327_114548_55b88b4d/episodes/ep000372/gripper_left_tactile_contact_metrics.json
new file mode 100644
index 0000000000000000000000000000000000000000..8cc8ea834bc56c62c8d1c412be6e198fde64a466
--- /dev/null
+++ b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_18-30/outputs_tactile/tactile_cache/dag911262r00025a_lerobot_0327_114548_55b88b4d/episodes/ep000372/gripper_left_tactile_contact_metrics.json
@@ -0,0 +1,12 @@
+{
+  "contact_time": 7.3,
+  "contact_ratio": 0.8656126482213439,
+  "avg_contact_area": 3284.529680365297,
+  "contact_entropy": 0.1969702292162171,
+  "total_frames": 253,
+  "fps": 30.0,
+  "reference_frame_count": 0,
+  "dataset_name": "dag911262r00025a_lerobot_0327_114548",
+  "episode_index": 372,
+  "sensor": "gripper_left_tactile"
+}
\ No newline at end of file
diff --git a/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_18-30/outputs_tactile/tactile_cache/dag911262r00025a_lerobot_0327_114548_55b88b4d/episodes/ep000377/gripper_left_tactile_contact_metrics.json b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_18-30/outputs_tactile/tactile_cache/dag911262r00025a_lerobot_0327_114548_55b88b4d/episodes/ep000377/gripper_left_tactile_contact_metrics.json
new file mode 100644
index 0000000000000000000000000000000000000000..befa02c2f9742f15226e8d4bc3dd1e10782a8071
--- /dev/null
+++ b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_18-30/outputs_tactile/tactile_cache/dag911262r00025a_lerobot_0327_114548_55b88b4d/episodes/ep000377/gripper_left_tactile_contact_metrics.json
@@ -0,0 +1,12 @@
+{
+  "contact_time": 6.0,
+  "contact_ratio": 0.743801652892562,
+  "avg_contact_area": 2452.938888888889,
+  "contact_entropy": 0.21019632782135664,
+  "total_frames": 242,
+  "fps": 30.0,
+  "reference_frame_count": 0,
+  "dataset_name": "dag911262r00025a_lerobot_0327_114548",
+  "episode_index": 377,
+  "sensor": "gripper_left_tactile"
+}
\ No newline at end of file
diff --git a/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_18-30/outputs_tactile/tactile_cache/dag911262r00025a_lerobot_0327_114548_55b88b4d/episodes/ep000377/gripper_left_tactile_force_metrics.json b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_18-30/outputs_tactile/tactile_cache/dag911262r00025a_lerobot_0327_114548_55b88b4d/episodes/ep000377/gripper_left_tactile_force_metrics.json
new file mode 100644
index 0000000000000000000000000000000000000000..16145c875ee22a7e0a5e9a22b58af225c770ccb7
--- /dev/null
+++ b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_18-30/outputs_tactile/tactile_cache/dag911262r00025a_lerobot_0327_114548_55b88b4d/episodes/ep000377/gripper_left_tactile_force_metrics.json
@@ -0,0 +1,9 @@
+{
+  "depth_peak": 0.0005815090844407678,
+  "shear_peak": 0.0015622852370142937,
+  "force_magnitude_peak": 0.004008312709629536,
+  "reference_frame_count": 0,
+  "dataset_name": "dag911262r00025a_lerobot_0327_114548",
+  "episode_index": 377,
+  "sensor": "gripper_left_tactile"
+}
\ No newline at end of file
diff --git a/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_18-30/outputs_tactile/tactile_cache/dag911262r00025a_lerobot_0327_114548_55b88b4d/episodes/ep000385/gripper_left_tactile_contact_metrics.json b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_18-30/outputs_tactile/tactile_cache/dag911262r00025a_lerobot_0327_114548_55b88b4d/episodes/ep000385/gripper_left_tactile_contact_metrics.json
new file mode 100644
index 0000000000000000000000000000000000000000..e17903d40ecd627d6ddb90f4ff7eef3be630e4ff
--- /dev/null
+++ b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_18-30/outputs_tactile/tactile_cache/dag911262r00025a_lerobot_0327_114548_55b88b4d/episodes/ep000385/gripper_left_tactile_contact_metrics.json
@@ -0,0 +1,12 @@
+{
+  "contact_time": 8.866666666666667,
+  "contact_ratio": 0.8109756097560976,
+  "avg_contact_area": 3589.097744360902,
+  "contact_entropy": 0.3364814039455198,
+  "total_frames": 328,
+  "fps": 30.0,
+  "reference_frame_count": 0,
+  "dataset_name": "dag911262r00025a_lerobot_0327_114548",
+  "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_18-30/outputs_tactile/tactile_cache/dag911262r00025a_lerobot_0327_114548_55b88b4d/episodes/ep000385/gripper_right_tactile_contact_metrics.json b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_18-30/outputs_tactile/tactile_cache/dag911262r00025a_lerobot_0327_114548_55b88b4d/episodes/ep000385/gripper_right_tactile_contact_metrics.json
new file mode 100644
index 0000000000000000000000000000000000000000..32808f444929703e779a4d1c704a869b854b2ecd
--- /dev/null
+++ b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_18-30/outputs_tactile/tactile_cache/dag911262r00025a_lerobot_0327_114548_55b88b4d/episodes/ep000385/gripper_right_tactile_contact_metrics.json
@@ -0,0 +1,12 @@
+{
+  "contact_time": 10.1,
+  "contact_ratio": 0.9237804878048781,
+  "avg_contact_area": 6368.234323432343,
+  "contact_entropy": 0.3144414870182385,
+  "total_frames": 328,
+  "fps": 30.0,
+  "reference_frame_count": 0,
+  "dataset_name": "dag911262r00025a_lerobot_0327_114548",
+  "episode_index": 385,
+  "sensor": "gripper_right_tactile"
+}
\ No newline at end of file
diff --git a/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_18-30/outputs_tactile/tactile_cache/dag911262r00025a_lerobot_0327_114548_55b88b4d/episodes/ep000390/gripper_left_tactile_contact_metrics.json b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_18-30/outputs_tactile/tactile_cache/dag911262r00025a_lerobot_0327_114548_55b88b4d/episodes/ep000390/gripper_left_tactile_contact_metrics.json
new file mode 100644
index 0000000000000000000000000000000000000000..a51ff243c5dc8d75ebcc2e4fc103cd238b23b565
--- /dev/null
+++ b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_18-30/outputs_tactile/tactile_cache/dag911262r00025a_lerobot_0327_114548_55b88b4d/episodes/ep000390/gripper_left_tactile_contact_metrics.json
@@ -0,0 +1,12 @@
+{
+  "contact_time": 11.466666666666667,
+  "contact_ratio": 0.9502762430939227,
+  "avg_contact_area": 1593.5610465116279,
+  "contact_entropy": 0.12294868708485225,
+  "total_frames": 362,
+  "fps": 30.0,
+  "reference_frame_count": 0,
+  "dataset_name": "dag911262r00025a_lerobot_0327_114548",
+  "episode_index": 390,
+  "sensor": "gripper_left_tactile"
+}
\ No newline at end of file
diff --git a/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_18-30/outputs_tactile/tactile_cache/dag911262r00025a_lerobot_0327_114548_55b88b4d/episodes/ep000392/gripper_left_tactile_force_metrics.json b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_18-30/outputs_tactile/tactile_cache/dag911262r00025a_lerobot_0327_114548_55b88b4d/episodes/ep000392/gripper_left_tactile_force_metrics.json
new file mode 100644
index 0000000000000000000000000000000000000000..047520e8a4189950fa9f611477f7bc82703372f2
--- /dev/null
+++ b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_18-30/outputs_tactile/tactile_cache/dag911262r00025a_lerobot_0327_114548_55b88b4d/episodes/ep000392/gripper_left_tactile_force_metrics.json
@@ -0,0 +1,9 @@
+{
+  "depth_peak": 0.006203652825206518,
+  "shear_peak": 0.0053998446092009544,
+  "force_magnitude_peak": 0.007418244611471891,
+  "reference_frame_count": 0,
+  "dataset_name": "dag911262r00025a_lerobot_0327_114548",
+  "episode_index": 392,
+  "sensor": "gripper_left_tactile"
+}
\ No newline at end of file
diff --git a/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_18-30/outputs_tactile/tactile_cache/dag911262r00025a_lerobot_0327_114548_55b88b4d/episodes/ep000392/gripper_right_tactile_force_metrics.json b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_18-30/outputs_tactile/tactile_cache/dag911262r00025a_lerobot_0327_114548_55b88b4d/episodes/ep000392/gripper_right_tactile_force_metrics.json
new file mode 100644
index 0000000000000000000000000000000000000000..430963bb4f79bb332058d2770c57c84dd3143972
--- /dev/null
+++ b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_18-30/outputs_tactile/tactile_cache/dag911262r00025a_lerobot_0327_114548_55b88b4d/episodes/ep000392/gripper_right_tactile_force_metrics.json
@@ -0,0 +1,9 @@
+{
+  "depth_peak": 0.0030866609886288643,
+  "shear_peak": 0.0030092322267591953,
+  "force_magnitude_peak": 0.003978517837822437,
+  "reference_frame_count": 0,
+  "dataset_name": "dag911262r00025a_lerobot_0327_114548",
+  "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_18-30/outputs_tactile/tactile_cache/dag911262r00025a_lerobot_0327_114548_55b88b4d/episodes/ep000396/gripper_left_tactile_force_metrics.json b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_18-30/outputs_tactile/tactile_cache/dag911262r00025a_lerobot_0327_114548_55b88b4d/episodes/ep000396/gripper_left_tactile_force_metrics.json
new file mode 100644
index 0000000000000000000000000000000000000000..fd52c68fa18db900dd37e7f36f9ac7ee7cad5d02
--- /dev/null
+++ b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_18-30/outputs_tactile/tactile_cache/dag911262r00025a_lerobot_0327_114548_55b88b4d/episodes/ep000396/gripper_left_tactile_force_metrics.json
@@ -0,0 +1,9 @@
+{
+  "depth_peak": 0.0044001927599310875,
+  "shear_peak": 0.003150142030790448,
+  "force_magnitude_peak": 0.004949898459017277,
+  "reference_frame_count": 0,
+  "dataset_name": "dag911262r00025a_lerobot_0327_114548",
+  "episode_index": 396,
+  "sensor": "gripper_left_tactile"
+}
\ No newline at end of file
diff --git a/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_18-30/outputs_tactile/tactile_cache/dag911262r00025a_lerobot_0327_114548_55b88b4d/episodes/ep000397/gripper_left_tactile_contact_metrics.json b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_18-30/outputs_tactile/tactile_cache/dag911262r00025a_lerobot_0327_114548_55b88b4d/episodes/ep000397/gripper_left_tactile_contact_metrics.json
new file mode 100644
index 0000000000000000000000000000000000000000..a7f67b9227e33ff3a32c739fdb650720ecae724c
--- /dev/null
+++ b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_18-30/outputs_tactile/tactile_cache/dag911262r00025a_lerobot_0327_114548_55b88b4d/episodes/ep000397/gripper_left_tactile_contact_metrics.json
@@ -0,0 +1,12 @@
+{
+  "contact_time": 9.7,
+  "contact_ratio": 0.8243626062322946,
+  "avg_contact_area": 3398.635738831615,
+  "contact_entropy": 0.2709582776019137,
+  "total_frames": 353,
+  "fps": 30.0,
+  "reference_frame_count": 0,
+  "dataset_name": "dag911262r00025a_lerobot_0327_114548",
+  "episode_index": 397,
+  "sensor": "gripper_left_tactile"
+}
\ No newline at end of file
diff --git a/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_18-30/outputs_tactile/tactile_cache/dag911262r00025a_lerobot_0327_114548_55b88b4d/episodes/ep000402/gripper_left_tactile_force_metrics.json b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_18-30/outputs_tactile/tactile_cache/dag911262r00025a_lerobot_0327_114548_55b88b4d/episodes/ep000402/gripper_left_tactile_force_metrics.json
new file mode 100644
index 0000000000000000000000000000000000000000..21b1e7aefef2681983a52dcad70f6d84ce215deb
--- /dev/null
+++ b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_18-30/outputs_tactile/tactile_cache/dag911262r00025a_lerobot_0327_114548_55b88b4d/episodes/ep000402/gripper_left_tactile_force_metrics.json
@@ -0,0 +1,9 @@
+{
+  "depth_peak": 0.005429269280284643,
+  "shear_peak": 0.004371294751763344,
+  "force_magnitude_peak": 0.007512486539781094,
+  "reference_frame_count": 0,
+  "dataset_name": "dag911262r00025a_lerobot_0327_114548",
+  "episode_index": 402,
+  "sensor": "gripper_left_tactile"
+}
\ No newline at end of file
diff --git a/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_18-30/outputs_tactile/tactile_cache/dag911262r00025a_lerobot_0327_114548_55b88b4d/episodes/ep000402/gripper_right_tactile_force_metrics.json b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_18-30/outputs_tactile/tactile_cache/dag911262r00025a_lerobot_0327_114548_55b88b4d/episodes/ep000402/gripper_right_tactile_force_metrics.json
new file mode 100644
index 0000000000000000000000000000000000000000..7c60d71402d9683b605b0ab70f6dc5c9ff188ccf
--- /dev/null
+++ b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_18-30/outputs_tactile/tactile_cache/dag911262r00025a_lerobot_0327_114548_55b88b4d/episodes/ep000402/gripper_right_tactile_force_metrics.json
@@ -0,0 +1,9 @@
+{
+  "depth_peak": 0.006490952335298061,
+  "shear_peak": 0.0050040981732308865,
+  "force_magnitude_peak": 0.00672737555578351,
+  "reference_frame_count": 0,
+  "dataset_name": "dag911262r00025a_lerobot_0327_114548",
+  "episode_index": 402,
+  "sensor": "gripper_right_tactile"
+}
\ No newline at end of file
diff --git a/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_18-30/outputs_tactile/tactile_cache/dag911262r00025a_lerobot_0327_114548_55b88b4d/episodes/ep000404/gripper_right_tactile_contact_metrics.json b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_18-30/outputs_tactile/tactile_cache/dag911262r00025a_lerobot_0327_114548_55b88b4d/episodes/ep000404/gripper_right_tactile_contact_metrics.json
new file mode 100644
index 0000000000000000000000000000000000000000..5d6795b1d128998cf8212b53a408cb24d8073145
--- /dev/null
+++ b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_18-30/outputs_tactile/tactile_cache/dag911262r00025a_lerobot_0327_114548_55b88b4d/episodes/ep000404/gripper_right_tactile_contact_metrics.json
@@ -0,0 +1,12 @@
+{
+  "contact_time": 6.833333333333333,
+  "contact_ratio": 0.7735849056603774,
+  "avg_contact_area": 3357.4146341463415,
+  "contact_entropy": 0.13655681329162012,
+  "total_frames": 265,
+  "fps": 30.0,
+  "reference_frame_count": 0,
+  "dataset_name": "dag911262r00025a_lerobot_0327_114548",
+  "episode_index": 404,
+  "sensor": "gripper_right_tactile"
+}
\ No newline at end of file
diff --git a/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_18-30/outputs_tactile/tactile_cache/dag911262r00025a_lerobot_0327_114548_55b88b4d/episodes/ep000406/gripper_right_tactile_contact_metrics.json b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_18-30/outputs_tactile/tactile_cache/dag911262r00025a_lerobot_0327_114548_55b88b4d/episodes/ep000406/gripper_right_tactile_contact_metrics.json
new file mode 100644
index 0000000000000000000000000000000000000000..41535a478453d19e4592f92c5e03bb6fc8a8d0c2
--- /dev/null
+++ b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_18-30/outputs_tactile/tactile_cache/dag911262r00025a_lerobot_0327_114548_55b88b4d/episodes/ep000406/gripper_right_tactile_contact_metrics.json
@@ -0,0 +1,12 @@
+{
+  "contact_time": 7.133333333333334,
+  "contact_ratio": 0.823076923076923,
+  "avg_contact_area": 2386.6682242990655,
+  "contact_entropy": 0.30970989412402494,
+  "total_frames": 260,
+  "fps": 30.0,
+  "reference_frame_count": 0,
+  "dataset_name": "dag911262r00025a_lerobot_0327_114548",
+  "episode_index": 406,
+  "sensor": "gripper_right_tactile"
+}
\ No newline at end of file
diff --git a/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_18-30/outputs_tactile/tactile_cache/dag911262r00025a_lerobot_0327_114548_55b88b4d/episodes/ep000408/gripper_left_tactile_force_metrics.json b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_18-30/outputs_tactile/tactile_cache/dag911262r00025a_lerobot_0327_114548_55b88b4d/episodes/ep000408/gripper_left_tactile_force_metrics.json
new file mode 100644
index 0000000000000000000000000000000000000000..4194e902393883c99940e40bc01889ccacca1da8
--- /dev/null
+++ b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_18-30/outputs_tactile/tactile_cache/dag911262r00025a_lerobot_0327_114548_55b88b4d/episodes/ep000408/gripper_left_tactile_force_metrics.json
@@ -0,0 +1,9 @@
+{
+  "depth_peak": 0.002657591598108411,
+  "shear_peak": 0.003080687252804637,
+  "force_magnitude_peak": 0.003441828303039074,
+  "reference_frame_count": 0,
+  "dataset_name": "dag911262r00025a_lerobot_0327_114548",
+  "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_18-30/outputs_tactile/tactile_cache/dag911262r00025a_lerobot_0327_114548_55b88b4d/episodes/ep000409/gripper_right_tactile_force_metrics.json b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_18-30/outputs_tactile/tactile_cache/dag911262r00025a_lerobot_0327_114548_55b88b4d/episodes/ep000409/gripper_right_tactile_force_metrics.json
new file mode 100644
index 0000000000000000000000000000000000000000..783b6792cbf11905da9dc5fb2d13427c18a099dc
--- /dev/null
+++ b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_18-30/outputs_tactile/tactile_cache/dag911262r00025a_lerobot_0327_114548_55b88b4d/episodes/ep000409/gripper_right_tactile_force_metrics.json
@@ -0,0 +1,9 @@
+{
+  "depth_peak": 0.007041603326797485,
+  "shear_peak": 0.003156007034704089,
+  "force_magnitude_peak": 0.007416769862174988,
+  "reference_frame_count": 0,
+  "dataset_name": "dag911262r00025a_lerobot_0327_114548",
+  "episode_index": 409,
+  "sensor": "gripper_right_tactile"
+}
\ No newline at end of file
diff --git a/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_18-30/outputs_tactile/tactile_cache/dag911262r00025a_lerobot_0327_114548_55b88b4d/episodes/ep000411/gripper_right_tactile_contact_metrics.json b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_18-30/outputs_tactile/tactile_cache/dag911262r00025a_lerobot_0327_114548_55b88b4d/episodes/ep000411/gripper_right_tactile_contact_metrics.json
new file mode 100644
index 0000000000000000000000000000000000000000..161440eaaad8263b2ec610b1d99c1da02e3b05d8
--- /dev/null
+++ b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_18-30/outputs_tactile/tactile_cache/dag911262r00025a_lerobot_0327_114548_55b88b4d/episodes/ep000411/gripper_right_tactile_contact_metrics.json
@@ -0,0 +1,12 @@
+{
+  "contact_time": 7.833333333333333,
+  "contact_ratio": 0.8020477815699659,
+  "avg_contact_area": 5489.88085106383,
+  "contact_entropy": 0.21171941020714063,
+  "total_frames": 293,
+  "fps": 30.0,
+  "reference_frame_count": 0,
+  "dataset_name": "dag911262r00025a_lerobot_0327_114548",
+  "episode_index": 411,
+  "sensor": "gripper_right_tactile"
+}
\ No newline at end of file
diff --git a/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_18-30/outputs_tactile/tactile_cache/dag911262r00025a_lerobot_0327_114548_55b88b4d/episodes/ep000411/gripper_right_tactile_force_metrics.json b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_18-30/outputs_tactile/tactile_cache/dag911262r00025a_lerobot_0327_114548_55b88b4d/episodes/ep000411/gripper_right_tactile_force_metrics.json
new file mode 100644
index 0000000000000000000000000000000000000000..38526aa34d7c29564fd6e525c72ba7e9d56c9c7f
--- /dev/null
+++ b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_18-30/outputs_tactile/tactile_cache/dag911262r00025a_lerobot_0327_114548_55b88b4d/episodes/ep000411/gripper_right_tactile_force_metrics.json
@@ -0,0 +1,9 @@
+{
+  "depth_peak": 0.004938079975545406,
+  "shear_peak": 0.0030602135229855776,
+  "force_magnitude_peak": 0.004939197562634945,
+  "reference_frame_count": 0,
+  "dataset_name": "dag911262r00025a_lerobot_0327_114548",
+  "episode_index": 411,
+  "sensor": "gripper_right_tactile"
+}
\ No newline at end of file
diff --git a/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_18-30/outputs_tactile/tactile_cache/dag911262r00025a_lerobot_0327_114548_55b88b4d/episodes/ep000412/gripper_left_tactile_contact_metrics.json b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_18-30/outputs_tactile/tactile_cache/dag911262r00025a_lerobot_0327_114548_55b88b4d/episodes/ep000412/gripper_left_tactile_contact_metrics.json
new file mode 100644
index 0000000000000000000000000000000000000000..045aeedbba5ae64f398c1ebd1ffd5f103e71de74
--- /dev/null
+++ b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_18-30/outputs_tactile/tactile_cache/dag911262r00025a_lerobot_0327_114548_55b88b4d/episodes/ep000412/gripper_left_tactile_contact_metrics.json
@@ -0,0 +1,12 @@
+{
+  "contact_time": 9.433333333333334,
+  "contact_ratio": 0.8788819875776398,
+  "avg_contact_area": 5022.519434628975,
+  "contact_entropy": 0.22159372062351024,
+  "total_frames": 322,
+  "fps": 30.0,
+  "reference_frame_count": 0,
+  "dataset_name": "dag911262r00025a_lerobot_0327_114548",
+  "episode_index": 412,
+  "sensor": "gripper_left_tactile"
+}
\ No newline at end of file
diff --git a/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_18-30/outputs_tactile/tactile_cache/dag911262r00025a_lerobot_0327_114548_55b88b4d/episodes/ep000417/gripper_left_tactile_contact_metrics.json b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_18-30/outputs_tactile/tactile_cache/dag911262r00025a_lerobot_0327_114548_55b88b4d/episodes/ep000417/gripper_left_tactile_contact_metrics.json
new file mode 100644
index 0000000000000000000000000000000000000000..eea80d566d70f238042905a2fc6ce93a399916cb
--- /dev/null
+++ b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_18-30/outputs_tactile/tactile_cache/dag911262r00025a_lerobot_0327_114548_55b88b4d/episodes/ep000417/gripper_left_tactile_contact_metrics.json
@@ -0,0 +1,12 @@
+{
+  "contact_time": 12.033333333333333,
+  "contact_ratio": 0.9232736572890026,
+  "avg_contact_area": 3158.5318559556786,
+  "contact_entropy": 0.23942758731692937,
+  "total_frames": 391,
+  "fps": 30.0,
+  "reference_frame_count": 0,
+  "dataset_name": "dag911262r00025a_lerobot_0327_114548",
+  "episode_index": 417,
+  "sensor": "gripper_left_tactile"
+}
\ No newline at end of file
diff --git a/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_18-30/outputs_tactile/tactile_cache/dag911262r00025a_lerobot_0327_114548_55b88b4d/episodes/ep000417/gripper_left_tactile_force_metrics.json b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_18-30/outputs_tactile/tactile_cache/dag911262r00025a_lerobot_0327_114548_55b88b4d/episodes/ep000417/gripper_left_tactile_force_metrics.json
new file mode 100644
index 0000000000000000000000000000000000000000..4938c9b8104271f5f27b1e424a13caf33f17d61b
--- /dev/null
+++ b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_18-30/outputs_tactile/tactile_cache/dag911262r00025a_lerobot_0327_114548_55b88b4d/episodes/ep000417/gripper_left_tactile_force_metrics.json
@@ -0,0 +1,9 @@
+{
+  "depth_peak": 0.003170741256326437,
+  "shear_peak": 0.0032968218438327312,
+  "force_magnitude_peak": 0.0038519299123436213,
+  "reference_frame_count": 0,
+  "dataset_name": "dag911262r00025a_lerobot_0327_114548",
+  "episode_index": 417,
+  "sensor": "gripper_left_tactile"
+}
\ No newline at end of file
diff --git a/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_18-30/outputs_tactile/tactile_cache/dag911262r00025a_lerobot_0327_114548_55b88b4d/episodes/ep000422/gripper_right_tactile_force_metrics.json b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_18-30/outputs_tactile/tactile_cache/dag911262r00025a_lerobot_0327_114548_55b88b4d/episodes/ep000422/gripper_right_tactile_force_metrics.json
new file mode 100644
index 0000000000000000000000000000000000000000..967ec9307e82d95abb7015eb425ea497b0eb54b0
--- /dev/null
+++ b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_18-30/outputs_tactile/tactile_cache/dag911262r00025a_lerobot_0327_114548_55b88b4d/episodes/ep000422/gripper_right_tactile_force_metrics.json
@@ -0,0 +1,9 @@
+{
+  "depth_peak": 0.01241246610879898,
+  "shear_peak": 0.0047017596662044525,
+  "force_magnitude_peak": 0.012687535025179386,
+  "reference_frame_count": 0,
+  "dataset_name": "dag911262r00025a_lerobot_0327_114548",
+  "episode_index": 422,
+  "sensor": "gripper_right_tactile"
+}
\ No newline at end of file
diff --git a/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_18-30/outputs_tactile/tactile_cache/dag911262r00025a_lerobot_0327_114548_55b88b4d/episodes/ep000423/gripper_right_tactile_contact_metrics.json b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_18-30/outputs_tactile/tactile_cache/dag911262r00025a_lerobot_0327_114548_55b88b4d/episodes/ep000423/gripper_right_tactile_contact_metrics.json
new file mode 100644
index 0000000000000000000000000000000000000000..f60d12635be81ccdcab3adc4528533e9885c93bc
--- /dev/null
+++ b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_18-30/outputs_tactile/tactile_cache/dag911262r00025a_lerobot_0327_114548_55b88b4d/episodes/ep000423/gripper_right_tactile_contact_metrics.json
@@ -0,0 +1,12 @@
+{
+  "contact_time": 7.566666666666666,
+  "contact_ratio": 0.8136200716845878,
+  "avg_contact_area": 8224.867841409692,
+  "contact_entropy": 0.6368445854096335,
+  "total_frames": 279,
+  "fps": 30.0,
+  "reference_frame_count": 0,
+  "dataset_name": "dag911262r00025a_lerobot_0327_114548",
+  "episode_index": 423,
+  "sensor": "gripper_right_tactile"
+}
\ No newline at end of file
diff --git a/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_18-30/outputs_tactile/tactile_cache/dag911262r00025a_lerobot_0327_114548_55b88b4d/episodes/ep000425/gripper_left_tactile_contact_metrics.json b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_18-30/outputs_tactile/tactile_cache/dag911262r00025a_lerobot_0327_114548_55b88b4d/episodes/ep000425/gripper_left_tactile_contact_metrics.json
new file mode 100644
index 0000000000000000000000000000000000000000..88fb5892e841eb5276fa20af093c65a6db6fabd9
--- /dev/null
+++ b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_18-30/outputs_tactile/tactile_cache/dag911262r00025a_lerobot_0327_114548_55b88b4d/episodes/ep000425/gripper_left_tactile_contact_metrics.json
@@ -0,0 +1,12 @@
+{
+  "contact_time": 7.733333333333333,
+  "contact_ratio": 0.8854961832061069,
+  "avg_contact_area": 8726.715517241379,
+  "contact_entropy": 0.6073697059560711,
+  "total_frames": 262,
+  "fps": 30.0,
+  "reference_frame_count": 0,
+  "dataset_name": "dag911262r00025a_lerobot_0327_114548",
+  "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_18-30/outputs_tactile/tactile_cache/dag911262r00025a_lerobot_0327_114548_55b88b4d/episodes/ep000425/gripper_right_tactile_contact_metrics.json b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_18-30/outputs_tactile/tactile_cache/dag911262r00025a_lerobot_0327_114548_55b88b4d/episodes/ep000425/gripper_right_tactile_contact_metrics.json
new file mode 100644
index 0000000000000000000000000000000000000000..9b9b94ff1330924f802ea4904820a2f65b0dde07
--- /dev/null
+++ b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_18-30/outputs_tactile/tactile_cache/dag911262r00025a_lerobot_0327_114548_55b88b4d/episodes/ep000425/gripper_right_tactile_contact_metrics.json
@@ -0,0 +1,12 @@
+{
+  "contact_time": 8.1,
+  "contact_ratio": 0.9274809160305344,
+  "avg_contact_area": 8279.345679012345,
+  "contact_entropy": 0.5338958861028709,
+  "total_frames": 262,
+  "fps": 30.0,
+  "reference_frame_count": 0,
+  "dataset_name": "dag911262r00025a_lerobot_0327_114548",
+  "episode_index": 425,
+  "sensor": "gripper_right_tactile"
+}
\ No newline at end of file
diff --git a/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_18-30/outputs_tactile/tactile_cache/dag911262r00025a_lerobot_0327_114548_55b88b4d/episodes/ep000430/gripper_left_tactile_contact_metrics.json b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_18-30/outputs_tactile/tactile_cache/dag911262r00025a_lerobot_0327_114548_55b88b4d/episodes/ep000430/gripper_left_tactile_contact_metrics.json
new file mode 100644
index 0000000000000000000000000000000000000000..66de050f3f6e0da952a3ad1102f2310ba2e80ab6
--- /dev/null
+++ b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_18-30/outputs_tactile/tactile_cache/dag911262r00025a_lerobot_0327_114548_55b88b4d/episodes/ep000430/gripper_left_tactile_contact_metrics.json
@@ -0,0 +1,12 @@
+{
+  "contact_time": 18.266666666666666,
+  "contact_ratio": 0.9945553539019963,
+  "avg_contact_area": 5062.036496350365,
+  "contact_entropy": 0.45071770497167396,
+  "total_frames": 551,
+  "fps": 30.0,
+  "reference_frame_count": 0,
+  "dataset_name": "dag911262r00025a_lerobot_0327_114548",
+  "episode_index": 430,
+  "sensor": "gripper_left_tactile"
+}
\ No newline at end of file
diff --git a/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_18-30/outputs_tactile/tactile_cache/dag911262r00025a_lerobot_0327_114548_55b88b4d/episodes/ep000432/gripper_left_tactile_force_metrics.json b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_18-30/outputs_tactile/tactile_cache/dag911262r00025a_lerobot_0327_114548_55b88b4d/episodes/ep000432/gripper_left_tactile_force_metrics.json
new file mode 100644
index 0000000000000000000000000000000000000000..7b8b7f90f9a4dcf64ac341a955732943f3eb9382
--- /dev/null
+++ b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_18-30/outputs_tactile/tactile_cache/dag911262r00025a_lerobot_0327_114548_55b88b4d/episodes/ep000432/gripper_left_tactile_force_metrics.json
@@ -0,0 +1,9 @@
+{
+  "depth_peak": 0.020051727071404457,
+  "shear_peak": 0.007617933675646782,
+  "force_magnitude_peak": 0.020188266411423683,
+  "reference_frame_count": 0,
+  "dataset_name": "dag911262r00025a_lerobot_0327_114548",
+  "episode_index": 432,
+  "sensor": "gripper_left_tactile"
+}
\ No newline at end of file
diff --git a/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_18-30/outputs_tactile/tactile_cache/dag911262r00025a_lerobot_0327_114548_55b88b4d/episodes/ep000432/gripper_right_tactile_force_metrics.json b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_18-30/outputs_tactile/tactile_cache/dag911262r00025a_lerobot_0327_114548_55b88b4d/episodes/ep000432/gripper_right_tactile_force_metrics.json
new file mode 100644
index 0000000000000000000000000000000000000000..66bc9fad60521f1318d337f4beca47442cd100dd
--- /dev/null
+++ b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_18-30/outputs_tactile/tactile_cache/dag911262r00025a_lerobot_0327_114548_55b88b4d/episodes/ep000432/gripper_right_tactile_force_metrics.json
@@ -0,0 +1,9 @@
+{
+  "depth_peak": 0.015790225937962532,
+  "shear_peak": 0.013077381066977978,
+  "force_magnitude_peak": 0.020502418279647827,
+  "reference_frame_count": 0,
+  "dataset_name": "dag911262r00025a_lerobot_0327_114548",
+  "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_18-30/outputs_tactile/tactile_cache/dag911262r00025a_lerobot_0327_114548_55b88b4d/episodes/ep000436/gripper_left_tactile_force_metrics.json b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_18-30/outputs_tactile/tactile_cache/dag911262r00025a_lerobot_0327_114548_55b88b4d/episodes/ep000436/gripper_left_tactile_force_metrics.json
new file mode 100644
index 0000000000000000000000000000000000000000..012fddbda351c3dcf35ab48591565558eedb66e7
--- /dev/null
+++ b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_18-30/outputs_tactile/tactile_cache/dag911262r00025a_lerobot_0327_114548_55b88b4d/episodes/ep000436/gripper_left_tactile_force_metrics.json
@@ -0,0 +1,9 @@
+{
+  "depth_peak": 0.011442501097917557,
+  "shear_peak": 0.005622894503176212,
+  "force_magnitude_peak": 0.012526307255029678,
+  "reference_frame_count": 0,
+  "dataset_name": "dag911262r00025a_lerobot_0327_114548",
+  "episode_index": 436,
+  "sensor": "gripper_left_tactile"
+}
\ No newline at end of file
diff --git a/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_18-30/outputs_tactile/tactile_cache/dag911262r00025a_lerobot_0327_114548_55b88b4d/episodes/ep000442/gripper_left_tactile_force_metrics.json b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_18-30/outputs_tactile/tactile_cache/dag911262r00025a_lerobot_0327_114548_55b88b4d/episodes/ep000442/gripper_left_tactile_force_metrics.json
new file mode 100644
index 0000000000000000000000000000000000000000..a9be0084b57223bd2ed6c73968a2716635b97a68
--- /dev/null
+++ b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_18-30/outputs_tactile/tactile_cache/dag911262r00025a_lerobot_0327_114548_55b88b4d/episodes/ep000442/gripper_left_tactile_force_metrics.json
@@ -0,0 +1,9 @@
+{
+  "depth_peak": 0.005232328083366156,
+  "shear_peak": 0.005450511816889048,
+  "force_magnitude_peak": 0.0073301177471876144,
+  "reference_frame_count": 0,
+  "dataset_name": "dag911262r00025a_lerobot_0327_114548",
+  "episode_index": 442,
+  "sensor": "gripper_left_tactile"
+}
\ No newline at end of file
diff --git a/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_18-30/outputs_tactile/tactile_cache/dag911262r00025a_lerobot_0327_114548_55b88b4d/episodes/ep000442/gripper_right_tactile_force_metrics.json b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_18-30/outputs_tactile/tactile_cache/dag911262r00025a_lerobot_0327_114548_55b88b4d/episodes/ep000442/gripper_right_tactile_force_metrics.json
new file mode 100644
index 0000000000000000000000000000000000000000..a16087852a1530f8413124d58ac4f51659a3bfda
--- /dev/null
+++ b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_18-30/outputs_tactile/tactile_cache/dag911262r00025a_lerobot_0327_114548_55b88b4d/episodes/ep000442/gripper_right_tactile_force_metrics.json
@@ -0,0 +1,9 @@
+{
+  "depth_peak": 0.014185150153934956,
+  "shear_peak": 0.011551697738468647,
+  "force_magnitude_peak": 0.01819126307964325,
+  "reference_frame_count": 0,
+  "dataset_name": "dag911262r00025a_lerobot_0327_114548",
+  "episode_index": 442,
+  "sensor": "gripper_right_tactile"
+}
\ No newline at end of file
diff --git a/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_18-30/outputs_tactile/tactile_cache/dag911262r00025a_lerobot_0327_114548_55b88b4d/episodes/ep000444/gripper_right_tactile_contact_metrics.json b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_18-30/outputs_tactile/tactile_cache/dag911262r00025a_lerobot_0327_114548_55b88b4d/episodes/ep000444/gripper_right_tactile_contact_metrics.json
new file mode 100644
index 0000000000000000000000000000000000000000..63298d0d3409aad4ad6191973d1b82f11448af94
--- /dev/null
+++ b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_18-30/outputs_tactile/tactile_cache/dag911262r00025a_lerobot_0327_114548_55b88b4d/episodes/ep000444/gripper_right_tactile_contact_metrics.json
@@ -0,0 +1,12 @@
+{
+  "contact_time": 22.166666666666668,
+  "contact_ratio": 1.0,
+  "avg_contact_area": 2972.3563909774434,
+  "contact_entropy": 0.4526648891594062,
+  "total_frames": 665,
+  "fps": 30.0,
+  "reference_frame_count": 0,
+  "dataset_name": "dag911262r00025a_lerobot_0327_114548",
+  "episode_index": 444,
+  "sensor": "gripper_right_tactile"
+}
\ No newline at end of file
diff --git a/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_18-30/outputs_tactile/tactile_cache/dag911262r00025a_lerobot_0327_114548_55b88b4d/episodes/ep000448/gripper_left_tactile_force_metrics.json b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_18-30/outputs_tactile/tactile_cache/dag911262r00025a_lerobot_0327_114548_55b88b4d/episodes/ep000448/gripper_left_tactile_force_metrics.json
new file mode 100644
index 0000000000000000000000000000000000000000..58f797001fe65623c791198f1f6b01094a4b7ae1
--- /dev/null
+++ b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_18-30/outputs_tactile/tactile_cache/dag911262r00025a_lerobot_0327_114548_55b88b4d/episodes/ep000448/gripper_left_tactile_force_metrics.json
@@ -0,0 +1,9 @@
+{
+  "depth_peak": 0.013584831729531288,
+  "shear_peak": 0.007736728060990572,
+  "force_magnitude_peak": 0.015633445233106613,
+  "reference_frame_count": 0,
+  "dataset_name": "dag911262r00025a_lerobot_0327_114548",
+  "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_18-30/outputs_tactile/tactile_cache/dag911262r00025a_lerobot_0327_114548_55b88b4d/episodes/ep000449/gripper_right_tactile_force_metrics.json b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_18-30/outputs_tactile/tactile_cache/dag911262r00025a_lerobot_0327_114548_55b88b4d/episodes/ep000449/gripper_right_tactile_force_metrics.json
new file mode 100644
index 0000000000000000000000000000000000000000..95f3a638d48db6b2c3447ad82f87ec40ce2c5b0d
--- /dev/null
+++ b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_18-30/outputs_tactile/tactile_cache/dag911262r00025a_lerobot_0327_114548_55b88b4d/episodes/ep000449/gripper_right_tactile_force_metrics.json
@@ -0,0 +1,9 @@
+{
+  "depth_peak": 0.00996971782296896,
+  "shear_peak": 0.006177311763167381,
+  "force_magnitude_peak": 0.01090088952332735,
+  "reference_frame_count": 0,
+  "dataset_name": "dag911262r00025a_lerobot_0327_114548",
+  "episode_index": 449,
+  "sensor": "gripper_right_tactile"
+}
\ No newline at end of file
diff --git a/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_18-30/outputs_tactile/tactile_cache/dag911262r00025a_lerobot_0327_114548_55b88b4d/episodes/ep000451/gripper_right_tactile_contact_metrics.json b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_18-30/outputs_tactile/tactile_cache/dag911262r00025a_lerobot_0327_114548_55b88b4d/episodes/ep000451/gripper_right_tactile_contact_metrics.json
new file mode 100644
index 0000000000000000000000000000000000000000..6fd13a5ceeeba1bbbb2ebe26fb7118df77d3389a
--- /dev/null
+++ b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_18-30/outputs_tactile/tactile_cache/dag911262r00025a_lerobot_0327_114548_55b88b4d/episodes/ep000451/gripper_right_tactile_contact_metrics.json
@@ -0,0 +1,12 @@
+{
+  "contact_time": 11.433333333333334,
+  "contact_ratio": 0.9607843137254902,
+  "avg_contact_area": 6364.62973760933,
+  "contact_entropy": 0.6587602285222902,
+  "total_frames": 357,
+  "fps": 30.0,
+  "reference_frame_count": 0,
+  "dataset_name": "dag911262r00025a_lerobot_0327_114548",
+  "episode_index": 451,
+  "sensor": "gripper_right_tactile"
+}
\ No newline at end of file
diff --git a/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_18-30/outputs_tactile/tactile_cache/dag911262r00025a_lerobot_0327_114548_55b88b4d/episodes/ep000451/gripper_right_tactile_force_metrics.json b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_18-30/outputs_tactile/tactile_cache/dag911262r00025a_lerobot_0327_114548_55b88b4d/episodes/ep000451/gripper_right_tactile_force_metrics.json
new file mode 100644
index 0000000000000000000000000000000000000000..27fad9efd8774b9a64ee77a650701aaeccaf7aa9
--- /dev/null
+++ b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_18-30/outputs_tactile/tactile_cache/dag911262r00025a_lerobot_0327_114548_55b88b4d/episodes/ep000451/gripper_right_tactile_force_metrics.json
@@ -0,0 +1,9 @@
+{
+  "depth_peak": 0.011774583719670773,
+  "shear_peak": 0.0035460961516946554,
+  "force_magnitude_peak": 0.01222302671521902,
+  "reference_frame_count": 0,
+  "dataset_name": "dag911262r00025a_lerobot_0327_114548",
+  "episode_index": 451,
+  "sensor": "gripper_right_tactile"
+}
\ No newline at end of file
diff --git a/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_18-30/outputs_tactile/tactile_cache/dag911262r00025a_lerobot_0327_114548_55b88b4d/episodes/ep000452/gripper_left_tactile_contact_metrics.json b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_18-30/outputs_tactile/tactile_cache/dag911262r00025a_lerobot_0327_114548_55b88b4d/episodes/ep000452/gripper_left_tactile_contact_metrics.json
new file mode 100644
index 0000000000000000000000000000000000000000..ae9be96278d4c2288f4047e4d23588e05f3c8e3c
--- /dev/null
+++ b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_18-30/outputs_tactile/tactile_cache/dag911262r00025a_lerobot_0327_114548_55b88b4d/episodes/ep000452/gripper_left_tactile_contact_metrics.json
@@ -0,0 +1,12 @@
+{
+  "contact_time": 22.633333333333333,
+  "contact_ratio": 1.0,
+  "avg_contact_area": 3245.980854197349,
+  "contact_entropy": 0.4822273769206239,
+  "total_frames": 679,
+  "fps": 30.0,
+  "reference_frame_count": 0,
+  "dataset_name": "dag911262r00025a_lerobot_0327_114548",
+  "episode_index": 452,
+  "sensor": "gripper_left_tactile"
+}
\ No newline at end of file
diff --git a/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_18-30/outputs_tactile/tactile_cache/dag911262r00025a_lerobot_0327_114548_55b88b4d/episodes/ep000457/gripper_left_tactile_contact_metrics.json b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_18-30/outputs_tactile/tactile_cache/dag911262r00025a_lerobot_0327_114548_55b88b4d/episodes/ep000457/gripper_left_tactile_contact_metrics.json
new file mode 100644
index 0000000000000000000000000000000000000000..58215e23c2b945f5fc782f10b6da13d490ea9915
--- /dev/null
+++ b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_18-30/outputs_tactile/tactile_cache/dag911262r00025a_lerobot_0327_114548_55b88b4d/episodes/ep000457/gripper_left_tactile_contact_metrics.json
@@ -0,0 +1,12 @@
+{
+  "contact_time": 10.0,
+  "contact_ratio": 0.9646302250803859,
+  "avg_contact_area": 6424.566666666667,
+  "contact_entropy": 0.4305748147940233,
+  "total_frames": 311,
+  "fps": 30.0,
+  "reference_frame_count": 0,
+  "dataset_name": "dag911262r00025a_lerobot_0327_114548",
+  "episode_index": 457,
+  "sensor": "gripper_left_tactile"
+}
\ No newline at end of file
diff --git a/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_18-30/outputs_tactile/tactile_cache/dag911262r00025a_lerobot_0327_114548_55b88b4d/episodes/ep000457/gripper_left_tactile_force_metrics.json b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_18-30/outputs_tactile/tactile_cache/dag911262r00025a_lerobot_0327_114548_55b88b4d/episodes/ep000457/gripper_left_tactile_force_metrics.json
new file mode 100644
index 0000000000000000000000000000000000000000..e431a136dfd85a6368f9b21b085c3b6899098063
--- /dev/null
+++ b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_18-30/outputs_tactile/tactile_cache/dag911262r00025a_lerobot_0327_114548_55b88b4d/episodes/ep000457/gripper_left_tactile_force_metrics.json
@@ -0,0 +1,9 @@
+{
+  "depth_peak": 0.0053649405017495155,
+  "shear_peak": 0.005237208679318428,
+  "force_magnitude_peak": 0.005702903028577566,
+  "reference_frame_count": 0,
+  "dataset_name": "dag911262r00025a_lerobot_0327_114548",
+  "episode_index": 457,
+  "sensor": "gripper_left_tactile"
+}
\ No newline at end of file
diff --git a/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_18-30/outputs_tactile/tactile_cache/dag911262r00025a_lerobot_0327_114548_55b88b4d/episodes/ep000462/gripper_right_tactile_force_metrics.json b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_18-30/outputs_tactile/tactile_cache/dag911262r00025a_lerobot_0327_114548_55b88b4d/episodes/ep000462/gripper_right_tactile_force_metrics.json
new file mode 100644
index 0000000000000000000000000000000000000000..9e199b958f57a731a85118c9eff877aae30c3383
--- /dev/null
+++ b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_18-30/outputs_tactile/tactile_cache/dag911262r00025a_lerobot_0327_114548_55b88b4d/episodes/ep000462/gripper_right_tactile_force_metrics.json
@@ -0,0 +1,9 @@
+{
+  "depth_peak": 0.009319658391177654,
+  "shear_peak": 0.009529302828013897,
+  "force_magnitude_peak": 0.01018707174807787,
+  "reference_frame_count": 0,
+  "dataset_name": "dag911262r00025a_lerobot_0327_114548",
+  "episode_index": 462,
+  "sensor": "gripper_right_tactile"
+}
\ No newline at end of file
diff --git a/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_18-30/outputs_tactile/tactile_cache/dag911262r00025a_lerobot_0327_114548_55b88b4d/episodes/ep000463/gripper_right_tactile_contact_metrics.json b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_18-30/outputs_tactile/tactile_cache/dag911262r00025a_lerobot_0327_114548_55b88b4d/episodes/ep000463/gripper_right_tactile_contact_metrics.json
new file mode 100644
index 0000000000000000000000000000000000000000..adcab229c18f9c72fd332503afb5b23d625b6d6d
--- /dev/null
+++ b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_18-30/outputs_tactile/tactile_cache/dag911262r00025a_lerobot_0327_114548_55b88b4d/episodes/ep000463/gripper_right_tactile_contact_metrics.json
@@ -0,0 +1,12 @@
+{
+  "contact_time": 9.133333333333333,
+  "contact_ratio": 0.9351535836177475,
+  "avg_contact_area": 9099.11313868613,
+  "contact_entropy": 0.4710024460874888,
+  "total_frames": 293,
+  "fps": 30.0,
+  "reference_frame_count": 0,
+  "dataset_name": "dag911262r00025a_lerobot_0327_114548",
+  "episode_index": 463,
+  "sensor": "gripper_right_tactile"
+}
\ No newline at end of file
diff --git a/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_18-30/outputs_tactile/tactile_cache/dag911262r00025a_lerobot_0327_114548_55b88b4d/episodes/ep000465/gripper_left_tactile_contact_metrics.json b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_18-30/outputs_tactile/tactile_cache/dag911262r00025a_lerobot_0327_114548_55b88b4d/episodes/ep000465/gripper_left_tactile_contact_metrics.json
new file mode 100644
index 0000000000000000000000000000000000000000..dae7985414fbdc82d52fa7f1059331c49719f304
--- /dev/null
+++ b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_18-30/outputs_tactile/tactile_cache/dag911262r00025a_lerobot_0327_114548_55b88b4d/episodes/ep000465/gripper_left_tactile_contact_metrics.json
@@ -0,0 +1,12 @@
+{
+  "contact_time": 9.866666666666667,
+  "contact_ratio": 0.9079754601226994,
+  "avg_contact_area": 10146.587837837838,
+  "contact_entropy": 0.5692994851405868,
+  "total_frames": 326,
+  "fps": 30.0,
+  "reference_frame_count": 0,
+  "dataset_name": "dag911262r00025a_lerobot_0327_114548",
+  "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_18-30/outputs_tactile/tactile_cache/dag911262r00025a_lerobot_0327_114548_55b88b4d/episodes/ep000465/gripper_right_tactile_contact_metrics.json b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_18-30/outputs_tactile/tactile_cache/dag911262r00025a_lerobot_0327_114548_55b88b4d/episodes/ep000465/gripper_right_tactile_contact_metrics.json
new file mode 100644
index 0000000000000000000000000000000000000000..43ac8e3c3cd5d73ce7cdd4cc5574736ca331e535
--- /dev/null
+++ b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_18-30/outputs_tactile/tactile_cache/dag911262r00025a_lerobot_0327_114548_55b88b4d/episodes/ep000465/gripper_right_tactile_contact_metrics.json
@@ -0,0 +1,12 @@
+{
+  "contact_time": 8.966666666666667,
+  "contact_ratio": 0.8251533742331288,
+  "avg_contact_area": 6476.613382899628,
+  "contact_entropy": 0.44861092165192396,
+  "total_frames": 326,
+  "fps": 30.0,
+  "reference_frame_count": 0,
+  "dataset_name": "dag911262r00025a_lerobot_0327_114548",
+  "episode_index": 465,
+  "sensor": "gripper_right_tactile"
+}
\ No newline at end of file
diff --git a/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_18-30/outputs_tactile/tactile_cache/dag911262r00025a_lerobot_0327_114548_55b88b4d/episodes/ep000470/gripper_left_tactile_contact_metrics.json b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_18-30/outputs_tactile/tactile_cache/dag911262r00025a_lerobot_0327_114548_55b88b4d/episodes/ep000470/gripper_left_tactile_contact_metrics.json
new file mode 100644
index 0000000000000000000000000000000000000000..b54efebd44aeecce186e8a37ec37a9babb18f88d
--- /dev/null
+++ b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_18-30/outputs_tactile/tactile_cache/dag911262r00025a_lerobot_0327_114548_55b88b4d/episodes/ep000470/gripper_left_tactile_contact_metrics.json
@@ -0,0 +1,12 @@
+{
+  "contact_time": 24.366666666666667,
+  "contact_ratio": 1.0,
+  "avg_contact_area": 4127.290013679891,
+  "contact_entropy": 0.33163916826827533,
+  "total_frames": 731,
+  "fps": 30.0,
+  "reference_frame_count": 0,
+  "dataset_name": "dag911262r00025a_lerobot_0327_114548",
+  "episode_index": 470,
+  "sensor": "gripper_left_tactile"
+}
\ No newline at end of file
diff --git a/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_18-30/outputs_tactile/tactile_cache/dag911262r00025a_lerobot_0327_114548_55b88b4d/episodes/ep000472/gripper_left_tactile_force_metrics.json b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_18-30/outputs_tactile/tactile_cache/dag911262r00025a_lerobot_0327_114548_55b88b4d/episodes/ep000472/gripper_left_tactile_force_metrics.json
new file mode 100644
index 0000000000000000000000000000000000000000..cb921f08639e4ab9e32e52bf4447697037b7278e
--- /dev/null
+++ b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_18-30/outputs_tactile/tactile_cache/dag911262r00025a_lerobot_0327_114548_55b88b4d/episodes/ep000472/gripper_left_tactile_force_metrics.json
@@ -0,0 +1,9 @@
+{
+  "depth_peak": 0.014517122879624367,
+  "shear_peak": 0.006668660324066877,
+  "force_magnitude_peak": 0.014605391770601273,
+  "reference_frame_count": 0,
+  "dataset_name": "dag911262r00025a_lerobot_0327_114548",
+  "episode_index": 472,
+  "sensor": "gripper_left_tactile"
+}
\ No newline at end of file
diff --git a/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_18-30/outputs_tactile/tactile_cache/dag911262r00025a_lerobot_0327_114548_55b88b4d/episodes/ep000472/gripper_right_tactile_force_metrics.json b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_18-30/outputs_tactile/tactile_cache/dag911262r00025a_lerobot_0327_114548_55b88b4d/episodes/ep000472/gripper_right_tactile_force_metrics.json
new file mode 100644
index 0000000000000000000000000000000000000000..42e6e580083d41d8d89de212e64d70ab6d1df7ba
--- /dev/null
+++ b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_18-30/outputs_tactile/tactile_cache/dag911262r00025a_lerobot_0327_114548_55b88b4d/episodes/ep000472/gripper_right_tactile_force_metrics.json
@@ -0,0 +1,9 @@
+{
+  "depth_peak": 0.008137636817991734,
+  "shear_peak": 0.006460642442107201,
+  "force_magnitude_peak": 0.010371006093919277,
+  "reference_frame_count": 0,
+  "dataset_name": "dag911262r00025a_lerobot_0327_114548",
+  "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_18-30/outputs_tactile/tactile_cache/dag911262r00025a_lerobot_0327_114548_55b88b4d/episodes/ep000476/gripper_left_tactile_force_metrics.json b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_18-30/outputs_tactile/tactile_cache/dag911262r00025a_lerobot_0327_114548_55b88b4d/episodes/ep000476/gripper_left_tactile_force_metrics.json
new file mode 100644
index 0000000000000000000000000000000000000000..8991525e4a93704c51c5ee8d3223929c6201021e
--- /dev/null
+++ b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_18-30/outputs_tactile/tactile_cache/dag911262r00025a_lerobot_0327_114548_55b88b4d/episodes/ep000476/gripper_left_tactile_force_metrics.json
@@ -0,0 +1,9 @@
+{
+  "depth_peak": 0.018461382016539574,
+  "shear_peak": 0.006678933743387461,
+  "force_magnitude_peak": 0.018576987087726593,
+  "reference_frame_count": 0,
+  "dataset_name": "dag911262r00025a_lerobot_0327_114548",
+  "episode_index": 476,
+  "sensor": "gripper_left_tactile"
+}
\ No newline at end of file
diff --git a/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_18-30/outputs_tactile/tactile_cache/dag911262r00025a_lerobot_0327_114548_55b88b4d/episodes/ep000477/gripper_left_tactile_contact_metrics.json b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_18-30/outputs_tactile/tactile_cache/dag911262r00025a_lerobot_0327_114548_55b88b4d/episodes/ep000477/gripper_left_tactile_contact_metrics.json
new file mode 100644
index 0000000000000000000000000000000000000000..cd327cdac681042388f293b596ffce875ac76421
--- /dev/null
+++ b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_18-30/outputs_tactile/tactile_cache/dag911262r00025a_lerobot_0327_114548_55b88b4d/episodes/ep000477/gripper_left_tactile_contact_metrics.json
@@ -0,0 +1,12 @@
+{
+  "contact_time": 9.833333333333334,
+  "contact_ratio": 0.9365079365079365,
+  "avg_contact_area": 4229.31186440678,
+  "contact_entropy": 0.2524581917522389,
+  "total_frames": 315,
+  "fps": 30.0,
+  "reference_frame_count": 0,
+  "dataset_name": "dag911262r00025a_lerobot_0327_114548",
+  "episode_index": 477,
+  "sensor": "gripper_left_tactile"
+}
\ No newline at end of file
diff --git a/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_18-30/outputs_tactile/tactile_cache/dag911262r00025a_lerobot_0327_114548_55b88b4d/episodes/ep000482/gripper_left_tactile_force_metrics.json b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_18-30/outputs_tactile/tactile_cache/dag911262r00025a_lerobot_0327_114548_55b88b4d/episodes/ep000482/gripper_left_tactile_force_metrics.json
new file mode 100644
index 0000000000000000000000000000000000000000..db27c40ecd8c40f2311c4cc13e04956a904e7bdf
--- /dev/null
+++ b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_18-30/outputs_tactile/tactile_cache/dag911262r00025a_lerobot_0327_114548_55b88b4d/episodes/ep000482/gripper_left_tactile_force_metrics.json
@@ -0,0 +1,9 @@
+{
+  "depth_peak": 0.006871658843010664,
+  "shear_peak": 0.008982306346297264,
+  "force_magnitude_peak": 0.01130935549736023,
+  "reference_frame_count": 0,
+  "dataset_name": "dag911262r00025a_lerobot_0327_114548",
+  "episode_index": 482,
+  "sensor": "gripper_left_tactile"
+}
\ No newline at end of file
diff --git a/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_18-30/outputs_tactile/tactile_cache/dag911262r00025a_lerobot_0327_114548_55b88b4d/episodes/ep000484/gripper_right_tactile_contact_metrics.json b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_18-30/outputs_tactile/tactile_cache/dag911262r00025a_lerobot_0327_114548_55b88b4d/episodes/ep000484/gripper_right_tactile_contact_metrics.json
new file mode 100644
index 0000000000000000000000000000000000000000..5ddf3c2548a44d34a68d03acc22b00496895a864
--- /dev/null
+++ b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_18-30/outputs_tactile/tactile_cache/dag911262r00025a_lerobot_0327_114548_55b88b4d/episodes/ep000484/gripper_right_tactile_contact_metrics.json
@@ -0,0 +1,12 @@
+{
+  "contact_time": 19.966666666666665,
+  "contact_ratio": 1.0,
+  "avg_contact_area": 2692.0300500834724,
+  "contact_entropy": 0.22430629037075858,
+  "total_frames": 599,
+  "fps": 30.0,
+  "reference_frame_count": 0,
+  "dataset_name": "dag911262r00025a_lerobot_0327_114548",
+  "episode_index": 484,
+  "sensor": "gripper_right_tactile"
+}
\ No newline at end of file
diff --git a/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_18-30/outputs_tactile/tactile_cache/dag911262r00025a_lerobot_0327_114548_55b88b4d/episodes/ep000486/gripper_right_tactile_contact_metrics.json b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_18-30/outputs_tactile/tactile_cache/dag911262r00025a_lerobot_0327_114548_55b88b4d/episodes/ep000486/gripper_right_tactile_contact_metrics.json
new file mode 100644
index 0000000000000000000000000000000000000000..e0e1cf9ef1807ca3a89f21123bfeebf35bb4dbc2
--- /dev/null
+++ b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_18-30/outputs_tactile/tactile_cache/dag911262r00025a_lerobot_0327_114548_55b88b4d/episodes/ep000486/gripper_right_tactile_contact_metrics.json
@@ -0,0 +1,12 @@
+{
+  "contact_time": 21.3,
+  "contact_ratio": 0.9696509863429439,
+  "avg_contact_area": 3682.394366197183,
+  "contact_entropy": 0.424922052095315,
+  "total_frames": 659,
+  "fps": 30.0,
+  "reference_frame_count": 0,
+  "dataset_name": "dag911262r00025a_lerobot_0327_114548",
+  "episode_index": 486,
+  "sensor": "gripper_right_tactile"
+}
\ No newline at end of file
diff --git a/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_18-30/outputs_tactile/tactile_cache/dag911262r00025a_lerobot_0327_114548_55b88b4d/episodes/ep000488/gripper_left_tactile_force_metrics.json b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_18-30/outputs_tactile/tactile_cache/dag911262r00025a_lerobot_0327_114548_55b88b4d/episodes/ep000488/gripper_left_tactile_force_metrics.json
new file mode 100644
index 0000000000000000000000000000000000000000..a468dcb0143a3701b3a8e0bc67714924d8cafb02
--- /dev/null
+++ b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_18-30/outputs_tactile/tactile_cache/dag911262r00025a_lerobot_0327_114548_55b88b4d/episodes/ep000488/gripper_left_tactile_force_metrics.json
@@ -0,0 +1,9 @@
+{
+  "depth_peak": 0.00456644594669342,
+  "shear_peak": 0.003317658556625247,
+  "force_magnitude_peak": 0.005091200582683086,
+  "reference_frame_count": 0,
+  "dataset_name": "dag911262r00025a_lerobot_0327_114548",
+  "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_18-30/outputs_tactile/tactile_cache/dag911262r00025a_lerobot_0327_114548_55b88b4d/episodes/ep000489/gripper_right_tactile_force_metrics.json b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_18-30/outputs_tactile/tactile_cache/dag911262r00025a_lerobot_0327_114548_55b88b4d/episodes/ep000489/gripper_right_tactile_force_metrics.json
new file mode 100644
index 0000000000000000000000000000000000000000..cc77150655223b12c4eb09639d2fd0d0ceb9ff3e
--- /dev/null
+++ b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_18-30/outputs_tactile/tactile_cache/dag911262r00025a_lerobot_0327_114548_55b88b4d/episodes/ep000489/gripper_right_tactile_force_metrics.json
@@ -0,0 +1,9 @@
+{
+  "depth_peak": 0.004028728231787682,
+  "shear_peak": 0.004029404371976852,
+  "force_magnitude_peak": 0.00486150523647666,
+  "reference_frame_count": 0,
+  "dataset_name": "dag911262r00025a_lerobot_0327_114548",
+  "episode_index": 489,
+  "sensor": "gripper_right_tactile"
+}
\ No newline at end of file
diff --git a/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_18-30/outputs_tactile/tactile_cache/dag911262r00025a_lerobot_0327_114548_55b88b4d/episodes/ep000491/gripper_right_tactile_contact_metrics.json b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_18-30/outputs_tactile/tactile_cache/dag911262r00025a_lerobot_0327_114548_55b88b4d/episodes/ep000491/gripper_right_tactile_contact_metrics.json
new file mode 100644
index 0000000000000000000000000000000000000000..ab0fc55ad7496ac809def933ab0d45546ff24ac2
--- /dev/null
+++ b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_18-30/outputs_tactile/tactile_cache/dag911262r00025a_lerobot_0327_114548_55b88b4d/episodes/ep000491/gripper_right_tactile_contact_metrics.json
@@ -0,0 +1,12 @@
+{
+  "contact_time": 3.933333333333333,
+  "contact_ratio": 0.7866666666666666,
+  "avg_contact_area": 2948.0,
+  "contact_entropy": 0.11719528761800121,
+  "total_frames": 150,
+  "fps": 30.0,
+  "reference_frame_count": 0,
+  "dataset_name": "dag911262r00025a_lerobot_0327_114548",
+  "episode_index": 491,
+  "sensor": "gripper_right_tactile"
+}
\ No newline at end of file
diff --git a/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_18-30/outputs_tactile/tactile_cache/dag911262r00025a_lerobot_0327_114548_55b88b4d/episodes/ep000491/gripper_right_tactile_force_metrics.json b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_18-30/outputs_tactile/tactile_cache/dag911262r00025a_lerobot_0327_114548_55b88b4d/episodes/ep000491/gripper_right_tactile_force_metrics.json
new file mode 100644
index 0000000000000000000000000000000000000000..200c81e349a94d8c7bb2e89f7f320dd7e3cf97a7
--- /dev/null
+++ b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_18-30/outputs_tactile/tactile_cache/dag911262r00025a_lerobot_0327_114548_55b88b4d/episodes/ep000491/gripper_right_tactile_force_metrics.json
@@ -0,0 +1,9 @@
+{
+  "depth_peak": 0.004796982277184725,
+  "shear_peak": 0.0026684694457799196,
+  "force_magnitude_peak": 0.0051979790441691875,
+  "reference_frame_count": 0,
+  "dataset_name": "dag911262r00025a_lerobot_0327_114548",
+  "episode_index": 491,
+  "sensor": "gripper_right_tactile"
+}
\ No newline at end of file
diff --git a/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_18-30/outputs_tactile/tactile_cache/dag911262r00025a_lerobot_0327_114548_55b88b4d/episodes/ep000492/gripper_left_tactile_contact_metrics.json b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_18-30/outputs_tactile/tactile_cache/dag911262r00025a_lerobot_0327_114548_55b88b4d/episodes/ep000492/gripper_left_tactile_contact_metrics.json
new file mode 100644
index 0000000000000000000000000000000000000000..aacda575c600aabd3f024b69cd815affb2fe8e72
--- /dev/null
+++ b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_18-30/outputs_tactile/tactile_cache/dag911262r00025a_lerobot_0327_114548_55b88b4d/episodes/ep000492/gripper_left_tactile_contact_metrics.json
@@ -0,0 +1,12 @@
+{
+  "contact_time": 4.966666666666667,
+  "contact_ratio": 0.8324022346368715,
+  "avg_contact_area": 2925.0536912751677,
+  "contact_entropy": 0.05970834530051489,
+  "total_frames": 179,
+  "fps": 30.0,
+  "reference_frame_count": 0,
+  "dataset_name": "dag911262r00025a_lerobot_0327_114548",
+  "episode_index": 492,
+  "sensor": "gripper_left_tactile"
+}
\ No newline at end of file
diff --git a/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_18-30/outputs_tactile/tactile_cache/dag911262r00025a_lerobot_0327_114548_55b88b4d/episodes/ep000497/gripper_left_tactile_contact_metrics.json b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_18-30/outputs_tactile/tactile_cache/dag911262r00025a_lerobot_0327_114548_55b88b4d/episodes/ep000497/gripper_left_tactile_contact_metrics.json
new file mode 100644
index 0000000000000000000000000000000000000000..20ee12b557beb2de804715eeb618747b4db5dc65
--- /dev/null
+++ b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_18-30/outputs_tactile/tactile_cache/dag911262r00025a_lerobot_0327_114548_55b88b4d/episodes/ep000497/gripper_left_tactile_contact_metrics.json
@@ -0,0 +1,12 @@
+{
+  "contact_time": 6.3,
+  "contact_ratio": 0.863013698630137,
+  "avg_contact_area": 2032.5449735449736,
+  "contact_entropy": 0.052033955150374074,
+  "total_frames": 219,
+  "fps": 30.0,
+  "reference_frame_count": 0,
+  "dataset_name": "dag911262r00025a_lerobot_0327_114548",
+  "episode_index": 497,
+  "sensor": "gripper_left_tactile"
+}
\ No newline at end of file
diff --git a/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_18-30/outputs_tactile/tactile_cache/dag911262r00025a_lerobot_0327_114548_55b88b4d/episodes/ep000497/gripper_left_tactile_force_metrics.json b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_18-30/outputs_tactile/tactile_cache/dag911262r00025a_lerobot_0327_114548_55b88b4d/episodes/ep000497/gripper_left_tactile_force_metrics.json
new file mode 100644
index 0000000000000000000000000000000000000000..a4222dd9167308468d4f19b38cfc49757ff91353
--- /dev/null
+++ b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_18-30/outputs_tactile/tactile_cache/dag911262r00025a_lerobot_0327_114548_55b88b4d/episodes/ep000497/gripper_left_tactile_force_metrics.json
@@ -0,0 +1,9 @@
+{
+  "depth_peak": 0.0011101210257038474,
+  "shear_peak": 0.0019730564672499895,
+  "force_magnitude_peak": 0.0058641862124204636,
+  "reference_frame_count": 0,
+  "dataset_name": "dag911262r00025a_lerobot_0327_114548",
+  "episode_index": 497,
+  "sensor": "gripper_left_tactile"
+}
\ No newline at end of file
diff --git a/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_18-30/outputs_tactile/tactile_cache/dag911262r00025a_lerobot_0327_114548_55b88b4d/episodes/ep000502/gripper_right_tactile_force_metrics.json b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_18-30/outputs_tactile/tactile_cache/dag911262r00025a_lerobot_0327_114548_55b88b4d/episodes/ep000502/gripper_right_tactile_force_metrics.json
new file mode 100644
index 0000000000000000000000000000000000000000..035a19350617b5b289083997fc2c9867baaf75e4
--- /dev/null
+++ b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_18-30/outputs_tactile/tactile_cache/dag911262r00025a_lerobot_0327_114548_55b88b4d/episodes/ep000502/gripper_right_tactile_force_metrics.json
@@ -0,0 +1,9 @@
+{
+  "depth_peak": 0.0028740030247718096,
+  "shear_peak": 0.0023472255561500788,
+  "force_magnitude_peak": 0.003423430025577545,
+  "reference_frame_count": 0,
+  "dataset_name": "dag911262r00025a_lerobot_0327_114548",
+  "episode_index": 502,
+  "sensor": "gripper_right_tactile"
+}
\ No newline at end of file
diff --git a/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_18-30/outputs_tactile/tactile_cache/dag911262r00025a_lerobot_0327_114548_55b88b4d/episodes/ep000503/gripper_right_tactile_contact_metrics.json b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_18-30/outputs_tactile/tactile_cache/dag911262r00025a_lerobot_0327_114548_55b88b4d/episodes/ep000503/gripper_right_tactile_contact_metrics.json
new file mode 100644
index 0000000000000000000000000000000000000000..51dd1ba60d960289b45ef0d50b9dff91abce44e2
--- /dev/null
+++ b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_18-30/outputs_tactile/tactile_cache/dag911262r00025a_lerobot_0327_114548_55b88b4d/episodes/ep000503/gripper_right_tactile_contact_metrics.json
@@ -0,0 +1,12 @@
+{
+  "contact_time": 5.233333333333333,
+  "contact_ratio": 0.7268518518518519,
+  "avg_contact_area": 1478.8152866242037,
+  "contact_entropy": 0.20046745162447854,
+  "total_frames": 216,
+  "fps": 30.0,
+  "reference_frame_count": 0,
+  "dataset_name": "dag911262r00025a_lerobot_0327_114548",
+  "episode_index": 503,
+  "sensor": "gripper_right_tactile"
+}
\ No newline at end of file
diff --git a/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_18-30/outputs_tactile/tactile_cache/dag911262r00025a_lerobot_0327_114548_55b88b4d/episodes/ep000505/gripper_left_tactile_contact_metrics.json b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_18-30/outputs_tactile/tactile_cache/dag911262r00025a_lerobot_0327_114548_55b88b4d/episodes/ep000505/gripper_left_tactile_contact_metrics.json
new file mode 100644
index 0000000000000000000000000000000000000000..ca9dfc064e5e1397df6fcec5ef6617eb241d08e0
--- /dev/null
+++ b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_18-30/outputs_tactile/tactile_cache/dag911262r00025a_lerobot_0327_114548_55b88b4d/episodes/ep000505/gripper_left_tactile_contact_metrics.json
@@ -0,0 +1,12 @@
+{
+  "contact_time": 5.633333333333334,
+  "contact_ratio": 0.8407960199004975,
+  "avg_contact_area": 2920.183431952663,
+  "contact_entropy": 0.05865604038371946,
+  "total_frames": 201,
+  "fps": 30.0,
+  "reference_frame_count": 0,
+  "dataset_name": "dag911262r00025a_lerobot_0327_114548",
+  "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_18-30/outputs_tactile/tactile_cache/dag911262r00025a_lerobot_0327_114548_55b88b4d/episodes/ep000505/gripper_right_tactile_contact_metrics.json b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_18-30/outputs_tactile/tactile_cache/dag911262r00025a_lerobot_0327_114548_55b88b4d/episodes/ep000505/gripper_right_tactile_contact_metrics.json
new file mode 100644
index 0000000000000000000000000000000000000000..edc28e75e36cd9d85e8c282d7fefc31d1f2662ac
--- /dev/null
+++ b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_18-30/outputs_tactile/tactile_cache/dag911262r00025a_lerobot_0327_114548_55b88b4d/episodes/ep000505/gripper_right_tactile_contact_metrics.json
@@ -0,0 +1,12 @@
+{
+  "contact_time": 4.733333333333333,
+  "contact_ratio": 0.7064676616915423,
+  "avg_contact_area": 3961.718309859155,
+  "contact_entropy": 0.13567446007638645,
+  "total_frames": 201,
+  "fps": 30.0,
+  "reference_frame_count": 0,
+  "dataset_name": "dag911262r00025a_lerobot_0327_114548",
+  "episode_index": 505,
+  "sensor": "gripper_right_tactile"
+}
\ No newline at end of file
diff --git a/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_18-30/outputs_tactile/tactile_cache/dag911262r00025a_lerobot_0327_114548_55b88b4d/episodes/ep000510/gripper_left_tactile_contact_metrics.json b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_18-30/outputs_tactile/tactile_cache/dag911262r00025a_lerobot_0327_114548_55b88b4d/episodes/ep000510/gripper_left_tactile_contact_metrics.json
new file mode 100644
index 0000000000000000000000000000000000000000..e2bce73a2dface24bf6db26fceb4686638bb0d16
--- /dev/null
+++ b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_18-30/outputs_tactile/tactile_cache/dag911262r00025a_lerobot_0327_114548_55b88b4d/episodes/ep000510/gripper_left_tactile_contact_metrics.json
@@ -0,0 +1,12 @@
+{
+  "contact_time": 4.366666666666666,
+  "contact_ratio": 0.8136645962732919,
+  "avg_contact_area": 2746.312977099237,
+  "contact_entropy": 0.002712491897437582,
+  "total_frames": 161,
+  "fps": 30.0,
+  "reference_frame_count": 0,
+  "dataset_name": "dag911262r00025a_lerobot_0327_114548",
+  "episode_index": 510,
+  "sensor": "gripper_left_tactile"
+}
\ No newline at end of file
diff --git a/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_18-30/outputs_tactile/tactile_cache/dag911262r00025a_lerobot_0327_114548_55b88b4d/episodes/ep000512/gripper_left_tactile_force_metrics.json b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_18-30/outputs_tactile/tactile_cache/dag911262r00025a_lerobot_0327_114548_55b88b4d/episodes/ep000512/gripper_left_tactile_force_metrics.json
new file mode 100644
index 0000000000000000000000000000000000000000..0d077581fc89fe431817580d2e3d562b299993a7
--- /dev/null
+++ b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_18-30/outputs_tactile/tactile_cache/dag911262r00025a_lerobot_0327_114548_55b88b4d/episodes/ep000512/gripper_left_tactile_force_metrics.json
@@ -0,0 +1,9 @@
+{
+  "depth_peak": 0.0018354514613747597,
+  "shear_peak": 0.0028310997877269983,
+  "force_magnitude_peak": 0.0033740196377038956,
+  "reference_frame_count": 0,
+  "dataset_name": "dag911262r00025a_lerobot_0327_114548",
+  "episode_index": 512,
+  "sensor": "gripper_left_tactile"
+}
\ No newline at end of file
diff --git a/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_18-30/outputs_tactile/tactile_cache/dag911262r00025a_lerobot_0327_114548_55b88b4d/episodes/ep000512/gripper_right_tactile_force_metrics.json b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_18-30/outputs_tactile/tactile_cache/dag911262r00025a_lerobot_0327_114548_55b88b4d/episodes/ep000512/gripper_right_tactile_force_metrics.json
new file mode 100644
index 0000000000000000000000000000000000000000..aacf118fe82c3598c50c3af1a0bfe00d82562aa7
--- /dev/null
+++ b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_18-30/outputs_tactile/tactile_cache/dag911262r00025a_lerobot_0327_114548_55b88b4d/episodes/ep000512/gripper_right_tactile_force_metrics.json
@@ -0,0 +1,9 @@
+{
+  "depth_peak": 0.006109082140028477,
+  "shear_peak": 0.0037968987599015236,
+  "force_magnitude_peak": 0.006303127855062485,
+  "reference_frame_count": 0,
+  "dataset_name": "dag911262r00025a_lerobot_0327_114548",
+  "episode_index": 512,
+  "sensor": "gripper_right_tactile"
+}
\ No newline at end of file
diff --git a/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_18-30/outputs_tactile/tactile_cache/dag911262r00025a_lerobot_0327_114548_55b88b4d/episodes/ep000516/gripper_left_tactile_force_metrics.json b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_18-30/outputs_tactile/tactile_cache/dag911262r00025a_lerobot_0327_114548_55b88b4d/episodes/ep000516/gripper_left_tactile_force_metrics.json
new file mode 100644
index 0000000000000000000000000000000000000000..0ce918a09bc94589118ef9c3dbe990d00dbea9f9
--- /dev/null
+++ b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_18-30/outputs_tactile/tactile_cache/dag911262r00025a_lerobot_0327_114548_55b88b4d/episodes/ep000516/gripper_left_tactile_force_metrics.json
@@ -0,0 +1,9 @@
+{
+  "depth_peak": 0.002958829514682293,
+  "shear_peak": 0.0033448971807956696,
+  "force_magnitude_peak": 0.003751322627067566,
+  "reference_frame_count": 0,
+  "dataset_name": "dag911262r00025a_lerobot_0327_114548",
+  "episode_index": 516,
+  "sensor": "gripper_left_tactile"
+}
\ No newline at end of file
diff --git a/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_18-30/outputs_tactile/tactile_cache/dag911262r00025a_lerobot_0327_114548_55b88b4d/episodes/ep000517/gripper_left_tactile_contact_metrics.json b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_18-30/outputs_tactile/tactile_cache/dag911262r00025a_lerobot_0327_114548_55b88b4d/episodes/ep000517/gripper_left_tactile_contact_metrics.json
new file mode 100644
index 0000000000000000000000000000000000000000..519486e7e9ff779b036bab2bd3c4d2ba8b18159b
--- /dev/null
+++ b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_18-30/outputs_tactile/tactile_cache/dag911262r00025a_lerobot_0327_114548_55b88b4d/episodes/ep000517/gripper_left_tactile_contact_metrics.json
@@ -0,0 +1,12 @@
+{
+  "contact_time": 5.1,
+  "contact_ratio": 0.7116279069767442,
+  "avg_contact_area": 2982.9869281045753,
+  "contact_entropy": 0.17295408143033972,
+  "total_frames": 215,
+  "fps": 30.0,
+  "reference_frame_count": 0,
+  "dataset_name": "dag911262r00025a_lerobot_0327_114548",
+  "episode_index": 517,
+  "sensor": "gripper_left_tactile"
+}
\ No newline at end of file
diff --git a/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_18-30/outputs_tactile/tactile_cache/dag911262r00025a_lerobot_0327_114548_55b88b4d/episodes/ep000522/gripper_left_tactile_force_metrics.json b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_18-30/outputs_tactile/tactile_cache/dag911262r00025a_lerobot_0327_114548_55b88b4d/episodes/ep000522/gripper_left_tactile_force_metrics.json
new file mode 100644
index 0000000000000000000000000000000000000000..9067c441913f690e18b74d0bf9aec01ec4ebd6d4
--- /dev/null
+++ b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_18-30/outputs_tactile/tactile_cache/dag911262r00025a_lerobot_0327_114548_55b88b4d/episodes/ep000522/gripper_left_tactile_force_metrics.json
@@ -0,0 +1,9 @@
+{
+  "depth_peak": 0.0038840332999825478,
+  "shear_peak": 0.002030671341344714,
+  "force_magnitude_peak": 0.004244671203196049,
+  "reference_frame_count": 0,
+  "dataset_name": "dag911262r00025a_lerobot_0327_114548",
+  "episode_index": 522,
+  "sensor": "gripper_left_tactile"
+}
\ No newline at end of file
diff --git a/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_18-30/outputs_tactile/tactile_cache/dag911262r00025a_lerobot_0327_114548_55b88b4d/episodes/ep000522/gripper_right_tactile_force_metrics.json b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_18-30/outputs_tactile/tactile_cache/dag911262r00025a_lerobot_0327_114548_55b88b4d/episodes/ep000522/gripper_right_tactile_force_metrics.json
new file mode 100644
index 0000000000000000000000000000000000000000..49aa2c55737fe3128812c8e5a5df566dc305e84f
--- /dev/null
+++ b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_18-30/outputs_tactile/tactile_cache/dag911262r00025a_lerobot_0327_114548_55b88b4d/episodes/ep000522/gripper_right_tactile_force_metrics.json
@@ -0,0 +1,9 @@
+{
+  "depth_peak": 0.00023321759363170713,
+  "shear_peak": 0.0015589158283546567,
+  "force_magnitude_peak": 0.001844976213760674,
+  "reference_frame_count": 0,
+  "dataset_name": "dag911262r00025a_lerobot_0327_114548",
+  "episode_index": 522,
+  "sensor": "gripper_right_tactile"
+}
\ No newline at end of file
diff --git a/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_18-30/outputs_tactile/tactile_cache/dag911262r00025a_lerobot_0327_114548_55b88b4d/episodes/ep000524/gripper_right_tactile_contact_metrics.json b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_18-30/outputs_tactile/tactile_cache/dag911262r00025a_lerobot_0327_114548_55b88b4d/episodes/ep000524/gripper_right_tactile_contact_metrics.json
new file mode 100644
index 0000000000000000000000000000000000000000..6e5c399ba5335294a800b7991a0c843477dec710
--- /dev/null
+++ b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_18-30/outputs_tactile/tactile_cache/dag911262r00025a_lerobot_0327_114548_55b88b4d/episodes/ep000524/gripper_right_tactile_contact_metrics.json
@@ -0,0 +1,12 @@
+{
+  "contact_time": 5.366666666666666,
+  "contact_ratio": 0.7219730941704036,
+  "avg_contact_area": 1920.4596273291925,
+  "contact_entropy": 0.5511836506072485,
+  "total_frames": 223,
+  "fps": 30.0,
+  "reference_frame_count": 0,
+  "dataset_name": "dag911262r00025a_lerobot_0327_114548",
+  "episode_index": 524,
+  "sensor": "gripper_right_tactile"
+}
\ No newline at end of file
diff --git a/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_18-30/outputs_tactile/tactile_cache/dag911262r00025a_lerobot_0327_114548_55b88b4d/episodes/ep000526/gripper_right_tactile_contact_metrics.json b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_18-30/outputs_tactile/tactile_cache/dag911262r00025a_lerobot_0327_114548_55b88b4d/episodes/ep000526/gripper_right_tactile_contact_metrics.json
new file mode 100644
index 0000000000000000000000000000000000000000..7ef41fc7ea52e22b00c9d834e9f81d6b82d85337
--- /dev/null
+++ b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_18-30/outputs_tactile/tactile_cache/dag911262r00025a_lerobot_0327_114548_55b88b4d/episodes/ep000526/gripper_right_tactile_contact_metrics.json
@@ -0,0 +1,12 @@
+{
+  "contact_time": 4.633333333333334,
+  "contact_ratio": 0.6915422885572139,
+  "avg_contact_area": 2234.827338129496,
+  "contact_entropy": 0.04174843696737924,
+  "total_frames": 201,
+  "fps": 30.0,
+  "reference_frame_count": 0,
+  "dataset_name": "dag911262r00025a_lerobot_0327_114548",
+  "episode_index": 526,
+  "sensor": "gripper_right_tactile"
+}
\ No newline at end of file
diff --git a/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_18-30/outputs_tactile/tactile_cache/dag911262r00025a_lerobot_0327_114548_55b88b4d/episodes/ep000528/gripper_left_tactile_force_metrics.json b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_18-30/outputs_tactile/tactile_cache/dag911262r00025a_lerobot_0327_114548_55b88b4d/episodes/ep000528/gripper_left_tactile_force_metrics.json
new file mode 100644
index 0000000000000000000000000000000000000000..f2ecdb492358e4ef981107eb511837a520b00832
--- /dev/null
+++ b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_18-30/outputs_tactile/tactile_cache/dag911262r00025a_lerobot_0327_114548_55b88b4d/episodes/ep000528/gripper_left_tactile_force_metrics.json
@@ -0,0 +1,9 @@
+{
+  "depth_peak": 0.0033804841805249453,
+  "shear_peak": 0.003933569882065058,
+  "force_magnitude_peak": 0.004775706212967634,
+  "reference_frame_count": 0,
+  "dataset_name": "dag911262r00025a_lerobot_0327_114548",
+  "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_18-30/outputs_tactile/tactile_cache/dag911262r00025a_lerobot_0327_114548_55b88b4d/episodes/ep000529/gripper_right_tactile_force_metrics.json b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_18-30/outputs_tactile/tactile_cache/dag911262r00025a_lerobot_0327_114548_55b88b4d/episodes/ep000529/gripper_right_tactile_force_metrics.json
new file mode 100644
index 0000000000000000000000000000000000000000..fba1ba9ea837e2b6bd27b349eab896ee36250ce7
--- /dev/null
+++ b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_18-30/outputs_tactile/tactile_cache/dag911262r00025a_lerobot_0327_114548_55b88b4d/episodes/ep000529/gripper_right_tactile_force_metrics.json
@@ -0,0 +1,9 @@
+{
+  "depth_peak": 0.013607463799417019,
+  "shear_peak": 0.0017892048927024007,
+  "force_magnitude_peak": 0.013607463799417019,
+  "reference_frame_count": 0,
+  "dataset_name": "dag911262r00025a_lerobot_0327_114548",
+  "episode_index": 529,
+  "sensor": "gripper_right_tactile"
+}
\ No newline at end of file
diff --git a/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_18-30/outputs_tactile/tactile_cache/dag911262r00025a_lerobot_0327_114548_55b88b4d/episodes/ep000531/gripper_right_tactile_contact_metrics.json b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_18-30/outputs_tactile/tactile_cache/dag911262r00025a_lerobot_0327_114548_55b88b4d/episodes/ep000531/gripper_right_tactile_contact_metrics.json
new file mode 100644
index 0000000000000000000000000000000000000000..366010bb9110cc78f498d568145281e58ec4e59d
--- /dev/null
+++ b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_18-30/outputs_tactile/tactile_cache/dag911262r00025a_lerobot_0327_114548_55b88b4d/episodes/ep000531/gripper_right_tactile_contact_metrics.json
@@ -0,0 +1,12 @@
+{
+  "contact_time": 7.733333333333333,
+  "contact_ratio": 0.8854961832061069,
+  "avg_contact_area": 1169.0387931034484,
+  "contact_entropy": 0.19251304113110027,
+  "total_frames": 262,
+  "fps": 30.0,
+  "reference_frame_count": 0,
+  "dataset_name": "dag911262r00025a_lerobot_0327_114548",
+  "episode_index": 531,
+  "sensor": "gripper_right_tactile"
+}
\ No newline at end of file
diff --git a/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_18-30/outputs_tactile/tactile_cache/dag911262r00025a_lerobot_0327_114548_55b88b4d/episodes/ep000531/gripper_right_tactile_force_metrics.json b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_18-30/outputs_tactile/tactile_cache/dag911262r00025a_lerobot_0327_114548_55b88b4d/episodes/ep000531/gripper_right_tactile_force_metrics.json
new file mode 100644
index 0000000000000000000000000000000000000000..c5f21f25dfd8979eca81d5f33be1a6c0f2586a29
--- /dev/null
+++ b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_18-30/outputs_tactile/tactile_cache/dag911262r00025a_lerobot_0327_114548_55b88b4d/episodes/ep000531/gripper_right_tactile_force_metrics.json
@@ -0,0 +1,9 @@
+{
+  "depth_peak": 0.006750782020390034,
+  "shear_peak": 0.0016049612313508987,
+  "force_magnitude_peak": 0.006750874686986208,
+  "reference_frame_count": 0,
+  "dataset_name": "dag911262r00025a_lerobot_0327_114548",
+  "episode_index": 531,
+  "sensor": "gripper_right_tactile"
+}
\ No newline at end of file
diff --git a/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_18-30/outputs_tactile/tactile_cache/dag911262r00025a_lerobot_0327_114548_55b88b4d/episodes/ep000532/gripper_left_tactile_contact_metrics.json b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_18-30/outputs_tactile/tactile_cache/dag911262r00025a_lerobot_0327_114548_55b88b4d/episodes/ep000532/gripper_left_tactile_contact_metrics.json
new file mode 100644
index 0000000000000000000000000000000000000000..5a089c1706f5ff90cb449908e5b972be46952b45
--- /dev/null
+++ b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_18-30/outputs_tactile/tactile_cache/dag911262r00025a_lerobot_0327_114548_55b88b4d/episodes/ep000532/gripper_left_tactile_contact_metrics.json
@@ -0,0 +1,12 @@
+{
+  "contact_time": 4.466666666666667,
+  "contact_ratio": 0.8758169934640523,
+  "avg_contact_area": 3795.1194029850744,
+  "contact_entropy": 0.011280183477287924,
+  "total_frames": 153,
+  "fps": 30.0,
+  "reference_frame_count": 0,
+  "dataset_name": "dag911262r00025a_lerobot_0327_114548",
+  "episode_index": 532,
+  "sensor": "gripper_left_tactile"
+}
\ No newline at end of file
diff --git a/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_18-30/outputs_tactile/tactile_cache/dag911262r00025a_lerobot_0327_114548_55b88b4d/episodes/ep000537/gripper_left_tactile_contact_metrics.json b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_18-30/outputs_tactile/tactile_cache/dag911262r00025a_lerobot_0327_114548_55b88b4d/episodes/ep000537/gripper_left_tactile_contact_metrics.json
new file mode 100644
index 0000000000000000000000000000000000000000..35ca6caaace947e58041751a2c1ff3bd6f34b872
--- /dev/null
+++ b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_18-30/outputs_tactile/tactile_cache/dag911262r00025a_lerobot_0327_114548_55b88b4d/episodes/ep000537/gripper_left_tactile_contact_metrics.json
@@ -0,0 +1,12 @@
+{
+  "contact_time": 5.1,
+  "contact_ratio": 0.7216981132075472,
+  "avg_contact_area": 4435.888888888889,
+  "contact_entropy": 0.01115610261196905,
+  "total_frames": 212,
+  "fps": 30.0,
+  "reference_frame_count": 0,
+  "dataset_name": "dag911262r00025a_lerobot_0327_114548",
+  "episode_index": 537,
+  "sensor": "gripper_left_tactile"
+}
\ No newline at end of file
diff --git a/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_18-30/outputs_tactile/tactile_cache/dag911262r00025a_lerobot_0327_114548_55b88b4d/episodes/ep000537/gripper_left_tactile_force_metrics.json b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_18-30/outputs_tactile/tactile_cache/dag911262r00025a_lerobot_0327_114548_55b88b4d/episodes/ep000537/gripper_left_tactile_force_metrics.json
new file mode 100644
index 0000000000000000000000000000000000000000..33858a24b91da3f3fce6a8171dc2fe91e2b81de9
--- /dev/null
+++ b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_18-30/outputs_tactile/tactile_cache/dag911262r00025a_lerobot_0327_114548_55b88b4d/episodes/ep000537/gripper_left_tactile_force_metrics.json
@@ -0,0 +1,9 @@
+{
+  "depth_peak": 0.0013739940477535129,
+  "shear_peak": 0.003731007920578122,
+  "force_magnitude_peak": 0.004466647282242775,
+  "reference_frame_count": 0,
+  "dataset_name": "dag911262r00025a_lerobot_0327_114548",
+  "episode_index": 537,
+  "sensor": "gripper_left_tactile"
+}
\ No newline at end of file
diff --git a/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_18-30/outputs_tactile/tactile_cache/dag911262r00025a_lerobot_0327_114548_55b88b4d/episodes/ep000542/gripper_right_tactile_force_metrics.json b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_18-30/outputs_tactile/tactile_cache/dag911262r00025a_lerobot_0327_114548_55b88b4d/episodes/ep000542/gripper_right_tactile_force_metrics.json
new file mode 100644
index 0000000000000000000000000000000000000000..8f56fabfe77c6c4f23218372b28d64a6742620d0
--- /dev/null
+++ b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_18-30/outputs_tactile/tactile_cache/dag911262r00025a_lerobot_0327_114548_55b88b4d/episodes/ep000542/gripper_right_tactile_force_metrics.json
@@ -0,0 +1,9 @@
+{
+  "depth_peak": 0.009143543429672718,
+  "shear_peak": 0.002916468773037195,
+  "force_magnitude_peak": 0.009272720664739609,
+  "reference_frame_count": 0,
+  "dataset_name": "dag911262r00025a_lerobot_0327_114548",
+  "episode_index": 542,
+  "sensor": "gripper_right_tactile"
+}
\ No newline at end of file
diff --git a/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_18-30/outputs_tactile/tactile_cache/dag911262r00025a_lerobot_0327_114548_55b88b4d/episodes/ep000543/gripper_right_tactile_contact_metrics.json b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_18-30/outputs_tactile/tactile_cache/dag911262r00025a_lerobot_0327_114548_55b88b4d/episodes/ep000543/gripper_right_tactile_contact_metrics.json
new file mode 100644
index 0000000000000000000000000000000000000000..c297e9afde776db54184bcd3f93e278f44e7a736
--- /dev/null
+++ b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_18-30/outputs_tactile/tactile_cache/dag911262r00025a_lerobot_0327_114548_55b88b4d/episodes/ep000543/gripper_right_tactile_contact_metrics.json
@@ -0,0 +1,12 @@
+{
+  "contact_time": 5.466666666666667,
+  "contact_ratio": 0.8961748633879781,
+  "avg_contact_area": 1828.3475609756097,
+  "contact_entropy": 0.5068283050033555,
+  "total_frames": 183,
+  "fps": 30.0,
+  "reference_frame_count": 0,
+  "dataset_name": "dag911262r00025a_lerobot_0327_114548",
+  "episode_index": 543,
+  "sensor": "gripper_right_tactile"
+}
\ No newline at end of file
diff --git a/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_18-30/outputs_tactile/tactile_cache/dag911262r00025a_lerobot_0327_114548_55b88b4d/episodes/ep000545/gripper_left_tactile_contact_metrics.json b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_18-30/outputs_tactile/tactile_cache/dag911262r00025a_lerobot_0327_114548_55b88b4d/episodes/ep000545/gripper_left_tactile_contact_metrics.json
new file mode 100644
index 0000000000000000000000000000000000000000..72061efba7ee88fbe7581eccafbc6139b384d2c3
--- /dev/null
+++ b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_18-30/outputs_tactile/tactile_cache/dag911262r00025a_lerobot_0327_114548_55b88b4d/episodes/ep000545/gripper_left_tactile_contact_metrics.json
@@ -0,0 +1,12 @@
+{
+  "contact_time": 4.666666666666667,
+  "contact_ratio": 0.7035175879396985,
+  "avg_contact_area": 2259.285714285714,
+  "contact_entropy": 0.00547558813402053,
+  "total_frames": 199,
+  "fps": 30.0,
+  "reference_frame_count": 0,
+  "dataset_name": "dag911262r00025a_lerobot_0327_114548",
+  "episode_index": 545,
+  "sensor": "gripper_left_tactile"
+}
\ No newline at end of file
diff --git a/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_18-30/outputs_tactile/tactile_cache/dag911262r00025a_lerobot_0327_114548_55b88b4d/episodes/ep000545/gripper_right_tactile_contact_metrics.json b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_18-30/outputs_tactile/tactile_cache/dag911262r00025a_lerobot_0327_114548_55b88b4d/episodes/ep000545/gripper_right_tactile_contact_metrics.json
new file mode 100644
index 0000000000000000000000000000000000000000..bdf6a2e45f5cb6c40a44635b2ffa1b97d60ed805
--- /dev/null
+++ b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_18-30/outputs_tactile/tactile_cache/dag911262r00025a_lerobot_0327_114548_55b88b4d/episodes/ep000545/gripper_right_tactile_contact_metrics.json
@@ -0,0 +1,12 @@
+{
+  "contact_time": 5.566666666666666,
+  "contact_ratio": 0.8391959798994975,
+  "avg_contact_area": 890.125748502994,
+  "contact_entropy": 0.01635535303918224,
+  "total_frames": 199,
+  "fps": 30.0,
+  "reference_frame_count": 0,
+  "dataset_name": "dag911262r00025a_lerobot_0327_114548",
+  "episode_index": 545,
+  "sensor": "gripper_right_tactile"
+}
\ No newline at end of file
diff --git a/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_18-30/outputs_tactile/tactile_cache/dag911262r00025a_lerobot_0327_114548_55b88b4d/episodes/ep000552/gripper_left_tactile_force_metrics.json b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_18-30/outputs_tactile/tactile_cache/dag911262r00025a_lerobot_0327_114548_55b88b4d/episodes/ep000552/gripper_left_tactile_force_metrics.json
new file mode 100644
index 0000000000000000000000000000000000000000..fcc30054f1d62d7433e9a12faec74c7155870721
--- /dev/null
+++ b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_18-30/outputs_tactile/tactile_cache/dag911262r00025a_lerobot_0327_114548_55b88b4d/episodes/ep000552/gripper_left_tactile_force_metrics.json
@@ -0,0 +1,9 @@
+{
+  "depth_peak": 0.002570295473560691,
+  "shear_peak": 0.004853422753512859,
+  "force_magnitude_peak": 0.005401842761784792,
+  "reference_frame_count": 0,
+  "dataset_name": "dag911262r00025a_lerobot_0327_114548",
+  "episode_index": 552,
+  "sensor": "gripper_left_tactile"
+}
\ No newline at end of file
diff --git a/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_18-30/outputs_tactile/tactile_cache/dag911262r00025a_lerobot_0327_114548_55b88b4d/episodes/ep000556/gripper_left_tactile_force_metrics.json b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_18-30/outputs_tactile/tactile_cache/dag911262r00025a_lerobot_0327_114548_55b88b4d/episodes/ep000556/gripper_left_tactile_force_metrics.json
new file mode 100644
index 0000000000000000000000000000000000000000..518064a7f83a4097789a86affac05f86dddfb1ed
--- /dev/null
+++ b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_18-30/outputs_tactile/tactile_cache/dag911262r00025a_lerobot_0327_114548_55b88b4d/episodes/ep000556/gripper_left_tactile_force_metrics.json
@@ -0,0 +1,9 @@
+{
+  "depth_peak": 0.004712770693004131,
+  "shear_peak": 0.0013820178573951125,
+  "force_magnitude_peak": 0.0048654694110155106,
+  "reference_frame_count": 0,
+  "dataset_name": "dag911262r00025a_lerobot_0327_114548",
+  "episode_index": 556,
+  "sensor": "gripper_left_tactile"
+}
\ No newline at end of file
diff --git a/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_18-30/outputs_tactile/tactile_cache/dag911262r00025a_lerobot_0327_114548_55b88b4d/episodes/ep000562/gripper_right_tactile_force_metrics.json b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_18-30/outputs_tactile/tactile_cache/dag911262r00025a_lerobot_0327_114548_55b88b4d/episodes/ep000562/gripper_right_tactile_force_metrics.json
new file mode 100644
index 0000000000000000000000000000000000000000..f9592e2f62acfb2cc773dedae87659b951b64e2c
--- /dev/null
+++ b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_18-30/outputs_tactile/tactile_cache/dag911262r00025a_lerobot_0327_114548_55b88b4d/episodes/ep000562/gripper_right_tactile_force_metrics.json
@@ -0,0 +1,9 @@
+{
+  "depth_peak": 0.01098936703056097,
+  "shear_peak": 0.005161363165825605,
+  "force_magnitude_peak": 0.011281577870249748,
+  "reference_frame_count": 0,
+  "dataset_name": "dag911262r00025a_lerobot_0327_114548",
+  "episode_index": 562,
+  "sensor": "gripper_right_tactile"
+}
\ No newline at end of file
diff --git a/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_18-30/outputs_tactile/tactile_cache/dag911262r00025a_lerobot_0327_114548_55b88b4d/episodes/ep000564/gripper_right_tactile_contact_metrics.json b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_18-30/outputs_tactile/tactile_cache/dag911262r00025a_lerobot_0327_114548_55b88b4d/episodes/ep000564/gripper_right_tactile_contact_metrics.json
new file mode 100644
index 0000000000000000000000000000000000000000..242c173751f6caf8c5f92022a33cdbab6e24f425
--- /dev/null
+++ b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_18-30/outputs_tactile/tactile_cache/dag911262r00025a_lerobot_0327_114548_55b88b4d/episodes/ep000564/gripper_right_tactile_contact_metrics.json
@@ -0,0 +1,12 @@
+{
+  "contact_time": 8.966666666666667,
+  "contact_ratio": 0.8996655518394648,
+  "avg_contact_area": 3583.728624535316,
+  "contact_entropy": 0.6308358201317177,
+  "total_frames": 299,
+  "fps": 30.0,
+  "reference_frame_count": 0,
+  "dataset_name": "dag911262r00025a_lerobot_0327_114548",
+  "episode_index": 564,
+  "sensor": "gripper_right_tactile"
+}
\ No newline at end of file
diff --git a/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_18-30/outputs_tactile/tactile_cache/dag911262r00025a_lerobot_0327_114548_55b88b4d/episodes/ep000566/gripper_right_tactile_contact_metrics.json b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_18-30/outputs_tactile/tactile_cache/dag911262r00025a_lerobot_0327_114548_55b88b4d/episodes/ep000566/gripper_right_tactile_contact_metrics.json
new file mode 100644
index 0000000000000000000000000000000000000000..8ae69b55d95a23db22d53462a8891dd1786ffafa
--- /dev/null
+++ b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_18-30/outputs_tactile/tactile_cache/dag911262r00025a_lerobot_0327_114548_55b88b4d/episodes/ep000566/gripper_right_tactile_contact_metrics.json
@@ -0,0 +1,12 @@
+{
+  "contact_time": 3.933333333333333,
+  "contact_ratio": 0.6555555555555556,
+  "avg_contact_area": 932.6440677966102,
+  "contact_entropy": 0.0493156931699064,
+  "total_frames": 180,
+  "fps": 30.0,
+  "reference_frame_count": 0,
+  "dataset_name": "dag911262r00025a_lerobot_0327_114548",
+  "episode_index": 566,
+  "sensor": "gripper_right_tactile"
+}
\ No newline at end of file
diff --git a/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_18-30/outputs_tactile/tactile_cache/dag911262r00025a_lerobot_0327_114548_55b88b4d/episodes/ep000568/gripper_left_tactile_force_metrics.json b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_18-30/outputs_tactile/tactile_cache/dag911262r00025a_lerobot_0327_114548_55b88b4d/episodes/ep000568/gripper_left_tactile_force_metrics.json
new file mode 100644
index 0000000000000000000000000000000000000000..85f47c67c1e4d15c1d0b211654b4b8ae8936f6a2
--- /dev/null
+++ b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_18-30/outputs_tactile/tactile_cache/dag911262r00025a_lerobot_0327_114548_55b88b4d/episodes/ep000568/gripper_left_tactile_force_metrics.json
@@ -0,0 +1,9 @@
+{
+  "depth_peak": 0.009999332949519157,
+  "shear_peak": 0.0053367773070931435,
+  "force_magnitude_peak": 0.010894620791077614,
+  "reference_frame_count": 0,
+  "dataset_name": "dag911262r00025a_lerobot_0327_114548",
+  "episode_index": 568,
+  "sensor": "gripper_left_tactile"
+}
\ No newline at end of file
diff --git a/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_18-30/outputs_tactile/tactile_cache/dag911262r00025a_lerobot_0327_114548_55b88b4d/episodes/ep000569/gripper_right_tactile_force_metrics.json b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_18-30/outputs_tactile/tactile_cache/dag911262r00025a_lerobot_0327_114548_55b88b4d/episodes/ep000569/gripper_right_tactile_force_metrics.json
new file mode 100644
index 0000000000000000000000000000000000000000..152b10c669db546c764704c4e435f8ad837b7be9
--- /dev/null
+++ b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_18-30/outputs_tactile/tactile_cache/dag911262r00025a_lerobot_0327_114548_55b88b4d/episodes/ep000569/gripper_right_tactile_force_metrics.json
@@ -0,0 +1,9 @@
+{
+  "depth_peak": 0.0013419369934126735,
+  "shear_peak": 0.0007769311778247356,
+  "force_magnitude_peak": 0.0013546798145398498,
+  "reference_frame_count": 0,
+  "dataset_name": "dag911262r00025a_lerobot_0327_114548",
+  "episode_index": 569,
+  "sensor": "gripper_right_tactile"
+}
\ No newline at end of file
diff --git a/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_18-30/outputs_tactile/tactile_cache/dag911262r00025a_lerobot_0327_114548_55b88b4d/episodes/ep000571/gripper_right_tactile_contact_metrics.json b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_18-30/outputs_tactile/tactile_cache/dag911262r00025a_lerobot_0327_114548_55b88b4d/episodes/ep000571/gripper_right_tactile_contact_metrics.json
new file mode 100644
index 0000000000000000000000000000000000000000..7aa8de59de558566bdb556d22c21442a9f4029b4
--- /dev/null
+++ b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_18-30/outputs_tactile/tactile_cache/dag911262r00025a_lerobot_0327_114548_55b88b4d/episodes/ep000571/gripper_right_tactile_contact_metrics.json
@@ -0,0 +1,12 @@
+{
+  "contact_time": 5.9,
+  "contact_ratio": 0.855072463768116,
+  "avg_contact_area": 4450.6384180790965,
+  "contact_entropy": 0.3201176300467713,
+  "total_frames": 207,
+  "fps": 30.0,
+  "reference_frame_count": 0,
+  "dataset_name": "dag911262r00025a_lerobot_0327_114548",
+  "episode_index": 571,
+  "sensor": "gripper_right_tactile"
+}
\ No newline at end of file
diff --git a/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_18-30/outputs_tactile/tactile_cache/dag911262r00025a_lerobot_0327_114548_55b88b4d/episodes/ep000571/gripper_right_tactile_force_metrics.json b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_18-30/outputs_tactile/tactile_cache/dag911262r00025a_lerobot_0327_114548_55b88b4d/episodes/ep000571/gripper_right_tactile_force_metrics.json
new file mode 100644
index 0000000000000000000000000000000000000000..1571b9953b122ef173cee9b9661d87231d455754
--- /dev/null
+++ b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_18-30/outputs_tactile/tactile_cache/dag911262r00025a_lerobot_0327_114548_55b88b4d/episodes/ep000571/gripper_right_tactile_force_metrics.json
@@ -0,0 +1,9 @@
+{
+  "depth_peak": 0.006838315632194281,
+  "shear_peak": 0.004488115198910236,
+  "force_magnitude_peak": 0.00817959289997816,
+  "reference_frame_count": 0,
+  "dataset_name": "dag911262r00025a_lerobot_0327_114548",
+  "episode_index": 571,
+  "sensor": "gripper_right_tactile"
+}
\ No newline at end of file
diff --git a/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_18-30/outputs_tactile/tactile_cache/dag911262r00025a_lerobot_0327_114548_55b88b4d/episodes/ep000572/gripper_left_tactile_contact_metrics.json b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_18-30/outputs_tactile/tactile_cache/dag911262r00025a_lerobot_0327_114548_55b88b4d/episodes/ep000572/gripper_left_tactile_contact_metrics.json
new file mode 100644
index 0000000000000000000000000000000000000000..a12ac46dd4ef38aac15275bbe1255574cb23967c
--- /dev/null
+++ b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_18-30/outputs_tactile/tactile_cache/dag911262r00025a_lerobot_0327_114548_55b88b4d/episodes/ep000572/gripper_left_tactile_contact_metrics.json
@@ -0,0 +1,12 @@
+{
+  "contact_time": 5.066666666666666,
+  "contact_ratio": 0.8351648351648352,
+  "avg_contact_area": 3316.4473684210525,
+  "contact_entropy": 0.08549578296393631,
+  "total_frames": 182,
+  "fps": 30.0,
+  "reference_frame_count": 0,
+  "dataset_name": "dag911262r00025a_lerobot_0327_114548",
+  "episode_index": 572,
+  "sensor": "gripper_left_tactile"
+}
\ No newline at end of file
diff --git a/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_18-30/outputs_tactile/tactile_cache/dag911262r00025a_lerobot_0327_114548_55b88b4d/episodes/ep000577/gripper_left_tactile_contact_metrics.json b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_18-30/outputs_tactile/tactile_cache/dag911262r00025a_lerobot_0327_114548_55b88b4d/episodes/ep000577/gripper_left_tactile_contact_metrics.json
new file mode 100644
index 0000000000000000000000000000000000000000..2597effd8d21e65d51fa14e8bbd670d139efd1ba
--- /dev/null
+++ b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_18-30/outputs_tactile/tactile_cache/dag911262r00025a_lerobot_0327_114548_55b88b4d/episodes/ep000577/gripper_left_tactile_contact_metrics.json
@@ -0,0 +1,12 @@
+{
+  "contact_time": 2.7333333333333334,
+  "contact_ratio": 0.5899280575539568,
+  "avg_contact_area": 5232.621951219512,
+  "contact_entropy": 0.006383576514831498,
+  "total_frames": 139,
+  "fps": 30.0,
+  "reference_frame_count": 0,
+  "dataset_name": "dag911262r00025a_lerobot_0327_114548",
+  "episode_index": 577,
+  "sensor": "gripper_left_tactile"
+}
\ No newline at end of file
diff --git a/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_18-30/outputs_tactile/tactile_cache/dag911262r00025a_lerobot_0327_114548_55b88b4d/episodes/ep000577/gripper_left_tactile_force_metrics.json b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_18-30/outputs_tactile/tactile_cache/dag911262r00025a_lerobot_0327_114548_55b88b4d/episodes/ep000577/gripper_left_tactile_force_metrics.json
new file mode 100644
index 0000000000000000000000000000000000000000..90ab2563e90f008c1778d773a5540fdb05c1d312
--- /dev/null
+++ b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_18-30/outputs_tactile/tactile_cache/dag911262r00025a_lerobot_0327_114548_55b88b4d/episodes/ep000577/gripper_left_tactile_force_metrics.json
@@ -0,0 +1,9 @@
+{
+  "depth_peak": 0.0008764783851802349,
+  "shear_peak": 0.0016802945174276829,
+  "force_magnitude_peak": 0.0046247257851064205,
+  "reference_frame_count": 0,
+  "dataset_name": "dag911262r00025a_lerobot_0327_114548",
+  "episode_index": 577,
+  "sensor": "gripper_left_tactile"
+}
\ No newline at end of file
diff --git a/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_18-30/outputs_tactile/tactile_cache/dag911262r00025a_lerobot_0327_114548_55b88b4d/episodes/ep000582/gripper_right_tactile_force_metrics.json b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_18-30/outputs_tactile/tactile_cache/dag911262r00025a_lerobot_0327_114548_55b88b4d/episodes/ep000582/gripper_right_tactile_force_metrics.json
new file mode 100644
index 0000000000000000000000000000000000000000..495789bf4fa612e8479b51289bb99d31e0e33fa0
--- /dev/null
+++ b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_18-30/outputs_tactile/tactile_cache/dag911262r00025a_lerobot_0327_114548_55b88b4d/episodes/ep000582/gripper_right_tactile_force_metrics.json
@@ -0,0 +1,9 @@
+{
+  "depth_peak": 0.0026337529998272657,
+  "shear_peak": 0.0022558728232979774,
+  "force_magnitude_peak": 0.003603967372328043,
+  "reference_frame_count": 0,
+  "dataset_name": "dag911262r00025a_lerobot_0327_114548",
+  "episode_index": 582,
+  "sensor": "gripper_right_tactile"
+}
\ No newline at end of file
diff --git a/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_18-30/outputs_tactile/tactile_cache/dag911262r00025a_lerobot_0327_114548_55b88b4d/episodes/ep000583/gripper_right_tactile_contact_metrics.json b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_18-30/outputs_tactile/tactile_cache/dag911262r00025a_lerobot_0327_114548_55b88b4d/episodes/ep000583/gripper_right_tactile_contact_metrics.json
new file mode 100644
index 0000000000000000000000000000000000000000..d6cd16491fcb4ba7b7f48eb9b039c6fd7d384337
--- /dev/null
+++ b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_18-30/outputs_tactile/tactile_cache/dag911262r00025a_lerobot_0327_114548_55b88b4d/episodes/ep000583/gripper_right_tactile_contact_metrics.json
@@ -0,0 +1,12 @@
+{
+  "contact_time": 8.5,
+  "contact_ratio": 0.940959409594096,
+  "avg_contact_area": 3922.4627450980392,
+  "contact_entropy": 0.5580750685424967,
+  "total_frames": 271,
+  "fps": 30.0,
+  "reference_frame_count": 0,
+  "dataset_name": "dag911262r00025a_lerobot_0327_114548",
+  "episode_index": 583,
+  "sensor": "gripper_right_tactile"
+}
\ No newline at end of file
diff --git a/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_18-30/outputs_tactile/tactile_cache/dag911262r00025a_lerobot_0327_114548_55b88b4d/episodes/ep000585/gripper_left_tactile_contact_metrics.json b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_18-30/outputs_tactile/tactile_cache/dag911262r00025a_lerobot_0327_114548_55b88b4d/episodes/ep000585/gripper_left_tactile_contact_metrics.json
new file mode 100644
index 0000000000000000000000000000000000000000..ca73a6785368529efebf64d0c8f56b56ebf137e9
--- /dev/null
+++ b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_18-30/outputs_tactile/tactile_cache/dag911262r00025a_lerobot_0327_114548_55b88b4d/episodes/ep000585/gripper_left_tactile_contact_metrics.json
@@ -0,0 +1,12 @@
+{
+  "contact_time": 6.6,
+  "contact_ratio": 0.8761061946902655,
+  "avg_contact_area": 2747.7979797979797,
+  "contact_entropy": 0.19747988590494883,
+  "total_frames": 226,
+  "fps": 30.0,
+  "reference_frame_count": 0,
+  "dataset_name": "dag911262r00025a_lerobot_0327_114548",
+  "episode_index": 585,
+  "sensor": "gripper_left_tactile"
+}
\ No newline at end of file
diff --git a/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_18-30/outputs_tactile/tactile_cache/dag911262r00025a_lerobot_0327_114548_55b88b4d/episodes/ep000585/gripper_right_tactile_contact_metrics.json b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_18-30/outputs_tactile/tactile_cache/dag911262r00025a_lerobot_0327_114548_55b88b4d/episodes/ep000585/gripper_right_tactile_contact_metrics.json
new file mode 100644
index 0000000000000000000000000000000000000000..80e21de49a3fbd1ead212ef2d24c8337e6f3c443
--- /dev/null
+++ b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_18-30/outputs_tactile/tactile_cache/dag911262r00025a_lerobot_0327_114548_55b88b4d/episodes/ep000585/gripper_right_tactile_contact_metrics.json
@@ -0,0 +1,12 @@
+{
+  "contact_time": 6.466666666666667,
+  "contact_ratio": 0.8584070796460177,
+  "avg_contact_area": 3102.4278350515465,
+  "contact_entropy": 0.30250930142410115,
+  "total_frames": 226,
+  "fps": 30.0,
+  "reference_frame_count": 0,
+  "dataset_name": "dag911262r00025a_lerobot_0327_114548",
+  "episode_index": 585,
+  "sensor": "gripper_right_tactile"
+}
\ No newline at end of file
diff --git a/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_18-30/outputs_tactile/tactile_cache/dag911262r00025a_lerobot_0327_114548_55b88b4d/episodes/ep000590/gripper_left_tactile_contact_metrics.json b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_18-30/outputs_tactile/tactile_cache/dag911262r00025a_lerobot_0327_114548_55b88b4d/episodes/ep000590/gripper_left_tactile_contact_metrics.json
new file mode 100644
index 0000000000000000000000000000000000000000..effa877081c03fec6c2e6cabb7135ae56852aec1
--- /dev/null
+++ b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_18-30/outputs_tactile/tactile_cache/dag911262r00025a_lerobot_0327_114548_55b88b4d/episodes/ep000590/gripper_left_tactile_contact_metrics.json
@@ -0,0 +1,12 @@
+{
+  "contact_time": 4.633333333333334,
+  "contact_ratio": 0.8424242424242424,
+  "avg_contact_area": 3752.4964028776976,
+  "contact_entropy": 0.25204518107179913,
+  "total_frames": 165,
+  "fps": 30.0,
+  "reference_frame_count": 0,
+  "dataset_name": "dag911262r00025a_lerobot_0327_114548",
+  "episode_index": 590,
+  "sensor": "gripper_left_tactile"
+}
\ No newline at end of file
diff --git a/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_18-30/outputs_tactile/tactile_cache/dag911262r00025a_lerobot_0327_114548_55b88b4d/episodes/ep000592/gripper_left_tactile_force_metrics.json b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_18-30/outputs_tactile/tactile_cache/dag911262r00025a_lerobot_0327_114548_55b88b4d/episodes/ep000592/gripper_left_tactile_force_metrics.json
new file mode 100644
index 0000000000000000000000000000000000000000..930bc193a8d685e4b5a673f29cb1306033148228
--- /dev/null
+++ b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_18-30/outputs_tactile/tactile_cache/dag911262r00025a_lerobot_0327_114548_55b88b4d/episodes/ep000592/gripper_left_tactile_force_metrics.json
@@ -0,0 +1,9 @@
+{
+  "depth_peak": 0.002784071257337928,
+  "shear_peak": 0.0023723880294710398,
+  "force_magnitude_peak": 0.003175860969349742,
+  "reference_frame_count": 0,
+  "dataset_name": "dag911262r00025a_lerobot_0327_114548",
+  "episode_index": 592,
+  "sensor": "gripper_left_tactile"
+}
\ No newline at end of file
diff --git a/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_18-30/outputs_tactile/tactile_cache/dag911262r00025a_lerobot_0327_114548_55b88b4d/episodes/ep000592/gripper_right_tactile_force_metrics.json b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_18-30/outputs_tactile/tactile_cache/dag911262r00025a_lerobot_0327_114548_55b88b4d/episodes/ep000592/gripper_right_tactile_force_metrics.json
new file mode 100644
index 0000000000000000000000000000000000000000..e0f979baf33a10cd1dda878d7af293fddadae1ee
--- /dev/null
+++ b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_18-30/outputs_tactile/tactile_cache/dag911262r00025a_lerobot_0327_114548_55b88b4d/episodes/ep000592/gripper_right_tactile_force_metrics.json
@@ -0,0 +1,9 @@
+{
+  "depth_peak": 0.002906297566369176,
+  "shear_peak": 0.002737960312515497,
+  "force_magnitude_peak": 0.0038296061102300882,
+  "reference_frame_count": 0,
+  "dataset_name": "dag911262r00025a_lerobot_0327_114548",
+  "episode_index": 592,
+  "sensor": "gripper_right_tactile"
+}
\ No newline at end of file
diff --git a/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_18-30/outputs_tactile/tactile_cache/dag911262r00025a_lerobot_0327_114548_55b88b4d/episodes/ep000596/gripper_left_tactile_force_metrics.json b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_18-30/outputs_tactile/tactile_cache/dag911262r00025a_lerobot_0327_114548_55b88b4d/episodes/ep000596/gripper_left_tactile_force_metrics.json
new file mode 100644
index 0000000000000000000000000000000000000000..3aa5adc7b987ae43da5fe3a0429f344ac42d2cde
--- /dev/null
+++ b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_18-30/outputs_tactile/tactile_cache/dag911262r00025a_lerobot_0327_114548_55b88b4d/episodes/ep000596/gripper_left_tactile_force_metrics.json
@@ -0,0 +1,9 @@
+{
+  "depth_peak": 0.009555387310683727,
+  "shear_peak": 0.005817519500851631,
+  "force_magnitude_peak": 0.009641429409384727,
+  "reference_frame_count": 0,
+  "dataset_name": "dag911262r00025a_lerobot_0327_114548",
+  "episode_index": 596,
+  "sensor": "gripper_left_tactile"
+}
\ No newline at end of file
diff --git a/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_18-30/outputs_tactile/tactile_cache/dag911262r00025a_lerobot_0327_114548_55b88b4d/episodes/ep000597/gripper_left_tactile_contact_metrics.json b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_18-30/outputs_tactile/tactile_cache/dag911262r00025a_lerobot_0327_114548_55b88b4d/episodes/ep000597/gripper_left_tactile_contact_metrics.json
new file mode 100644
index 0000000000000000000000000000000000000000..68b36db0591b009eaaf0992869850dc466a47e0e
--- /dev/null
+++ b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_18-30/outputs_tactile/tactile_cache/dag911262r00025a_lerobot_0327_114548_55b88b4d/episodes/ep000597/gripper_left_tactile_contact_metrics.json
@@ -0,0 +1,12 @@
+{
+  "contact_time": 9.466666666666667,
+  "contact_ratio": 0.8987341772151899,
+  "avg_contact_area": 6093.6760563380285,
+  "contact_entropy": 0.608143119795101,
+  "total_frames": 316,
+  "fps": 30.0,
+  "reference_frame_count": 0,
+  "dataset_name": "dag911262r00025a_lerobot_0327_114548",
+  "episode_index": 597,
+  "sensor": "gripper_left_tactile"
+}
\ No newline at end of file
diff --git a/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_18-30/outputs_tactile/tactile_cache/dag911262r00025a_lerobot_0327_114548_55b88b4d/episodes/ep000602/gripper_left_tactile_force_metrics.json b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_18-30/outputs_tactile/tactile_cache/dag911262r00025a_lerobot_0327_114548_55b88b4d/episodes/ep000602/gripper_left_tactile_force_metrics.json
new file mode 100644
index 0000000000000000000000000000000000000000..8f3207e4fb1b8237ed799e2d596a9cc74bbf4a86
--- /dev/null
+++ b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_18-30/outputs_tactile/tactile_cache/dag911262r00025a_lerobot_0327_114548_55b88b4d/episodes/ep000602/gripper_left_tactile_force_metrics.json
@@ -0,0 +1,9 @@
+{
+  "depth_peak": 0.0025236804503947496,
+  "shear_peak": 0.0035901512019336224,
+  "force_magnitude_peak": 0.0043641347438097,
+  "reference_frame_count": 0,
+  "dataset_name": "dag911262r00025a_lerobot_0327_114548",
+  "episode_index": 602,
+  "sensor": "gripper_left_tactile"
+}
\ No newline at end of file
diff --git a/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_18-30/outputs_tactile/tactile_cache/dag911262r00025a_lerobot_0327_114548_55b88b4d/episodes/ep000602/gripper_right_tactile_force_metrics.json b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_18-30/outputs_tactile/tactile_cache/dag911262r00025a_lerobot_0327_114548_55b88b4d/episodes/ep000602/gripper_right_tactile_force_metrics.json
new file mode 100644
index 0000000000000000000000000000000000000000..bbc06b0076a452c2d32e3de7367790bb3ab207c0
--- /dev/null
+++ b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_18-30/outputs_tactile/tactile_cache/dag911262r00025a_lerobot_0327_114548_55b88b4d/episodes/ep000602/gripper_right_tactile_force_metrics.json
@@ -0,0 +1,9 @@
+{
+  "depth_peak": 0.0016631040489301085,
+  "shear_peak": 0.0013587510911747813,
+  "force_magnitude_peak": 0.0021393587812781334,
+  "reference_frame_count": 0,
+  "dataset_name": "dag911262r00025a_lerobot_0327_114548",
+  "episode_index": 602,
+  "sensor": "gripper_right_tactile"
+}
\ No newline at end of file
diff --git a/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_18-30/outputs_tactile/tactile_cache/dag911262r00025a_lerobot_0327_114548_55b88b4d/episodes/ep000604/gripper_right_tactile_contact_metrics.json b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_18-30/outputs_tactile/tactile_cache/dag911262r00025a_lerobot_0327_114548_55b88b4d/episodes/ep000604/gripper_right_tactile_contact_metrics.json
new file mode 100644
index 0000000000000000000000000000000000000000..9b3ad5fb8fa42df5ae66568d7a65c0b9b912c3ed
--- /dev/null
+++ b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_18-30/outputs_tactile/tactile_cache/dag911262r00025a_lerobot_0327_114548_55b88b4d/episodes/ep000604/gripper_right_tactile_contact_metrics.json
@@ -0,0 +1,12 @@
+{
+  "contact_time": 15.266666666666667,
+  "contact_ratio": 0.9828326180257511,
+  "avg_contact_area": 4066.9585152838426,
+  "contact_entropy": 0.25124468650235676,
+  "total_frames": 466,
+  "fps": 30.0,
+  "reference_frame_count": 0,
+  "dataset_name": "dag911262r00025a_lerobot_0327_114548",
+  "episode_index": 604,
+  "sensor": "gripper_right_tactile"
+}
\ No newline at end of file
diff --git a/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_18-30/outputs_tactile/tactile_cache/dag911262r00025a_lerobot_0327_114548_55b88b4d/episodes/ep000606/gripper_right_tactile_contact_metrics.json b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_18-30/outputs_tactile/tactile_cache/dag911262r00025a_lerobot_0327_114548_55b88b4d/episodes/ep000606/gripper_right_tactile_contact_metrics.json
new file mode 100644
index 0000000000000000000000000000000000000000..e6ea36b151c2eaf127e91fca163abf56221ed71b
--- /dev/null
+++ b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_18-30/outputs_tactile/tactile_cache/dag911262r00025a_lerobot_0327_114548_55b88b4d/episodes/ep000606/gripper_right_tactile_contact_metrics.json
@@ -0,0 +1,12 @@
+{
+  "contact_time": 9.833333333333334,
+  "contact_ratio": 1.0,
+  "avg_contact_area": 2910.840677966102,
+  "contact_entropy": 0.32145699481699747,
+  "total_frames": 295,
+  "fps": 30.0,
+  "reference_frame_count": 0,
+  "dataset_name": "dag911262r00025a_lerobot_0327_114548",
+  "episode_index": 606,
+  "sensor": "gripper_right_tactile"
+}
\ No newline at end of file
diff --git a/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_18-30/outputs_tactile/tactile_cache/dag911262r00025a_lerobot_0327_114548_55b88b4d/episodes/ep000608/gripper_left_tactile_force_metrics.json b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_18-30/outputs_tactile/tactile_cache/dag911262r00025a_lerobot_0327_114548_55b88b4d/episodes/ep000608/gripper_left_tactile_force_metrics.json
new file mode 100644
index 0000000000000000000000000000000000000000..ebb5340f9eb4dedc417aabb842913865205380ef
--- /dev/null
+++ b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_18-30/outputs_tactile/tactile_cache/dag911262r00025a_lerobot_0327_114548_55b88b4d/episodes/ep000608/gripper_left_tactile_force_metrics.json
@@ -0,0 +1,9 @@
+{
+  "depth_peak": 0.00271163834258914,
+  "shear_peak": 0.001558790449053049,
+  "force_magnitude_peak": 0.003127748379483819,
+  "reference_frame_count": 0,
+  "dataset_name": "dag911262r00025a_lerobot_0327_114548",
+  "episode_index": 608,
+  "sensor": "gripper_left_tactile"
+}
\ No newline at end of file
diff --git a/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_18-30/outputs_tactile/tactile_cache/dag911262r00025a_lerobot_0327_114548_55b88b4d/episodes/ep000609/gripper_right_tactile_force_metrics.json b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_18-30/outputs_tactile/tactile_cache/dag911262r00025a_lerobot_0327_114548_55b88b4d/episodes/ep000609/gripper_right_tactile_force_metrics.json
new file mode 100644
index 0000000000000000000000000000000000000000..1ba956fbfafd33d5168c7767818a2869ac7fa861
--- /dev/null
+++ b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_18-30/outputs_tactile/tactile_cache/dag911262r00025a_lerobot_0327_114548_55b88b4d/episodes/ep000609/gripper_right_tactile_force_metrics.json
@@ -0,0 +1,9 @@
+{
+  "depth_peak": 0.005442926660180092,
+  "shear_peak": 0.004790484439581633,
+  "force_magnitude_peak": 0.00605223560705781,
+  "reference_frame_count": 0,
+  "dataset_name": "dag911262r00025a_lerobot_0327_114548",
+  "episode_index": 609,
+  "sensor": "gripper_right_tactile"
+}
\ No newline at end of file
diff --git a/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_18-30/outputs_tactile/tactile_cache/dag911262r00025a_lerobot_0327_114548_55b88b4d/episodes/ep000611/gripper_right_tactile_contact_metrics.json b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_18-30/outputs_tactile/tactile_cache/dag911262r00025a_lerobot_0327_114548_55b88b4d/episodes/ep000611/gripper_right_tactile_contact_metrics.json
new file mode 100644
index 0000000000000000000000000000000000000000..4505aae604c65eb8a1e1533260c989e529f3a209
--- /dev/null
+++ b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_18-30/outputs_tactile/tactile_cache/dag911262r00025a_lerobot_0327_114548_55b88b4d/episodes/ep000611/gripper_right_tactile_contact_metrics.json
@@ -0,0 +1,12 @@
+{
+  "contact_time": 5.2,
+  "contact_ratio": 0.7155963302752294,
+  "avg_contact_area": 696.8461538461538,
+  "contact_entropy": 0.012785341714209352,
+  "total_frames": 218,
+  "fps": 30.0,
+  "reference_frame_count": 0,
+  "dataset_name": "dag911262r00025a_lerobot_0327_114548",
+  "episode_index": 611,
+  "sensor": "gripper_right_tactile"
+}
\ No newline at end of file
diff --git a/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_18-30/outputs_tactile/tactile_cache/dag911262r00025a_lerobot_0327_114548_55b88b4d/episodes/ep000611/gripper_right_tactile_force_metrics.json b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_18-30/outputs_tactile/tactile_cache/dag911262r00025a_lerobot_0327_114548_55b88b4d/episodes/ep000611/gripper_right_tactile_force_metrics.json
new file mode 100644
index 0000000000000000000000000000000000000000..7544abb5f540c56d74d0b8d8cdcc100390039444
--- /dev/null
+++ b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_18-30/outputs_tactile/tactile_cache/dag911262r00025a_lerobot_0327_114548_55b88b4d/episodes/ep000611/gripper_right_tactile_force_metrics.json
@@ -0,0 +1,9 @@
+{
+  "depth_peak": 0.0015568881062790751,
+  "shear_peak": 0.0019005578942596912,
+  "force_magnitude_peak": 0.0024568315129727125,
+  "reference_frame_count": 0,
+  "dataset_name": "dag911262r00025a_lerobot_0327_114548",
+  "episode_index": 611,
+  "sensor": "gripper_right_tactile"
+}
\ No newline at end of file
diff --git a/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_18-30/outputs_tactile/tactile_cache/dag911262r00025a_lerobot_0327_114548_55b88b4d/episodes/ep000612/gripper_left_tactile_contact_metrics.json b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_18-30/outputs_tactile/tactile_cache/dag911262r00025a_lerobot_0327_114548_55b88b4d/episodes/ep000612/gripper_left_tactile_contact_metrics.json
new file mode 100644
index 0000000000000000000000000000000000000000..9197f64a04f8473f1fbcb666c7d52aa682f8b59b
--- /dev/null
+++ b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_18-30/outputs_tactile/tactile_cache/dag911262r00025a_lerobot_0327_114548_55b88b4d/episodes/ep000612/gripper_left_tactile_contact_metrics.json
@@ -0,0 +1,12 @@
+{
+  "contact_time": 6.233333333333333,
+  "contact_ratio": 0.7791666666666667,
+  "avg_contact_area": 5043.919786096257,
+  "contact_entropy": 0.11548219594989748,
+  "total_frames": 240,
+  "fps": 30.0,
+  "reference_frame_count": 0,
+  "dataset_name": "dag911262r00025a_lerobot_0327_114548",
+  "episode_index": 612,
+  "sensor": "gripper_left_tactile"
+}
\ No newline at end of file
diff --git a/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_18-30/outputs_tactile/tactile_cache/dag911262r00025a_lerobot_0327_114548_55b88b4d/episodes/ep000617/gripper_left_tactile_contact_metrics.json b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_18-30/outputs_tactile/tactile_cache/dag911262r00025a_lerobot_0327_114548_55b88b4d/episodes/ep000617/gripper_left_tactile_contact_metrics.json
new file mode 100644
index 0000000000000000000000000000000000000000..62993bd217b028d338adb2c3ba1d12f87cf6a669
--- /dev/null
+++ b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_18-30/outputs_tactile/tactile_cache/dag911262r00025a_lerobot_0327_114548_55b88b4d/episodes/ep000617/gripper_left_tactile_contact_metrics.json
@@ -0,0 +1,12 @@
+{
+  "contact_time": 5.1,
+  "contact_ratio": 0.9329268292682927,
+  "avg_contact_area": 6264.21568627451,
+  "contact_entropy": 0.25342192904709543,
+  "total_frames": 164,
+  "fps": 30.0,
+  "reference_frame_count": 0,
+  "dataset_name": "dag911262r00025a_lerobot_0327_114548",
+  "episode_index": 617,
+  "sensor": "gripper_left_tactile"
+}
\ No newline at end of file
diff --git a/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_18-30/outputs_tactile/tactile_cache/dag911262r00025a_lerobot_0327_114548_55b88b4d/episodes/ep000617/gripper_left_tactile_force_metrics.json b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_18-30/outputs_tactile/tactile_cache/dag911262r00025a_lerobot_0327_114548_55b88b4d/episodes/ep000617/gripper_left_tactile_force_metrics.json
new file mode 100644
index 0000000000000000000000000000000000000000..8776483fafb7b41277e2aa78e20870d73a657613
--- /dev/null
+++ b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_18-30/outputs_tactile/tactile_cache/dag911262r00025a_lerobot_0327_114548_55b88b4d/episodes/ep000617/gripper_left_tactile_force_metrics.json
@@ -0,0 +1,9 @@
+{
+  "depth_peak": 0.005488863214850426,
+  "shear_peak": 0.0070578125305473804,
+  "force_magnitude_peak": 0.008907405659556389,
+  "reference_frame_count": 0,
+  "dataset_name": "dag911262r00025a_lerobot_0327_114548",
+  "episode_index": 617,
+  "sensor": "gripper_left_tactile"
+}
\ No newline at end of file
diff --git a/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_18-30/outputs_tactile/tactile_cache/dag911262r00025a_lerobot_0327_114548_55b88b4d/episodes/ep000622/gripper_right_tactile_force_metrics.json b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_18-30/outputs_tactile/tactile_cache/dag911262r00025a_lerobot_0327_114548_55b88b4d/episodes/ep000622/gripper_right_tactile_force_metrics.json
new file mode 100644
index 0000000000000000000000000000000000000000..c6d5faa0f11363448dfa4414771cc927647d5c57
--- /dev/null
+++ b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_18-30/outputs_tactile/tactile_cache/dag911262r00025a_lerobot_0327_114548_55b88b4d/episodes/ep000622/gripper_right_tactile_force_metrics.json
@@ -0,0 +1,9 @@
+{
+  "depth_peak": 0.0018081857124343514,
+  "shear_peak": 0.002489958656951785,
+  "force_magnitude_peak": 0.0029912341851741076,
+  "reference_frame_count": 0,
+  "dataset_name": "dag911262r00025a_lerobot_0327_114548",
+  "episode_index": 622,
+  "sensor": "gripper_right_tactile"
+}
\ No newline at end of file
diff --git a/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_18-30/outputs_tactile/tactile_cache/dag911262r00025a_lerobot_0327_114548_55b88b4d/episodes/ep000623/gripper_right_tactile_contact_metrics.json b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_18-30/outputs_tactile/tactile_cache/dag911262r00025a_lerobot_0327_114548_55b88b4d/episodes/ep000623/gripper_right_tactile_contact_metrics.json
new file mode 100644
index 0000000000000000000000000000000000000000..d44bab92d0d0543ffd4f3aed7f6bbf9aeaf185fb
--- /dev/null
+++ b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_18-30/outputs_tactile/tactile_cache/dag911262r00025a_lerobot_0327_114548_55b88b4d/episodes/ep000623/gripper_right_tactile_contact_metrics.json
@@ -0,0 +1,12 @@
+{
+  "contact_time": 5.8,
+  "contact_ratio": 0.7435897435897436,
+  "avg_contact_area": 1280.4655172413793,
+  "contact_entropy": 0.0064005534423078264,
+  "total_frames": 234,
+  "fps": 30.0,
+  "reference_frame_count": 0,
+  "dataset_name": "dag911262r00025a_lerobot_0327_114548",
+  "episode_index": 623,
+  "sensor": "gripper_right_tactile"
+}
\ No newline at end of file
diff --git a/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_18-30/outputs_tactile/tactile_cache/dag911262r00025a_lerobot_0327_114548_55b88b4d/episodes/ep000625/gripper_left_tactile_contact_metrics.json b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_18-30/outputs_tactile/tactile_cache/dag911262r00025a_lerobot_0327_114548_55b88b4d/episodes/ep000625/gripper_left_tactile_contact_metrics.json
new file mode 100644
index 0000000000000000000000000000000000000000..d96693d442ebe1b68f5c2a3e232d025f5b880c40
--- /dev/null
+++ b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_18-30/outputs_tactile/tactile_cache/dag911262r00025a_lerobot_0327_114548_55b88b4d/episodes/ep000625/gripper_left_tactile_contact_metrics.json
@@ -0,0 +1,12 @@
+{
+  "contact_time": 6.566666666666666,
+  "contact_ratio": 0.76953125,
+  "avg_contact_area": 3213.0812182741115,
+  "contact_entropy": 0.011972665382554886,
+  "total_frames": 256,
+  "fps": 30.0,
+  "reference_frame_count": 0,
+  "dataset_name": "dag911262r00025a_lerobot_0327_114548",
+  "episode_index": 625,
+  "sensor": "gripper_left_tactile"
+}
\ No newline at end of file
diff --git a/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_18-30/outputs_tactile/tactile_cache/dag911262r00025a_lerobot_0327_114548_55b88b4d/episodes/ep000625/gripper_right_tactile_contact_metrics.json b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_18-30/outputs_tactile/tactile_cache/dag911262r00025a_lerobot_0327_114548_55b88b4d/episodes/ep000625/gripper_right_tactile_contact_metrics.json
new file mode 100644
index 0000000000000000000000000000000000000000..81ebc8499fd45e751cf25b7bf75df624ec1df27b
--- /dev/null
+++ b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_18-30/outputs_tactile/tactile_cache/dag911262r00025a_lerobot_0327_114548_55b88b4d/episodes/ep000625/gripper_right_tactile_contact_metrics.json
@@ -0,0 +1,12 @@
+{
+  "contact_time": 7.4,
+  "contact_ratio": 0.8671875,
+  "avg_contact_area": 2320.0045045045044,
+  "contact_entropy": 0.062145231745889984,
+  "total_frames": 256,
+  "fps": 30.0,
+  "reference_frame_count": 0,
+  "dataset_name": "dag911262r00025a_lerobot_0327_114548",
+  "episode_index": 625,
+  "sensor": "gripper_right_tactile"
+}
\ No newline at end of file
diff --git a/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_18-30/outputs_tactile/tactile_cache/dag911262r00025a_lerobot_0327_114548_55b88b4d/episodes/ep000630/gripper_left_tactile_contact_metrics.json b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_18-30/outputs_tactile/tactile_cache/dag911262r00025a_lerobot_0327_114548_55b88b4d/episodes/ep000630/gripper_left_tactile_contact_metrics.json
new file mode 100644
index 0000000000000000000000000000000000000000..93e88d1a35fe1b88e9d38b549e789f071eacc9d5
--- /dev/null
+++ b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_18-30/outputs_tactile/tactile_cache/dag911262r00025a_lerobot_0327_114548_55b88b4d/episodes/ep000630/gripper_left_tactile_contact_metrics.json
@@ -0,0 +1,12 @@
+{
+  "contact_time": 5.0,
+  "contact_ratio": 0.8928571428571429,
+  "avg_contact_area": 3580.52,
+  "contact_entropy": 0.24918404106345654,
+  "total_frames": 168,
+  "fps": 30.0,
+  "reference_frame_count": 0,
+  "dataset_name": "dag911262r00025a_lerobot_0327_114548",
+  "episode_index": 630,
+  "sensor": "gripper_left_tactile"
+}
\ No newline at end of file
diff --git a/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_18-30/outputs_tactile/tactile_cache/dag911262r00025a_lerobot_0327_114548_55b88b4d/episodes/ep000632/gripper_left_tactile_force_metrics.json b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_18-30/outputs_tactile/tactile_cache/dag911262r00025a_lerobot_0327_114548_55b88b4d/episodes/ep000632/gripper_left_tactile_force_metrics.json
new file mode 100644
index 0000000000000000000000000000000000000000..4796d371be2271c2c97edf6555995cd060e6975b
--- /dev/null
+++ b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_18-30/outputs_tactile/tactile_cache/dag911262r00025a_lerobot_0327_114548_55b88b4d/episodes/ep000632/gripper_left_tactile_force_metrics.json
@@ -0,0 +1,9 @@
+{
+  "depth_peak": 0.006496219430118799,
+  "shear_peak": 0.0025971499271690845,
+  "force_magnitude_peak": 0.006643658969551325,
+  "reference_frame_count": 0,
+  "dataset_name": "dag911262r00025a_lerobot_0327_114548",
+  "episode_index": 632,
+  "sensor": "gripper_left_tactile"
+}
\ No newline at end of file
diff --git a/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_18-30/outputs_tactile/tactile_cache/dag911262r00025a_lerobot_0327_114548_55b88b4d/episodes/ep000632/gripper_right_tactile_force_metrics.json b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_18-30/outputs_tactile/tactile_cache/dag911262r00025a_lerobot_0327_114548_55b88b4d/episodes/ep000632/gripper_right_tactile_force_metrics.json
new file mode 100644
index 0000000000000000000000000000000000000000..7411b62e34940b1f989fc86eb83de9d8713374d4
--- /dev/null
+++ b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_18-30/outputs_tactile/tactile_cache/dag911262r00025a_lerobot_0327_114548_55b88b4d/episodes/ep000632/gripper_right_tactile_force_metrics.json
@@ -0,0 +1,9 @@
+{
+  "depth_peak": 0.003136176150292158,
+  "shear_peak": 0.003833511844277382,
+  "force_magnitude_peak": 0.00487843994051218,
+  "reference_frame_count": 0,
+  "dataset_name": "dag911262r00025a_lerobot_0327_114548",
+  "episode_index": 632,
+  "sensor": "gripper_right_tactile"
+}
\ No newline at end of file
diff --git a/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_18-30/outputs_tactile/tactile_cache/dag911262r00025a_lerobot_0327_114548_55b88b4d/episodes/ep000636/gripper_left_tactile_force_metrics.json b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_18-30/outputs_tactile/tactile_cache/dag911262r00025a_lerobot_0327_114548_55b88b4d/episodes/ep000636/gripper_left_tactile_force_metrics.json
new file mode 100644
index 0000000000000000000000000000000000000000..4e193d450dcbbabb147c8209770c16a53779229c
--- /dev/null
+++ b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_18-30/outputs_tactile/tactile_cache/dag911262r00025a_lerobot_0327_114548_55b88b4d/episodes/ep000636/gripper_left_tactile_force_metrics.json
@@ -0,0 +1,9 @@
+{
+  "depth_peak": 0.0076181539334356785,
+  "shear_peak": 0.004934945609420538,
+  "force_magnitude_peak": 0.007916548289358616,
+  "reference_frame_count": 0,
+  "dataset_name": "dag911262r00025a_lerobot_0327_114548",
+  "episode_index": 636,
+  "sensor": "gripper_left_tactile"
+}
\ No newline at end of file
diff --git a/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_18-30/outputs_tactile/tactile_cache/dag911262r00025a_lerobot_0327_114548_55b88b4d/episodes/ep000637/gripper_left_tactile_contact_metrics.json b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_18-30/outputs_tactile/tactile_cache/dag911262r00025a_lerobot_0327_114548_55b88b4d/episodes/ep000637/gripper_left_tactile_contact_metrics.json
new file mode 100644
index 0000000000000000000000000000000000000000..155b2569e66b273bfd94cd1ff17e9c2a1909920e
--- /dev/null
+++ b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_18-30/outputs_tactile/tactile_cache/dag911262r00025a_lerobot_0327_114548_55b88b4d/episodes/ep000637/gripper_left_tactile_contact_metrics.json
@@ -0,0 +1,12 @@
+{
+  "contact_time": 5.533333333333333,
+  "contact_ratio": 0.8877005347593583,
+  "avg_contact_area": 8654.084337349397,
+  "contact_entropy": 0.35947679482794354,
+  "total_frames": 187,
+  "fps": 30.0,
+  "reference_frame_count": 0,
+  "dataset_name": "dag911262r00025a_lerobot_0327_114548",
+  "episode_index": 637,
+  "sensor": "gripper_left_tactile"
+}
\ No newline at end of file
diff --git a/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_18-30/outputs_tactile/tactile_cache/dag911262r00025a_lerobot_0327_114548_55b88b4d/episodes/ep000642/gripper_left_tactile_force_metrics.json b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_18-30/outputs_tactile/tactile_cache/dag911262r00025a_lerobot_0327_114548_55b88b4d/episodes/ep000642/gripper_left_tactile_force_metrics.json
new file mode 100644
index 0000000000000000000000000000000000000000..372c4d5cbba5eef68a9218eeb2f211a72966b46a
--- /dev/null
+++ b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_18-30/outputs_tactile/tactile_cache/dag911262r00025a_lerobot_0327_114548_55b88b4d/episodes/ep000642/gripper_left_tactile_force_metrics.json
@@ -0,0 +1,9 @@
+{
+  "depth_peak": 0.02126784436404705,
+  "shear_peak": 0.013868536800146103,
+  "force_magnitude_peak": 0.02399834431707859,
+  "reference_frame_count": 0,
+  "dataset_name": "dag911262r00025a_lerobot_0327_114548",
+  "episode_index": 642,
+  "sensor": "gripper_left_tactile"
+}
\ No newline at end of file
diff --git a/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_18-30/outputs_tactile/tactile_cache/dag911262r00025a_lerobot_0327_114548_55b88b4d/episodes/ep000642/gripper_right_tactile_force_metrics.json b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_18-30/outputs_tactile/tactile_cache/dag911262r00025a_lerobot_0327_114548_55b88b4d/episodes/ep000642/gripper_right_tactile_force_metrics.json
new file mode 100644
index 0000000000000000000000000000000000000000..1a9b61633398634f5520e3a77c69f1e0d2341271
--- /dev/null
+++ b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_18-30/outputs_tactile/tactile_cache/dag911262r00025a_lerobot_0327_114548_55b88b4d/episodes/ep000642/gripper_right_tactile_force_metrics.json
@@ -0,0 +1,9 @@
+{
+  "depth_peak": 0.01968306303024292,
+  "shear_peak": 0.008081721141934395,
+  "force_magnitude_peak": 0.019997548311948776,
+  "reference_frame_count": 0,
+  "dataset_name": "dag911262r00025a_lerobot_0327_114548",
+  "episode_index": 642,
+  "sensor": "gripper_right_tactile"
+}
\ No newline at end of file
diff --git a/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_18-30/outputs_tactile/tactile_cache/dag911262r00025a_lerobot_0327_114548_55b88b4d/episodes/ep000644/gripper_right_tactile_contact_metrics.json b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_18-30/outputs_tactile/tactile_cache/dag911262r00025a_lerobot_0327_114548_55b88b4d/episodes/ep000644/gripper_right_tactile_contact_metrics.json
new file mode 100644
index 0000000000000000000000000000000000000000..511c11d3624d5168a04b28304502d21d3d21dd6e
--- /dev/null
+++ b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_18-30/outputs_tactile/tactile_cache/dag911262r00025a_lerobot_0327_114548_55b88b4d/episodes/ep000644/gripper_right_tactile_contact_metrics.json
@@ -0,0 +1,12 @@
+{
+  "contact_time": 4.633333333333334,
+  "contact_ratio": 0.9328859060402684,
+  "avg_contact_area": 12167.280575539568,
+  "contact_entropy": 0.614968529299279,
+  "total_frames": 149,
+  "fps": 30.0,
+  "reference_frame_count": 0,
+  "dataset_name": "dag911262r00025a_lerobot_0327_114548",
+  "episode_index": 644,
+  "sensor": "gripper_right_tactile"
+}
\ No newline at end of file
diff --git a/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_18-30/outputs_tactile/tactile_cache/dag911262r00025a_lerobot_0327_114548_55b88b4d/episodes/ep000646/gripper_right_tactile_contact_metrics.json b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_18-30/outputs_tactile/tactile_cache/dag911262r00025a_lerobot_0327_114548_55b88b4d/episodes/ep000646/gripper_right_tactile_contact_metrics.json
new file mode 100644
index 0000000000000000000000000000000000000000..dec88e1b8771b27f8efc2baf7a72763a62097c4e
--- /dev/null
+++ b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_18-30/outputs_tactile/tactile_cache/dag911262r00025a_lerobot_0327_114548_55b88b4d/episodes/ep000646/gripper_right_tactile_contact_metrics.json
@@ -0,0 +1,12 @@
+{
+  "contact_time": 5.5,
+  "contact_ratio": 0.9217877094972067,
+  "avg_contact_area": 7909.806060606061,
+  "contact_entropy": 0.7816667025997892,
+  "total_frames": 179,
+  "fps": 30.0,
+  "reference_frame_count": 0,
+  "dataset_name": "dag911262r00025a_lerobot_0327_114548",
+  "episode_index": 646,
+  "sensor": "gripper_right_tactile"
+}
\ No newline at end of file
diff --git a/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_18-30/outputs_tactile/tactile_cache/dag911262r00025a_lerobot_0327_114548_55b88b4d/episodes/ep000648/gripper_left_tactile_force_metrics.json b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_18-30/outputs_tactile/tactile_cache/dag911262r00025a_lerobot_0327_114548_55b88b4d/episodes/ep000648/gripper_left_tactile_force_metrics.json
new file mode 100644
index 0000000000000000000000000000000000000000..c45d4b7aa5fe56a8667fad4b9721ab59f7d56ed7
--- /dev/null
+++ b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_18-30/outputs_tactile/tactile_cache/dag911262r00025a_lerobot_0327_114548_55b88b4d/episodes/ep000648/gripper_left_tactile_force_metrics.json
@@ -0,0 +1,9 @@
+{
+  "depth_peak": 0.018196871504187584,
+  "shear_peak": 0.008278454653918743,
+  "force_magnitude_peak": 0.018887821584939957,
+  "reference_frame_count": 0,
+  "dataset_name": "dag911262r00025a_lerobot_0327_114548",
+  "episode_index": 648,
+  "sensor": "gripper_left_tactile"
+}
\ No newline at end of file
diff --git a/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_18-30/outputs_tactile/tactile_cache/dag911262r00025a_lerobot_0327_114548_55b88b4d/episodes/ep000649/gripper_right_tactile_force_metrics.json b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_18-30/outputs_tactile/tactile_cache/dag911262r00025a_lerobot_0327_114548_55b88b4d/episodes/ep000649/gripper_right_tactile_force_metrics.json
new file mode 100644
index 0000000000000000000000000000000000000000..758138dfad997ee6c8d77dfbb52a2d89b8ac5900
--- /dev/null
+++ b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_18-30/outputs_tactile/tactile_cache/dag911262r00025a_lerobot_0327_114548_55b88b4d/episodes/ep000649/gripper_right_tactile_force_metrics.json
@@ -0,0 +1,9 @@
+{
+  "depth_peak": 0.01838255301117897,
+  "shear_peak": 0.009522177278995514,
+  "force_magnitude_peak": 0.0189149621874094,
+  "reference_frame_count": 0,
+  "dataset_name": "dag911262r00025a_lerobot_0327_114548",
+  "episode_index": 649,
+  "sensor": "gripper_right_tactile"
+}
\ No newline at end of file
diff --git a/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_18-30/outputs_tactile/tactile_cache/dag911262r00025a_lerobot_0327_114548_55b88b4d/episodes/ep000651/gripper_right_tactile_contact_metrics.json b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_18-30/outputs_tactile/tactile_cache/dag911262r00025a_lerobot_0327_114548_55b88b4d/episodes/ep000651/gripper_right_tactile_contact_metrics.json
new file mode 100644
index 0000000000000000000000000000000000000000..226735d423a31e40a5cb896ed9ab661e722e2e80
--- /dev/null
+++ b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_18-30/outputs_tactile/tactile_cache/dag911262r00025a_lerobot_0327_114548_55b88b4d/episodes/ep000651/gripper_right_tactile_contact_metrics.json
@@ -0,0 +1,12 @@
+{
+  "contact_time": 5.5,
+  "contact_ratio": 0.8461538461538461,
+  "avg_contact_area": 12236.454545454546,
+  "contact_entropy": 0.5032916347969957,
+  "total_frames": 195,
+  "fps": 30.0,
+  "reference_frame_count": 0,
+  "dataset_name": "dag911262r00025a_lerobot_0327_114548",
+  "episode_index": 651,
+  "sensor": "gripper_right_tactile"
+}
\ No newline at end of file
diff --git a/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_18-30/outputs_tactile/tactile_cache/dag911262r00025a_lerobot_0327_114548_55b88b4d/episodes/ep000651/gripper_right_tactile_force_metrics.json b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_18-30/outputs_tactile/tactile_cache/dag911262r00025a_lerobot_0327_114548_55b88b4d/episodes/ep000651/gripper_right_tactile_force_metrics.json
new file mode 100644
index 0000000000000000000000000000000000000000..1bbec170e28553ac7f7e2f325dc5526b71c494c7
--- /dev/null
+++ b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_18-30/outputs_tactile/tactile_cache/dag911262r00025a_lerobot_0327_114548_55b88b4d/episodes/ep000651/gripper_right_tactile_force_metrics.json
@@ -0,0 +1,9 @@
+{
+  "depth_peak": 0.01511415932327509,
+  "shear_peak": 0.006773928180336952,
+  "force_magnitude_peak": 0.016541479155421257,
+  "reference_frame_count": 0,
+  "dataset_name": "dag911262r00025a_lerobot_0327_114548",
+  "episode_index": 651,
+  "sensor": "gripper_right_tactile"
+}
\ No newline at end of file
diff --git a/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_18-30/outputs_tactile/tactile_cache/dag911262r00025a_lerobot_0327_114548_55b88b4d/episodes/ep000652/gripper_left_tactile_contact_metrics.json b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_18-30/outputs_tactile/tactile_cache/dag911262r00025a_lerobot_0327_114548_55b88b4d/episodes/ep000652/gripper_left_tactile_contact_metrics.json
new file mode 100644
index 0000000000000000000000000000000000000000..a482538b51f38edaeb908c88a1c559efd52f3b40
--- /dev/null
+++ b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_18-30/outputs_tactile/tactile_cache/dag911262r00025a_lerobot_0327_114548_55b88b4d/episodes/ep000652/gripper_left_tactile_contact_metrics.json
@@ -0,0 +1,12 @@
+{
+  "contact_time": 4.833333333333333,
+  "contact_ratio": 0.7923497267759563,
+  "avg_contact_area": 7213.062068965517,
+  "contact_entropy": 0.4231034470243724,
+  "total_frames": 183,
+  "fps": 30.0,
+  "reference_frame_count": 0,
+  "dataset_name": "dag911262r00025a_lerobot_0327_114548",
+  "episode_index": 652,
+  "sensor": "gripper_left_tactile"
+}
\ No newline at end of file
diff --git a/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_18-30/outputs_tactile/tactile_cache/dag911262r00025a_lerobot_0327_114548_55b88b4d/episodes/ep000657/gripper_left_tactile_contact_metrics.json b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_18-30/outputs_tactile/tactile_cache/dag911262r00025a_lerobot_0327_114548_55b88b4d/episodes/ep000657/gripper_left_tactile_contact_metrics.json
new file mode 100644
index 0000000000000000000000000000000000000000..50548e55df2d59fa8d50c22eff1cb29f3ed04866
--- /dev/null
+++ b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_18-30/outputs_tactile/tactile_cache/dag911262r00025a_lerobot_0327_114548_55b88b4d/episodes/ep000657/gripper_left_tactile_contact_metrics.json
@@ -0,0 +1,12 @@
+{
+  "contact_time": 16.066666666666666,
+  "contact_ratio": 0.9620758483033932,
+  "avg_contact_area": 6676.765560165975,
+  "contact_entropy": 0.3964879572014138,
+  "total_frames": 501,
+  "fps": 30.0,
+  "reference_frame_count": 0,
+  "dataset_name": "dag911262r00025a_lerobot_0327_114548",
+  "episode_index": 657,
+  "sensor": "gripper_left_tactile"
+}
\ No newline at end of file
diff --git a/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_18-30/outputs_tactile/tactile_cache/dag911262r00025a_lerobot_0327_114548_55b88b4d/episodes/ep000657/gripper_left_tactile_force_metrics.json b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_18-30/outputs_tactile/tactile_cache/dag911262r00025a_lerobot_0327_114548_55b88b4d/episodes/ep000657/gripper_left_tactile_force_metrics.json
new file mode 100644
index 0000000000000000000000000000000000000000..de5cb54679eba3310b05e346612823fced9ac739
--- /dev/null
+++ b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_18-30/outputs_tactile/tactile_cache/dag911262r00025a_lerobot_0327_114548_55b88b4d/episodes/ep000657/gripper_left_tactile_force_metrics.json
@@ -0,0 +1,9 @@
+{
+  "depth_peak": 0.013332643546164036,
+  "shear_peak": 0.003827626584097743,
+  "force_magnitude_peak": 0.013376950286328793,
+  "reference_frame_count": 0,
+  "dataset_name": "dag911262r00025a_lerobot_0327_114548",
+  "episode_index": 657,
+  "sensor": "gripper_left_tactile"
+}
\ No newline at end of file
diff --git a/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_18-30/outputs_tactile/tactile_cache/dag911262r00025a_lerobot_0327_114548_55b88b4d/episodes/ep000662/gripper_right_tactile_force_metrics.json b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_18-30/outputs_tactile/tactile_cache/dag911262r00025a_lerobot_0327_114548_55b88b4d/episodes/ep000662/gripper_right_tactile_force_metrics.json
new file mode 100644
index 0000000000000000000000000000000000000000..677f8dde1e98859de818a5ac1dc2a8ba7a8357e5
--- /dev/null
+++ b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_18-30/outputs_tactile/tactile_cache/dag911262r00025a_lerobot_0327_114548_55b88b4d/episodes/ep000662/gripper_right_tactile_force_metrics.json
@@ -0,0 +1,9 @@
+{
+  "depth_peak": 0.006001209374517202,
+  "shear_peak": 0.006183404941111803,
+  "force_magnitude_peak": 0.006457851734012365,
+  "reference_frame_count": 0,
+  "dataset_name": "dag911262r00025a_lerobot_0327_114548",
+  "episode_index": 662,
+  "sensor": "gripper_right_tactile"
+}
\ No newline at end of file
diff --git a/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_18-30/outputs_tactile/tactile_cache/dag911262r00025a_lerobot_0327_114548_55b88b4d/episodes/ep000663/gripper_right_tactile_contact_metrics.json b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_18-30/outputs_tactile/tactile_cache/dag911262r00025a_lerobot_0327_114548_55b88b4d/episodes/ep000663/gripper_right_tactile_contact_metrics.json
new file mode 100644
index 0000000000000000000000000000000000000000..39e416fffc533553c5a68c00998a28ea3f4b81dd
--- /dev/null
+++ b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_18-30/outputs_tactile/tactile_cache/dag911262r00025a_lerobot_0327_114548_55b88b4d/episodes/ep000663/gripper_right_tactile_contact_metrics.json
@@ -0,0 +1,12 @@
+{
+  "contact_time": 4.633333333333334,
+  "contact_ratio": 0.8224852071005917,
+  "avg_contact_area": 13553.302158273382,
+  "contact_entropy": 0.42956379980684317,
+  "total_frames": 169,
+  "fps": 30.0,
+  "reference_frame_count": 0,
+  "dataset_name": "dag911262r00025a_lerobot_0327_114548",
+  "episode_index": 663,
+  "sensor": "gripper_right_tactile"
+}
\ No newline at end of file
diff --git a/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_18-30/outputs_tactile/tactile_cache/dag911262r00025a_lerobot_0327_114548_55b88b4d/episodes/ep000665/gripper_left_tactile_contact_metrics.json b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_18-30/outputs_tactile/tactile_cache/dag911262r00025a_lerobot_0327_114548_55b88b4d/episodes/ep000665/gripper_left_tactile_contact_metrics.json
new file mode 100644
index 0000000000000000000000000000000000000000..9a3a80825098c7b95d4d9a41d2cd04a2cea645a0
--- /dev/null
+++ b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_18-30/outputs_tactile/tactile_cache/dag911262r00025a_lerobot_0327_114548_55b88b4d/episodes/ep000665/gripper_left_tactile_contact_metrics.json
@@ -0,0 +1,12 @@
+{
+  "contact_time": 7.066666666666666,
+  "contact_ratio": 0.9906542056074766,
+  "avg_contact_area": 5524.155660377359,
+  "contact_entropy": 0.315841808409768,
+  "total_frames": 214,
+  "fps": 30.0,
+  "reference_frame_count": 0,
+  "dataset_name": "dag911262r00025a_lerobot_0327_114548",
+  "episode_index": 665,
+  "sensor": "gripper_left_tactile"
+}
\ No newline at end of file
diff --git a/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_18-30/outputs_tactile/tactile_cache/dag911262r00025a_lerobot_0327_114548_55b88b4d/episodes/ep000665/gripper_right_tactile_contact_metrics.json b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_18-30/outputs_tactile/tactile_cache/dag911262r00025a_lerobot_0327_114548_55b88b4d/episodes/ep000665/gripper_right_tactile_contact_metrics.json
new file mode 100644
index 0000000000000000000000000000000000000000..8ce76c15bc02a9e89a27c59c76ff07f97e3240b5
--- /dev/null
+++ b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_18-30/outputs_tactile/tactile_cache/dag911262r00025a_lerobot_0327_114548_55b88b4d/episodes/ep000665/gripper_right_tactile_contact_metrics.json
@@ -0,0 +1,12 @@
+{
+  "contact_time": 6.033333333333333,
+  "contact_ratio": 0.8457943925233645,
+  "avg_contact_area": 12906.585635359115,
+  "contact_entropy": 0.58993939289793,
+  "total_frames": 214,
+  "fps": 30.0,
+  "reference_frame_count": 0,
+  "dataset_name": "dag911262r00025a_lerobot_0327_114548",
+  "episode_index": 665,
+  "sensor": "gripper_right_tactile"
+}
\ No newline at end of file
diff --git a/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_18-30/outputs_tactile/tactile_cache/dag911262r00025a_lerobot_0327_114548_55b88b4d/episodes/ep000670/gripper_left_tactile_contact_metrics.json b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_18-30/outputs_tactile/tactile_cache/dag911262r00025a_lerobot_0327_114548_55b88b4d/episodes/ep000670/gripper_left_tactile_contact_metrics.json
new file mode 100644
index 0000000000000000000000000000000000000000..8a2ac05deb735257f2a3da6ff9996125925cdbaf
--- /dev/null
+++ b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_18-30/outputs_tactile/tactile_cache/dag911262r00025a_lerobot_0327_114548_55b88b4d/episodes/ep000670/gripper_left_tactile_contact_metrics.json
@@ -0,0 +1,12 @@
+{
+  "contact_time": 4.2,
+  "contact_ratio": 0.782608695652174,
+  "avg_contact_area": 9828.317460317461,
+  "contact_entropy": 0.49564000952899917,
+  "total_frames": 161,
+  "fps": 30.0,
+  "reference_frame_count": 0,
+  "dataset_name": "dag911262r00025a_lerobot_0327_114548",
+  "episode_index": 670,
+  "sensor": "gripper_left_tactile"
+}
\ No newline at end of file
diff --git a/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_18-30/outputs_tactile/tactile_cache/dag911262r00025a_lerobot_0327_114548_55b88b4d/episodes/ep000672/gripper_left_tactile_force_metrics.json b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_18-30/outputs_tactile/tactile_cache/dag911262r00025a_lerobot_0327_114548_55b88b4d/episodes/ep000672/gripper_left_tactile_force_metrics.json
new file mode 100644
index 0000000000000000000000000000000000000000..fd7e587930acd669fa87a7686ec4504541c7bf2b
--- /dev/null
+++ b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_18-30/outputs_tactile/tactile_cache/dag911262r00025a_lerobot_0327_114548_55b88b4d/episodes/ep000672/gripper_left_tactile_force_metrics.json
@@ -0,0 +1,9 @@
+{
+  "depth_peak": 0.0048454320058226585,
+  "shear_peak": 0.005205413792282343,
+  "force_magnitude_peak": 0.006387634668499231,
+  "reference_frame_count": 0,
+  "dataset_name": "dag911262r00025a_lerobot_0327_114548",
+  "episode_index": 672,
+  "sensor": "gripper_left_tactile"
+}
\ No newline at end of file
diff --git a/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_18-30/outputs_tactile/tactile_cache/dag911262r00025a_lerobot_0327_114548_55b88b4d/episodes/ep000672/gripper_right_tactile_force_metrics.json b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_18-30/outputs_tactile/tactile_cache/dag911262r00025a_lerobot_0327_114548_55b88b4d/episodes/ep000672/gripper_right_tactile_force_metrics.json
new file mode 100644
index 0000000000000000000000000000000000000000..0ce3bf8ac9ef91295fb58b195381e873c0963dea
--- /dev/null
+++ b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_18-30/outputs_tactile/tactile_cache/dag911262r00025a_lerobot_0327_114548_55b88b4d/episodes/ep000672/gripper_right_tactile_force_metrics.json
@@ -0,0 +1,9 @@
+{
+  "depth_peak": 0.008777212351560593,
+  "shear_peak": 0.005122688598930836,
+  "force_magnitude_peak": 0.0097220903262496,
+  "reference_frame_count": 0,
+  "dataset_name": "dag911262r00025a_lerobot_0327_114548",
+  "episode_index": 672,
+  "sensor": "gripper_right_tactile"
+}
\ No newline at end of file
diff --git a/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_18-30/outputs_tactile/tactile_cache/dag911262r00025a_lerobot_0327_114548_55b88b4d/episodes/ep000676/gripper_left_tactile_force_metrics.json b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_18-30/outputs_tactile/tactile_cache/dag911262r00025a_lerobot_0327_114548_55b88b4d/episodes/ep000676/gripper_left_tactile_force_metrics.json
new file mode 100644
index 0000000000000000000000000000000000000000..ed40091c21d6bd1c1c20140b88d83c303ebe41b0
--- /dev/null
+++ b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_18-30/outputs_tactile/tactile_cache/dag911262r00025a_lerobot_0327_114548_55b88b4d/episodes/ep000676/gripper_left_tactile_force_metrics.json
@@ -0,0 +1,9 @@
+{
+  "depth_peak": 0.01526850275695324,
+  "shear_peak": 0.010353285819292068,
+  "force_magnitude_peak": 0.016266250982880592,
+  "reference_frame_count": 0,
+  "dataset_name": "dag911262r00025a_lerobot_0327_114548",
+  "episode_index": 676,
+  "sensor": "gripper_left_tactile"
+}
\ No newline at end of file
diff --git a/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_18-30/outputs_tactile/tactile_cache/dag911262r00025a_lerobot_0327_114548_55b88b4d/episodes/ep000677/gripper_left_tactile_contact_metrics.json b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_18-30/outputs_tactile/tactile_cache/dag911262r00025a_lerobot_0327_114548_55b88b4d/episodes/ep000677/gripper_left_tactile_contact_metrics.json
new file mode 100644
index 0000000000000000000000000000000000000000..ccc64e9b52f8f5932cfd1998d46c2ae4e433bc59
--- /dev/null
+++ b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_18-30/outputs_tactile/tactile_cache/dag911262r00025a_lerobot_0327_114548_55b88b4d/episodes/ep000677/gripper_left_tactile_contact_metrics.json
@@ -0,0 +1,12 @@
+{
+  "contact_time": 5.1,
+  "contact_ratio": 0.8360655737704918,
+  "avg_contact_area": 7874.464052287582,
+  "contact_entropy": 0.6454242934620734,
+  "total_frames": 183,
+  "fps": 30.0,
+  "reference_frame_count": 0,
+  "dataset_name": "dag911262r00025a_lerobot_0327_114548",
+  "episode_index": 677,
+  "sensor": "gripper_left_tactile"
+}
\ No newline at end of file
diff --git a/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_18-30/outputs_tactile/tactile_cache/dag911262r00025a_lerobot_0327_114548_55b88b4d/episodes/ep000682/gripper_left_tactile_force_metrics.json b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_18-30/outputs_tactile/tactile_cache/dag911262r00025a_lerobot_0327_114548_55b88b4d/episodes/ep000682/gripper_left_tactile_force_metrics.json
new file mode 100644
index 0000000000000000000000000000000000000000..34db026a9ae447f7f798b25b8744eaab23fa398a
--- /dev/null
+++ b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_18-30/outputs_tactile/tactile_cache/dag911262r00025a_lerobot_0327_114548_55b88b4d/episodes/ep000682/gripper_left_tactile_force_metrics.json
@@ -0,0 +1,9 @@
+{
+  "depth_peak": 0.011618993245065212,
+  "shear_peak": 0.004547694232314825,
+  "force_magnitude_peak": 0.012311871163547039,
+  "reference_frame_count": 0,
+  "dataset_name": "dag911262r00025a_lerobot_0327_114548",
+  "episode_index": 682,
+  "sensor": "gripper_left_tactile"
+}
\ No newline at end of file
diff --git a/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_18-30/outputs_tactile/tactile_cache/dag911262r00025a_lerobot_0327_114548_55b88b4d/episodes/ep000682/gripper_right_tactile_force_metrics.json b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_18-30/outputs_tactile/tactile_cache/dag911262r00025a_lerobot_0327_114548_55b88b4d/episodes/ep000682/gripper_right_tactile_force_metrics.json
new file mode 100644
index 0000000000000000000000000000000000000000..fe101102423c57f15aedd6246437ef5f8a46515a
--- /dev/null
+++ b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_18-30/outputs_tactile/tactile_cache/dag911262r00025a_lerobot_0327_114548_55b88b4d/episodes/ep000682/gripper_right_tactile_force_metrics.json
@@ -0,0 +1,9 @@
+{
+  "depth_peak": 0.014488553628325462,
+  "shear_peak": 0.00785437598824501,
+  "force_magnitude_peak": 0.016175569966435432,
+  "reference_frame_count": 0,
+  "dataset_name": "dag911262r00025a_lerobot_0327_114548",
+  "episode_index": 682,
+  "sensor": "gripper_right_tactile"
+}
\ No newline at end of file
diff --git a/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_18-30/outputs_tactile/tactile_cache/dag911262r00025a_lerobot_0327_114548_55b88b4d/episodes/ep000684/gripper_right_tactile_contact_metrics.json b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_18-30/outputs_tactile/tactile_cache/dag911262r00025a_lerobot_0327_114548_55b88b4d/episodes/ep000684/gripper_right_tactile_contact_metrics.json
new file mode 100644
index 0000000000000000000000000000000000000000..053cb0f5a669cbf100b8defc02bf9bfbbaa97dbd
--- /dev/null
+++ b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_18-30/outputs_tactile/tactile_cache/dag911262r00025a_lerobot_0327_114548_55b88b4d/episodes/ep000684/gripper_right_tactile_contact_metrics.json
@@ -0,0 +1,12 @@
+{
+  "contact_time": 14.666666666666666,
+  "contact_ratio": 0.8817635270541082,
+  "avg_contact_area": 6466.868181818182,
+  "contact_entropy": 0.3989783149597628,
+  "total_frames": 499,
+  "fps": 30.0,
+  "reference_frame_count": 0,
+  "dataset_name": "dag911262r00025a_lerobot_0327_114548",
+  "episode_index": 684,
+  "sensor": "gripper_right_tactile"
+}
\ No newline at end of file
diff --git a/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_18-30/outputs_tactile/tactile_cache/dag911262r00025a_lerobot_0327_114548_55b88b4d/episodes/ep000686/gripper_right_tactile_contact_metrics.json b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_18-30/outputs_tactile/tactile_cache/dag911262r00025a_lerobot_0327_114548_55b88b4d/episodes/ep000686/gripper_right_tactile_contact_metrics.json
new file mode 100644
index 0000000000000000000000000000000000000000..adaf8d29024cedc34796d6d411c73998605c60ae
--- /dev/null
+++ b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_18-30/outputs_tactile/tactile_cache/dag911262r00025a_lerobot_0327_114548_55b88b4d/episodes/ep000686/gripper_right_tactile_contact_metrics.json
@@ -0,0 +1,12 @@
+{
+  "contact_time": 11.533333333333333,
+  "contact_ratio": 0.9057591623036649,
+  "avg_contact_area": 4242.101156069364,
+  "contact_entropy": 0.46654546479154047,
+  "total_frames": 382,
+  "fps": 30.0,
+  "reference_frame_count": 0,
+  "dataset_name": "dag911262r00025a_lerobot_0327_114548",
+  "episode_index": 686,
+  "sensor": "gripper_right_tactile"
+}
\ No newline at end of file
diff --git a/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_18-30/outputs_tactile/tactile_cache/dag911262r00025a_lerobot_0327_114548_55b88b4d/episodes/ep000688/gripper_left_tactile_force_metrics.json b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_18-30/outputs_tactile/tactile_cache/dag911262r00025a_lerobot_0327_114548_55b88b4d/episodes/ep000688/gripper_left_tactile_force_metrics.json
new file mode 100644
index 0000000000000000000000000000000000000000..94e42d5032fc741b2fe041283e7715ad0075616a
--- /dev/null
+++ b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_18-30/outputs_tactile/tactile_cache/dag911262r00025a_lerobot_0327_114548_55b88b4d/episodes/ep000688/gripper_left_tactile_force_metrics.json
@@ -0,0 +1,9 @@
+{
+  "depth_peak": 0.004728856962174177,
+  "shear_peak": 0.0028083224315196276,
+  "force_magnitude_peak": 0.00537221459671855,
+  "reference_frame_count": 0,
+  "dataset_name": "dag911262r00025a_lerobot_0327_114548",
+  "episode_index": 688,
+  "sensor": "gripper_left_tactile"
+}
\ No newline at end of file
diff --git a/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_18-30/outputs_tactile/tactile_cache/dag911262r00025a_lerobot_0327_114548_55b88b4d/episodes/ep000689/gripper_right_tactile_force_metrics.json b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_18-30/outputs_tactile/tactile_cache/dag911262r00025a_lerobot_0327_114548_55b88b4d/episodes/ep000689/gripper_right_tactile_force_metrics.json
new file mode 100644
index 0000000000000000000000000000000000000000..5b8cb3feb058e1123dcf566c8c4958dc0cd9b658
--- /dev/null
+++ b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_18-30/outputs_tactile/tactile_cache/dag911262r00025a_lerobot_0327_114548_55b88b4d/episodes/ep000689/gripper_right_tactile_force_metrics.json
@@ -0,0 +1,9 @@
+{
+  "depth_peak": 0.0063294339925050735,
+  "shear_peak": 0.007582983002066612,
+  "force_magnitude_peak": 0.008607792668044567,
+  "reference_frame_count": 0,
+  "dataset_name": "dag911262r00025a_lerobot_0327_114548",
+  "episode_index": 689,
+  "sensor": "gripper_right_tactile"
+}
\ No newline at end of file
diff --git a/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_18-30/outputs_tactile/tactile_cache/dag911262r00025a_lerobot_0327_114548_55b88b4d/episodes/ep000691/gripper_right_tactile_contact_metrics.json b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_18-30/outputs_tactile/tactile_cache/dag911262r00025a_lerobot_0327_114548_55b88b4d/episodes/ep000691/gripper_right_tactile_contact_metrics.json
new file mode 100644
index 0000000000000000000000000000000000000000..64396722a08204d1d59e69c174380842540779e2
--- /dev/null
+++ b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_18-30/outputs_tactile/tactile_cache/dag911262r00025a_lerobot_0327_114548_55b88b4d/episodes/ep000691/gripper_right_tactile_contact_metrics.json
@@ -0,0 +1,12 @@
+{
+  "contact_time": 10.133333333333333,
+  "contact_ratio": 0.9074626865671642,
+  "avg_contact_area": 2887.0888157894738,
+  "contact_entropy": 0.30001478423559047,
+  "total_frames": 335,
+  "fps": 30.0,
+  "reference_frame_count": 0,
+  "dataset_name": "dag911262r00025a_lerobot_0327_114548",
+  "episode_index": 691,
+  "sensor": "gripper_right_tactile"
+}
\ No newline at end of file
diff --git a/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_18-30/outputs_tactile/tactile_cache/dag911262r00025a_lerobot_0327_114548_55b88b4d/episodes/ep000691/gripper_right_tactile_force_metrics.json b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_18-30/outputs_tactile/tactile_cache/dag911262r00025a_lerobot_0327_114548_55b88b4d/episodes/ep000691/gripper_right_tactile_force_metrics.json
new file mode 100644
index 0000000000000000000000000000000000000000..d5a95231a025875874f2615d5ffca6d0f94b2ec1
--- /dev/null
+++ b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_18-30/outputs_tactile/tactile_cache/dag911262r00025a_lerobot_0327_114548_55b88b4d/episodes/ep000691/gripper_right_tactile_force_metrics.json
@@ -0,0 +1,9 @@
+{
+  "depth_peak": 0.0070203314535319805,
+  "shear_peak": 0.0018117856234312057,
+  "force_magnitude_peak": 0.007214035838842392,
+  "reference_frame_count": 0,
+  "dataset_name": "dag911262r00025a_lerobot_0327_114548",
+  "episode_index": 691,
+  "sensor": "gripper_right_tactile"
+}
\ No newline at end of file
diff --git a/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_18-30/outputs_tactile/tactile_cache/dag911262r00025a_lerobot_0327_114548_55b88b4d/episodes/ep000692/gripper_left_tactile_contact_metrics.json b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_18-30/outputs_tactile/tactile_cache/dag911262r00025a_lerobot_0327_114548_55b88b4d/episodes/ep000692/gripper_left_tactile_contact_metrics.json
new file mode 100644
index 0000000000000000000000000000000000000000..e0c423c6728b6d8835f4ba2ca79636bb3377c7b3
--- /dev/null
+++ b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_18-30/outputs_tactile/tactile_cache/dag911262r00025a_lerobot_0327_114548_55b88b4d/episodes/ep000692/gripper_left_tactile_contact_metrics.json
@@ -0,0 +1,12 @@
+{
+  "contact_time": 13.033333333333333,
+  "contact_ratio": 0.9287410926365796,
+  "avg_contact_area": 2051.1355498721227,
+  "contact_entropy": 0.23334359741688385,
+  "total_frames": 421,
+  "fps": 30.0,
+  "reference_frame_count": 0,
+  "dataset_name": "dag911262r00025a_lerobot_0327_114548",
+  "episode_index": 692,
+  "sensor": "gripper_left_tactile"
+}
\ No newline at end of file
diff --git a/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_18-30/outputs_tactile/tactile_cache/dag911262r00025a_lerobot_0327_114548_55b88b4d/episodes/ep000697/gripper_left_tactile_contact_metrics.json b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_18-30/outputs_tactile/tactile_cache/dag911262r00025a_lerobot_0327_114548_55b88b4d/episodes/ep000697/gripper_left_tactile_contact_metrics.json
new file mode 100644
index 0000000000000000000000000000000000000000..bf96768efd48be5ffaef4e21914c8eb5b26b5fc2
--- /dev/null
+++ b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_18-30/outputs_tactile/tactile_cache/dag911262r00025a_lerobot_0327_114548_55b88b4d/episodes/ep000697/gripper_left_tactile_contact_metrics.json
@@ -0,0 +1,12 @@
+{
+  "contact_time": 10.666666666666666,
+  "contact_ratio": 0.9552238805970149,
+  "avg_contact_area": 3319.078125,
+  "contact_entropy": 0.29324569846860293,
+  "total_frames": 335,
+  "fps": 30.0,
+  "reference_frame_count": 0,
+  "dataset_name": "dag911262r00025a_lerobot_0327_114548",
+  "episode_index": 697,
+  "sensor": "gripper_left_tactile"
+}
\ No newline at end of file
diff --git a/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_18-30/outputs_tactile/tactile_cache/dag911262r00025a_lerobot_0327_114548_55b88b4d/episodes/ep000697/gripper_left_tactile_force_metrics.json b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_18-30/outputs_tactile/tactile_cache/dag911262r00025a_lerobot_0327_114548_55b88b4d/episodes/ep000697/gripper_left_tactile_force_metrics.json
new file mode 100644
index 0000000000000000000000000000000000000000..27453889c74afdef5b83762bf6049b8caf572a3a
--- /dev/null
+++ b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_18-30/outputs_tactile/tactile_cache/dag911262r00025a_lerobot_0327_114548_55b88b4d/episodes/ep000697/gripper_left_tactile_force_metrics.json
@@ -0,0 +1,9 @@
+{
+  "depth_peak": 0.006632136646658182,
+  "shear_peak": 0.003849657950922847,
+  "force_magnitude_peak": 0.006753287743777037,
+  "reference_frame_count": 0,
+  "dataset_name": "dag911262r00025a_lerobot_0327_114548",
+  "episode_index": 697,
+  "sensor": "gripper_left_tactile"
+}
\ No newline at end of file
diff --git a/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_18-30/outputs_tactile/tactile_cache/dag911262r00025a_lerobot_0327_114548_55b88b4d/episodes/ep000702/gripper_right_tactile_force_metrics.json b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_18-30/outputs_tactile/tactile_cache/dag911262r00025a_lerobot_0327_114548_55b88b4d/episodes/ep000702/gripper_right_tactile_force_metrics.json
new file mode 100644
index 0000000000000000000000000000000000000000..99874a992f64b3865f8aa6d9e047d2a3f290b013
--- /dev/null
+++ b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_18-30/outputs_tactile/tactile_cache/dag911262r00025a_lerobot_0327_114548_55b88b4d/episodes/ep000702/gripper_right_tactile_force_metrics.json
@@ -0,0 +1,9 @@
+{
+  "depth_peak": 0.017346806824207306,
+  "shear_peak": 0.009644237346947193,
+  "force_magnitude_peak": 0.01940957084298134,
+  "reference_frame_count": 0,
+  "dataset_name": "dag911262r00025a_lerobot_0327_114548",
+  "episode_index": 702,
+  "sensor": "gripper_right_tactile"
+}
\ No newline at end of file
diff --git a/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_18-30/outputs_tactile/tactile_cache/dag911262r00025a_lerobot_0327_114548_55b88b4d/episodes/ep000703/gripper_right_tactile_contact_metrics.json b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_18-30/outputs_tactile/tactile_cache/dag911262r00025a_lerobot_0327_114548_55b88b4d/episodes/ep000703/gripper_right_tactile_contact_metrics.json
new file mode 100644
index 0000000000000000000000000000000000000000..8b8229d56309506d38e0abcffc1d8e4db5822ee6
--- /dev/null
+++ b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_18-30/outputs_tactile/tactile_cache/dag911262r00025a_lerobot_0327_114548_55b88b4d/episodes/ep000703/gripper_right_tactile_contact_metrics.json
@@ -0,0 +1,12 @@
+{
+  "contact_time": 13.7,
+  "contact_ratio": 0.8726114649681529,
+  "avg_contact_area": 1916.2603406326034,
+  "contact_entropy": 0.35245361405469594,
+  "total_frames": 471,
+  "fps": 30.0,
+  "reference_frame_count": 0,
+  "dataset_name": "dag911262r00025a_lerobot_0327_114548",
+  "episode_index": 703,
+  "sensor": "gripper_right_tactile"
+}
\ No newline at end of file
diff --git a/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_18-30/outputs_tactile/tactile_cache/dag911262r00025a_lerobot_0327_114548_55b88b4d/episodes/ep000705/gripper_left_tactile_contact_metrics.json b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_18-30/outputs_tactile/tactile_cache/dag911262r00025a_lerobot_0327_114548_55b88b4d/episodes/ep000705/gripper_left_tactile_contact_metrics.json
new file mode 100644
index 0000000000000000000000000000000000000000..11af288fb9fe07b728e82b9b7f7cc8b91d2a3e29
--- /dev/null
+++ b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_18-30/outputs_tactile/tactile_cache/dag911262r00025a_lerobot_0327_114548_55b88b4d/episodes/ep000705/gripper_left_tactile_contact_metrics.json
@@ -0,0 +1,12 @@
+{
+  "contact_time": 10.5,
+  "contact_ratio": 0.84,
+  "avg_contact_area": 8614.580952380953,
+  "contact_entropy": 0.2870658955485952,
+  "total_frames": 375,
+  "fps": 30.0,
+  "reference_frame_count": 0,
+  "dataset_name": "dag911262r00025a_lerobot_0327_114548",
+  "episode_index": 705,
+  "sensor": "gripper_left_tactile"
+}
\ No newline at end of file
diff --git a/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_18-30/outputs_tactile/tactile_cache/dag911262r00025a_lerobot_0327_114548_55b88b4d/episodes/ep000705/gripper_right_tactile_contact_metrics.json b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_18-30/outputs_tactile/tactile_cache/dag911262r00025a_lerobot_0327_114548_55b88b4d/episodes/ep000705/gripper_right_tactile_contact_metrics.json
new file mode 100644
index 0000000000000000000000000000000000000000..470416b5577c7224e1ef3034fffc2fc9f4471a29
--- /dev/null
+++ b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_18-30/outputs_tactile/tactile_cache/dag911262r00025a_lerobot_0327_114548_55b88b4d/episodes/ep000705/gripper_right_tactile_contact_metrics.json
@@ -0,0 +1,12 @@
+{
+  "contact_time": 11.833333333333334,
+  "contact_ratio": 0.9466666666666667,
+  "avg_contact_area": 6002.422535211268,
+  "contact_entropy": 0.4234785096125897,
+  "total_frames": 375,
+  "fps": 30.0,
+  "reference_frame_count": 0,
+  "dataset_name": "dag911262r00025a_lerobot_0327_114548",
+  "episode_index": 705,
+  "sensor": "gripper_right_tactile"
+}
\ No newline at end of file
diff --git a/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_18-30/outputs_tactile/tactile_cache/dag911262r00025a_lerobot_0327_114548_55b88b4d/episodes/ep000710/gripper_left_tactile_contact_metrics.json b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_18-30/outputs_tactile/tactile_cache/dag911262r00025a_lerobot_0327_114548_55b88b4d/episodes/ep000710/gripper_left_tactile_contact_metrics.json
new file mode 100644
index 0000000000000000000000000000000000000000..6b1fdca32f5f722fb3c1e3957b1d2c5980a8f1bc
--- /dev/null
+++ b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_18-30/outputs_tactile/tactile_cache/dag911262r00025a_lerobot_0327_114548_55b88b4d/episodes/ep000710/gripper_left_tactile_contact_metrics.json
@@ -0,0 +1,12 @@
+{
+  "contact_time": 9.866666666666667,
+  "contact_ratio": 0.9426751592356688,
+  "avg_contact_area": 4507.523648648648,
+  "contact_entropy": 0.5125245441328663,
+  "total_frames": 314,
+  "fps": 30.0,
+  "reference_frame_count": 0,
+  "dataset_name": "dag911262r00025a_lerobot_0327_114548",
+  "episode_index": 710,
+  "sensor": "gripper_left_tactile"
+}
\ No newline at end of file
diff --git a/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_18-30/outputs_tactile/tactile_cache/dag911262r00025a_lerobot_0327_114548_55b88b4d/episodes/ep000712/gripper_left_tactile_force_metrics.json b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_18-30/outputs_tactile/tactile_cache/dag911262r00025a_lerobot_0327_114548_55b88b4d/episodes/ep000712/gripper_left_tactile_force_metrics.json
new file mode 100644
index 0000000000000000000000000000000000000000..9e0928bc259e02471d7c064470d9e08f2eb938a3
--- /dev/null
+++ b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_18-30/outputs_tactile/tactile_cache/dag911262r00025a_lerobot_0327_114548_55b88b4d/episodes/ep000712/gripper_left_tactile_force_metrics.json
@@ -0,0 +1,9 @@
+{
+  "depth_peak": 0.005539390258491039,
+  "shear_peak": 0.0046238224022090435,
+  "force_magnitude_peak": 0.005758725106716156,
+  "reference_frame_count": 0,
+  "dataset_name": "dag911262r00025a_lerobot_0327_114548",
+  "episode_index": 712,
+  "sensor": "gripper_left_tactile"
+}
\ No newline at end of file
diff --git a/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_18-30/outputs_tactile/tactile_cache/dag911262r00025a_lerobot_0327_114548_55b88b4d/episodes/ep000712/gripper_right_tactile_force_metrics.json b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_18-30/outputs_tactile/tactile_cache/dag911262r00025a_lerobot_0327_114548_55b88b4d/episodes/ep000712/gripper_right_tactile_force_metrics.json
new file mode 100644
index 0000000000000000000000000000000000000000..6892a115648080de545160a5df6612b28622a63a
--- /dev/null
+++ b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_18-30/outputs_tactile/tactile_cache/dag911262r00025a_lerobot_0327_114548_55b88b4d/episodes/ep000712/gripper_right_tactile_force_metrics.json
@@ -0,0 +1,9 @@
+{
+  "depth_peak": 0.008815719746053219,
+  "shear_peak": 0.003943555057048798,
+  "force_magnitude_peak": 0.009627005085349083,
+  "reference_frame_count": 0,
+  "dataset_name": "dag911262r00025a_lerobot_0327_114548",
+  "episode_index": 712,
+  "sensor": "gripper_right_tactile"
+}
\ No newline at end of file
diff --git a/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_18-30/outputs_tactile/tactile_cache/dag911262r00025a_lerobot_0327_114548_55b88b4d/episodes/ep000716/gripper_left_tactile_force_metrics.json b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_18-30/outputs_tactile/tactile_cache/dag911262r00025a_lerobot_0327_114548_55b88b4d/episodes/ep000716/gripper_left_tactile_force_metrics.json
new file mode 100644
index 0000000000000000000000000000000000000000..4f6260b56a306b63fa11c56f3d9f2bd595af6a09
--- /dev/null
+++ b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_18-30/outputs_tactile/tactile_cache/dag911262r00025a_lerobot_0327_114548_55b88b4d/episodes/ep000716/gripper_left_tactile_force_metrics.json
@@ -0,0 +1,9 @@
+{
+  "depth_peak": 0.0030975081026554108,
+  "shear_peak": 0.0031765622552484274,
+  "force_magnitude_peak": 0.005412655416876078,
+  "reference_frame_count": 0,
+  "dataset_name": "dag911262r00025a_lerobot_0327_114548",
+  "episode_index": 716,
+  "sensor": "gripper_left_tactile"
+}
\ No newline at end of file
diff --git a/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_18-30/outputs_tactile/tactile_cache/dag911262r00025a_lerobot_0327_114548_55b88b4d/episodes/ep000717/gripper_left_tactile_contact_metrics.json b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_18-30/outputs_tactile/tactile_cache/dag911262r00025a_lerobot_0327_114548_55b88b4d/episodes/ep000717/gripper_left_tactile_contact_metrics.json
new file mode 100644
index 0000000000000000000000000000000000000000..ebcd982639e3813e5ebe7c9d8ca0a1407dd0f059
--- /dev/null
+++ b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_18-30/outputs_tactile/tactile_cache/dag911262r00025a_lerobot_0327_114548_55b88b4d/episodes/ep000717/gripper_left_tactile_contact_metrics.json
@@ -0,0 +1,12 @@
+{
+  "contact_time": 6.7,
+  "contact_ratio": 0.7730769230769231,
+  "avg_contact_area": 4211.512437810945,
+  "contact_entropy": 0.21260685010349772,
+  "total_frames": 260,
+  "fps": 30.0,
+  "reference_frame_count": 0,
+  "dataset_name": "dag911262r00025a_lerobot_0327_114548",
+  "episode_index": 717,
+  "sensor": "gripper_left_tactile"
+}
\ No newline at end of file
diff --git a/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_18-30/outputs_tactile/tactile_cache/dag911262r00025a_lerobot_0327_114548_55b88b4d/episodes/ep000722/gripper_left_tactile_force_metrics.json b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_18-30/outputs_tactile/tactile_cache/dag911262r00025a_lerobot_0327_114548_55b88b4d/episodes/ep000722/gripper_left_tactile_force_metrics.json
new file mode 100644
index 0000000000000000000000000000000000000000..cd57b79e9161bed9e81ac2824635115b0f146bb2
--- /dev/null
+++ b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_18-30/outputs_tactile/tactile_cache/dag911262r00025a_lerobot_0327_114548_55b88b4d/episodes/ep000722/gripper_left_tactile_force_metrics.json
@@ -0,0 +1,9 @@
+{
+  "depth_peak": 0.006714231334626675,
+  "shear_peak": 0.004963424056768417,
+  "force_magnitude_peak": 0.007971251383423805,
+  "reference_frame_count": 0,
+  "dataset_name": "dag911262r00025a_lerobot_0327_114548",
+  "episode_index": 722,
+  "sensor": "gripper_left_tactile"
+}
\ No newline at end of file
diff --git a/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_18-30/outputs_tactile/tactile_cache/dag911262r00025a_lerobot_0327_114548_55b88b4d/episodes/ep000722/gripper_right_tactile_force_metrics.json b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_18-30/outputs_tactile/tactile_cache/dag911262r00025a_lerobot_0327_114548_55b88b4d/episodes/ep000722/gripper_right_tactile_force_metrics.json
new file mode 100644
index 0000000000000000000000000000000000000000..aa1addb1503b7cbc331a374d127da994ac031c5d
--- /dev/null
+++ b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_18-30/outputs_tactile/tactile_cache/dag911262r00025a_lerobot_0327_114548_55b88b4d/episodes/ep000722/gripper_right_tactile_force_metrics.json
@@ -0,0 +1,9 @@
+{
+  "depth_peak": 0.011489237658679485,
+  "shear_peak": 0.003342455718666315,
+  "force_magnitude_peak": 0.01153979916125536,
+  "reference_frame_count": 0,
+  "dataset_name": "dag911262r00025a_lerobot_0327_114548",
+  "episode_index": 722,
+  "sensor": "gripper_right_tactile"
+}
\ No newline at end of file
diff --git a/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_18-30/outputs_tactile/tactile_cache/dag911262r00025a_lerobot_0327_114548_55b88b4d/episodes/ep000724/gripper_right_tactile_contact_metrics.json b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_18-30/outputs_tactile/tactile_cache/dag911262r00025a_lerobot_0327_114548_55b88b4d/episodes/ep000724/gripper_right_tactile_contact_metrics.json
new file mode 100644
index 0000000000000000000000000000000000000000..b189acd4b8de9e2e352b197c6b023b5cd0e94fae
--- /dev/null
+++ b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_18-30/outputs_tactile/tactile_cache/dag911262r00025a_lerobot_0327_114548_55b88b4d/episodes/ep000724/gripper_right_tactile_contact_metrics.json
@@ -0,0 +1,12 @@
+{
+  "contact_time": 9.9,
+  "contact_ratio": 0.908256880733945,
+  "avg_contact_area": 6993.558922558923,
+  "contact_entropy": 0.7751308200261332,
+  "total_frames": 327,
+  "fps": 30.0,
+  "reference_frame_count": 0,
+  "dataset_name": "dag911262r00025a_lerobot_0327_114548",
+  "episode_index": 724,
+  "sensor": "gripper_right_tactile"
+}
\ No newline at end of file
diff --git a/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_18-30/outputs_tactile/tactile_cache/dag911262r00025a_lerobot_0327_114548_55b88b4d/episodes/ep000726/gripper_right_tactile_contact_metrics.json b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_18-30/outputs_tactile/tactile_cache/dag911262r00025a_lerobot_0327_114548_55b88b4d/episodes/ep000726/gripper_right_tactile_contact_metrics.json
new file mode 100644
index 0000000000000000000000000000000000000000..ffbbde2b39452fe816153ca04fdf521e1eabdef3
--- /dev/null
+++ b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_18-30/outputs_tactile/tactile_cache/dag911262r00025a_lerobot_0327_114548_55b88b4d/episodes/ep000726/gripper_right_tactile_contact_metrics.json
@@ -0,0 +1,12 @@
+{
+  "contact_time": 13.066666666666666,
+  "contact_ratio": 0.897025171624714,
+  "avg_contact_area": 6164.140306122449,
+  "contact_entropy": 0.5854223287440519,
+  "total_frames": 437,
+  "fps": 30.0,
+  "reference_frame_count": 0,
+  "dataset_name": "dag911262r00025a_lerobot_0327_114548",
+  "episode_index": 726,
+  "sensor": "gripper_right_tactile"
+}
\ No newline at end of file
diff --git a/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_18-30/outputs_tactile/tactile_cache/dag911262r00025a_lerobot_0327_114548_55b88b4d/episodes/ep000728/gripper_left_tactile_force_metrics.json b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_18-30/outputs_tactile/tactile_cache/dag911262r00025a_lerobot_0327_114548_55b88b4d/episodes/ep000728/gripper_left_tactile_force_metrics.json
new file mode 100644
index 0000000000000000000000000000000000000000..9c22d1daf728b04b6d0c7ae1c751e5c7b5f373fb
--- /dev/null
+++ b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_18-30/outputs_tactile/tactile_cache/dag911262r00025a_lerobot_0327_114548_55b88b4d/episodes/ep000728/gripper_left_tactile_force_metrics.json
@@ -0,0 +1,9 @@
+{
+  "depth_peak": 0.03183368965983391,
+  "shear_peak": 0.018278809264302254,
+  "force_magnitude_peak": 0.0347483828663826,
+  "reference_frame_count": 0,
+  "dataset_name": "dag911262r00025a_lerobot_0327_114548",
+  "episode_index": 728,
+  "sensor": "gripper_left_tactile"
+}
\ No newline at end of file
diff --git a/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_18-30/outputs_tactile/tactile_cache/dag911262r00025a_lerobot_0327_114548_55b88b4d/episodes/ep000729/gripper_right_tactile_force_metrics.json b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_18-30/outputs_tactile/tactile_cache/dag911262r00025a_lerobot_0327_114548_55b88b4d/episodes/ep000729/gripper_right_tactile_force_metrics.json
new file mode 100644
index 0000000000000000000000000000000000000000..4c7100896a8a640f0fd82f02285730a51d7371f7
--- /dev/null
+++ b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_18-30/outputs_tactile/tactile_cache/dag911262r00025a_lerobot_0327_114548_55b88b4d/episodes/ep000729/gripper_right_tactile_force_metrics.json
@@ -0,0 +1,9 @@
+{
+  "depth_peak": 0.0004977462231181562,
+  "shear_peak": 0.003646556753665209,
+  "force_magnitude_peak": 0.0036911233328282833,
+  "reference_frame_count": 0,
+  "dataset_name": "dag911262r00025a_lerobot_0327_114548",
+  "episode_index": 729,
+  "sensor": "gripper_right_tactile"
+}
\ No newline at end of file
diff --git a/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_18-30/outputs_tactile/tactile_cache/dag911262r00025a_lerobot_0327_114548_55b88b4d/episodes/ep000731/gripper_right_tactile_contact_metrics.json b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_18-30/outputs_tactile/tactile_cache/dag911262r00025a_lerobot_0327_114548_55b88b4d/episodes/ep000731/gripper_right_tactile_contact_metrics.json
new file mode 100644
index 0000000000000000000000000000000000000000..336015275147c6f3f6e86591d106f92be32cdd39
--- /dev/null
+++ b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_18-30/outputs_tactile/tactile_cache/dag911262r00025a_lerobot_0327_114548_55b88b4d/episodes/ep000731/gripper_right_tactile_contact_metrics.json
@@ -0,0 +1,12 @@
+{
+  "contact_time": 3.3666666666666667,
+  "contact_ratio": 0.63125,
+  "avg_contact_area": 1733.851485148515,
+  "contact_entropy": 0.017139833003864662,
+  "total_frames": 160,
+  "fps": 30.0,
+  "reference_frame_count": 0,
+  "dataset_name": "dag911262r00025a_lerobot_0327_114548",
+  "episode_index": 731,
+  "sensor": "gripper_right_tactile"
+}
\ No newline at end of file
diff --git a/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_18-30/outputs_tactile/tactile_cache/dag911262r00025a_lerobot_0327_114548_55b88b4d/episodes/ep000731/gripper_right_tactile_force_metrics.json b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_18-30/outputs_tactile/tactile_cache/dag911262r00025a_lerobot_0327_114548_55b88b4d/episodes/ep000731/gripper_right_tactile_force_metrics.json
new file mode 100644
index 0000000000000000000000000000000000000000..8ee4c9abb77bac4f3dc50c604df1f5c516b55fca
--- /dev/null
+++ b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_18-30/outputs_tactile/tactile_cache/dag911262r00025a_lerobot_0327_114548_55b88b4d/episodes/ep000731/gripper_right_tactile_force_metrics.json
@@ -0,0 +1,9 @@
+{
+  "depth_peak": 0.0016842832555994391,
+  "shear_peak": 0.0012762009864673018,
+  "force_magnitude_peak": 0.002056240104138851,
+  "reference_frame_count": 0,
+  "dataset_name": "dag911262r00025a_lerobot_0327_114548",
+  "episode_index": 731,
+  "sensor": "gripper_right_tactile"
+}
\ No newline at end of file
diff --git a/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_18-30/outputs_tactile/tactile_cache/dag911262r00025a_lerobot_0327_114548_55b88b4d/episodes/ep000732/gripper_left_tactile_contact_metrics.json b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_18-30/outputs_tactile/tactile_cache/dag911262r00025a_lerobot_0327_114548_55b88b4d/episodes/ep000732/gripper_left_tactile_contact_metrics.json
new file mode 100644
index 0000000000000000000000000000000000000000..93b63a3e321c978d433956e9920fb509f951a3bb
--- /dev/null
+++ b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_18-30/outputs_tactile/tactile_cache/dag911262r00025a_lerobot_0327_114548_55b88b4d/episodes/ep000732/gripper_left_tactile_contact_metrics.json
@@ -0,0 +1,12 @@
+{
+  "contact_time": 4.433333333333334,
+  "contact_ratio": 0.7732558139534884,
+  "avg_contact_area": 6791.556390977444,
+  "contact_entropy": 0.20796212710697115,
+  "total_frames": 172,
+  "fps": 30.0,
+  "reference_frame_count": 0,
+  "dataset_name": "dag911262r00025a_lerobot_0327_114548",
+  "episode_index": 732,
+  "sensor": "gripper_left_tactile"
+}
\ No newline at end of file
diff --git a/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_18-30/outputs_tactile/tactile_cache/dag911262r00025a_lerobot_0327_114548_55b88b4d/episodes/ep000737/gripper_left_tactile_contact_metrics.json b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_18-30/outputs_tactile/tactile_cache/dag911262r00025a_lerobot_0327_114548_55b88b4d/episodes/ep000737/gripper_left_tactile_contact_metrics.json
new file mode 100644
index 0000000000000000000000000000000000000000..55b0a537e09dc3cbfc0488200aeb68155cabfd02
--- /dev/null
+++ b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_18-30/outputs_tactile/tactile_cache/dag911262r00025a_lerobot_0327_114548_55b88b4d/episodes/ep000737/gripper_left_tactile_contact_metrics.json
@@ -0,0 +1,12 @@
+{
+  "contact_time": 4.0,
+  "contact_ratio": 0.6779661016949152,
+  "avg_contact_area": 1430.575,
+  "contact_entropy": 0.0,
+  "total_frames": 177,
+  "fps": 30.0,
+  "reference_frame_count": 0,
+  "dataset_name": "dag911262r00025a_lerobot_0327_114548",
+  "episode_index": 737,
+  "sensor": "gripper_left_tactile"
+}
\ No newline at end of file
diff --git a/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_18-30/outputs_tactile/tactile_cache/dag911262r00025a_lerobot_0327_114548_55b88b4d/episodes/ep000737/gripper_left_tactile_force_metrics.json b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_18-30/outputs_tactile/tactile_cache/dag911262r00025a_lerobot_0327_114548_55b88b4d/episodes/ep000737/gripper_left_tactile_force_metrics.json
new file mode 100644
index 0000000000000000000000000000000000000000..af3f0f0e009a635b38382473b8a109f83f35ccdb
--- /dev/null
+++ b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_18-30/outputs_tactile/tactile_cache/dag911262r00025a_lerobot_0327_114548_55b88b4d/episodes/ep000737/gripper_left_tactile_force_metrics.json
@@ -0,0 +1,9 @@
+{
+  "depth_peak": 0.0031766865868121386,
+  "shear_peak": 0.0016848687082529068,
+  "force_magnitude_peak": 0.0033125809859484434,
+  "reference_frame_count": 0,
+  "dataset_name": "dag911262r00025a_lerobot_0327_114548",
+  "episode_index": 737,
+  "sensor": "gripper_left_tactile"
+}
\ No newline at end of file
diff --git a/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_18-30/outputs_tactile/tactile_cache/dag911262r00025a_lerobot_0327_114548_55b88b4d/episodes/ep000742/gripper_right_tactile_force_metrics.json b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_18-30/outputs_tactile/tactile_cache/dag911262r00025a_lerobot_0327_114548_55b88b4d/episodes/ep000742/gripper_right_tactile_force_metrics.json
new file mode 100644
index 0000000000000000000000000000000000000000..38ee64a8cf8069c36854e398d2eece28d8b981b7
--- /dev/null
+++ b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_18-30/outputs_tactile/tactile_cache/dag911262r00025a_lerobot_0327_114548_55b88b4d/episodes/ep000742/gripper_right_tactile_force_metrics.json
@@ -0,0 +1,9 @@
+{
+  "depth_peak": 0.0018596474546939135,
+  "shear_peak": 0.002169785089790821,
+  "force_magnitude_peak": 0.0024849872570484877,
+  "reference_frame_count": 0,
+  "dataset_name": "dag911262r00025a_lerobot_0327_114548",
+  "episode_index": 742,
+  "sensor": "gripper_right_tactile"
+}
\ No newline at end of file
diff --git a/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_18-30/outputs_tactile/tactile_cache/dag911262r00025a_lerobot_0327_114548_55b88b4d/episodes/ep000743/gripper_right_tactile_contact_metrics.json b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_18-30/outputs_tactile/tactile_cache/dag911262r00025a_lerobot_0327_114548_55b88b4d/episodes/ep000743/gripper_right_tactile_contact_metrics.json
new file mode 100644
index 0000000000000000000000000000000000000000..c8e1a11359af431ffb99b79a43040662da587e1d
--- /dev/null
+++ b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_18-30/outputs_tactile/tactile_cache/dag911262r00025a_lerobot_0327_114548_55b88b4d/episodes/ep000743/gripper_right_tactile_contact_metrics.json
@@ -0,0 +1,12 @@
+{
+  "contact_time": 4.933333333333334,
+  "contact_ratio": 0.9801324503311258,
+  "avg_contact_area": 2971.527027027027,
+  "contact_entropy": 0.27024809003117584,
+  "total_frames": 151,
+  "fps": 30.0,
+  "reference_frame_count": 0,
+  "dataset_name": "dag911262r00025a_lerobot_0327_114548",
+  "episode_index": 743,
+  "sensor": "gripper_right_tactile"
+}
\ No newline at end of file
diff --git a/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_18-30/outputs_tactile/tactile_cache/dag911262r00025a_lerobot_0327_114548_55b88b4d/episodes/ep000745/gripper_left_tactile_contact_metrics.json b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_18-30/outputs_tactile/tactile_cache/dag911262r00025a_lerobot_0327_114548_55b88b4d/episodes/ep000745/gripper_left_tactile_contact_metrics.json
new file mode 100644
index 0000000000000000000000000000000000000000..a4bd70b10007478c358202725a944596ed1471ca
--- /dev/null
+++ b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_18-30/outputs_tactile/tactile_cache/dag911262r00025a_lerobot_0327_114548_55b88b4d/episodes/ep000745/gripper_left_tactile_contact_metrics.json
@@ -0,0 +1,12 @@
+{
+  "contact_time": 4.433333333333334,
+  "contact_ratio": 0.7430167597765364,
+  "avg_contact_area": 2464.285714285714,
+  "contact_entropy": 0.0736827818198048,
+  "total_frames": 179,
+  "fps": 30.0,
+  "reference_frame_count": 0,
+  "dataset_name": "dag911262r00025a_lerobot_0327_114548",
+  "episode_index": 745,
+  "sensor": "gripper_left_tactile"
+}
\ No newline at end of file
diff --git a/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_18-30/outputs_tactile/tactile_cache/dag911262r00025a_lerobot_0327_114548_55b88b4d/episodes/ep000745/gripper_right_tactile_contact_metrics.json b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_18-30/outputs_tactile/tactile_cache/dag911262r00025a_lerobot_0327_114548_55b88b4d/episodes/ep000745/gripper_right_tactile_contact_metrics.json
new file mode 100644
index 0000000000000000000000000000000000000000..d4723752e9155c89376a626c4fabaeae92b318ce
--- /dev/null
+++ b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-08_18-30/outputs_tactile/tactile_cache/dag911262r00025a_lerobot_0327_114548_55b88b4d/episodes/ep000745/gripper_right_tactile_contact_metrics.json
@@ -0,0 +1,12 @@
+{
+  "contact_time": 4.966666666666667,
+  "contact_ratio": 0.8324022346368715,
+  "avg_contact_area": 901.0469798657718,
+  "contact_entropy": 0.12652002509248758,
+  "total_frames": 179,
+  "fps": 30.0,
+  "reference_frame_count": 0,
+  "dataset_name": "dag911262r00025a_lerobot_0327_114548",
+  "episode_index": 745,
+  "sensor": "gripper_right_tactile"
+}
\ No newline at end of file