diff --git a/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-07/outputs_tactile/tactile_cache/dag911262r000646_lerobot_0326_220254_0e3ad88a/episodes/ep000088/gripper_right_tactile_force_metrics.json b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-07/outputs_tactile/tactile_cache/dag911262r000646_lerobot_0326_220254_0e3ad88a/episodes/ep000088/gripper_right_tactile_force_metrics.json
new file mode 100644
index 0000000000000000000000000000000000000000..41a9a8b1b165a06b76e4fe43d693c2b7b08123c8
--- /dev/null
+++ b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-07/outputs_tactile/tactile_cache/dag911262r000646_lerobot_0326_220254_0e3ad88a/episodes/ep000088/gripper_right_tactile_force_metrics.json
@@ -0,0 +1,9 @@
+{
+  "depth_peak": 0.0038710213266313076,
+  "shear_peak": 0.0029044414404779673,
+  "force_magnitude_peak": 0.0046197534538805485,
+  "reference_frame_count": 0,
+  "dataset_name": "dag911262r000646_lerobot_0326_220254",
+  "episode_index": 88,
+  "sensor": "gripper_right_tactile"
+}
\ No newline at end of file
diff --git a/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-07/outputs_tactile/tactile_cache/dag911262r000646_lerobot_0326_220254_0e3ad88a/episodes/ep000093/gripper_right_tactile_force_metrics.json b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-07/outputs_tactile/tactile_cache/dag911262r000646_lerobot_0326_220254_0e3ad88a/episodes/ep000093/gripper_right_tactile_force_metrics.json
new file mode 100644
index 0000000000000000000000000000000000000000..870fd276cce575df2ad0b14082e6e9e54406f740
--- /dev/null
+++ b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-07/outputs_tactile/tactile_cache/dag911262r000646_lerobot_0326_220254_0e3ad88a/episodes/ep000093/gripper_right_tactile_force_metrics.json
@@ -0,0 +1,9 @@
+{
+  "depth_peak": 0.0016792252426967025,
+  "shear_peak": 0.008784315548837185,
+  "force_magnitude_peak": 0.008925187401473522,
+  "reference_frame_count": 0,
+  "dataset_name": "dag911262r000646_lerobot_0326_220254",
+  "episode_index": 93,
+  "sensor": "gripper_right_tactile"
+}
\ No newline at end of file
diff --git a/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-07/outputs_tactile/tactile_cache/dag911262r000646_lerobot_0326_220254_0e3ad88a/episodes/ep000107/gripper_left_tactile_contact_metrics.json b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-07/outputs_tactile/tactile_cache/dag911262r000646_lerobot_0326_220254_0e3ad88a/episodes/ep000107/gripper_left_tactile_contact_metrics.json
new file mode 100644
index 0000000000000000000000000000000000000000..f83fea719a5ceead79eabaf072cdfdcfc1ca9d4c
--- /dev/null
+++ b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-07/outputs_tactile/tactile_cache/dag911262r000646_lerobot_0326_220254_0e3ad88a/episodes/ep000107/gripper_left_tactile_contact_metrics.json
@@ -0,0 +1,12 @@
+{
+  "contact_time": 19.266666666666666,
+  "contact_ratio": 0.9522240527182867,
+  "avg_contact_area": 1096.3633217993079,
+  "contact_entropy": 0.4691111330710321,
+  "total_frames": 607,
+  "fps": 30.0,
+  "reference_frame_count": 0,
+  "dataset_name": "dag911262r000646_lerobot_0326_220254",
+  "episode_index": 107,
+  "sensor": "gripper_left_tactile"
+}
\ No newline at end of file
diff --git a/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-07/outputs_tactile/tactile_cache/dag911262r000646_lerobot_0326_220254_0e3ad88a/episodes/ep000108/gripper_right_tactile_contact_metrics.json b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-07/outputs_tactile/tactile_cache/dag911262r000646_lerobot_0326_220254_0e3ad88a/episodes/ep000108/gripper_right_tactile_contact_metrics.json
new file mode 100644
index 0000000000000000000000000000000000000000..cacdea2616d5337326855a7448ff7a66708c8cee
--- /dev/null
+++ b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-07/outputs_tactile/tactile_cache/dag911262r000646_lerobot_0326_220254_0e3ad88a/episodes/ep000108/gripper_right_tactile_contact_metrics.json
@@ -0,0 +1,12 @@
+{
+  "contact_time": 11.466666666666667,
+  "contact_ratio": 0.5349922239502333,
+  "avg_contact_area": 317.6046511627907,
+  "contact_entropy": 0.013251725435347878,
+  "total_frames": 643,
+  "fps": 30.0,
+  "reference_frame_count": 0,
+  "dataset_name": "dag911262r000646_lerobot_0326_220254",
+  "episode_index": 108,
+  "sensor": "gripper_right_tactile"
+}
\ No newline at end of file
diff --git a/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-07/outputs_tactile/tactile_cache/dag911262r000646_lerobot_0326_220254_0e3ad88a/episodes/ep000109/gripper_left_tactile_force_metrics.json b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-07/outputs_tactile/tactile_cache/dag911262r000646_lerobot_0326_220254_0e3ad88a/episodes/ep000109/gripper_left_tactile_force_metrics.json
new file mode 100644
index 0000000000000000000000000000000000000000..7143d6c41f195c9c12f0e161c6d37dde62e449f2
--- /dev/null
+++ b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-07/outputs_tactile/tactile_cache/dag911262r000646_lerobot_0326_220254_0e3ad88a/episodes/ep000109/gripper_left_tactile_force_metrics.json
@@ -0,0 +1,9 @@
+{
+  "depth_peak": 0.00478472001850605,
+  "shear_peak": 0.0034207480493932962,
+  "force_magnitude_peak": 0.005514056887477636,
+  "reference_frame_count": 0,
+  "dataset_name": "dag911262r000646_lerobot_0326_220254",
+  "episode_index": 109,
+  "sensor": "gripper_left_tactile"
+}
\ No newline at end of file
diff --git a/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-07/outputs_tactile/tactile_cache/dag911262r000646_lerobot_0326_220254_0e3ad88a/episodes/ep000112/gripper_left_tactile_contact_metrics.json b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-07/outputs_tactile/tactile_cache/dag911262r000646_lerobot_0326_220254_0e3ad88a/episodes/ep000112/gripper_left_tactile_contact_metrics.json
new file mode 100644
index 0000000000000000000000000000000000000000..f113e61fb5aee9952d132b216e391962dce58ec4
--- /dev/null
+++ b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-07/outputs_tactile/tactile_cache/dag911262r000646_lerobot_0326_220254_0e3ad88a/episodes/ep000112/gripper_left_tactile_contact_metrics.json
@@ -0,0 +1,12 @@
+{
+  "contact_time": 19.6,
+  "contact_ratio": 0.8895612708018155,
+  "avg_contact_area": 739.3724489795918,
+  "contact_entropy": 0.08916837123803587,
+  "total_frames": 661,
+  "fps": 30.0,
+  "reference_frame_count": 0,
+  "dataset_name": "dag911262r000646_lerobot_0326_220254",
+  "episode_index": 112,
+  "sensor": "gripper_left_tactile"
+}
\ No newline at end of file
diff --git a/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-07/outputs_tactile/tactile_cache/dag911262r000646_lerobot_0326_220254_0e3ad88a/episodes/ep000115/gripper_right_tactile_contact_metrics.json b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-07/outputs_tactile/tactile_cache/dag911262r000646_lerobot_0326_220254_0e3ad88a/episodes/ep000115/gripper_right_tactile_contact_metrics.json
new file mode 100644
index 0000000000000000000000000000000000000000..8560fcf1a4178a77f2c12d109dadcc1288751acc
--- /dev/null
+++ b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-07/outputs_tactile/tactile_cache/dag911262r000646_lerobot_0326_220254_0e3ad88a/episodes/ep000115/gripper_right_tactile_contact_metrics.json
@@ -0,0 +1,12 @@
+{
+  "contact_time": 16.6,
+  "contact_ratio": 0.7432835820895523,
+  "avg_contact_area": 1840.2248995983937,
+  "contact_entropy": 0.10158848577965181,
+  "total_frames": 670,
+  "fps": 30.0,
+  "reference_frame_count": 0,
+  "dataset_name": "dag911262r000646_lerobot_0326_220254",
+  "episode_index": 115,
+  "sensor": "gripper_right_tactile"
+}
\ No newline at end of file
diff --git a/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-07/outputs_tactile/tactile_cache/dag911262r000646_lerobot_0326_220254_0e3ad88a/episodes/ep000121/gripper_left_tactile_force_metrics.json b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-07/outputs_tactile/tactile_cache/dag911262r000646_lerobot_0326_220254_0e3ad88a/episodes/ep000121/gripper_left_tactile_force_metrics.json
new file mode 100644
index 0000000000000000000000000000000000000000..bd1baa1e04c1219c2723def19ac0ab2c4f016aca
--- /dev/null
+++ b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-07/outputs_tactile/tactile_cache/dag911262r000646_lerobot_0326_220254_0e3ad88a/episodes/ep000121/gripper_left_tactile_force_metrics.json
@@ -0,0 +1,9 @@
+{
+  "depth_peak": 0.010260822251439095,
+  "shear_peak": 0.011987771838903427,
+  "force_magnitude_peak": 0.01571693643927574,
+  "reference_frame_count": 0,
+  "dataset_name": "dag911262r000646_lerobot_0326_220254",
+  "episode_index": 121,
+  "sensor": "gripper_left_tactile"
+}
\ No newline at end of file
diff --git a/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-07/outputs_tactile/tactile_cache/dag911262r000646_lerobot_0326_220254_0e3ad88a/episodes/ep000121/gripper_right_tactile_contact_metrics.json b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-07/outputs_tactile/tactile_cache/dag911262r000646_lerobot_0326_220254_0e3ad88a/episodes/ep000121/gripper_right_tactile_contact_metrics.json
new file mode 100644
index 0000000000000000000000000000000000000000..3376bf72901854c55d384bf6cceda3dcbdf85a59
--- /dev/null
+++ b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-07/outputs_tactile/tactile_cache/dag911262r000646_lerobot_0326_220254_0e3ad88a/episodes/ep000121/gripper_right_tactile_contact_metrics.json
@@ -0,0 +1,12 @@
+{
+  "contact_time": 17.1,
+  "contact_ratio": 0.882960413080895,
+  "avg_contact_area": 4086.1247563352827,
+  "contact_entropy": 0.674465401356983,
+  "total_frames": 581,
+  "fps": 30.0,
+  "reference_frame_count": 0,
+  "dataset_name": "dag911262r000646_lerobot_0326_220254",
+  "episode_index": 121,
+  "sensor": "gripper_right_tactile"
+}
\ No newline at end of file
diff --git a/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-07/outputs_tactile/tactile_cache/dag911262r000646_lerobot_0326_220254_0e3ad88a/episodes/ep000125/gripper_left_tactile_force_metrics.json b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-07/outputs_tactile/tactile_cache/dag911262r000646_lerobot_0326_220254_0e3ad88a/episodes/ep000125/gripper_left_tactile_force_metrics.json
new file mode 100644
index 0000000000000000000000000000000000000000..f47626a24224e4fbdd4928664952dc21410221e4
--- /dev/null
+++ b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-07/outputs_tactile/tactile_cache/dag911262r000646_lerobot_0326_220254_0e3ad88a/episodes/ep000125/gripper_left_tactile_force_metrics.json
@@ -0,0 +1,9 @@
+{
+  "depth_peak": 0.00289320875890553,
+  "shear_peak": 0.004035192541778088,
+  "force_magnitude_peak": 0.004076594952493906,
+  "reference_frame_count": 0,
+  "dataset_name": "dag911262r000646_lerobot_0326_220254",
+  "episode_index": 125,
+  "sensor": "gripper_left_tactile"
+}
\ No newline at end of file
diff --git a/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-07/outputs_tactile/tactile_cache/dag911262r000646_lerobot_0326_220254_0e3ad88a/episodes/ep000126/gripper_right_tactile_contact_metrics.json b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-07/outputs_tactile/tactile_cache/dag911262r000646_lerobot_0326_220254_0e3ad88a/episodes/ep000126/gripper_right_tactile_contact_metrics.json
new file mode 100644
index 0000000000000000000000000000000000000000..a4f6325583b493f0b46c2eab2f99edff678138bb
--- /dev/null
+++ b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-07/outputs_tactile/tactile_cache/dag911262r000646_lerobot_0326_220254_0e3ad88a/episodes/ep000126/gripper_right_tactile_contact_metrics.json
@@ -0,0 +1,12 @@
+{
+  "contact_time": 17.8,
+  "contact_ratio": 0.8228043143297381,
+  "avg_contact_area": 370.2602996254682,
+  "contact_entropy": 0.3014164270517978,
+  "total_frames": 649,
+  "fps": 30.0,
+  "reference_frame_count": 0,
+  "dataset_name": "dag911262r000646_lerobot_0326_220254",
+  "episode_index": 126,
+  "sensor": "gripper_right_tactile"
+}
\ No newline at end of file
diff --git a/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-07/outputs_tactile/tactile_cache/dag911262r000646_lerobot_0326_220254_0e3ad88a/episodes/ep000128/gripper_right_tactile_force_metrics.json b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-07/outputs_tactile/tactile_cache/dag911262r000646_lerobot_0326_220254_0e3ad88a/episodes/ep000128/gripper_right_tactile_force_metrics.json
new file mode 100644
index 0000000000000000000000000000000000000000..92c6064165185fbcff9c2f8bdab0fd8e3c192330
--- /dev/null
+++ b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-07/outputs_tactile/tactile_cache/dag911262r000646_lerobot_0326_220254_0e3ad88a/episodes/ep000128/gripper_right_tactile_force_metrics.json
@@ -0,0 +1,9 @@
+{
+  "depth_peak": 0.004653634503483772,
+  "shear_peak": 0.0030538872815668583,
+  "force_magnitude_peak": 0.004871771205216646,
+  "reference_frame_count": 0,
+  "dataset_name": "dag911262r000646_lerobot_0326_220254",
+  "episode_index": 128,
+  "sensor": "gripper_right_tactile"
+}
\ No newline at end of file
diff --git a/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-07/outputs_tactile/tactile_cache/dag911262r000646_lerobot_0326_220254_0e3ad88a/episodes/ep000133/gripper_right_tactile_force_metrics.json b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-07/outputs_tactile/tactile_cache/dag911262r000646_lerobot_0326_220254_0e3ad88a/episodes/ep000133/gripper_right_tactile_force_metrics.json
new file mode 100644
index 0000000000000000000000000000000000000000..f6cdcd799c69a355aeccf7434b39ebb05e9c6e99
--- /dev/null
+++ b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-07/outputs_tactile/tactile_cache/dag911262r000646_lerobot_0326_220254_0e3ad88a/episodes/ep000133/gripper_right_tactile_force_metrics.json
@@ -0,0 +1,9 @@
+{
+  "depth_peak": 0.002207320649176836,
+  "shear_peak": 0.0022830653470009565,
+  "force_magnitude_peak": 0.002656258177012205,
+  "reference_frame_count": 0,
+  "dataset_name": "dag911262r000646_lerobot_0326_220254",
+  "episode_index": 133,
+  "sensor": "gripper_right_tactile"
+}
\ No newline at end of file
diff --git a/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-07/outputs_tactile/tactile_cache/dag911262r000646_lerobot_0326_220254_0e3ad88a/episodes/ep000134/gripper_left_tactile_contact_metrics.json b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-07/outputs_tactile/tactile_cache/dag911262r000646_lerobot_0326_220254_0e3ad88a/episodes/ep000134/gripper_left_tactile_contact_metrics.json
new file mode 100644
index 0000000000000000000000000000000000000000..2d7adbe6f4677477ce0ff1c72ad787fc6340528e
--- /dev/null
+++ b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-07/outputs_tactile/tactile_cache/dag911262r000646_lerobot_0326_220254_0e3ad88a/episodes/ep000134/gripper_left_tactile_contact_metrics.json
@@ -0,0 +1,12 @@
+{
+  "contact_time": 17.233333333333334,
+  "contact_ratio": 0.9038461538461539,
+  "avg_contact_area": 882.3965183752417,
+  "contact_entropy": 0.03969366564329081,
+  "total_frames": 572,
+  "fps": 30.0,
+  "reference_frame_count": 0,
+  "dataset_name": "dag911262r000646_lerobot_0326_220254",
+  "episode_index": 134,
+  "sensor": "gripper_left_tactile"
+}
\ No newline at end of file
diff --git a/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-07/outputs_tactile/tactile_cache/dag911262r000646_lerobot_0326_220254_0e3ad88a/episodes/ep000134/gripper_right_tactile_force_metrics.json b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-07/outputs_tactile/tactile_cache/dag911262r000646_lerobot_0326_220254_0e3ad88a/episodes/ep000134/gripper_right_tactile_force_metrics.json
new file mode 100644
index 0000000000000000000000000000000000000000..eacf6c0b56571529cce32332cc5061ccd24568ba
--- /dev/null
+++ b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-07/outputs_tactile/tactile_cache/dag911262r000646_lerobot_0326_220254_0e3ad88a/episodes/ep000134/gripper_right_tactile_force_metrics.json
@@ -0,0 +1,9 @@
+{
+  "depth_peak": 0.0016396190039813519,
+  "shear_peak": 0.002026212401688099,
+  "force_magnitude_peak": 0.002102142432704568,
+  "reference_frame_count": 0,
+  "dataset_name": "dag911262r000646_lerobot_0326_220254",
+  "episode_index": 134,
+  "sensor": "gripper_right_tactile"
+}
\ No newline at end of file
diff --git a/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-07/outputs_tactile/tactile_cache/dag911262r000646_lerobot_0326_220254_0e3ad88a/episodes/ep000136/gripper_left_tactile_force_metrics.json b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-07/outputs_tactile/tactile_cache/dag911262r000646_lerobot_0326_220254_0e3ad88a/episodes/ep000136/gripper_left_tactile_force_metrics.json
new file mode 100644
index 0000000000000000000000000000000000000000..572ac6096dcfd8a2d213b74d7a37665df6c7609c
--- /dev/null
+++ b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-07/outputs_tactile/tactile_cache/dag911262r000646_lerobot_0326_220254_0e3ad88a/episodes/ep000136/gripper_left_tactile_force_metrics.json
@@ -0,0 +1,9 @@
+{
+  "depth_peak": 0.002122948644682765,
+  "shear_peak": 0.0033320696093142033,
+  "force_magnitude_peak": 0.003455639351159334,
+  "reference_frame_count": 0,
+  "dataset_name": "dag911262r000646_lerobot_0326_220254",
+  "episode_index": 136,
+  "sensor": "gripper_left_tactile"
+}
\ No newline at end of file
diff --git a/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-07/outputs_tactile/tactile_cache/dag911262r000646_lerobot_0326_220254_0e3ad88a/episodes/ep000136/gripper_right_tactile_contact_metrics.json b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-07/outputs_tactile/tactile_cache/dag911262r000646_lerobot_0326_220254_0e3ad88a/episodes/ep000136/gripper_right_tactile_contact_metrics.json
new file mode 100644
index 0000000000000000000000000000000000000000..a1ba347586178beab18a0ba46314236a1857aa16
--- /dev/null
+++ b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-07/outputs_tactile/tactile_cache/dag911262r000646_lerobot_0326_220254_0e3ad88a/episodes/ep000136/gripper_right_tactile_contact_metrics.json
@@ -0,0 +1,12 @@
+{
+  "contact_time": 14.033333333333333,
+  "contact_ratio": 0.6227810650887574,
+  "avg_contact_area": 320.8099762470309,
+  "contact_entropy": 0.19885183294935246,
+  "total_frames": 676,
+  "fps": 30.0,
+  "reference_frame_count": 0,
+  "dataset_name": "dag911262r000646_lerobot_0326_220254",
+  "episode_index": 136,
+  "sensor": "gripper_right_tactile"
+}
\ No newline at end of file
diff --git a/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-07/outputs_tactile/tactile_cache/dag911262r000646_lerobot_0326_220254_0e3ad88a/episodes/ep000137/gripper_left_tactile_contact_metrics.json b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-07/outputs_tactile/tactile_cache/dag911262r000646_lerobot_0326_220254_0e3ad88a/episodes/ep000137/gripper_left_tactile_contact_metrics.json
new file mode 100644
index 0000000000000000000000000000000000000000..00caa358ab661e32bdbaec09ef523943d83ddc77
--- /dev/null
+++ b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-07/outputs_tactile/tactile_cache/dag911262r000646_lerobot_0326_220254_0e3ad88a/episodes/ep000137/gripper_left_tactile_contact_metrics.json
@@ -0,0 +1,12 @@
+{
+  "contact_time": 20.266666666666666,
+  "contact_ratio": 0.8954344624447718,
+  "avg_contact_area": 2119.565789473684,
+  "contact_entropy": 0.6344928649610886,
+  "total_frames": 679,
+  "fps": 30.0,
+  "reference_frame_count": 0,
+  "dataset_name": "dag911262r000646_lerobot_0326_220254",
+  "episode_index": 137,
+  "sensor": "gripper_left_tactile"
+}
\ No newline at end of file
diff --git a/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-07/outputs_tactile/tactile_cache/dag911262r000646_lerobot_0326_220254_0e3ad88a/episodes/ep000139/gripper_right_tactile_force_metrics.json b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-07/outputs_tactile/tactile_cache/dag911262r000646_lerobot_0326_220254_0e3ad88a/episodes/ep000139/gripper_right_tactile_force_metrics.json
new file mode 100644
index 0000000000000000000000000000000000000000..b1feec5384e0991852b28a5a97c3c0b78f4cf372
--- /dev/null
+++ b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-07/outputs_tactile/tactile_cache/dag911262r000646_lerobot_0326_220254_0e3ad88a/episodes/ep000139/gripper_right_tactile_force_metrics.json
@@ -0,0 +1,9 @@
+{
+  "depth_peak": 0.003357435343787074,
+  "shear_peak": 0.0021786396391689777,
+  "force_magnitude_peak": 0.0035122735425829887,
+  "reference_frame_count": 0,
+  "dataset_name": "dag911262r000646_lerobot_0326_220254",
+  "episode_index": 139,
+  "sensor": "gripper_right_tactile"
+}
\ No newline at end of file
diff --git a/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-07/outputs_tactile/tactile_cache/dag911262r000646_lerobot_0326_220254_0e3ad88a/episodes/ep000141/gripper_right_tactile_force_metrics.json b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-07/outputs_tactile/tactile_cache/dag911262r000646_lerobot_0326_220254_0e3ad88a/episodes/ep000141/gripper_right_tactile_force_metrics.json
new file mode 100644
index 0000000000000000000000000000000000000000..310f672668a8ba8fd74cb45ea77e425f7494ce6b
--- /dev/null
+++ b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-07/outputs_tactile/tactile_cache/dag911262r000646_lerobot_0326_220254_0e3ad88a/episodes/ep000141/gripper_right_tactile_force_metrics.json
@@ -0,0 +1,9 @@
+{
+  "depth_peak": 0.0017817789921537042,
+  "shear_peak": 0.0028244787827134132,
+  "force_magnitude_peak": 0.0029090428724884987,
+  "reference_frame_count": 0,
+  "dataset_name": "dag911262r000646_lerobot_0326_220254",
+  "episode_index": 141,
+  "sensor": "gripper_right_tactile"
+}
\ No newline at end of file
diff --git a/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-07/outputs_tactile/tactile_cache/dag911262r000646_lerobot_0326_220254_0e3ad88a/episodes/ep000143/gripper_left_tactile_force_metrics.json b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-07/outputs_tactile/tactile_cache/dag911262r000646_lerobot_0326_220254_0e3ad88a/episodes/ep000143/gripper_left_tactile_force_metrics.json
new file mode 100644
index 0000000000000000000000000000000000000000..b61b26d6fb4b2a2741a02cc0aee79c385d26719e
--- /dev/null
+++ b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-07/outputs_tactile/tactile_cache/dag911262r000646_lerobot_0326_220254_0e3ad88a/episodes/ep000143/gripper_left_tactile_force_metrics.json
@@ -0,0 +1,9 @@
+{
+  "depth_peak": 0.006770533975213766,
+  "shear_peak": 0.00933917798101902,
+  "force_magnitude_peak": 0.009966143406927586,
+  "reference_frame_count": 0,
+  "dataset_name": "dag911262r000646_lerobot_0326_220254",
+  "episode_index": 143,
+  "sensor": "gripper_left_tactile"
+}
\ No newline at end of file
diff --git a/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-07/outputs_tactile/tactile_cache/dag911262r000646_lerobot_0326_220254_0e3ad88a/episodes/ep000144/gripper_left_tactile_contact_metrics.json b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-07/outputs_tactile/tactile_cache/dag911262r000646_lerobot_0326_220254_0e3ad88a/episodes/ep000144/gripper_left_tactile_contact_metrics.json
new file mode 100644
index 0000000000000000000000000000000000000000..5b516309e6e0cb1d47227cb378fdca9000dcf75d
--- /dev/null
+++ b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-07/outputs_tactile/tactile_cache/dag911262r000646_lerobot_0326_220254_0e3ad88a/episodes/ep000144/gripper_left_tactile_contact_metrics.json
@@ -0,0 +1,12 @@
+{
+  "contact_time": 7.3,
+  "contact_ratio": 0.5601023017902813,
+  "avg_contact_area": 232.53881278538813,
+  "contact_entropy": 0.08828511199770653,
+  "total_frames": 391,
+  "fps": 30.0,
+  "reference_frame_count": 0,
+  "dataset_name": "dag911262r000646_lerobot_0326_220254",
+  "episode_index": 144,
+  "sensor": "gripper_left_tactile"
+}
\ No newline at end of file
diff --git a/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-07/outputs_tactile/tactile_cache/dag911262r000646_lerobot_0326_220254_0e3ad88a/episodes/ep000147/gripper_left_tactile_contact_metrics.json b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-07/outputs_tactile/tactile_cache/dag911262r000646_lerobot_0326_220254_0e3ad88a/episodes/ep000147/gripper_left_tactile_contact_metrics.json
new file mode 100644
index 0000000000000000000000000000000000000000..10b9490b19632d8da416100eba4782dbceb9cbb5
--- /dev/null
+++ b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-07/outputs_tactile/tactile_cache/dag911262r000646_lerobot_0326_220254_0e3ad88a/episodes/ep000147/gripper_left_tactile_contact_metrics.json
@@ -0,0 +1,12 @@
+{
+  "contact_time": 23.133333333333333,
+  "contact_ratio": 0.8807106598984772,
+  "avg_contact_area": 1565.7247838616715,
+  "contact_entropy": 0.31370646912943867,
+  "total_frames": 788,
+  "fps": 30.0,
+  "reference_frame_count": 0,
+  "dataset_name": "dag911262r000646_lerobot_0326_220254",
+  "episode_index": 147,
+  "sensor": "gripper_left_tactile"
+}
\ No newline at end of file
diff --git a/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-07/outputs_tactile/tactile_cache/dag911262r000646_lerobot_0326_220254_0e3ad88a/episodes/ep000148/gripper_right_tactile_contact_metrics.json b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-07/outputs_tactile/tactile_cache/dag911262r000646_lerobot_0326_220254_0e3ad88a/episodes/ep000148/gripper_right_tactile_contact_metrics.json
new file mode 100644
index 0000000000000000000000000000000000000000..458559be720aa5eebbc8a14a532d4b333993255e
--- /dev/null
+++ b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-07/outputs_tactile/tactile_cache/dag911262r000646_lerobot_0326_220254_0e3ad88a/episodes/ep000148/gripper_right_tactile_contact_metrics.json
@@ -0,0 +1,12 @@
+{
+  "contact_time": 8.933333333333334,
+  "contact_ratio": 0.6633663366336634,
+  "avg_contact_area": 205.0820895522388,
+  "contact_entropy": 0.0,
+  "total_frames": 404,
+  "fps": 30.0,
+  "reference_frame_count": 0,
+  "dataset_name": "dag911262r000646_lerobot_0326_220254",
+  "episode_index": 148,
+  "sensor": "gripper_right_tactile"
+}
\ No newline at end of file
diff --git a/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-07/outputs_tactile/tactile_cache/dag911262r000646_lerobot_0326_220254_0e3ad88a/episodes/ep000149/gripper_left_tactile_force_metrics.json b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-07/outputs_tactile/tactile_cache/dag911262r000646_lerobot_0326_220254_0e3ad88a/episodes/ep000149/gripper_left_tactile_force_metrics.json
new file mode 100644
index 0000000000000000000000000000000000000000..af84ce88a28241a181d942055c6136f4bebcb2e7
--- /dev/null
+++ b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-07/outputs_tactile/tactile_cache/dag911262r000646_lerobot_0326_220254_0e3ad88a/episodes/ep000149/gripper_left_tactile_force_metrics.json
@@ -0,0 +1,9 @@
+{
+  "depth_peak": 0.004549005534499884,
+  "shear_peak": 0.009163779206573963,
+  "force_magnitude_peak": 0.010230752639472485,
+  "reference_frame_count": 0,
+  "dataset_name": "dag911262r000646_lerobot_0326_220254",
+  "episode_index": 149,
+  "sensor": "gripper_left_tactile"
+}
\ No newline at end of file
diff --git a/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-07/outputs_tactile/tactile_cache/dag911262r000646_lerobot_0326_220254_0e3ad88a/episodes/ep000152/gripper_left_tactile_contact_metrics.json b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-07/outputs_tactile/tactile_cache/dag911262r000646_lerobot_0326_220254_0e3ad88a/episodes/ep000152/gripper_left_tactile_contact_metrics.json
new file mode 100644
index 0000000000000000000000000000000000000000..95e6b0a0e8ebb6e5695d1b432f4c2bc5837c3088
--- /dev/null
+++ b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-07/outputs_tactile/tactile_cache/dag911262r000646_lerobot_0326_220254_0e3ad88a/episodes/ep000152/gripper_left_tactile_contact_metrics.json
@@ -0,0 +1,12 @@
+{
+  "contact_time": 18.133333333333333,
+  "contact_ratio": 0.7918486171761281,
+  "avg_contact_area": 350.93566176470586,
+  "contact_entropy": 0.0,
+  "total_frames": 687,
+  "fps": 30.0,
+  "reference_frame_count": 0,
+  "dataset_name": "dag911262r000646_lerobot_0326_220254",
+  "episode_index": 152,
+  "sensor": "gripper_left_tactile"
+}
\ No newline at end of file
diff --git a/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-07/outputs_tactile/tactile_cache/dag911262r000646_lerobot_0326_220254_0e3ad88a/episodes/ep000155/gripper_right_tactile_contact_metrics.json b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-07/outputs_tactile/tactile_cache/dag911262r000646_lerobot_0326_220254_0e3ad88a/episodes/ep000155/gripper_right_tactile_contact_metrics.json
new file mode 100644
index 0000000000000000000000000000000000000000..811ad2457f201b76bc84ed0e3080a4bfb6600c4b
--- /dev/null
+++ b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-07/outputs_tactile/tactile_cache/dag911262r000646_lerobot_0326_220254_0e3ad88a/episodes/ep000155/gripper_right_tactile_contact_metrics.json
@@ -0,0 +1,12 @@
+{
+  "contact_time": 17.0,
+  "contact_ratio": 0.5357142857142857,
+  "avg_contact_area": 1766.713725490196,
+  "contact_entropy": 0.32305132365393535,
+  "total_frames": 952,
+  "fps": 30.0,
+  "reference_frame_count": 0,
+  "dataset_name": "dag911262r000646_lerobot_0326_220254",
+  "episode_index": 155,
+  "sensor": "gripper_right_tactile"
+}
\ No newline at end of file
diff --git a/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-07/outputs_tactile/tactile_cache/dag911262r000646_lerobot_0326_220254_0e3ad88a/episodes/ep000161/gripper_left_tactile_force_metrics.json b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-07/outputs_tactile/tactile_cache/dag911262r000646_lerobot_0326_220254_0e3ad88a/episodes/ep000161/gripper_left_tactile_force_metrics.json
new file mode 100644
index 0000000000000000000000000000000000000000..1dee5a5250c95e6a764712f27829b5b4404c779e
--- /dev/null
+++ b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-07/outputs_tactile/tactile_cache/dag911262r000646_lerobot_0326_220254_0e3ad88a/episodes/ep000161/gripper_left_tactile_force_metrics.json
@@ -0,0 +1,9 @@
+{
+  "depth_peak": 0.006187675055116415,
+  "shear_peak": 0.007162839639931917,
+  "force_magnitude_peak": 0.009461382403969765,
+  "reference_frame_count": 0,
+  "dataset_name": "dag911262r000646_lerobot_0326_220254",
+  "episode_index": 161,
+  "sensor": "gripper_left_tactile"
+}
\ No newline at end of file
diff --git a/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-07/outputs_tactile/tactile_cache/dag911262r000646_lerobot_0326_220254_0e3ad88a/episodes/ep000161/gripper_right_tactile_contact_metrics.json b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-07/outputs_tactile/tactile_cache/dag911262r000646_lerobot_0326_220254_0e3ad88a/episodes/ep000161/gripper_right_tactile_contact_metrics.json
new file mode 100644
index 0000000000000000000000000000000000000000..cebeb4a41af2290e7440039760938c63a4218d18
--- /dev/null
+++ b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-07/outputs_tactile/tactile_cache/dag911262r000646_lerobot_0326_220254_0e3ad88a/episodes/ep000161/gripper_right_tactile_contact_metrics.json
@@ -0,0 +1,12 @@
+{
+  "contact_time": 20.266666666666666,
+  "contact_ratio": 0.6523605150214592,
+  "avg_contact_area": 1435.529605263158,
+  "contact_entropy": 0.22072680619904333,
+  "total_frames": 932,
+  "fps": 30.0,
+  "reference_frame_count": 0,
+  "dataset_name": "dag911262r000646_lerobot_0326_220254",
+  "episode_index": 161,
+  "sensor": "gripper_right_tactile"
+}
\ No newline at end of file
diff --git a/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-07/outputs_tactile/tactile_cache/dag911262r000646_lerobot_0326_220254_0e3ad88a/episodes/ep000165/gripper_left_tactile_force_metrics.json b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-07/outputs_tactile/tactile_cache/dag911262r000646_lerobot_0326_220254_0e3ad88a/episodes/ep000165/gripper_left_tactile_force_metrics.json
new file mode 100644
index 0000000000000000000000000000000000000000..8833e5c2f474c86e50a2a04ead6cf6181adcd654
--- /dev/null
+++ b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-07/outputs_tactile/tactile_cache/dag911262r000646_lerobot_0326_220254_0e3ad88a/episodes/ep000165/gripper_left_tactile_force_metrics.json
@@ -0,0 +1,9 @@
+{
+  "depth_peak": 0.0033779002260416746,
+  "shear_peak": 0.003285783575847745,
+  "force_magnitude_peak": 0.004681443329900503,
+  "reference_frame_count": 0,
+  "dataset_name": "dag911262r000646_lerobot_0326_220254",
+  "episode_index": 165,
+  "sensor": "gripper_left_tactile"
+}
\ No newline at end of file
diff --git a/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-07/outputs_tactile/tactile_cache/dag911262r000646_lerobot_0326_220254_0e3ad88a/episodes/ep000166/gripper_right_tactile_contact_metrics.json b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-07/outputs_tactile/tactile_cache/dag911262r000646_lerobot_0326_220254_0e3ad88a/episodes/ep000166/gripper_right_tactile_contact_metrics.json
new file mode 100644
index 0000000000000000000000000000000000000000..f0d8417dd69303d8ca03c2ddc1c764710a6a4f39
--- /dev/null
+++ b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-07/outputs_tactile/tactile_cache/dag911262r000646_lerobot_0326_220254_0e3ad88a/episodes/ep000166/gripper_right_tactile_contact_metrics.json
@@ -0,0 +1,12 @@
+{
+  "contact_time": 15.533333333333333,
+  "contact_ratio": 0.6526610644257703,
+  "avg_contact_area": 197.8648068669528,
+  "contact_entropy": 0.025548895614042798,
+  "total_frames": 714,
+  "fps": 30.0,
+  "reference_frame_count": 0,
+  "dataset_name": "dag911262r000646_lerobot_0326_220254",
+  "episode_index": 166,
+  "sensor": "gripper_right_tactile"
+}
\ No newline at end of file
diff --git a/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-07/outputs_tactile/tactile_cache/dag911262r000646_lerobot_0326_220254_0e3ad88a/episodes/ep000168/gripper_right_tactile_force_metrics.json b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-07/outputs_tactile/tactile_cache/dag911262r000646_lerobot_0326_220254_0e3ad88a/episodes/ep000168/gripper_right_tactile_force_metrics.json
new file mode 100644
index 0000000000000000000000000000000000000000..47cddf3fae53ad198374228a4d49f1a6e3d8e834
--- /dev/null
+++ b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-07/outputs_tactile/tactile_cache/dag911262r000646_lerobot_0326_220254_0e3ad88a/episodes/ep000168/gripper_right_tactile_force_metrics.json
@@ -0,0 +1,9 @@
+{
+  "depth_peak": 0.001313825836405158,
+  "shear_peak": 0.0028445105999708176,
+  "force_magnitude_peak": 0.0030521200969815254,
+  "reference_frame_count": 0,
+  "dataset_name": "dag911262r000646_lerobot_0326_220254",
+  "episode_index": 168,
+  "sensor": "gripper_right_tactile"
+}
\ No newline at end of file
diff --git a/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-07/outputs_tactile/tactile_cache/dag911262r000646_lerobot_0326_220254_0e3ad88a/episodes/ep000173/gripper_right_tactile_force_metrics.json b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-07/outputs_tactile/tactile_cache/dag911262r000646_lerobot_0326_220254_0e3ad88a/episodes/ep000173/gripper_right_tactile_force_metrics.json
new file mode 100644
index 0000000000000000000000000000000000000000..e49007a9fad23b491862f4b00b8ec19d8ed066af
--- /dev/null
+++ b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-07/outputs_tactile/tactile_cache/dag911262r000646_lerobot_0326_220254_0e3ad88a/episodes/ep000173/gripper_right_tactile_force_metrics.json
@@ -0,0 +1,9 @@
+{
+  "depth_peak": 0.0031711335759609938,
+  "shear_peak": 0.002870222320780158,
+  "force_magnitude_peak": 0.0031963493674993515,
+  "reference_frame_count": 0,
+  "dataset_name": "dag911262r000646_lerobot_0326_220254",
+  "episode_index": 173,
+  "sensor": "gripper_right_tactile"
+}
\ No newline at end of file
diff --git a/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-07/outputs_tactile/tactile_cache/dag911262r000646_lerobot_0326_220254_0e3ad88a/episodes/ep000174/gripper_left_tactile_contact_metrics.json b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-07/outputs_tactile/tactile_cache/dag911262r000646_lerobot_0326_220254_0e3ad88a/episodes/ep000174/gripper_left_tactile_contact_metrics.json
new file mode 100644
index 0000000000000000000000000000000000000000..3a1c7cd197452746fd3761ce2f32d05f43922918
--- /dev/null
+++ b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-07/outputs_tactile/tactile_cache/dag911262r000646_lerobot_0326_220254_0e3ad88a/episodes/ep000174/gripper_left_tactile_contact_metrics.json
@@ -0,0 +1,12 @@
+{
+  "contact_time": 15.133333333333333,
+  "contact_ratio": 0.845437616387337,
+  "avg_contact_area": 385.0264317180617,
+  "contact_entropy": 0.08239115702842559,
+  "total_frames": 537,
+  "fps": 30.0,
+  "reference_frame_count": 0,
+  "dataset_name": "dag911262r000646_lerobot_0326_220254",
+  "episode_index": 174,
+  "sensor": "gripper_left_tactile"
+}
\ No newline at end of file
diff --git a/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-07/outputs_tactile/tactile_cache/dag911262r000646_lerobot_0326_220254_0e3ad88a/episodes/ep000174/gripper_right_tactile_force_metrics.json b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-07/outputs_tactile/tactile_cache/dag911262r000646_lerobot_0326_220254_0e3ad88a/episodes/ep000174/gripper_right_tactile_force_metrics.json
new file mode 100644
index 0000000000000000000000000000000000000000..45a1359b73180715c3cd9b0d19f73d51c00abbc0
--- /dev/null
+++ b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-07/outputs_tactile/tactile_cache/dag911262r000646_lerobot_0326_220254_0e3ad88a/episodes/ep000174/gripper_right_tactile_force_metrics.json
@@ -0,0 +1,9 @@
+{
+  "depth_peak": 0.001442726468667388,
+  "shear_peak": 0.0030586919747292995,
+  "force_magnitude_peak": 0.0030692529398947954,
+  "reference_frame_count": 0,
+  "dataset_name": "dag911262r000646_lerobot_0326_220254",
+  "episode_index": 174,
+  "sensor": "gripper_right_tactile"
+}
\ No newline at end of file
diff --git a/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-07/outputs_tactile/tactile_cache/dag911262r000646_lerobot_0326_220254_0e3ad88a/episodes/ep000176/gripper_left_tactile_force_metrics.json b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-07/outputs_tactile/tactile_cache/dag911262r000646_lerobot_0326_220254_0e3ad88a/episodes/ep000176/gripper_left_tactile_force_metrics.json
new file mode 100644
index 0000000000000000000000000000000000000000..09f8edcf932dfa2184c646f46ebd5030a8acab6e
--- /dev/null
+++ b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-07/outputs_tactile/tactile_cache/dag911262r000646_lerobot_0326_220254_0e3ad88a/episodes/ep000176/gripper_left_tactile_force_metrics.json
@@ -0,0 +1,9 @@
+{
+  "depth_peak": 0.0012962307082489133,
+  "shear_peak": 0.001328921876847744,
+  "force_magnitude_peak": 0.0020526691805571318,
+  "reference_frame_count": 0,
+  "dataset_name": "dag911262r000646_lerobot_0326_220254",
+  "episode_index": 176,
+  "sensor": "gripper_left_tactile"
+}
\ No newline at end of file
diff --git a/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-07/outputs_tactile/tactile_cache/dag911262r000646_lerobot_0326_220254_0e3ad88a/episodes/ep000176/gripper_right_tactile_contact_metrics.json b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-07/outputs_tactile/tactile_cache/dag911262r000646_lerobot_0326_220254_0e3ad88a/episodes/ep000176/gripper_right_tactile_contact_metrics.json
new file mode 100644
index 0000000000000000000000000000000000000000..2273547425ee8c29c0d07474619f0065cc1482b2
--- /dev/null
+++ b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-07/outputs_tactile/tactile_cache/dag911262r000646_lerobot_0326_220254_0e3ad88a/episodes/ep000176/gripper_right_tactile_contact_metrics.json
@@ -0,0 +1,12 @@
+{
+  "contact_time": 8.633333333333333,
+  "contact_ratio": 0.8068535825545171,
+  "avg_contact_area": 4363.050193050193,
+  "contact_entropy": 0.7071111328208831,
+  "total_frames": 321,
+  "fps": 30.0,
+  "reference_frame_count": 0,
+  "dataset_name": "dag911262r000646_lerobot_0326_220254",
+  "episode_index": 176,
+  "sensor": "gripper_right_tactile"
+}
\ No newline at end of file
diff --git a/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-07/outputs_tactile/tactile_cache/dag911262r000646_lerobot_0326_220254_0e3ad88a/episodes/ep000177/gripper_left_tactile_contact_metrics.json b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-07/outputs_tactile/tactile_cache/dag911262r000646_lerobot_0326_220254_0e3ad88a/episodes/ep000177/gripper_left_tactile_contact_metrics.json
new file mode 100644
index 0000000000000000000000000000000000000000..0283f9eafcf44a392690c4b14ed58644270757ca
--- /dev/null
+++ b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-07/outputs_tactile/tactile_cache/dag911262r000646_lerobot_0326_220254_0e3ad88a/episodes/ep000177/gripper_left_tactile_contact_metrics.json
@@ -0,0 +1,12 @@
+{
+  "contact_time": 22.2,
+  "contact_ratio": 0.8072727272727273,
+  "avg_contact_area": 1719.8108108108108,
+  "contact_entropy": 0.3643308008390319,
+  "total_frames": 825,
+  "fps": 30.0,
+  "reference_frame_count": 0,
+  "dataset_name": "dag911262r000646_lerobot_0326_220254",
+  "episode_index": 177,
+  "sensor": "gripper_left_tactile"
+}
\ No newline at end of file
diff --git a/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-07/outputs_tactile/tactile_cache/dag911262r000646_lerobot_0326_220254_0e3ad88a/episodes/ep000179/gripper_right_tactile_force_metrics.json b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-07/outputs_tactile/tactile_cache/dag911262r000646_lerobot_0326_220254_0e3ad88a/episodes/ep000179/gripper_right_tactile_force_metrics.json
new file mode 100644
index 0000000000000000000000000000000000000000..a328584c3a6e21790c2920414bb20f1fef45e919
--- /dev/null
+++ b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-07/outputs_tactile/tactile_cache/dag911262r000646_lerobot_0326_220254_0e3ad88a/episodes/ep000179/gripper_right_tactile_force_metrics.json
@@ -0,0 +1,9 @@
+{
+  "depth_peak": 0.0025736254174262285,
+  "shear_peak": 0.006081731524318457,
+  "force_magnitude_peak": 0.006222172174602747,
+  "reference_frame_count": 0,
+  "dataset_name": "dag911262r000646_lerobot_0326_220254",
+  "episode_index": 179,
+  "sensor": "gripper_right_tactile"
+}
\ No newline at end of file
diff --git a/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-07/outputs_tactile/tactile_cache/dag911262r000646_lerobot_0326_220254_0e3ad88a/episodes/ep000181/gripper_right_tactile_force_metrics.json b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-07/outputs_tactile/tactile_cache/dag911262r000646_lerobot_0326_220254_0e3ad88a/episodes/ep000181/gripper_right_tactile_force_metrics.json
new file mode 100644
index 0000000000000000000000000000000000000000..76365334ad1b0ef71419431683fef8f7dd94f9d4
--- /dev/null
+++ b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-07/outputs_tactile/tactile_cache/dag911262r000646_lerobot_0326_220254_0e3ad88a/episodes/ep000181/gripper_right_tactile_force_metrics.json
@@ -0,0 +1,9 @@
+{
+  "depth_peak": 0.0050407578237354755,
+  "shear_peak": 0.0035806545056402683,
+  "force_magnitude_peak": 0.005627994891256094,
+  "reference_frame_count": 0,
+  "dataset_name": "dag911262r000646_lerobot_0326_220254",
+  "episode_index": 181,
+  "sensor": "gripper_right_tactile"
+}
\ No newline at end of file
diff --git a/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-07/outputs_tactile/tactile_cache/dag911262r000646_lerobot_0326_220254_0e3ad88a/episodes/ep000183/gripper_left_tactile_force_metrics.json b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-07/outputs_tactile/tactile_cache/dag911262r000646_lerobot_0326_220254_0e3ad88a/episodes/ep000183/gripper_left_tactile_force_metrics.json
new file mode 100644
index 0000000000000000000000000000000000000000..6cfff2d9f71fb210ec2b93e8ed143e3b5007c123
--- /dev/null
+++ b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-07/outputs_tactile/tactile_cache/dag911262r000646_lerobot_0326_220254_0e3ad88a/episodes/ep000183/gripper_left_tactile_force_metrics.json
@@ -0,0 +1,9 @@
+{
+  "depth_peak": 0.007780803367495537,
+  "shear_peak": 0.012172761373221874,
+  "force_magnitude_peak": 0.014222383499145508,
+  "reference_frame_count": 0,
+  "dataset_name": "dag911262r000646_lerobot_0326_220254",
+  "episode_index": 183,
+  "sensor": "gripper_left_tactile"
+}
\ No newline at end of file
diff --git a/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-07/outputs_tactile/tactile_cache/dag911262r000646_lerobot_0326_220254_0e3ad88a/episodes/ep000184/gripper_left_tactile_contact_metrics.json b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-07/outputs_tactile/tactile_cache/dag911262r000646_lerobot_0326_220254_0e3ad88a/episodes/ep000184/gripper_left_tactile_contact_metrics.json
new file mode 100644
index 0000000000000000000000000000000000000000..e0beefb9539923f4dff876536d714792cd4dca45
--- /dev/null
+++ b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-07/outputs_tactile/tactile_cache/dag911262r000646_lerobot_0326_220254_0e3ad88a/episodes/ep000184/gripper_left_tactile_contact_metrics.json
@@ -0,0 +1,12 @@
+{
+  "contact_time": 10.1,
+  "contact_ratio": 0.8278688524590164,
+  "avg_contact_area": 652.3993399339934,
+  "contact_entropy": 0.0006501182835569847,
+  "total_frames": 366,
+  "fps": 30.0,
+  "reference_frame_count": 0,
+  "dataset_name": "dag911262r000646_lerobot_0326_220254",
+  "episode_index": 184,
+  "sensor": "gripper_left_tactile"
+}
\ No newline at end of file
diff --git a/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-07/outputs_tactile/tactile_cache/dag911262r000646_lerobot_0326_220254_0e3ad88a/episodes/ep000187/gripper_left_tactile_contact_metrics.json b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-07/outputs_tactile/tactile_cache/dag911262r000646_lerobot_0326_220254_0e3ad88a/episodes/ep000187/gripper_left_tactile_contact_metrics.json
new file mode 100644
index 0000000000000000000000000000000000000000..0377e494515faa81612ac43e1e592b04c6638619
--- /dev/null
+++ b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-07/outputs_tactile/tactile_cache/dag911262r000646_lerobot_0326_220254_0e3ad88a/episodes/ep000187/gripper_left_tactile_contact_metrics.json
@@ -0,0 +1,12 @@
+{
+  "contact_time": 13.633333333333333,
+  "contact_ratio": 0.6461295418641391,
+  "avg_contact_area": 1006.9022004889976,
+  "contact_entropy": 0.20039374583304215,
+  "total_frames": 633,
+  "fps": 30.0,
+  "reference_frame_count": 0,
+  "dataset_name": "dag911262r000646_lerobot_0326_220254",
+  "episode_index": 187,
+  "sensor": "gripper_left_tactile"
+}
\ No newline at end of file
diff --git a/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-07/outputs_tactile/tactile_cache/dag911262r000646_lerobot_0326_220254_0e3ad88a/episodes/ep000188/gripper_right_tactile_contact_metrics.json b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-07/outputs_tactile/tactile_cache/dag911262r000646_lerobot_0326_220254_0e3ad88a/episodes/ep000188/gripper_right_tactile_contact_metrics.json
new file mode 100644
index 0000000000000000000000000000000000000000..017178a5877fd0c882894e8a737835612d10bb22
--- /dev/null
+++ b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-07/outputs_tactile/tactile_cache/dag911262r000646_lerobot_0326_220254_0e3ad88a/episodes/ep000188/gripper_right_tactile_contact_metrics.json
@@ -0,0 +1,12 @@
+{
+  "contact_time": 25.566666666666666,
+  "contact_ratio": 0.7541789577187807,
+  "avg_contact_area": 668.6883963494133,
+  "contact_entropy": 0.4896005777782326,
+  "total_frames": 1017,
+  "fps": 30.0,
+  "reference_frame_count": 0,
+  "dataset_name": "dag911262r000646_lerobot_0326_220254",
+  "episode_index": 188,
+  "sensor": "gripper_right_tactile"
+}
\ No newline at end of file
diff --git a/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-07/outputs_tactile/tactile_cache/dag911262r000646_lerobot_0326_220254_0e3ad88a/episodes/ep000189/gripper_left_tactile_force_metrics.json b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-07/outputs_tactile/tactile_cache/dag911262r000646_lerobot_0326_220254_0e3ad88a/episodes/ep000189/gripper_left_tactile_force_metrics.json
new file mode 100644
index 0000000000000000000000000000000000000000..1de09cc879bdc34bbd3c2fc8c492a60fe2c1a5d5
--- /dev/null
+++ b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-07/outputs_tactile/tactile_cache/dag911262r000646_lerobot_0326_220254_0e3ad88a/episodes/ep000189/gripper_left_tactile_force_metrics.json
@@ -0,0 +1,9 @@
+{
+  "depth_peak": 0.003928098361939192,
+  "shear_peak": 0.0036373448092490435,
+  "force_magnitude_peak": 0.0053188372403383255,
+  "reference_frame_count": 0,
+  "dataset_name": "dag911262r000646_lerobot_0326_220254",
+  "episode_index": 189,
+  "sensor": "gripper_left_tactile"
+}
\ No newline at end of file
diff --git a/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-07/outputs_tactile/tactile_cache/dag911262r000646_lerobot_0326_220254_0e3ad88a/episodes/ep000192/gripper_left_tactile_contact_metrics.json b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-07/outputs_tactile/tactile_cache/dag911262r000646_lerobot_0326_220254_0e3ad88a/episodes/ep000192/gripper_left_tactile_contact_metrics.json
new file mode 100644
index 0000000000000000000000000000000000000000..9db7bfb8597e720dce0764994333368e2e6b1493
--- /dev/null
+++ b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-07/outputs_tactile/tactile_cache/dag911262r000646_lerobot_0326_220254_0e3ad88a/episodes/ep000192/gripper_left_tactile_contact_metrics.json
@@ -0,0 +1,12 @@
+{
+  "contact_time": 13.5,
+  "contact_ratio": 0.8148893360160966,
+  "avg_contact_area": 215.5037037037037,
+  "contact_entropy": 0.02479937638917719,
+  "total_frames": 497,
+  "fps": 30.0,
+  "reference_frame_count": 0,
+  "dataset_name": "dag911262r000646_lerobot_0326_220254",
+  "episode_index": 192,
+  "sensor": "gripper_left_tactile"
+}
\ No newline at end of file
diff --git a/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-07/outputs_tactile/tactile_cache/dag911262r000646_lerobot_0326_220254_0e3ad88a/episodes/ep000195/gripper_right_tactile_contact_metrics.json b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-07/outputs_tactile/tactile_cache/dag911262r000646_lerobot_0326_220254_0e3ad88a/episodes/ep000195/gripper_right_tactile_contact_metrics.json
new file mode 100644
index 0000000000000000000000000000000000000000..57042883fa085abbb3d6c038797129ec13a6361e
--- /dev/null
+++ b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-07/outputs_tactile/tactile_cache/dag911262r000646_lerobot_0326_220254_0e3ad88a/episodes/ep000195/gripper_right_tactile_contact_metrics.json
@@ -0,0 +1,12 @@
+{
+  "contact_time": 18.2,
+  "contact_ratio": 0.78,
+  "avg_contact_area": 2816.6831501831502,
+  "contact_entropy": 0.7083448992156333,
+  "total_frames": 700,
+  "fps": 30.0,
+  "reference_frame_count": 0,
+  "dataset_name": "dag911262r000646_lerobot_0326_220254",
+  "episode_index": 195,
+  "sensor": "gripper_right_tactile"
+}
\ No newline at end of file
diff --git a/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-07/outputs_tactile/tactile_cache/dag911262r000646_lerobot_0326_220254_0e3ad88a/episodes/ep000201/gripper_left_tactile_force_metrics.json b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-07/outputs_tactile/tactile_cache/dag911262r000646_lerobot_0326_220254_0e3ad88a/episodes/ep000201/gripper_left_tactile_force_metrics.json
new file mode 100644
index 0000000000000000000000000000000000000000..2732b70ea510aaf411a7b4c8db61cfcf8527174d
--- /dev/null
+++ b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-07/outputs_tactile/tactile_cache/dag911262r000646_lerobot_0326_220254_0e3ad88a/episodes/ep000201/gripper_left_tactile_force_metrics.json
@@ -0,0 +1,9 @@
+{
+  "depth_peak": 0.0016782848397269845,
+  "shear_peak": 0.0026585557498037815,
+  "force_magnitude_peak": 0.0026710238307714462,
+  "reference_frame_count": 0,
+  "dataset_name": "dag911262r000646_lerobot_0326_220254",
+  "episode_index": 201,
+  "sensor": "gripper_left_tactile"
+}
\ No newline at end of file
diff --git a/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-07/outputs_tactile/tactile_cache/dag911262r000646_lerobot_0326_220254_0e3ad88a/episodes/ep000201/gripper_right_tactile_contact_metrics.json b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-07/outputs_tactile/tactile_cache/dag911262r000646_lerobot_0326_220254_0e3ad88a/episodes/ep000201/gripper_right_tactile_contact_metrics.json
new file mode 100644
index 0000000000000000000000000000000000000000..1a27964e60e4bdd07be0bbc0c95c7a58bcfa907a
--- /dev/null
+++ b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-07/outputs_tactile/tactile_cache/dag911262r000646_lerobot_0326_220254_0e3ad88a/episodes/ep000201/gripper_right_tactile_contact_metrics.json
@@ -0,0 +1,12 @@
+{
+  "contact_time": 11.7,
+  "contact_ratio": 0.823943661971831,
+  "avg_contact_area": 650.5868945868946,
+  "contact_entropy": 0.04400403266428421,
+  "total_frames": 426,
+  "fps": 30.0,
+  "reference_frame_count": 0,
+  "dataset_name": "dag911262r000646_lerobot_0326_220254",
+  "episode_index": 201,
+  "sensor": "gripper_right_tactile"
+}
\ No newline at end of file
diff --git a/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-07/outputs_tactile/tactile_cache/dag911262r000646_lerobot_0326_220254_0e3ad88a/episodes/ep000205/gripper_left_tactile_force_metrics.json b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-07/outputs_tactile/tactile_cache/dag911262r000646_lerobot_0326_220254_0e3ad88a/episodes/ep000205/gripper_left_tactile_force_metrics.json
new file mode 100644
index 0000000000000000000000000000000000000000..18f182377a8c7d4d130602176ba2fba97d11295b
--- /dev/null
+++ b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-07/outputs_tactile/tactile_cache/dag911262r000646_lerobot_0326_220254_0e3ad88a/episodes/ep000205/gripper_left_tactile_force_metrics.json
@@ -0,0 +1,9 @@
+{
+  "depth_peak": 0.001830400200560689,
+  "shear_peak": 0.002943206811323762,
+  "force_magnitude_peak": 0.0029763432685285807,
+  "reference_frame_count": 0,
+  "dataset_name": "dag911262r000646_lerobot_0326_220254",
+  "episode_index": 205,
+  "sensor": "gripper_left_tactile"
+}
\ No newline at end of file
diff --git a/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-07/outputs_tactile/tactile_cache/dag911262r000646_lerobot_0326_220254_0e3ad88a/episodes/ep000206/gripper_right_tactile_contact_metrics.json b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-07/outputs_tactile/tactile_cache/dag911262r000646_lerobot_0326_220254_0e3ad88a/episodes/ep000206/gripper_right_tactile_contact_metrics.json
new file mode 100644
index 0000000000000000000000000000000000000000..6d3e87a350d6e0f76cd45b188d5f8e4e95c3d14d
--- /dev/null
+++ b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-07/outputs_tactile/tactile_cache/dag911262r000646_lerobot_0326_220254_0e3ad88a/episodes/ep000206/gripper_right_tactile_contact_metrics.json
@@ -0,0 +1,12 @@
+{
+  "contact_time": 20.933333333333334,
+  "contact_ratio": 0.784019975031211,
+  "avg_contact_area": 1043.281847133758,
+  "contact_entropy": 0.5055549888054673,
+  "total_frames": 801,
+  "fps": 30.0,
+  "reference_frame_count": 0,
+  "dataset_name": "dag911262r000646_lerobot_0326_220254",
+  "episode_index": 206,
+  "sensor": "gripper_right_tactile"
+}
\ No newline at end of file
diff --git a/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-07/outputs_tactile/tactile_cache/dag911262r000646_lerobot_0326_220254_0e3ad88a/episodes/ep000208/gripper_right_tactile_force_metrics.json b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-07/outputs_tactile/tactile_cache/dag911262r000646_lerobot_0326_220254_0e3ad88a/episodes/ep000208/gripper_right_tactile_force_metrics.json
new file mode 100644
index 0000000000000000000000000000000000000000..a818efca429968af9e816f36b01513b6e08e37e7
--- /dev/null
+++ b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-07/outputs_tactile/tactile_cache/dag911262r000646_lerobot_0326_220254_0e3ad88a/episodes/ep000208/gripper_right_tactile_force_metrics.json
@@ -0,0 +1,9 @@
+{
+  "depth_peak": 0.008428692817687988,
+  "shear_peak": 0.006720367353409529,
+  "force_magnitude_peak": 0.01056011114269495,
+  "reference_frame_count": 0,
+  "dataset_name": "dag911262r000646_lerobot_0326_220254",
+  "episode_index": 208,
+  "sensor": "gripper_right_tactile"
+}
\ No newline at end of file
diff --git a/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-07/outputs_tactile/tactile_cache/dag911262r000646_lerobot_0326_220254_0e3ad88a/episodes/ep000213/gripper_right_tactile_force_metrics.json b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-07/outputs_tactile/tactile_cache/dag911262r000646_lerobot_0326_220254_0e3ad88a/episodes/ep000213/gripper_right_tactile_force_metrics.json
new file mode 100644
index 0000000000000000000000000000000000000000..838a6b6e75f1dd3661677973fcbaad86fb8eb56f
--- /dev/null
+++ b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-07/outputs_tactile/tactile_cache/dag911262r000646_lerobot_0326_220254_0e3ad88a/episodes/ep000213/gripper_right_tactile_force_metrics.json
@@ -0,0 +1,9 @@
+{
+  "depth_peak": 0.0042509292252361774,
+  "shear_peak": 0.0028355915565043688,
+  "force_magnitude_peak": 0.004926090128719807,
+  "reference_frame_count": 0,
+  "dataset_name": "dag911262r000646_lerobot_0326_220254",
+  "episode_index": 213,
+  "sensor": "gripper_right_tactile"
+}
\ No newline at end of file
diff --git a/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-07/outputs_tactile/tactile_cache/dag911262r000646_lerobot_0326_220254_0e3ad88a/episodes/ep000214/gripper_left_tactile_contact_metrics.json b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-07/outputs_tactile/tactile_cache/dag911262r000646_lerobot_0326_220254_0e3ad88a/episodes/ep000214/gripper_left_tactile_contact_metrics.json
new file mode 100644
index 0000000000000000000000000000000000000000..a035bbcd99ca02784c4e4e2000de1dd7f201d155
--- /dev/null
+++ b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-07/outputs_tactile/tactile_cache/dag911262r000646_lerobot_0326_220254_0e3ad88a/episodes/ep000214/gripper_left_tactile_contact_metrics.json
@@ -0,0 +1,12 @@
+{
+  "contact_time": 14.333333333333334,
+  "contact_ratio": 0.8464566929133859,
+  "avg_contact_area": 412.11162790697676,
+  "contact_entropy": 0.0008783734597833382,
+  "total_frames": 508,
+  "fps": 30.0,
+  "reference_frame_count": 0,
+  "dataset_name": "dag911262r000646_lerobot_0326_220254",
+  "episode_index": 214,
+  "sensor": "gripper_left_tactile"
+}
\ No newline at end of file
diff --git a/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-07/outputs_tactile/tactile_cache/dag911262r000646_lerobot_0326_220254_0e3ad88a/episodes/ep000214/gripper_right_tactile_force_metrics.json b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-07/outputs_tactile/tactile_cache/dag911262r000646_lerobot_0326_220254_0e3ad88a/episodes/ep000214/gripper_right_tactile_force_metrics.json
new file mode 100644
index 0000000000000000000000000000000000000000..7b8965eebebd0357aea67a418df46a5545b48bc1
--- /dev/null
+++ b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-07/outputs_tactile/tactile_cache/dag911262r000646_lerobot_0326_220254_0e3ad88a/episodes/ep000214/gripper_right_tactile_force_metrics.json
@@ -0,0 +1,9 @@
+{
+  "depth_peak": 0.0018166108056902885,
+  "shear_peak": 0.003068455494940281,
+  "force_magnitude_peak": 0.0034383879974484444,
+  "reference_frame_count": 0,
+  "dataset_name": "dag911262r000646_lerobot_0326_220254",
+  "episode_index": 214,
+  "sensor": "gripper_right_tactile"
+}
\ No newline at end of file
diff --git a/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-07/outputs_tactile/tactile_cache/dag911262r000646_lerobot_0326_220254_0e3ad88a/episodes/ep000216/gripper_left_tactile_force_metrics.json b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-07/outputs_tactile/tactile_cache/dag911262r000646_lerobot_0326_220254_0e3ad88a/episodes/ep000216/gripper_left_tactile_force_metrics.json
new file mode 100644
index 0000000000000000000000000000000000000000..b55130136181561b3f69240cdca4c05de2c1a78e
--- /dev/null
+++ b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-07/outputs_tactile/tactile_cache/dag911262r000646_lerobot_0326_220254_0e3ad88a/episodes/ep000216/gripper_left_tactile_force_metrics.json
@@ -0,0 +1,9 @@
+{
+  "depth_peak": 0.00337735447101295,
+  "shear_peak": 0.0025869060773402452,
+  "force_magnitude_peak": 0.0036439665127545595,
+  "reference_frame_count": 0,
+  "dataset_name": "dag911262r000646_lerobot_0326_220254",
+  "episode_index": 216,
+  "sensor": "gripper_left_tactile"
+}
\ No newline at end of file
diff --git a/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-07/outputs_tactile/tactile_cache/dag911262r000646_lerobot_0326_220254_0e3ad88a/episodes/ep000216/gripper_right_tactile_contact_metrics.json b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-07/outputs_tactile/tactile_cache/dag911262r000646_lerobot_0326_220254_0e3ad88a/episodes/ep000216/gripper_right_tactile_contact_metrics.json
new file mode 100644
index 0000000000000000000000000000000000000000..a2dba6dcc0442b31be1a5c14d99dff9a9ff6f9e3
--- /dev/null
+++ b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-07/outputs_tactile/tactile_cache/dag911262r000646_lerobot_0326_220254_0e3ad88a/episodes/ep000216/gripper_right_tactile_contact_metrics.json
@@ -0,0 +1,12 @@
+{
+  "contact_time": 19.833333333333332,
+  "contact_ratio": 0.7849604221635884,
+  "avg_contact_area": 194.8672268907563,
+  "contact_entropy": 0.0194245230298807,
+  "total_frames": 758,
+  "fps": 30.0,
+  "reference_frame_count": 0,
+  "dataset_name": "dag911262r000646_lerobot_0326_220254",
+  "episode_index": 216,
+  "sensor": "gripper_right_tactile"
+}
\ No newline at end of file
diff --git a/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-07/outputs_tactile/tactile_cache/dag911262r000646_lerobot_0326_220254_0e3ad88a/episodes/ep000217/gripper_left_tactile_contact_metrics.json b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-07/outputs_tactile/tactile_cache/dag911262r000646_lerobot_0326_220254_0e3ad88a/episodes/ep000217/gripper_left_tactile_contact_metrics.json
new file mode 100644
index 0000000000000000000000000000000000000000..44c105e4a4b0feea41c011cd1a310eaadcaa0a5f
--- /dev/null
+++ b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-07/outputs_tactile/tactile_cache/dag911262r000646_lerobot_0326_220254_0e3ad88a/episodes/ep000217/gripper_left_tactile_contact_metrics.json
@@ -0,0 +1,12 @@
+{
+  "contact_time": 20.3,
+  "contact_ratio": 0.9076005961251863,
+  "avg_contact_area": 904.7257799671593,
+  "contact_entropy": 0.15452574980713651,
+  "total_frames": 671,
+  "fps": 30.0,
+  "reference_frame_count": 0,
+  "dataset_name": "dag911262r000646_lerobot_0326_220254",
+  "episode_index": 217,
+  "sensor": "gripper_left_tactile"
+}
\ No newline at end of file
diff --git a/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-07/outputs_tactile/tactile_cache/dag911262r000646_lerobot_0326_220254_0e3ad88a/episodes/ep000219/gripper_right_tactile_force_metrics.json b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-07/outputs_tactile/tactile_cache/dag911262r000646_lerobot_0326_220254_0e3ad88a/episodes/ep000219/gripper_right_tactile_force_metrics.json
new file mode 100644
index 0000000000000000000000000000000000000000..753666d9dd9551374867cbe6f91d00ccbf194313
--- /dev/null
+++ b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-07/outputs_tactile/tactile_cache/dag911262r000646_lerobot_0326_220254_0e3ad88a/episodes/ep000219/gripper_right_tactile_force_metrics.json
@@ -0,0 +1,9 @@
+{
+  "depth_peak": 0.0016193429473787546,
+  "shear_peak": 0.003299419302493334,
+  "force_magnitude_peak": 0.0034157242625951767,
+  "reference_frame_count": 0,
+  "dataset_name": "dag911262r000646_lerobot_0326_220254",
+  "episode_index": 219,
+  "sensor": "gripper_right_tactile"
+}
\ No newline at end of file
diff --git a/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-07/outputs_tactile/tactile_cache/dag911262r000646_lerobot_0326_220254_0e3ad88a/episodes/ep000221/gripper_right_tactile_force_metrics.json b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-07/outputs_tactile/tactile_cache/dag911262r000646_lerobot_0326_220254_0e3ad88a/episodes/ep000221/gripper_right_tactile_force_metrics.json
new file mode 100644
index 0000000000000000000000000000000000000000..0c8e89cb0154612ab9a9ad65859bca2dfe20ed99
--- /dev/null
+++ b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-07/outputs_tactile/tactile_cache/dag911262r000646_lerobot_0326_220254_0e3ad88a/episodes/ep000221/gripper_right_tactile_force_metrics.json
@@ -0,0 +1,9 @@
+{
+  "depth_peak": 0.005657173227518797,
+  "shear_peak": 0.008747612126171589,
+  "force_magnitude_peak": 0.009417719207704067,
+  "reference_frame_count": 0,
+  "dataset_name": "dag911262r000646_lerobot_0326_220254",
+  "episode_index": 221,
+  "sensor": "gripper_right_tactile"
+}
\ No newline at end of file
diff --git a/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-07/outputs_tactile/tactile_cache/dag911262r000646_lerobot_0326_220254_0e3ad88a/episodes/ep000223/gripper_left_tactile_force_metrics.json b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-07/outputs_tactile/tactile_cache/dag911262r000646_lerobot_0326_220254_0e3ad88a/episodes/ep000223/gripper_left_tactile_force_metrics.json
new file mode 100644
index 0000000000000000000000000000000000000000..40351a96f0ce25977d79316f0c65dc8638602077
--- /dev/null
+++ b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-07/outputs_tactile/tactile_cache/dag911262r000646_lerobot_0326_220254_0e3ad88a/episodes/ep000223/gripper_left_tactile_force_metrics.json
@@ -0,0 +1,9 @@
+{
+  "depth_peak": 0.014472750946879387,
+  "shear_peak": 0.03782541677355766,
+  "force_magnitude_peak": 0.03862239792943001,
+  "reference_frame_count": 0,
+  "dataset_name": "dag911262r000646_lerobot_0326_220254",
+  "episode_index": 223,
+  "sensor": "gripper_left_tactile"
+}
\ No newline at end of file
diff --git a/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-07/outputs_tactile/tactile_cache/dag911262r000646_lerobot_0326_220254_0e3ad88a/episodes/ep000224/gripper_left_tactile_contact_metrics.json b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-07/outputs_tactile/tactile_cache/dag911262r000646_lerobot_0326_220254_0e3ad88a/episodes/ep000224/gripper_left_tactile_contact_metrics.json
new file mode 100644
index 0000000000000000000000000000000000000000..f470a4221b055b03a52f9328c88d4b1282400b71
--- /dev/null
+++ b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-07/outputs_tactile/tactile_cache/dag911262r000646_lerobot_0326_220254_0e3ad88a/episodes/ep000224/gripper_left_tactile_contact_metrics.json
@@ -0,0 +1,12 @@
+{
+  "contact_time": 40.03333333333333,
+  "contact_ratio": 0.9615692554043235,
+  "avg_contact_area": 1445.111573688593,
+  "contact_entropy": 0.5714095474981516,
+  "total_frames": 1249,
+  "fps": 30.0,
+  "reference_frame_count": 0,
+  "dataset_name": "dag911262r000646_lerobot_0326_220254",
+  "episode_index": 224,
+  "sensor": "gripper_left_tactile"
+}
\ No newline at end of file
diff --git a/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-07/outputs_tactile/tactile_cache/dag911262r000646_lerobot_0326_220254_0e3ad88a/episodes/ep000227/gripper_left_tactile_contact_metrics.json b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-07/outputs_tactile/tactile_cache/dag911262r000646_lerobot_0326_220254_0e3ad88a/episodes/ep000227/gripper_left_tactile_contact_metrics.json
new file mode 100644
index 0000000000000000000000000000000000000000..aa958cdd75a735edd905ff7806f99eb9beb6fa71
--- /dev/null
+++ b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-07/outputs_tactile/tactile_cache/dag911262r000646_lerobot_0326_220254_0e3ad88a/episodes/ep000227/gripper_left_tactile_contact_metrics.json
@@ -0,0 +1,12 @@
+{
+  "contact_time": 38.833333333333336,
+  "contact_ratio": 0.9510204081632653,
+  "avg_contact_area": 1846.5484978540771,
+  "contact_entropy": 0.7194770645621523,
+  "total_frames": 1225,
+  "fps": 30.0,
+  "reference_frame_count": 0,
+  "dataset_name": "dag911262r000646_lerobot_0326_220254",
+  "episode_index": 227,
+  "sensor": "gripper_left_tactile"
+}
\ No newline at end of file
diff --git a/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-07/outputs_tactile/tactile_cache/dag911262r000646_lerobot_0326_220254_0e3ad88a/episodes/ep000228/gripper_right_tactile_contact_metrics.json b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-07/outputs_tactile/tactile_cache/dag911262r000646_lerobot_0326_220254_0e3ad88a/episodes/ep000228/gripper_right_tactile_contact_metrics.json
new file mode 100644
index 0000000000000000000000000000000000000000..fd69d821a799e80f7bef03cfad0849118f977558
--- /dev/null
+++ b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-07/outputs_tactile/tactile_cache/dag911262r000646_lerobot_0326_220254_0e3ad88a/episodes/ep000228/gripper_right_tactile_contact_metrics.json
@@ -0,0 +1,12 @@
+{
+  "contact_time": 18.433333333333334,
+  "contact_ratio": 0.5302013422818792,
+  "avg_contact_area": 268.46835443037975,
+  "contact_entropy": 0.11236998908973783,
+  "total_frames": 1043,
+  "fps": 30.0,
+  "reference_frame_count": 0,
+  "dataset_name": "dag911262r000646_lerobot_0326_220254",
+  "episode_index": 228,
+  "sensor": "gripper_right_tactile"
+}
\ No newline at end of file
diff --git a/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-07/outputs_tactile/tactile_cache/dag911262r000646_lerobot_0326_220254_0e3ad88a/episodes/ep000229/gripper_left_tactile_force_metrics.json b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-07/outputs_tactile/tactile_cache/dag911262r000646_lerobot_0326_220254_0e3ad88a/episodes/ep000229/gripper_left_tactile_force_metrics.json
new file mode 100644
index 0000000000000000000000000000000000000000..1f5525dbf02d2adc2f8c65786d3d95f20b93a0dd
--- /dev/null
+++ b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-07/outputs_tactile/tactile_cache/dag911262r000646_lerobot_0326_220254_0e3ad88a/episodes/ep000229/gripper_left_tactile_force_metrics.json
@@ -0,0 +1,9 @@
+{
+  "depth_peak": 0.004656530451029539,
+  "shear_peak": 0.004943333566188812,
+  "force_magnitude_peak": 0.004953811876475811,
+  "reference_frame_count": 0,
+  "dataset_name": "dag911262r000646_lerobot_0326_220254",
+  "episode_index": 229,
+  "sensor": "gripper_left_tactile"
+}
\ No newline at end of file
diff --git a/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-07/outputs_tactile/tactile_cache/dag911262r000646_lerobot_0326_220254_0e3ad88a/episodes/ep000232/gripper_left_tactile_contact_metrics.json b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-07/outputs_tactile/tactile_cache/dag911262r000646_lerobot_0326_220254_0e3ad88a/episodes/ep000232/gripper_left_tactile_contact_metrics.json
new file mode 100644
index 0000000000000000000000000000000000000000..b9c795ae156cbaa7ec4acda2ec180524f32248d2
--- /dev/null
+++ b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-07/outputs_tactile/tactile_cache/dag911262r000646_lerobot_0326_220254_0e3ad88a/episodes/ep000232/gripper_left_tactile_contact_metrics.json
@@ -0,0 +1,12 @@
+{
+  "contact_time": 30.366666666666667,
+  "contact_ratio": 0.9420889348500517,
+  "avg_contact_area": 1522.582875960483,
+  "contact_entropy": 0.3651948039219307,
+  "total_frames": 967,
+  "fps": 30.0,
+  "reference_frame_count": 0,
+  "dataset_name": "dag911262r000646_lerobot_0326_220254",
+  "episode_index": 232,
+  "sensor": "gripper_left_tactile"
+}
\ No newline at end of file
diff --git a/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-07/outputs_tactile/tactile_cache/dag911262r000646_lerobot_0326_220254_0e3ad88a/episodes/ep000235/gripper_right_tactile_contact_metrics.json b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-07/outputs_tactile/tactile_cache/dag911262r000646_lerobot_0326_220254_0e3ad88a/episodes/ep000235/gripper_right_tactile_contact_metrics.json
new file mode 100644
index 0000000000000000000000000000000000000000..1c779f3d216b9b6d396a1d88d0373f35d88565f1
--- /dev/null
+++ b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-07/outputs_tactile/tactile_cache/dag911262r000646_lerobot_0326_220254_0e3ad88a/episodes/ep000235/gripper_right_tactile_contact_metrics.json
@@ -0,0 +1,12 @@
+{
+  "contact_time": 37.46666666666667,
+  "contact_ratio": 0.8338278931750742,
+  "avg_contact_area": 902.2339857651245,
+  "contact_entropy": 0.6122910621710835,
+  "total_frames": 1348,
+  "fps": 30.0,
+  "reference_frame_count": 0,
+  "dataset_name": "dag911262r000646_lerobot_0326_220254",
+  "episode_index": 235,
+  "sensor": "gripper_right_tactile"
+}
\ No newline at end of file
diff --git a/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-07/outputs_tactile/tactile_cache/dag911262r000646_lerobot_0326_220254_0e3ad88a/episodes/ep000241/gripper_left_tactile_force_metrics.json b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-07/outputs_tactile/tactile_cache/dag911262r000646_lerobot_0326_220254_0e3ad88a/episodes/ep000241/gripper_left_tactile_force_metrics.json
new file mode 100644
index 0000000000000000000000000000000000000000..a03cedb0918e1045b56389de54657d6e440bab50
--- /dev/null
+++ b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-07/outputs_tactile/tactile_cache/dag911262r000646_lerobot_0326_220254_0e3ad88a/episodes/ep000241/gripper_left_tactile_force_metrics.json
@@ -0,0 +1,9 @@
+{
+  "depth_peak": 0.011996994726359844,
+  "shear_peak": 0.004840085748583078,
+  "force_magnitude_peak": 0.012790161184966564,
+  "reference_frame_count": 0,
+  "dataset_name": "dag911262r000646_lerobot_0326_220254",
+  "episode_index": 241,
+  "sensor": "gripper_left_tactile"
+}
\ No newline at end of file
diff --git a/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-07/outputs_tactile/tactile_cache/dag911262r000646_lerobot_0326_220254_0e3ad88a/episodes/ep000241/gripper_right_tactile_contact_metrics.json b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-07/outputs_tactile/tactile_cache/dag911262r000646_lerobot_0326_220254_0e3ad88a/episodes/ep000241/gripper_right_tactile_contact_metrics.json
new file mode 100644
index 0000000000000000000000000000000000000000..8c8f4e4be412b9226406e5b734e519663d73a71a
--- /dev/null
+++ b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-07/outputs_tactile/tactile_cache/dag911262r000646_lerobot_0326_220254_0e3ad88a/episodes/ep000241/gripper_right_tactile_contact_metrics.json
@@ -0,0 +1,12 @@
+{
+  "contact_time": 34.166666666666664,
+  "contact_ratio": 0.9184587813620072,
+  "avg_contact_area": 1827.759024390244,
+  "contact_entropy": 0.6843570812535187,
+  "total_frames": 1116,
+  "fps": 30.0,
+  "reference_frame_count": 0,
+  "dataset_name": "dag911262r000646_lerobot_0326_220254",
+  "episode_index": 241,
+  "sensor": "gripper_right_tactile"
+}
\ No newline at end of file
diff --git a/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-07/outputs_tactile/tactile_cache/dag911262r000646_lerobot_0326_220254_0e3ad88a/episodes/ep000245/gripper_left_tactile_force_metrics.json b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-07/outputs_tactile/tactile_cache/dag911262r000646_lerobot_0326_220254_0e3ad88a/episodes/ep000245/gripper_left_tactile_force_metrics.json
new file mode 100644
index 0000000000000000000000000000000000000000..8626641df4a9436e29649568bacd1c936ad9d1e4
--- /dev/null
+++ b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-07/outputs_tactile/tactile_cache/dag911262r000646_lerobot_0326_220254_0e3ad88a/episodes/ep000245/gripper_left_tactile_force_metrics.json
@@ -0,0 +1,9 @@
+{
+  "depth_peak": 0.006825302727520466,
+  "shear_peak": 0.004129084758460522,
+  "force_magnitude_peak": 0.006862139794975519,
+  "reference_frame_count": 0,
+  "dataset_name": "dag911262r000646_lerobot_0326_220254",
+  "episode_index": 245,
+  "sensor": "gripper_left_tactile"
+}
\ No newline at end of file
diff --git a/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-07/outputs_tactile/tactile_cache/dag911262r000646_lerobot_0326_220254_0e3ad88a/episodes/ep000246/gripper_right_tactile_contact_metrics.json b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-07/outputs_tactile/tactile_cache/dag911262r000646_lerobot_0326_220254_0e3ad88a/episodes/ep000246/gripper_right_tactile_contact_metrics.json
new file mode 100644
index 0000000000000000000000000000000000000000..8ef90b5911f69a397f16b0798d0a6142b8f3a648
--- /dev/null
+++ b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-07/outputs_tactile/tactile_cache/dag911262r000646_lerobot_0326_220254_0e3ad88a/episodes/ep000246/gripper_right_tactile_contact_metrics.json
@@ -0,0 +1,12 @@
+{
+  "contact_time": 29.866666666666667,
+  "contact_ratio": 0.7580372250423012,
+  "avg_contact_area": 2327.7321428571427,
+  "contact_entropy": 0.31854560270863996,
+  "total_frames": 1182,
+  "fps": 30.0,
+  "reference_frame_count": 0,
+  "dataset_name": "dag911262r000646_lerobot_0326_220254",
+  "episode_index": 246,
+  "sensor": "gripper_right_tactile"
+}
\ No newline at end of file
diff --git a/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-07/outputs_tactile/tactile_cache/dag911262r000646_lerobot_0326_220254_0e3ad88a/episodes/ep000248/gripper_right_tactile_force_metrics.json b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-07/outputs_tactile/tactile_cache/dag911262r000646_lerobot_0326_220254_0e3ad88a/episodes/ep000248/gripper_right_tactile_force_metrics.json
new file mode 100644
index 0000000000000000000000000000000000000000..eb365b3814ba6887c31a0152de4084045222795d
--- /dev/null
+++ b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-07/outputs_tactile/tactile_cache/dag911262r000646_lerobot_0326_220254_0e3ad88a/episodes/ep000248/gripper_right_tactile_force_metrics.json
@@ -0,0 +1,9 @@
+{
+  "depth_peak": 0.002282257191836834,
+  "shear_peak": 0.0038841417990624905,
+  "force_magnitude_peak": 0.004490540362894535,
+  "reference_frame_count": 0,
+  "dataset_name": "dag911262r000646_lerobot_0326_220254",
+  "episode_index": 248,
+  "sensor": "gripper_right_tactile"
+}
\ No newline at end of file
diff --git a/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-07/outputs_tactile/tactile_cache/dag911262r000646_lerobot_0326_220254_0e3ad88a/episodes/ep000253/gripper_right_tactile_force_metrics.json b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-07/outputs_tactile/tactile_cache/dag911262r000646_lerobot_0326_220254_0e3ad88a/episodes/ep000253/gripper_right_tactile_force_metrics.json
new file mode 100644
index 0000000000000000000000000000000000000000..dd56f95a0a917da2610ea0cc3b7b986121c5e426
--- /dev/null
+++ b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-07/outputs_tactile/tactile_cache/dag911262r000646_lerobot_0326_220254_0e3ad88a/episodes/ep000253/gripper_right_tactile_force_metrics.json
@@ -0,0 +1,9 @@
+{
+  "depth_peak": 0.00842304527759552,
+  "shear_peak": 0.012377497740089893,
+  "force_magnitude_peak": 0.014927737414836884,
+  "reference_frame_count": 0,
+  "dataset_name": "dag911262r000646_lerobot_0326_220254",
+  "episode_index": 253,
+  "sensor": "gripper_right_tactile"
+}
\ No newline at end of file
diff --git a/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-07/outputs_tactile/tactile_cache/dag911262r000646_lerobot_0326_220254_0e3ad88a/episodes/ep000254/gripper_left_tactile_contact_metrics.json b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-07/outputs_tactile/tactile_cache/dag911262r000646_lerobot_0326_220254_0e3ad88a/episodes/ep000254/gripper_left_tactile_contact_metrics.json
new file mode 100644
index 0000000000000000000000000000000000000000..d075a3a2e065247f0ddc7b79e263f1ddf7ac6ee3
--- /dev/null
+++ b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-07/outputs_tactile/tactile_cache/dag911262r000646_lerobot_0326_220254_0e3ad88a/episodes/ep000254/gripper_left_tactile_contact_metrics.json
@@ -0,0 +1,12 @@
+{
+  "contact_time": 40.86666666666667,
+  "contact_ratio": 0.9623233908948194,
+  "avg_contact_area": 2217.6500815660684,
+  "contact_entropy": 0.3839446584425268,
+  "total_frames": 1274,
+  "fps": 30.0,
+  "reference_frame_count": 0,
+  "dataset_name": "dag911262r000646_lerobot_0326_220254",
+  "episode_index": 254,
+  "sensor": "gripper_left_tactile"
+}
\ No newline at end of file
diff --git a/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-07/outputs_tactile/tactile_cache/dag911262r000646_lerobot_0326_220254_0e3ad88a/episodes/ep000254/gripper_right_tactile_force_metrics.json b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-07/outputs_tactile/tactile_cache/dag911262r000646_lerobot_0326_220254_0e3ad88a/episodes/ep000254/gripper_right_tactile_force_metrics.json
new file mode 100644
index 0000000000000000000000000000000000000000..98c3c9a3e835a69def9e11c97973684b6f0d83d5
--- /dev/null
+++ b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-07/outputs_tactile/tactile_cache/dag911262r000646_lerobot_0326_220254_0e3ad88a/episodes/ep000254/gripper_right_tactile_force_metrics.json
@@ -0,0 +1,9 @@
+{
+  "depth_peak": 0.003901833901181817,
+  "shear_peak": 0.00707663968205452,
+  "force_magnitude_peak": 0.007595831993967295,
+  "reference_frame_count": 0,
+  "dataset_name": "dag911262r000646_lerobot_0326_220254",
+  "episode_index": 254,
+  "sensor": "gripper_right_tactile"
+}
\ No newline at end of file
diff --git a/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-07/outputs_tactile/tactile_cache/dag911262r000646_lerobot_0326_220254_0e3ad88a/episodes/ep000256/gripper_left_tactile_force_metrics.json b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-07/outputs_tactile/tactile_cache/dag911262r000646_lerobot_0326_220254_0e3ad88a/episodes/ep000256/gripper_left_tactile_force_metrics.json
new file mode 100644
index 0000000000000000000000000000000000000000..b04208dbf1738783ea6102fdd4d786aca5dd1457
--- /dev/null
+++ b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-07/outputs_tactile/tactile_cache/dag911262r000646_lerobot_0326_220254_0e3ad88a/episodes/ep000256/gripper_left_tactile_force_metrics.json
@@ -0,0 +1,9 @@
+{
+  "depth_peak": 0.00644562765955925,
+  "shear_peak": 0.007151792291551828,
+  "force_magnitude_peak": 0.00958721712231636,
+  "reference_frame_count": 0,
+  "dataset_name": "dag911262r000646_lerobot_0326_220254",
+  "episode_index": 256,
+  "sensor": "gripper_left_tactile"
+}
\ No newline at end of file
diff --git a/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-07/outputs_tactile/tactile_cache/dag911262r000646_lerobot_0326_220254_0e3ad88a/episodes/ep000256/gripper_right_tactile_contact_metrics.json b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-07/outputs_tactile/tactile_cache/dag911262r000646_lerobot_0326_220254_0e3ad88a/episodes/ep000256/gripper_right_tactile_contact_metrics.json
new file mode 100644
index 0000000000000000000000000000000000000000..187b1b4b5b75b40ff21724f43763f5d2a4070de6
--- /dev/null
+++ b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-07/outputs_tactile/tactile_cache/dag911262r000646_lerobot_0326_220254_0e3ad88a/episodes/ep000256/gripper_right_tactile_contact_metrics.json
@@ -0,0 +1,12 @@
+{
+  "contact_time": 25.666666666666668,
+  "contact_ratio": 0.6899641577060932,
+  "avg_contact_area": 877.7389610389611,
+  "contact_entropy": 0.4794706964905295,
+  "total_frames": 1116,
+  "fps": 30.0,
+  "reference_frame_count": 0,
+  "dataset_name": "dag911262r000646_lerobot_0326_220254",
+  "episode_index": 256,
+  "sensor": "gripper_right_tactile"
+}
\ No newline at end of file
diff --git a/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-07/outputs_tactile/tactile_cache/dag911262r000646_lerobot_0326_220254_0e3ad88a/episodes/ep000257/gripper_left_tactile_contact_metrics.json b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-07/outputs_tactile/tactile_cache/dag911262r000646_lerobot_0326_220254_0e3ad88a/episodes/ep000257/gripper_left_tactile_contact_metrics.json
new file mode 100644
index 0000000000000000000000000000000000000000..8d59ef871a68490057a189145bda90ffab0441f2
--- /dev/null
+++ b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-07/outputs_tactile/tactile_cache/dag911262r000646_lerobot_0326_220254_0e3ad88a/episodes/ep000257/gripper_left_tactile_contact_metrics.json
@@ -0,0 +1,12 @@
+{
+  "contact_time": 46.8,
+  "contact_ratio": 0.9316522893165229,
+  "avg_contact_area": 1725.1545584045584,
+  "contact_entropy": 0.5484054356454761,
+  "total_frames": 1507,
+  "fps": 30.0,
+  "reference_frame_count": 0,
+  "dataset_name": "dag911262r000646_lerobot_0326_220254",
+  "episode_index": 257,
+  "sensor": "gripper_left_tactile"
+}
\ No newline at end of file
diff --git a/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-07/outputs_tactile/tactile_cache/dag911262r000646_lerobot_0326_220254_0e3ad88a/episodes/ep000259/gripper_right_tactile_force_metrics.json b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-07/outputs_tactile/tactile_cache/dag911262r000646_lerobot_0326_220254_0e3ad88a/episodes/ep000259/gripper_right_tactile_force_metrics.json
new file mode 100644
index 0000000000000000000000000000000000000000..012e0af17da737fbb14c6c3356928928c1b43299
--- /dev/null
+++ b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-07/outputs_tactile/tactile_cache/dag911262r000646_lerobot_0326_220254_0e3ad88a/episodes/ep000259/gripper_right_tactile_force_metrics.json
@@ -0,0 +1,9 @@
+{
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+  "force_magnitude_peak": 0.00856207124888897,
+  "reference_frame_count": 0,
+  "dataset_name": "dag911262r000646_lerobot_0326_220254",
+  "episode_index": 259,
+  "sensor": "gripper_right_tactile"
+}
\ No newline at end of file
diff --git a/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-07/outputs_tactile/tactile_cache/dag911262r000646_lerobot_0326_220254_0e3ad88a/episodes/ep000261/gripper_right_tactile_force_metrics.json b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-07/outputs_tactile/tactile_cache/dag911262r000646_lerobot_0326_220254_0e3ad88a/episodes/ep000261/gripper_right_tactile_force_metrics.json
new file mode 100644
index 0000000000000000000000000000000000000000..026b3c61628ec45968c0f690afeb9c3402484f67
--- /dev/null
+++ b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-07/outputs_tactile/tactile_cache/dag911262r000646_lerobot_0326_220254_0e3ad88a/episodes/ep000261/gripper_right_tactile_force_metrics.json
@@ -0,0 +1,9 @@
+{
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+  "force_magnitude_peak": 0.004872648976743221,
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+  "dataset_name": "dag911262r000646_lerobot_0326_220254",
+  "episode_index": 261,
+  "sensor": "gripper_right_tactile"
+}
\ No newline at end of file
diff --git a/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-07/outputs_tactile/tactile_cache/dag911262r000646_lerobot_0326_220254_0e3ad88a/episodes/ep000263/gripper_left_tactile_force_metrics.json b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-07/outputs_tactile/tactile_cache/dag911262r000646_lerobot_0326_220254_0e3ad88a/episodes/ep000263/gripper_left_tactile_force_metrics.json
new file mode 100644
index 0000000000000000000000000000000000000000..532dcc956edd5d5426aaa2d30e2f762374872c1b
--- /dev/null
+++ b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-07/outputs_tactile/tactile_cache/dag911262r000646_lerobot_0326_220254_0e3ad88a/episodes/ep000263/gripper_left_tactile_force_metrics.json
@@ -0,0 +1,9 @@
+{
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+  "force_magnitude_peak": 0.011656858026981354,
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+  "dataset_name": "dag911262r000646_lerobot_0326_220254",
+  "episode_index": 263,
+  "sensor": "gripper_left_tactile"
+}
\ No newline at end of file
diff --git a/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-07/outputs_tactile/tactile_cache/dag911262r000646_lerobot_0326_220254_0e3ad88a/episodes/ep000264/gripper_left_tactile_contact_metrics.json b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-07/outputs_tactile/tactile_cache/dag911262r000646_lerobot_0326_220254_0e3ad88a/episodes/ep000264/gripper_left_tactile_contact_metrics.json
new file mode 100644
index 0000000000000000000000000000000000000000..a342dcc35a516116e470c0a83f9e9d1da1c48c68
--- /dev/null
+++ b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-07/outputs_tactile/tactile_cache/dag911262r000646_lerobot_0326_220254_0e3ad88a/episodes/ep000264/gripper_left_tactile_contact_metrics.json
@@ -0,0 +1,12 @@
+{
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+  "contact_ratio": 0.8851132686084142,
+  "avg_contact_area": 381.0530164533821,
+  "contact_entropy": 0.0,
+  "total_frames": 618,
+  "fps": 30.0,
+  "reference_frame_count": 0,
+  "dataset_name": "dag911262r000646_lerobot_0326_220254",
+  "episode_index": 264,
+  "sensor": "gripper_left_tactile"
+}
\ No newline at end of file
diff --git a/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-07/outputs_tactile/tactile_cache/dag911262r000646_lerobot_0326_220254_0e3ad88a/episodes/ep000267/gripper_left_tactile_contact_metrics.json b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-07/outputs_tactile/tactile_cache/dag911262r000646_lerobot_0326_220254_0e3ad88a/episodes/ep000267/gripper_left_tactile_contact_metrics.json
new file mode 100644
index 0000000000000000000000000000000000000000..54fb2b0f9c76de694b4441855db28f59f51bbfb6
--- /dev/null
+++ b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-07/outputs_tactile/tactile_cache/dag911262r000646_lerobot_0326_220254_0e3ad88a/episodes/ep000267/gripper_left_tactile_contact_metrics.json
@@ -0,0 +1,12 @@
+{
+  "contact_time": 20.366666666666667,
+  "contact_ratio": 0.8753581661891118,
+  "avg_contact_area": 1278.911620294599,
+  "contact_entropy": 0.3743735616645736,
+  "total_frames": 698,
+  "fps": 30.0,
+  "reference_frame_count": 0,
+  "dataset_name": "dag911262r000646_lerobot_0326_220254",
+  "episode_index": 267,
+  "sensor": "gripper_left_tactile"
+}
\ No newline at end of file
diff --git a/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-07/outputs_tactile/tactile_cache/dag911262r000646_lerobot_0326_220254_0e3ad88a/episodes/ep000268/gripper_right_tactile_contact_metrics.json b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-07/outputs_tactile/tactile_cache/dag911262r000646_lerobot_0326_220254_0e3ad88a/episodes/ep000268/gripper_right_tactile_contact_metrics.json
new file mode 100644
index 0000000000000000000000000000000000000000..ddbaba900981cde52861b5cdbdb7e7bb562c8aeb
--- /dev/null
+++ b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-07/outputs_tactile/tactile_cache/dag911262r000646_lerobot_0326_220254_0e3ad88a/episodes/ep000268/gripper_right_tactile_contact_metrics.json
@@ -0,0 +1,12 @@
+{
+  "contact_time": 17.0,
+  "contact_ratio": 0.6382978723404256,
+  "avg_contact_area": 133.14705882352942,
+  "contact_entropy": 0.00452860484401143,
+  "total_frames": 799,
+  "fps": 30.0,
+  "reference_frame_count": 0,
+  "dataset_name": "dag911262r000646_lerobot_0326_220254",
+  "episode_index": 268,
+  "sensor": "gripper_right_tactile"
+}
\ No newline at end of file
diff --git a/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-07/outputs_tactile/tactile_cache/dag911262r000646_lerobot_0326_220254_0e3ad88a/episodes/ep000269/gripper_left_tactile_force_metrics.json b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-07/outputs_tactile/tactile_cache/dag911262r000646_lerobot_0326_220254_0e3ad88a/episodes/ep000269/gripper_left_tactile_force_metrics.json
new file mode 100644
index 0000000000000000000000000000000000000000..33ddb2ffdb44502c57e4bc7533ad0619d55a4011
--- /dev/null
+++ b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-07/outputs_tactile/tactile_cache/dag911262r000646_lerobot_0326_220254_0e3ad88a/episodes/ep000269/gripper_left_tactile_force_metrics.json
@@ -0,0 +1,9 @@
+{
+  "depth_peak": 0.007853465154767036,
+  "shear_peak": 0.005274337250739336,
+  "force_magnitude_peak": 0.007871552370488644,
+  "reference_frame_count": 0,
+  "dataset_name": "dag911262r000646_lerobot_0326_220254",
+  "episode_index": 269,
+  "sensor": "gripper_left_tactile"
+}
\ No newline at end of file
diff --git a/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-07/outputs_tactile/tactile_cache/dag911262r000646_lerobot_0326_220254_0e3ad88a/episodes/ep000272/gripper_left_tactile_contact_metrics.json b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-07/outputs_tactile/tactile_cache/dag911262r000646_lerobot_0326_220254_0e3ad88a/episodes/ep000272/gripper_left_tactile_contact_metrics.json
new file mode 100644
index 0000000000000000000000000000000000000000..cf572530d6f7a06d9efde9c9d6fcfc719dc1537d
--- /dev/null
+++ b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-07/outputs_tactile/tactile_cache/dag911262r000646_lerobot_0326_220254_0e3ad88a/episodes/ep000272/gripper_left_tactile_contact_metrics.json
@@ -0,0 +1,12 @@
+{
+  "contact_time": 18.933333333333334,
+  "contact_ratio": 0.9357495881383855,
+  "avg_contact_area": 795.6073943661971,
+  "contact_entropy": 0.22246064115743122,
+  "total_frames": 607,
+  "fps": 30.0,
+  "reference_frame_count": 0,
+  "dataset_name": "dag911262r000646_lerobot_0326_220254",
+  "episode_index": 272,
+  "sensor": "gripper_left_tactile"
+}
\ No newline at end of file
diff --git a/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-07/outputs_tactile/tactile_cache/dag911262r000646_lerobot_0326_220254_0e3ad88a/episodes/ep000275/gripper_right_tactile_contact_metrics.json b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-07/outputs_tactile/tactile_cache/dag911262r000646_lerobot_0326_220254_0e3ad88a/episodes/ep000275/gripper_right_tactile_contact_metrics.json
new file mode 100644
index 0000000000000000000000000000000000000000..589d3cb3cf761bcb91e3947260cce391ae21ae96
--- /dev/null
+++ b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-07/outputs_tactile/tactile_cache/dag911262r000646_lerobot_0326_220254_0e3ad88a/episodes/ep000275/gripper_right_tactile_contact_metrics.json
@@ -0,0 +1,12 @@
+{
+  "contact_time": 23.333333333333332,
+  "contact_ratio": 0.8610086100861009,
+  "avg_contact_area": 1594.0085714285715,
+  "contact_entropy": 0.42162161899896505,
+  "total_frames": 813,
+  "fps": 30.0,
+  "reference_frame_count": 0,
+  "dataset_name": "dag911262r000646_lerobot_0326_220254",
+  "episode_index": 275,
+  "sensor": "gripper_right_tactile"
+}
\ No newline at end of file
diff --git a/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-07/outputs_tactile/tactile_cache/dag911262r000646_lerobot_0326_220254_0e3ad88a/episodes/ep000281/gripper_left_tactile_force_metrics.json b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-07/outputs_tactile/tactile_cache/dag911262r000646_lerobot_0326_220254_0e3ad88a/episodes/ep000281/gripper_left_tactile_force_metrics.json
new file mode 100644
index 0000000000000000000000000000000000000000..9a4f43e65f4ee971c75110c4061e04d76f6b0d9e
--- /dev/null
+++ b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-07/outputs_tactile/tactile_cache/dag911262r000646_lerobot_0326_220254_0e3ad88a/episodes/ep000281/gripper_left_tactile_force_metrics.json
@@ -0,0 +1,9 @@
+{
+  "depth_peak": 0.0031280608382076025,
+  "shear_peak": 0.0045277439057827,
+  "force_magnitude_peak": 0.005165231414139271,
+  "reference_frame_count": 0,
+  "dataset_name": "dag911262r000646_lerobot_0326_220254",
+  "episode_index": 281,
+  "sensor": "gripper_left_tactile"
+}
\ No newline at end of file
diff --git a/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-07/outputs_tactile/tactile_cache/dag911262r000646_lerobot_0326_220254_0e3ad88a/episodes/ep000281/gripper_right_tactile_contact_metrics.json b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-07/outputs_tactile/tactile_cache/dag911262r000646_lerobot_0326_220254_0e3ad88a/episodes/ep000281/gripper_right_tactile_contact_metrics.json
new file mode 100644
index 0000000000000000000000000000000000000000..7248c9522b3b8c6236654d6a2306cb1f689f1a7d
--- /dev/null
+++ b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-07/outputs_tactile/tactile_cache/dag911262r000646_lerobot_0326_220254_0e3ad88a/episodes/ep000281/gripper_right_tactile_contact_metrics.json
@@ -0,0 +1,12 @@
+{
+  "contact_time": 13.666666666666666,
+  "contact_ratio": 0.5578231292517006,
+  "avg_contact_area": 84.57560975609756,
+  "contact_entropy": 0.0,
+  "total_frames": 735,
+  "fps": 30.0,
+  "reference_frame_count": 0,
+  "dataset_name": "dag911262r000646_lerobot_0326_220254",
+  "episode_index": 281,
+  "sensor": "gripper_right_tactile"
+}
\ No newline at end of file
diff --git a/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-07/outputs_tactile/tactile_cache/dag911262r000646_lerobot_0326_220254_0e3ad88a/episodes/ep000285/gripper_left_tactile_force_metrics.json b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-07/outputs_tactile/tactile_cache/dag911262r000646_lerobot_0326_220254_0e3ad88a/episodes/ep000285/gripper_left_tactile_force_metrics.json
new file mode 100644
index 0000000000000000000000000000000000000000..bdd29c0ac9a90abb51874cf3dca58bb009d2ef42
--- /dev/null
+++ b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-07/outputs_tactile/tactile_cache/dag911262r000646_lerobot_0326_220254_0e3ad88a/episodes/ep000285/gripper_left_tactile_force_metrics.json
@@ -0,0 +1,9 @@
+{
+  "depth_peak": 0.002846418647095561,
+  "shear_peak": 0.002714130561798811,
+  "force_magnitude_peak": 0.003475386183708906,
+  "reference_frame_count": 0,
+  "dataset_name": "dag911262r000646_lerobot_0326_220254",
+  "episode_index": 285,
+  "sensor": "gripper_left_tactile"
+}
\ No newline at end of file
diff --git a/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-07/outputs_tactile/tactile_cache/dag911262r000646_lerobot_0326_220254_0e3ad88a/episodes/ep000286/gripper_right_tactile_contact_metrics.json b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-07/outputs_tactile/tactile_cache/dag911262r000646_lerobot_0326_220254_0e3ad88a/episodes/ep000286/gripper_right_tactile_contact_metrics.json
new file mode 100644
index 0000000000000000000000000000000000000000..e701e59fe3b5f7ef4a40508bd2351a0776667311
--- /dev/null
+++ b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-07/outputs_tactile/tactile_cache/dag911262r000646_lerobot_0326_220254_0e3ad88a/episodes/ep000286/gripper_right_tactile_contact_metrics.json
@@ -0,0 +1,12 @@
+{
+  "contact_time": 10.1,
+  "contact_ratio": 0.42377622377622376,
+  "avg_contact_area": 1105.019801980198,
+  "contact_entropy": 0.0,
+  "total_frames": 715,
+  "fps": 30.0,
+  "reference_frame_count": 0,
+  "dataset_name": "dag911262r000646_lerobot_0326_220254",
+  "episode_index": 286,
+  "sensor": "gripper_right_tactile"
+}
\ No newline at end of file
diff --git a/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-07/outputs_tactile/tactile_cache/dag911262r000646_lerobot_0326_220254_0e3ad88a/episodes/ep000288/gripper_right_tactile_force_metrics.json b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-07/outputs_tactile/tactile_cache/dag911262r000646_lerobot_0326_220254_0e3ad88a/episodes/ep000288/gripper_right_tactile_force_metrics.json
new file mode 100644
index 0000000000000000000000000000000000000000..8610337a1131d852fe412a09e6db7806a76a43f2
--- /dev/null
+++ b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-07/outputs_tactile/tactile_cache/dag911262r000646_lerobot_0326_220254_0e3ad88a/episodes/ep000288/gripper_right_tactile_force_metrics.json
@@ -0,0 +1,9 @@
+{
+  "depth_peak": 0.0029297599103301764,
+  "shear_peak": 0.0019189984304830432,
+  "force_magnitude_peak": 0.0034530197735875845,
+  "reference_frame_count": 0,
+  "dataset_name": "dag911262r000646_lerobot_0326_220254",
+  "episode_index": 288,
+  "sensor": "gripper_right_tactile"
+}
\ No newline at end of file
diff --git a/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-07/outputs_tactile/tactile_cache/dag911262r000646_lerobot_0326_220254_0e3ad88a/episodes/ep000293/gripper_right_tactile_force_metrics.json b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-07/outputs_tactile/tactile_cache/dag911262r000646_lerobot_0326_220254_0e3ad88a/episodes/ep000293/gripper_right_tactile_force_metrics.json
new file mode 100644
index 0000000000000000000000000000000000000000..2dd7e37099a1c516b55c4eb7343ee87f67a8e6d7
--- /dev/null
+++ b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-07/outputs_tactile/tactile_cache/dag911262r000646_lerobot_0326_220254_0e3ad88a/episodes/ep000293/gripper_right_tactile_force_metrics.json
@@ -0,0 +1,9 @@
+{
+  "depth_peak": 0.003676206339150667,
+  "shear_peak": 0.008404419757425785,
+  "force_magnitude_peak": 0.009173263795673847,
+  "reference_frame_count": 0,
+  "dataset_name": "dag911262r000646_lerobot_0326_220254",
+  "episode_index": 293,
+  "sensor": "gripper_right_tactile"
+}
\ No newline at end of file
diff --git a/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-07/outputs_tactile/tactile_cache/dag911262r000646_lerobot_0326_220254_0e3ad88a/episodes/ep000294/gripper_left_tactile_contact_metrics.json b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-07/outputs_tactile/tactile_cache/dag911262r000646_lerobot_0326_220254_0e3ad88a/episodes/ep000294/gripper_left_tactile_contact_metrics.json
new file mode 100644
index 0000000000000000000000000000000000000000..51216e5b23a08f10c3398a4c2c1834954236720c
--- /dev/null
+++ b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-07/outputs_tactile/tactile_cache/dag911262r000646_lerobot_0326_220254_0e3ad88a/episodes/ep000294/gripper_left_tactile_contact_metrics.json
@@ -0,0 +1,12 @@
+{
+  "contact_time": 27.433333333333334,
+  "contact_ratio": 0.9975757575757576,
+  "avg_contact_area": 367.56379100850546,
+  "contact_entropy": 0.06920126311736406,
+  "total_frames": 825,
+  "fps": 30.0,
+  "reference_frame_count": 0,
+  "dataset_name": "dag911262r000646_lerobot_0326_220254",
+  "episode_index": 294,
+  "sensor": "gripper_left_tactile"
+}
\ No newline at end of file
diff --git a/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-07/outputs_tactile/tactile_cache/dag911262r000646_lerobot_0326_220254_0e3ad88a/episodes/ep000294/gripper_right_tactile_force_metrics.json b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-07/outputs_tactile/tactile_cache/dag911262r000646_lerobot_0326_220254_0e3ad88a/episodes/ep000294/gripper_right_tactile_force_metrics.json
new file mode 100644
index 0000000000000000000000000000000000000000..fa4bddabcc45b3af90925f91ccde2c574a3213eb
--- /dev/null
+++ b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-07/outputs_tactile/tactile_cache/dag911262r000646_lerobot_0326_220254_0e3ad88a/episodes/ep000294/gripper_right_tactile_force_metrics.json
@@ -0,0 +1,9 @@
+{
+  "depth_peak": 0.0027512330561876297,
+  "shear_peak": 0.0038981549441814423,
+  "force_magnitude_peak": 0.004623207729309797,
+  "reference_frame_count": 0,
+  "dataset_name": "dag911262r000646_lerobot_0326_220254",
+  "episode_index": 294,
+  "sensor": "gripper_right_tactile"
+}
\ No newline at end of file
diff --git a/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-07/outputs_tactile/tactile_cache/dag911262r000646_lerobot_0326_220254_0e3ad88a/episodes/ep000296/gripper_left_tactile_force_metrics.json b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-07/outputs_tactile/tactile_cache/dag911262r000646_lerobot_0326_220254_0e3ad88a/episodes/ep000296/gripper_left_tactile_force_metrics.json
new file mode 100644
index 0000000000000000000000000000000000000000..7b0b616bd0df439439cec19044e7ffb7f5f85ae0
--- /dev/null
+++ b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-07/outputs_tactile/tactile_cache/dag911262r000646_lerobot_0326_220254_0e3ad88a/episodes/ep000296/gripper_left_tactile_force_metrics.json
@@ -0,0 +1,9 @@
+{
+  "depth_peak": 0.00310616847127676,
+  "shear_peak": 0.001842573401518166,
+  "force_magnitude_peak": 0.0032461187802255154,
+  "reference_frame_count": 0,
+  "dataset_name": "dag911262r000646_lerobot_0326_220254",
+  "episode_index": 296,
+  "sensor": "gripper_left_tactile"
+}
\ No newline at end of file
diff --git a/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-07/outputs_tactile/tactile_cache/dag911262r000646_lerobot_0326_220254_0e3ad88a/episodes/ep000296/gripper_right_tactile_contact_metrics.json b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-07/outputs_tactile/tactile_cache/dag911262r000646_lerobot_0326_220254_0e3ad88a/episodes/ep000296/gripper_right_tactile_contact_metrics.json
new file mode 100644
index 0000000000000000000000000000000000000000..2609eeeaea9415f248629eab68003a5dd58ca246
--- /dev/null
+++ b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-07/outputs_tactile/tactile_cache/dag911262r000646_lerobot_0326_220254_0e3ad88a/episodes/ep000296/gripper_right_tactile_contact_metrics.json
@@ -0,0 +1,12 @@
+{
+  "contact_time": 10.466666666666667,
+  "contact_ratio": 0.48606811145510836,
+  "avg_contact_area": 836.3152866242038,
+  "contact_entropy": 0.2146017094811402,
+  "total_frames": 646,
+  "fps": 30.0,
+  "reference_frame_count": 0,
+  "dataset_name": "dag911262r000646_lerobot_0326_220254",
+  "episode_index": 296,
+  "sensor": "gripper_right_tactile"
+}
\ No newline at end of file
diff --git a/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-07/outputs_tactile/tactile_cache/dag911262r000646_lerobot_0326_220254_0e3ad88a/episodes/ep000297/gripper_left_tactile_contact_metrics.json b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-07/outputs_tactile/tactile_cache/dag911262r000646_lerobot_0326_220254_0e3ad88a/episodes/ep000297/gripper_left_tactile_contact_metrics.json
new file mode 100644
index 0000000000000000000000000000000000000000..5d7156bfae891df7a7b421e93ed6984566139c8b
--- /dev/null
+++ b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-07/outputs_tactile/tactile_cache/dag911262r000646_lerobot_0326_220254_0e3ad88a/episodes/ep000297/gripper_left_tactile_contact_metrics.json
@@ -0,0 +1,12 @@
+{
+  "contact_time": 33.96666666666667,
+  "contact_ratio": 0.739477503628447,
+  "avg_contact_area": 897.3552502453385,
+  "contact_entropy": 0.35063044915387875,
+  "total_frames": 1378,
+  "fps": 30.0,
+  "reference_frame_count": 0,
+  "dataset_name": "dag911262r000646_lerobot_0326_220254",
+  "episode_index": 297,
+  "sensor": "gripper_left_tactile"
+}
\ No newline at end of file
diff --git a/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-07/outputs_tactile/tactile_cache/dag911262r000646_lerobot_0326_220254_0e3ad88a/episodes/ep000299/gripper_right_tactile_force_metrics.json b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-07/outputs_tactile/tactile_cache/dag911262r000646_lerobot_0326_220254_0e3ad88a/episodes/ep000299/gripper_right_tactile_force_metrics.json
new file mode 100644
index 0000000000000000000000000000000000000000..8c50750dd4015f7e96032e0cf29f4e0934981caf
--- /dev/null
+++ b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-07/outputs_tactile/tactile_cache/dag911262r000646_lerobot_0326_220254_0e3ad88a/episodes/ep000299/gripper_right_tactile_force_metrics.json
@@ -0,0 +1,9 @@
+{
+  "depth_peak": 0.005946353543549776,
+  "shear_peak": 0.004367762710899115,
+  "force_magnitude_peak": 0.005955883301794529,
+  "reference_frame_count": 0,
+  "dataset_name": "dag911262r000646_lerobot_0326_220254",
+  "episode_index": 299,
+  "sensor": "gripper_right_tactile"
+}
\ No newline at end of file
diff --git a/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-07/outputs_tactile/tactile_cache/dag911262r000646_lerobot_0326_220254_0e3ad88a/episodes/ep000301/gripper_right_tactile_force_metrics.json b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-07/outputs_tactile/tactile_cache/dag911262r000646_lerobot_0326_220254_0e3ad88a/episodes/ep000301/gripper_right_tactile_force_metrics.json
new file mode 100644
index 0000000000000000000000000000000000000000..361717714da8f284c4ce64ccbbcdfd0eeb821e0f
--- /dev/null
+++ b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-07/outputs_tactile/tactile_cache/dag911262r000646_lerobot_0326_220254_0e3ad88a/episodes/ep000301/gripper_right_tactile_force_metrics.json
@@ -0,0 +1,9 @@
+{
+  "depth_peak": 0.0020127869211137295,
+  "shear_peak": 0.002964167855679989,
+  "force_magnitude_peak": 0.003245363710448146,
+  "reference_frame_count": 0,
+  "dataset_name": "dag911262r000646_lerobot_0326_220254",
+  "episode_index": 301,
+  "sensor": "gripper_right_tactile"
+}
\ No newline at end of file
diff --git a/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-07/outputs_tactile/tactile_cache/dag911262r000646_lerobot_0326_220254_0e3ad88a/episodes/ep000303/gripper_left_tactile_force_metrics.json b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-07/outputs_tactile/tactile_cache/dag911262r000646_lerobot_0326_220254_0e3ad88a/episodes/ep000303/gripper_left_tactile_force_metrics.json
new file mode 100644
index 0000000000000000000000000000000000000000..0eece7aa21d04d7758d769d5a8ace1a19994f3ba
--- /dev/null
+++ b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-07/outputs_tactile/tactile_cache/dag911262r000646_lerobot_0326_220254_0e3ad88a/episodes/ep000303/gripper_left_tactile_force_metrics.json
@@ -0,0 +1,9 @@
+{
+  "depth_peak": 0.00328727881424129,
+  "shear_peak": 0.004657061770558357,
+  "force_magnitude_peak": 0.004781083203852177,
+  "reference_frame_count": 0,
+  "dataset_name": "dag911262r000646_lerobot_0326_220254",
+  "episode_index": 303,
+  "sensor": "gripper_left_tactile"
+}
\ No newline at end of file
diff --git a/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-07/outputs_tactile/tactile_cache/dag911262r000646_lerobot_0326_220254_0e3ad88a/episodes/ep000304/gripper_left_tactile_contact_metrics.json b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-07/outputs_tactile/tactile_cache/dag911262r000646_lerobot_0326_220254_0e3ad88a/episodes/ep000304/gripper_left_tactile_contact_metrics.json
new file mode 100644
index 0000000000000000000000000000000000000000..64345f437cc6c5c6be05223298cba655670ea121
--- /dev/null
+++ b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-07/outputs_tactile/tactile_cache/dag911262r000646_lerobot_0326_220254_0e3ad88a/episodes/ep000304/gripper_left_tactile_contact_metrics.json
@@ -0,0 +1,12 @@
+{
+  "contact_time": 50.666666666666664,
+  "contact_ratio": 0.8941176470588236,
+  "avg_contact_area": 1067.3868421052632,
+  "contact_entropy": 0.3462814655356057,
+  "total_frames": 1700,
+  "fps": 30.0,
+  "reference_frame_count": 0,
+  "dataset_name": "dag911262r000646_lerobot_0326_220254",
+  "episode_index": 304,
+  "sensor": "gripper_left_tactile"
+}
\ No newline at end of file
diff --git a/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-07/outputs_tactile/tactile_cache/dag911262r000646_lerobot_0326_220254_0e3ad88a/episodes/ep000311/gripper_left_tactile_force_metrics.json b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-07/outputs_tactile/tactile_cache/dag911262r000646_lerobot_0326_220254_0e3ad88a/episodes/ep000311/gripper_left_tactile_force_metrics.json
new file mode 100644
index 0000000000000000000000000000000000000000..8eee0316383460d480965c376ef7b401eefa53c4
--- /dev/null
+++ b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-07/outputs_tactile/tactile_cache/dag911262r000646_lerobot_0326_220254_0e3ad88a/episodes/ep000311/gripper_left_tactile_force_metrics.json
@@ -0,0 +1,9 @@
+{
+  "depth_peak": 0.007550464943051338,
+  "shear_peak": 0.004094933625310659,
+  "force_magnitude_peak": 0.008589412085711956,
+  "reference_frame_count": 0,
+  "dataset_name": "dag911262r000646_lerobot_0326_220254",
+  "episode_index": 311,
+  "sensor": "gripper_left_tactile"
+}
\ No newline at end of file
diff --git a/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-07/outputs_tactile/tactile_cache/dag911262r001146_lerobot_0326_220254_18b6d285/episodes/ep000005/gripper_right_tactile_contact_metrics.json b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-07/outputs_tactile/tactile_cache/dag911262r001146_lerobot_0326_220254_18b6d285/episodes/ep000005/gripper_right_tactile_contact_metrics.json
new file mode 100644
index 0000000000000000000000000000000000000000..0089200e91361d9b4a21083d6467a188b40790d2
--- /dev/null
+++ b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-07/outputs_tactile/tactile_cache/dag911262r001146_lerobot_0326_220254_18b6d285/episodes/ep000005/gripper_right_tactile_contact_metrics.json
@@ -0,0 +1,12 @@
+{
+  "contact_time": 8.133333333333333,
+  "contact_ratio": 0.8187919463087249,
+  "avg_contact_area": 1622.438524590164,
+  "contact_entropy": 0.1027453740805882,
+  "total_frames": 298,
+  "fps": 30.0,
+  "reference_frame_count": 0,
+  "dataset_name": "dag911262r001146_lerobot_0326_220254",
+  "episode_index": 5,
+  "sensor": "gripper_right_tactile"
+}
\ No newline at end of file
diff --git a/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-07/outputs_tactile/tactile_cache/dag911262r001146_lerobot_0326_220254_18b6d285/episodes/ep000010/gripper_right_tactile_contact_metrics.json b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-07/outputs_tactile/tactile_cache/dag911262r001146_lerobot_0326_220254_18b6d285/episodes/ep000010/gripper_right_tactile_contact_metrics.json
new file mode 100644
index 0000000000000000000000000000000000000000..d63dde863fbf5b1283b555d51dec62c6ab0cc820
--- /dev/null
+++ b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-07/outputs_tactile/tactile_cache/dag911262r001146_lerobot_0326_220254_18b6d285/episodes/ep000010/gripper_right_tactile_contact_metrics.json
@@ -0,0 +1,12 @@
+{
+  "contact_time": 7.4,
+  "contact_ratio": 0.7789473684210526,
+  "avg_contact_area": 6964.387387387387,
+  "contact_entropy": 0.5701929766326459,
+  "total_frames": 285,
+  "fps": 30.0,
+  "reference_frame_count": 0,
+  "dataset_name": "dag911262r001146_lerobot_0326_220254",
+  "episode_index": 10,
+  "sensor": "gripper_right_tactile"
+}
\ No newline at end of file
diff --git a/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-07/outputs_tactile/tactile_cache/dag911262r001146_lerobot_0326_220254_18b6d285/episodes/ep000010/gripper_right_tactile_force_metrics.json b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-07/outputs_tactile/tactile_cache/dag911262r001146_lerobot_0326_220254_18b6d285/episodes/ep000010/gripper_right_tactile_force_metrics.json
new file mode 100644
index 0000000000000000000000000000000000000000..3f0f59901032778e6665ce190896ce66903ab0c2
--- /dev/null
+++ b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-07/outputs_tactile/tactile_cache/dag911262r001146_lerobot_0326_220254_18b6d285/episodes/ep000010/gripper_right_tactile_force_metrics.json
@@ -0,0 +1,9 @@
+{
+  "depth_peak": 0.01269080862402916,
+  "shear_peak": 0.007017945405095816,
+  "force_magnitude_peak": 0.014048978686332703,
+  "reference_frame_count": 0,
+  "dataset_name": "dag911262r001146_lerobot_0326_220254",
+  "episode_index": 10,
+  "sensor": "gripper_right_tactile"
+}
\ No newline at end of file
diff --git a/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-07/outputs_tactile/tactile_cache/dag911262r001146_lerobot_0326_220254_18b6d285/episodes/ep000012/gripper_right_tactile_contact_metrics.json b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-07/outputs_tactile/tactile_cache/dag911262r001146_lerobot_0326_220254_18b6d285/episodes/ep000012/gripper_right_tactile_contact_metrics.json
new file mode 100644
index 0000000000000000000000000000000000000000..69d7365c1c43d49f2ea0b385d021421f23d3e703
--- /dev/null
+++ b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-07/outputs_tactile/tactile_cache/dag911262r001146_lerobot_0326_220254_18b6d285/episodes/ep000012/gripper_right_tactile_contact_metrics.json
@@ -0,0 +1,12 @@
+{
+  "contact_time": 12.633333333333333,
+  "contact_ratio": 1.0,
+  "avg_contact_area": 34390.67018469657,
+  "contact_entropy": 0.5740708683133989,
+  "total_frames": 379,
+  "fps": 30.0,
+  "reference_frame_count": 0,
+  "dataset_name": "dag911262r001146_lerobot_0326_220254",
+  "episode_index": 12,
+  "sensor": "gripper_right_tactile"
+}
\ No newline at end of file
diff --git a/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-07/outputs_tactile/tactile_cache/dag911262r001146_lerobot_0326_220254_18b6d285/episodes/ep000013/gripper_left_tactile_force_metrics.json b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-07/outputs_tactile/tactile_cache/dag911262r001146_lerobot_0326_220254_18b6d285/episodes/ep000013/gripper_left_tactile_force_metrics.json
new file mode 100644
index 0000000000000000000000000000000000000000..d315f9480a22f0453ffcd140f0da371be120b493
--- /dev/null
+++ b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-07/outputs_tactile/tactile_cache/dag911262r001146_lerobot_0326_220254_18b6d285/episodes/ep000013/gripper_left_tactile_force_metrics.json
@@ -0,0 +1,9 @@
+{
+  "depth_peak": 0.019251974299550056,
+  "shear_peak": 0.011274118907749653,
+  "force_magnitude_peak": 0.022306624799966812,
+  "reference_frame_count": 0,
+  "dataset_name": "dag911262r001146_lerobot_0326_220254",
+  "episode_index": 13,
+  "sensor": "gripper_left_tactile"
+}
\ No newline at end of file
diff --git a/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-07/outputs_tactile/tactile_cache/dag911262r001146_lerobot_0326_220254_18b6d285/episodes/ep000013/gripper_right_tactile_force_metrics.json b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-07/outputs_tactile/tactile_cache/dag911262r001146_lerobot_0326_220254_18b6d285/episodes/ep000013/gripper_right_tactile_force_metrics.json
new file mode 100644
index 0000000000000000000000000000000000000000..e60c4ac5478ffbb0ca017f3f480c2852b46a97db
--- /dev/null
+++ b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-07/outputs_tactile/tactile_cache/dag911262r001146_lerobot_0326_220254_18b6d285/episodes/ep000013/gripper_right_tactile_force_metrics.json
@@ -0,0 +1,9 @@
+{
+  "depth_peak": 0.01692258007824421,
+  "shear_peak": 0.010213157162070274,
+  "force_magnitude_peak": 0.019711844623088837,
+  "reference_frame_count": 0,
+  "dataset_name": "dag911262r001146_lerobot_0326_220254",
+  "episode_index": 13,
+  "sensor": "gripper_right_tactile"
+}
\ No newline at end of file
diff --git a/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-07/outputs_tactile/tactile_cache/dag911262r001146_lerobot_0326_220254_18b6d285/episodes/ep000019/gripper_right_tactile_force_metrics.json b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-07/outputs_tactile/tactile_cache/dag911262r001146_lerobot_0326_220254_18b6d285/episodes/ep000019/gripper_right_tactile_force_metrics.json
new file mode 100644
index 0000000000000000000000000000000000000000..559b1fb2563cce7c23bb7fd3c474c82844b64878
--- /dev/null
+++ b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-07/outputs_tactile/tactile_cache/dag911262r001146_lerobot_0326_220254_18b6d285/episodes/ep000019/gripper_right_tactile_force_metrics.json
@@ -0,0 +1,9 @@
+{
+  "depth_peak": 0.003997765481472015,
+  "shear_peak": 0.0037766939494758844,
+  "force_magnitude_peak": 0.00498346658423543,
+  "reference_frame_count": 0,
+  "dataset_name": "dag911262r001146_lerobot_0326_220254",
+  "episode_index": 19,
+  "sensor": "gripper_right_tactile"
+}
\ No newline at end of file
diff --git a/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-07/outputs_tactile/tactile_cache/dag911262r001146_lerobot_0326_220254_18b6d285/episodes/ep000020/gripper_left_tactile_contact_metrics.json b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-07/outputs_tactile/tactile_cache/dag911262r001146_lerobot_0326_220254_18b6d285/episodes/ep000020/gripper_left_tactile_contact_metrics.json
new file mode 100644
index 0000000000000000000000000000000000000000..5d11075440f8b23b13def4f376b4ec4d0b3b4bd3
--- /dev/null
+++ b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-07/outputs_tactile/tactile_cache/dag911262r001146_lerobot_0326_220254_18b6d285/episodes/ep000020/gripper_left_tactile_contact_metrics.json
@@ -0,0 +1,12 @@
+{
+  "contact_time": 9.266666666666667,
+  "contact_ratio": 1.0,
+  "avg_contact_area": 8708.100719424461,
+  "contact_entropy": 1.1938238050875523,
+  "total_frames": 278,
+  "fps": 30.0,
+  "reference_frame_count": 0,
+  "dataset_name": "dag911262r001146_lerobot_0326_220254",
+  "episode_index": 20,
+  "sensor": "gripper_left_tactile"
+}
\ No newline at end of file
diff --git a/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-07/outputs_tactile/tactile_cache/dag911262r001146_lerobot_0326_220254_18b6d285/episodes/ep000021/gripper_left_tactile_contact_metrics.json b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-07/outputs_tactile/tactile_cache/dag911262r001146_lerobot_0326_220254_18b6d285/episodes/ep000021/gripper_left_tactile_contact_metrics.json
new file mode 100644
index 0000000000000000000000000000000000000000..83f97945ec54b1cb3428155ddf817d12f948a802
--- /dev/null
+++ b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-07/outputs_tactile/tactile_cache/dag911262r001146_lerobot_0326_220254_18b6d285/episodes/ep000021/gripper_left_tactile_contact_metrics.json
@@ -0,0 +1,12 @@
+{
+  "contact_time": 12.9,
+  "contact_ratio": 1.0,
+  "avg_contact_area": 6555.850129198966,
+  "contact_entropy": 0.7513466369339837,
+  "total_frames": 387,
+  "fps": 30.0,
+  "reference_frame_count": 0,
+  "dataset_name": "dag911262r001146_lerobot_0326_220254",
+  "episode_index": 21,
+  "sensor": "gripper_left_tactile"
+}
\ No newline at end of file
diff --git a/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-07/outputs_tactile/tactile_cache/dag911262r001146_lerobot_0326_220254_18b6d285/episodes/ep000023/gripper_left_tactile_force_metrics.json b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-07/outputs_tactile/tactile_cache/dag911262r001146_lerobot_0326_220254_18b6d285/episodes/ep000023/gripper_left_tactile_force_metrics.json
new file mode 100644
index 0000000000000000000000000000000000000000..42e7a41ae148463d76e94c803545e7d3c272a914
--- /dev/null
+++ b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-07/outputs_tactile/tactile_cache/dag911262r001146_lerobot_0326_220254_18b6d285/episodes/ep000023/gripper_left_tactile_force_metrics.json
@@ -0,0 +1,9 @@
+{
+  "depth_peak": 0.0024978399742394686,
+  "shear_peak": 0.005876817274838686,
+  "force_magnitude_peak": 0.0061114635318517685,
+  "reference_frame_count": 0,
+  "dataset_name": "dag911262r001146_lerobot_0326_220254",
+  "episode_index": 23,
+  "sensor": "gripper_left_tactile"
+}
\ No newline at end of file
diff --git a/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-07/outputs_tactile/tactile_cache/dag911262r001146_lerobot_0326_220254_18b6d285/episodes/ep000024/gripper_left_tactile_contact_metrics.json b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-07/outputs_tactile/tactile_cache/dag911262r001146_lerobot_0326_220254_18b6d285/episodes/ep000024/gripper_left_tactile_contact_metrics.json
new file mode 100644
index 0000000000000000000000000000000000000000..045b8873eb25ec4b939c0299b86a11d744da36be
--- /dev/null
+++ b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-07/outputs_tactile/tactile_cache/dag911262r001146_lerobot_0326_220254_18b6d285/episodes/ep000024/gripper_left_tactile_contact_metrics.json
@@ -0,0 +1,12 @@
+{
+  "contact_time": 7.233333333333333,
+  "contact_ratio": 0.7777777777777778,
+  "avg_contact_area": 3891.041474654378,
+  "contact_entropy": 0.3819274380885712,
+  "total_frames": 279,
+  "fps": 30.0,
+  "reference_frame_count": 0,
+  "dataset_name": "dag911262r001146_lerobot_0326_220254",
+  "episode_index": 24,
+  "sensor": "gripper_left_tactile"
+}
\ No newline at end of file
diff --git a/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-07/outputs_tactile/tactile_cache/dag911262r001146_lerobot_0326_220254_18b6d285/episodes/ep000024/gripper_right_tactile_contact_metrics.json b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-07/outputs_tactile/tactile_cache/dag911262r001146_lerobot_0326_220254_18b6d285/episodes/ep000024/gripper_right_tactile_contact_metrics.json
new file mode 100644
index 0000000000000000000000000000000000000000..df59956bb6fb1767ba1f78bffe3de10184f2e963
--- /dev/null
+++ b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-07/outputs_tactile/tactile_cache/dag911262r001146_lerobot_0326_220254_18b6d285/episodes/ep000024/gripper_right_tactile_contact_metrics.json
@@ -0,0 +1,12 @@
+{
+  "contact_time": 7.333333333333333,
+  "contact_ratio": 0.7885304659498208,
+  "avg_contact_area": 2001.1363636363637,
+  "contact_entropy": 0.23869302643833604,
+  "total_frames": 279,
+  "fps": 30.0,
+  "reference_frame_count": 0,
+  "dataset_name": "dag911262r001146_lerobot_0326_220254",
+  "episode_index": 24,
+  "sensor": "gripper_right_tactile"
+}
\ No newline at end of file
diff --git a/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-07/outputs_tactile/tactile_cache/dag911262r001146_lerobot_0326_220254_18b6d285/episodes/ep000025/gripper_right_tactile_force_metrics.json b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-07/outputs_tactile/tactile_cache/dag911262r001146_lerobot_0326_220254_18b6d285/episodes/ep000025/gripper_right_tactile_force_metrics.json
new file mode 100644
index 0000000000000000000000000000000000000000..d30b614cfc0aaef98cda8a1a2f38fa344eb48a65
--- /dev/null
+++ b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-07/outputs_tactile/tactile_cache/dag911262r001146_lerobot_0326_220254_18b6d285/episodes/ep000025/gripper_right_tactile_force_metrics.json
@@ -0,0 +1,9 @@
+{
+  "depth_peak": 0.01960831508040428,
+  "shear_peak": 0.009222361259162426,
+  "force_magnitude_peak": 0.021095477044582367,
+  "reference_frame_count": 0,
+  "dataset_name": "dag911262r001146_lerobot_0326_220254",
+  "episode_index": 25,
+  "sensor": "gripper_right_tactile"
+}
\ No newline at end of file
diff --git a/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-07/outputs_tactile/tactile_cache/dag911262r001146_lerobot_0326_220254_18b6d285/episodes/ep000027/gripper_left_tactile_contact_metrics.json b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-07/outputs_tactile/tactile_cache/dag911262r001146_lerobot_0326_220254_18b6d285/episodes/ep000027/gripper_left_tactile_contact_metrics.json
new file mode 100644
index 0000000000000000000000000000000000000000..8fc202eb8e5bab144b2bb8e02b237332646528de
--- /dev/null
+++ b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-07/outputs_tactile/tactile_cache/dag911262r001146_lerobot_0326_220254_18b6d285/episodes/ep000027/gripper_left_tactile_contact_metrics.json
@@ -0,0 +1,12 @@
+{
+  "contact_time": 6.733333333333333,
+  "contact_ratio": 0.6516129032258065,
+  "avg_contact_area": 599.1831683168317,
+  "contact_entropy": 0.12097169158455828,
+  "total_frames": 310,
+  "fps": 30.0,
+  "reference_frame_count": 0,
+  "dataset_name": "dag911262r001146_lerobot_0326_220254",
+  "episode_index": 27,
+  "sensor": "gripper_left_tactile"
+}
\ No newline at end of file
diff --git a/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-07/outputs_tactile/tactile_cache/dag911262r001146_lerobot_0326_220254_18b6d285/episodes/ep000027/gripper_left_tactile_force_metrics.json b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-07/outputs_tactile/tactile_cache/dag911262r001146_lerobot_0326_220254_18b6d285/episodes/ep000027/gripper_left_tactile_force_metrics.json
new file mode 100644
index 0000000000000000000000000000000000000000..bad3f47779548b52a9125f7c301b8a0df4de6b30
--- /dev/null
+++ b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-07/outputs_tactile/tactile_cache/dag911262r001146_lerobot_0326_220254_18b6d285/episodes/ep000027/gripper_left_tactile_force_metrics.json
@@ -0,0 +1,9 @@
+{
+  "depth_peak": 0.0008142892620526254,
+  "shear_peak": 0.0012882599839940667,
+  "force_magnitude_peak": 0.0015351030742749572,
+  "reference_frame_count": 0,
+  "dataset_name": "dag911262r001146_lerobot_0326_220254",
+  "episode_index": 27,
+  "sensor": "gripper_left_tactile"
+}
\ No newline at end of file
diff --git a/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-07/outputs_tactile/tactile_cache/dag911262r001146_lerobot_0326_220254_18b6d285/episodes/ep000027/gripper_right_tactile_force_metrics.json b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-07/outputs_tactile/tactile_cache/dag911262r001146_lerobot_0326_220254_18b6d285/episodes/ep000027/gripper_right_tactile_force_metrics.json
new file mode 100644
index 0000000000000000000000000000000000000000..13d3074552d4ddf49c82a06d90c2c3838e021259
--- /dev/null
+++ b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-07/outputs_tactile/tactile_cache/dag911262r001146_lerobot_0326_220254_18b6d285/episodes/ep000027/gripper_right_tactile_force_metrics.json
@@ -0,0 +1,9 @@
+{
+  "depth_peak": 0.0013869572430849075,
+  "shear_peak": 0.00735972635447979,
+  "force_magnitude_peak": 0.007362302392721176,
+  "reference_frame_count": 0,
+  "dataset_name": "dag911262r001146_lerobot_0326_220254",
+  "episode_index": 27,
+  "sensor": "gripper_right_tactile"
+}
\ No newline at end of file
diff --git a/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-07/outputs_tactile/tactile_cache/dag911262r001146_lerobot_0326_220254_18b6d285/episodes/ep000030/gripper_left_tactile_force_metrics.json b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-07/outputs_tactile/tactile_cache/dag911262r001146_lerobot_0326_220254_18b6d285/episodes/ep000030/gripper_left_tactile_force_metrics.json
new file mode 100644
index 0000000000000000000000000000000000000000..8422de063769788d5a431aa94a8f0222d44e00eb
--- /dev/null
+++ b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-07/outputs_tactile/tactile_cache/dag911262r001146_lerobot_0326_220254_18b6d285/episodes/ep000030/gripper_left_tactile_force_metrics.json
@@ -0,0 +1,9 @@
+{
+  "depth_peak": 0.0008183616446331143,
+  "shear_peak": 0.0018869300838559866,
+  "force_magnitude_peak": 0.0018908815691247582,
+  "reference_frame_count": 0,
+  "dataset_name": "dag911262r001146_lerobot_0326_220254",
+  "episode_index": 30,
+  "sensor": "gripper_left_tactile"
+}
\ No newline at end of file
diff --git a/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-07/outputs_tactile/tactile_cache/dag911262r001146_lerobot_0326_220254_18b6d285/episodes/ep000031/gripper_left_tactile_contact_metrics.json b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-07/outputs_tactile/tactile_cache/dag911262r001146_lerobot_0326_220254_18b6d285/episodes/ep000031/gripper_left_tactile_contact_metrics.json
new file mode 100644
index 0000000000000000000000000000000000000000..d9ed28201d31a8d6a06863f0e03e8d3ae8177b2b
--- /dev/null
+++ b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-07/outputs_tactile/tactile_cache/dag911262r001146_lerobot_0326_220254_18b6d285/episodes/ep000031/gripper_left_tactile_contact_metrics.json
@@ -0,0 +1,12 @@
+{
+  "contact_time": 10.433333333333334,
+  "contact_ratio": 0.7964376590330788,
+  "avg_contact_area": 7699.137380191693,
+  "contact_entropy": 0.9417361232679626,
+  "total_frames": 393,
+  "fps": 30.0,
+  "reference_frame_count": 0,
+  "dataset_name": "dag911262r001146_lerobot_0326_220254",
+  "episode_index": 31,
+  "sensor": "gripper_left_tactile"
+}
\ No newline at end of file
diff --git a/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-07/outputs_tactile/tactile_cache/dag911262r001146_lerobot_0326_220254_18b6d285/episodes/ep000032/gripper_right_tactile_contact_metrics.json b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-07/outputs_tactile/tactile_cache/dag911262r001146_lerobot_0326_220254_18b6d285/episodes/ep000032/gripper_right_tactile_contact_metrics.json
new file mode 100644
index 0000000000000000000000000000000000000000..61f62803b76c731fe5199ce13e7685f234790534
--- /dev/null
+++ b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-07/outputs_tactile/tactile_cache/dag911262r001146_lerobot_0326_220254_18b6d285/episodes/ep000032/gripper_right_tactile_contact_metrics.json
@@ -0,0 +1,12 @@
+{
+  "contact_time": 10.933333333333334,
+  "contact_ratio": 1.0,
+  "avg_contact_area": 22558.176829268294,
+  "contact_entropy": 0.7897530579516693,
+  "total_frames": 328,
+  "fps": 30.0,
+  "reference_frame_count": 0,
+  "dataset_name": "dag911262r001146_lerobot_0326_220254",
+  "episode_index": 32,
+  "sensor": "gripper_right_tactile"
+}
\ No newline at end of file
diff --git a/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-07/outputs_tactile/tactile_cache/dag911262r001146_lerobot_0326_220254_18b6d285/episodes/ep000033/gripper_right_tactile_contact_metrics.json b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-07/outputs_tactile/tactile_cache/dag911262r001146_lerobot_0326_220254_18b6d285/episodes/ep000033/gripper_right_tactile_contact_metrics.json
new file mode 100644
index 0000000000000000000000000000000000000000..47905b0950b86a7eeea283345c593bf9848830c6
--- /dev/null
+++ b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-07/outputs_tactile/tactile_cache/dag911262r001146_lerobot_0326_220254_18b6d285/episodes/ep000033/gripper_right_tactile_contact_metrics.json
@@ -0,0 +1,12 @@
+{
+  "contact_time": 10.2,
+  "contact_ratio": 0.7927461139896373,
+  "avg_contact_area": 1372.7810457516339,
+  "contact_entropy": 0.34229487992065066,
+  "total_frames": 386,
+  "fps": 30.0,
+  "reference_frame_count": 0,
+  "dataset_name": "dag911262r001146_lerobot_0326_220254",
+  "episode_index": 33,
+  "sensor": "gripper_right_tactile"
+}
\ No newline at end of file
diff --git a/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-07/outputs_tactile/tactile_cache/dag911262r001146_lerobot_0326_220254_18b6d285/episodes/ep000037/gripper_left_tactile_contact_metrics.json b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-07/outputs_tactile/tactile_cache/dag911262r001146_lerobot_0326_220254_18b6d285/episodes/ep000037/gripper_left_tactile_contact_metrics.json
new file mode 100644
index 0000000000000000000000000000000000000000..03c1a38be50ce34b8b56fd064674f72d1e2ec376
--- /dev/null
+++ b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-07/outputs_tactile/tactile_cache/dag911262r001146_lerobot_0326_220254_18b6d285/episodes/ep000037/gripper_left_tactile_contact_metrics.json
@@ -0,0 +1,12 @@
+{
+  "contact_time": 17.2,
+  "contact_ratio": 1.0,
+  "avg_contact_area": 11083.633720930233,
+  "contact_entropy": 0.7966755399602726,
+  "total_frames": 516,
+  "fps": 30.0,
+  "reference_frame_count": 0,
+  "dataset_name": "dag911262r001146_lerobot_0326_220254",
+  "episode_index": 37,
+  "sensor": "gripper_left_tactile"
+}
\ No newline at end of file
diff --git a/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-07/outputs_tactile/tactile_cache/dag911262r001146_lerobot_0326_220254_18b6d285/episodes/ep000038/gripper_left_tactile_force_metrics.json b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-07/outputs_tactile/tactile_cache/dag911262r001146_lerobot_0326_220254_18b6d285/episodes/ep000038/gripper_left_tactile_force_metrics.json
new file mode 100644
index 0000000000000000000000000000000000000000..fd38cec02078729a60831576eaacdffe0fdcd8db
--- /dev/null
+++ b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-07/outputs_tactile/tactile_cache/dag911262r001146_lerobot_0326_220254_18b6d285/episodes/ep000038/gripper_left_tactile_force_metrics.json
@@ -0,0 +1,9 @@
+{
+  "depth_peak": 0.008276338689029217,
+  "shear_peak": 0.0032249982468783855,
+  "force_magnitude_peak": 0.00831019040197134,
+  "reference_frame_count": 0,
+  "dataset_name": "dag911262r001146_lerobot_0326_220254",
+  "episode_index": 38,
+  "sensor": "gripper_left_tactile"
+}
\ No newline at end of file
diff --git a/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-07/outputs_tactile/tactile_cache/dag911262r001146_lerobot_0326_220254_18b6d285/episodes/ep000042/gripper_left_tactile_contact_metrics.json b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-07/outputs_tactile/tactile_cache/dag911262r001146_lerobot_0326_220254_18b6d285/episodes/ep000042/gripper_left_tactile_contact_metrics.json
new file mode 100644
index 0000000000000000000000000000000000000000..43b51160112510fabdc9abea91c17f0d2cc02e3d
--- /dev/null
+++ b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-07/outputs_tactile/tactile_cache/dag911262r001146_lerobot_0326_220254_18b6d285/episodes/ep000042/gripper_left_tactile_contact_metrics.json
@@ -0,0 +1,12 @@
+{
+  "contact_time": 10.5,
+  "contact_ratio": 0.7590361445783133,
+  "avg_contact_area": 4501.907936507937,
+  "contact_entropy": 1.0295614264992257,
+  "total_frames": 415,
+  "fps": 30.0,
+  "reference_frame_count": 0,
+  "dataset_name": "dag911262r001146_lerobot_0326_220254",
+  "episode_index": 42,
+  "sensor": "gripper_left_tactile"
+}
\ No newline at end of file
diff --git a/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-07/outputs_tactile/tactile_cache/dag911262r001146_lerobot_0326_220254_18b6d285/episodes/ep000045/gripper_right_tactile_force_metrics.json b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-07/outputs_tactile/tactile_cache/dag911262r001146_lerobot_0326_220254_18b6d285/episodes/ep000045/gripper_right_tactile_force_metrics.json
new file mode 100644
index 0000000000000000000000000000000000000000..50161afe27f0642c772514874ebde7b716518efd
--- /dev/null
+++ b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-07/outputs_tactile/tactile_cache/dag911262r001146_lerobot_0326_220254_18b6d285/episodes/ep000045/gripper_right_tactile_force_metrics.json
@@ -0,0 +1,9 @@
+{
+  "depth_peak": 0.02334311418235302,
+  "shear_peak": 0.009638960473239422,
+  "force_magnitude_peak": 0.024359319359064102,
+  "reference_frame_count": 0,
+  "dataset_name": "dag911262r001146_lerobot_0326_220254",
+  "episode_index": 45,
+  "sensor": "gripper_right_tactile"
+}
\ No newline at end of file
diff --git a/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-07/outputs_tactile/tactile_cache/dag911262r001146_lerobot_0326_220254_18b6d285/episodes/ep000049/gripper_right_tactile_contact_metrics.json b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-07/outputs_tactile/tactile_cache/dag911262r001146_lerobot_0326_220254_18b6d285/episodes/ep000049/gripper_right_tactile_contact_metrics.json
new file mode 100644
index 0000000000000000000000000000000000000000..3064b5fb12f029fd6ad004dd2cb9a5ccba51eca8
--- /dev/null
+++ b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-07/outputs_tactile/tactile_cache/dag911262r001146_lerobot_0326_220254_18b6d285/episodes/ep000049/gripper_right_tactile_contact_metrics.json
@@ -0,0 +1,12 @@
+{
+  "contact_time": 6.3,
+  "contact_ratio": 0.7590361445783133,
+  "avg_contact_area": 9679.269841269841,
+  "contact_entropy": 0.45626325710574556,
+  "total_frames": 249,
+  "fps": 30.0,
+  "reference_frame_count": 0,
+  "dataset_name": "dag911262r001146_lerobot_0326_220254",
+  "episode_index": 49,
+  "sensor": "gripper_right_tactile"
+}
\ No newline at end of file
diff --git a/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-07/outputs_tactile/tactile_cache/dag911262r001146_lerobot_0326_220254_18b6d285/episodes/ep000050/gripper_left_tactile_contact_metrics.json b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-07/outputs_tactile/tactile_cache/dag911262r001146_lerobot_0326_220254_18b6d285/episodes/ep000050/gripper_left_tactile_contact_metrics.json
new file mode 100644
index 0000000000000000000000000000000000000000..e6e7d5899d362af1d9daf4c33db64e0e3063a887
--- /dev/null
+++ b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-07/outputs_tactile/tactile_cache/dag911262r001146_lerobot_0326_220254_18b6d285/episodes/ep000050/gripper_left_tactile_contact_metrics.json
@@ -0,0 +1,12 @@
+{
+  "contact_time": 4.6,
+  "contact_ratio": 0.4742268041237113,
+  "avg_contact_area": 381.3550724637681,
+  "contact_entropy": 0.05254383825177311,
+  "total_frames": 291,
+  "fps": 30.0,
+  "reference_frame_count": 0,
+  "dataset_name": "dag911262r001146_lerobot_0326_220254",
+  "episode_index": 50,
+  "sensor": "gripper_left_tactile"
+}
\ No newline at end of file
diff --git a/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-07/outputs_tactile/tactile_cache/dag911262r001146_lerobot_0326_220254_18b6d285/episodes/ep000050/gripper_right_tactile_force_metrics.json b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-07/outputs_tactile/tactile_cache/dag911262r001146_lerobot_0326_220254_18b6d285/episodes/ep000050/gripper_right_tactile_force_metrics.json
new file mode 100644
index 0000000000000000000000000000000000000000..8dc100ba602d4a6719f450d539cf914ecba5fd6d
--- /dev/null
+++ b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-07/outputs_tactile/tactile_cache/dag911262r001146_lerobot_0326_220254_18b6d285/episodes/ep000050/gripper_right_tactile_force_metrics.json
@@ -0,0 +1,9 @@
+{
+  "depth_peak": 0.014773454517126083,
+  "shear_peak": 0.020849233493208885,
+  "force_magnitude_peak": 0.025552798062562943,
+  "reference_frame_count": 0,
+  "dataset_name": "dag911262r001146_lerobot_0326_220254",
+  "episode_index": 50,
+  "sensor": "gripper_right_tactile"
+}
\ No newline at end of file
diff --git a/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-07/outputs_tactile/tactile_cache/dag911262r001146_lerobot_0326_220254_18b6d285/episodes/ep000051/gripper_right_tactile_contact_metrics.json b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-07/outputs_tactile/tactile_cache/dag911262r001146_lerobot_0326_220254_18b6d285/episodes/ep000051/gripper_right_tactile_contact_metrics.json
new file mode 100644
index 0000000000000000000000000000000000000000..dfe1b31a1fc633c7d1377b7d51619de3402b9b30
--- /dev/null
+++ b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-07/outputs_tactile/tactile_cache/dag911262r001146_lerobot_0326_220254_18b6d285/episodes/ep000051/gripper_right_tactile_contact_metrics.json
@@ -0,0 +1,12 @@
+{
+  "contact_time": 7.5,
+  "contact_ratio": 0.7950530035335689,
+  "avg_contact_area": 9212.346666666666,
+  "contact_entropy": 0.3200425825374781,
+  "total_frames": 283,
+  "fps": 30.0,
+  "reference_frame_count": 0,
+  "dataset_name": "dag911262r001146_lerobot_0326_220254",
+  "episode_index": 51,
+  "sensor": "gripper_right_tactile"
+}
\ No newline at end of file
diff --git a/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-07/outputs_tactile/tactile_cache/dag911262r001146_lerobot_0326_220254_18b6d285/episodes/ep000052/gripper_left_tactile_contact_metrics.json b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-07/outputs_tactile/tactile_cache/dag911262r001146_lerobot_0326_220254_18b6d285/episodes/ep000052/gripper_left_tactile_contact_metrics.json
new file mode 100644
index 0000000000000000000000000000000000000000..a0698bdf30f094ada65f75b2f19128e4faaf9689
--- /dev/null
+++ b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-07/outputs_tactile/tactile_cache/dag911262r001146_lerobot_0326_220254_18b6d285/episodes/ep000052/gripper_left_tactile_contact_metrics.json
@@ -0,0 +1,12 @@
+{
+  "contact_time": 6.5,
+  "contact_ratio": 0.752895752895753,
+  "avg_contact_area": 3435.892307692308,
+  "contact_entropy": 1.131191684313132,
+  "total_frames": 259,
+  "fps": 30.0,
+  "reference_frame_count": 0,
+  "dataset_name": "dag911262r001146_lerobot_0326_220254",
+  "episode_index": 52,
+  "sensor": "gripper_left_tactile"
+}
\ No newline at end of file
diff --git a/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-07/outputs_tactile/tactile_cache/dag911262r001146_lerobot_0326_220254_18b6d285/episodes/ep000052/gripper_right_tactile_force_metrics.json b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-07/outputs_tactile/tactile_cache/dag911262r001146_lerobot_0326_220254_18b6d285/episodes/ep000052/gripper_right_tactile_force_metrics.json
new file mode 100644
index 0000000000000000000000000000000000000000..90b51cef6df408f1d4f39187bd2b5841d2b05319
--- /dev/null
+++ b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-07/outputs_tactile/tactile_cache/dag911262r001146_lerobot_0326_220254_18b6d285/episodes/ep000052/gripper_right_tactile_force_metrics.json
@@ -0,0 +1,9 @@
+{
+  "depth_peak": 0.009981614537537098,
+  "shear_peak": 0.008241157047450542,
+  "force_magnitude_peak": 0.01289927028119564,
+  "reference_frame_count": 0,
+  "dataset_name": "dag911262r001146_lerobot_0326_220254",
+  "episode_index": 52,
+  "sensor": "gripper_right_tactile"
+}
\ No newline at end of file
diff --git a/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-07/outputs_tactile/tactile_cache/dag911262r001146_lerobot_0326_220254_18b6d285/episodes/ep000053/gripper_left_tactile_force_metrics.json b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-07/outputs_tactile/tactile_cache/dag911262r001146_lerobot_0326_220254_18b6d285/episodes/ep000053/gripper_left_tactile_force_metrics.json
new file mode 100644
index 0000000000000000000000000000000000000000..e31e3516d8c0baf2ff23dee656e5247a5acf1afa
--- /dev/null
+++ b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-07/outputs_tactile/tactile_cache/dag911262r001146_lerobot_0326_220254_18b6d285/episodes/ep000053/gripper_left_tactile_force_metrics.json
@@ -0,0 +1,9 @@
+{
+  "depth_peak": 0.010377531871199608,
+  "shear_peak": 0.006791575346142054,
+  "force_magnitude_peak": 0.01233393233269453,
+  "reference_frame_count": 0,
+  "dataset_name": "dag911262r001146_lerobot_0326_220254",
+  "episode_index": 53,
+  "sensor": "gripper_left_tactile"
+}
\ No newline at end of file
diff --git a/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-07/outputs_tactile/tactile_cache/dag911262r001146_lerobot_0326_220254_18b6d285/episodes/ep000054/gripper_right_tactile_force_metrics.json b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-07/outputs_tactile/tactile_cache/dag911262r001146_lerobot_0326_220254_18b6d285/episodes/ep000054/gripper_right_tactile_force_metrics.json
new file mode 100644
index 0000000000000000000000000000000000000000..ae21e3a3ba591f2ecc37b66f05d508a8f10b8693
--- /dev/null
+++ b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-07/outputs_tactile/tactile_cache/dag911262r001146_lerobot_0326_220254_18b6d285/episodes/ep000054/gripper_right_tactile_force_metrics.json
@@ -0,0 +1,9 @@
+{
+  "depth_peak": 0.00950691755861044,
+  "shear_peak": 0.00487979780882597,
+  "force_magnitude_peak": 0.009564915671944618,
+  "reference_frame_count": 0,
+  "dataset_name": "dag911262r001146_lerobot_0326_220254",
+  "episode_index": 54,
+  "sensor": "gripper_right_tactile"
+}
\ No newline at end of file
diff --git a/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-07/outputs_tactile/tactile_cache/dag911262r001146_lerobot_0326_220254_18b6d285/episodes/ep000056/gripper_left_tactile_contact_metrics.json b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-07/outputs_tactile/tactile_cache/dag911262r001146_lerobot_0326_220254_18b6d285/episodes/ep000056/gripper_left_tactile_contact_metrics.json
new file mode 100644
index 0000000000000000000000000000000000000000..c17f22a35cf35b8177f44fd35124d5adf96c0cd2
--- /dev/null
+++ b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-07/outputs_tactile/tactile_cache/dag911262r001146_lerobot_0326_220254_18b6d285/episodes/ep000056/gripper_left_tactile_contact_metrics.json
@@ -0,0 +1,12 @@
+{
+  "contact_time": 5.533333333333333,
+  "contact_ratio": 0.7280701754385965,
+  "avg_contact_area": 1298.9036144578313,
+  "contact_entropy": 0.19119619838104845,
+  "total_frames": 228,
+  "fps": 30.0,
+  "reference_frame_count": 0,
+  "dataset_name": "dag911262r001146_lerobot_0326_220254",
+  "episode_index": 56,
+  "sensor": "gripper_left_tactile"
+}
\ No newline at end of file
diff --git a/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-07/outputs_tactile/tactile_cache/dag911262r001146_lerobot_0326_220254_18b6d285/episodes/ep000058/gripper_left_tactile_force_metrics.json b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-07/outputs_tactile/tactile_cache/dag911262r001146_lerobot_0326_220254_18b6d285/episodes/ep000058/gripper_left_tactile_force_metrics.json
new file mode 100644
index 0000000000000000000000000000000000000000..a2465e598c7a46d5fceb9c787f3fd69f1f7494a7
--- /dev/null
+++ b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-07/outputs_tactile/tactile_cache/dag911262r001146_lerobot_0326_220254_18b6d285/episodes/ep000058/gripper_left_tactile_force_metrics.json
@@ -0,0 +1,9 @@
+{
+  "depth_peak": 0.006284101866185665,
+  "shear_peak": 0.007780870422720909,
+  "force_magnitude_peak": 0.009971819818019867,
+  "reference_frame_count": 0,
+  "dataset_name": "dag911262r001146_lerobot_0326_220254",
+  "episode_index": 58,
+  "sensor": "gripper_left_tactile"
+}
\ No newline at end of file
diff --git a/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-07/outputs_tactile/tactile_cache/dag911262r001146_lerobot_0326_220254_18b6d285/episodes/ep000063/gripper_left_tactile_force_metrics.json b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-07/outputs_tactile/tactile_cache/dag911262r001146_lerobot_0326_220254_18b6d285/episodes/ep000063/gripper_left_tactile_force_metrics.json
new file mode 100644
index 0000000000000000000000000000000000000000..0beb6f395150cc50d1ea55bee5c8e077fae10692
--- /dev/null
+++ b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-07/outputs_tactile/tactile_cache/dag911262r001146_lerobot_0326_220254_18b6d285/episodes/ep000063/gripper_left_tactile_force_metrics.json
@@ -0,0 +1,9 @@
+{
+  "depth_peak": 0.0023682308383286,
+  "shear_peak": 0.005685961805284023,
+  "force_magnitude_peak": 0.005788736045360565,
+  "reference_frame_count": 0,
+  "dataset_name": "dag911262r001146_lerobot_0326_220254",
+  "episode_index": 63,
+  "sensor": "gripper_left_tactile"
+}
\ No newline at end of file
diff --git a/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-07/outputs_tactile/tactile_cache/dag911262r001146_lerobot_0326_220254_18b6d285/episodes/ep000064/gripper_right_tactile_contact_metrics.json b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-07/outputs_tactile/tactile_cache/dag911262r001146_lerobot_0326_220254_18b6d285/episodes/ep000064/gripper_right_tactile_contact_metrics.json
new file mode 100644
index 0000000000000000000000000000000000000000..30d9a50edea0b1029c1eec528d81dc3f6a13a1ce
--- /dev/null
+++ b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-07/outputs_tactile/tactile_cache/dag911262r001146_lerobot_0326_220254_18b6d285/episodes/ep000064/gripper_right_tactile_contact_metrics.json
@@ -0,0 +1,12 @@
+{
+  "contact_time": 10.366666666666667,
+  "contact_ratio": 0.8315508021390374,
+  "avg_contact_area": 1398.16077170418,
+  "contact_entropy": 0.4439516621981796,
+  "total_frames": 374,
+  "fps": 30.0,
+  "reference_frame_count": 0,
+  "dataset_name": "dag911262r001146_lerobot_0326_220254",
+  "episode_index": 64,
+  "sensor": "gripper_right_tactile"
+}
\ No newline at end of file
diff --git a/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-07/outputs_tactile/tactile_cache/dag911262r001146_lerobot_0326_220254_18b6d285/episodes/ep000065/gripper_left_tactile_force_metrics.json b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-07/outputs_tactile/tactile_cache/dag911262r001146_lerobot_0326_220254_18b6d285/episodes/ep000065/gripper_left_tactile_force_metrics.json
new file mode 100644
index 0000000000000000000000000000000000000000..1b3b2f41ace97bfe1d4f4694ff128581fd906fa2
--- /dev/null
+++ b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-07/outputs_tactile/tactile_cache/dag911262r001146_lerobot_0326_220254_18b6d285/episodes/ep000065/gripper_left_tactile_force_metrics.json
@@ -0,0 +1,9 @@
+{
+  "depth_peak": 0.017856540158391,
+  "shear_peak": 0.006905639544129372,
+  "force_magnitude_peak": 0.018731525167822838,
+  "reference_frame_count": 0,
+  "dataset_name": "dag911262r001146_lerobot_0326_220254",
+  "episode_index": 65,
+  "sensor": "gripper_left_tactile"
+}
\ No newline at end of file
diff --git a/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-07/outputs_tactile/tactile_cache/dag911262r001146_lerobot_0326_220254_18b6d285/episodes/ep000067/gripper_right_tactile_force_metrics.json b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-07/outputs_tactile/tactile_cache/dag911262r001146_lerobot_0326_220254_18b6d285/episodes/ep000067/gripper_right_tactile_force_metrics.json
new file mode 100644
index 0000000000000000000000000000000000000000..3c8cecb0890423b781328834aab0c6f2764cab9d
--- /dev/null
+++ b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-07/outputs_tactile/tactile_cache/dag911262r001146_lerobot_0326_220254_18b6d285/episodes/ep000067/gripper_right_tactile_force_metrics.json
@@ -0,0 +1,9 @@
+{
+  "depth_peak": 0.0122492341324687,
+  "shear_peak": 0.006181485950946808,
+  "force_magnitude_peak": 0.012647909112274647,
+  "reference_frame_count": 0,
+  "dataset_name": "dag911262r001146_lerobot_0326_220254",
+  "episode_index": 67,
+  "sensor": "gripper_right_tactile"
+}
\ No newline at end of file
diff --git a/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-07/outputs_tactile/tactile_cache/dag911262r001146_lerobot_0326_220254_18b6d285/episodes/ep000071/gripper_right_tactile_contact_metrics.json b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-07/outputs_tactile/tactile_cache/dag911262r001146_lerobot_0326_220254_18b6d285/episodes/ep000071/gripper_right_tactile_contact_metrics.json
new file mode 100644
index 0000000000000000000000000000000000000000..4e83ed7d3895ca7ea2891bb5ed278add1e224b60
--- /dev/null
+++ b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-07/outputs_tactile/tactile_cache/dag911262r001146_lerobot_0326_220254_18b6d285/episodes/ep000071/gripper_right_tactile_contact_metrics.json
@@ -0,0 +1,12 @@
+{
+  "contact_time": 14.366666666666667,
+  "contact_ratio": 0.8850102669404517,
+  "avg_contact_area": 2672.450116009281,
+  "contact_entropy": 0.3107847506192962,
+  "total_frames": 487,
+  "fps": 30.0,
+  "reference_frame_count": 0,
+  "dataset_name": "dag911262r001146_lerobot_0326_220254",
+  "episode_index": 71,
+  "sensor": "gripper_right_tactile"
+}
\ No newline at end of file
diff --git a/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-07/outputs_tactile/tactile_cache/dag911262r001146_lerobot_0326_220254_18b6d285/episodes/ep000073/gripper_right_tactile_contact_metrics.json b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-07/outputs_tactile/tactile_cache/dag911262r001146_lerobot_0326_220254_18b6d285/episodes/ep000073/gripper_right_tactile_contact_metrics.json
new file mode 100644
index 0000000000000000000000000000000000000000..223d34cdb8450b013b81d4ae39c3fbda2e826a9a
--- /dev/null
+++ b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-07/outputs_tactile/tactile_cache/dag911262r001146_lerobot_0326_220254_18b6d285/episodes/ep000073/gripper_right_tactile_contact_metrics.json
@@ -0,0 +1,12 @@
+{
+  "contact_time": 9.833333333333334,
+  "contact_ratio": 0.8805970149253731,
+  "avg_contact_area": 9968.684745762712,
+  "contact_entropy": 0.5782729871866518,
+  "total_frames": 335,
+  "fps": 30.0,
+  "reference_frame_count": 0,
+  "dataset_name": "dag911262r001146_lerobot_0326_220254",
+  "episode_index": 73,
+  "sensor": "gripper_right_tactile"
+}
\ No newline at end of file
diff --git a/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-07/outputs_tactile/tactile_cache/dag911262r001146_lerobot_0326_220254_18b6d285/episodes/ep000077/gripper_left_tactile_contact_metrics.json b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-07/outputs_tactile/tactile_cache/dag911262r001146_lerobot_0326_220254_18b6d285/episodes/ep000077/gripper_left_tactile_contact_metrics.json
new file mode 100644
index 0000000000000000000000000000000000000000..463ecc108c47c63140da20a3d88400712e493bd5
--- /dev/null
+++ b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-07/outputs_tactile/tactile_cache/dag911262r001146_lerobot_0326_220254_18b6d285/episodes/ep000077/gripper_left_tactile_contact_metrics.json
@@ -0,0 +1,12 @@
+{
+  "contact_time": 10.566666666666666,
+  "contact_ratio": 0.8408488063660478,
+  "avg_contact_area": 5851.829652996846,
+  "contact_entropy": 0.8275356392041116,
+  "total_frames": 377,
+  "fps": 30.0,
+  "reference_frame_count": 0,
+  "dataset_name": "dag911262r001146_lerobot_0326_220254",
+  "episode_index": 77,
+  "sensor": "gripper_left_tactile"
+}
\ No newline at end of file
diff --git a/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-07/outputs_tactile/tactile_cache/dag911262r001146_lerobot_0326_220254_18b6d285/episodes/ep000078/gripper_left_tactile_force_metrics.json b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-07/outputs_tactile/tactile_cache/dag911262r001146_lerobot_0326_220254_18b6d285/episodes/ep000078/gripper_left_tactile_force_metrics.json
new file mode 100644
index 0000000000000000000000000000000000000000..6bdd20768a52427c41a41aec6c0e727ea328bf4a
--- /dev/null
+++ b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-07/outputs_tactile/tactile_cache/dag911262r001146_lerobot_0326_220254_18b6d285/episodes/ep000078/gripper_left_tactile_force_metrics.json
@@ -0,0 +1,9 @@
+{
+  "depth_peak": 0.003593253903090954,
+  "shear_peak": 0.0020329386461526155,
+  "force_magnitude_peak": 0.0036957941483706236,
+  "reference_frame_count": 0,
+  "dataset_name": "dag911262r001146_lerobot_0326_220254",
+  "episode_index": 78,
+  "sensor": "gripper_left_tactile"
+}
\ No newline at end of file
diff --git a/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-07/outputs_tactile/tactile_cache/dag911262r001146_lerobot_0326_220254_18b6d285/episodes/ep000082/gripper_left_tactile_contact_metrics.json b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-07/outputs_tactile/tactile_cache/dag911262r001146_lerobot_0326_220254_18b6d285/episodes/ep000082/gripper_left_tactile_contact_metrics.json
new file mode 100644
index 0000000000000000000000000000000000000000..737cd4bc17d069eba5ac1498e11b98fa03da9cce
--- /dev/null
+++ b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-07/outputs_tactile/tactile_cache/dag911262r001146_lerobot_0326_220254_18b6d285/episodes/ep000082/gripper_left_tactile_contact_metrics.json
@@ -0,0 +1,12 @@
+{
+  "contact_time": 8.666666666666666,
+  "contact_ratio": 0.7951070336391437,
+  "avg_contact_area": 7197.111538461539,
+  "contact_entropy": 0.6813039320893816,
+  "total_frames": 327,
+  "fps": 30.0,
+  "reference_frame_count": 0,
+  "dataset_name": "dag911262r001146_lerobot_0326_220254",
+  "episode_index": 82,
+  "sensor": "gripper_left_tactile"
+}
\ No newline at end of file
diff --git a/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-07/outputs_tactile/tactile_cache/dag911262r001146_lerobot_0326_220254_18b6d285/episodes/ep000085/gripper_right_tactile_force_metrics.json b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-07/outputs_tactile/tactile_cache/dag911262r001146_lerobot_0326_220254_18b6d285/episodes/ep000085/gripper_right_tactile_force_metrics.json
new file mode 100644
index 0000000000000000000000000000000000000000..ddab15b90dd2696123bfb342fcf7267f6d787d96
--- /dev/null
+++ b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-07/outputs_tactile/tactile_cache/dag911262r001146_lerobot_0326_220254_18b6d285/episodes/ep000085/gripper_right_tactile_force_metrics.json
@@ -0,0 +1,9 @@
+{
+  "depth_peak": 0.014361733570694923,
+  "shear_peak": 0.004281545989215374,
+  "force_magnitude_peak": 0.014926541596651077,
+  "reference_frame_count": 0,
+  "dataset_name": "dag911262r001146_lerobot_0326_220254",
+  "episode_index": 85,
+  "sensor": "gripper_right_tactile"
+}
\ No newline at end of file
diff --git a/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-07/outputs_tactile/tactile_cache/dag911262r001146_lerobot_0326_220254_18b6d285/episodes/ep000089/gripper_right_tactile_contact_metrics.json b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-07/outputs_tactile/tactile_cache/dag911262r001146_lerobot_0326_220254_18b6d285/episodes/ep000089/gripper_right_tactile_contact_metrics.json
new file mode 100644
index 0000000000000000000000000000000000000000..ec33f8024f1e119169a2a96b9cacbb50e4222ab9
--- /dev/null
+++ b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-07/outputs_tactile/tactile_cache/dag911262r001146_lerobot_0326_220254_18b6d285/episodes/ep000089/gripper_right_tactile_contact_metrics.json
@@ -0,0 +1,12 @@
+{
+  "contact_time": 9.4,
+  "contact_ratio": 0.889589905362776,
+  "avg_contact_area": 13322.400709219859,
+  "contact_entropy": 0.3827049956351059,
+  "total_frames": 317,
+  "fps": 30.0,
+  "reference_frame_count": 0,
+  "dataset_name": "dag911262r001146_lerobot_0326_220254",
+  "episode_index": 89,
+  "sensor": "gripper_right_tactile"
+}
\ No newline at end of file
diff --git a/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-07/outputs_tactile/tactile_cache/dag911262r001146_lerobot_0326_220254_18b6d285/episodes/ep000090/gripper_left_tactile_contact_metrics.json b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-07/outputs_tactile/tactile_cache/dag911262r001146_lerobot_0326_220254_18b6d285/episodes/ep000090/gripper_left_tactile_contact_metrics.json
new file mode 100644
index 0000000000000000000000000000000000000000..0ca5fa3fddc9d49db63aaf63428ac2bcff98811b
--- /dev/null
+++ b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-07/outputs_tactile/tactile_cache/dag911262r001146_lerobot_0326_220254_18b6d285/episodes/ep000090/gripper_left_tactile_contact_metrics.json
@@ -0,0 +1,12 @@
+{
+  "contact_time": 8.833333333333334,
+  "contact_ratio": 0.6050228310502284,
+  "avg_contact_area": 2327.0415094339623,
+  "contact_entropy": 0.40705385511045666,
+  "total_frames": 438,
+  "fps": 30.0,
+  "reference_frame_count": 0,
+  "dataset_name": "dag911262r001146_lerobot_0326_220254",
+  "episode_index": 90,
+  "sensor": "gripper_left_tactile"
+}
\ No newline at end of file
diff --git a/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-07/outputs_tactile/tactile_cache/dag911262r001146_lerobot_0326_220254_18b6d285/episodes/ep000090/gripper_right_tactile_force_metrics.json b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-07/outputs_tactile/tactile_cache/dag911262r001146_lerobot_0326_220254_18b6d285/episodes/ep000090/gripper_right_tactile_force_metrics.json
new file mode 100644
index 0000000000000000000000000000000000000000..bec222ca347913c2e0d6b768fb8077ad76fe577d
--- /dev/null
+++ b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-07/outputs_tactile/tactile_cache/dag911262r001146_lerobot_0326_220254_18b6d285/episodes/ep000090/gripper_right_tactile_force_metrics.json
@@ -0,0 +1,9 @@
+{
+  "depth_peak": 0.01790447160601616,
+  "shear_peak": 0.01238443236798048,
+  "force_magnitude_peak": 0.020488010719418526,
+  "reference_frame_count": 0,
+  "dataset_name": "dag911262r001146_lerobot_0326_220254",
+  "episode_index": 90,
+  "sensor": "gripper_right_tactile"
+}
\ No newline at end of file
diff --git a/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-07/outputs_tactile/tactile_cache/dag911262r001146_lerobot_0326_220254_18b6d285/episodes/ep000091/gripper_right_tactile_contact_metrics.json b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-07/outputs_tactile/tactile_cache/dag911262r001146_lerobot_0326_220254_18b6d285/episodes/ep000091/gripper_right_tactile_contact_metrics.json
new file mode 100644
index 0000000000000000000000000000000000000000..9b106ef39614b6f66e2d1f233edf3c666af45bc4
--- /dev/null
+++ b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-07/outputs_tactile/tactile_cache/dag911262r001146_lerobot_0326_220254_18b6d285/episodes/ep000091/gripper_right_tactile_contact_metrics.json
@@ -0,0 +1,12 @@
+{
+  "contact_time": 8.233333333333333,
+  "contact_ratio": 0.7993527508090615,
+  "avg_contact_area": 2890.4736842105262,
+  "contact_entropy": 0.3332746330208618,
+  "total_frames": 309,
+  "fps": 30.0,
+  "reference_frame_count": 0,
+  "dataset_name": "dag911262r001146_lerobot_0326_220254",
+  "episode_index": 91,
+  "sensor": "gripper_right_tactile"
+}
\ No newline at end of file
diff --git a/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-07/outputs_tactile/tactile_cache/dag911262r001146_lerobot_0326_220254_18b6d285/episodes/ep000092/gripper_left_tactile_contact_metrics.json b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-07/outputs_tactile/tactile_cache/dag911262r001146_lerobot_0326_220254_18b6d285/episodes/ep000092/gripper_left_tactile_contact_metrics.json
new file mode 100644
index 0000000000000000000000000000000000000000..bb5eb3c32527fa2a92efbfdf23d2480a035073ed
--- /dev/null
+++ b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-07/outputs_tactile/tactile_cache/dag911262r001146_lerobot_0326_220254_18b6d285/episodes/ep000092/gripper_left_tactile_contact_metrics.json
@@ -0,0 +1,12 @@
+{
+  "contact_time": 14.266666666666667,
+  "contact_ratio": 0.8629032258064516,
+  "avg_contact_area": 9326.985981308411,
+  "contact_entropy": 0.8610317181044183,
+  "total_frames": 496,
+  "fps": 30.0,
+  "reference_frame_count": 0,
+  "dataset_name": "dag911262r001146_lerobot_0326_220254",
+  "episode_index": 92,
+  "sensor": "gripper_left_tactile"
+}
\ No newline at end of file
diff --git a/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-07/outputs_tactile/tactile_cache/dag911262r001146_lerobot_0326_220254_18b6d285/episodes/ep000092/gripper_right_tactile_force_metrics.json b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-07/outputs_tactile/tactile_cache/dag911262r001146_lerobot_0326_220254_18b6d285/episodes/ep000092/gripper_right_tactile_force_metrics.json
new file mode 100644
index 0000000000000000000000000000000000000000..7979c51b6e2da7b6eb85ec40e440a103c6417bef
--- /dev/null
+++ b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-07/outputs_tactile/tactile_cache/dag911262r001146_lerobot_0326_220254_18b6d285/episodes/ep000092/gripper_right_tactile_force_metrics.json
@@ -0,0 +1,9 @@
+{
+  "depth_peak": 0.024555427953600883,
+  "shear_peak": 0.015929089859128,
+  "force_magnitude_peak": 0.028864769265055656,
+  "reference_frame_count": 0,
+  "dataset_name": "dag911262r001146_lerobot_0326_220254",
+  "episode_index": 92,
+  "sensor": "gripper_right_tactile"
+}
\ No newline at end of file
diff --git a/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-07/outputs_tactile/tactile_cache/dag911262r001146_lerobot_0326_220254_18b6d285/episodes/ep000093/gripper_left_tactile_force_metrics.json b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-07/outputs_tactile/tactile_cache/dag911262r001146_lerobot_0326_220254_18b6d285/episodes/ep000093/gripper_left_tactile_force_metrics.json
new file mode 100644
index 0000000000000000000000000000000000000000..f170382b6547799a6c39648753d8800fe1ded234
--- /dev/null
+++ b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-07/outputs_tactile/tactile_cache/dag911262r001146_lerobot_0326_220254_18b6d285/episodes/ep000093/gripper_left_tactile_force_metrics.json
@@ -0,0 +1,9 @@
+{
+  "depth_peak": 0.009071556851267815,
+  "shear_peak": 0.004167625214904547,
+  "force_magnitude_peak": 0.009405253455042839,
+  "reference_frame_count": 0,
+  "dataset_name": "dag911262r001146_lerobot_0326_220254",
+  "episode_index": 93,
+  "sensor": "gripper_left_tactile"
+}
\ No newline at end of file
diff --git a/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-07/outputs_tactile/tactile_cache/dag911262r001146_lerobot_0326_220254_18b6d285/episodes/ep000094/gripper_right_tactile_force_metrics.json b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-07/outputs_tactile/tactile_cache/dag911262r001146_lerobot_0326_220254_18b6d285/episodes/ep000094/gripper_right_tactile_force_metrics.json
new file mode 100644
index 0000000000000000000000000000000000000000..30c82e5da916315378c418d10f9fd1d2268fa5e7
--- /dev/null
+++ b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-07/outputs_tactile/tactile_cache/dag911262r001146_lerobot_0326_220254_18b6d285/episodes/ep000094/gripper_right_tactile_force_metrics.json
@@ -0,0 +1,9 @@
+{
+  "depth_peak": 0.0017737437738105655,
+  "shear_peak": 0.0029194506350904703,
+  "force_magnitude_peak": 0.0029961729887872934,
+  "reference_frame_count": 0,
+  "dataset_name": "dag911262r001146_lerobot_0326_220254",
+  "episode_index": 94,
+  "sensor": "gripper_right_tactile"
+}
\ No newline at end of file
diff --git a/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-07/outputs_tactile/tactile_cache/dag911262r001146_lerobot_0326_220254_18b6d285/episodes/ep000096/gripper_left_tactile_contact_metrics.json b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-07/outputs_tactile/tactile_cache/dag911262r001146_lerobot_0326_220254_18b6d285/episodes/ep000096/gripper_left_tactile_contact_metrics.json
new file mode 100644
index 0000000000000000000000000000000000000000..b772f07ee2b15f48b434705d887471dde1d52e89
--- /dev/null
+++ b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-07/outputs_tactile/tactile_cache/dag911262r001146_lerobot_0326_220254_18b6d285/episodes/ep000096/gripper_left_tactile_contact_metrics.json
@@ -0,0 +1,12 @@
+{
+  "contact_time": 10.666666666666666,
+  "contact_ratio": 0.8163265306122449,
+  "avg_contact_area": 6009.196875,
+  "contact_entropy": 1.1320864499864098,
+  "total_frames": 392,
+  "fps": 30.0,
+  "reference_frame_count": 0,
+  "dataset_name": "dag911262r001146_lerobot_0326_220254",
+  "episode_index": 96,
+  "sensor": "gripper_left_tactile"
+}
\ No newline at end of file
diff --git a/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-07/outputs_tactile/tactile_cache/dag911262r001146_lerobot_0326_220254_18b6d285/episodes/ep000098/gripper_left_tactile_force_metrics.json b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-07/outputs_tactile/tactile_cache/dag911262r001146_lerobot_0326_220254_18b6d285/episodes/ep000098/gripper_left_tactile_force_metrics.json
new file mode 100644
index 0000000000000000000000000000000000000000..5ea426854096d6406bc3eec36a3a5848a5442eae
--- /dev/null
+++ b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-07/outputs_tactile/tactile_cache/dag911262r001146_lerobot_0326_220254_18b6d285/episodes/ep000098/gripper_left_tactile_force_metrics.json
@@ -0,0 +1,9 @@
+{
+  "depth_peak": 0.024806693196296692,
+  "shear_peak": 0.007847950793802738,
+  "force_magnitude_peak": 0.0258217453956604,
+  "reference_frame_count": 0,
+  "dataset_name": "dag911262r001146_lerobot_0326_220254",
+  "episode_index": 98,
+  "sensor": "gripper_left_tactile"
+}
\ No newline at end of file
diff --git a/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-07/outputs_tactile/tactile_cache/dag911262r001146_lerobot_0326_220254_18b6d285/episodes/ep000103/gripper_left_tactile_force_metrics.json b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-07/outputs_tactile/tactile_cache/dag911262r001146_lerobot_0326_220254_18b6d285/episodes/ep000103/gripper_left_tactile_force_metrics.json
new file mode 100644
index 0000000000000000000000000000000000000000..4b72c65c54c6a17aacd85ab3df2bedab585a9514
--- /dev/null
+++ b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-07/outputs_tactile/tactile_cache/dag911262r001146_lerobot_0326_220254_18b6d285/episodes/ep000103/gripper_left_tactile_force_metrics.json
@@ -0,0 +1,9 @@
+{
+  "depth_peak": 0.010975084267556667,
+  "shear_peak": 0.007757899351418018,
+  "force_magnitude_peak": 0.011938627809286118,
+  "reference_frame_count": 0,
+  "dataset_name": "dag911262r001146_lerobot_0326_220254",
+  "episode_index": 103,
+  "sensor": "gripper_left_tactile"
+}
\ No newline at end of file
diff --git a/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-07/outputs_tactile/tactile_cache/dag911262r001146_lerobot_0326_220254_18b6d285/episodes/ep000104/gripper_right_tactile_contact_metrics.json b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-07/outputs_tactile/tactile_cache/dag911262r001146_lerobot_0326_220254_18b6d285/episodes/ep000104/gripper_right_tactile_contact_metrics.json
new file mode 100644
index 0000000000000000000000000000000000000000..eb1c8aca808ba2df8098c0b83b9f81b572effddb
--- /dev/null
+++ b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-07/outputs_tactile/tactile_cache/dag911262r001146_lerobot_0326_220254_18b6d285/episodes/ep000104/gripper_right_tactile_contact_metrics.json
@@ -0,0 +1,12 @@
+{
+  "contact_time": 13.4,
+  "contact_ratio": 0.9013452914798207,
+  "avg_contact_area": 8667.02736318408,
+  "contact_entropy": 0.37149112361631753,
+  "total_frames": 446,
+  "fps": 30.0,
+  "reference_frame_count": 0,
+  "dataset_name": "dag911262r001146_lerobot_0326_220254",
+  "episode_index": 104,
+  "sensor": "gripper_right_tactile"
+}
\ No newline at end of file
diff --git a/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-07/outputs_tactile/tactile_cache/dag911262r001146_lerobot_0326_220254_18b6d285/episodes/ep000105/gripper_left_tactile_force_metrics.json b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-07/outputs_tactile/tactile_cache/dag911262r001146_lerobot_0326_220254_18b6d285/episodes/ep000105/gripper_left_tactile_force_metrics.json
new file mode 100644
index 0000000000000000000000000000000000000000..f9985da1e8c71136a1d96472201a2c0f5628aeeb
--- /dev/null
+++ b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-07/outputs_tactile/tactile_cache/dag911262r001146_lerobot_0326_220254_18b6d285/episodes/ep000105/gripper_left_tactile_force_metrics.json
@@ -0,0 +1,9 @@
+{
+  "depth_peak": 0.005668453872203827,
+  "shear_peak": 0.005151703022420406,
+  "force_magnitude_peak": 0.007389424368739128,
+  "reference_frame_count": 0,
+  "dataset_name": "dag911262r001146_lerobot_0326_220254",
+  "episode_index": 105,
+  "sensor": "gripper_left_tactile"
+}
\ No newline at end of file
diff --git a/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-07/outputs_tactile/tactile_cache/dag911262r001146_lerobot_0326_220254_18b6d285/episodes/ep000107/gripper_right_tactile_force_metrics.json b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-07/outputs_tactile/tactile_cache/dag911262r001146_lerobot_0326_220254_18b6d285/episodes/ep000107/gripper_right_tactile_force_metrics.json
new file mode 100644
index 0000000000000000000000000000000000000000..e6ef45061a5fa0223ecdd8a22cb005707e37bc5f
--- /dev/null
+++ b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-07/outputs_tactile/tactile_cache/dag911262r001146_lerobot_0326_220254_18b6d285/episodes/ep000107/gripper_right_tactile_force_metrics.json
@@ -0,0 +1,9 @@
+{
+  "depth_peak": 0.006187849212437868,
+  "shear_peak": 0.0050990949384868145,
+  "force_magnitude_peak": 0.007877890020608902,
+  "reference_frame_count": 0,
+  "dataset_name": "dag911262r001146_lerobot_0326_220254",
+  "episode_index": 107,
+  "sensor": "gripper_right_tactile"
+}
\ No newline at end of file
diff --git a/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-07/outputs_tactile/tactile_cache/dag911262r001146_lerobot_0326_220254_18b6d285/episodes/ep000111/gripper_right_tactile_contact_metrics.json b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-07/outputs_tactile/tactile_cache/dag911262r001146_lerobot_0326_220254_18b6d285/episodes/ep000111/gripper_right_tactile_contact_metrics.json
new file mode 100644
index 0000000000000000000000000000000000000000..48fca6b786d92bee795bf3aae7de98e0cd768c0f
--- /dev/null
+++ b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-07/outputs_tactile/tactile_cache/dag911262r001146_lerobot_0326_220254_18b6d285/episodes/ep000111/gripper_right_tactile_contact_metrics.json
@@ -0,0 +1,12 @@
+{
+  "contact_time": 9.6,
+  "contact_ratio": 0.8228571428571428,
+  "avg_contact_area": 5759.5625,
+  "contact_entropy": 0.35133255015792214,
+  "total_frames": 350,
+  "fps": 30.0,
+  "reference_frame_count": 0,
+  "dataset_name": "dag911262r001146_lerobot_0326_220254",
+  "episode_index": 111,
+  "sensor": "gripper_right_tactile"
+}
\ No newline at end of file
diff --git a/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-07/outputs_tactile/tactile_cache/dag911262r001146_lerobot_0326_220254_18b6d285/episodes/ep000113/gripper_right_tactile_contact_metrics.json b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-07/outputs_tactile/tactile_cache/dag911262r001146_lerobot_0326_220254_18b6d285/episodes/ep000113/gripper_right_tactile_contact_metrics.json
new file mode 100644
index 0000000000000000000000000000000000000000..d6ae15b8ed688d1ed856195dcf14481d4f0a162a
--- /dev/null
+++ b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-07/outputs_tactile/tactile_cache/dag911262r001146_lerobot_0326_220254_18b6d285/episodes/ep000113/gripper_right_tactile_contact_metrics.json
@@ -0,0 +1,12 @@
+{
+  "contact_time": 7.933333333333334,
+  "contact_ratio": 0.7906976744186046,
+  "avg_contact_area": 9951.693277310924,
+  "contact_entropy": 0.41166965360950863,
+  "total_frames": 301,
+  "fps": 30.0,
+  "reference_frame_count": 0,
+  "dataset_name": "dag911262r001146_lerobot_0326_220254",
+  "episode_index": 113,
+  "sensor": "gripper_right_tactile"
+}
\ No newline at end of file
diff --git a/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-07/outputs_tactile/tactile_cache/dag911262r001146_lerobot_0326_220254_18b6d285/episodes/ep000117/gripper_left_tactile_contact_metrics.json b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-07/outputs_tactile/tactile_cache/dag911262r001146_lerobot_0326_220254_18b6d285/episodes/ep000117/gripper_left_tactile_contact_metrics.json
new file mode 100644
index 0000000000000000000000000000000000000000..29d83819a1214355e35cdc1d58484c6608cbd376
--- /dev/null
+++ b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-07/outputs_tactile/tactile_cache/dag911262r001146_lerobot_0326_220254_18b6d285/episodes/ep000117/gripper_left_tactile_contact_metrics.json
@@ -0,0 +1,12 @@
+{
+  "contact_time": 9.666666666666666,
+  "contact_ratio": 0.8238636363636364,
+  "avg_contact_area": 6871.924137931034,
+  "contact_entropy": 0.13992282079542978,
+  "total_frames": 352,
+  "fps": 30.0,
+  "reference_frame_count": 0,
+  "dataset_name": "dag911262r001146_lerobot_0326_220254",
+  "episode_index": 117,
+  "sensor": "gripper_left_tactile"
+}
\ No newline at end of file
diff --git a/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-07/outputs_tactile/tactile_cache/dag911262r001146_lerobot_0326_220254_18b6d285/episodes/ep000118/gripper_left_tactile_force_metrics.json b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-07/outputs_tactile/tactile_cache/dag911262r001146_lerobot_0326_220254_18b6d285/episodes/ep000118/gripper_left_tactile_force_metrics.json
new file mode 100644
index 0000000000000000000000000000000000000000..b6e2dec879cf70381522d03abcf366b638b4cfa5
--- /dev/null
+++ b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-07/outputs_tactile/tactile_cache/dag911262r001146_lerobot_0326_220254_18b6d285/episodes/ep000118/gripper_left_tactile_force_metrics.json
@@ -0,0 +1,9 @@
+{
+  "depth_peak": 0.013899599201977253,
+  "shear_peak": 0.04812605679035187,
+  "force_magnitude_peak": 0.048597775399684906,
+  "reference_frame_count": 0,
+  "dataset_name": "dag911262r001146_lerobot_0326_220254",
+  "episode_index": 118,
+  "sensor": "gripper_left_tactile"
+}
\ No newline at end of file
diff --git a/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-07/outputs_tactile/tactile_cache/dag911262r001146_lerobot_0326_220254_18b6d285/episodes/ep000122/gripper_left_tactile_contact_metrics.json b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-07/outputs_tactile/tactile_cache/dag911262r001146_lerobot_0326_220254_18b6d285/episodes/ep000122/gripper_left_tactile_contact_metrics.json
new file mode 100644
index 0000000000000000000000000000000000000000..e33e6ab5cecee6da4522b8bb24026186a3637cce
--- /dev/null
+++ b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-07/outputs_tactile/tactile_cache/dag911262r001146_lerobot_0326_220254_18b6d285/episodes/ep000122/gripper_left_tactile_contact_metrics.json
@@ -0,0 +1,12 @@
+{
+  "contact_time": 9.633333333333333,
+  "contact_ratio": 0.8304597701149425,
+  "avg_contact_area": 8456.283737024221,
+  "contact_entropy": 0.679352449330658,
+  "total_frames": 348,
+  "fps": 30.0,
+  "reference_frame_count": 0,
+  "dataset_name": "dag911262r001146_lerobot_0326_220254",
+  "episode_index": 122,
+  "sensor": "gripper_left_tactile"
+}
\ No newline at end of file
diff --git a/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-07/outputs_tactile/tactile_cache/dag911262r001146_lerobot_0326_220254_18b6d285/episodes/ep000125/gripper_right_tactile_force_metrics.json b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-07/outputs_tactile/tactile_cache/dag911262r001146_lerobot_0326_220254_18b6d285/episodes/ep000125/gripper_right_tactile_force_metrics.json
new file mode 100644
index 0000000000000000000000000000000000000000..7a5e60df795cc41031555786a5c8680197ee593d
--- /dev/null
+++ b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-07/outputs_tactile/tactile_cache/dag911262r001146_lerobot_0326_220254_18b6d285/episodes/ep000125/gripper_right_tactile_force_metrics.json
@@ -0,0 +1,9 @@
+{
+  "depth_peak": 0.018562234938144684,
+  "shear_peak": 0.014394295401871204,
+  "force_magnitude_peak": 0.01907726190984249,
+  "reference_frame_count": 0,
+  "dataset_name": "dag911262r001146_lerobot_0326_220254",
+  "episode_index": 125,
+  "sensor": "gripper_right_tactile"
+}
\ No newline at end of file
diff --git a/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-07/outputs_tactile/tactile_cache/dag911262r001146_lerobot_0326_220254_18b6d285/episodes/ep000129/gripper_right_tactile_contact_metrics.json b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-07/outputs_tactile/tactile_cache/dag911262r001146_lerobot_0326_220254_18b6d285/episodes/ep000129/gripper_right_tactile_contact_metrics.json
new file mode 100644
index 0000000000000000000000000000000000000000..eabea045c19039073d24f064e6a8eed8e8401dbe
--- /dev/null
+++ b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-07/outputs_tactile/tactile_cache/dag911262r001146_lerobot_0326_220254_18b6d285/episodes/ep000129/gripper_right_tactile_contact_metrics.json
@@ -0,0 +1,12 @@
+{
+  "contact_time": 9.266666666666667,
+  "contact_ratio": 0.8825396825396825,
+  "avg_contact_area": 12355.607913669064,
+  "contact_entropy": 0.554025324907525,
+  "total_frames": 315,
+  "fps": 30.0,
+  "reference_frame_count": 0,
+  "dataset_name": "dag911262r001146_lerobot_0326_220254",
+  "episode_index": 129,
+  "sensor": "gripper_right_tactile"
+}
\ No newline at end of file
diff --git a/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-07/outputs_tactile/tactile_cache/dag911262r001146_lerobot_0326_220254_18b6d285/episodes/ep000130/gripper_left_tactile_contact_metrics.json b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-07/outputs_tactile/tactile_cache/dag911262r001146_lerobot_0326_220254_18b6d285/episodes/ep000130/gripper_left_tactile_contact_metrics.json
new file mode 100644
index 0000000000000000000000000000000000000000..205383f1004cc717e8df1e9b817f21edaadff5f4
--- /dev/null
+++ b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-07/outputs_tactile/tactile_cache/dag911262r001146_lerobot_0326_220254_18b6d285/episodes/ep000130/gripper_left_tactile_contact_metrics.json
@@ -0,0 +1,12 @@
+{
+  "contact_time": 7.6,
+  "contact_ratio": 0.6047745358090185,
+  "avg_contact_area": 969.4035087719299,
+  "contact_entropy": 1.0478531788954326,
+  "total_frames": 377,
+  "fps": 30.0,
+  "reference_frame_count": 0,
+  "dataset_name": "dag911262r001146_lerobot_0326_220254",
+  "episode_index": 130,
+  "sensor": "gripper_left_tactile"
+}
\ No newline at end of file
diff --git a/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-07/outputs_tactile/tactile_cache/dag911262r001146_lerobot_0326_220254_18b6d285/episodes/ep000130/gripper_right_tactile_force_metrics.json b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-07/outputs_tactile/tactile_cache/dag911262r001146_lerobot_0326_220254_18b6d285/episodes/ep000130/gripper_right_tactile_force_metrics.json
new file mode 100644
index 0000000000000000000000000000000000000000..a23709358e4bce5e7557d213436a39ab2fb83958
--- /dev/null
+++ b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-07/outputs_tactile/tactile_cache/dag911262r001146_lerobot_0326_220254_18b6d285/episodes/ep000130/gripper_right_tactile_force_metrics.json
@@ -0,0 +1,9 @@
+{
+  "depth_peak": 0.0007304450264200568,
+  "shear_peak": 0.00247771549038589,
+  "force_magnitude_peak": 0.002495026448741555,
+  "reference_frame_count": 0,
+  "dataset_name": "dag911262r001146_lerobot_0326_220254",
+  "episode_index": 130,
+  "sensor": "gripper_right_tactile"
+}
\ No newline at end of file
diff --git a/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-07/outputs_tactile/tactile_cache/dag911262r001146_lerobot_0326_220254_18b6d285/episodes/ep000131/gripper_right_tactile_contact_metrics.json b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-07/outputs_tactile/tactile_cache/dag911262r001146_lerobot_0326_220254_18b6d285/episodes/ep000131/gripper_right_tactile_contact_metrics.json
new file mode 100644
index 0000000000000000000000000000000000000000..e3cc1e047c7686629c3094a71dbe30c776833232
--- /dev/null
+++ b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-07/outputs_tactile/tactile_cache/dag911262r001146_lerobot_0326_220254_18b6d285/episodes/ep000131/gripper_right_tactile_contact_metrics.json
@@ -0,0 +1,12 @@
+{
+  "contact_time": 11.133333333333333,
+  "contact_ratio": 0.9175824175824175,
+  "avg_contact_area": 8245.293413173653,
+  "contact_entropy": 0.5356771984273532,
+  "total_frames": 364,
+  "fps": 30.0,
+  "reference_frame_count": 0,
+  "dataset_name": "dag911262r001146_lerobot_0326_220254",
+  "episode_index": 131,
+  "sensor": "gripper_right_tactile"
+}
\ No newline at end of file
diff --git a/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-07/outputs_tactile/tactile_cache/dag911262r001146_lerobot_0326_220254_18b6d285/episodes/ep000132/gripper_left_tactile_contact_metrics.json b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-07/outputs_tactile/tactile_cache/dag911262r001146_lerobot_0326_220254_18b6d285/episodes/ep000132/gripper_left_tactile_contact_metrics.json
new file mode 100644
index 0000000000000000000000000000000000000000..703b9cd5ea8912019cf52ae3f82a47df9446503a
--- /dev/null
+++ b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-07/outputs_tactile/tactile_cache/dag911262r001146_lerobot_0326_220254_18b6d285/episodes/ep000132/gripper_left_tactile_contact_metrics.json
@@ -0,0 +1,12 @@
+{
+  "contact_time": 11.9,
+  "contact_ratio": 0.6307420494699647,
+  "avg_contact_area": 6882.792717086835,
+  "contact_entropy": 0.8566848549012603,
+  "total_frames": 566,
+  "fps": 30.0,
+  "reference_frame_count": 0,
+  "dataset_name": "dag911262r001146_lerobot_0326_220254",
+  "episode_index": 132,
+  "sensor": "gripper_left_tactile"
+}
\ No newline at end of file
diff --git a/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-07/outputs_tactile/tactile_cache/dag911262r001146_lerobot_0326_220254_18b6d285/episodes/ep000132/gripper_right_tactile_force_metrics.json b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-07/outputs_tactile/tactile_cache/dag911262r001146_lerobot_0326_220254_18b6d285/episodes/ep000132/gripper_right_tactile_force_metrics.json
new file mode 100644
index 0000000000000000000000000000000000000000..d7569e92038afd29ecc53d782c9caeeffc23f78d
--- /dev/null
+++ b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-07/outputs_tactile/tactile_cache/dag911262r001146_lerobot_0326_220254_18b6d285/episodes/ep000132/gripper_right_tactile_force_metrics.json
@@ -0,0 +1,9 @@
+{
+  "depth_peak": 0.01918036863207817,
+  "shear_peak": 0.04222089424729347,
+  "force_magnitude_peak": 0.042281243950128555,
+  "reference_frame_count": 0,
+  "dataset_name": "dag911262r001146_lerobot_0326_220254",
+  "episode_index": 132,
+  "sensor": "gripper_right_tactile"
+}
\ No newline at end of file
diff --git a/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-07/outputs_tactile/tactile_cache/dag911262r001146_lerobot_0326_220254_18b6d285/episodes/ep000133/gripper_left_tactile_force_metrics.json b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-07/outputs_tactile/tactile_cache/dag911262r001146_lerobot_0326_220254_18b6d285/episodes/ep000133/gripper_left_tactile_force_metrics.json
new file mode 100644
index 0000000000000000000000000000000000000000..8e17c653c86e3d594f396f6c2a35e729a8dba6d6
--- /dev/null
+++ b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-07/outputs_tactile/tactile_cache/dag911262r001146_lerobot_0326_220254_18b6d285/episodes/ep000133/gripper_left_tactile_force_metrics.json
@@ -0,0 +1,9 @@
+{
+  "depth_peak": 0.011893643997609615,
+  "shear_peak": 0.006600128021091223,
+  "force_magnitude_peak": 0.013602222315967083,
+  "reference_frame_count": 0,
+  "dataset_name": "dag911262r001146_lerobot_0326_220254",
+  "episode_index": 133,
+  "sensor": "gripper_left_tactile"
+}
\ No newline at end of file
diff --git a/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-07/outputs_tactile/tactile_cache/dag911262r001146_lerobot_0326_220254_18b6d285/episodes/ep000134/gripper_right_tactile_force_metrics.json b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-07/outputs_tactile/tactile_cache/dag911262r001146_lerobot_0326_220254_18b6d285/episodes/ep000134/gripper_right_tactile_force_metrics.json
new file mode 100644
index 0000000000000000000000000000000000000000..8d7f518b561bec4e1d39d1f9b2892842c28b942a
--- /dev/null
+++ b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-07/outputs_tactile/tactile_cache/dag911262r001146_lerobot_0326_220254_18b6d285/episodes/ep000134/gripper_right_tactile_force_metrics.json
@@ -0,0 +1,9 @@
+{
+  "depth_peak": 0.027215762063860893,
+  "shear_peak": 0.02445496991276741,
+  "force_magnitude_peak": 0.03629794716835022,
+  "reference_frame_count": 0,
+  "dataset_name": "dag911262r001146_lerobot_0326_220254",
+  "episode_index": 134,
+  "sensor": "gripper_right_tactile"
+}
\ No newline at end of file
diff --git a/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-07/outputs_tactile/tactile_cache/dag911262r001146_lerobot_0326_220254_18b6d285/episodes/ep000136/gripper_left_tactile_contact_metrics.json b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-07/outputs_tactile/tactile_cache/dag911262r001146_lerobot_0326_220254_18b6d285/episodes/ep000136/gripper_left_tactile_contact_metrics.json
new file mode 100644
index 0000000000000000000000000000000000000000..d9c46b805f524c99a2194abf5b1831a26ce0ac5c
--- /dev/null
+++ b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-07/outputs_tactile/tactile_cache/dag911262r001146_lerobot_0326_220254_18b6d285/episodes/ep000136/gripper_left_tactile_contact_metrics.json
@@ -0,0 +1,12 @@
+{
+  "contact_time": 7.3,
+  "contact_ratio": 0.6822429906542056,
+  "avg_contact_area": 1796.9954337899544,
+  "contact_entropy": 0.34595620587086423,
+  "total_frames": 321,
+  "fps": 30.0,
+  "reference_frame_count": 0,
+  "dataset_name": "dag911262r001146_lerobot_0326_220254",
+  "episode_index": 136,
+  "sensor": "gripper_left_tactile"
+}
\ No newline at end of file
diff --git a/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-07/outputs_tactile/tactile_cache/dag911262r001146_lerobot_0326_220254_18b6d285/episodes/ep000138/gripper_left_tactile_force_metrics.json b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-07/outputs_tactile/tactile_cache/dag911262r001146_lerobot_0326_220254_18b6d285/episodes/ep000138/gripper_left_tactile_force_metrics.json
new file mode 100644
index 0000000000000000000000000000000000000000..125d53d15c46d74f38a4843daf08dfbb62d77d0f
--- /dev/null
+++ b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-07/outputs_tactile/tactile_cache/dag911262r001146_lerobot_0326_220254_18b6d285/episodes/ep000138/gripper_left_tactile_force_metrics.json
@@ -0,0 +1,9 @@
+{
+  "depth_peak": 0.004121342208236456,
+  "shear_peak": 0.006104507017880678,
+  "force_magnitude_peak": 0.006716562435030937,
+  "reference_frame_count": 0,
+  "dataset_name": "dag911262r001146_lerobot_0326_220254",
+  "episode_index": 138,
+  "sensor": "gripper_left_tactile"
+}
\ No newline at end of file
diff --git a/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-07/outputs_tactile/tactile_cache/dag911262r001146_lerobot_0326_220254_18b6d285/episodes/ep000143/gripper_left_tactile_force_metrics.json b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-07/outputs_tactile/tactile_cache/dag911262r001146_lerobot_0326_220254_18b6d285/episodes/ep000143/gripper_left_tactile_force_metrics.json
new file mode 100644
index 0000000000000000000000000000000000000000..7554a37e97ae93019cdbe1f9aab7891f8ad4937c
--- /dev/null
+++ b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-07/outputs_tactile/tactile_cache/dag911262r001146_lerobot_0326_220254_18b6d285/episodes/ep000143/gripper_left_tactile_force_metrics.json
@@ -0,0 +1,9 @@
+{
+  "depth_peak": 0.010118176229298115,
+  "shear_peak": 0.003726389491930604,
+  "force_magnitude_peak": 0.010778989642858505,
+  "reference_frame_count": 0,
+  "dataset_name": "dag911262r001146_lerobot_0326_220254",
+  "episode_index": 143,
+  "sensor": "gripper_left_tactile"
+}
\ No newline at end of file
diff --git a/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-07/outputs_tactile/tactile_cache/dag911262r001146_lerobot_0326_220254_18b6d285/episodes/ep000144/gripper_right_tactile_contact_metrics.json b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-07/outputs_tactile/tactile_cache/dag911262r001146_lerobot_0326_220254_18b6d285/episodes/ep000144/gripper_right_tactile_contact_metrics.json
new file mode 100644
index 0000000000000000000000000000000000000000..94e219f10830deb5efd69f7f879e52a5f18748bb
--- /dev/null
+++ b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-07/outputs_tactile/tactile_cache/dag911262r001146_lerobot_0326_220254_18b6d285/episodes/ep000144/gripper_right_tactile_contact_metrics.json
@@ -0,0 +1,12 @@
+{
+  "contact_time": 5.966666666666667,
+  "contact_ratio": 0.7552742616033755,
+  "avg_contact_area": 18644.90502793296,
+  "contact_entropy": 0.559529849782913,
+  "total_frames": 237,
+  "fps": 30.0,
+  "reference_frame_count": 0,
+  "dataset_name": "dag911262r001146_lerobot_0326_220254",
+  "episode_index": 144,
+  "sensor": "gripper_right_tactile"
+}
\ No newline at end of file
diff --git a/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-07/outputs_tactile/tactile_cache/dag911262r001146_lerobot_0326_220254_18b6d285/episodes/ep000145/gripper_left_tactile_force_metrics.json b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-07/outputs_tactile/tactile_cache/dag911262r001146_lerobot_0326_220254_18b6d285/episodes/ep000145/gripper_left_tactile_force_metrics.json
new file mode 100644
index 0000000000000000000000000000000000000000..d65627faec66541d60b354c5597f28abf9f3f3f8
--- /dev/null
+++ b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-07/outputs_tactile/tactile_cache/dag911262r001146_lerobot_0326_220254_18b6d285/episodes/ep000145/gripper_left_tactile_force_metrics.json
@@ -0,0 +1,9 @@
+{
+  "depth_peak": 0.0023019136860966682,
+  "shear_peak": 0.0018924515461549163,
+  "force_magnitude_peak": 0.002869382966309786,
+  "reference_frame_count": 0,
+  "dataset_name": "dag911262r001146_lerobot_0326_220254",
+  "episode_index": 145,
+  "sensor": "gripper_left_tactile"
+}
\ No newline at end of file
diff --git a/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-07/outputs_tactile/tactile_cache/dag911262r001146_lerobot_0326_220254_18b6d285/episodes/ep000147/gripper_right_tactile_force_metrics.json b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-07/outputs_tactile/tactile_cache/dag911262r001146_lerobot_0326_220254_18b6d285/episodes/ep000147/gripper_right_tactile_force_metrics.json
new file mode 100644
index 0000000000000000000000000000000000000000..a17b87765c4ffed9b93a465117fa9a8f0a97cfe5
--- /dev/null
+++ b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-07/outputs_tactile/tactile_cache/dag911262r001146_lerobot_0326_220254_18b6d285/episodes/ep000147/gripper_right_tactile_force_metrics.json
@@ -0,0 +1,9 @@
+{
+  "depth_peak": 0.011243384331464767,
+  "shear_peak": 0.006750090513378382,
+  "force_magnitude_peak": 0.011374270543456078,
+  "reference_frame_count": 0,
+  "dataset_name": "dag911262r001146_lerobot_0326_220254",
+  "episode_index": 147,
+  "sensor": "gripper_right_tactile"
+}
\ No newline at end of file
diff --git a/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-07/outputs_tactile/tactile_cache/dag911262r001146_lerobot_0326_220254_18b6d285/episodes/ep000151/gripper_right_tactile_contact_metrics.json b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-07/outputs_tactile/tactile_cache/dag911262r001146_lerobot_0326_220254_18b6d285/episodes/ep000151/gripper_right_tactile_contact_metrics.json
new file mode 100644
index 0000000000000000000000000000000000000000..23d9201b2098677ad2065c6ccc254c8d11615b2b
--- /dev/null
+++ b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-07/outputs_tactile/tactile_cache/dag911262r001146_lerobot_0326_220254_18b6d285/episodes/ep000151/gripper_right_tactile_contact_metrics.json
@@ -0,0 +1,12 @@
+{
+  "contact_time": 14.766666666666667,
+  "contact_ratio": 0.9267782426778243,
+  "avg_contact_area": 19538.939051918736,
+  "contact_entropy": 0.58936091328999,
+  "total_frames": 478,
+  "fps": 30.0,
+  "reference_frame_count": 0,
+  "dataset_name": "dag911262r001146_lerobot_0326_220254",
+  "episode_index": 151,
+  "sensor": "gripper_right_tactile"
+}
\ No newline at end of file
diff --git a/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-07/outputs_tactile/tactile_cache/dag911262r001146_lerobot_0326_220254_18b6d285/episodes/ep000153/gripper_right_tactile_contact_metrics.json b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-07/outputs_tactile/tactile_cache/dag911262r001146_lerobot_0326_220254_18b6d285/episodes/ep000153/gripper_right_tactile_contact_metrics.json
new file mode 100644
index 0000000000000000000000000000000000000000..bc07cc8abe9e2710735755822237657fce4d15c4
--- /dev/null
+++ b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-07/outputs_tactile/tactile_cache/dag911262r001146_lerobot_0326_220254_18b6d285/episodes/ep000153/gripper_right_tactile_contact_metrics.json
@@ -0,0 +1,12 @@
+{
+  "contact_time": 14.233333333333333,
+  "contact_ratio": 0.9343544857768052,
+  "avg_contact_area": 13925.27868852459,
+  "contact_entropy": 0.6204733389782762,
+  "total_frames": 457,
+  "fps": 30.0,
+  "reference_frame_count": 0,
+  "dataset_name": "dag911262r001146_lerobot_0326_220254",
+  "episode_index": 153,
+  "sensor": "gripper_right_tactile"
+}
\ No newline at end of file
diff --git a/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-07/outputs_tactile/tactile_cache/dag911262r001146_lerobot_0326_220254_18b6d285/episodes/ep000157/gripper_left_tactile_contact_metrics.json b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-07/outputs_tactile/tactile_cache/dag911262r001146_lerobot_0326_220254_18b6d285/episodes/ep000157/gripper_left_tactile_contact_metrics.json
new file mode 100644
index 0000000000000000000000000000000000000000..8b9653f9be4616f8bf1301463ca8a5617f2f1a49
--- /dev/null
+++ b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-07/outputs_tactile/tactile_cache/dag911262r001146_lerobot_0326_220254_18b6d285/episodes/ep000157/gripper_left_tactile_contact_metrics.json
@@ -0,0 +1,12 @@
+{
+  "contact_time": 8.566666666666666,
+  "contact_ratio": 0.8263665594855305,
+  "avg_contact_area": 8374.36186770428,
+  "contact_entropy": 0.6394894087060323,
+  "total_frames": 311,
+  "fps": 30.0,
+  "reference_frame_count": 0,
+  "dataset_name": "dag911262r001146_lerobot_0326_220254",
+  "episode_index": 157,
+  "sensor": "gripper_left_tactile"
+}
\ No newline at end of file
diff --git a/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-07/outputs_tactile/tactile_cache/dag911262r001146_lerobot_0326_220254_18b6d285/episodes/ep000158/gripper_left_tactile_force_metrics.json b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-07/outputs_tactile/tactile_cache/dag911262r001146_lerobot_0326_220254_18b6d285/episodes/ep000158/gripper_left_tactile_force_metrics.json
new file mode 100644
index 0000000000000000000000000000000000000000..649b6f83d472f59133d241bcbe79a42c3909b261
--- /dev/null
+++ b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-07/outputs_tactile/tactile_cache/dag911262r001146_lerobot_0326_220254_18b6d285/episodes/ep000158/gripper_left_tactile_force_metrics.json
@@ -0,0 +1,9 @@
+{
+  "depth_peak": 0.003203062806278467,
+  "shear_peak": 0.003345432924106717,
+  "force_magnitude_peak": 0.0039815884083509445,
+  "reference_frame_count": 0,
+  "dataset_name": "dag911262r001146_lerobot_0326_220254",
+  "episode_index": 158,
+  "sensor": "gripper_left_tactile"
+}
\ No newline at end of file
diff --git a/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-07/outputs_tactile/tactile_cache/dag911262r001146_lerobot_0326_220254_18b6d285/episodes/ep000162/gripper_left_tactile_contact_metrics.json b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-07/outputs_tactile/tactile_cache/dag911262r001146_lerobot_0326_220254_18b6d285/episodes/ep000162/gripper_left_tactile_contact_metrics.json
new file mode 100644
index 0000000000000000000000000000000000000000..13a8bdce3b33aec6ef770b4eb5614ec04ecf3d3a
--- /dev/null
+++ b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-07/outputs_tactile/tactile_cache/dag911262r001146_lerobot_0326_220254_18b6d285/episodes/ep000162/gripper_left_tactile_contact_metrics.json
@@ -0,0 +1,12 @@
+{
+  "contact_time": 12.266666666666667,
+  "contact_ratio": 0.7076923076923077,
+  "avg_contact_area": 1529.5190217391305,
+  "contact_entropy": 0.4933369532778074,
+  "total_frames": 520,
+  "fps": 30.0,
+  "reference_frame_count": 0,
+  "dataset_name": "dag911262r001146_lerobot_0326_220254",
+  "episode_index": 162,
+  "sensor": "gripper_left_tactile"
+}
\ No newline at end of file
diff --git a/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-07/outputs_tactile/tactile_cache/dag911262r001146_lerobot_0326_220254_18b6d285/episodes/ep000165/gripper_right_tactile_force_metrics.json b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-07/outputs_tactile/tactile_cache/dag911262r001146_lerobot_0326_220254_18b6d285/episodes/ep000165/gripper_right_tactile_force_metrics.json
new file mode 100644
index 0000000000000000000000000000000000000000..4f450ad3be999fd8d05883dd391aef60179888d0
--- /dev/null
+++ b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-07/outputs_tactile/tactile_cache/dag911262r001146_lerobot_0326_220254_18b6d285/episodes/ep000165/gripper_right_tactile_force_metrics.json
@@ -0,0 +1,9 @@
+{
+  "depth_peak": 0.017852457240223885,
+  "shear_peak": 0.024728471413254738,
+  "force_magnitude_peak": 0.029975365847349167,
+  "reference_frame_count": 0,
+  "dataset_name": "dag911262r001146_lerobot_0326_220254",
+  "episode_index": 165,
+  "sensor": "gripper_right_tactile"
+}
\ No newline at end of file
diff --git a/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-07/outputs_tactile/tactile_cache/dag911262r001146_lerobot_0326_220254_18b6d285/episodes/ep000169/gripper_right_tactile_contact_metrics.json b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-07/outputs_tactile/tactile_cache/dag911262r001146_lerobot_0326_220254_18b6d285/episodes/ep000169/gripper_right_tactile_contact_metrics.json
new file mode 100644
index 0000000000000000000000000000000000000000..d5ef6561cdfcdc1362ac0affd8d7a738dcf4494b
--- /dev/null
+++ b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-07/outputs_tactile/tactile_cache/dag911262r001146_lerobot_0326_220254_18b6d285/episodes/ep000169/gripper_right_tactile_contact_metrics.json
@@ -0,0 +1,12 @@
+{
+  "contact_time": 20.433333333333334,
+  "contact_ratio": 1.0,
+  "avg_contact_area": 14724.57748776509,
+  "contact_entropy": 0.42187576502648894,
+  "total_frames": 613,
+  "fps": 30.0,
+  "reference_frame_count": 0,
+  "dataset_name": "dag911262r001146_lerobot_0326_220254",
+  "episode_index": 169,
+  "sensor": "gripper_right_tactile"
+}
\ No newline at end of file
diff --git a/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-07/outputs_tactile/tactile_cache/dag911262r001146_lerobot_0326_220254_18b6d285/episodes/ep000170/gripper_left_tactile_contact_metrics.json b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-07/outputs_tactile/tactile_cache/dag911262r001146_lerobot_0326_220254_18b6d285/episodes/ep000170/gripper_left_tactile_contact_metrics.json
new file mode 100644
index 0000000000000000000000000000000000000000..96e06222e0a234a4ebe2006406155dc5211fc98a
--- /dev/null
+++ b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-07/outputs_tactile/tactile_cache/dag911262r001146_lerobot_0326_220254_18b6d285/episodes/ep000170/gripper_left_tactile_contact_metrics.json
@@ -0,0 +1,12 @@
+{
+  "contact_time": 12.4,
+  "contact_ratio": 0.7965738758029979,
+  "avg_contact_area": 4837.731182795699,
+  "contact_entropy": 0.5186267097437746,
+  "total_frames": 467,
+  "fps": 30.0,
+  "reference_frame_count": 0,
+  "dataset_name": "dag911262r001146_lerobot_0326_220254",
+  "episode_index": 170,
+  "sensor": "gripper_left_tactile"
+}
\ No newline at end of file
diff --git a/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-07/outputs_tactile/tactile_cache/dag911262r001146_lerobot_0326_220254_18b6d285/episodes/ep000170/gripper_right_tactile_force_metrics.json b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-07/outputs_tactile/tactile_cache/dag911262r001146_lerobot_0326_220254_18b6d285/episodes/ep000170/gripper_right_tactile_force_metrics.json
new file mode 100644
index 0000000000000000000000000000000000000000..64352e79c7d85862c9762a8c1dbe1f1e2605e69f
--- /dev/null
+++ b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-07/outputs_tactile/tactile_cache/dag911262r001146_lerobot_0326_220254_18b6d285/episodes/ep000170/gripper_right_tactile_force_metrics.json
@@ -0,0 +1,9 @@
+{
+  "depth_peak": 0.01546973455697298,
+  "shear_peak": 0.004575055092573166,
+  "force_magnitude_peak": 0.01606176421046257,
+  "reference_frame_count": 0,
+  "dataset_name": "dag911262r001146_lerobot_0326_220254",
+  "episode_index": 170,
+  "sensor": "gripper_right_tactile"
+}
\ No newline at end of file
diff --git a/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-07/outputs_tactile/tactile_cache/dag911262r001146_lerobot_0326_220254_18b6d285/episodes/ep000171/gripper_right_tactile_contact_metrics.json b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-07/outputs_tactile/tactile_cache/dag911262r001146_lerobot_0326_220254_18b6d285/episodes/ep000171/gripper_right_tactile_contact_metrics.json
new file mode 100644
index 0000000000000000000000000000000000000000..10e348a4f04ced59fbfd370e78bad725c2a0c396
--- /dev/null
+++ b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-07/outputs_tactile/tactile_cache/dag911262r001146_lerobot_0326_220254_18b6d285/episodes/ep000171/gripper_right_tactile_contact_metrics.json
@@ -0,0 +1,12 @@
+{
+  "contact_time": 18.033333333333335,
+  "contact_ratio": 1.0,
+  "avg_contact_area": 11174.820702402958,
+  "contact_entropy": 0.4944688203616414,
+  "total_frames": 541,
+  "fps": 30.0,
+  "reference_frame_count": 0,
+  "dataset_name": "dag911262r001146_lerobot_0326_220254",
+  "episode_index": 171,
+  "sensor": "gripper_right_tactile"
+}
\ No newline at end of file
diff --git a/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-07/outputs_tactile/tactile_cache/dag911262r001146_lerobot_0326_220254_18b6d285/episodes/ep000172/gripper_left_tactile_contact_metrics.json b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-07/outputs_tactile/tactile_cache/dag911262r001146_lerobot_0326_220254_18b6d285/episodes/ep000172/gripper_left_tactile_contact_metrics.json
new file mode 100644
index 0000000000000000000000000000000000000000..8b5337c089cd05288dbc4377356afed95ab8a3fb
--- /dev/null
+++ b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-07/outputs_tactile/tactile_cache/dag911262r001146_lerobot_0326_220254_18b6d285/episodes/ep000172/gripper_left_tactile_contact_metrics.json
@@ -0,0 +1,12 @@
+{
+  "contact_time": 12.233333333333333,
+  "contact_ratio": 0.6553571428571429,
+  "avg_contact_area": 8876.8310626703,
+  "contact_entropy": 1.0596836130187242,
+  "total_frames": 560,
+  "fps": 30.0,
+  "reference_frame_count": 0,
+  "dataset_name": "dag911262r001146_lerobot_0326_220254",
+  "episode_index": 172,
+  "sensor": "gripper_left_tactile"
+}
\ No newline at end of file
diff --git a/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-07/outputs_tactile/tactile_cache/dag911262r001146_lerobot_0326_220254_18b6d285/episodes/ep000173/gripper_left_tactile_force_metrics.json b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-07/outputs_tactile/tactile_cache/dag911262r001146_lerobot_0326_220254_18b6d285/episodes/ep000173/gripper_left_tactile_force_metrics.json
new file mode 100644
index 0000000000000000000000000000000000000000..bc7398a7087a66e1cbe20df78ec85e534f9cd413
--- /dev/null
+++ b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-07/outputs_tactile/tactile_cache/dag911262r001146_lerobot_0326_220254_18b6d285/episodes/ep000173/gripper_left_tactile_force_metrics.json
@@ -0,0 +1,9 @@
+{
+  "depth_peak": 0.016580427065491676,
+  "shear_peak": 0.007675258908420801,
+  "force_magnitude_peak": 0.018254978582262993,
+  "reference_frame_count": 0,
+  "dataset_name": "dag911262r001146_lerobot_0326_220254",
+  "episode_index": 173,
+  "sensor": "gripper_left_tactile"
+}
\ No newline at end of file
diff --git a/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-07/outputs_tactile/tactile_cache/dag911262r001146_lerobot_0326_220254_18b6d285/episodes/ep000176/gripper_left_tactile_contact_metrics.json b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-07/outputs_tactile/tactile_cache/dag911262r001146_lerobot_0326_220254_18b6d285/episodes/ep000176/gripper_left_tactile_contact_metrics.json
new file mode 100644
index 0000000000000000000000000000000000000000..89af52a24965f17f9714a610c496109c4c49872c
--- /dev/null
+++ b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-07/outputs_tactile/tactile_cache/dag911262r001146_lerobot_0326_220254_18b6d285/episodes/ep000176/gripper_left_tactile_contact_metrics.json
@@ -0,0 +1,12 @@
+{
+  "contact_time": 12.033333333333333,
+  "contact_ratio": 0.7352342158859471,
+  "avg_contact_area": 6354.069252077562,
+  "contact_entropy": 0.7067284958274012,
+  "total_frames": 491,
+  "fps": 30.0,
+  "reference_frame_count": 0,
+  "dataset_name": "dag911262r001146_lerobot_0326_220254",
+  "episode_index": 176,
+  "sensor": "gripper_left_tactile"
+}
\ No newline at end of file
diff --git a/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-07/outputs_tactile/tactile_cache/dag911262r001146_lerobot_0326_220254_18b6d285/episodes/ep000178/gripper_left_tactile_force_metrics.json b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-07/outputs_tactile/tactile_cache/dag911262r001146_lerobot_0326_220254_18b6d285/episodes/ep000178/gripper_left_tactile_force_metrics.json
new file mode 100644
index 0000000000000000000000000000000000000000..847e3e7ef0f66105219dcbda7f1b190fb1c3f30a
--- /dev/null
+++ b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-07/outputs_tactile/tactile_cache/dag911262r001146_lerobot_0326_220254_18b6d285/episodes/ep000178/gripper_left_tactile_force_metrics.json
@@ -0,0 +1,9 @@
+{
+  "depth_peak": 0.016438523307442665,
+  "shear_peak": 0.008274358697235584,
+  "force_magnitude_peak": 0.018384898081421852,
+  "reference_frame_count": 0,
+  "dataset_name": "dag911262r001146_lerobot_0326_220254",
+  "episode_index": 178,
+  "sensor": "gripper_left_tactile"
+}
\ No newline at end of file
diff --git a/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-07/outputs_tactile/tactile_cache/dag911262r001146_lerobot_0326_220254_18b6d285/episodes/ep000183/gripper_left_tactile_force_metrics.json b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-07/outputs_tactile/tactile_cache/dag911262r001146_lerobot_0326_220254_18b6d285/episodes/ep000183/gripper_left_tactile_force_metrics.json
new file mode 100644
index 0000000000000000000000000000000000000000..430424be86f4d1d985131b09ceb23fbe7d32c277
--- /dev/null
+++ b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-07/outputs_tactile/tactile_cache/dag911262r001146_lerobot_0326_220254_18b6d285/episodes/ep000183/gripper_left_tactile_force_metrics.json
@@ -0,0 +1,9 @@
+{
+  "depth_peak": 0.01342997420579195,
+  "shear_peak": 0.008586318232119083,
+  "force_magnitude_peak": 0.014930889010429382,
+  "reference_frame_count": 0,
+  "dataset_name": "dag911262r001146_lerobot_0326_220254",
+  "episode_index": 183,
+  "sensor": "gripper_left_tactile"
+}
\ No newline at end of file
diff --git a/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-07/outputs_tactile/tactile_cache/dag911262r001146_lerobot_0326_220254_18b6d285/episodes/ep000184/gripper_right_tactile_contact_metrics.json b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-07/outputs_tactile/tactile_cache/dag911262r001146_lerobot_0326_220254_18b6d285/episodes/ep000184/gripper_right_tactile_contact_metrics.json
new file mode 100644
index 0000000000000000000000000000000000000000..97be9baf8fcca82a81979fc591dde1ff1391c056
--- /dev/null
+++ b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-07/outputs_tactile/tactile_cache/dag911262r001146_lerobot_0326_220254_18b6d285/episodes/ep000184/gripper_right_tactile_contact_metrics.json
@@ -0,0 +1,12 @@
+{
+  "contact_time": 17.366666666666667,
+  "contact_ratio": 0.9108391608391608,
+  "avg_contact_area": 3628.95009596929,
+  "contact_entropy": 0.13033378862637246,
+  "total_frames": 572,
+  "fps": 30.0,
+  "reference_frame_count": 0,
+  "dataset_name": "dag911262r001146_lerobot_0326_220254",
+  "episode_index": 184,
+  "sensor": "gripper_right_tactile"
+}
\ No newline at end of file
diff --git a/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-07/outputs_tactile/tactile_cache/dag911262r001146_lerobot_0326_220254_18b6d285/episodes/ep000185/gripper_left_tactile_force_metrics.json b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-07/outputs_tactile/tactile_cache/dag911262r001146_lerobot_0326_220254_18b6d285/episodes/ep000185/gripper_left_tactile_force_metrics.json
new file mode 100644
index 0000000000000000000000000000000000000000..a34c1a58ec31a54cb6b9010eb9b31b2244d1cb8c
--- /dev/null
+++ b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-07/outputs_tactile/tactile_cache/dag911262r001146_lerobot_0326_220254_18b6d285/episodes/ep000185/gripper_left_tactile_force_metrics.json
@@ -0,0 +1,9 @@
+{
+  "depth_peak": 0.005817421246320009,
+  "shear_peak": 0.0040022446773946285,
+  "force_magnitude_peak": 0.005923789460211992,
+  "reference_frame_count": 0,
+  "dataset_name": "dag911262r001146_lerobot_0326_220254",
+  "episode_index": 185,
+  "sensor": "gripper_left_tactile"
+}
\ No newline at end of file
diff --git a/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-07/outputs_tactile/tactile_cache/dag911262r001146_lerobot_0326_220254_18b6d285/episodes/ep000187/gripper_right_tactile_force_metrics.json b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-07/outputs_tactile/tactile_cache/dag911262r001146_lerobot_0326_220254_18b6d285/episodes/ep000187/gripper_right_tactile_force_metrics.json
new file mode 100644
index 0000000000000000000000000000000000000000..0c759a14b49bd7d3957690da5f5090c6ea3a87b1
--- /dev/null
+++ b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-07/outputs_tactile/tactile_cache/dag911262r001146_lerobot_0326_220254_18b6d285/episodes/ep000187/gripper_right_tactile_force_metrics.json
@@ -0,0 +1,9 @@
+{
+  "depth_peak": 0.017188234254717827,
+  "shear_peak": 0.00983249768614769,
+  "force_magnitude_peak": 0.0173715278506279,
+  "reference_frame_count": 0,
+  "dataset_name": "dag911262r001146_lerobot_0326_220254",
+  "episode_index": 187,
+  "sensor": "gripper_right_tactile"
+}
\ No newline at end of file
diff --git a/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-07/outputs_tactile/tactile_cache/dag911262r001146_lerobot_0326_220254_18b6d285/episodes/ep000191/gripper_right_tactile_contact_metrics.json b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-07/outputs_tactile/tactile_cache/dag911262r001146_lerobot_0326_220254_18b6d285/episodes/ep000191/gripper_right_tactile_contact_metrics.json
new file mode 100644
index 0000000000000000000000000000000000000000..5e750475f8be449ba76dfb76ac441a5178183d24
--- /dev/null
+++ b/DM-DataClaw/datasets/v1_3_usb_backups_2026-03-07/outputs_tactile/tactile_cache/dag911262r001146_lerobot_0326_220254_18b6d285/episodes/ep000191/gripper_right_tactile_contact_metrics.json
@@ -0,0 +1,12 @@
+{
+  "contact_time": 11.466666666666667,
+  "contact_ratio": 0.8535980148883374,
+  "avg_contact_area": 4733.558139534884,
+  "contact_entropy": 0.4007291814772448,
+  "total_frames": 403,
+  "fps": 30.0,
+  "reference_frame_count": 0,
+  "dataset_name": "dag911262r001146_lerobot_0326_220254",
+  "episode_index": 191,
+  "sensor": "gripper_right_tactile"
+}
\ No newline at end of file